diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index 8ecffa0..554cbfd 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -13,7 +13,7 @@ ArucoDetector::ArucoDetector(Type::RobotPose* pose, const std::string& calibrati
 
     this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
         cos(pose->theta), 0, sin(pose->theta), pose->position.x,
-        0, 1, 0, pose.position.y,
+        0, 1, 0, pose->position.y,
         -sin(pose->theta), 0, cos(pose->theta), pose->position.z,
         0, 0, 0, 1
     );
@@ -182,7 +182,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
     return result;
 }
 
-void ArucoDetector::flowerDetector(const ArucoTag& tag, const cv::Mat& translationMatrix, const cv::Mat& rotationMatrix, Type::RobotPose* robotPose)
+/*void ArucoDetector::flowerDetector(const ArucoTag& tag, const cv::Mat& translationMatrix, const cv::Mat& rotationMatrix, Type::RobotPose* robotPose)
 {
     constexpr double distanceToPot = 21;
 
@@ -221,4 +221,4 @@ void ArucoDetector::solarPanelDetector(const ArucoTag& tag, cv::Mat translationM
 
     // BLUE => 90, YELLOW => -90
 }
-
+*/
\ No newline at end of file
diff --git a/aruco/ArucoDetector.h b/aruco/ArucoDetector.h
index 3282f7e..82e6daf 100644
--- a/aruco/ArucoDetector.h
+++ b/aruco/ArucoDetector.h
@@ -41,9 +41,9 @@ public:
     void readCameraParameters(const std::string& path);
 
     void addArucoTag(const ArucoTag& tag);
-
+/*
     static void flowerDetector(const ArucoTag& type, const cv::Mat& translationMatrix, const cv::Mat& rotationMatrix, Type::RobotPose* robotPose);
 
     static void solarPanelDetector(const ArucoTag& type, cv::Mat translationMatrix, const cv::Mat& rotationMatrix, Type::RobotPose* robotPose);
-
+*/
 };
diff --git a/arucoDetector.cpp b/arucoDetector.cpp
index 882959a..05bc3db 100644
--- a/arucoDetector.cpp
+++ b/arucoDetector.cpp
@@ -105,10 +105,10 @@ int main(int argc, char *argv[])
         {
             if (tags.type == FLOWER)
             {
-                ArucoDetector::flowerDetector(tags, matrix.first, matrix.first, robotPose);
+                //ArucoDetector::flowerDetector(tags, matrix.first, matrix.first, robotPose);
             } else if (tags.type == SOLAR_PANEL)
             {
-                ArucoDetector::solarPanelDetector(tags, matrix.first, matrix.first, robotPose);
+                //ArucoDetector::solarPanelDetector(tags, matrix.first, matrix.first, robotPose);
             }
         }