Merge remote-tracking branch 'origin/main' into main

Code/Control/Laptop_Code/Previous_low_level/ESP32_slave/Camera.cpp

@@ -72,7 +72,7 @@ bool Camera::exe_color_detection_biggestblob(int8_t l_min, int8_t l_max, int8_t
 
 bool Camera::exe_goalfinder(int8_t goal1, int8_t goal2, int8_t goal3, int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz){
   int8_t goalid[3] = {goal1, goal2, goal3};
-  struct { uint16_t cid, ctx, cty, ctz, crx, cry, crz; } goalfinder_result;
+  struct { int16_t cid, ctx, cty, ctz, crx, cry, crz; } goalfinder_result;
   if(interface->call(F("goalfinder"), goalid, sizeof(goalid), &goalfinder_result, sizeof(goalfinder_result))){
     
   }

Code/Control/Laptop_Code/Previous_low_level/ESP32_slave/ESP32_slave.ino

@@ -198,8 +198,8 @@ void loop()
       Sent_ry = ry; 
       Sent_rz = rz;  
   }else{ 
-      Sent_tx = 0; 
-      Sent_ty = 0; 
+      Sent_tx = 100000; 
+      Sent_ty = 100000; 
       Sent_tz = 0; // cm 
       Sent_rx = 0; 
       Sent_ry = 0;