#define HOKUYO_INDEX_TO_DEG(x) ((HOKUYO_START_ANGLE-(x)*360.0/HOKUYO_SPLIT_DIVISION) * HOKUYO_ORIENTATION)
#define HOKUYO_INDEX_TO_RAD(x) (HOKUYO_INDEX_TO_DEG(x)/180.0*M_PI)
-#define HOKUYO_DEG_TO_INDEX(d) ((HOKUYO_START_ANGLE-(d))/(360.0/HOKUYO_SPLIT_DIVISION))
+#define HOKUYO_DEG_TO_INDEX(d) ((HOKUYO_START_ANGLE-(d)/HOKUYO_ORIENTATION)/(360.0/HOKUYO_SPLIT_DIVISION))
#endif //HOKUYO_H