hokuyo: increased laser resolution

[eurobot/public.git] / src / hokuyo / hokuyo.h

diff --git a/src/hokuyo/hokuyo.h b/src/hokuyo/hokuyo.h
index 088c6aa05075759301c4510c99db000ec2675cf0..58b27914fac43a1b8b929bd5577428007c6645f4 100644 (file)
--- a/src/hokuyo/hokuyo.h
+++ b/src/hokuyo/hokuyo.h
@@ -3,10 +3,10 @@
 
 #include <orte.h>
 
-#define HOKUYO_BEAMS_IN_CLUSTER 40
-#define HOKUYO_CLUSTER_CNT 17
+#define HOKUYO_BEAMS_IN_CLUSTER 20
+#define HOKUYO_CLUSTER_CNT 34
 
-#define HOKUYO_CLUSTER_TO_DEG(x) (-113.0+(x*HOKUYO_BEAMS_IN_CLUSTER*(360.0/1024.0)))
+#define HOKUYO_CLUSTER_TO_DEG(x) (113.0-(x*HOKUYO_BEAMS_IN_CLUSTER*(360.0/1024.0)))
 #define HOKUYO_CLUSTER_TO_RAD(x) (M_PI/180 * (113.0)-(x*HOKUYO_BEAMS_IN_CLUSTER*((2*M_PI)/1024.0)))
 
 #define HOKUYO_DEVICE "/dev/ttyPSC2"   // /dev/ttyACM0