robodim: Update hokuyo range + add hokuyo orientation definition.

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

diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index d85f3d18e37437a7e2f4fb001986affd294d8491..edf3160277c7a3248cc31327e9925fd8d33e6f3e 100644 (file)
--- a/src/robodim/robodim.h
+++ b/src/robodim/robodim.h
@@ -51,9 +51,10 @@
 
 #define HOKUYO_CENTER_OFFSET_MM 180
 #define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
-#define HOKUYO_RANGE_ANGLE_LEFT  70     /* view angle in degrees from center axis */
-#define HOKUYO_RANGE_ANGLE_RIGHT 70
+#define HOKUYO_RANGE_ANGLE_LEFT  120.0     /* view angle in degrees from center axis */
+#define HOKUYO_RANGE_ANGLE_RIGHT 120.0
 #define ODOMETRY_WHEEL_RADIUS_MM 30
+#define HOKUYO_ORIENTATION       (-1)   /* 1 = screws up, -1 = screws down */
 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
 #define ODOMETRY_ROTATION_RADIUS_MM (284/2)
 #define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
@@ -103,7 +104,7 @@
  */
 #define PLAYGROUND_WIDTH_MM    3000
 #define PLAYGROUND_WIDTH_M     (PLAYGROUND_WIDTH_MM/1000.0)
-#define PLAYGROUND_HEIGHT_MM   2100
+#define PLAYGROUND_HEIGHT_MM   2000
 #define PLAYGROUND_HEIGHT_M    (PLAYGROUND_HEIGHT_MM/1000.0)
 
 #define SLOPE_TO_RIM_MM                740
@@ -120,8 +121,8 @@
 #define BLOCK_WIDTH_MM                 400
 #define BLOCK_HEIGHT_MM                        22
 
-#define STARTAREA_WIDTH_MM             400
-#define STARTAREA_HEIGHT_MM            400
+#define STARTAREA_WIDTH_MM             500
+#define STARTAREA_HEIGHT_MM            500
 
 #define DISPENSING_WIDTH_MM            400
 #define DISPENSING_HEIGHT_MM           1678