fixed angle macro and changer DEVICE to /dev/ttyPSC2

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

diff --git a/src/hokuyo/hokuyo.h b/src/hokuyo/hokuyo.h
index f31dbfb07f0c17d70b8a694621a9ee31cf2eac9c..088c6aa05075759301c4510c99db000ec2675cf0 100644 (file)
--- a/src/hokuyo/hokuyo.h
+++ b/src/hokuyo/hokuyo.h
@@ -7,8 +7,9 @@
 #define HOKUYO_CLUSTER_CNT 17
 
 #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_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
 
 int hokuyo_get_scan();
 void scan_publisher_callback(const ORTESendInfo *info, void *vinstance, void *arg);