Hokuyo: center offset and conversion from indices to angle updated

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

diff --git a/src/hokuyo/hokuyo.h b/src/hokuyo/hokuyo.h
index 0b10a28f687f2b63f408c3a9967c2bbb01dc3474..89fc95dfa9a91cd49e09d22c62ef040683e7d050 100644 (file)
--- a/src/hokuyo/hokuyo.h
+++ b/src/hokuyo/hokuyo.h
@@ -10,7 +10,7 @@
 #define HOKUYO_INITIAL_MEASUREMENT 44
 #define HOKUYO_FINAL_MEASUREMENT 725
 
-#define HOKUYO_INDEX_TO_DEG(x) (-113.0+(x)*360.0/HOKUYO_SPLIT_DIVISION)
+#define HOKUYO_INDEX_TO_DEG(x) ((239.77/2)-(x)*360.0/HOKUYO_SPLIT_DIVISION)
 #define HOKUYO_INDEX_TO_RAD(x) (HOKUYO_INDEX_TO_DEG(x)/180.0*M_PI)
 
 #endif //HOKUYO_H