hokuyo: Cleanup and added TODO

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

diff --git a/src/hokuyo/hokuyo.h b/src/hokuyo/hokuyo.h
index 51404fe755d7921170d47135c17dc124d0249507..e2f945b3dec6f5ffe82809969144a10763fb6182 100644 (file)
--- a/src/hokuyo/hokuyo.h
+++ b/src/hokuyo/hokuyo.h
@@ -1,17 +1,8 @@
 #ifndef HOKUYO_H
 #define HOKUYO_H
 
-#include <orte.h>
+#include <robottype.h>
 
-#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_RAD(x) (HOKUYO_CLUSTER_TO_DEG(x)/180*M_PI)
-
-#define HOKUYO_DEVICE "/dev/ttyACM0"   // /dev/ttyACM0
-
-int hokuyo_get_scan();
-void scan_publisher_callback(const ORTESendInfo *info, void *vinstance, void *arg);
+#define HOKUYO_ARRAY_SIZE (sizeof(((struct hokuyo_scan_type*)0)->data) / sizeof(((struct hokuyo_scan_type*)0)->data[0]))
 
 #endif //HOKUYO_H