X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/blobdiff_plain/893cf3d29c318d7444e7caa1609ebbf7948636be..269834d52b36bd0c8ceeaf30295ed754e61eb025:/src/robodim/robodim.h

diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index d85f3d18..edf31602 100644
--- 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