#define ROBOT_HEIGHT_MM (ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM)
#define ROBOT_HEIGHT_M (ROBOT_HEIGHT_MM / 1000.0)
-#define HOKUYO_CENTER_OFFSET_MM 70.0
+#define HOKUYO_CENTER_OFFSET_MM 180.0
#define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
-#define HOKUYO_RANGE_ANGLE_LEFT 120.0 /* view angle in degrees from center axis */
-#define HOKUYO_RANGE_ANGLE_RIGHT 120.0
-#define HOKUYO_ORIENTATION (-1) /* 1 = screws up, -1 = screws down */
+#define HOKUYO_RANGE_ANGLE_LEFT 70.0 /* view angle in degrees from center axis */
+#define HOKUYO_RANGE_ANGLE_RIGHT 70.0
+#define HOKUYO_ORIENTATION (1) /* 1 = screws up, -1 = screws down */
#define ODOMETRY_WHEEL_RADIUS_MM 30.0
#define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)