robodim: Update hokuyo range + add hokuyo orientation definition.

diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index 1e687f8578622f60a87d4aed9a29003903cec822..edf3160277c7a3248cc31327e9925fd8d33e6f3e 100644 (file)
--- 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)