From: Michal Vokac Date: Tue, 8 May 2012 15:50:57 +0000 (+0200) Subject: robodim: Update hokuyo range + add hokuyo orientation definition. X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/269834d52b36bd0c8ceeaf30295ed754e61eb025?hp=f6d9d38a06539df85531d6f49723d4347b11d707 robodim: Update hokuyo range + add hokuyo orientation definition. --- diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h index 1e687f85..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)