From 269834d52b36bd0c8ceeaf30295ed754e61eb025 Mon Sep 17 00:00:00 2001 From: Michal Vokac Date: Tue, 8 May 2012 17:50:57 +0200 Subject: [PATCH] robodim: Update hokuyo range + add hokuyo orientation definition. --- src/robodim/robodim.h | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) 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) -- 2.39.2