robodim: update robot and target dimensions

diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index 30373676c0b3730c59c1873960ec32c391b37a8a..c8e31deb9d974542b00b44a75d50396dcabfeaa0 100644 (file)
--- a/src/robodim/robodim.h
+++ b/src/robodim/robodim.h
@@ -34,7 +34,7 @@
  *
  */
 
-#define ROBOT_WIDTH_MM 280     /* W*/
+#define ROBOT_WIDTH_MM 300     /* W*/
 #define ROBOT_WIDTH_M (ROBOT_WIDTH_MM/1000.0)
 #define ROBOT_ROTATION_RADIUS_MM ((230.0)/2.0) /* RR */
 #define ROBOT_ROTATION_RADIUS_M (ROBOT_ROTATION_RADIUS_MM/1000.0)
@@ -49,8 +49,8 @@
 
 #define HOKUYO_CENTER_OFFSET_MM         180.0
 #define HOKUYO_CENTER_OFFSET_M (HOKUYO_CENTER_OFFSET_MM/1000.0)
-#define HOKUYO_RANGE_ANGLE_LEFT  70.0     /* view angle in degrees from center axis */
-#define HOKUYO_RANGE_ANGLE_RIGHT 70.0
+#define HOKUYO_RANGE_ANGLE_LEFT  40.0     /* view angle in degrees from center axis */
+#define HOKUYO_RANGE_ANGLE_RIGHT 40.0
 #define HOKUYO_ORIENTATION       (-1)   /* 1 = screws up, -1 = screws down */
 
 #define SICK_CENTER_OFFSET_MM         180.0
@@ -96,7 +96,7 @@
 /**
  * TARGET DIMENSIONS
  */
-#define TARGET_RADIUS_MM     125
+#define TARGET_RADIUS_MM     5
 #define TARGET_RADIUS_M      (TARGET_RADIUS_MM/1000.0)
 
 struct sharp_pos {