robofsm: Decrease hokuyo range when touching target.

diff --git a/src/robofsm/sub-states.cc b/src/robofsm/sub-states.cc
index ad2cbef5c0a6bcf9677ab998d6a2551ee185a1da..938e8af1d9f434f60010ed81bd07123cbe000ce5 100644 (file)
--- a/src/robofsm/sub-states.cc
+++ b/src/robofsm/sub-states.cc
@@ -55,7 +55,7 @@ void get_hokuyo_min(double *alpha, double *minimum)
 
         for (int i = 0; i < HOKUYO_ARRAY_SIZE; i++) {
                 beta = HOKUYO_INDEX_TO_RAD(i);
-                if((beta < (-70.0 / 180.0 * M_PI)) || ((beta > (70.0 / 180.0 * M_PI))))
+                if((beta < (-50.0 / 180.0 * M_PI)) || ((beta > (50.0 / 180.0 * M_PI))))
                         continue;
 
                 if(data[i] > HOK_MIN_MM && data[i] < HOK_MAX_MM) {