ROBOT_DEMO: limit HOKUYO range

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java b/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java
index 185805efc284ad03eb5aa9fecdc536d99c80819e..dd6c18332fbf380e1990eb5428f9fed1ea22a240 100644 (file)
--- a/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java
@@ -71,7 +71,11 @@ public class HokuyoView extends View {
                                                path.reset();
                                                path.moveTo(getWidth()/2, getHeight());
                                                for(int i = HOKUYO_INDEX_LOWER+1; i <= HOKUYO_INDEX_UPPER; i++) {
+                                                       if (data[i] > 4000)
+                                                               data[i] = 4000;
                                                        data[i] = (int)(((double)data[i]/4000)*norm);
+                                                       if (data[i] < 5)
+                                                               data[i] = 5;
                                            int x = (int)(getWidth()/2) - (int)(data[i] * Math.sin(HOKUYO_INDEX_TO_RAD(i)));
                                            int y = getHeight() - (int)(data[i] * Math.cos(HOKUYO_INDEX_TO_RAD(i)));
                                                        path.lineTo(x, y);