Revision dd065971

View differences:

scout/scoutsim/src/scout.cpp
268 268
            if (d_x < 0 || d_x >= walls_image.GetWidth() ||
269 269
                d_y < 0 || d_y >= walls_image.GetHeight())
270 270
            {
271
                return d;
271
                break;
272 272
            }
273 273

  
274 274
            // Max range
275
            if (d > scoutsim::SONAR_MAX_RANGE)
275
            if (d > scoutsim::SONAR_MAX_RANGE_PIX)
276 276
            {
277
                return d;
277
                break;
278 278
            }
279 279

  
280 280
            // Get the sonar reading at the current position of the sonar
......
284 284
    
285 285
            reading = rgb_to_grey(r, g, b);
286 286
        
287

  
288 287
            d++;
289 288
        }
290 289
        /// @todo Consider using different cutoffs for different features
......
324 323
        }
325 324

  
326 325
        // Convert from pixels to mm and return
327
        return (unsigned int) (1000 * d / PIX_PER_METER);
326
        return (unsigned int) ((1000 / PIX_PER_METER) * d);
328 327
    }
329 328

  
330 329
    // x and y is current position of the sonar
scout/scoutsim/src/scout_constants.h
76 76
    // @todo Inaccurate. Update
77 77
    const float ENCODER_TICKS_PER_METER = 363.78;
78 78

  
79
    const unsigned int SONAR_MAX_RANGE = 255;
79
    // @todo Update this
80
    const float SONAR_MAX_RANGE_M = 9.144;
81
    const unsigned int SONAR_MAX_RANGE_PIX = (unsigned int)
82
        (SONAR_MAX_RANGE_M * PIX_PER_METER);
80 83

  
81 84
    // Time it takes for the sonar to spin from position 0 to position 23
82 85
    const float SONAR_HALF_SPIN_TIME = 0.5;

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