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@@ -142,7 +142,7 @@ class OpticalSensor():
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centerX_perc, distance_perc = values
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centerX_perc, distance_perc = values
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visible_width_at_y = self.target_distance / distance_perc
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visible_width_at_y = self.target_distance / distance_perc
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- x = self.x_offset - self.field_width/2 + visible_width_at_y * centerX_perc
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+ x = self.x_offset + visible_width_at_y * (centerX_perc-0.5)
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alpha = (self.fov/2) / 180 * math.pi
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alpha = (self.fov/2) / 180 * math.pi
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beta = (90 - self.fov/2) / 180 * math.pi
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beta = (90 - self.fov/2) / 180 * math.pi
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y = visible_width_at_y/2 / math.sin(alpha) * math.sin(beta)
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y = visible_width_at_y/2 / math.sin(alpha) * math.sin(beta)
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