- dist = self.get_dist_ir(0x1)
- self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.1, 0.8, 5)
+ dist = 30.553/(self.get_dist_ir(0x1) - -67.534)
+ self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 5)