Calculating the angle of the nearest obstacle from the Hokuyo rangefinder

Now that you can obtain the range magnitude and angle arrays from the Hokuyo LabVIEW VI, here’s a little subVI to help identify where the nearest obstacle is.  Keep in mind, 0 degrees is straight ahead, positive angles are towards the left side of the sensor, and negative angles are towards the right side of the sensor.  You can add it to the Hokuyo VI like this:

LIDAR Max and Min.vi