/* ROVSYS.H  Rover System Parameters */

/*  Calibration Coeficients  */

#define BATTVOLTCAL  661.4E-6;
#define HPCURRCAL  1.8925E-3;
#define LPCURRCAL  1.8925E-2;
#define GFVOLTCAL  305.2E-6;
#define TILTXCAL  312.5;
#define TILTYCAL  312.5;
#define CMVANECAL 45.5;
#define ODOCAL  20;


/* Timeouts */

#define TURN_TIMEOUT		60   /* Seconds */
#define TRANSIT_TIMEOUT         180
#define RACK_TIMEOUT            600

/* TPU Channel Assignments */

#define		FILMCAM		1
#define		AUXOUT		2
#define		LEADSCREW2	3
#define		LEADSCREW1	4
#define		ODOMETER	5
#define		CMMOT_SHAFT	6
#define		TRANSPOND_IN	7
#define		TRANSPOND_OUT	8
#define		CMROTOR		9
#define		CMROTOR_PWR	10
#define		CMVANE_PWR	11
#define		TPU_SER_TX	12
#define		TPU_SER_RX	13


/* Power Relay Board Definitions */

#define 	MOT1A	0x1   /* Sets pin 1 of output port */
#define		MOT1B	0x2
#define 	MOT2A	0x4
#define		MOT2B	0x8
#define 	AUX1	0x10
#define		AUX2	0x20
#define 	AUX3	0x40  /* Sets pin 7 of output port */


/* Power Control Board Definitions */

#define		POWER1		0x1
#define		POWER2   	0x2
#define		POWER3		0x4
#define		POWER4 		0x8
#define		POWER5  	0x10
#define		POWER6  	0x20
#define		POWER7 		0x40
#define		POWER8 		0x80


/* Input Port Definitions */

#define		RACKUP		0x1
#define		LIMITPAD1	0x2
#define		LIMITPAD2	0x4
#define		LIMITUP		0x8
#define		LIMITDWN	0x10
#define		CMLIMIT 	0x20

/* FILMCAM PARAMETERS */

#define		TRIGGER_TIME	150   /* msec */

/* TRANSPONDER PARAMETERS */

#define		PING_INTERVAL	500   /* msec */