using System;
using Microsoft.SPOT;

namespace abstractState
{
    public class configFile
    {
        public const double SOSetBellowsPosition = 65.0;
        public const int SOSetBellowsJV = 40000;

        public const double exitAnchorPressureThreshold = 5.0;

        public static TimeSpan instrumentSamplePeriod = new TimeSpan(0, 5, 0);



        public const double approachVel = 0.02;

        //SBE41 stuff
        public const int SBE41SamplePeriod = 3000;                 //msec
        public const double maxPressure = 120.0;                   //dBar
        public const int cpPressureCutoff = 1;                      //CP mode stops below this pressure in deciBars
        public static bool CPMode = true;                           //Puts SBE41 in CP mode during ascend state only

        //Emergency Ascend (EA) stuff
        public const int EAJV = 30000;
        public const double bellowsEAPosition = bellowsUpperLimit - 1.0;

        //Buoyancy control stuff
        public const double surfacePressure = 0.35;
        public const double bellowsLowerLimit = 23.9;
        public const double bellowsUpperLimit = 69.9;

        //autoballast (AB) stuff
        public const double ABSetBellowsPosition = 59.0;
        public const int ABSetBellowsJV = 20000;
        public const int ABRetractJV = 5000;
        public const double ABVelocityThreshold = -0.02;
        public const double ABPressureThreshold = 0.2;

        //Anchor stuff
        public const double deanchorVelocityThreshold = 0.007;
        public const int deanchorJV = 10000;

        //Buoyancy control holdVelocity constants
        public const double KPlatVel = 80.0,                        //Constant for P term of PID
                            TiPlatVel = 50000.0,                    // Time constant for I term of PID (in denominator, bigger values less I term in output
                            TdPlatVel = 10.0,                        // Time constant for D term of PID
                            TfPlatVel = 2.0,                        // Derivative filter time constant
                            TtPlatVel = 100.0,                      // Anti-windup time constant
                            BPlatVel = 1.0,                         // Setpoint weight
                            uLowPlatVel = -3000.0 / 60.0,           // minimum possible output (RPS)
                            uHighPlatVel = 3000.0 / 60.0,           // maximum possible output (RPS)
                            hPlatVel = SBE41SamplePeriod / 1000.0;  // Sample period (seconds)

        //Buoyancy control holdPressure constants
        public const double KPressure = 0.6,                        //Constant for P term of PID
                            TiPressure = 1000000.0,                    // Time constant for I term of PID (in denominator, bigger values less I term in output
                            TdPressure = 0.2,                        // Time constant for D term of PID
                            TfPressure = 2.0,                        // Derivative filter time constant
                            TtPressure = 1000000.0,                      // Anti-windup time constant
                            BPressure = 1.0,                         // Setpoint weight
                            uLowPressure = -3000.0 / 60.0,           // minimum possible output (RPS)
                            uHighPressure = 3000.0 / 60.0,           // maximum possible output (RPS)
                            hPressure = SBE41SamplePeriod / 1000.0;  // Sample period (seconds)
    }
}