using System;
using Microsoft.SPOT;

namespace miniCPF
{
    class configFile
    {
        //State timeout values
        public static int initializeTimeout = 1000;                     //all timeout values are in msec
        public static int presetBellowsTimeout = 1000000;
        public static int preMissionDelayTimeout = 2000;
        public static int surfaceOpsTimeout = 3000000;
        public static int ABSetBellowsTimeout = 240000;
        public static int ABRetractTimeout = 180000;
        public static int descendTimeout = 900000;
        public static int descendParkTimeout = 300000;
        public static int anchorTimeout = 5000;
        public static int deAnchorTimeout = 5000;
        public static int ascendTimeout = descendTimeout;
        public static int ascendParkTimeout = descendParkTimeout;
        public static int surfaceTimeout = 300000;

        public static int SMSleepPeriod = 1000;                     //msec

        //SBE41 stuff
        public static int SBE41SamplePeriod = 2000;                 //msec
        public static double hitBottomAccThreshold = 1.0;
        public static double maxPressure = 500.0;                   //dBar

        //Buoyancy control holdVelocity constants
        public const double KVel = 30.0,                        //Constant for P term of PID
                            TiVel = 50000.0,                    // Time constant for I term of PID (in denominator, bigger values less I term in output
                            TdVel = 1.0,                        // Time constant for D term of PID
                            TfVel = 2.0,                        // Derivative filter time constant
                            TtVel = 100.0,                      // Anti-windup time constant
                            BVel = 1.0,                         // Setpoint weight
                            uLowVel = -3000.0 / 60.0,           // minimum possible output (RPS)
                            uHighVel = 3000.0 / 60.0,           // maximum possible output (RPS)
                            hVel = SBE41SamplePeriod / 1000.0;  // Sample period (seconds)

        //Pump motor encoder counts per revolution
        public const double COUNTSperREV = 500.0 * 4.0;      //500 Counts per Revolution *4 for quadrature interpolation

        //autoballast (AB) stuff
        public const double ABSetBellowsPosition = 72.0;
        public const int ABSetBellowsJV = 20000;
        public const int ABRetractJV = 5000;
        public const double ABVelocityThreshold = -0.05;

        //ADUC stuff
        public static int aducEnqueueDecimator = 15;

        public static double aducCH0Scale = (392000.0 + 10000.0) / 10000.0;
        public static double aducCH0Offset = 0.0;
        public const double minBatteryBusVolts = 28.0;

        //Emergency Ascend (EA) stuff
        public static int EAJV = 40000;
        public static double bellowsEAPosition = 75.0;
        public static TimeSpan EASendPeriod = new TimeSpan(0, 0, 15, 0);

        //Buyoancy control stuff
        public static double surfacePressure = -0.01;
        public static double minBellowsPosition = 40.0;
        public static double maxBellowsPosition = 78.0;
    }
}