FILTEROFFSET = -200  # this is the offset from where "filter" lands and the puck at the center of the clamp
ARMBACKOFF = 1000  # how far the arm should move after the clamp has grabbed the puck

PICKPLUS = 100    # how far to shift the cylinder after first attempt at acquiring puck
PICKMINUS = -100  # how far to shift the cylinder after second attempt at acquiring puck

# Pick position + this many counts to move arm suction cup against puck
GRABATCYL_OFFSET=-2000


SYSTEMVOLTAGE = (41.0/4096.0)           # Counts to volts
SYSTEMCURRENT = (3.3/(0.1275*4096.0))   # Counts to amps

# pressure sensor calibration
PRESS0_PLOW = 0     # zero reading PSI
PRESS0_PHIGH = 12   # max reading PSI
PRESS0_CLOW = 740   # counts at reading zero
PRESS0_CHIGH = 3592 # counts at max reading

# Flow sensor calibrations. 
VOLUME_UNITS = 2.21517E-08   # flow sensor volume units per count
VOLUME_OFFSET = 1000.0       # from flow calibration spreadsheet
VOLUME_COUNTER_FREQ = 14686  # this is 80MHz/(PSC+1) for timer 3
VOLUME_COUNTER_PSC = 5446    # this is PSC for above

# polynomial values for the force resistor,
# calibrated for each force sensor serial number
FORCESN="06"    # if this stays at "00", the code will not run.
FORCEA=1.91e-5  # This and the FORCE must be updated on the Flash drive with
FORCEB=2.46e-3  # the correct values for the coeffience of the
FORCEC=-29.177  # installed Force Resistor in the clamp

# Calibration information for distance sensor, specific to each unit
# New Puck Counter Calibration Parameters
# These values are set during calPuck() calibration process
# Default values until calibration is performed
PUCK_COUNTER_SCALE_NUMERATOR = 213  # Default: same as PHYSICAL_DISTANCE_MM
PUCK_COUNTER_SCALE_DENOMINATOR = 1000  # Default placeholder
PUCK_COUNTER_OFFSET_COUNTS = 0  # Default placeholder