const double 	WINCH_COUNTSPERREV 		= 4096.0;	//Winch motor resolver counts per revolution
const double 	WINCH_GEARRATIO			= 220.0;	//Winch gear ratio
const double 	LW_COUNTSPERREV			= 4096.0;	//Levelwind motor resolver counts per revolution
const double 	LW_GEARRATIO			= 100.0;	//Winch gear ratio
const uint32_t 	CABLELR_ARRAY_LENGTH	= 10;		//Length of array (and integration time) for cable L/R switch values
const int32_t 	EOTLEFT_MODE_TEST		= 3;		//How many EOT Left switch closures in a row are required to enter EOT Left mode
const int32_t 	EOTRIGHT_MODE_TEST		= 3;		//How many EOT Left switch closures in a row are required to enter EOT Left mode
const int32_t 	exitEOTLEFT_TEST		= 3;		//How many EOT Right switch closures in a row are required to exit EOT Left mode
const int32_t	exitEOTRIGHT_TEST 		= 3;		//How many EOT Left switch closures in a row are required to exit EOT Right mode

const double lwElmoAG2 				= 44500.0;	//Elmo analog input scale factor: counts/sec per volt
const double lwElmoAS1 				= 2.0;		//Elmo analog input offset: volts

const double wmElmoAG2 				= 44500.0;	//Elmo analog input scale factor: Amps per volt
const double wmElmoAS1 				= 2.0;		//Elmo analog input offset: volts

const double voltageDividerRatio	= 6.0;

const uint32_t TV_SEC = 0;
const uint32_t TV_uSEC = 100000;

const double lwTi = 0.01;			//Integral time constant
const double lwK = 1.5;			//Controller gain
const double lwTd = 1.0;			//Derivative time constant
const double lwN = 8.0;			//Derivative smoothing factor
const double lwB = 1.0;			//Setpoint weight
const double lwUmax = 2.0;		//Maximum output value
const double lwUmin = -2.0;		//Minimum output value

const double wmTi = 0.01;			//Integral time constant
const double wmK = 1.5;				//Controller gain
const double wmTd = 1.0;			//Derivative time constant
const double wmN = 8.0;				//Derivative smoothing factor
const double wmB = 1.0;				//Setpoint weight
const double wmUmax = 2.0;		//Maximum output value
const double wmUmin = -2.0;		//Minimum output value

const double wmPeakCurrentLimit = 10.0;