/******************************************************************************/
/* Copyright 1992 MBARI                                                       */
/******************************************************************************/
/* Summary  : User Interface Module Definitions for Tiburon Control System    */
/* Filename : interface.h                                                     */
/* Author   : Janice Tarrant                                                  */
/* Project  : Tiburon                                                         */
/* Version  : Version 1.0                                                     */
/* Created  : 09/02/92                                                        */
/* Modified : 06/14/94                                                        */
/* Archived :                                                                 */
/******************************************************************************/
/* Modification History :                                                     */
/* $Header: interface.h,v 1.1 97/12/04 15:28:15 oreilly Exp $
 * $Log:        interface.h,v $
 * Revision 1.1  97/12/04  15:28:15  15:28:15  oreilly (Thomas C. O'Reilly)
 * Initial revision
 *
 *
 */
/******************************************************************************/

#ifndef ROV_CONTROL_INTERFACE_H
#define ROV_CONTROL_INTERFACE_H

#define X_VELOCITY_MAX       1.056      /* max x (horizontal) velocity (m/s)  */
#define Y_VELOCITY_MAX       0.752      /* max y (lateral) velocity (m/s)     */
#define Z_VELOCITY_MAX       0.692      /* max z (vertical) velocity (m/s)    */
#define HEADING_VELOCITY_MAX 0.706      /* max heading velocity (rad/s)       */

#define X_SCALE            1024         /* x command scale factor             */
#define Y_SCALE            1024         /* y command scale factor             */
#define Z_SCALE            1024         /* z command scale factor             */
#define HEADING_SCALE      1024         /* heading command scale factor       */

#define X_DEFLECTION1       0.1         /* x cmd 1st deflection region limit  */
#define Y_DEFLECTION1       0.1         /* y cmd 1st deflection region limit  */
#define Z_DEFLECTION1       0.1         /* z cmd 1st deflection region limit  */
#define HEADING_DEFLECTION1 0.1         /* heading cmd 1st defl'n region limit*/

#define X_DEFLECTION2       0.7         /* x cmd 2nd deflection region limit  */
#define Y_DEFLECTION2       0.7         /* y cmd 2nd deflection region limit  */
#define Z_DEFLECTION2       0.7         /* z cmd 2nd deflection region limit  */
#define HEADING_DEFLECTION2 0.7         /* heading cmd 2nd defl'n region limit*/

#define X_THRUST1          0.1          /* x command first thrust region limit*/
#define Y_THRUST1          0.1          /* y command first thrust region limit*/
#define Z_THRUST1          0.1          /* z command first thrust region limit*/
#define HEADING_THRUST1    0.1          /* heading cmd 1st thrust region limit*/

#define X_THRUST2          0.4          /* x command 2nd thrust region limit  */
#define Y_THRUST2          0.4          /* y command 2nd thrust region limit  */
#define Z_THRUST2          0.4          /* z command 2nd thrust region limit  */
#define HEADING_THRUST2    0.4          /* heading cmd 2nd thrust region limit*/

#define X_THRUST_MAX       2435         /* maximum x vehicle thrust (N)       */
#define Y_THRUST_MAX       2490         /* maximum y vehicle thrust (N)       */
#define Z_THRUST_MAX       2435         /* maximum z vehicle thrust (N)       */
#define HEADING_THRUST_MAX 2490         /* maximum heading vehicle thrust (N) */

/*#define X_THRUST_MAX       2191*/             /* maximum x vehicle thrust (N)       */
/*#define Y_THRUST_MAX       2240*/             /* maximum y vehicle thrust (N)       */
/*#define Z_THRUST_MAX       2191*/             /* maximum z vehicle thrust (N)       */
/*#define HEADING_THRUST_MAX 2240*/             /* maximum heading vehicle thrust (N) */

#define COMMAND_ERROR      0.01         /* acceptable error in command (* max)*/

#endif