////////////////////////////////////////////////////////////////
//
//  Copyright (c) 2024 MBARI
//  MBARI Proprietary Information. Confidential. All Rights Reserved
//  Unauthorized copying or distribution of this file via any medium is strictly
//  prohibited.
//
//  WARNING - This file contains information whose export is restricted by the
//  Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
//  amended. Violations of these export laws are subject to severe civil and/or
//  criminal penalties.
//
//////////////////////////////////////////////////////////////// 
// 
// PURPOSE: This contains ServoModule parameters for Ahi.
//
// NOTES:   All values (except "strings") must be followed by
//          a unit abbreviation (or one of the unit-like
//          abbreviations: n/a, bool, enum, count). 
// 
//////////////////////////////////////////////////////////////// 

   BuoyancyServo.loadAtStartup      = 1 bool;
   BuoyancyServo.simulateHardware = 0 bool;
   BuoyancyServo.offsetVolume    = 490 cc;        // Offset of position of motor
   BuoyancyServo.limitHi         = 11500 count;   // High physical limit for
   BuoyancyServo.limitLo         = 3800  count;   // Low physical limit for

   ElevatorServo.loadAtStartup      = 1 bool;
   ElevatorServo.simulateHardware = 0 bool;
   ElevatorServo.offsetAngle      = 0 degree;   

   MassServo.loadAtStartup      = 1 bool;
   MassServo.simulateHardware = 0 bool;

   RudderServo.loadAtStartup      = 1 bool;
   RudderServo.simulateHardware = 0 bool;
   RudderServo.offsetAngle      = -1 degree;

   ThrusterHE.loadAtStartup        = 1 bool;
   ThrusterHE.simulateHardware     = 0 bool;

   ThrusterServo.loadAtStartup    = 0 bool;
   ThrusterServo.simulateHardware = 0 bool;
   ThrusterServo.currLimit        = 30 %; // Percent of current allowed