//////////////////////////////////////////////////////////////// 
// 
// PURPOSE: This contains ServoModule parameters for Tethys.
//
// NOTES:   All values (except "strings") must be followed by
//          a unit abbreviation (or one of the unit-like
//          abbreviations: n/a, bool, enum, count). 
// 
//////////////////////////////////////////////////////////////// 

   // General control surface limits
   mtrLimitHi            = 16369 count;       // High physical limit for motor controllers
   mtrLimitLo            = 0 count;           // Low physical limit for motor controllers

   BuoyancyServo_enable      = 1 bool;
   BuoyancyServo_useHardware = 0 bool;
   
   buoyancyCurrLimit     = 100 %;            // Percent of current allowed
   buoyancyOvrloadTmout  = 10000 ms;          // ms until an overload is reported   
   buoyancyPIDw          = 1500 count;
   buoyancyPIDx          = 0 count;
   buoyancyPIDy          = 3000 count;
   buoyancyVelocity      = 800 n/a;
   buoyancyAccel         = 800 n/a;
   buoyancyCountsPerCC   = 7.446016 count/cc;// counts on the A/D per ml of fluid pumped
   buoyancyLimitHi       = 8200 count;       // High physical limit for motor controllers
   buoyancyLimitLo       = 475  count;       // Low physical limit for motor controller  
   buoyancyDeviation     = 10.0 cc;          // Number of ml deviation allowed between expected and actual   
   buoyancyCheckingTimeout = 5.0 min;        // If the buoyancy is idling, this is how often to check for actual position. If there's a leak. This is when we'll find it. 


   ElevatorServo_enable      = 1 bool;
   ElevatorServo_useHardware = 0 bool;
   ElevatorServo_offset      = 0 degree;      

   // Elevator motor controller values
   elevCountsPerDeg      = 454.666 count/arcdeg; //195; //motor "ticks" per degree of control surface motion
   elevMtrCenter         = 8184 count;           //0 degrees "centered" control surface
   elevPIDw              = 1500 count;            // Proportional gain
   elevPIDx              = 100 count;            // Integral gain
   elevPIDy              = 400 count;            // Differential gain
   elevCurrLimit         = 10 %;                 // Percent of current allowed
   elevDeviation         = .05 arcdeg;           // Number of degrees deviation allowed between expected and actual

   MassServo_enable      = 1 bool;
   MassServo_useHardware = 0 bool;

   // Mass shift motor controller values
   massCurrLimit         = 100 %;             // Percent of current allowed
   massOvrloadTmout      = 1000 ms;           // ms until an overload is reported
   massTks               = 250015 count;      // Total encoder ticks for full mass shift travel
   massTksPerMm          = 2465.8859 count/mm;// Number of ticks for one rotation (1 mm of travel)
   massAccel             = 20000 n/a;         // Encoder ticks / 32.768 per second squared
   massVelocity          = 60000 n/a;         // Encoder ticks / 32.768 per scond 
   massDeviation         = 0.05 mm;           // Deviation allowed between expected and actual
   massLimitHi           = 144180 count;      // High physical limit for mass motor controller
   massLimitLo           = -157965 count;     // Low physical limit for mass motor controller

   RudderServo_enable      = 1 bool;
   RudderServo_useHardware = 0 bool;
   RudderServo_offset      = 0 degree;   

   // Rudder motor controller values
   ruddCountsPerDeg      = 454.666 count/arcdeg;  //130; 65; // motor "ticks" per degree of control surface motion
   ruddMtrCenter         = 8184 count;           // 0 degrees "centered" control surface
   ruddPIDw              = 500 count;            // Proportional gain
   ruddPIDx              = 100 count;            // Integral gain
   ruddPIDy              = 400 count;            // Differential gain
   ruddCurrLimit         = 10 %;                 // Percent of current allowed
   ruddDeviation         = .25 arcdeg;           // Number of degrees deviation allowed between expected and actual
// NOTE: For rudder/elevator velocity can currently be set as high as 2000000 with acceleration at 4000. 08/11/209 - Kieft

   ThrusterServo_enable      = 1 bool;
   ThrusterServo_useHardware = 0 bool;

   // Thruster motor controller values
   thrustCurrLimit       = 50 %;             // Percent of current allowed
   thrustPIDw            = 8000 count;
   thrustPIDx            = 100 count;
   thrustPIDy            = 60000 count;
   thrustTimeout         = 1000 ms;           // Timeout in ms to wait before throwing overload error
   thrustAccel           = 1 n/a;             // Encoder ticks / 32.768 per second squared   
   thrustEncoderTks      = 32.768 count/s;    // encoder tick/second multiplier
   tksPerRev             = 32 count/rev;      // encoder ticks/revolution as seen by the controller
                                              // when feeding back HALL A&B to the encoder inputs
   thrustDeviation       = 25 count;          // Number of encoder ticks deviation allowed between expected and actual
   allowableBadVelocity  = 5 count;           // Number of bad "getVelocity" readings allowed before throwing a fault.
   // NOTE: 10" prop = .187706 m per revolution in wake
   // 300 rpm == 1m/sec and 150 rpm == .5m/sec. See propPitch