//////////////////////////////////////////////////////////////// 
// 
// PURPOSE: This contains ServoModule parameters for Daphne.
//
// 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;

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

   MassServo.loadAtStartup    = 1 bool;
   MassServo.simulateHardware = 0 bool;
   MassServo.velocity         = 425000 n/a; // Encoder ticks / 32.768 per scond for a 84:1 gearbox
   MassServo.tksPerMM         = 10901.811 count/mm; // With a 84:1 gearbox, number of ticks for one rotation
   MassServo.limitHi          = 327054 count;      // High physical limit for mass motor controller
   MassServo.limitLo          = -403367 count;     // Low physical limit for mass motor controller
   

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

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