//////////////////////////////////////////////////////////////// 
// 
// PURPOSE: This contains ServoModule parameters for Makai.
//
// 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.fastPumpDepth    = 6 meter;  // Max depth for pumping at a fast rate

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

MassServo.loadAtStartup        = 1 bool;
MassServo.simulateHardware     = 0 bool;
MassServo.limitHi              = 443407 count;       // High physical limit for mass motor controller
MassServo.limitLo              = -453367 count;      // Low physical limit for mass motor controller

RudderServo.loadAtStartup      = 1 bool;
RudderServo.simulateHardware   = 0 bool;
RudderServo.offsetAngle        = 1.5 degree;

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

ThrusterServo.loadAtStartup    = 0 bool;
ThrusterServo.simulateHardware = 0 bool;
ThrusterServo.currLimit        = 30 %;              // Percent of current allowed. Reduced following coupling slippage 07/2015