////////////////////////////////////////////////////////////////
//
//  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 Whoidhs.
//
// 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.limitHi          = 9600 count; // Low physical limit for motor controller per 06/28/2018 calibration
BuoyancyServo.limitLo          = 1200 count; // Low physical limit for motor controller per 06/28/2018 calibration
BuoyancyServo.offsetVolume     = 200  cc;

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        = 0 degree;

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

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