constants.h

#ifndef CONSTANTS_H
#define CONSTANTS_H

#define CONN_OUTGOING_ADDR  "192.168.218.151"
#define CONN_LOCAL_PORT  "44326"
#define CONN_REMOTE_PORT "49203"

#define PID_KP              "20"
#define PID_KI              "0.1"
#define PID_KD              "1.5"
#define FEEDBACK_MIN_OFFSET "0.05"
#define FEEDBACK_MULTIPLIER "0.25"
#define FEEDFORWARD_MIN_OFFSET "0.05"
#define FEEDFORWARD_FRACTION "0.5"



#define DEFAULT_LINEAR_SPEED_LIMIT  0.2
#define DEFAULT_BEZIER_SEGMENTS 20
#define DEFAULT_ANGLE_ACCURACY 0.05
#define DEFAULT_DISTANCE_ACCURACY 0.25

#define DEFAULT_SHOW_ACTUAL_PATH false
#define DEFAULT_SHOW_PLANNED_PATH true
#define DEFAULT_SHOW_ROBOT_POINTER true
#define DEFAULT_SHOW_ROBOT_DIMENSIONS true
#define DEFAULT_SHOW_ROBOT_CELL true
#define DEFAULT_SHOW_PATH_FOLLOWING true

#define OCCUPANCY_THRESHOLD     50



//Settings names
#define SETTINGS_VELOCITY   "steering.v"
#define SETTINGS_BEZIER     "steering.bezier"
#define SETTINGS_ANGLE_ACC  "steering.angle"
#define SETTINGS_DIST_ACC   "steering.distance"
#define SETTINGS_IP         "ip"
#define SETTING_PID_P       "p"
#define SETTING_PID_I       "i"
#define SETTING_PID_D       "d"
#define SETTING_FEEDBACK_MIN_OFFSET "feedback.min_offset"
#define SETTING_FEEDBACK_MULTIPLIER "feedback.multiplier"
#define SETTING_FEEDFORWARD_MIN_OFFSET "feedforward.min_offset"
#define SETTING_FEEDFORWARD_FRACTION "feedforward.fraction"
#define SETTINGS_LOCAL_PORT  "port.local"
#define SETTINGS_REMOTE_PORT "port.remote"
#define SETTINGS_SHOW_ACTUAL_PATH "show.actual.path"
#define SETTINGS_SHOW_PLANNED_PATH "show.planned.path"
#define SETTINGS_SHOW_ROBOT_POINTER "show.robot.pointer"
#define SETTINGS_SHOW_ROBOT_DIMENSIONS "show.robot.dimensions"
#define SETTINGS_SHOW_ROBOT_CELL "show.robot.cell"
#define SETTINGS_SHOW_PATH_FOLLOWING "show.pathfollowing"


#endif // CONSTANTS_H