From a29c852daaa5e894259bc7db778a3c107a7e686a Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Sat, 6 Dec 2025 14:51:03 -0500
Subject: [PATCH] factored out constants

---
 robot_controller/constants.h          | 12 ++++++++++++
 robot_controller/robot_controller.ino | 12 +-----------
 2 files changed, 13 insertions(+), 11 deletions(-)
 create mode 100644 robot_controller/constants.h

diff --git a/robot_controller/constants.h b/robot_controller/constants.h
new file mode 100644
index 0000000..9fcfd45
--- /dev/null
+++ b/robot_controller/constants.h
@@ -0,0 +1,12 @@
+#pragma once
+
+const float ACCEL_LIMIT = 4.0; // cm/s/s
+const float VEL_LIMIT = 16.0; // cm/s
+const float BACKLASH_RIGHT = 0.0; // degrees
+const float BACKLASH_LEFT = 0.0; // degrees
+const float WHEEL_DIAMETER = 6.37; // cm
+const float WHEEL_TO_WHEEL = 0.0; // cm
+
+const float FORWARD_DISTANCE = 100.0; // cm
+const float TURN_AMOUNT = 180.0; // degrees
+const float RETURN_DISTANCE = 100.0; // cm
diff --git a/robot_controller/robot_controller.ino b/robot_controller/robot_controller.ino
index 10e0ed7..cf9f5fa 100644
--- a/robot_controller/robot_controller.ino
+++ b/robot_controller/robot_controller.ino
@@ -3,17 +3,7 @@
 #include <smartmotor.h>
 #include <SMC_gains.h>
 #include "trapezoidal.h"
-
-const float ACCEL_LIMIT = 4.0; // cm/s/s
-const float VEL_LIMIT = 16.0; // cm/s
-const float BACKLASH_RIGHT = 0.0; // degrees
-const float BACKLASH_LEFT = 0.0; // degrees
-const float WHEEL_DIAMETER = 6.37; // cm
-const float WHEEL_TO_WHEEL = 0.0; // cm
-
-const float FORWARD_DISTANCE = 100.0; // cm
-const float TURN_AMOUNT = 180.0; // degrees
-const float RETURN_DISTANCE = 100.0; // cm
+#include "constants.h"
 
 SmartMotor left_motor(0x0A); 
 SmartMotor right_motor(0x0B);