#pragma once

const float ACCEL_LIMIT = 7.0; // cm/s/s
const float VEL_LIMIT = 8.0; // cm/s
const float WHEEL_DIAMETER = 6.61; // cm
const float WHEEL_TO_WHEEL = 8.6; // cm

// centimeters per second to rpm
const float CMS_RPM = 60.0 / (PI*WHEEL_DIAMETER);

// degrees to centimeters
const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0;

//const float FORWARD_DISTANCE = 73.0; // cm
const float FORWARD_DISTANCE = 40.0; // cm
const float TURN_AMOUNT = 146.0; // degrees
const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;

const float KP = 1.30; // proportional
const float KI = 0.20; // integral
const float KD = 0.01; // derivative
const float Kv = 1.5; // onboard velocity feedforward
const float KPP = 0.0; // position proportional
const float KPI = 0.0; // position integral
const float KRP = 0.0; // rotation proportional