#pragma once

#include <Arduino.h>

/**
 * Kinematic parameters default to the spec sheet from Pololu. You'll need to fine
 * tune them.
 */
const float ROBOT_RADIUS = 14.7 / 2;
const float LEFT_TICKS_PER_CM = 1440.0 / (3.1416 * 4.0);
const float RIGHT_TICKS_PER_CM = 1440.0 / (3.1416 * 4.0);

/**
 * You can change the control loop period, but you should use multiples of 4 ms to 
 * avoid rounding errors.
 */
const uint16_t CONTROL_LOOP_PERIOD_MS = 20;
const float CONTROL_LOOP_PERIOD_S = CONTROL_LOOP_PERIOD_MS / 1000.;