/* PUMA FORCE CONSTANTS, created with the program 'constants'. */
#ifndef PUMAFORCE
#define PUMAFORCE


#define CP20	0.000000
#define CP21	5.510000
#define CP30	-1.740000
#define CP50	-0.190000

#define RESISTOR1 0.301
#define RESISTOR2 0.300
#define RESISTOR3 0.302
#define RESISTOR4 0.821
#define RESISTOR5 0.821
#define RESISTOR6 0.816

#define ADCVOLTS1 0.0011111
#define ADCVOLTS2 0.0011111
#define ADCVOLTS3 0.0011111
#define ADCVOLTS4 0.0011111
#define ADCVOLTS5 0.0011111
#define ADCVOLTS6 0.0011111

#define ADC_TO_CUR1 0.0036914
#define ADC_TO_CUR2 0.0037037
#define ADC_TO_CUR3 0.0036791
#define ADC_TO_CUR4 0.0013533
#define ADC_TO_CUR5 0.0013533
#define ADC_TO_CUR6 0.0013616

#define TORSENS1 -0.073
#define TORSENS2 -0.075
#define TORSENS3 -0.079
#define TORSENS4 -0.036
#define TORSENS5 -0.035
#define TORSENS6 -0.031

#define ADC_TO_MTOR1 -2.702077e-04
#define ADC_TO_MTOR2 -2.781453e-04
#define ADC_TO_MTOR3 -2.891803e-04
#define ADC_TO_MTOR4 -4.844991e-05
#define ADC_TO_MTOR5 -4.723190e-05
#define ADC_TO_MTOR6 -4.153009e-05

#define ADCENC_TO_WORK1 -1.697765e-06
#define ADCENC_TO_WORK2 -1.747639e-06
#define ADCENC_TO_WORK3 -1.816974e-06
#define ADCENC_TO_WORK4 -3.805247e-07
#define ADCENC_TO_WORK5 -3.709585e-07
#define ADCENC_TO_WORK6 -3.261765e-07

#define ADC_TO_DAC1       1.3333
#define ADC_TO_DAC2       1.3333
#define ADC_TO_DAC3       1.3333
#define ADC_TO_DAC4       1.3333
#define ADC_TO_DAC5       1.3333
#define ADC_TO_DAC6       1.3333

#define TOR_TO_DAC1      105.615
#define TOR_TO_DAC2     -68.5052
#define TOR_TO_DAC3      107.257
#define TOR_TO_DAC4     -632.463
#define TOR_TO_DAC5     -716.747
#define TOR_TO_DAC6     -1010.55
#define TOR_TO_DAC54     -118.589690005179
#define TOR_TO_DAC65      -94.758688257947
#define TOR_TO_DAC64       -5.972532557731

#define ADC_TO_TOR1    0.0126241
#define ADC_TO_TOR2   -0.0194627
#define ADC_TO_TOR3    0.0124309
#define ADC_TO_TOR4  -0.00210811
#define ADC_TO_TOR5  -0.00186021
#define ADC_TO_TOR6  -0.00131938
#define ADC_TO_TOR54        0.000465052343
#define ADC_TO_TOR65        0.000232568008
#define ADC_TO_TOR64       -0.000041530049

#define FSTAT_POS1     0.883687
#define FSTAT_POS2     -2.23822
#define FSTAT_POS3       1.3674
#define FSTAT_POS4     -0.17999
#define FSTAT_POS5    -0.197641
#define FSTAT_POS6    -0.197907
#define FSTAT_NEG1     0.883687
#define FSTAT_NEG2     -2.04359
#define FSTAT_NEG3       1.3674
#define FSTAT_NEG4    -0.180405
#define FSTAT_NEG5    -0.195315
#define FSTAT_NEG6      -0.2111
#define FCOUL_POS1    -0.883687
#define FCOUL_POS2      1.75165
#define FCOUL_POS3    -0.944749
#define FCOUL_POS4     0.137828
#define FCOUL_POS5     0.197641
#define FCOUL_POS6     0.197907
#define FCOUL_NEG1    -0.883687
#define FCOUL_NEG2      1.75165
#define FCOUL_NEG3     -1.03177
#define FCOUL_NEG4     0.159324
#define FCOUL_NEG5     0.195315
#define FCOUL_NEG6       0.2111

#define FSTAT_ADC_POS1         70
#define FSTAT_ADC_POS2        115
#define FSTAT_ADC_POS3        110
#define FSTAT_ADC_POS4        110
#define FSTAT_ADC_POS5        125
#define FSTAT_ADC_POS6        150
#define FSTAT_ADC_NEG1         70
#define FSTAT_ADC_NEG2        105
#define FSTAT_ADC_NEG3        110
#define FSTAT_ADC_NEG4        110
#define FSTAT_ADC_NEG5        125
#define FSTAT_ADC_NEG6        160
#define FCOUL_ADC_POS1        -70
#define FCOUL_ADC_POS2        -90
#define FCOUL_ADC_POS3        -76
#define FCOUL_ADC_POS4        -90
#define FCOUL_ADC_POS5       -125
#define FCOUL_ADC_POS6       -150
#define FCOUL_ADC_NEG1        -70
#define FCOUL_ADC_NEG2        -90
#define FCOUL_ADC_NEG3        -83
#define FCOUL_ADC_NEG4       -100
#define FCOUL_ADC_NEG5       -125
#define FCOUL_ADC_NEG6       -160

#define FSTAT_DAC_POS1         93
#define FSTAT_DAC_POS2        153
#define FSTAT_DAC_POS3        146
#define FSTAT_DAC_POS4        146
#define FSTAT_DAC_POS5        166
#define FSTAT_DAC_POS6        199
#define FSTAT_DAC_NEG1         93
#define FSTAT_DAC_NEG2        139
#define FSTAT_DAC_NEG3        146
#define FSTAT_DAC_NEG4        146
#define FSTAT_DAC_NEG5        166
#define FSTAT_DAC_NEG6        213
#define FCOUL_DAC_POS1        -93
#define FCOUL_DAC_POS2       -119
#define FCOUL_DAC_POS3       -101
#define FCOUL_DAC_POS4       -119
#define FCOUL_DAC_POS5       -166
#define FCOUL_DAC_POS6       -199
#define FCOUL_DAC_NEG1        -93
#define FCOUL_DAC_NEG2       -119
#define FCOUL_DAC_NEG3       -110
#define FCOUL_DAC_NEG4       -133
#define FCOUL_DAC_NEG5       -166
#define FCOUL_DAC_NEG6       -213

#endif
