/*-=-=-=-=-=-=-=-=-=-=-=- RCCL/RCI Notice of Copyright -=-=-=-=-=-=-=-=-=-=-*
 *									    *
 *	Copyright (C) 1987, 1991 by John E. Lloyd and Vincent Hayward.	    *
 *									    *
 *	Information on copyright permissions, as well as a complete	    *
 *	disclaimer of warranty, is given in the file COPYRIGHT.		    *
 *									    *
 *-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/

#include "mk1_old.c"

/* Table of parameters which are loaded into the joint microprocessors
   by controller start-up time. */

/* RAM Parameters */

#define  VGAIN	    0x5c00	/* velocity servo gain			*/
#define  NINTER     0x0600	/* number of interps. default 32	*/
#define  INTSCL     0x0700	/* see instructions. default 3		*/
#define  WHLSIZ     0x0900	/* no. of encoder counts times 4	*/
#define  POSTOL     0x5200	/* position tolerance (2 bytes)		*/
#define  INTTOL     0x5400	/* integration tolerance (2 bytes)	*/

unsigned short defaultRamTable [][7] =
	{ 
	  WHLSIZ,		0xe8,  0xe8,  0xe8,  0x20,  0x20,  0x20,
	  VGAIN,		   1,	  1,	 1,	2,     2,     2,
	  POSTOL,		0xc8,  0xc8,  0xc8,  0xc8,  0xc8,  0x64,
	  POSTOL+0x100,		   0,     0,     0,     0,     0,     0,
	  INTTOL,		0x32,  0x32,  0x32,  0x32,  0x32,  0x19,
	  INTTOL+0x100,		   0,     0,     0,     0,     0,     0,
	  NINTER,		0x20,  0x20,  0x20,  0x20,  0x20,  0x20,
	  INTSCL,		   3,	  3,	 3,	3,     3,     3,
	  -1,			   0,	  0,	 0,	0,     0,     0};

int varClkRate = 0;		/* system clock rate can be changed */
int varClkParam = 6;		/* parameter used in changing clock rate */
int baseClkRate = 70;		/* nominal system clock rate (.1 msec.). */
int jntClkRate = 9;		/* joint servo rate (.1 msec.). */

