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

#ifndef _SOFTSTOPS_H_
#define _SOFTSTOPS_H_

#include "../h/robotMath.h"

/* This file defines parameters which are used when implementing
   soft joint limits when the robot is in zero-gravity mode */

#define SOFT_STOPS  1			/* enable soft-stop code */
#define STOP_RAMP_LENGTH (5.0*DEGTORAD)	/* force range of soft stop */
#define STOP_MARGIN (3.0*DEGTORAD)	/* margin from hard limit */

/* For each joint 'j', the maximum stop force is given by 
   STOP_FORCE_FACTOR * kyn->gen->coulFriction[j] */
#define STOP_FORCE_FACTOR	2.5

#endif
