#
# template for a jls configuartion file. See 'man makejls' for more info.
#
# 	NJ denotes the number of joints
# 	NFC denotes the number of forward couplings
# 	NIC denotes the number of inverse couplings
#
# Data type	   JLS field name     Description
#
# (1 int)     	   numJ		      number of joints
# (NJ characters)		      joint type ('R' or 'P')
# (1 int)	   numFC	      number of forward couplings
# (NFC * 2 ints)   forCouplings	      indicies of forward couplings
# (1 int)     	   numIC	      number of inverse couplings
# (NIC * 2 ints)   invCouplings	      indicies of inverse couplings
# (NJ+NFC floats)  forGearRatios      forward gear ratios
# (NJ int float pairs) encOffset      encoder value followed by its
#				      corresponding joint value
# (NJ ints) 	   encWheelSize	      encoder counts/motor shaft rev
# (NJ floats)      mtorqueToCurrent   motor tor. to output DAC ratio
# (NJ floats) 	   currentToMtorque   ADC input to motor tor. ratio
# (NJ ints) 	   currentBias	      zero-torque current values, if current
#				      outputs are biased
# (NJ ints)        encCalvec	      encoder calibration vector
# (NJ ints)    	   encHome	      encoder counts at home or nest position
# (NJ floats)  	   potSlope	      slope for pot enc estimate
# (NJ floats)      potIntercept	      intercept for pot enc estimate
# (NJ floats)  	   jmin		      minimum joint angle (deg.)
# (NJ floats)  	   jmax		      maximum joint angle (deg.)
# (NJ floats)  	   maxVel	      maximum velocity (deg./sec.)
# (NJ floats)      maxAcc	      maximum acceleration (deg./sec.^2)
# (NJ floats)  	   maxJerk	      maximum jerk (deg./sec.^3)
# (NJ floats)  	   maxMtorque	      maximum motor torque
# (NJ floats)  	   maxJtorque	      maximum joint torque
# (NJ floats)  	   parkAngles	      park angles for the robot
# (NJ floats)	   bestAngles	      a set of well conditioned angles
# (NJ floats)	   nominalVel	      nominal velocity (deg/sec)
# (NJ floats)	   nominalAcc	      nominal acceleration (deg/sec^2)
# (NJ floats)      nominalJerk	      nominal jerk (deg/sec^3)
# (1 hex int)      flags	      robot specfic flags. 
