/****************************************************************************

  Header file for DriveParameters
	For quick adjusting of distances to move (dead reckoning)
	and for dispense and camper times

 ****************************************************************************/

#ifndef DriveParamters_H
#define DriveParamters_H


#define DRIVING_SCALE_FACTOR 1 //conversion from event parameter to inches

//all distances in inches

//for GoToRecycle
#define BACKUP_DIST_RECYCLE 3 
#define FORWARD_DIST_HOME 36
#define LINE_COLLISION_BACKUP_DIST 3 



#define CAMP_LEFT_TURN 40
#define LOST_DISTANCE 40
#define HOME_COLLISION_BACKUP_DIST 4

//For NavFromLeft
#define BACKUP_DIST_LEFT 15	//subtract to compensate for backed up dist 18-3
#define FORWARD_DIST_LEFT 36

//For NavFromRight
#define BACKUP_DIST_RIGHT 71 // 78-7
#define FORWARD_DIST_RIGHT 12

//camp and dispense time
#define ONE_SEC 1000

#define CAMP_TIME (15*ONE_SEC)
#define DISPENSE_TIME (10*ONE_SEC)

#define MISSED_LINE_TIME (9*ONE_SEC)
#define MISSED_LINE_TIME_INCREMENT (2*ONE_SEC)


//beacon params as per our convention
#define HOME_BEACON 2	//identification parameter for the home beacon
#define OPP_BEACON 3 
#define LEFT_BEACON 1
#define RIGHT_BEACON 0



#endif