calibration.hh.default

#ifndef __CALIBRATION_HH
#define __CALIBRATION_HH



// BASE, SHOULDER, ELBOW, ROLL, PITCH, WRIST, GRIPPER (defined in controllerbase.hh)
const int SERVOPIN[] = {11, 10, 9, 8, 7, 6, 5};
const int OFFSET[] = {1471, 1465, 700, 1240, 1550, 1366, 1333};// normally around 1500 except for elbow and gripper

#warning "Adjust these values for your robot to avoid self-collisions!"
#warning "Control your robot carefully until you have inserted appropriate boundaries here!"
const int MIN[] = {544, 938, 638, 544, 544, 544, 1299};// must not be below 544
const int MAX[] = {2400, 2400, 2400, 2400, 2253, 2400, 2222};// must not be above 2400

const float RESOLUTION[] = {8.844444444444445, 8.844444444444445, 8.844444444444445, 8.844444444444445, 11.433333333333334, 10.133333333333333, 10.133333333333333};
const float MAXJERK = 250;

#endif