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/**
 * @file roboclaw_params.c
 *
 * Parameters defined by the Roboclaw driver.
 *
 * The Roboclaw will need to be configured to match these parameters. For information about configuring the
 * Roboclaw, see http://downloads.ionmc.com/docs/roboclaw_user_manual.pdf
 *
 * @author Timothy Scott <timothy@auterion.com>
 */


/**
 * Uart write period
 *
 * How long to wait, in Milliseconds, between writing actuator controls over Uart to the Roboclaw
 * @unit ms
 * @min 1
 * @max 1000
 * @group Roboclaw driver
 */
PARAM_DEFINE_INT32(RBCLW_WRITE_PER, 10);

/**
 * Encoder read period
 *
 * How long to wait, in Milliseconds, between reading wheel encoder values over Uart from the Roboclaw
 * @unit ms
 * @min 1
 * @max 1000
 * @group Roboclaw driver
 */
PARAM_DEFINE_INT32(RBCLW_READ_PER, 10);

/**
 * Encoder counts per revolution
 *
 * Number of encoder counts for one revolution. The roboclaw treats analog encoders (potentiometers) as having 2047
 * counts per rev. The default value of 1200 corresponds to the default configuration of the Aion R1 rover.
 * @min 1
 * @group Roboclaw driver
 */
PARAM_DEFINE_INT32(RBCLW_COUNTS_REV, 1200);

/**
 * Address of the Roboclaw
 *
 * The Roboclaw can be configured to have an address from 0x80 to 0x87, inclusive. It must be configured to match
 * this parameter.
 * @min 128
 * @max 135
 * @value 128 0x80
 * @value 129 0x81
 * @value 130 0x82
 * @value 131 0x83
 * @value 132 0x84
 * @value 133 0x85
 * @value 134 0x86
 * @value 135 0x87
 * @group Roboclaw driver
 */
PARAM_DEFINE_INT32(RBCLW_ADDRESS, 128);

/**
 * Roboclaw serial baud rate
 *
 * Baud rate of the serial communication with the Roboclaw. The Roboclaw must be configured to match this rate.
 * @min 2400
 * @max 460800
 * @value 2400 2400 baud
 * @value 9600 9600 baud
 * @value 19200 19200 baud
 * @value 38400 38400 baud
 * @value 57600 57600 baud
 * @value 115200 115200 baud
 * @value 230400 230400 baud
 * @value 460800 460800 baud
 * @group Roboclaw driver
 * @reboot_required true
 */
PARAM_DEFINE_INT32(RBCLW_BAUD, 2400);