###################################
# 2002 Omni Trajectory Parameters #
###################################

#-------------------------------------------
# Values which determine when to use:      -
# 1.) bang bang                            -
# 2.) proportional gains                   -
# 3.) stop robot                           -
#-------------------------------------------
PROP_GAIN_DISTANCE                  0.06 #0.03
STOP_DISTANCE                       0.005 

PROP_GAIN_THETA_DISTANCE            0.10
STOP_THETA_DISTANCE                 0.007  

#---------------------------------------------
#- Default Values                            -
#---------------------------------------------
DEFAULT.MAX_ACCELERATION            4.5
DEFAULT.MAX_VELOCITY                1.75
DEFAULT.LATERAL_GAIN                8.0 #4.0

DEFAULT.MAX_THETA_ACCELERATION      10.0
DEFAULT.MAX_THETA_VELOCITY          5.0
DEFAULT.ANGULAR_GAIN                4.0

#---------------------------------------------
#- Slow Rotate                               -
#---------------------------------------------
SLOW_ROTATE.MAX_ACCELERATION            4.5
SLOW_ROTATE.MAX_VELOCITY                1.75
SLOW_ROTATE.LATERAL_GAIN                4.0

SLOW_ROTATE.MAX_THETA_ACCELERATION      5.0
SLOW_ROTATE.MAX_THETA_VELOCITY          5.0
SLOW_ROTATE.ANGULAR_GAIN                4.0

#---------------------------------------------
#- Goalie Values                             -
#---------------------------------------------
GOALIE.MAX_ACCELERATION             4.5
GOALIE.MAX_VELOCITY                 1.75
GOALIE.LATERAL_GAIN                 4.0

GOALIE.MAX_THETA_ACCELERATION       5.0
GOALIE.MAX_THETA_VELOCITY           5.0
GOALIE.ANGULAR_GAIN                 4.0

#---------------------------------------------
#- Spin To Kick Values (slower acceleration) -
#---------------------------------------------
SPIN_TO_KICK.MAX_ACCELERATION       2.5 
SPIN_TO_KICK.MAX_VELOCITY           0.5
SPIN_TO_KICK.LATERAL_GAIN           4.5

SPIN_TO_KICK.MAX_THETA_ACCELERATION      5.0
SPIN_TO_KICK.MAX_THETA_VELOCITY          5.0
SPIN_TO_KICK.ANGULAR_GAIN                4.0

#---------------------------------------------
#- Careful Values (slower vel and accel)      -
#---------------------------------------------
CAREFUL_SPEED.MAX_ACCELERATION       0.5
CAREFUL_SPEED.MAX_VELOCITY           0.5
CAREFUL_SPEED.LATERAL_GAIN           4.5

CAREFUL_SPEED.MAX_THETA_ACCELERATION 6.0
CAREFUL_SPEED.MAX_THETA_VELOCITY     2.0
CAREFUL_SPEED.ANGULAR_GAIN           1.5
  
#---------------------------------------------
#- Ball Possesion                            -
#---------------------------------------------
BALL_POSSESSION_SPEED.MAX_ACCELERATION    4.0
BALL_POSSESSION_SPEED.MAX_VELOCITY        1.75
BALL_POSSESSION_SPEED.LATERAL_GAIN        4.0

BALL_POSSESSION_SPEED.MAX_THETA_ACCELERATION      5.0
BALL_POSSESSION_SPEED.MAX_THETA_VELOCITY          5.0
BALL_POSSESSION_SPEED.ANGULAR_GAIN                4.0

#---------------------------------------------
#- Ball Approach                             -
#---------------------------------------------
BALL_APPROACH_SPEED.MAX_ACCELERATION    4.5
BALL_APPROACH_SPEED.MAX_VELOCITY        1.0
BALL_APPROACH_SPEED.LATERAL_GAIN        4.5

BALL_APPROACH_SPEED.MAX_THETA_ACCELERATION      5.0
BALL_APPROACH_SPEED.MAX_THETA_VELOCITY          5.0
BALL_APPROACH_SPEED.ANGULAR_GAIN                4.0
  
#---------------------------------------------
#- Formation                                 -
#---------------------------------------------
FORMATION_SPEED.MAX_ACCELERATION    1.0
FORMATION_SPEED.MAX_VELOCITY        1.0
FORMATION_SPEED.LATERAL_GAIN        4.0

FORMATION_SPEED.MAX_THETA_ACCELERATION      5.0
FORMATION_SPEED.MAX_THETA_VELOCITY          5.0
FORMATION_SPEED.ANGULAR_GAIN                4.0
  
