#define DISPLAY_INFO	0
#define INIT_TEST		1
#define ENCODER_TEST	2
#define POS_LOOP_TEST	3
#define IDLE			4
#define INIT_POSITION	6
#define JOINT_SERVO		5
#define JOINT_DAMPING	10
#define FLOAT			7
#define POS_MODE		8
#define DAMP_MODE		9
#define VEL_MODE		11
#define VEL_SERVO		12
#define TEST_MAX		13
#define JOINT_OSC		14
#define OS_SERVO		15
#define OS_OSC			16
#define OS_HOLD			17
#define FLOAT_FORCE		18	// float with force control
#define OS_CONTACT_CONTROL	19
#define OS_VWALL		20
#define OS_VEL			21

#define TRUE	1
#define FALSE 	0
#define NOJ 6

#define PI	3.14159265
