/*
	Peter Thaulad
	01/22/2004

	ArmDefinitions.h
	*************

	Control constants for Honda Asimo Arm
*/
#define	GRAVITY_TEST		1
#define OS_TEST			2
#define	JS_TEST			3
#define	IDLE			4
#define TRAJECTORY_TEST		6
#define OS_HOLD			7
#define JS_OSC			8
#define FRICTION_TEST		9
#define OS_FORCE		10
/*
float Kp[5] = {10.0, 10.0, 10.0, 09.0, 30.0};
//float Kv[5] = {3.0, 2.0, 0.60, 1.0, 0.17};
//float Vff = 0.51;	// 0.51
float Kt[5] = {0.0282, 0.0282, 0.0491, 0.0491, 0.0294};

float GearRatio[5] = {200.0,200.0,200.0,200.0,136.4};
*/
