/**
 * Data for the Mind behaviors
 */

#ifndef EYEBOT_BEHAVIOR_DATA_H
#define EYEBOT_BEHAVIOR_DATA_H

#include "eyebot_behavior_types.h"

twowheeldrive_bt twowheeldrive_data = {
	0.022,   		// radius
	0.142			// width
};

findball_bt findball_data = {
	105,			// hue
	6,			// Threshold (distance from Hue)
	210,			// intensity low thresh   446
	630,			// intensity high thresh  718
	19,			// K parameter (for detecting grey) FAR AWAY
	540,			// K parameter (very close) [less sensitive to grey/white]
	4,			// required number of matching pixels (1 to 5)
};

trackheading_bt attack_data = {
	10,			// deadband (degrees)
	1.05,			// Gain (Kw) .85
	40,			// dband_psd
	1.0,			// left bias
	1.0,			// right bias
	0.8,			// velocity (fast/striking) when centred and lined-up
	0.4,			// velocity (slow) when centring.
	0.0,			// velocity (slow_ when turning.
	0.5,			// w velocity (when centring).
	45,			// max turn rate (degrees)
	0,			// compass offset (set to 180 to point to own-goal)
	0			// internal offset
};

trackheading_bt defend_data = {
	20,			// deadband (degrees)
	1.85,			// Gain (Kw) .85
	60,			// dband_psd
	1.0,			// left bias
	1.0,			// right bias
	0.6,			// velocity (fast/striking) when centred and lined-up
	0.3,			// velocity (slow) when centring.
	0.0,			// velocity (slow) when turning
	0.4,			// w velocity (when centring).
	180,			// max turn rate (degrees)
	180,			// compass offset (set to 180 to point to own-goal)
	  0			// internal offset
};


trackheading_bt attackball_data = {
	20,			// deadband (degrees)
	3.0,			// Gain (Kw) .85
	60,			// dband_psd
	1.0,			// left bias
	1.0,			// right bias
	2.0,			// velocity (fast/striking) when centred and lined-up
	0.3,			// velocity (slow) when centring.
	-0.1,			// velocity (slow) when turning.
	0.0,			// w velocity (when centring).
	60,			// max turn rate (degrees)
	30,			// compass offset (set to 180 to point to own-goal)
	2			// internal offset
};

vwdrive_bt vwdrive_data = {
	-30,			// axle angular-velocity limit low
	30,			// axle angular-velocity limit high
	// PID control parameters with 1st order approximation
	5.0,			// Kp
	0.07,			// Reset time (KI??)
	0.01			// rate time  (KD??)
};

motorcontrol_bt motorcontrol_data = {
	// detect motor is stalled:
	30,			// time-units until stall is declared
	0.005			// angular velocity deadband
};

turnhead_bt turnhead_data = {
	0.35,			// Kp
	0.05,			// deadband
	// Ball close thesholds:
	9.0,			// range close (less then)
	25.0,			// phi close ( between +/- degrees)
	0			// Grace period - time-ticks before we declare the ball 'not found'
};

turncommand_bt turncommand_data = {
	0.02,			// v/r gain.
	2.2,			// w/phi gain.
	20,			// phi deadband
	0.12,			// speed (close)
	1.0,			// w/phi gain (close)
	3.0,			// w/phi gain (close, out of phi deadband)
	0.0,			// Speed when turning (close, out of phi deadband)
	14,			// close threshold
};

dcmotor_bt dcmotor_data = {
	540,			// ticks per revolution
	0.01			// motor timebase (seconds)
};

centre_bt centre_data = {
	40,			// deadband (psd-units)
	0.02,			// gain
	0.7,			// left PSD bias
	1.0,			// right PSD bias
	40,			// max rate of turn (degrees)
	0.1,			// velocity component when turning
	0.8			// velocity component when lined-up and trying to score
};

avoid_bt avoid_data = {
	100,			//distance to avoid (side) (PSD units);
	100,			//distance to avoid (front);
	130,			//distance to avoid (back);
	0.8,			//w_avoid_high;
	0.3,			//w_avoid_low;
	0.2, 			//v_avoid_high;
	0.1,			//v_avoid_low;
	1			// Grace, time units to keep reversing
};

stall_bt stall_data = {
	1.0,			// stall gain
	20			// time units
};

wander_bt wander_data = {
	0.1,//0.12,		// Forward wander velocity (cannot be zero)
	1.1,//1.1,		// turning velocity 1.0
	8			// period (time-units) eg turns for 10, forward for 10, turn for 10, ...
};

reacquire_bt reacquire_data = {
	15,			// ticks until reacquire behavior exhausts
	6,			// start period
	0.15,			// reacquire velocity (usually -ve so robot reverses)
	0.5			// reacquire turn-rate.
};

motion_bt stop_data    = {0.0, 0.0};
motion_bt kickoff_data = {0.8, 10.0};

dictionary_t dictionary_data = {
	2,			// total number of words
	{{"attack\0 ",0},
	 {"defend\0 ",1}}
};

index_t irtvindex_data = {
	3,			// total number of commands
	{
	 {0x6112,0},	// play
	 {0x606D,1},	// stop
	 {0x6166,2}	// OK (kickoff), use for FORWARD
//	 {0x6166,0}	// OK (kickoff), use for FULLBACK
	}
};

player_t player_data = {
	PLAYER_FORWARD
	
};

#endif //HDT_BEHAVIOR_DATA_H