/*
___________________________________________________________________________
						(C) 1995 Copyright by
				Denning Branch International Robotics
					Pittsburgh, Pensylvania, U.S.A.
						 All rights reserved.
___________________________________________________________________________

*/
#ifndef CONFIG_H
#define CONFIG_H

#include "general.h"
#include "hardware.h"

#define CONFIG_FILE 			"MRV4.CFG"

extern  boolean CONFIG_enable_lasernav;
extern  int 	CONFIG_com_port_for_lasernav;
extern  boolean	CONFIG_lasernav_ACW;

extern  boolean CONFIG_steer_swap_direction;
extern  boolean CONFIG_drive_swap_direction;

extern  int 	CONFIG_steer_samp;   // only lo-bytes are used
extern  int 	CONFIG_steer_gain;
extern  int 	CONFIG_steer_pole;
extern  int 	CONFIG_steer_zero;

extern  int		CONFIG_drive_samp;
extern  int 	CONFIG_drive_gain;
extern  int		CONFIG_drive_pole;
extern  int		CONFIG_drive_zero;

extern  double  CONFIG_sample_clockrate;

extern  double 	CONFIG_drive_encoder_counts_per_metre;
extern  double	CONFIG_steer_encoder_counts_per_radian;

extern  boolean CONFIG_user_io_imperial;
extern  boolean CONFIG_robotbase_MRV4;



char* ReadConfigFile(char *filename);
void DisplayCurrentConfig();


#endif