! Coordinate systems
!
!motors, degrees of freedom etc.
%constinteger basw = 0 ;! Base rotate      0.20 deg/pulse
%constinteger shtl = 1; ! Shoulder pitch   0.10 deg/pulse
%constinteger eltl = 2 ;! Elbow pitch      0.20 deg/pulse
%constinteger wrtl = 3 ;! Wrist pitch      0.35 deg/pulse
%constinteger wrsw = 4 ;! Wrist rotate     0.66 deg/pulse
%constinteger grip = 5 ;! Gripper          0.40 mm /pulse

!Robot configuration parameters

! Cyber

 %constinteger dofs            = 6
 %constrealarray ptoa(0:5) = %c
 0.2*pi/180, 0.1*pi/180, 0.2*pi/180, 0.35*pi/180, 0.35*pi/180, 0.4
 %constrealarray atop(0:5) = 0.2 ,0.1 ,0.2 ,0.35 ,0.66 ,0.4

 %constinteger ba hgt = 280, sh len = 275, el len = 150, wr len = 140 ;!mm

 %constrealarray deadlo(0:5) = -35*pi/36,-3*pi/4,-pi/2,-11*pi/18,-pi/2, 0
 %constrealarray deadhi(0:5) = 35*pi/36, 3*pi/4, pi/2,11*pi/18, pi/2, 100
 !-175,-135,-90,-110,-90 degrees, 0mm (lo) 175,135,90,110,90 degrees 100mm (hi)
