//-*-c++-*-
#ifndef INCLUDED_MantisArmInfo_h
#define INCLUDED_MantisArmInfo_h

#include <cmath>
#include <stdlib.h>
#include "CommonInfo.h"
using namespace RobotInfo;

#if defined(TGT_MANTISARM)
#  define TGT_IS_MANTISARM
#  define TGT_HAS_ARMS 1
#  define TGT_HAS_LEDS 6
#  define TGT_HAS_POWER_STATUS
#endif

namespace MantisArmInfo {
  extern const char* const TargetName;
  const unsigned int FrameTime = 32;
  const unsigned int NumFrames = 1;
  const unsigned int SoundBufferTime = 32;
  
  const unsigned NumWheels = 0;
  const unsigned JointsPerArm = 6;
  const unsigned NumArms = 1;
  const unsigned NumArmJoins = JointsPerArm*NumArms;
  const unsigned JointsPerLeg = 0;
  const unsigned NumLegs = 0;
  const unsigned NumLegJoints = JointsPerLeg*NumLegs;

  const unsigned NumHeadJoints = 0;
  const unsigned NumTailJoints = 0;
  const unsigned NumMouthJoints = 0;
  const unsigned NumEarJoints = 0;
  const unsigned NumButtons = -1;
  const unsigned NumSensors = -1;
  const unsigned NumFacePanelLEDs = 0;
  const unsigned NumPIDJoins = NumArmsJoints + NumLegJoints + NumHeadJoints +
    NumTailJoints + NumMouthJoints;
  const unsigned NumLEDs = NumPIDJoints;
  const unsigned NumOutputs = NumWheels + NumPIDJoints + NumLEDs;
  const unsigned NumReferenceFrames = NumOutputs + NumLegs + NumArms + 1;
  using namespace Camera75DOF;

  const unsigned PIDJointOffset = 0;
  const unsigned ArmOffset = PIDJointOffset;
  const unsigned LEDOffset = PIDJointOffset + NumPIDJoints;
  
}