from math import pi

P1 = 4. # Cooeffecient for correcting the angle.
P2 = 4. # Cooeffecient for correcting the distance.

JAR_OFFSETS = [0.16, 0.03, 0.07] # An offset for each jar when calculating the position to pick it up.
PG_DIST = [.2, .44, .37] # Distance to allow from the counter after grabbing.

MAX_SPEED = 2. * pi
WALK_SPEED = 1. # The speed to use when going at a constant pace.
ROTATION_SPEED = 1. # The speed to use when only rotating the robot.
TIMEOUT = 30. # Typical timeout limit for each behaviour.
GRIPPER_TIMEOUT = 3. # Timeout for the gripper behaviours.
GRASP_THRESHOLD = -5. # Force with which to grab the jars.
APPROACH_STOP = .16 # Point at which to stop when approaching the jar.
JOINT_TOLERANCE = .01 # Tolerance for joint movement.
ANGLE_TOLERANCE = .05 # Tolerance for when rotating the robot.
ARM_OFFSET = .6 # Must take into account the length of the arm when grabbing the jars.