#define OP_PERIOD 100 // period in ms
#define MONITOR_PERIOD 300
#define GET_POSE_PERIOD 10
#define CONTROLLER_BATTERY_CHECK 10000 // time in ms
#define CONTROLLER_NAME0 "WM0"
#define CONTROLLER_NAME1 "WM1"
#define SAFETY_BUTTON SURVIVE_BUTTON_TRIGGER
#define MAX_GET_POSE_ATTEMPTS 100
#define MOVE_MULTIPLIER 1.0
#define VELOCITY_CONTROL 1
#define BUFFER_SIZE 15
#define TRA_ADJ_X M_PI_2
#define TRA_ADJ_Y 0
#define TRA_ADJ_Z M_PI_2
#define ROT_ADJ_X 0
#define ROT_ADJ_Y 0
#define ROT_ADJ_Z -M_PI_2
#define MODE_COUNT 5