<commit_before>#include <std_msgs/Bool.h>
#include "orca_base/orca_base.h"
#include "orca_msgs/Camera.h"
#include "orca_msgs/Lights.h"
#include "orca_msgs/Thrusters.h"

// TODO move defines to yaml

// Joy message axes:
#define JOY_AXIS_YAW            0   // Left stick left/right; 1.0 is left and -1.0 is right
#define JOY_AXIS_FORWARD        1   // Left stick up/down; 1.0 is forward and -1.0 is backward
#define JOY_AXIS_STRAFE         3   // Right stick left/right; 1.0 is left and -1.0 is right
#define JOY_AXIS_VERTICAL       4   // Right stick up/down; 1.0 is ascend and -1.0 is descend
#define JOY_AXIS_YAW_TRIM       6   // Trim left/right; acts like 2 buttons; 1.0 for left and -1.0 for right
#define JOY_AXIS_VERTICAL_TRIM  7   // Trim up/down; acts like 2 buttons; 1.0 for up and -1.0 for down

// Unused axes:
// 2 Left trigger; starts from 1.0 and moves to -1.0
// 5 Right trigger; starts from 1.0 and moves to -1.0

// Joy message buttons:
#define JOY_BUTTON_DISARM       6   // View
#define JOY_BUTTON_ARM          7   // Menu
#define JOY_BUTTON_MANUAL       0   // A
#define JOY_BUTTON_STABILIZE    2   // X
#define JOY_BUTTON_DEPTH_HOLD   3   // Y
#define JOY_BUTTON_SURFACE      1   // B
#define JOY_CAMERA_TILT_DOWN    4   // Left bumper
#define JOY_CAMERA_TILT_UP      5   // Right bumper
#define JOY_LIGHTS_BRIGHT       9   // Left stick
#define JOY_LIGHTS_DIM          10  // Right stick

// Unused buttons:
// 8 Logo

// Limits
// TODO move to shared .h file
// TODO clamp param inputs to these limits
#define THRUSTER_MIN -1.0
#define THRUSTER_MAX  1.0
#define TILT_MIN     -45
#define TILT_MAX      45
#define LIGHTS_MIN    0
#define LIGHTS_MAX    100

#define PI 3.14159

// Message publish rate in Hz<commit_msg>Removed old defines from orca_base.cpp<commit_after>#include <std_msgs/Bool.h>
#include "orca_base/orca_base.h"
#include "orca_msgs/Camera.h"
#include "orca_msgs/Lights.h"
#include "orca_msgs/Thrusters.h"

// Limits
// TODO move to shared .h file
// TODO clamp param inputs to these limits
#define THRUSTER_MIN -1.0
#define THRUSTER_MAX  1.0
#define TILT_MIN     -45
#define TILT_MAX      45
#define LIGHTS_MIN    0
#define LIGHTS_MAX    100

#define PI 3.14159

// Message publish rate in Hz
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