{

	"Controller" :
	{
		"dt"				: 1.0,
		"cont_ctrl"			: true,
		"P_min"				: 0,
		"P_max"				: 3000,
		"P_q_W"				: 100,
		"theta_lock_K"		: 0.5,
		"sim_warp_factor"	: 1.0,
		"stirrer_name"      : "Stirrer",
		"plant_name"        : "Mass",
		"useKalman"			: true,
		"kalman" 			: {
			"dt"				: 1,
			"var_P"				: 0,
			"var_Q"				: 0.0001,
			"var_R"				: 1,
			"var_Z"				: 0
			},
		"Hold" : {
			"Acqu": {
				"Pid" : {
					"kp"	: 4,
					"ki"	: 0.01,
					"kd"	: 400,
					"rho"	: 0.999
				}
			},
			"Track": {
				"Pid" : {
					"kp"	: 4,
					"ki"	: 0.01,
					"kd"	: 400,
					"rho"	: 0.999
				}
			}
		},
		"Heat" : {
			"Acqu": {
				"Pid" : {
					"kp"	: 4,
					"ki"	: 0.02,
					"kd"	: 4,
					"rho"	: 0.999
				}
			},
			"Track": {
				"Pid" : {
					"kp"	: 1,
					"ki"	: 0.02,
					"kd"	: 4,
					"rho"	: 0.999
				}
			}
		}
	},

	"WaterSim" :
	{
		"dt"			: 1.0,
		"theta_amb"		: 20,
		"C"				: 4190,
		"M"				: 20,
		"L"				: 0.3,
		"Td"			: 60,
		"kn"			: 0
	},

	"Stirrer" :
	{
		"dt"			: 1.0
	}
}