text: #ifndef TURTLEBOT3_EXAMPLE05_2_MECANUMWHEEL_CONFIG_H
  #define TURTLEBOT3_EXAMPLE05_2_MECANUMWHEEL_CONFIG_H
  
  // Control table address (XM430-W350-T)
  #define ADDR_XM_OPERATING_MODE           11
  #define ADDR_XM_VELOCITY_LIMIT           44
  #define ADDR_XM_TORQUE_ENABLE            64
  #define ADDR_XM_GOAL_VELOCITY           104
  #define ADDR_XM_GOAL_POSITION           116
  #define ADDR_XM_REALTIME_TICK           120
  #define ADDR_XM_PRESENT_VELOCITY        128
  #define ADDR_XM_PRESENT_POSITION        132
  
  // Data Byte Length
  #define LEN_XM_OPERATING_MODE           1
  #define LEN_XM_VELOCITY_LIMIT           4
  #define LEN_XM_TORQUE_ENABLE            1
  #define LEN_XM_GOAL_VELOCITY            4
  #define LEN_XM_GOAL_POSITION            4
  #define LEN_XM_REALTIME_TICK            2
  #define LEN_XM_PRESENT_VELOCITY         4
  #define LEN_XM_PRESENT_POSITION         4
  
  // Protocol version
  #define PROTOCOL_VERSION                2.0                 // See which protocol version is used in the Dynamixel
  
  // Default setting
  #define MECANUMWHEEL_NUM                4
  #define BAUDRATE                        1000000
  #define DEVICENAME                      ""                  // Check which port is being used on your controller
                                                              // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"
  #define TORQUE_ENABLE                   1                   // Value for enabling the torque
  #define TORQUE_DISABLE                  0                   // Value for disabling the torque
  
  #define CONTROL_PEROID                  8000
  
  #define VELOCITY_LINEAR_X               0.05
  #define VELOCITY_LINEAR_Y               0.05
  #define VELOCITY_ANGULAR_Z              0.05
  
  #define LIMIT_XM_MAX_VELOCITY           480
  
  #define WHEEL_RADIUS                    0.03
  #define WHEEL_SEPARATION_X              0.1005              //170mm/2 + 31mm/2
  #define WHEEL_SEPARATION_Y              0.085               //200mm/2 - 30mm/2
  #define VELOCITY_CONSTANT_VAULE         0.024               //goal_velocity RPM = 0.229, rad/sec = 0.024
  
  #define DEGREE2RADIAN                   (M_PI / 180.0)
  #define RADIAN2DEGREE                   (180.0 / M_PI)
  
  #endif // TURTLEBOT3_EXAMPLE05_2_MECANUMWHEEL_CONFIG_H
  