text: /*----------------------------------------------------------------------------*/
  /* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
  /* Open Source Software - may be modified and shared by FRC teams. The code   */
  /* must be accompanied by the FIRST BSD license file in the root directory of */
  /* the project.                                                               */
  /*----------------------------------------------------------------------------*/
  
  #pragma once
  
  #include <cmath>  // for std::fabs
  #include <math.h>
  
  //On error, create env.h from env-default.h and modify ROBOT_VERSION_STRING
  #include "env.h"
  
  /**
   * The Constants header provides a convenient place for teams to hold robot-wide
   * numerical or boolean constants.  This should not be used for any other
   * purpose.
   *
   * It is generally a good idea to place constants into subsystem- or
   * command-specific namespaces within this header, which can then be used where
   * they are needed.
   */
  
  namespace ConMath {
      constexpr double PI = M_PI; // 3.141592;
      constexpr double METERS_2_INCH = .0254; // m/in
      constexpr double MINUTES_2_SECONDS = 1/60.; // sec/min
      constexpr double RAD_2_DEG = 180.0/PI;
      constexpr double DEG_2_RAD = 1/RAD_2_DEG;
  }
  
  namespace ConLimelight {
      constexpr int VISION_MODE = 0;
      constexpr int CAMERA_MODE = 1;
  
      constexpr int LED_PIPLINE_DEFAULT = 0;
      constexpr int LED_OFF = 1;
      constexpr int LED_BLINK = 2;
      constexpr int LED_ON = 3;
  
      constexpr int SNAPSHOT_STOP = 0;
      constexpr int SNAPSHOT_START = 1;
  
      constexpr double HORIZONTAL_TOLERANCE = 1.0;  //degrees
      constexpr double TARGET_HEIGHT = 38.5; //in to center of target
      constexpr double CAMERA_HEIGHT = 19.5; //in to center of camera
      constexpr double MAX_HORIZONTAL_OFFSET = 29.8; //degrees
  
      // constexpr cv::Matx33d cameraMatrix = cv::Matx33d(
      //                     772.53876202, 0., 479.132337442,
      //                     0., 769.052151477, 359.143001808,
      //                     0., 0., 1.0);
      // constexpr std::vector istortionCoefficient =  std::vector<double> {
      //                     2.9684613693070039e-01, -1.4380252254747885e+00,-2.2098421479494509e-03,
      //                     -3.3894563533907176e-03, 2.5344430354806740e+00};
  
      constexpr double focalLength = 2.9272781257541; //mm
  }
  
  namespace ConSparkMax {
      constexpr double POSITION_CONVERSION_FACTOR = 42.0;
  }
  