MAX_VELOCITY = 3.333 MAX_ACCELERATION = 20 STEPGEN_MAX_VEL = 0 STEPGEN_MAX_ACC = 40 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00011 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0005