Naoya Muramatsu / Mbed 2 deprecated ROBOT_v01

ロボカップのブロック大会2014で使用したプログラムです。 ロボットには、mbedを2台使ってI2C通信しています。 これはMaster側です。 ※独自規格を使用しています。

Dependencies:   ACM1602NI Ping mbed-rtos mbed

Moter.h@0:27bf77b6ec71, 2014-03-10 (annotated)

Committer:
denden
Date:
Mon Mar 10 07:56:41 2014 +0000
Revision:
0:27bf77b6ec71
????????????2014?????????????; ???????mbed?2????I2C????????; ???Master????; ; ??????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
denden 0:27bf77b6ec71 1
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denden 0:27bf77b6ec71 3
denden 0:27bf77b6ec71 4
denden 0:27bf77b6ec71 5
denden 0:27bf77b6ec71 6 // モータのPWM制御（１°刻み）
denden 0:27bf77b6ec71 7 void M000(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.00000;}
denden 0:27bf77b6ec71 8 void M001(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.03023;}
denden 0:27bf77b6ec71 9 void M002(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.06048;}
denden 0:27bf77b6ec71 10 void M003(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.09077;}
denden 0:27bf77b6ec71 11 void M004(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.12112;}
denden 0:27bf77b6ec71 12 void M005(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.15153;}
denden 0:27bf77b6ec71 13 void M006(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.18205;}
denden 0:27bf77b6ec71 14 void M007(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.21267;}
denden 0:27bf77b6ec71 15 void M008(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.24342;}
denden 0:27bf77b6ec71 16 void M009(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.27433;}
denden 0:27bf77b6ec71 17 void M010(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.30541;}
denden 0:27bf77b6ec71 18 void M011(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.33668;}
denden 0:27bf77b6ec71 19 void M012(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.36816;}
denden 0:27bf77b6ec71 20 void M013(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.39988;}
denden 0:27bf77b6ec71 21 void M014(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.43185;}
denden 0:27bf77b6ec71 22 void M015(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.46410;}
denden 0:27bf77b6ec71 23 void M016(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.49666;}
denden 0:27bf77b6ec71 24 void M017(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.52954;}
denden 0:27bf77b6ec71 25 void M018(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.56278;}
denden 0:27bf77b6ec71 26 void M019(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.59639;}
denden 0:27bf77b6ec71 27 void M020(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.63041;}
denden 0:27bf77b6ec71 28 void M021(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.66487;}
denden 0:27bf77b6ec71 29 void M022(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.69979;}
denden 0:27bf77b6ec71 30 void M023(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.73521;}
denden 0:27bf77b6ec71 31 void M024(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.77116;}
denden 0:27bf77b6ec71 32 void M025(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.80767;}
denden 0:27bf77b6ec71 33 void M026(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.84478;}
denden 0:27bf77b6ec71 34 void M027(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.88252;}
denden 0:27bf77b6ec71 35 void M028(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.92095;}
denden 0:27bf77b6ec71 36 void M029(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.96009;}
denden 0:27bf77b6ec71 37 void M030(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 38 void M031(void) {PWM1=-0.96009; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 39 void M032(void) {PWM1=-0.92095; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 40 void M033(void) {PWM1=-0.88252; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 41 void M034(void) {PWM1=-0.84478; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 42 void M035(void) {PWM1=-0.80767; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 43 void M036(void) {PWM1=-0.77116; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 44 void M037(void) {PWM1=-0.73521; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 45 void M038(void) {PWM1=-0.69979; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 46 void M039(void) {PWM1=-0.66487; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 47 void M040(void) {PWM1=-0.63041; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 48 void M041(void) {PWM1=-0.59639; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 49 void M042(void) {PWM1=-0.56278; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 50 void M043(void) {PWM1=-0.52954; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 51 void M044(void) {PWM1=-0.49666; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 52 void M045(void) {PWM1=-0.46410; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 53 void M046(void) {PWM1=-0.43185; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 54 void M047(void) {PWM1=-0.39988; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 55 void M048(void) {PWM1=-0.36816; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 56 void M049(void) {PWM1=-0.33668; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 57 void M050(void) {PWM1=-0.30541; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 58 void M051(void) {PWM1=-0.27433; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 59 void M052(void) {PWM1=-0.24342; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 60 void M053(void) {PWM1=-0.21267; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 61 void M054(void) {PWM1=-0.18205; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 62 void M055(void) {PWM1=-0.15153; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 63 void M056(void) {PWM1=-0.12112; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 64 void M057(void) {PWM1=-0.09077; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 65 void M058(void) {PWM1=-0.06048; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 66 void M059(void) {PWM1=-0.03023; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 67 void M060(void) {PWM1= 0.00000; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 68 void M061(void) {PWM1= 0.03023; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 69 void M062(void) {PWM1= 0.06048; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 70 void M063(void) {PWM1= 0.09077; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 71 void M064(void) {PWM1= 0.12112; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 72 void M065(void) {PWM1= 0.15153; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 73 void M066(void) {PWM1= 0.18205; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 74 void M067(void) {PWM1= 0.21267; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 75 void M068(void) {PWM1= 0.24342; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 76 void M069(void) {PWM1= 0.27433; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 77 void M070(void) {PWM1= 0.30541; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 78 void M071(void) {PWM1= 0.33668; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 79 void M072(void) {PWM1= 0.36816; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 80 void M073(void) {PWM1= 0.39988; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 81 void M074(void) {PWM1= 0.43185; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 82 void M075(void) {PWM1= 0.46410; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 83 void M076(void) {PWM1= 0.49666; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 84 void M077(void) {PWM1= 0.52954; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 85 void M078(void) {PWM1= 0.56278; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 86 void M079(void) {PWM1= 0.59639; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 87 void M080(void) {PWM1= 0.63041; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 88 void M081(void) {PWM1= 0.66487; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 89 void M082(void) {PWM1= 0.69979; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 90 void M083(void) {PWM1= 0.73521; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 91 void M084(void) {PWM1= 0.77116; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 92 void M085(void) {PWM1= 0.80767; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 93 void M086(void) {PWM1= 0.84478; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 94 void M087(void) {PWM1= 0.88252; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 95 void M088(void) {PWM1= 0.92095; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 96 void M089(void) {PWM1= 0.96009; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 97 void M090(void) {PWM1= 1.00000; PWM2= 1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 98 void M091(void) {PWM1= 1.00000; PWM2= 0.96009; PWM3=-1.00000;}
denden 0:27bf77b6ec71 99 void M092(void) {PWM1= 1.00000; PWM2= 0.92095; PWM3=-1.00000;}
denden 0:27bf77b6ec71 100 void M093(void) {PWM1= 1.00000; PWM2= 0.88252; PWM3=-1.00000;}
denden 0:27bf77b6ec71 101 void M094(void) {PWM1= 1.00000; PWM2= 0.84478; PWM3=-1.00000;}
denden 0:27bf77b6ec71 102 void M095(void) {PWM1= 1.00000; PWM2= 0.80767; PWM3=-1.00000;}
denden 0:27bf77b6ec71 103 void M096(void) {PWM1= 1.00000; PWM2= 0.77116; PWM3=-1.00000;}
denden 0:27bf77b6ec71 104 void M097(void) {PWM1= 1.00000; PWM2= 0.73521; PWM3=-1.00000;}
denden 0:27bf77b6ec71 105 void M098(void) {PWM1= 1.00000; PWM2= 0.69979; PWM3=-1.00000;}
denden 0:27bf77b6ec71 106 void M099(void) {PWM1= 1.00000; PWM2= 0.66487; PWM3=-1.00000;}
denden 0:27bf77b6ec71 107 void M100(void) {PWM1= 1.00000; PWM2= 0.63041; PWM3=-1.00000;}
denden 0:27bf77b6ec71 108 void M101(void) {PWM1= 1.00000; PWM2= 0.59639; PWM3=-1.00000;}
denden 0:27bf77b6ec71 109 void M102(void) {PWM1= 1.00000; PWM2= 0.56278; PWM3=-1.00000;}
denden 0:27bf77b6ec71 110 void M103(void) {PWM1= 1.00000; PWM2= 0.52954; PWM3=-1.00000;}
denden 0:27bf77b6ec71 111 void M104(void) {PWM1= 1.00000; PWM2= 0.49666; PWM3=-1.00000;}
denden 0:27bf77b6ec71 112 void M105(void) {PWM1= 1.00000; PWM2= 0.46410; PWM3=-1.00000;}
denden 0:27bf77b6ec71 113 void M106(void) {PWM1= 1.00000; PWM2= 0.43185; PWM3=-1.00000;}
denden 0:27bf77b6ec71 114 void M107(void) {PWM1= 1.00000; PWM2= 0.39988; PWM3=-1.00000;}
denden 0:27bf77b6ec71 115 void M108(void) {PWM1= 1.00000; PWM2= 0.36816; PWM3=-1.00000;}
denden 0:27bf77b6ec71 116 void M109(void) {PWM1= 1.00000; PWM2= 0.33668; PWM3=-1.00000;}
denden 0:27bf77b6ec71 117 void M110(void) {PWM1= 1.00000; PWM2= 0.30541; PWM3=-1.00000;}
denden 0:27bf77b6ec71 118 void M111(void) {PWM1= 1.00000; PWM2= 0.27433; PWM3=-1.00000;}
denden 0:27bf77b6ec71 119 void M112(void) {PWM1= 1.00000; PWM2= 0.24342; PWM3=-1.00000;}
denden 0:27bf77b6ec71 120 void M113(void) {PWM1= 1.00000; PWM2= 0.21267; PWM3=-1.00000;}
denden 0:27bf77b6ec71 121 void M114(void) {PWM1= 1.00000; PWM2= 0.18205; PWM3=-1.00000;}
denden 0:27bf77b6ec71 122 void M115(void) {PWM1= 1.00000; PWM2= 0.15153; PWM3=-1.00000;}
denden 0:27bf77b6ec71 123 void M116(void) {PWM1= 1.00000; PWM2= 0.12112; PWM3=-1.00000;}
denden 0:27bf77b6ec71 124 void M117(void) {PWM1= 1.00000; PWM2= 0.09077; PWM3=-1.00000;}
denden 0:27bf77b6ec71 125 void M118(void) {PWM1= 1.00000; PWM2= 0.06048; PWM3=-1.00000;}
denden 0:27bf77b6ec71 126 void M119(void) {PWM1= 1.00000; PWM2= 0.03023; PWM3=-1.00000;}
denden 0:27bf77b6ec71 127 void M120(void) {PWM1= 1.00000; PWM2= 0.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 128 void M121(void) {PWM1= 1.00000; PWM2=-0.03023; PWM3=-1.00000;}
denden 0:27bf77b6ec71 129 void M122(void) {PWM1= 1.00000; PWM2=-0.06048; PWM3=-1.00000;}
denden 0:27bf77b6ec71 130 void M123(void) {PWM1= 1.00000; PWM2=-0.09077; PWM3=-1.00000;}
denden 0:27bf77b6ec71 131 void M124(void) {PWM1= 1.00000; PWM2=-0.12112; PWM3=-1.00000;}
denden 0:27bf77b6ec71 132 void M125(void) {PWM1= 1.00000; PWM2=-0.15153; PWM3=-1.00000;}
denden 0:27bf77b6ec71 133 void M126(void) {PWM1= 1.00000; PWM2=-0.18205; PWM3=-1.00000;}
denden 0:27bf77b6ec71 134 void M127(void) {PWM1= 1.00000; PWM2=-0.21267; PWM3=-1.00000;}
denden 0:27bf77b6ec71 135 void M128(void) {PWM1= 1.00000; PWM2=-0.24342; PWM3=-1.00000;}
denden 0:27bf77b6ec71 136 void M129(void) {PWM1= 1.00000; PWM2=-0.27433; PWM3=-1.00000;}
denden 0:27bf77b6ec71 137 void M130(void) {PWM1= 1.00000; PWM2=-0.30541; PWM3=-1.00000;}
denden 0:27bf77b6ec71 138 void M131(void) {PWM1= 1.00000; PWM2=-0.33668; PWM3=-1.00000;}
denden 0:27bf77b6ec71 139 void M132(void) {PWM1= 1.00000; PWM2=-0.36816; PWM3=-1.00000;}
denden 0:27bf77b6ec71 140 void M133(void) {PWM1= 1.00000; PWM2=-0.39988; PWM3=-1.00000;}
denden 0:27bf77b6ec71 141 void M134(void) {PWM1= 1.00000; PWM2=-0.43185; PWM3=-1.00000;}
denden 0:27bf77b6ec71 142 void M135(void) {PWM1= 1.00000; PWM2=-0.46410; PWM3=-1.00000;}
denden 0:27bf77b6ec71 143 void M136(void) {PWM1= 1.00000; PWM2=-0.49666; PWM3=-1.00000;}
denden 0:27bf77b6ec71 144 void M137(void) {PWM1= 1.00000; PWM2=-0.52954; PWM3=-1.00000;}
denden 0:27bf77b6ec71 145 void M138(void) {PWM1= 1.00000; PWM2=-0.56278; PWM3=-1.00000;}
denden 0:27bf77b6ec71 146 void M139(void) {PWM1= 1.00000; PWM2=-0.59639; PWM3=-1.00000;}
denden 0:27bf77b6ec71 147 void M140(void) {PWM1= 1.00000; PWM2=-0.63041; PWM3=-1.00000;}
denden 0:27bf77b6ec71 148 void M141(void) {PWM1= 1.00000; PWM2=-0.66487; PWM3=-1.00000;}
denden 0:27bf77b6ec71 149 void M142(void) {PWM1= 1.00000; PWM2=-0.69979; PWM3=-1.00000;}
denden 0:27bf77b6ec71 150 void M143(void) {PWM1= 1.00000; PWM2=-0.73521; PWM3=-1.00000;}
denden 0:27bf77b6ec71 151 void M144(void) {PWM1= 1.00000; PWM2=-0.77116; PWM3=-1.00000;}
denden 0:27bf77b6ec71 152 void M145(void) {PWM1= 1.00000; PWM2=-0.80767; PWM3=-1.00000;}
denden 0:27bf77b6ec71 153 void M146(void) {PWM1= 1.00000; PWM2=-0.84478; PWM3=-1.00000;}
denden 0:27bf77b6ec71 154 void M147(void) {PWM1= 1.00000; PWM2=-0.88252; PWM3=-1.00000;}
denden 0:27bf77b6ec71 155 void M148(void) {PWM1= 1.00000; PWM2=-0.92095; PWM3=-1.00000;}
denden 0:27bf77b6ec71 156 void M149(void) {PWM1= 1.00000; PWM2=-0.96009; PWM3=-1.00000;}
denden 0:27bf77b6ec71 157 void M150(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-1.00000;}
denden 0:27bf77b6ec71 158 void M151(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.96009;}
denden 0:27bf77b6ec71 159 void M152(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.92095;}
denden 0:27bf77b6ec71 160 void M153(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.88252;}
denden 0:27bf77b6ec71 161 void M154(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.84478;}
denden 0:27bf77b6ec71 162 void M155(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.80767;}
denden 0:27bf77b6ec71 163 void M156(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.77116;}
denden 0:27bf77b6ec71 164 void M157(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.73521;}
denden 0:27bf77b6ec71 165 void M158(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.69979;}
denden 0:27bf77b6ec71 166 void M159(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.66487;}
denden 0:27bf77b6ec71 167 void M160(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.63041;}
denden 0:27bf77b6ec71 168 void M161(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.59639;}
denden 0:27bf77b6ec71 169 void M162(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.56278;}
denden 0:27bf77b6ec71 170 void M163(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.52954;}
denden 0:27bf77b6ec71 171 void M164(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.49666;}
denden 0:27bf77b6ec71 172 void M165(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.46410;}
denden 0:27bf77b6ec71 173 void M166(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.43185;}
denden 0:27bf77b6ec71 174 void M167(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.39988;}
denden 0:27bf77b6ec71 175 void M168(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.36816;}
denden 0:27bf77b6ec71 176 void M169(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.33668;}
denden 0:27bf77b6ec71 177 void M170(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.30541;}
denden 0:27bf77b6ec71 178 void M171(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.27433;}
denden 0:27bf77b6ec71 179 void M172(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.24342;}
denden 0:27bf77b6ec71 180 void M173(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.21267;}
denden 0:27bf77b6ec71 181 void M174(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.18205;}
denden 0:27bf77b6ec71 182 void M175(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.15153;}
denden 0:27bf77b6ec71 183 void M176(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.12112;}
denden 0:27bf77b6ec71 184 void M177(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.09077;}
denden 0:27bf77b6ec71 185 void M178(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.06048;}
denden 0:27bf77b6ec71 186 void M179(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.03023;}
denden 0:27bf77b6ec71 187 void M180(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.00000;}
denden 0:27bf77b6ec71 188 void M181(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.03023;}
denden 0:27bf77b6ec71 189 void M182(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.06048;}
denden 0:27bf77b6ec71 190 void M183(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.09077;}
denden 0:27bf77b6ec71 191 void M184(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.12112;}
denden 0:27bf77b6ec71 192 void M185(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.15153;}
denden 0:27bf77b6ec71 193 void M186(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.18205;}
denden 0:27bf77b6ec71 194 void M187(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.21267;}
denden 0:27bf77b6ec71 195 void M188(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.24342;}
denden 0:27bf77b6ec71 196 void M189(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.27433;}
denden 0:27bf77b6ec71 197 void M190(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.30541;}
denden 0:27bf77b6ec71 198 void M191(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.33668;}
denden 0:27bf77b6ec71 199 void M192(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.36816;}
denden 0:27bf77b6ec71 200 void M193(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.39988;}
denden 0:27bf77b6ec71 201 void M194(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.43185;}
denden 0:27bf77b6ec71 202 void M195(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.46410;}
denden 0:27bf77b6ec71 203 void M196(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.49666;}
denden 0:27bf77b6ec71 204 void M197(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.52954;}
denden 0:27bf77b6ec71 205 void M198(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.56278;}
denden 0:27bf77b6ec71 206 void M199(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.59639;}
denden 0:27bf77b6ec71 207 void M200(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.63041;}
denden 0:27bf77b6ec71 208 void M201(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.66487;}
denden 0:27bf77b6ec71 209 void M202(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.69979;}
denden 0:27bf77b6ec71 210 void M203(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.73521;}
denden 0:27bf77b6ec71 211 void M204(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.77116;}
denden 0:27bf77b6ec71 212 void M205(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.80767;}
denden 0:27bf77b6ec71 213 void M206(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.84478;}
denden 0:27bf77b6ec71 214 void M207(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.88252;}
denden 0:27bf77b6ec71 215 void M208(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.92095;}
denden 0:27bf77b6ec71 216 void M209(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.96009;}
denden 0:27bf77b6ec71 217 void M210(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 218 void M211(void) {PWM1= 0.96009; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 219 void M212(void) {PWM1= 0.92095; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 220 void M213(void) {PWM1= 0.88252; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 221 void M214(void) {PWM1= 0.84478; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 222 void M215(void) {PWM1= 0.80767; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 223 void M216(void) {PWM1= 0.77116; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 224 void M217(void) {PWM1= 0.73521; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 225 void M218(void) {PWM1= 0.69979; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 226 void M219(void) {PWM1= 0.66487; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 227 void M220(void) {PWM1= 0.63041; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 228 void M221(void) {PWM1= 0.59639; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 229 void M222(void) {PWM1= 0.56278; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 230 void M223(void) {PWM1= 0.52954; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 231 void M224(void) {PWM1= 0.49666; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 232 void M225(void) {PWM1= 0.46410; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 233 void M226(void) {PWM1= 0.43185; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 234 void M227(void) {PWM1= 0.39988; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 235 void M228(void) {PWM1= 0.36816; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 236 void M229(void) {PWM1= 0.33668; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 237 void M230(void) {PWM1= 0.30541; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 238 void M231(void) {PWM1= 0.27433; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 239 void M232(void) {PWM1= 0.24342; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 240 void M233(void) {PWM1= 0.21267; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 241 void M234(void) {PWM1= 0.18205; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 242 void M235(void) {PWM1= 0.15153; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 243 void M236(void) {PWM1= 0.12112; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 244 void M237(void) {PWM1= 0.09077; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 245 void M238(void) {PWM1= 0.06048; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 246 void M239(void) {PWM1= 0.03023; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 247 void M240(void) {PWM1= 0.00000; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 248 void M241(void) {PWM1=-0.03023; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 249 void M242(void) {PWM1=-0.06048; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 250 void M243(void) {PWM1=-0.09077; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 251 void M244(void) {PWM1=-0.12112; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 252 void M245(void) {PWM1=-0.15153; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 253 void M246(void) {PWM1=-0.18205; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 254 void M247(void) {PWM1=-0.21267; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 255 void M248(void) {PWM1=-0.24342; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 256 void M249(void) {PWM1=-0.27433; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 257 void M250(void) {PWM1=-0.30541; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 258 void M251(void) {PWM1=-0.33668; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 259 void M252(void) {PWM1=-0.36816; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 260 void M253(void) {PWM1=-0.39988; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 261 void M254(void) {PWM1=-0.43185; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 262 void M255(void) {PWM1=-0.46410; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 263 void M256(void) {PWM1=-0.49666; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 264 void M257(void) {PWM1=-0.52954; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 265 void M258(void) {PWM1=-0.56278; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 266 void M259(void) {PWM1=-0.59639; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 267 void M260(void) {PWM1=-0.63041; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 268 void M261(void) {PWM1=-0.66487; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 269 void M262(void) {PWM1=-0.69979; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 270 void M263(void) {PWM1=-0.73521; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 271 void M264(void) {PWM1=-0.77116; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 272 void M265(void) {PWM1=-0.80767; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 273 void M266(void) {PWM1=-0.84478; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 274 void M267(void) {PWM1=-0.88252; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 275 void M268(void) {PWM1=-0.92095; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 276 void M269(void) {PWM1=-0.96009; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 277 void M270(void) {PWM1=-1.00000; PWM2=-1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 278 void M271(void) {PWM1=-1.00000; PWM2=-0.96009; PWM3= 1.00000;}
denden 0:27bf77b6ec71 279 void M272(void) {PWM1=-1.00000; PWM2=-0.92095; PWM3= 1.00000;}
denden 0:27bf77b6ec71 280 void M273(void) {PWM1=-1.00000; PWM2=-0.88252; PWM3= 1.00000;}
denden 0:27bf77b6ec71 281 void M274(void) {PWM1=-1.00000; PWM2=-0.84478; PWM3= 1.00000;}
denden 0:27bf77b6ec71 282 void M275(void) {PWM1=-1.00000; PWM2=-0.80767; PWM3= 1.00000;}
denden 0:27bf77b6ec71 283 void M276(void) {PWM1=-1.00000; PWM2=-0.77116; PWM3= 1.00000;}
denden 0:27bf77b6ec71 284 void M277(void) {PWM1=-1.00000; PWM2=-0.73521; PWM3= 1.00000;}
denden 0:27bf77b6ec71 285 void M278(void) {PWM1=-1.00000; PWM2=-0.69979; PWM3= 1.00000;}
denden 0:27bf77b6ec71 286 void M279(void) {PWM1=-1.00000; PWM2=-0.66487; PWM3= 1.00000;}
denden 0:27bf77b6ec71 287 void M280(void) {PWM1=-1.00000; PWM2=-0.63041; PWM3= 1.00000;}
denden 0:27bf77b6ec71 288 void M281(void) {PWM1=-1.00000; PWM2=-0.59639; PWM3= 1.00000;}
denden 0:27bf77b6ec71 289 void M282(void) {PWM1=-1.00000; PWM2=-0.56278; PWM3= 1.00000;}
denden 0:27bf77b6ec71 290 void M283(void) {PWM1=-1.00000; PWM2=-0.52954; PWM3= 1.00000;}
denden 0:27bf77b6ec71 291 void M284(void) {PWM1=-1.00000; PWM2=-0.49666; PWM3= 1.00000;}
denden 0:27bf77b6ec71 292 void M285(void) {PWM1=-1.00000; PWM2=-0.46410; PWM3= 1.00000;}
denden 0:27bf77b6ec71 293 void M286(void) {PWM1=-1.00000; PWM2=-0.43185; PWM3= 1.00000;}
denden 0:27bf77b6ec71 294 void M287(void) {PWM1=-1.00000; PWM2=-0.39988; PWM3= 1.00000;}
denden 0:27bf77b6ec71 295 void M288(void) {PWM1=-1.00000; PWM2=-0.36816; PWM3= 1.00000;}
denden 0:27bf77b6ec71 296 void M289(void) {PWM1=-1.00000; PWM2=-0.33668; PWM3= 1.00000;}
denden 0:27bf77b6ec71 297 void M290(void) {PWM1=-1.00000; PWM2=-0.30541; PWM3= 1.00000;}
denden 0:27bf77b6ec71 298 void M291(void) {PWM1=-1.00000; PWM2=-0.27433; PWM3= 1.00000;}
denden 0:27bf77b6ec71 299 void M292(void) {PWM1=-1.00000; PWM2=-0.24342; PWM3= 1.00000;}
denden 0:27bf77b6ec71 300 void M293(void) {PWM1=-1.00000; PWM2=-0.21267; PWM3= 1.00000;}
denden 0:27bf77b6ec71 301 void M294(void) {PWM1=-1.00000; PWM2=-0.18205; PWM3= 1.00000;}
denden 0:27bf77b6ec71 302 void M295(void) {PWM1=-1.00000; PWM2=-0.15153; PWM3= 1.00000;}
denden 0:27bf77b6ec71 303 void M296(void) {PWM1=-1.00000; PWM2=-0.12112; PWM3= 1.00000;}
denden 0:27bf77b6ec71 304 void M297(void) {PWM1=-1.00000; PWM2=-0.09077; PWM3= 1.00000;}
denden 0:27bf77b6ec71 305 void M298(void) {PWM1=-1.00000; PWM2=-0.06048; PWM3= 1.00000;}
denden 0:27bf77b6ec71 306 void M299(void) {PWM1=-1.00000; PWM2=-0.03023; PWM3= 1.00000;}
denden 0:27bf77b6ec71 307 void M300(void) {PWM1=-1.00000; PWM2= 0.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 308 void M301(void) {PWM1=-1.00000; PWM2= 0.03023; PWM3= 1.00000;}
denden 0:27bf77b6ec71 309 void M302(void) {PWM1=-1.00000; PWM2= 0.06048; PWM3= 1.00000;}
denden 0:27bf77b6ec71 310 void M303(void) {PWM1=-1.00000; PWM2= 0.09077; PWM3= 1.00000;}
denden 0:27bf77b6ec71 311 void M304(void) {PWM1=-1.00000; PWM2= 0.12112; PWM3= 1.00000;}
denden 0:27bf77b6ec71 312 void M305(void) {PWM1=-1.00000; PWM2= 0.15153; PWM3= 1.00000;}
denden 0:27bf77b6ec71 313 void M306(void) {PWM1=-1.00000; PWM2= 0.18205; PWM3= 1.00000;}
denden 0:27bf77b6ec71 314 void M307(void) {PWM1=-1.00000; PWM2= 0.21267; PWM3= 1.00000;}
denden 0:27bf77b6ec71 315 void M308(void) {PWM1=-1.00000; PWM2= 0.24342; PWM3= 1.00000;}
denden 0:27bf77b6ec71 316 void M309(void) {PWM1=-1.00000; PWM2= 0.27433; PWM3= 1.00000;}
denden 0:27bf77b6ec71 317 void M310(void) {PWM1=-1.00000; PWM2= 0.30541; PWM3= 1.00000;}
denden 0:27bf77b6ec71 318 void M311(void) {PWM1=-1.00000; PWM2= 0.33668; PWM3= 1.00000;}
denden 0:27bf77b6ec71 319 void M312(void) {PWM1=-1.00000; PWM2= 0.36816; PWM3= 1.00000;}
denden 0:27bf77b6ec71 320 void M313(void) {PWM1=-1.00000; PWM2= 0.39988; PWM3= 1.00000;}
denden 0:27bf77b6ec71 321 void M314(void) {PWM1=-1.00000; PWM2= 0.43185; PWM3= 1.00000;}
denden 0:27bf77b6ec71 322 void M315(void) {PWM1=-1.00000; PWM2= 0.46410; PWM3= 1.00000;}
denden 0:27bf77b6ec71 323 void M316(void) {PWM1=-1.00000; PWM2= 0.49666; PWM3= 1.00000;}
denden 0:27bf77b6ec71 324 void M317(void) {PWM1=-1.00000; PWM2= 0.52954; PWM3= 1.00000;}
denden 0:27bf77b6ec71 325 void M318(void) {PWM1=-1.00000; PWM2= 0.56278; PWM3= 1.00000;}
denden 0:27bf77b6ec71 326 void M319(void) {PWM1=-1.00000; PWM2= 0.59639; PWM3= 1.00000;}
denden 0:27bf77b6ec71 327 void M320(void) {PWM1=-1.00000; PWM2= 0.63041; PWM3= 1.00000;}
denden 0:27bf77b6ec71 328 void M321(void) {PWM1=-1.00000; PWM2= 0.66487; PWM3= 1.00000;}
denden 0:27bf77b6ec71 329 void M322(void) {PWM1=-1.00000; PWM2= 0.69979; PWM3= 1.00000;}
denden 0:27bf77b6ec71 330 void M323(void) {PWM1=-1.00000; PWM2= 0.73521; PWM3= 1.00000;}
denden 0:27bf77b6ec71 331 void M324(void) {PWM1=-1.00000; PWM2= 0.77116; PWM3= 1.00000;}
denden 0:27bf77b6ec71 332 void M325(void) {PWM1=-1.00000; PWM2= 0.80767; PWM3= 1.00000;}
denden 0:27bf77b6ec71 333 void M326(void) {PWM1=-1.00000; PWM2= 0.84478; PWM3= 1.00000;}
denden 0:27bf77b6ec71 334 void M327(void) {PWM1=-1.00000; PWM2= 0.88252; PWM3= 1.00000;}
denden 0:27bf77b6ec71 335 void M328(void) {PWM1=-1.00000; PWM2= 0.92095; PWM3= 1.00000;}
denden 0:27bf77b6ec71 336 void M329(void) {PWM1=-1.00000; PWM2= 0.96009; PWM3= 1.00000;}
denden 0:27bf77b6ec71 337 void M330(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 1.00000;}
denden 0:27bf77b6ec71 338 void M331(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.96009;}
denden 0:27bf77b6ec71 339 void M332(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.92095;}
denden 0:27bf77b6ec71 340 void M333(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.88252;}
denden 0:27bf77b6ec71 341 void M334(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.84478;}
denden 0:27bf77b6ec71 342 void M335(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.80767;}
denden 0:27bf77b6ec71 343 void M336(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.77116;}
denden 0:27bf77b6ec71 344 void M337(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.73521;}
denden 0:27bf77b6ec71 345 void M338(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.69979;}
denden 0:27bf77b6ec71 346 void M339(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.66487;}
denden 0:27bf77b6ec71 347 void M340(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.63041;}
denden 0:27bf77b6ec71 348 void M341(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.59639;}
denden 0:27bf77b6ec71 349 void M342(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.56278;}
denden 0:27bf77b6ec71 350 void M343(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.52954;}
denden 0:27bf77b6ec71 351 void M344(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.49666;}
denden 0:27bf77b6ec71 352 void M345(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.46410;}
denden 0:27bf77b6ec71 353 void M346(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.43185;}
denden 0:27bf77b6ec71 354 void M347(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.39988;}
denden 0:27bf77b6ec71 355 void M348(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.36816;}
denden 0:27bf77b6ec71 356 void M349(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.33668;}
denden 0:27bf77b6ec71 357 void M350(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.30541;}
denden 0:27bf77b6ec71 358 void M351(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.27433;}
denden 0:27bf77b6ec71 359 void M352(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.24342;}
denden 0:27bf77b6ec71 360 void M353(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.21267;}
denden 0:27bf77b6ec71 361 void M354(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.18205;}
denden 0:27bf77b6ec71 362 void M355(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.15153;}
denden 0:27bf77b6ec71 363 void M356(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.12112;}
denden 0:27bf77b6ec71 364 void M357(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.09077;}
denden 0:27bf77b6ec71 365 void M358(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.06048;}
denden 0:27bf77b6ec71 366 void M359(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.03023;}
denden 0:27bf77b6ec71 367 // モータのPWM制御分岐
denden 0:27bf77b6ec71 368 void (*PwmApi[])(void) = {M000, M001, M002, M003, M004, M005, M006, M007, M008, M009, M010, M011, M012, M013, M014, M015, M016, M017, M018, M019, M020, M021, M022, M023, M024, M025, M026, M027, M028, M029, M030, M031, M032, M033, M034, M035, M036, M037, M038, M039, M040, M041, M042, M043, M044, M045, M046, M047, M048, M049, M050, M051, M052, M053, M054, M055, M056, M057, M058, M059, M060, M061, M062, M063, M064, M065, M066, M067, M068, M069, M070, M071, M072, M073, M074, M075, M076, M077, M078, M079, M080, M081, M082, M083, M084, M085, M086, M087, M088, M089, M090, M091, M092, M093, M094, M095, M096, M097, M098, M099, M100, M101, M102, M103, M104, M105, M106, M107, M108, M109, M110, M111, M112, M113, M114, M115, M116, M117, M118, M119, M120, M121, M122, M123, M124, M125, M126, M127, M128, M129, M130, M131, M132, M133, M134, M135, M136, M137, M138, M139, M140, M141, M142, M143, M144, M145, M146, M147, M148, M149, M150, M151, M152, M153, M154, M155, M156, M157, M158, M159, M160, M161, M162, M163, M164, M165, M166, M167, M168, M169, M170, M171, M172, M173, M174, M175, M176, M177, M178, M179, M180, M181, M182, M183, M184, M185, M186, M187, M188, M189, M190, M191, M192, M193, M194, M195, M196, M197, M198, M199, M200, M201, M202, M203, M204, M205, M206, M207, M208, M209, M210, M211, M212, M213, M214, M215, M216, M217, M218, M219, M220, M221, M222, M223, M224, M225, M226, M227, M228, M229, M230, M231, M232, M233, M234, M235, M236, M237, M238, M239, M240, M241, M242, M243, M244, M245, M246, M247, M248, M249, M250, M251, M252, M253, M254, M255, M256, M257, M258, M259, M260, M261, M262, M263, M264, M265, M266, M267, M268, M269, M270, M271, M272, M273, M274, M275, M276, M277, M278, M279, M280, M281, M282, M283, M284, M285, M286, M287, M288, M289, M290, M291, M292, M293, M294, M295, M296, M297, M298, M299, M300, M301, M302, M303, M304, M305, M306, M307, M308, M309, M310, M311, M312, M313, M314, M315, M316, M317, M318, M319, M320, M321, M322, M323, M324, M325, M326, M327, M328, M329, M330, M331, M332, M333, M334, M335, M336, M337, M338, M339, M340, M341, M342, M343, M344, M345, M346, M347, M348, M349, M350, M351, M352, M353, M354, M355, M356, M357, M358, M359};
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denden 0:27bf77b6ec71 373
denden 0:27bf77b6ec71 374 void Moter(float speed, int angle, float omega) {
denden 0:27bf77b6ec71 375 if(sw_flag) {
denden 0:27bf77b6ec71 376 (*PwmApi[angle])();
denden 0:27bf77b6ec71 377 PWM1 += omega; PWM2 += omega; PWM3 += omega;
denden 0:27bf77b6ec71 378 MoterApi(((PWM1>=0)?1:0), ((PWM2>=0)?1:0), ((PWM3>=0)?1:0));
denden 0:27bf77b6ec71 379
denden 0:27bf77b6ec71 380 PWM1 = abs(PWM1); PWM2 = abs(PWM2); PWM3 = abs(PWM3);
denden 0:27bf77b6ec71 381 // 最大値を探す
denden 0:27bf77b6ec71 382 float max = (PWM1 > PWM2) ? PWM1 : PWM2;
denden 0:27bf77b6ec71 383 max = (max > PWM3) ? max : PWM3;
denden 0:27bf77b6ec71 384
denden 0:27bf77b6ec71 385 PWM1 = PWM1/max*speed; PWM2 = PWM2/max*speed; PWM3 = PWM3/max*speed;
denden 0:27bf77b6ec71 386 if(max == 0){PWM1=0; PWM2=0; PWM3=0;}
denden 0:27bf77b6ec71 387 pwm1 = PWM1; pwm2 = PWM2; pwm3 = PWM3;
denden 0:27bf77b6ec71 388 led4 = 1;
denden 0:27bf77b6ec71 389 }
denden 0:27bf77b6ec71 390 }
denden 0:27bf77b6ec71 391
denden 0:27bf77b6ec71 392
denden 0:27bf77b6ec71 393 // 角度自動修正関数
denden 0:27bf77b6ec71 394 float Auto_Corrction(void) {
denden 0:27bf77b6ec71 395 float omega = 0.00000;
denden 0:27bf77b6ec71 396 if (90.0 < Compass && Compass < 180.0) {
denden 0:27bf77b6ec71 397 omega = -0.1 * Compass / 180.0;
denden 0:27bf77b6ec71 398 } else if (-180.0 < Compass && Compass < -90.0) {
denden 0:27bf77b6ec71 399 omega = -0.1 * Compass / 180.0;
denden 0:27bf77b6ec71 400 } else {
denden 0:27bf77b6ec71 401 omega = 0.000000;
denden 0:27bf77b6ec71 402 }
denden 0:27bf77b6ec71 403 return omega;
denden 0:27bf77b6ec71 404 }
denden 0:27bf77b6ec71 405
denden 0:27bf77b6ec71 406
denden 0:27bf77b6ec71 407 // モータの回転方向を制御
denden 0:27bf77b6ec71 408 void MoterApi(bool m1, bool m2, bool m3) {
denden 0:27bf77b6ec71 409 M1_1 = m1; M1_2 = !m1;
denden 0:27bf77b6ec71 410 M2_1 = m2; M2_2 = !m2;
denden 0:27bf77b6ec71 411 M3_1 = m3; M3_2 = !m3;
denden 0:27bf77b6ec71 412 }
denden 0:27bf77b6ec71 413
denden 0:27bf77b6ec71 414 // モータをすべて止める
denden 0:27bf77b6ec71 415 void MoterReset (bool m1, bool m2, bool m3) {
denden 0:27bf77b6ec71 416 if (!m1) { M1_1 = 0; M1_2 = 0; }
denden 0:27bf77b6ec71 417 if (!m2) { M2_1 = 0; M2_2 = 0; }
denden 0:27bf77b6ec71 418 if (!m3) { M3_1 = 0; M3_2 = 0; }
denden 0:27bf77b6ec71 419 }
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