File content as of revision 0:45e93cf5e710:

#include "mbed.h"
#include "BNO055.h"

#define del_t 0.005

AnalogIn pos[] = {
    p19, //pitch,yellow
    p20  //roll,green
}; 

Serial pc(USBTX, USBRX);
I2C ifaceI2C(I2C_SDA, I2C_SCL);  //センサー用のI2C
BOARDC_BNO055 sensor1(&ifaceI2C);//センサーで使うI2Cの定義

Ticker fripper;

void frip();
void setup();
void debug();

float ScEUL;
float phi[4];
float stroke[4];
int num[4];

const float func[101][101]={
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,
0,2,4,6,8,10,12,14,16,18,20,22,24,26,28,30,32,34,36,38,40,42,44,46,48,50,52,54,56,58,60,62,64,66,68,70,72,74,76,78,80,82,84,86,88,90,92,94,96,98,100,102,104,106,108,110,112,114,116,118,120,122,124,126,128,130,132,134,136,138,140,142,144,146,148,150,152,154,156,158,160,162,164,166,168,170,172,174,176,178,180,182,184,186,188,190,192,194,196,198,200,
0,3,6,9,12,15,18,21,24,27,30,33,36,39,42,45,48,51,54,57,60,63,66,69,72,75,78,81,84,87,90,93,96,99,102,105,108,111,114,117,120,123,126,129,132,135,138,141,144,147,150,153,156,159,162,165,168,171,174,177,180,183,186,189,192,195,198,201,204,207,210,213,216,219,222,225,228,231,234,237,240,243,246,249,252,255,258,261,264,267,270,273,276,279,282,285,288,291,294,297,300,
0,4,8,12,16,20,24,28,32,36,40,44,48,52,56,60,64,68,72,76,80,84,88,92,96,100,104,108,112,116,120,124,128,132,136,140,144,148,152,156,160,164,168,172,176,180,184,188,192,196,200,204,208,212,216,220,224,228,232,236,240,244,248,252,256,260,264,268,272,276,280,284,288,292,296,300,304,308,312,316,320,324,328,332,336,340,344,348,352,356,360,364,368,372,376,380,384,388,392,396,400,
0,5,10,15,20,25,30,35,40,45,50,55,60,65,70,75,80,85,90,95,100,105,110,115,120,125,130,135,140,145,150,155,160,165,170,175,180,185,190,195,200,205,210,215,220,225,230,235,240,245,250,255,260,265,270,275,280,285,290,295,300,305,310,315,320,325,330,335,340,345,350,355,360,365,370,375,380,385,390,395,400,405,410,415,420,425,430,435,440,445,450,455,460,465,470,475,480,485,490,495,500,
0,6,12,18,24,30,36,42,48,54,60,66,72,78,84,90,96,102,108,114,120,126,132,138,144,150,156,162,168,174,180,186,192,198,204,210,216,222,228,234,240,246,252,258,264,270,276,282,288,294,300,306,312,318,324,330,336,342,348,354,360,366,372,378,384,390,396,402,408,414,420,426,432,438,444,450,456,462,468,474,480,486,492,498,504,510,516,522,528,534,540,546,552,558,564,570,576,582,588,594,600,
0,7,14,21,28,35,42,49,56,63,70,77,84,91,98,105,112,119,126,133,140,147,154,161,168,175,182,189,196,203,210,217,224,231,238,245,252,259,266,273,280,287,294,301,308,315,322,329,336,343,350,357,364,371,378,385,392,399,406,413,420,427,434,441,448,455,462,469,476,483,490,497,504,511,518,525,532,539,546,553,560,567,574,581,588,595,602,609,616,623,630,637,644,651,658,665,672,679,686,693,700,
0,8,16,24,32,40,48,56,64,72,80,88,96,104,112,120,128,136,144,152,160,168,176,184,192,200,208,216,224,232,240,248,256,264,272,280,288,296,304,312,320,328,336,344,352,360,368,376,384,392,400,408,416,424,432,440,448,456,464,472,480,488,496,504,512,520,528,536,544,552,560,568,576,584,592,600,608,616,624,632,640,648,656,664,672,680,688,696,704,712,720,728,736,744,752,760,768,776,784,792,800,
0,9,18,27,36,45,54,63,72,81,90,99,108,117,126,135,144,153,162,171,180,189,198,207,216,225,234,243,252,261,270,279,288,297,306,315,324,333,342,351,360,369,378,387,396,405,414,423,432,441,450,459,468,477,486,495,504,513,522,531,540,549,558,567,576,585,594,603,612,621,630,639,648,657,666,675,684,693,702,711,720,729,738,747,756,765,774,783,792,801,810,819,828,837,846,855,864,873,882,891,900,
0,10,20,30,40,50,60,70,80,90,100,110,120,130,140,150,160,170,180,190,200,210,220,230,240,250,260,270,280,290,300,310,320,330,340,350,360,370,380,390,400,410,420,430,440,450,460,470,480,490,500,510,520,530,540,550,560,570,580,590,600,610,620,630,640,650,660,670,680,690,700,710,720,730,740,750,760,770,780,790,800,810,820,830,840,850,860,870,880,890,900,910,920,930,940,950,960,970,980,990,1000,
0,11,22,33,44,55,66,77,88,99,110,121,132,143,154,165,176,187,198,209,220,231,242,253,264,275,286,297,308,319,330,341,352,363,374,385,396,407,418,429,440,451,462,473,484,495,506,517,528,539,550,561,572,583,594,605,616,627,638,649,660,671,682,693,704,715,726,737,748,759,770,781,792,803,814,825,836,847,858,869,880,891,902,913,924,935,946,957,968,979,990,1001,1012,1023,1034,1045,1056,1067,1078,1089,1100,
0,12,24,36,48,60,72,84,96,108,120,132,144,156,168,180,192,204,216,228,240,252,264,276,288,300,312,324,336,348,360,372,384,396,408,420,432,444,456,468,480,492,504,516,528,540,552,564,576,588,600,612,624,636,648,660,672,684,696,708,720,732,744,756,768,780,792,804,816,828,840,852,864,876,888,900,912,924,936,948,960,972,984,996,1008,1020,1032,1044,1056,1068,1080,1092,1104,1116,1128,1140,1152,1164,1176,1188,1200,
0,13,26,39,52,65,78,91,104,117,130,143,156,169,182,195,208,221,234,247,260,273,286,299,312,325,338,351,364,377,390,403,416,429,442,455,468,481,494,507,520,533,546,559,572,585,598,611,624,637,650,663,676,689,702,715,728,741,754,767,780,793,806,819,832,845,858,871,884,897,910,923,936,949,962,975,988,1001,1014,1027,1040,1053,1066,1079,1092,1105,1118,1131,1144,1157,1170,1183,1196,1209,1222,1235,1248,1261,1274,1287,1300,
0,14,28,42,56,70,84,98,112,126,140,154,168,182,196,210,224,238,252,266,280,294,308,322,336,350,364,378,392,406,420,434,448,462,476,490,504,518,532,546,560,574,588,602,616,630,644,658,672,686,700,714,728,742,756,770,784,798,812,826,840,854,868,882,896,910,924,938,952,966,980,994,1008,1022,1036,1050,1064,1078,1092,1106,1120,1134,1148,1162,1176,1190,1204,1218,1232,1246,1260,1274,1288,1302,1316,1330,1344,1358,1372,1386,1400,
0,15,30,45,60,75,90,105,120,135,150,165,180,195,210,225,240,255,270,285,300,315,330,345,360,375,390,405,420,435,450,465,480,495,510,525,540,555,570,585,600,615,630,645,660,675,690,705,720,735,750,765,780,795,810,825,840,855,870,885,900,915,930,945,960,975,990,1005,1020,1035,1050,1065,1080,1095,1110,1125,1140,1155,1170,1185,1200,1215,1230,1245,1260,1275,1290,1305,1320,1335,1350,1365,1380,1395,1410,1425,1440,1455,1470,1485,1500,
0,16,32,48,64,80,96,112,128,144,160,176,192,208,224,240,256,272,288,304,320,336,352,368,384,400,416,432,448,464,480,496,512,528,544,560,576,592,608,624,640,656,672,688,704,720,736,752,768,784,800,816,832,848,864,880,896,912,928,944,960,976,992,1008,1024,1040,1056,1072,1088,1104,1120,1136,1152,1168,1184,1200,1216,1232,1248,1264,1280,1296,1312,1328,1344,1360,1376,1392,1408,1424,1440,1456,1472,1488,1504,1520,1536,1552,1568,1584,1600,
0,17,34,51,68,85,102,119,136,153,170,187,204,221,238,255,272,289,306,323,340,357,374,391,408,425,442,459,476,493,510,527,544,561,578,595,612,629,646,663,680,697,714,731,748,765,782,799,816,833,850,867,884,901,918,935,952,969,986,1003,1020,1037,1054,1071,1088,1105,1122,1139,1156,1173,1190,1207,1224,1241,1258,1275,1292,1309,1326,1343,1360,1377,1394,1411,1428,1445,1462,1479,1496,1513,1530,1547,1564,1581,1598,1615,1632,1649,1666,1683,1700,
0,18,36,54,72,90,108,126,144,162,180,198,216,234,252,270,288,306,324,342,360,378,396,414,432,450,468,486,504,522,540,558,576,594,612,630,648,666,684,702,720,738,756,774,792,810,828,846,864,882,900,918,936,954,972,990,1008,1026,1044,1062,1080,1098,1116,1134,1152,1170,1188,1206,1224,1242,1260,1278,1296,1314,1332,1350,1368,1386,1404,1422,1440,1458,1476,1494,1512,1530,1548,1566,1584,1602,1620,1638,1656,1674,1692,1710,1728,1746,1764,1782,1800,
0,19,38,57,76,95,114,133,152,171,190,209,228,247,266,285,304,323,342,361,380,399,418,437,456,475,494,513,532,551,570,589,608,627,646,665,684,703,722,741,760,779,798,817,836,855,874,893,912,931,950,969,988,1007,1026,1045,1064,1083,1102,1121,1140,1159,1178,1197,1216,1235,1254,1273,1292,1311,1330,1349,1368,1387,1406,1425,1444,1463,1482,1501,1520,1539,1558,1577,1596,1615,1634,1653,1672,1691,1710,1729,1748,1767,1786,1805,1824,1843,1862,1881,1900,
0,20,40,60,80,100,120,140,160,180,200,220,240,260,280,300,320,340,360,380,400,420,440,460,480,500,520,540,560,580,600,620,640,660,680,700,720,740,760,780,800,820,840,860,880,900,920,940,960,980,1000,1020,1040,1060,1080,1100,1120,1140,1160,1180,1200,1220,1240,1260,1280,1300,1320,1340,1360,1380,1400,1420,1440,1460,1480,1500,1520,1540,1560,1580,1600,1620,1640,1660,1680,1700,1720,1740,1760,1780,1800,1820,1840,1860,1880,1900,1920,1940,1960,1980,2000,
0,21,42,63,84,105,126,147,168,189,210,231,252,273,294,315,336,357,378,399,420,441,462,483,504,525,546,567,588,609,630,651,672,693,714,735,756,777,798,819,840,861,882,903,924,945,966,987,1008,1029,1050,1071,1092,1113,1134,1155,1176,1197,1218,1239,1260,1281,1302,1323,1344,1365,1386,1407,1428,1449,1470,1491,1512,1533,1554,1575,1596,1617,1638,1659,1680,1701,1722,1743,1764,1785,1806,1827,1848,1869,1890,1911,1932,1953,1974,1995,2016,2037,2058,2079,2100,
0,22,44,66,88,110,132,154,176,198,220,242,264,286,308,330,352,374,396,418,440,462,484,506,528,550,572,594,616,638,660,682,704,726,748,770,792,814,836,858,880,902,924,946,968,990,1012,1034,1056,1078,1100,1122,1144,1166,1188,1210,1232,1254,1276,1298,1320,1342,1364,1386,1408,1430,1452,1474,1496,1518,1540,1562,1584,1606,1628,1650,1672,1694,1716,1738,1760,1782,1804,1826,1848,1870,1892,1914,1936,1958,1980,2002,2024,2046,2068,2090,2112,2134,2156,2178,2200,
0,23,46,69,92,115,138,161,184,207,230,253,276,299,322,345,368,391,414,437,460,483,506,529,552,575,598,621,644,667,690,713,736,759,782,805,828,851,874,897,920,943,966,989,1012,1035,1058,1081,1104,1127,1150,1173,1196,1219,1242,1265,1288,1311,1334,1357,1380,1403,1426,1449,1472,1495,1518,1541,1564,1587,1610,1633,1656,1679,1702,1725,1748,1771,1794,1817,1840,1863,1886,1909,1932,1955,1978,2001,2024,2047,2070,2093,2116,2139,2162,2185,2208,2231,2254,2277,2300,
0,24,48,72,96,120,144,168,192,216,240,264,288,312,336,360,384,408,432,456,480,504,528,552,576,600,624,648,672,696,720,744,768,792,816,840,864,888,912,936,960,984,1008,1032,1056,1080,1104,1128,1152,1176,1200,1224,1248,1272,1296,1320,1344,1368,1392,1416,1440,1464,1488,1512,1536,1560,1584,1608,1632,1656,1680,1704,1728,1752,1776,1800,1824,1848,1872,1896,1920,1944,1968,1992,2016,2040,2064,2088,2112,2136,2160,2184,2208,2232,2256,2280,2304,2328,2352,2376,2400,
0,25,50,75,100,125,150,175,200,225,250,275,300,325,350,375,400,425,450,475,500,525,550,575,600,625,650,675,700,725,750,775,800,825,850,875,900,925,950,975,1000,1025,1050,1075,1100,1125,1150,1175,1200,1225,1250,1275,1300,1325,1350,1375,1400,1425,1450,1475,1500,1525,1550,1575,1600,1625,1650,1675,1700,1725,1750,1775,1800,1825,1850,1875,1900,1925,1950,1975,2000,2025,2050,2075,2100,2125,2150,2175,2200,2225,2250,2275,2300,2325,2350,2375,2400,2425,2450,2475,2500,
0,26,52,78,104,130,156,182,208,234,260,286,312,338,364,390,416,442,468,494,520,546,572,598,624,650,676,702,728,754,780,806,832,858,884,910,936,962,988,1014,1040,1066,1092,1118,1144,1170,1196,1222,1248,1274,1300,1326,1352,1378,1404,1430,1456,1482,1508,1534,1560,1586,1612,1638,1664,1690,1716,1742,1768,1794,1820,1846,1872,1898,1924,1950,1976,2002,2028,2054,2080,2106,2132,2158,2184,2210,2236,2262,2288,2314,2340,2366,2392,2418,2444,2470,2496,2522,2548,2574,2600,
0,27,54,81,108,135,162,189,216,243,270,297,324,351,378,405,432,459,486,513,540,567,594,621,648,675,702,729,756,783,810,837,864,891,918,945,972,999,1026,1053,1080,1107,1134,1161,1188,1215,1242,1269,1296,1323,1350,1377,1404,1431,1458,1485,1512,1539,1566,1593,1620,1647,1674,1701,1728,1755,1782,1809,1836,1863,1890,1917,1944,1971,1998,2025,2052,2079,2106,2133,2160,2187,2214,2241,2268,2295,2322,2349,2376,2403,2430,2457,2484,2511,2538,2565,2592,2619,2646,2673,2700,
0,28,56,84,112,140,168,196,224,252,280,308,336,364,392,420,448,476,504,532,560,588,616,644,672,700,728,756,784,812,840,868,896,924,952,980,1008,1036,1064,1092,1120,1148,1176,1204,1232,1260,1288,1316,1344,1372,1400,1428,1456,1484,1512,1540,1568,1596,1624,1652,1680,1708,1736,1764,1792,1820,1848,1876,1904,1932,1960,1988,2016,2044,2072,2100,2128,2156,2184,2212,2240,2268,2296,2324,2352,2380,2408,2436,2464,2492,2520,2548,2576,2604,2632,2660,2688,2716,2744,2772,2800,
0,29,58,87,116,145,174,203,232,261,290,319,348,377,406,435,464,493,522,551,580,609,638,667,696,725,754,783,812,841,870,899,928,957,986,1015,1044,1073,1102,1131,1160,1189,1218,1247,1276,1305,1334,1363,1392,1421,1450,1479,1508,1537,1566,1595,1624,1653,1682,1711,1740,1769,1798,1827,1856,1885,1914,1943,1972,2001,2030,2059,2088,2117,2146,2175,2204,2233,2262,2291,2320,2349,2378,2407,2436,2465,2494,2523,2552,2581,2610,2639,2668,2697,2726,2755,2784,2813,2842,2871,2900,
0,30,60,90,120,150,180,210,240,270,300,330,360,390,420,450,480,510,540,570,600,630,660,690,720,750,780,810,840,870,900,930,960,990,1020,1050,1080,1110,1140,1170,1200,1230,1260,1290,1320,1350,1380,1410,1440,1470,1500,1530,1560,1590,1620,1650,1680,1710,1740,1770,1800,1830,1860,1890,1920,1950,1980,2010,2040,2070,2100,2130,2160,2190,2220,2250,2280,2310,2340,2370,2400,2430,2460,2490,2520,2550,2580,2610,2640,2670,2700,2730,2760,2790,2820,2850,2880,2910,2940,2970,3000,
0,31,62,93,124,155,186,217,248,279,310,341,372,403,434,465,496,527,558,589,620,651,682,713,744,775,806,837,868,899,930,961,992,1023,1054,1085,1116,1147,1178,1209,1240,1271,1302,1333,1364,1395,1426,1457,1488,1519,1550,1581,1612,1643,1674,1705,1736,1767,1798,1829,1860,1891,1922,1953,1984,2015,2046,2077,2108,2139,2170,2201,2232,2263,2294,2325,2356,2387,2418,2449,2480,2511,2542,2573,2604,2635,2666,2697,2728,2759,2790,2821,2852,2883,2914,2945,2976,3007,3038,3069,3100,
0,32,64,96,128,160,192,224,256,288,320,352,384,416,448,480,512,544,576,608,640,672,704,736,768,800,832,864,896,928,960,992,1024,1056,1088,1120,1152,1184,1216,1248,1280,1312,1344,1376,1408,1440,1472,1504,1536,1568,1600,1632,1664,1696,1728,1760,1792,1824,1856,1888,1920,1952,1984,2016,2048,2080,2112,2144,2176,2208,2240,2272,2304,2336,2368,2400,2432,2464,2496,2528,2560,2592,2624,2656,2688,2720,2752,2784,2816,2848,2880,2912,2944,2976,3008,3040,3072,3104,3136,3168,3200,
0,33,66,99,132,165,198,231,264,297,330,363,396,429,462,495,528,561,594,627,660,693,726,759,792,825,858,891,924,957,990,1023,1056,1089,1122,1155,1188,1221,1254,1287,1320,1353,1386,1419,1452,1485,1518,1551,1584,1617,1650,1683,1716,1749,1782,1815,1848,1881,1914,1947,1980,2013,2046,2079,2112,2145,2178,2211,2244,2277,2310,2343,2376,2409,2442,2475,2508,2541,2574,2607,2640,2673,2706,2739,2772,2805,2838,2871,2904,2937,2970,3003,3036,3069,3102,3135,3168,3201,3234,3267,3300,
0,34,68,102,136,170,204,238,272,306,340,374,408,442,476,510,544,578,612,646,680,714,748,782,816,850,884,918,952,986,1020,1054,1088,1122,1156,1190,1224,1258,1292,1326,1360,1394,1428,1462,1496,1530,1564,1598,1632,1666,1700,1734,1768,1802,1836,1870,1904,1938,1972,2006,2040,2074,2108,2142,2176,2210,2244,2278,2312,2346,2380,2414,2448,2482,2516,2550,2584,2618,2652,2686,2720,2754,2788,2822,2856,2890,2924,2958,2992,3026,3060,3094,3128,3162,3196,3230,3264,3298,3332,3366,3400,
0,35,70,105,140,175,210,245,280,315,350,385,420,455,490,525,560,595,630,665,700,735,770,805,840,875,910,945,980,1015,1050,1085,1120,1155,1190,1225,1260,1295,1330,1365,1400,1435,1470,1505,1540,1575,1610,1645,1680,1715,1750,1785,1820,1855,1890,1925,1960,1995,2030,2065,2100,2135,2170,2205,2240,2275,2310,2345,2380,2415,2450,2485,2520,2555,2590,2625,2660,2695,2730,2765,2800,2835,2870,2905,2940,2975,3010,3045,3080,3115,3150,3185,3220,3255,3290,3325,3360,3395,3430,3465,3500,
0,36,72,108,144,180,216,252,288,324,360,396,432,468,504,540,576,612,648,684,720,756,792,828,864,900,936,972,1008,1044,1080,1116,1152,1188,1224,1260,1296,1332,1368,1404,1440,1476,1512,1548,1584,1620,1656,1692,1728,1764,1800,1836,1872,1908,1944,1980,2016,2052,2088,2124,2160,2196,2232,2268,2304,2340,2376,2412,2448,2484,2520,2556,2592,2628,2664,2700,2736,2772,2808,2844,2880,2916,2952,2988,3024,3060,3096,3132,3168,3204,3240,3276,3312,3348,3384,3420,3456,3492,3528,3564,3600,
0,37,74,111,148,185,222,259,296,333,370,407,444,481,518,555,592,629,666,703,740,777,814,851,888,925,962,999,1036,1073,1110,1147,1184,1221,1258,1295,1332,1369,1406,1443,1480,1517,1554,1591,1628,1665,1702,1739,1776,1813,1850,1887,1924,1961,1998,2035,2072,2109,2146,2183,2220,2257,2294,2331,2368,2405,2442,2479,2516,2553,2590,2627,2664,2701,2738,2775,2812,2849,2886,2923,2960,2997,3034,3071,3108,3145,3182,3219,3256,3293,3330,3367,3404,3441,3478,3515,3552,3589,3626,3663,3700,
0,38,76,114,152,190,228,266,304,342,380,418,456,494,532,570,608,646,684,722,760,798,836,874,912,950,988,1026,1064,1102,1140,1178,1216,1254,1292,1330,1368,1406,1444,1482,1520,1558,1596,1634,1672,1710,1748,1786,1824,1862,1900,1938,1976,2014,2052,2090,2128,2166,2204,2242,2280,2318,2356,2394,2432,2470,2508,2546,2584,2622,2660,2698,2736,2774,2812,2850,2888,2926,2964,3002,3040,3078,3116,3154,3192,3230,3268,3306,3344,3382,3420,3458,3496,3534,3572,3610,3648,3686,3724,3762,3800,
0,39,78,117,156,195,234,273,312,351,390,429,468,507,546,585,624,663,702,741,780,819,858,897,936,975,1014,1053,1092,1131,1170,1209,1248,1287,1326,1365,1404,1443,1482,1521,1560,1599,1638,1677,1716,1755,1794,1833,1872,1911,1950,1989,2028,2067,2106,2145,2184,2223,2262,2301,2340,2379,2418,2457,2496,2535,2574,2613,2652,2691,2730,2769,2808,2847,2886,2925,2964,3003,3042,3081,3120,3159,3198,3237,3276,3315,3354,3393,3432,3471,3510,3549,3588,3627,3666,3705,3744,3783,3822,3861,3900,
0,40,80,120,160,200,240,280,320,360,400,440,480,520,560,600,640,680,720,760,800,840,880,920,960,1000,1040,1080,1120,1160,1200,1240,1280,1320,1360,1400,1440,1480,1520,1560,1600,1640,1680,1720,1760,1800,1840,1880,1920,1960,2000,2040,2080,2120,2160,2200,2240,2280,2320,2360,2400,2440,2480,2520,2560,2600,2640,2680,2720,2760,2800,2840,2880,2920,2960,3000,3040,3080,3120,3160,3200,3240,3280,3320,3360,3400,3440,3480,3520,3560,3600,3640,3680,3720,3760,3800,3840,3880,3920,3960,4000,
0,41,82,123,164,205,246,287,328,369,410,451,492,533,574,615,656,697,738,779,820,861,902,943,984,1025,1066,1107,1148,1189,1230,1271,1312,1353,1394,1435,1476,1517,1558,1599,1640,1681,1722,1763,1804,1845,1886,1927,1968,2009,2050,2091,2132,2173,2214,2255,2296,2337,2378,2419,2460,2501,2542,2583,2624,2665,2706,2747,2788,2829,2870,2911,2952,2993,3034,3075,3116,3157,3198,3239,3280,3321,3362,3403,3444,3485,3526,3567,3608,3649,3690,3731,3772,3813,3854,3895,3936,3977,4018,4059,4100,
0,42,84,126,168,210,252,294,336,378,420,462,504,546,588,630,672,714,756,798,840,882,924,966,1008,1050,1092,1134,1176,1218,1260,1302,1344,1386,1428,1470,1512,1554,1596,1638,1680,1722,1764,1806,1848,1890,1932,1974,2016,2058,2100,2142,2184,2226,2268,2310,2352,2394,2436,2478,2520,2562,2604,2646,2688,2730,2772,2814,2856,2898,2940,2982,3024,3066,3108,3150,3192,3234,3276,3318,3360,3402,3444,3486,3528,3570,3612,3654,3696,3738,3780,3822,3864,3906,3948,3990,4032,4074,4116,4158,4200,
0,43,86,129,172,215,258,301,344,387,430,473,516,559,602,645,688,731,774,817,860,903,946,989,1032,1075,1118,1161,1204,1247,1290,1333,1376,1419,1462,1505,1548,1591,1634,1677,1720,1763,1806,1849,1892,1935,1978,2021,2064,2107,2150,2193,2236,2279,2322,2365,2408,2451,2494,2537,2580,2623,2666,2709,2752,2795,2838,2881,2924,2967,3010,3053,3096,3139,3182,3225,3268,3311,3354,3397,3440,3483,3526,3569,3612,3655,3698,3741,3784,3827,3870,3913,3956,3999,4042,4085,4128,4171,4214,4257,4300,
0,44,88,132,176,220,264,308,352,396,440,484,528,572,616,660,704,748,792,836,880,924,968,1012,1056,1100,1144,1188,1232,1276,1320,1364,1408,1452,1496,1540,1584,1628,1672,1716,1760,1804,1848,1892,1936,1980,2024,2068,2112,2156,2200,2244,2288,2332,2376,2420,2464,2508,2552,2596,2640,2684,2728,2772,2816,2860,2904,2948,2992,3036,3080,3124,3168,3212,3256,3300,3344,3388,3432,3476,3520,3564,3608,3652,3696,3740,3784,3828,3872,3916,3960,4004,4048,4092,4136,4180,4224,4268,4312,4356,4400,
0,45,90,135,180,225,270,315,360,405,450,495,540,585,630,675,720,765,810,855,900,945,990,1035,1080,1125,1170,1215,1260,1305,1350,1395,1440,1485,1530,1575,1620,1665,1710,1755,1800,1845,1890,1935,1980,2025,2070,2115,2160,2205,2250,2295,2340,2385,2430,2475,2520,2565,2610,2655,2700,2745,2790,2835,2880,2925,2970,3015,3060,3105,3150,3195,3240,3285,3330,3375,3420,3465,3510,3555,3600,3645,3690,3735,3780,3825,3870,3915,3960,4005,4050,4095,4140,4185,4230,4275,4320,4365,4410,4455,4500,
0,46,92,138,184,230,276,322,368,414,460,506,552,598,644,690,736,782,828,874,920,966,1012,1058,1104,1150,1196,1242,1288,1334,1380,1426,1472,1518,1564,1610,1656,1702,1748,1794,1840,1886,1932,1978,2024,2070,2116,2162,2208,2254,2300,2346,2392,2438,2484,2530,2576,2622,2668,2714,2760,2806,2852,2898,2944,2990,3036,3082,3128,3174,3220,3266,3312,3358,3404,3450,3496,3542,3588,3634,3680,3726,3772,3818,3864,3910,3956,4002,4048,4094,4140,4186,4232,4278,4324,4370,4416,4462,4508,4554,4600,
0,47,94,141,188,235,282,329,376,423,470,517,564,611,658,705,752,799,846,893,940,987,1034,1081,1128,1175,1222,1269,1316,1363,1410,1457,1504,1551,1598,1645,1692,1739,1786,1833,1880,1927,1974,2021,2068,2115,2162,2209,2256,2303,2350,2397,2444,2491,2538,2585,2632,2679,2726,2773,2820,2867,2914,2961,3008,3055,3102,3149,3196,3243,3290,3337,3384,3431,3478,3525,3572,3619,3666,3713,3760,3807,3854,3901,3948,3995,4042,4089,4136,4183,4230,4277,4324,4371,4418,4465,4512,4559,4606,4653,4700,
0,48,96,144,192,240,288,336,384,432,480,528,576,624,672,720,768,816,864,912,960,1008,1056,1104,1152,1200,1248,1296,1344,1392,1440,1488,1536,1584,1632,1680,1728,1776,1824,1872,1920,1968,2016,2064,2112,2160,2208,2256,2304,2352,2400,2448,2496,2544,2592,2640,2688,2736,2784,2832,2880,2928,2976,3024,3072,3120,3168,3216,3264,3312,3360,3408,3456,3504,3552,3600,3648,3696,3744,3792,3840,3888,3936,3984,4032,4080,4128,4176,4224,4272,4320,4368,4416,4464,4512,4560,4608,4656,4704,4752,4800,
0,49,98,147,196,245,294,343,392,441,490,539,588,637,686,735,784,833,882,931,980,1029,1078,1127,1176,1225,1274,1323,1372,1421,1470,1519,1568,1617,1666,1715,1764,1813,1862,1911,1960,2009,2058,2107,2156,2205,2254,2303,2352,2401,2450,2499,2548,2597,2646,2695,2744,2793,2842,2891,2940,2989,3038,3087,3136,3185,3234,3283,3332,3381,3430,3479,3528,3577,3626,3675,3724,3773,3822,3871,3920,3969,4018,4067,4116,4165,4214,4263,4312,4361,4410,4459,4508,4557,4606,4655,4704,4753,4802,4851,4900,
0,50,100,150,200,250,300,350,400,450,500,550,600,650,700,750,800,850,900,950,1000,1050,1100,1150,1200,1250,1300,1350,1400,1450,1500,1550,1600,1650,1700,1750,1800,1850,1900,1950,2000,2050,2100,2150,2200,2250,2300,2350,2400,2450,2500,2550,2600,2650,2700,2750,2800,2850,2900,2950,3000,3050,3100,3150,3200,3250,3300,3350,3400,3450,3500,3550,3600,3650,3700,3750,3800,3850,3900,3950,4000,4050,4100,4150,4200,4250,4300,4350,4400,4450,4500,4550,4600,4650,4700,4750,4800,4850,4900,4950,5000,
0,51,102,153,204,255,306,357,408,459,510,561,612,663,714,765,816,867,918,969,1020,1071,1122,1173,1224,1275,1326,1377,1428,1479,1530,1581,1632,1683,1734,1785,1836,1887,1938,1989,2040,2091,2142,2193,2244,2295,2346,2397,2448,2499,2550,2601,2652,2703,2754,2805,2856,2907,2958,3009,3060,3111,3162,3213,3264,3315,3366,3417,3468,3519,3570,3621,3672,3723,3774,3825,3876,3927,3978,4029,4080,4131,4182,4233,4284,4335,4386,4437,4488,4539,4590,4641,4692,4743,4794,4845,4896,4947,4998,5049,5100,
0,52,104,156,208,260,312,364,416,468,520,572,624,676,728,780,832,884,936,988,1040,1092,1144,1196,1248,1300,1352,1404,1456,1508,1560,1612,1664,1716,1768,1820,1872,1924,1976,2028,2080,2132,2184,2236,2288,2340,2392,2444,2496,2548,2600,2652,2704,2756,2808,2860,2912,2964,3016,3068,3120,3172,3224,3276,3328,3380,3432,3484,3536,3588,3640,3692,3744,3796,3848,3900,3952,4004,4056,4108,4160,4212,4264,4316,4368,4420,4472,4524,4576,4628,4680,4732,4784,4836,4888,4940,4992,5044,5096,5148,5200,
0,53,106,159,212,265,318,371,424,477,530,583,636,689,742,795,848,901,954,1007,1060,1113,1166,1219,1272,1325,1378,1431,1484,1537,1590,1643,1696,1749,1802,1855,1908,1961,2014,2067,2120,2173,2226,2279,2332,2385,2438,2491,2544,2597,2650,2703,2756,2809,2862,2915,2968,3021,3074,3127,3180,3233,3286,3339,3392,3445,3498,3551,3604,3657,3710,3763,3816,3869,3922,3975,4028,4081,4134,4187,4240,4293,4346,4399,4452,4505,4558,4611,4664,4717,4770,4823,4876,4929,4982,5035,5088,5141,5194,5247,5300,
0,54,108,162,216,270,324,378,432,486,540,594,648,702,756,810,864,918,972,1026,1080,1134,1188,1242,1296,1350,1404,1458,1512,1566,1620,1674,1728,1782,1836,1890,1944,1998,2052,2106,2160,2214,2268,2322,2376,2430,2484,2538,2592,2646,2700,2754,2808,2862,2916,2970,3024,3078,3132,3186,3240,3294,3348,3402,3456,3510,3564,3618,3672,3726,3780,3834,3888,3942,3996,4050,4104,4158,4212,4266,4320,4374,4428,4482,4536,4590,4644,4698,4752,4806,4860,4914,4968,5022,5076,5130,5184,5238,5292,5346,5400,
0,55,110,165,220,275,330,385,440,495,550,605,660,715,770,825,880,935,990,1045,1100,1155,1210,1265,1320,1375,1430,1485,1540,1595,1650,1705,1760,1815,1870,1925,1980,2035,2090,2145,2200,2255,2310,2365,2420,2475,2530,2585,2640,2695,2750,2805,2860,2915,2970,3025,3080,3135,3190,3245,3300,3355,3410,3465,3520,3575,3630,3685,3740,3795,3850,3905,3960,4015,4070,4125,4180,4235,4290,4345,4400,4455,4510,4565,4620,4675,4730,4785,4840,4895,4950,5005,5060,5115,5170,5225,5280,5335,5390,5445,5500,
0,56,112,168,224,280,336,392,448,504,560,616,672,728,784,840,896,952,1008,1064,1120,1176,1232,1288,1344,1400,1456,1512,1568,1624,1680,1736,1792,1848,1904,1960,2016,2072,2128,2184,2240,2296,2352,2408,2464,2520,2576,2632,2688,2744,2800,2856,2912,2968,3024,3080,3136,3192,3248,3304,3360,3416,3472,3528,3584,3640,3696,3752,3808,3864,3920,3976,4032,4088,4144,4200,4256,4312,4368,4424,4480,4536,4592,4648,4704,4760,4816,4872,4928,4984,5040,5096,5152,5208,5264,5320,5376,5432,5488,5544,5600,
0,57,114,171,228,285,342,399,456,513,570,627,684,741,798,855,912,969,1026,1083,1140,1197,1254,1311,1368,1425,1482,1539,1596,1653,1710,1767,1824,1881,1938,1995,2052,2109,2166,2223,2280,2337,2394,2451,2508,2565,2622,2679,2736,2793,2850,2907,2964,3021,3078,3135,3192,3249,3306,3363,3420,3477,3534,3591,3648,3705,3762,3819,3876,3933,3990,4047,4104,4161,4218,4275,4332,4389,4446,4503,4560,4617,4674,4731,4788,4845,4902,4959,5016,5073,5130,5187,5244,5301,5358,5415,5472,5529,5586,5643,5700,
0,58,116,174,232,290,348,406,464,522,580,638,696,754,812,870,928,986,1044,1102,1160,1218,1276,1334,1392,1450,1508,1566,1624,1682,1740,1798,1856,1914,1972,2030,2088,2146,2204,2262,2320,2378,2436,2494,2552,2610,2668,2726,2784,2842,2900,2958,3016,3074,3132,3190,3248,3306,3364,3422,3480,3538,3596,3654,3712,3770,3828,3886,3944,4002,4060,4118,4176,4234,4292,4350,4408,4466,4524,4582,4640,4698,4756,4814,4872,4930,4988,5046,5104,5162,5220,5278,5336,5394,5452,5510,5568,5626,5684,5742,5800,
0,59,118,177,236,295,354,413,472,531,590,649,708,767,826,885,944,1003,1062,1121,1180,1239,1298,1357,1416,1475,1534,1593,1652,1711,1770,1829,1888,1947,2006,2065,2124,2183,2242,2301,2360,2419,2478,2537,2596,2655,2714,2773,2832,2891,2950,3009,3068,3127,3186,3245,3304,3363,3422,3481,3540,3599,3658,3717,3776,3835,3894,3953,4012,4071,4130,4189,4248,4307,4366,4425,4484,4543,4602,4661,4720,4779,4838,4897,4956,5015,5074,5133,5192,5251,5310,5369,5428,5487,5546,5605,5664,5723,5782,5841,5900,
0,60,120,180,240,300,360,420,480,540,600,660,720,780,840,900,960,1020,1080,1140,1200,1260,1320,1380,1440,1500,1560,1620,1680,1740,1800,1860,1920,1980,2040,2100,2160,2220,2280,2340,2400,2460,2520,2580,2640,2700,2760,2820,2880,2940,3000,3060,3120,3180,3240,3300,3360,3420,3480,3540,3600,3660,3720,3780,3840,3900,3960,4020,4080,4140,4200,4260,4320,4380,4440,4500,4560,4620,4680,4740,4800,4860,4920,4980,5040,5100,5160,5220,5280,5340,5400,5460,5520,5580,5640,5700,5760,5820,5880,5940,6000,
0,61,122,183,244,305,366,427,488,549,610,671,732,793,854,915,976,1037,1098,1159,1220,1281,1342,1403,1464,1525,1586,1647,1708,1769,1830,1891,1952,2013,2074,2135,2196,2257,2318,2379,2440,2501,2562,2623,2684,2745,2806,2867,2928,2989,3050,3111,3172,3233,3294,3355,3416,3477,3538,3599,3660,3721,3782,3843,3904,3965,4026,4087,4148,4209,4270,4331,4392,4453,4514,4575,4636,4697,4758,4819,4880,4941,5002,5063,5124,5185,5246,5307,5368,5429,5490,5551,5612,5673,5734,5795,5856,5917,5978,6039,6100,
0,62,124,186,248,310,372,434,496,558,620,682,744,806,868,930,992,1054,1116,1178,1240,1302,1364,1426,1488,1550,1612,1674,1736,1798,1860,1922,1984,2046,2108,2170,2232,2294,2356,2418,2480,2542,2604,2666,2728,2790,2852,2914,2976,3038,3100,3162,3224,3286,3348,3410,3472,3534,3596,3658,3720,3782,3844,3906,3968,4030,4092,4154,4216,4278,4340,4402,4464,4526,4588,4650,4712,4774,4836,4898,4960,5022,5084,5146,5208,5270,5332,5394,5456,5518,5580,5642,5704,5766,5828,5890,5952,6014,6076,6138,6200,
0,63,126,189,252,315,378,441,504,567,630,693,756,819,882,945,1008,1071,1134,1197,1260,1323,1386,1449,1512,1575,1638,1701,1764,1827,1890,1953,2016,2079,2142,2205,2268,2331,2394,2457,2520,2583,2646,2709,2772,2835,2898,2961,3024,3087,3150,3213,3276,3339,3402,3465,3528,3591,3654,3717,3780,3843,3906,3969,4032,4095,4158,4221,4284,4347,4410,4473,4536,4599,4662,4725,4788,4851,4914,4977,5040,5103,5166,5229,5292,5355,5418,5481,5544,5607,5670,5733,5796,5859,5922,5985,6048,6111,6174,6237,6300,
0,64,128,192,256,320,384,448,512,576,640,704,768,832,896,960,1024,1088,1152,1216,1280,1344,1408,1472,1536,1600,1664,1728,1792,1856,1920,1984,2048,2112,2176,2240,2304,2368,2432,2496,2560,2624,2688,2752,2816,2880,2944,3008,3072,3136,3200,3264,3328,3392,3456,3520,3584,3648,3712,3776,3840,3904,3968,4032,4096,4160,4224,4288,4352,4416,4480,4544,4608,4672,4736,4800,4864,4928,4992,5056,5120,5184,5248,5312,5376,5440,5504,5568,5632,5696,5760,5824,5888,5952,6016,6080,6144,6208,6272,6336,6400,
0,65,130,195,260,325,390,455,520,585,650,715,780,845,910,975,1040,1105,1170,1235,1300,1365,1430,1495,1560,1625,1690,1755,1820,1885,1950,2015,2080,2145,2210,2275,2340,2405,2470,2535,2600,2665,2730,2795,2860,2925,2990,3055,3120,3185,3250,3315,3380,3445,3510,3575,3640,3705,3770,3835,3900,3965,4030,4095,4160,4225,4290,4355,4420,4485,4550,4615,4680,4745,4810,4875,4940,5005,5070,5135,5200,5265,5330,5395,5460,5525,5590,5655,5720,5785,5850,5915,5980,6045,6110,6175,6240,6305,6370,6435,6500,
0,66,132,198,264,330,396,462,528,594,660,726,792,858,924,990,1056,1122,1188,1254,1320,1386,1452,1518,1584,1650,1716,1782,1848,1914,1980,2046,2112,2178,2244,2310,2376,2442,2508,2574,2640,2706,2772,2838,2904,2970,3036,3102,3168,3234,3300,3366,3432,3498,3564,3630,3696,3762,3828,3894,3960,4026,4092,4158,4224,4290,4356,4422,4488,4554,4620,4686,4752,4818,4884,4950,5016,5082,5148,5214,5280,5346,5412,5478,5544,5610,5676,5742,5808,5874,5940,6006,6072,6138,6204,6270,6336,6402,6468,6534,6600,
0,67,134,201,268,335,402,469,536,603,670,737,804,871,938,1005,1072,1139,1206,1273,1340,1407,1474,1541,1608,1675,1742,1809,1876,1943,2010,2077,2144,2211,2278,2345,2412,2479,2546,2613,2680,2747,2814,2881,2948,3015,3082,3149,3216,3283,3350,3417,3484,3551,3618,3685,3752,3819,3886,3953,4020,4087,4154,4221,4288,4355,4422,4489,4556,4623,4690,4757,4824,4891,4958,5025,5092,5159,5226,5293,5360,5427,5494,5561,5628,5695,5762,5829,5896,5963,6030,6097,6164,6231,6298,6365,6432,6499,6566,6633,6700,
0,68,136,204,272,340,408,476,544,612,680,748,816,884,952,1020,1088,1156,1224,1292,1360,1428,1496,1564,1632,1700,1768,1836,1904,1972,2040,2108,2176,2244,2312,2380,2448,2516,2584,2652,2720,2788,2856,2924,2992,3060,3128,3196,3264,3332,3400,3468,3536,3604,3672,3740,3808,3876,3944,4012,4080,4148,4216,4284,4352,4420,4488,4556,4624,4692,4760,4828,4896,4964,5032,5100,5168,5236,5304,5372,5440,5508,5576,5644,5712,5780,5848,5916,5984,6052,6120,6188,6256,6324,6392,6460,6528,6596,6664,6732,6800,
0,69,138,207,276,345,414,483,552,621,690,759,828,897,966,1035,1104,1173,1242,1311,1380,1449,1518,1587,1656,1725,1794,1863,1932,2001,2070,2139,2208,2277,2346,2415,2484,2553,2622,2691,2760,2829,2898,2967,3036,3105,3174,3243,3312,3381,3450,3519,3588,3657,3726,3795,3864,3933,4002,4071,4140,4209,4278,4347,4416,4485,4554,4623,4692,4761,4830,4899,4968,5037,5106,5175,5244,5313,5382,5451,5520,5589,5658,5727,5796,5865,5934,6003,6072,6141,6210,6279,6348,6417,6486,6555,6624,6693,6762,6831,6900,
0,70,140,210,280,350,420,490,560,630,700,770,840,910,980,1050,1120,1190,1260,1330,1400,1470,1540,1610,1680,1750,1820,1890,1960,2030,2100,2170,2240,2310,2380,2450,2520,2590,2660,2730,2800,2870,2940,3010,3080,3150,3220,3290,3360,3430,3500,3570,3640,3710,3780,3850,3920,3990,4060,4130,4200,4270,4340,4410,4480,4550,4620,4690,4760,4830,4900,4970,5040,5110,5180,5250,5320,5390,5460,5530,5600,5670,5740,5810,5880,5950,6020,6090,6160,6230,6300,6370,6440,6510,6580,6650,6720,6790,6860,6930,7000,
0,71,142,213,284,355,426,497,568,639,710,781,852,923,994,1065,1136,1207,1278,1349,1420,1491,1562,1633,1704,1775,1846,1917,1988,2059,2130,2201,2272,2343,2414,2485,2556,2627,2698,2769,2840,2911,2982,3053,3124,3195,3266,3337,3408,3479,3550,3621,3692,3763,3834,3905,3976,4047,4118,4189,4260,4331,4402,4473,4544,4615,4686,4757,4828,4899,4970,5041,5112,5183,5254,5325,5396,5467,5538,5609,5680,5751,5822,5893,5964,6035,6106,6177,6248,6319,6390,6461,6532,6603,6674,6745,6816,6887,6958,7029,7100,
0,72,144,216,288,360,432,504,576,648,720,792,864,936,1008,1080,1152,1224,1296,1368,1440,1512,1584,1656,1728,1800,1872,1944,2016,2088,2160,2232,2304,2376,2448,2520,2592,2664,2736,2808,2880,2952,3024,3096,3168,3240,3312,3384,3456,3528,3600,3672,3744,3816,3888,3960,4032,4104,4176,4248,4320,4392,4464,4536,4608,4680,4752,4824,4896,4968,5040,5112,5184,5256,5328,5400,5472,5544,5616,5688,5760,5832,5904,5976,6048,6120,6192,6264,6336,6408,6480,6552,6624,6696,6768,6840,6912,6984,7056,7128,7200,
0,73,146,219,292,365,438,511,584,657,730,803,876,949,1022,1095,1168,1241,1314,1387,1460,1533,1606,1679,1752,1825,1898,1971,2044,2117,2190,2263,2336,2409,2482,2555,2628,2701,2774,2847,2920,2993,3066,3139,3212,3285,3358,3431,3504,3577,3650,3723,3796,3869,3942,4015,4088,4161,4234,4307,4380,4453,4526,4599,4672,4745,4818,4891,4964,5037,5110,5183,5256,5329,5402,5475,5548,5621,5694,5767,5840,5913,5986,6059,6132,6205,6278,6351,6424,6497,6570,6643,6716,6789,6862,6935,7008,7081,7154,7227,7300,
0,74,148,222,296,370,444,518,592,666,740,814,888,962,1036,1110,1184,1258,1332,1406,1480,1554,1628,1702,1776,1850,1924,1998,2072,2146,2220,2294,2368,2442,2516,2590,2664,2738,2812,2886,2960,3034,3108,3182,3256,3330,3404,3478,3552,3626,3700,3774,3848,3922,3996,4070,4144,4218,4292,4366,4440,4514,4588,4662,4736,4810,4884,4958,5032,5106,5180,5254,5328,5402,5476,5550,5624,5698,5772,5846,5920,5994,6068,6142,6216,6290,6364,6438,6512,6586,6660,6734,6808,6882,6956,7030,7104,7178,7252,7326,7400,
0,75,150,225,300,375,450,525,600,675,750,825,900,975,1050,1125,1200,1275,1350,1425,1500,1575,1650,1725,1800,1875,1950,2025,2100,2175,2250,2325,2400,2475,2550,2625,2700,2775,2850,2925,3000,3075,3150,3225,3300,3375,3450,3525,3600,3675,3750,3825,3900,3975,4050,4125,4200,4275,4350,4425,4500,4575,4650,4725,4800,4875,4950,5025,5100,5175,5250,5325,5400,5475,5550,5625,5700,5775,5850,5925,6000,6075,6150,6225,6300,6375,6450,6525,6600,6675,6750,6825,6900,6975,7050,7125,7200,7275,7350,7425,7500,
0,76,152,228,304,380,456,532,608,684,760,836,912,988,1064,1140,1216,1292,1368,1444,1520,1596,1672,1748,1824,1900,1976,2052,2128,2204,2280,2356,2432,2508,2584,2660,2736,2812,2888,2964,3040,3116,3192,3268,3344,3420,3496,3572,3648,3724,3800,3876,3952,4028,4104,4180,4256,4332,4408,4484,4560,4636,4712,4788,4864,4940,5016,5092,5168,5244,5320,5396,5472,5548,5624,5700,5776,5852,5928,6004,6080,6156,6232,6308,6384,6460,6536,6612,6688,6764,6840,6916,6992,7068,7144,7220,7296,7372,7448,7524,7600,
0,77,154,231,308,385,462,539,616,693,770,847,924,1001,1078,1155,1232,1309,1386,1463,1540,1617,1694,1771,1848,1925,2002,2079,2156,2233,2310,2387,2464,2541,2618,2695,2772,2849,2926,3003,3080,3157,3234,3311,3388,3465,3542,3619,3696,3773,3850,3927,4004,4081,4158,4235,4312,4389,4466,4543,4620,4697,4774,4851,4928,5005,5082,5159,5236,5313,5390,5467,5544,5621,5698,5775,5852,5929,6006,6083,6160,6237,6314,6391,6468,6545,6622,6699,6776,6853,6930,7007,7084,7161,7238,7315,7392,7469,7546,7623,7700,
0,78,156,234,312,390,468,546,624,702,780,858,936,1014,1092,1170,1248,1326,1404,1482,1560,1638,1716,1794,1872,1950,2028,2106,2184,2262,2340,2418,2496,2574,2652,2730,2808,2886,2964,3042,3120,3198,3276,3354,3432,3510,3588,3666,3744,3822,3900,3978,4056,4134,4212,4290,4368,4446,4524,4602,4680,4758,4836,4914,4992,5070,5148,5226,5304,5382,5460,5538,5616,5694,5772,5850,5928,6006,6084,6162,6240,6318,6396,6474,6552,6630,6708,6786,6864,6942,7020,7098,7176,7254,7332,7410,7488,7566,7644,7722,7800,
0,79,158,237,316,395,474,553,632,711,790,869,948,1027,1106,1185,1264,1343,1422,1501,1580,1659,1738,1817,1896,1975,2054,2133,2212,2291,2370,2449,2528,2607,2686,2765,2844,2923,3002,3081,3160,3239,3318,3397,3476,3555,3634,3713,3792,3871,3950,4029,4108,4187,4266,4345,4424,4503,4582,4661,4740,4819,4898,4977,5056,5135,5214,5293,5372,5451,5530,5609,5688,5767,5846,5925,6004,6083,6162,6241,6320,6399,6478,6557,6636,6715,6794,6873,6952,7031,7110,7189,7268,7347,7426,7505,7584,7663,7742,7821,7900,
0,80,160,240,320,400,480,560,640,720,800,880,960,1040,1120,1200,1280,1360,1440,1520,1600,1680,1760,1840,1920,2000,2080,2160,2240,2320,2400,2480,2560,2640,2720,2800,2880,2960,3040,3120,3200,3280,3360,3440,3520,3600,3680,3760,3840,3920,4000,4080,4160,4240,4320,4400,4480,4560,4640,4720,4800,4880,4960,5040,5120,5200,5280,5360,5440,5520,5600,5680,5760,5840,5920,6000,6080,6160,6240,6320,6400,6480,6560,6640,6720,6800,6880,6960,7040,7120,7200,7280,7360,7440,7520,7600,7680,7760,7840,7920,8000,
0,81,162,243,324,405,486,567,648,729,810,891,972,1053,1134,1215,1296,1377,1458,1539,1620,1701,1782,1863,1944,2025,2106,2187,2268,2349,2430,2511,2592,2673,2754,2835,2916,2997,3078,3159,3240,3321,3402,3483,3564,3645,3726,3807,3888,3969,4050,4131,4212,4293,4374,4455,4536,4617,4698,4779,4860,4941,5022,5103,5184,5265,5346,5427,5508,5589,5670,5751,5832,5913,5994,6075,6156,6237,6318,6399,6480,6561,6642,6723,6804,6885,6966,7047,7128,7209,7290,7371,7452,7533,7614,7695,7776,7857,7938,8019,8100,
0,82,164,246,328,410,492,574,656,738,820,902,984,1066,1148,1230,1312,1394,1476,1558,1640,1722,1804,1886,1968,2050,2132,2214,2296,2378,2460,2542,2624,2706,2788,2870,2952,3034,3116,3198,3280,3362,3444,3526,3608,3690,3772,3854,3936,4018,4100,4182,4264,4346,4428,4510,4592,4674,4756,4838,4920,5002,5084,5166,5248,5330,5412,5494,5576,5658,5740,5822,5904,5986,6068,6150,6232,6314,6396,6478,6560,6642,6724,6806,6888,6970,7052,7134,7216,7298,7380,7462,7544,7626,7708,7790,7872,7954,8036,8118,8200,
0,83,166,249,332,415,498,581,664,747,830,913,996,1079,1162,1245,1328,1411,1494,1577,1660,1743,1826,1909,1992,2075,2158,2241,2324,2407,2490,2573,2656,2739,2822,2905,2988,3071,3154,3237,3320,3403,3486,3569,3652,3735,3818,3901,3984,4067,4150,4233,4316,4399,4482,4565,4648,4731,4814,4897,4980,5063,5146,5229,5312,5395,5478,5561,5644,5727,5810,5893,5976,6059,6142,6225,6308,6391,6474,6557,6640,6723,6806,6889,6972,7055,7138,7221,7304,7387,7470,7553,7636,7719,7802,7885,7968,8051,8134,8217,8300,
0,84,168,252,336,420,504,588,672,756,840,924,1008,1092,1176,1260,1344,1428,1512,1596,1680,1764,1848,1932,2016,2100,2184,2268,2352,2436,2520,2604,2688,2772,2856,2940,3024,3108,3192,3276,3360,3444,3528,3612,3696,3780,3864,3948,4032,4116,4200,4284,4368,4452,4536,4620,4704,4788,4872,4956,5040,5124,5208,5292,5376,5460,5544,5628,5712,5796,5880,5964,6048,6132,6216,6300,6384,6468,6552,6636,6720,6804,6888,6972,7056,7140,7224,7308,7392,7476,7560,7644,7728,7812,7896,7980,8064,8148,8232,8316,8400,
0,85,170,255,340,425,510,595,680,765,850,935,1020,1105,1190,1275,1360,1445,1530,1615,1700,1785,1870,1955,2040,2125,2210,2295,2380,2465,2550,2635,2720,2805,2890,2975,3060,3145,3230,3315,3400,3485,3570,3655,3740,3825,3910,3995,4080,4165,4250,4335,4420,4505,4590,4675,4760,4845,4930,5015,5100,5185,5270,5355,5440,5525,5610,5695,5780,5865,5950,6035,6120,6205,6290,6375,6460,6545,6630,6715,6800,6885,6970,7055,7140,7225,7310,7395,7480,7565,7650,7735,7820,7905,7990,8075,8160,8245,8330,8415,8500,
0,86,172,258,344,430,516,602,688,774,860,946,1032,1118,1204,1290,1376,1462,1548,1634,1720,1806,1892,1978,2064,2150,2236,2322,2408,2494,2580,2666,2752,2838,2924,3010,3096,3182,3268,3354,3440,3526,3612,3698,3784,3870,3956,4042,4128,4214,4300,4386,4472,4558,4644,4730,4816,4902,4988,5074,5160,5246,5332,5418,5504,5590,5676,5762,5848,5934,6020,6106,6192,6278,6364,6450,6536,6622,6708,6794,6880,6966,7052,7138,7224,7310,7396,7482,7568,7654,7740,7826,7912,7998,8084,8170,8256,8342,8428,8514,8600,
0,87,174,261,348,435,522,609,696,783,870,957,1044,1131,1218,1305,1392,1479,1566,1653,1740,1827,1914,2001,2088,2175,2262,2349,2436,2523,2610,2697,2784,2871,2958,3045,3132,3219,3306,3393,3480,3567,3654,3741,3828,3915,4002,4089,4176,4263,4350,4437,4524,4611,4698,4785,4872,4959,5046,5133,5220,5307,5394,5481,5568,5655,5742,5829,5916,6003,6090,6177,6264,6351,6438,6525,6612,6699,6786,6873,6960,7047,7134,7221,7308,7395,7482,7569,7656,7743,7830,7917,8004,8091,8178,8265,8352,8439,8526,8613,8700,
0,88,176,264,352,440,528,616,704,792,880,968,1056,1144,1232,1320,1408,1496,1584,1672,1760,1848,1936,2024,2112,2200,2288,2376,2464,2552,2640,2728,2816,2904,2992,3080,3168,3256,3344,3432,3520,3608,3696,3784,3872,3960,4048,4136,4224,4312,4400,4488,4576,4664,4752,4840,4928,5016,5104,5192,5280,5368,5456,5544,5632,5720,5808,5896,5984,6072,6160,6248,6336,6424,6512,6600,6688,6776,6864,6952,7040,7128,7216,7304,7392,7480,7568,7656,7744,7832,7920,8008,8096,8184,8272,8360,8448,8536,8624,8712,8800,
0,89,178,267,356,445,534,623,712,801,890,979,1068,1157,1246,1335,1424,1513,1602,1691,1780,1869,1958,2047,2136,2225,2314,2403,2492,2581,2670,2759,2848,2937,3026,3115,3204,3293,3382,3471,3560,3649,3738,3827,3916,4005,4094,4183,4272,4361,4450,4539,4628,4717,4806,4895,4984,5073,5162,5251,5340,5429,5518,5607,5696,5785,5874,5963,6052,6141,6230,6319,6408,6497,6586,6675,6764,6853,6942,7031,7120,7209,7298,7387,7476,7565,7654,7743,7832,7921,8010,8099,8188,8277,8366,8455,8544,8633,8722,8811,8900,
0,90,180,270,360,450,540,630,720,810,900,990,1080,1170,1260,1350,1440,1530,1620,1710,1800,1890,1980,2070,2160,2250,2340,2430,2520,2610,2700,2790,2880,2970,3060,3150,3240,3330,3420,3510,3600,3690,3780,3870,3960,4050,4140,4230,4320,4410,4500,4590,4680,4770,4860,4950,5040,5130,5220,5310,5400,5490,5580,5670,5760,5850,5940,6030,6120,6210,6300,6390,6480,6570,6660,6750,6840,6930,7020,7110,7200,7290,7380,7470,7560,7650,7740,7830,7920,8010,8100,8190,8280,8370,8460,8550,8640,8730,8820,8910,9000,
0,91,182,273,364,455,546,637,728,819,910,1001,1092,1183,1274,1365,1456,1547,1638,1729,1820,1911,2002,2093,2184,2275,2366,2457,2548,2639,2730,2821,2912,3003,3094,3185,3276,3367,3458,3549,3640,3731,3822,3913,4004,4095,4186,4277,4368,4459,4550,4641,4732,4823,4914,5005,5096,5187,5278,5369,5460,5551,5642,5733,5824,5915,6006,6097,6188,6279,6370,6461,6552,6643,6734,6825,6916,7007,7098,7189,7280,7371,7462,7553,7644,7735,7826,7917,8008,8099,8190,8281,8372,8463,8554,8645,8736,8827,8918,9009,9100,
0,92,184,276,368,460,552,644,736,828,920,1012,1104,1196,1288,1380,1472,1564,1656,1748,1840,1932,2024,2116,2208,2300,2392,2484,2576,2668,2760,2852,2944,3036,3128,3220,3312,3404,3496,3588,3680,3772,3864,3956,4048,4140,4232,4324,4416,4508,4600,4692,4784,4876,4968,5060,5152,5244,5336,5428,5520,5612,5704,5796,5888,5980,6072,6164,6256,6348,6440,6532,6624,6716,6808,6900,6992,7084,7176,7268,7360,7452,7544,7636,7728,7820,7912,8004,8096,8188,8280,8372,8464,8556,8648,8740,8832,8924,9016,9108,9200,
0,93,186,279,372,465,558,651,744,837,930,1023,1116,1209,1302,1395,1488,1581,1674,1767,1860,1953,2046,2139,2232,2325,2418,2511,2604,2697,2790,2883,2976,3069,3162,3255,3348,3441,3534,3627,3720,3813,3906,3999,4092,4185,4278,4371,4464,4557,4650,4743,4836,4929,5022,5115,5208,5301,5394,5487,5580,5673,5766,5859,5952,6045,6138,6231,6324,6417,6510,6603,6696,6789,6882,6975,7068,7161,7254,7347,7440,7533,7626,7719,7812,7905,7998,8091,8184,8277,8370,8463,8556,8649,8742,8835,8928,9021,9114,9207,9300,
0,94,188,282,376,470,564,658,752,846,940,1034,1128,1222,1316,1410,1504,1598,1692,1786,1880,1974,2068,2162,2256,2350,2444,2538,2632,2726,2820,2914,3008,3102,3196,3290,3384,3478,3572,3666,3760,3854,3948,4042,4136,4230,4324,4418,4512,4606,4700,4794,4888,4982,5076,5170,5264,5358,5452,5546,5640,5734,5828,5922,6016,6110,6204,6298,6392,6486,6580,6674,6768,6862,6956,7050,7144,7238,7332,7426,7520,7614,7708,7802,7896,7990,8084,8178,8272,8366,8460,8554,8648,8742,8836,8930,9024,9118,9212,9306,9400,
0,95,190,285,380,475,570,665,760,855,950,1045,1140,1235,1330,1425,1520,1615,1710,1805,1900,1995,2090,2185,2280,2375,2470,2565,2660,2755,2850,2945,3040,3135,3230,3325,3420,3515,3610,3705,3800,3895,3990,4085,4180,4275,4370,4465,4560,4655,4750,4845,4940,5035,5130,5225,5320,5415,5510,5605,5700,5795,5890,5985,6080,6175,6270,6365,6460,6555,6650,6745,6840,6935,7030,7125,7220,7315,7410,7505,7600,7695,7790,7885,7980,8075,8170,8265,8360,8455,8550,8645,8740,8835,8930,9025,9120,9215,9310,9405,9500,
0,96,192,288,384,480,576,672,768,864,960,1056,1152,1248,1344,1440,1536,1632,1728,1824,1920,2016,2112,2208,2304,2400,2496,2592,2688,2784,2880,2976,3072,3168,3264,3360,3456,3552,3648,3744,3840,3936,4032,4128,4224,4320,4416,4512,4608,4704,4800,4896,4992,5088,5184,5280,5376,5472,5568,5664,5760,5856,5952,6048,6144,6240,6336,6432,6528,6624,6720,6816,6912,7008,7104,7200,7296,7392,7488,7584,7680,7776,7872,7968,8064,8160,8256,8352,8448,8544,8640,8736,8832,8928,9024,9120,9216,9312,9408,9504,9600,
0,97,194,291,388,485,582,679,776,873,970,1067,1164,1261,1358,1455,1552,1649,1746,1843,1940,2037,2134,2231,2328,2425,2522,2619,2716,2813,2910,3007,3104,3201,3298,3395,3492,3589,3686,3783,3880,3977,4074,4171,4268,4365,4462,4559,4656,4753,4850,4947,5044,5141,5238,5335,5432,5529,5626,5723,5820,5917,6014,6111,6208,6305,6402,6499,6596,6693,6790,6887,6984,7081,7178,7275,7372,7469,7566,7663,7760,7857,7954,8051,8148,8245,8342,8439,8536,8633,8730,8827,8924,9021,9118,9215,9312,9409,9506,9603,9700,
0,98,196,294,392,490,588,686,784,882,980,1078,1176,1274,1372,1470,1568,1666,1764,1862,1960,2058,2156,2254,2352,2450,2548,2646,2744,2842,2940,3038,3136,3234,3332,3430,3528,3626,3724,3822,3920,4018,4116,4214,4312,4410,4508,4606,4704,4802,4900,4998,5096,5194,5292,5390,5488,5586,5684,5782,5880,5978,6076,6174,6272,6370,6468,6566,6664,6762,6860,6958,7056,7154,7252,7350,7448,7546,7644,7742,7840,7938,8036,8134,8232,8330,8428,8526,8624,8722,8820,8918,9016,9114,9212,9310,9408,9506,9604,9702,9800,
0,99,198,297,396,495,594,693,792,891,990,1089,1188,1287,1386,1485,1584,1683,1782,1881,1980,2079,2178,2277,2376,2475,2574,2673,2772,2871,2970,3069,3168,3267,3366,3465,3564,3663,3762,3861,3960,4059,4158,4257,4356,4455,4554,4653,4752,4851,4950,5049,5148,5247,5346,5445,5544,5643,5742,5841,5940,6039,6138,6237,6336,6435,6534,6633,6732,6831,6930,7029,7128,7227,7326,7425,7524,7623,7722,7821,7920,8019,8118,8217,8316,8415,8514,8613,8712,8811,8910,9009,9108,9207,9306,9405,9504,9603,9702,9801,9900,
0,100,200,300,400,500,600,700,800,900,1000,1100,1200,1300,1400,1500,1600,1700,1800,1900,2000,2100,2200,2300,2400,2500,2600,2700,2800,2900,3000,3100,3200,3300,3400,3500,3600,3700,3800,3900,4000,4100,4200,4300,4400,4500,4600,4700,4800,4900,5000,5100,5200,5300,5400,5500,5600,5700,5800,5900,6000,6100,6200,6300,6400,6500,6600,6700,6800,6900,7000,7100,7200,7300,7400,7500,7600,7700,7800,7900,8000,8100,8200,8300,8400,8500,8600,8700,8800,8900,9000,9100,9200,9300,9400,9500,9600,9700,9800,9900,10000

};

void frip()
{
    short dataBox[12];    
    int c_f;
    
    
    sensor1.get9AxisAndEUL(dataBox);
    phi[0]=(float)dataBox[11]*ScEUL;//roll
    phi[1]=(float)dataBox[10]*ScEUL;//pitsh
    phi[2]=(pos[0].read()*300) - 150;
    phi[3]=(pos[1].read()*300) - 150;
    
    for(c_f=0;c_f<4;c_f++)
    {
        
        if(phi[c_f]>50.0) num[c_f]=100;   
        else if(phi[c_f]<-50.0) num[c_f]=0;   
        else num[c_f]=(int)(phi[c_f]+50);
        
    }
   
    stroke[0]=func[num[0]][num[1]];
    stroke[1]=func[num[0]][100 - num[1]];
    stroke[2]=func[num[2]][num[3]];
    stroke[3]=func[num[2]][100 - num[3]];
    
}

void setup()
{    
    ifaceI2C.frequency(100000);
    sensor1.initialize(false);
    ScEUL = sensor1.getEulerScale();
}

int main()
{
    setup();
    wait(0.1);
    fripper.attach(&frip,del_t);
    while(1)
    {      
       debug(); 
    }    
}

void debug()
{
    pc.printf("%f\t%f\t%d\t%d\n",stroke[0],stroke[1],num[2],num[3]);
}