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Defines | |
#define | RESCALE_DX_A 162.5885 |
#define | RESCALE_DX_B -32.0347 |
#define | DX_MOT_THRESH 55 |
#define | RESCALE_DA_LEFT_A 69.3368*M_PI/180 |
#define | RESCALE_DA_LEFT_B -28.3579*M_PI/180 |
#define | DA_LEFT_MOT_THRESH 0.2 |
#define | RESCALE_DA_RIGHT_A -68.4120*M_PI/180 |
#define | RESCALE_DA_RIGHT_B 34.7600*M_PI/180 |
#define | DA_RIGHT_MOT_THRESH -0.2 |
#define | RESCALE_DX_A 162.5885 |
#define | RESCALE_DX_B -32.0347 |
#define | DX_MOT_THRESH 55 |
#define | RESCALE_DA_LEFT_A 69.3368*M_PI/180 |
#define | RESCALE_DA_LEFT_B -28.3579*M_PI/180 |
#define | DA_LEFT_MOT_THRESH 0.2 |
#define | RESCALE_DA_RIGHT_A -68.4120*M_PI/180 |
#define | RESCALE_DA_RIGHT_B 34.7600*M_PI/180 |
#define | DA_RIGHT_MOT_THRESH -0.2 |
Functions | |
if (dx > DX_MOT_THRESH) dx=RESCALE_DX_A *(dx-DX_MOT_THRESH)/(180.0-DX_MOT_THRESH) | |
else | if (dx< -DX_MOT_THRESH) dx=RESCALE_DX_A *(dx+DX_MOT_THRESH)/(180.0-DX_MOT_THRESH) |
if (da > DA_LEFT_MOT_THRESH) da=RESCALE_DA_LEFT_A *(da-DA_LEFT_MOT_THRESH)/(1.008-DA_LEFT_MOT_THRESH) | |
Variables | |
else | dx = 0.0 |
else | da = 0.0 |
if((dx!=0.0)&&(da==0.0)) time=(time > 180?time-180 else if((dx==0.0)&&(da!=0.0)) time=(time > 100?time-100 els | time ) = (time > 140 ? time - 140 : time = 0) |
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