loopin louie
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Posted 20 hours ago

Hasbro Looping Louie Elefun and Friends Hungry Hungry Hippos Game

£9.995£19.99Clearance
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Joined in 2023
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const int U_base = 11 ; /*violett*/ const int U = 81 ; const int V_base = 10 ; /*braun*/ const int V = 83 ; const int W_base = 9 ; /*orange*/ const int W = 72 ; const int EN_U_base = 6 ; const int EN_U = 86 ; const int EN_V_base = 5 ; const int EN_V = 84 ; const int EN_W_base = 3 ; const int EN_W = 95 ; int duty_arm = 40 ; int duty_base = 20 ; double pwm_U = 0 ; double pwm_U_base = 0 ; double pwm_V = 0 ; double pwm_V_base = 0 ; double pwm_W = 0 ; double pwm_W_base = 0 ; int myPWM_U_values [ 3600 ] = {-47, -48, -49, -49, -50, -51, -52, -53, -53, -54, -55, -56, -57, -57, -58, -59, -60, -60, -61, -62, -62, -63, -64, -64, -65, -66, -66, -67, -68, -68, -69, -69, -70, -71, -71, -72, -72, -73, -74, -74, -75, -75, -76, -76, -77, -77, -78, -78, -79, -80, -80, -81, -82, -82, -83, -84, -84, -85, -86, -86, -87, -88, -89, -90, -91, -91, -92, -93, -93, -94, -94, -95, -95, -95, -96, -96, -96, -97, -97, -97, -97, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, 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28, 27, 25, 25, 24, 23, 22, 21, 20, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 8, 7, 6, 4, 3, 1, 0, -1, -3, -5, -7, -9, -11, -13, -14, -16, -17, -18, -20, -21, -23, -25, -26, -27, -28, -30, -31, -33, -33, -35, -36, -37, -39, -40, -41, -42, -43, -44, -45, -46, -47, -47, -49, -49, -50, -51, -52, -53, -54, -55, -55, -56, -57, -58, -59, -60, -60, -61, -62, -63, -63, -64, -65, -66, -66, -67, -68, -68, -69, -70, -70, -71, -72, -73, -73, -74, -75, -75, -76, -76, -77, -78, -78, -79, -79, -80, -81, -81, -82, -83, -83, -84, -85, -86, -86, -87, -88, -89, -90, -91, -91, -92, -93, -93, -94, -94, -95, -95, -95, -96, -96, -96, -97, -97, -97, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -98, -97, -97, -97, -97, -96, -96, -96, -96, -95, -95, -95, -94, -94, -94, -93, -93, -93, -93, -92, -92, -92, -91, -91, -91, -90, -90, -90, -89, -89, -88, -88, -87, -87, -86, -86, -85, -85, -84, -84, -83, -82, -81, -80, -79, -78, -77, -76, -76, -75, -74, -74, -73, -72, -71, -71, -70, -69, -68, -67, -66, -66, -65, -64, -63, -62, -61, -60, -59, -57, -56, -55, -54, -52, -51, -49, -48, -47, -46, -44, -43, -42, -40, -39, -38, -36, -35, -34, -33, -31, -30, -29, -27, -26, -25, -24, -22, -21, -20, -19, -18, -16, -15, -14, -13, -12, -11, -10, -9, -8, -6, -5, -4, -3, -1, 0, 0, 2, 3, 4, 6, 8, 10, 11, 12, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 37, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 48, 49, 50, 51, 52, 53, 53, 54, 55, 56, 57, 57, 58, 59, 60, 61, 62, 63, 64, 65, 65, 66, 67, 68, 69, 70, 70, 71, 72, 73, 73, 74, 75, 75, 76, 77, 77, 78, 79, 79, 80, 81, 81, 82, 83, 83, 84, 85, 86, 86, 87, 88, 88, 89, 90, 91, 91, 92, 93, 93, 94, 94, 94, 95, 95, 96, 96, 96, 96, 97, 97, 97, 97, 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 98, 97, 97, 97, 96, 96, 96, 95, 95, 95, 94, 94, 94, 93, 93, 92, 92, 92, 91, 91, 90, 90, 89, 89, 88, 88, 87, 86, 86, 85, 84, 83, 82, 82, 81, 80, 79, 78, 77, 76, 76, 75, 74, 74, 73, 72, 71, 70, 70, 69, 68, 68, 67, 66, 66, 65, 64, 63, 62, 62, 61, 60, 59, 58, 57, 56, 55, 54, 53, 52, 51, 50, 49, 47, 46, 44, 43, 42, 40, 39, 37, 36, 35, 34, 33, 32, 31, 30, 28, 27, 26, 25, 24, 23, 21, 20, 19, 18, 17, 15, 14, 13, 12, 10, 9, 8, 6, 5, 4, 2, 1, 0, -1, -3, -5, -7, -9, -11, -12, -14, -16, -18, -19, -21, -22, -23, -25, -27, -28, -29, -30, -32, -33, -34, -36, -37, -38, -40, -40, -42, -43, -44, -45, -46 } ; int myPWM_V_values [ 3600 ] = {-49, -48, -47, -47, -46, -46, -45, -44, -43, -42, -41, -41, -40, -39, -38, -37, -37, -35, -35, -34, -33, -32, -31, -31, -30, -29, -28, -28, -27, -26, -25, -24, -23, -22, -21, -21, -20, -19, -18, -17, -16, -15, -15, -14, -13, -12, -11, -10, -9, -8, -7, -6, -5, -4, -3, -2, 0, 0, 2, 3, 5, 7, 9, 11, 13, 15, 16, 18, 19, 21, 22, 23, 24, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 45, 46, 46, 48, 48, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 65, 66, 67, 67, 68, 69, 70, 71, 71, 72, 73, 73, 74, 74, 75, 76, 77, 77, 78, 78, 79, 79, 80, 80, 81, 82, 82, 83, 83, 84, 84, 85, 86, 86, 87, 88, 88, 89, 90, 90, 91, 92, 92, 93, 93, 94, 94, 95, 95, 96, 96, 96, 97, 97, 97, 97, 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 98, 97, 97, 97, 96, 96, 96, 95, 95, 95, 94, 94, 94, 93, 93, 92, 92, 91, 91, 91, 90, 90, 89, 89, 88, 88, 87, 87, 86, 85, 85, 84, 83, 82, 81, 79, 78, 78, 76, 75, 74, 73, 72, 71, 70, 69, 68, 67, 66, 65, 64, 63, 62, 61, 60, 58, 58, 57, 56, 54, 54, 52, 52, 50, 49, 48, 47, 47, 46, 45, 43, 43, 42, 41, 40, 38, 38, 37, 35, 35, 34, 32, 31, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 15, 15, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0, 0, -1, -2, -4, -5, -6, -8, -9, -10, -12, -13, -14, -15, -17, -18, -19, -21, -22, -23, -24, -25, -26, -27, -28, -29, -31, -31, -33, -34, -34, -35, -36, -37, -38, -39, -40, -41, -42, -43, -44, -45, -45, -46, -47, -48, -49, -50, -51, -52, -53, -54, -55, -57, -58, -59, -60, -61, -62, -63, -64, -65, -66, -66, -67, -68, -69, -70, -71, -72, -72, -73, -74, -75, -75, -76, -76, -77, -78, -79, -79, -80, -80, -81, -81, -82, -83, -83, -84, -84, -85, -86, -86, -87, -87, -88, -89, -89, -90, -91, -91, -91, -92, -93, -93, -93, -94, -94, -94, -95, -95, -96, -96, -96, -96, -97, -97, -97, -97, -98, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -97, -97, -97, -97, -96, -96, -95, -95, -95, -94, -94, -93, -93, -92, -92, -91, -91, -90, -89, -89, -88, -87, -87, -86, -85, -84, -83, -82, -81, -80, -79, -78, -77, -75, -74, -74, -73, -72, -71, -69, -69, -68, -67, -65, -64, -63, -62, -61, -60, -59, -58, -57, -56, -55, -54, -53, -52, -51, -51, -50, -49, -48, -47, -47, -46, -45, -44, -43, -43, -42, -41, -40, -39, -38, -38, -36, -36, -35, -34, -33, -32, -31, -30, -29, -28, -27, -26, -25, -24, -23, -22, -21, -20, -19, -18, -17, -16, -15, -14, -13, -12, -11, -9, -8, -7, -6, -5, -4, -3, -1, -1, 0, 1, 3, 4, 6, 8, 10, 12, 14, 15, 16, 18, 19, 21, 22, 23, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 36, 38, 39, 40, 41, 41, 43, 44, 44, 45, 46, 47, 48, 49, 50, 51, 51, 52, 53, 54, 55, 56, 57, 57, 58, 59, 60, 61, 62, 62, 63, 64, 65, 66, 66, 67, 68, 69, 69, 70, 71, 71, 72, 73, 73, 74, 74, 75, 75, 76, 76, 77, 77, 78, 78, 79, 80, 80, 81, 81, 81, 82, 83, 83, 84, 84, 85, 86, 86, 87, 87, 88, 89, 90, 90, 91, 92, 92, 93, 93, 94, 94, 94, 95, 95, 95, 96, 96, 96, 97, 97, 97, 97, 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 98, 97, 97, 97, 97, 96, 96, 96, 95, 95, 95, 94, 94, 94, 93, 93, 92, 92, 92, 91, 91, 90, 90, 89, 88, 88, 87, 86, 86, 85, 84, 82, 82, 80, 79, 78, 77, 75, 75, 74, 72, 71, 71, 69, 68, 67, 66, 65, 63, 62, 61, 60, 59, 57, 56, 55, 54, 53, 52, 51, 50, 49, 48, 47, 46, 45, 44, 43, 42, 40, 40, 39, 37, 36, 36, 35, 33, 32, 32, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0, 0, -1, -2, -3, -5, -6, -8, -10, -12, -14, -15, -17, -18, -20, -21, -23, -24, -25, -27, -28, -28, -30, -31, -32, -33, -35, -36, -37, -38, -39, -40, -41, -42, -43, -44, -45, -46, -47, -49, -50, -51, -52, -53, -54, -55, -56, -57, -59, -60, -61, -62, -63, -64, -65, -66, -67, -68, -69, -69, -70, -71, -72, -73, -73, -74, -75, -76, -76, -77, -77, -78, -79, -79, -80, -81, -81, -82, -82, -83, -83, -84, -84, -85, -85, -86, -86, -87, -87, -88, -88, -89, -89, -90, -90, -91, -91, -92, -92, -93, -93, -93, -94, -94, -95, -95, -95, -95, -96, -96, -96, -96, -97, -97, -97, -97, -97, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -97, -97, -97, -97, -96, -96, -96, -95, -95, -94, -94, -94, -93, -93, -92, -92, -91, -91, -90, -90, -89, -89, -88, -87, -87, -86, -85, -84, -83, -82, -81, -80, -79, -78, -77, -76, -75, -74, -73, -72, -71, -70, -69, -68, -68, -66, -66, -65, -64, -62, -62, -61, -60, -59, -58, -57, -56, -55, -54, -53, -52, -52, -51, -50, -49, -48, -47, -46, -45, -45, -44, -43, -42, -41, -40, -39, -38, -37, -36, -35, -34, -33, -31, -30, -29, -28, -26, -25, -25, -23, -22, -21, -19, -18, -17, -16, -15, -14, -12, -11, -10, -9, -8, -6, -5, -4, -2, -1, 0, 1, 2, 4, 5, 7, 9, 11, 13, 15, 16, 17, 19, 20, 22, 22, 24, 25, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 43, 44, 46, 46, 47, 48, 49, 50, 50, 51, 52, 53, 55, 56, 56, 57, 58, 59, 60, 62, 62, 63, 64, 65, 66, 67, 68, 69, 69, 70, 71, 72, 72, 73, 74, 75, 75, 76, 77, 77, 78, 78, 79, 80, 80, 81, 82, 82, 83, 84, 84, 85, 85, 86, 86, 87, 88, 88, 89, 90, 91, 91, 92, 92, 93, 93, 94, 94, 95, 95, 95, 95, 96, 96, 96, 97, 97, 97, 97, 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 98, 97, 97, 97, 97, 96, 96, 96, 96, 95, 95, 95, 94, 94, 94, 93, 93, 93, 92, 92, 91, 91, 91, 90, 90, 89, 88, 88, 87, 86, 86, 85, 84, 82, 81, 80, 79, 78, 77, 76, 75, 74, 73, 72, 71, 70, 69, 68, 67, 66, 65, 64, 62, 61, 60, 59, 58, 57, 56, 55, 54, 53, 52, 51, 50, 50, 49, 48, 47, 46, 45, 44, 43, 42, 41, 40, 40, 38, 38, 37, 36, 35, 34, 33, 32, 31, 30, 29, 28, 27, 26, 25, 24, 23, 23, 21, 21, 19, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 2, 1, 0, -1, -2, -4, -6, -8, -10, -12, -14, -15, -17, -19, -20, -21, -23, -24, -25, -26, -27, -29, -31, -32, -33, -34, -36, -37, -38, -39, -40, -42, -43, -44, -45, -46, -47, -48, -49, -50, -52, -53, -54, -55, -56, -57, -59, -59, -60, -61, -62, -64, -65, -65, -67, -67, -68, -69, -70, -71, -71, -72, -73, -74, -74, -75, -76, -76, -77, -78, -78, -79, -79, -80, -80, -81, -81, -82, -82, -83, -83, -84, -84, -85, -85, -85, -86, -86, -87, -87, -88, -89, -89, -90, -90, -91, -91, -92, -93, -93, -94, -94, -94, -95, -95, -95, -96, -96, -96, -97, -97, -97, -97, -98, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -97, -97, -97, -96, -96, -96, -96, -95, -95, -94, -94, -94, -93, -93, -92, -92, -91, -91, -90, -90, -89, -89, -89, -88, -87, -87, -86, -86, -85, -84, -83, -83, -82, -81, -80, -79, -78, -77, -76, -75, -74, -73, -73, -71, -71, -70, -69, -68, -67, -67, -66, -65, -64, -63, -62, -61, -60, -60, -59, -58, -57, -56, -55, -54, -54, -53, -52, -51, -50, -50, -48, -48, -47, -46, -45, -44, -43, -42, -41, -41, -40, -39, -38, -37, -36, -35, -34, -33, -32, -31, -30, -29, -28, -27, -25, -24, -23, -22, -21, -20, -19, -18, -17, -16, -14, -13, -12, -11, -10, -9, -8, -7, -6, -4, -3, -2, -1, 0, 1, 2, 4, 5, 7, 9, 10, 12, 14, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 42, 44, 45, 45, 46, 47, 48, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 64, 65, 65, 66, 67, 68, 69, 70, 71, 71, 73, 73, 74, 75, 76, 76, 77, 78, 78, 79, 80, 81, 81, 82, 83, 83, 84, 84, 85, 86, 86, 87, 88, 88, 89, 90, 91, 91, 92, 92, 93, 93, 94, 94, 94, 95, 95, 95, 96, 96, 96, 97, 97, 97, 97, 97, 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 97, 97, 97, 97, 96, 96, 96, 95, 95, 95, 94, 94, 93, 93, 92, 92, 91, 91, 90, 90, 89, 88, 88, 87, 86, 86, 85, 84, 83, 82, 81, 80, 78, 77, 76, 75, 74, 73, 72, 71, 70, 69, 68, 67, 66, 65, 64, 62, 61, 60, 59, 58, 57, 56, 55, 54, 53, 52, 51, 50, 49, 48, 47, 46, 46, 45, 44, 43, 42, 41, 41, 40, 39, 38, 37, 37, 36, 35, 34, 33, 32, 32, 30, 30, 29, 28, 27, 27, 26, 25, 24, 23, 22, 22, 21, 20, 19, 18, 17, 17, 16, 15, 14, 13, 12, 11, 11, 10, 9, 8, 7, 5, 5, 3, 2, 1, 0, -1, -2, -4, -6, -8, -10, -12, -14, -15, -16, -18, -19, -21, -22, -23, -24, -26, -27, -28, -29, -30, -32, -33, -34, -35, -36, -37, -38, -40, -41, -42, -43, -44, -45, -46, -47, -48, -49, -50, -51, -52, -53, -54, -55, -56, -57, -58, -60, -61, -61, -62, -63, -64, -65, -66, -67, -68, -68, -69, -70, -71, -71, -72, -73, -73, -74, -75, -75, -76, -76, -77, -78, -78, -79, -79, -80, -81, -81, -81, -82, -83, -83, -84, -84, -85, -86, -86, -87, -87, -88, -89, -90, -91, -91, -92, -92, -93, -94, -94, -94, -95, -95, -96, -96, -96, -96, -97, -97, -97, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -97, -97, -97, -97, -96, -96, -96, -95, -95, -95, -94, -94, -93, -93, -93, -92, -92, -91, -91, -91, -90, -90, -89, -89, -88, -88, -87, -87, -86, -85, -85, -84, -83, -82, -81, -79, -78, -78, -76, -75, -75, -73, -72, -71, -71, -70, -69, -68, -66, -66, -64, -63, -62, -61, -60, -59, -58, -57, -56, -55, -54, -53, -52, -51, -50, -49, -48, -47, -46, -45, -44, -43, -42, -41, -40, -39, -38, -37, -36, -35, -34, -33, -32, -31, -30, -29, -28, -27, -26, -25, -24, -22, -21, -20, -20, -18, -17, -16, -15, -14, -13, -12, -11, -10, -9, -8, -7, -6, -5, -4, -3, -2, -1, 0, 0, 1, 2, 4, 5, 6, 8, 9, 10, 12, 13, 15, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 30, 31, 33, 33, 34, 35, 36, 37, 38, 39, 40, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 61, 62, 62, 63, 64, 65, 66, 67, 68, 69, 69, 70, 71, 72, 73, 73, 74, 75, 75, 76, 77, 77, 78, 79, 79, 80, 81, 81, 82, 82, 83, 83, 84, 85, 85, 86, 86, 87, 88, 88, 89, 90, 90, 91, 91, 92, 92, 93, 93, 94, 94, 94, 95, 95, 95, 96, 96, 96, 96, 97, 97, 97, 97, 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 97, 97, 97, 97, 96, 96, 95, 95, 95, 94, 94, 93, 93, 92, 92, 91, 91, 90, 90, 89, 88, 88, 87, 86, 85, 84, 84, 82, 81, 80, 79, 78, 77, 76, 75, 74, 73, 72, 71, 70, 69, 68, 66, 66, 64, 63, 62, 61, 60, 59, 58, 57, 56, 55, 54, 53, 52, 51, 51, 50, 49, 48, 47, 47, 45, 45, 44, 43, 42, 42, 41, 40, 39, 38, 37, 36, 36, 35, 34, 33, 32, 31, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 16, 16, 14, 14, 12, 11, 10, 9, 8, 7, 6, 5, 4, 2, 1, 0, -1, -2, -3, -5, -7, -9, -10, -12, -14, -16, -17, -19, -20, -21, -23, -24, -25, -27, -28, -29, -30, -32, -33, -34, -35, -36, -37, -38, -39, -40, -42, -43, -43, -44, -45, -46, -47, -48, -49, -50, -51, -52, -52, -53, -54, -55, -56, -57, -58, -59, -60, -61, -61, -62, -63, -64, -65, -65, -66, -67, -68, -69, -69, -70, -71, -71, -72, -72, -73, -74, -74, -75, -75, -76, -76, -77, -78, -78, -79, -79, -80, -80, -81, -81, -82, -82, -83, -83, -84, -84, -85, -85, -86, -87, -87, -88, -89, -89, -90, -91, -91, -92, -92, -93, -93, -94, -94, -95, -95, -95, -96, -96, -96, -97, -97, -97, -97, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -98, -97, -97, -97, -97, -96, -96, -96, -95, -95, -95, -94, -94, -94, -93, -93, -92, -92, -92, -91, -91, -90, -90, -89, -88, -88, -87, -86, -86, -85, -84, -83, -81, -80, -79, -78, -77, -76, -75, -73, -72, -71, -70, -69, -68, -67, -66, -65, -63, -62, -61, -60, -59, -58, -56, -55, -54, -53, -52, -51, -50, -49, -48, -47, -46, -45, -44, -43, -42, -40, -40, -39, -37, -37, -35, -34, -33, -32, -31, -30, -29, -28, -27, -26, -25, -24, -23, -22, -21, -20, -19, -18, -17, -16, -15, -14, -13, -12, -11, -10, -10, -9, -8, -7, -6, -5, -4, -3, -2, -1, 0, 0, 1, 2, 3, 5, 6, 8, 10, 11, 13, 15, 17, 18, 19, 21, 22, 24, 25, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 38, 38, 39, 41, 42, 43, 43, 44, 46, 47, 48, 49, 50, 51, 52, 54, 54, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 70, 71, 72, 73, 73, 74, 75, 76, 76, 77, 78, 78, 79, 79, 80, 81, 81, 82, 82, 83, 83, 84, 84, 85, 85, 86, 86, 87, 87, 88, 88, 89, 89, 90, 90, 91, 91, 92, 92, 93, 93, 93, 94, 94, 95, 95, 95, 95, 96, 96, 96, 96, 97, 97, 97, 97, 98, 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 97, 97, 97, 97, 96, 96, 96, 95, 95, 94, 94, 94, 93, 93, 92, 92, 91, 91, 90, 90, 89, 88, 88, 87, 86, 86, 85, 84, 83, 82, 81, 80, 79, 78, 77, 76, 75, 73, 73, 72, 71, 70, 69, 68, 67, 66, 65, 64, 63, 62, 61, 60, 59, 58, 57, 56, 55, 54, 53, 52, 52, 51, 50, 49, 48, 47, 46, 46, 44, 44, 43, 42, 41, 40, 39, 38, 37, 36, 35, 34, 33, 31, 30, 29, 28, 27, 25, 24, 23, 22, 21, 19, 18, 17, 16, 15, 13, 12, 11, 10, 9, 8, 6, 5, 4, 2, 1, 0, -1, -3, -4, -6, -8, -9, -11, -13, -15, -17, -18, -19, -20, -22, -23, -24, -26, -27, -28, -29, -31, -32, -33, -34, -35, -36, -37, -38, -39, -40, -41, -42, -43, -44, -45, -46, -47, -47, -48, -49, -50, -51, -52, -53, -54, -54, -55, -56, -57, -58, -59, -60, -61, -62, -63, -64, -65, -66, -67, -68, -69, -69, -70, -71, -72, -73, -73, -74, -75, -75, -76, -77, -78, -78, -79, -79, -80, -81, -81, -82, -82, -83, -83, -84, -85, -85, -86, -86, -87, -88, -88, -89, -90, -90, -91, -92, -92, -93, -93, -94, -94, -94, -95, -95, -95, -96, -96, -96, -97, -97, -97, -97, -98, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -98, -97, -97, -97, -97, -97, -96, -96, -96, -96, -95, -95, -95, -94, -94, -94, -93, -93, -93, -92, -92, -91, -91, -90, -90, -89, -89, -88, -88, -87, -86, -85, -85, -83, -82, -81, -80, -79, -78, -77, -76, -75, -74, -73, -72, -71, -70, -69, -68, -67, -66, -65, -64, -63, -61, -60, -59, -58, -57, -56, -55, -54, -53, -53, -52, -51, -49, -48, -48, -47, -46, -45, -44, -43, -42, -42, -41, -40, -39, -38, -37, -36, -35, -34, -33, -32, -31, -30, -29, -28, -27, -27, -26, -25, -24, -23, -22, -21, -20, -19, -18, -17, -16, -15, -15, -13, -13, -11, -10, -9, -9, -7, -6, -5, -4, -3, -2, 0, 0, 2, 3, 5, 7, 9, 11, 13, 15, 17, 18, 20, 21, 22, 24, 25, 26, 28, 29, 30, 31, 33, 34, 35, 36, 37, 38, 40, 41, 42, 43, 44, 45, 47, 47, 49, 50, 51, 52, 53, 54, 56, 57, 58, 59, 60, 60, 61, 63, 64, 65, 65, 67, 67, 68, 69, 70, 71, 71, 72, 73, 74, 74, 75, 76, 76, 77, 77, 78, 79, 79, 80, 80, 81, 81, 82, 82, 83, 83, 83, 84, 84, 85, 85, 86, 86, 87, 87, 88, 88, 89, 90, 90, 91, 91, 92, 92, 93, 94, 94, 94, 95, 95, 95, 96, 96, 96, 97, 97, 97, 97, 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 97, 97, 97, 96, 96, 96, 95, 95, 95, 94, 94, 93, 93, 93, 92, 92, 91, 91, 90, 90, 89, 89, 88, 88, 87, 86, 86, 85, 85, 84, 83, 82, 81, 80, 79, 78, 77, 76, 75, 75, 74, 73, 72, 71, 70, 69, 68, 67, 67, 66, 65, 64, 63, 62, 61, 60, 59, 58, 58, 57, 56, 55, 54, 54, 53, 51, 51, 50, 49, 48, 47, 47, 46, 45, 44, 43, 42, 41, 41, 40, 39, 38, 37, 36, 35, 34, 33, 32, 31, 30, 29, 27, 27, 25, 24, 23, 22, 21, 20, 19, 18, 17, 15, 15, 13, 12, 11, 10, 9, 8, 7, 5, 4, 3, 2, 1, 0, -1, -2, -4, -5, -7, -8, -10, -12, -14, -15, -17, -18, -19, -21, -22, -23, -24, -25, -26, -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, -58, -59, -60, -61, -62, -63, -64, -65, -66, -67, -68, -69, -70, -71, -72, -72, -73, -74, -75, -76, -76, -77, -78, -79, -79, -80, -81, -81, -82, -83, -83, -84, -85, -85, -86, -86, -87, -88, -88, -89, -90, -90, -91, -92, -92, -93, -93, -94, -94, -94, -95, -95, -95, -96, -96, -96, -97, -97, -97, -97, -97, -98, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -97, -97, -97, -97, -96, -96, -96, -95, -95, -95, -94, -94, -93, -93, -93, -92, -92, -91, -91, -90, -90, -89, -89, -88, -87, -86, -86, -85, -84, -83, -82, -81, -80, -78, -77, -76, -75, -74, -73, -72, -71, -70, -69, -68, -67, -66, -65, -64, -63, -61, -60, -59, -58, -57, -56, -55, -54, -53, -52, -51, -50 } ; int myPWM_W_values [ 3600 ] = { 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 98, 98, 97, 97, 97, 97, 97, 97, 96, 96, 96, 96, 95, 95, 95, 95, 94, 94, 94, 94, 93, 93, 93, 92, 92, 91, 91, 91, 90, 90, 90, 89, 89, 88, 88, 87, 86, 86, 85, 84, 83, 81, 81, 79, 78, 77, 76, 75, 74, 73, 72, 72, 71, 70, 69, 68, 67, 66, 65, 64, 63, 62, 61, 60, 59, 59, 58, 57, 56, 55, 54, 53, 52, 51, 50, 49, 48, 46, 45, 44, 43, 42, 41, 40, 39, 37, 37, 35, 34, 33, 32, 31, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 16, 15, 14, 14, 12, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 0, 0, -1, -2, -4, -5, -7, -9, -10, -12, -14, -15, -17, -18, -20, -21, -22, -24, -25, -26, -27, -28, -29, -30, -32, -33, -35, -36, -37, -38, -39, -41, -42, -43, -45, -46, -47, -49, -50, -52, -53, -55, -56, -57, -58, -59, -60, -62, -63, -64, -65, -66, -67, -68, -69, -70, -71, -72, -73, -73, -74, -75, -75, -76, -77, -78, -78, -79, -80, -81, -81, -82, -82, -83, -84, -84, -85, -85, -86, -86, -87, -88, -89, -89, -90, -91, -92, -92, -93, -93, -94, -95, -95, -95, -96, -96, -96, -97, -97, -97, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -98, -97, -97, -97, -97, -96, -96, -96, -95, -95, -95, -94, -94, -94, -93, -93, -93, -92, -92, -91, -91, -91, -90, -90, -89, -89, -88, -88, -87, -87, -86, -86, -85, -85, -84, -83, -83, -82, -81, -80, -80, -79, -78, -77, -76, -76, -74, -74, -73, -72, -71, -70, -70, -69, -68, -67, -67, -66, -65, -64, -63, -62, -62, -61, -60, -59, -59, -58, -57, -56, -55, -55, -54, -53, -52, -51, -50, -49, -48, -47, -46, -45, -44, -43, -42, -41, -39, -38, -37, -35, -34, -33, -32, -31, -29, -28, -27, -26, -25, -24, -23, -22, -21, -20, -19, -17, -17, -15, -14, -13, -12, -11, -10, -9, -8, -7, -6, -5, -4, -3, -2, -1, 0, 0, 1, 3, 4, 5, 7, 8, 9, 11, 13, 14, 15, 16, 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, 44, 45, 46, 47, 48, 50, 51, 52, 53, 55, 56, 57, 59, 60, 60, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 79, 80, 81, 82, 83, 83, 84, 85, 86, 86, 87, 88, 89, 90, 91, 91, 92, 93, 93, 94, 94, 95, 95, 96, 96, 96, 97, 97, 97, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 98, 98, 97, 97, 97, 97, 97, 96, 96, 96, 95, 95, 95, 94, 94, 94, 93, 93, 93, 92, 92, 91, 91, 90, 90, 89, 89, 89, 88, 87, 87, 86, 86, 85, 84, 84, 82, 82, 81, 79, 79, 77, 76, 75, 74, 73, 72, 71, 71, 69, 69, 68, 67, 66, 65, 64, 63, 62, 61, 60, 59, 58, 58, 57, 56, 55, 54, 53, 52, 51, 50, 49, 48, 48, 47, 46, 45, 44, 43, 42, 41, 41, 39, 38, 38, 37, 35, 35, 34, 32, 32, 31, 29, 29, 27, 27, 26, 25, 24, 23, 22, 21, 20, 19, 19, 18, 17, 16, 15, 15, 14, 13, 12, 11, 10, 9, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0, 0, -2, -3, -4, -6, -7, -9, -11, -12, -14, -15, -17, -18, -19, -20, -21, -23, -24, -25, -26, -27, -28, -29, -31, -32, -33, -34, -35, -36, -37, -39, -40, -41, -42, -44, -45, -46, -47, -49, -50, -51, -52, -54, -55, -56, -57, -58, -60, -60, -61, -62, -63, -65, -65, -66, -67, -68, -69, -70, -71, -72, -72, -73, -74, -75, -76, -76, -77, -78, -79, -79, -80, -80, -81, -82, -83, -83, -84, -85, -85, -86, -87, -87, -88, -89, -90, -91, -92, -93, -93, -94, -94, -95, -95, -96, -96, -96, -97, -97, -97, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, 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-17, -15, -15, -13, -12, -11, -9, -8, -7, -5, -5, -3, -3, -2, -1, 0, 0, 2, 5, 7, 8, 9, 11, 11, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 44, 45, 46, 47, 48, 50, 51, 52, 53, 54, 55, 56, 57, 58, 60, 60, 61, 62, 64, 65, 65, 67, 67, 68, 69, 70, 71, 72, 73, 74, 74, 75, 76, 77, 78, 79, 80, 80, 81, 82, 83, 83, 84, 84, 85, 86, 87, 87, 89, 90, 91, 91, 92, 92, 93, 93, 94, 94, 95, 95, 96, 96, 97, 97, 97, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99 } ; int myPWM_U_values_base [ 3600 ] = {-46, -45, -44, -43, -42, -40, -39, -38, -37, -35, -34, -33, -32, -31, -29, -29, -27, -26, -25, -23, -22, -21, -20, -18, -17, -16, -14, -13, -12, -11, -9, -7, -6, -5, -4, -2, -1, 0, 1, 2, 4, 5, 6, 8, 9, 10, 11, 12, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 25, 26, 27, 28, 29, 30, 30, 31, 32, 33, 33, 34, 35, 36, 37, 38, 39, 39, 40, 41, 42, 43, 43, 44, 45, 46, 47, 47, 48, 49, 50, 51, 52, 52, 53, 54, 55, 56, 56, 57, 58, 59, 60, 61, 62, 62, 63, 64, 65, 66, 66, 67, 68, 69, 70, 71, 72, 73, 74, 74, 75, 76, 77, 78, 78, 79, 80, 81, 82, 83, 83, 84, 85, 86, 86, 87, 88, 88, 89, 89, 90, 90, 91, 91, 92, 92, 93, 93, 93, 94, 94, 94, 95, 95, 95, 96, 96, 96, 96, 97, 97, 97, 97, 97, 98, 98, 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 98, 98, 97, 97, 97, 97, 96, 96, 96, 96, 95, 95, 95, 94, 94, 94, 93, 93, 92, 92, 91, 91, 90, 90, 89, 89, 88, 88, 87, 87, 86, 85, 85, 84, 83, 83, 82, 81, 81, 80, 79, 78, 78, 77, 76, 75, 74, 74, 73, 71, 70, 69, 68, 67, 66, 65, 64, 62, 61, 59, 58, 57, 55, 54, 52, 51, 49, 48, 46, 45, 43, 42, 40, 39, 38, 37, 35, 34, 33, 31, 30, 30, 28, 27, 26, 25, 24, 23, 22, 21, 20, 20, 19, 18, 17, 16, 15, 14, 14, 13, 12, 11, 10, 9, 9, 8, 7, 6, 6, 5, 4, 3, 2, 2, 1, 0, 0, 0, -1, -2, -3, -3, -4, -5, -5, -6, -7, -7, -8, -9, -10, -10, -11, -12, -12, -14, -14, -15, -16, -16, -17, -18, -19, -20, -20, -21, -22, -23, -24, -25, -26, -27, -28, -29, -30, -31, -32, -33, -35, -36, -37, -39, -40, -41, -43, -44, -46, -48, -49, -51, -52, -54, -55, -56, -58, -59, -60, -62, -63, -64, -65, -66, -67, -68, -69, -70, -71, -72, -72, -73, -74, -75, -75, -76, -77, -77, -78, -79, -79, -80, -81, -81, -82, -82, -83, -83, -84, -84, -85, -85, -86, -86, -87, -87, -88, -88, -89, -89, -89, -90, -90, -91, -91, -91, -92, -92, -93, -93, -93, -94, -94, -94, -95, -95, -96, -96, -96, -97, -97, -97, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -97, -97, -97, -96, -96, -96, -96, -95, -95, -94, -94, -94, -93, -93, -92, -92, -92, -91, -91, -90, -90, -89, -89, -88, -88, -87, -86, -86, -85, -85, -84, -83, -83, -82, -81, -80, -80, -79, -78, -77, -76, -75, -74, -73, -71, -70, -69, -67, -66, -64, -63, -61, -60, -58, -56, -54, -52, -50, -49, -46, -45, -43, -41, -39, -37, -35, -33, -32, -30, -28, -26, -25, -23, -21, -19, -18, -16, -15, -13, -12, -10, -9, -7, -5, -4, -2, -1, 0, 1, 2, 3, 5, 6, 7, 8, 10, 11, 12, 13, 15, 16, 17, 18, 19, 20, 21, 22, 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, 83, 84, 85, 86, 86, 87, 88, 89, 89, 90, 90, 91, 91, 92, 92, 93, 93, 93, 94, 94, 95, 95, 95, 95, 96, 96, 96, 96, 97, 97, 97, 97, 97, 98, 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 98, 98, 97, 97, 97, 96, 96, 96, 95, 95, 94, 94, 93, 93, 92, 91, 91, 90, 89, 89, 88, 87, 86, 86, 85, 84, 83, 82, 81, 80, 80, 79, 78, 77, 77, 76, 75, 74, 73, 72, 72, 71, 70, 69, 68, 67, 66, 65, 64, 63, 62, 61, 60, 59, 58, 57, 56, 55, 54, 53, 52, 51, 50, 49, 48, 47, 46, 45, 44, 42, 42, 41, 40, 38, 37, 37, 35, 35, 34, 33, 32, 31, 30, 29, 28, 27, 26, 25, 24, 24, 23, 22, 21, 20, 19, 18, 17, 17, 16, 15, 14, 13, 12, 12, 10, 10, 9, 8, 7, 6, 5, 4, 4, 3, 2, 1, 0, 0, -1, -1, -2, -3, -3, -4, -5, -5, -5, -6, -7, -7, -7, -8, -9, -9, -10, -10, -11, -11, -12, -13, -13, -13, -14, -15, -15, -16, -17, -17, -18, -19, -20, -20, -21, -22, -23, -24, -25, -26, -27, -29, -30, -32, -34, -36, -38, -40, -42, -45, -46, -48, -50, -51, -53, -54, -56, -57, -58, -59, -60, -60, -61, -62, -63, -64, -64, -65, -66, -67, -67, -68, -68, -69, -69, -70, -71, -71, -72, -72, -73, -73, -74, -74, -75, -75, -76, -76, -77, -77, -78, -78, -79, -79, -79, -80, -80, -81, -81, -82, -82, -82, -83, -84, -84, -84, -85, -85, -86, -86, -87, -87, -88, -88, -88, -89, -89, -89, -90, -90, -90, -91, -91, -91, -92, -92, -93, -93, -93, -94, -94, -95, -95, -96, -96, -97, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -98, -98, -97, -97, -97, -97, -96, -96, -96, -96, -95, -95, -95, -94, -94, -94, -93, -93, -93, -92, -92, -91, -90, -90, -89, -89, -88, -88, -87, -86, -86, -85, -84, -84, -83, -83, -82, -81, -80, -79, -79, -78, -77, -76, -75, -74, -72, -71, -69, -68, -66, -64, -63, -60, -59, -56, -54, -52, -50, -48, -47, -45, -44, -42, -41, -39, -38, -37, -35, -34, -33, -32, -31, -30, -29, -28, -27, -26, -25, -24, -23, -22, -21, -20, -19, -19, -17, -17, -16, -15, -14, -13, -12, -11, -10, -9, -7, -7, -6, -5, -4, -3, -2, -1, -1, 0, 0, 0, 1, 2, 3, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 17, 19, 22, 26, 29, 32, 36, 38, 40, 42, 43, 45, 46, 47, 48, 49, 51, 52, 52, 53, 54, 55, 56, 57, 58, 59, 60, 60, 61, 62, 63, 64, 65, 65, 67, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 79, 80, 81, 82, 83, 84, 85, 86, 87, 87, 88, 89, 90, 90, 91, 91, 92, 92, 93, 93, 94, 94, 94, 95, 95, 96, 96, 96, 96, 97, 97, 97, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 98, 97, 97, 97, 96, 96, 96, 95, 94, 94, 93, 93, 92, 91, 91, 90, 89, 88, 87, 86, 85, 84, 83, 83, 82, 81, 80, 79, 78, 77, 76, 75, 74, 73, 72, 71, 70, 69, 68, 67, 66, 65, 64, 63, 62, 61, 60, 59, 57, 56, 55, 54, 53, 52, 51, 50, 48, 47, 46, 45, 44, 43, 42, 40, 39, 38, 37, 36, 35, 34, 33, 32, 31, 30, 28, 27, 26, 25, 24, 23, 21, 21, 19, 18, 17, 16, 15, 14, 12, 11, 10, 8, 7, 6, 5, 4, 2, 1, 0, -1, -2, -3, -4, -5, -7, -8, -9, -10, -11, -12, -13, -14, -15, -16, -17, -18, -19, -20, -20, -21, -22, -23, -24, -25, -26, -26, -27, -28, -29, -30, -31, -31, -32, -33, -34, -35, -36, -37, -37, -38, -39, -40, -41, -42, -42, -43, -44, -45, -46, -47, -48, -48, -49, -50, -51, -52, -53, -54, -55, -55, -56, -57, -58, -59, -60, -60, -61, -62, -63, -64, -65, -65, -66, -67, -68, -69, -70, -70, -71, -72, -73, -74, -74, -75, -76, -77, -78, -78, -79, -80, -80, -81, -82, -83, -83, -84, -84, -85, -86, -86, -87, -87, -88, -89, -89, -90, -90, -91, -91, -91, -92, -92, -93, -93, -93, -94, -94, -95, -95, -95, -96, -96, -96, -97, -97, -97, -97, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -98, -97, -97, -97, -97, -96, -96, -96, -95, -95, -95, -95, -94, -94, -93, -93, -93, -92, -92, -92, -91, -91, -90, -90, -90, -89, -89, -88, -88, -87, -87, -86, -86, -85, -85, -84, -84, -83, -83, -82, -81, -81, -80, -80, -79, -78, -78, -77, -76, -75, -75, -74, -73, -72, -71, -70, -69, -68, -67, -66, -64, -62, -61, -60, -58, -56, -54, -52, -50, -49, -46, -45, -42, -40, -39, -37, -35, -33, -32, -31, -29, -28, -26, -25, -24, -22, -21, -20, -19, -18, -17, -16, -15, -14, -13, -12, -12, -10, -10, -9, -8, -7, -6, -5, -4, -4, -3, -2, -1, 0, 0, 0, 1, 2, 3, 3, 4, 5, 5, 6, 7, 8, 9, 10, 11, 11, 12, 13, 14, 15, 15, 16, 17, 18, 19, 20, 20, 22, 22, 23, 24, 26, 27, 28, 29, 30, 31, 33, 34, 35, 37, 39, 40, 42, 43, 45, 47, 49, 51, 52, 54, 56, 58, 59, 61, 62, 64, 65, 66, 67, 68, 69, 70, 72, 73, 73, 74, 75, 76, 76, 77, 78, 79, 79, 80, 80, 81, 82, 82, 83, 83, 84, 84, 85, 86, 86, 86, 87, 87, 88, 88, 89, 89, 89, 90, 90, 91, 91, 91, 92, 92, 92, 93, 93, 93, 94, 94, 94, 95, 95, 95, 96, 96, 96, 97, 97, 97, 97, 98, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 97, 97, 96, 96, 96, 95, 95, 94, 93, 93, 92, 92, 91, 90, 89, 89, 88, 87, 86, 85, 84, 84, 83, 82, 81, 80, 79, 78, 77, 76, 75, 74, 73, 72, 71, 69, 69, 67, 67, 65, 64, 63, 62, 61, 59, 58, 57, 56, 55, 54, 53, 51, 50, 49, 48, 47, 45, 44, 43, 42, 41, 39, 38, 37, 36, 35, 34, 32, 31, 30, 29, 27, 26, 25, 24, 22, 22, 20, 18, 17, 16, 15, 13, 12, 11, 9, 8, 7, 5, 3, 2, 1, 0, -1, -2, -3, -5, -6, -7, -8, -10, -11, -12, -13, -14, -15, -16, -17, -18, -19, -19, -21, -21, -22, -23, -24, -25, -26, -26, -28, -28, -29, -30, -31, -31, -32, -33, -34, -35, -35, -36, -37, -38, -39, -40, -40, -41, -42, -43, -43, -44, -45, -46, -47, -47, -48, -49, -50, -51, -52, -52, -53, -54, -55, -56, -56, -57, -58, -59, -60, -61, -61, -63, -63, -64, -65, -66, -67, -68, -68, -70, -71, -72, -72, -73, -74, -75, -76, -77, -78, -79, -80, -81, -81, -82, -83, -84, -84, -85, -86, -87, -87, -88, -88, -89, -90, -90, -91, -91, -92, -92, -92, -93, -93, -94, -94, -94, -95, -95, -95, -95, -96, -96, -96, -96, -97, -97, -97, -97, -97, -98, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -98, -98, -97, -97, -97, -97, -96, -96, -96, -95, -95, -95, -94, -94, -94, -93, -93, -92, -92, -91, -91, -90, -90, -90, -89, -88, -88, -87, -87, -86, -85, -85, -84, -83, -83, -82, -81, -81, -80, -79, -78, -78, -77, -76, -75, -74, -73, -72, -71, -71, -69, -68, -67, -66, -65, -63, -62, -61, -59, -58, -56, -55, -53, -52, -50, -49, -47, -46, -44, -43, -41, -40, -39, -37, -36, -34, -33, -32, -31, -30, -29, -27, -26, -25, -24, -23, -22, -21, -20, -19, -18, -17, -16, -16, -14, -14, -13, -12, -11, -11, -10, -9, -8, -7, -7, -6, -5, -4, -3, -3, -2, -1, -1, 0, 0, 1, 2, 2, 3, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 12, 13, 14, 14, 15, 16, 17, 18, 18, 19, 20, 21, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 38, 39, 40, 42, 44, 45, 47, 48, 50, 51, 53, 54, 56, 57, 59, 60, 61, 62, 64, 65, 66, 67, 68, 69, 70, 71, 71, 72, 73, 74, 75, 75, 76, 77, 77, 78, 79, 79, 80, 81, 81, 81, 82, 83, 83, 84, 84, 85, 85, 86, 86, 87, 87, 88, 88, 88, 89, 89, 90, 90, 90, 91, 91, 92, 92, 92, 93, 93, 93, 94, 94, 94, 95, 95, 95, 96, 96, 96, 97, 97, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 97, 97, 97, 96, 96, 96, 95, 95, 95, 94, 94, 93, 93, 93, 92, 92, 91, 91, 90, 90, 89, 89, 88, 88, 88, 87, 86, 86, 85, 85, 84, 83, 83, 82, 81, 80, 80, 79, 78, 77, 76, 75, 74, 73, 72, 70, 69, 68, 67, 66, 64, 62, 61, 59, 58, 56, 54, 52, 50, 49, 47, 45, 43, 41, 39, 37, 36, 34, 32, 31, 29, 27, 25, 24, 22, 20, 18, 17, 16, 14, 12, 11, 9, 8, 6, 5, 4, 2, 1, 0, -1, -2, -3, -4, -6, -7, -8, -10, -10, -12, -12, -14, -15, -16, -17, -18, -19, -20, -22, -23, -23, -25, -26, -27, -28, -28, -30, -30, -31, -32, -33, -35, -35, -36, -37, -38, -39, -40, -41, -42, -43, -44, -45, -46, -47, -48, -49, -50, -51, -52, -53, -53, -55, -56, -57, -57, -59, -60, -61, -62, -63, -63, -65, -66, -67, -68, -69, -70, -71, -72, -73, -74, -75, -76, -77, -78, -79, -80, -81, -82, -83, -84, -85, -85, -86, -87, -87, -88, -89, -89, -90, -91, -91, -91, -92, -92, -93, -93, -94, -94, -94, -95, -95, -95, -95, -96, -96, -96, -97, -97, -97, -97, -97, -98, -98, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -98, -98, -97, -97, -97, -96, -96, -96, -95, -95, -94, -94, -93, -93, -92, -92, -91, -90, -90, -89, -88, -87, -87, -86, -85, -84, -83, -83, -82, -81, -80, -79, -79, -78, -77, -76, -75, -75, -73, -73, -72, -71, -70, -69, -68, -68, -66, -65, -65, -64, -63, -62, -61, -60, -59, -58, -56, -55, -54, -53, -52, -51, -50, -49, -48, -46, -46, -45, -43, -42, -41, 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-94, -94, -95, -95, -95, -96, -96, -96, -96, -97, -97, -97, -97, -98, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -98, -97, -97, -97, -96, -96, -95, -95, -94, -94, -93, -92, -92, -91, -91, -90, -89, -88, -87, -86, -86, -85, -84, -83, -83, -82, -81, -80, -78, -77, -76, -76, -75, -74, -72, -71, -70, -69, -68, -67, -66, -64, -63, -62, -61, -60, -58, -57, -56, -55, -54, -52, -51, -50, -49, -48 } ; int myPWM_V_values_base [ 3600 ] = { 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 97, 97, 97, 97, 96, 96, 96, 95, 95, 94, 94, 94, 93, 93, 92, 92, 91, 90, 90, 89, 89, 88, 87, 87, 86, 85, 85, 84, 83, 82, 82, 81, 80, 80, 79, 78, 77, 77, 76, 75, 75, 74, 74, define PHASE_DELAY_1 (double) 2.094395102 //120° #define PHASE_DELAY_2 (double) 4.188790205 //240° //Sensor 1 and 2 init The electronics are quite straight forward. We are using one microcontroller - the XMC4700 on a Relax Lite Kit . It reads out sensor values, takes care of motor control algorithms, does all the system control and takes inputs via a HMI (two buttons on the kit). Further we use two 3-phase power stages to drive our BLDC motors - BLDC-SHIELD_IFX007T . One goes straight on top of the controller board, the other one goes next to it on its X2 side, IN and INH pins are connected by wires. To know the positions of the arm and the base two TLE5012B magnetic angle sensors on a custom PCB are used. Each one is using its own SPI channel connected to the extended pin headers X1 and X2. //Sensor 1 and 2 init

loopin louie

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