fix angle velocity
authorErik Andresen <erik@vontaene.de>
Sat, 13 Aug 2016 19:07:20 +0000 (21:07 +0200)
committerErik Andresen <erik@vontaene.de>
Sat, 13 Aug 2016 19:07:20 +0000 (21:07 +0200)
avr/motor_ctrl/main.c
avr/motor_ctrl/main.hex
config/razor.yaml
scripts/engine_man_test.py

index 66a7c4a..576d57c 100644 (file)
@@ -790,7 +790,6 @@ static void update_pos(void) {
        int16_t pos4_diff;
        float diff_left_m, diff_right_m, angle_diff, translation;
        float pos_x_new, pos_y_new, angle_new;
-       int16_t speed_l, speed_r;
        float tmp_speed_lin, tmp_speed_rot;
        int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
        int16_t new_speed1, new_speed2, new_speed3, new_speed4;
@@ -825,10 +824,8 @@ static void update_pos(void) {
        pos_x_new = pos_x.f + cos(angle_new)*translation;
        pos_y_new = pos_y.f + sin(angle_new)*translation;
 
-       speed_l = (new_speed1+new_speed2)/2;
-       speed_r = (new_speed3+new_speed4)/2;
-       tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG);
-       tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
+       tmp_speed_lin = translation/PID_T;
+       tmp_speed_rot = angle_diff/PID_T;
 
        // copy from tmp
        cli();
@@ -1008,7 +1005,7 @@ int main(void) {
                        cmd_vel.bUpdate = 0;
                        sei();
 
-                       speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
+                       speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
                        speed_wish_left = speed*2-speed_wish_right;
 
                        speed_wish_left*=STEP_PER_M_LEFT;
index 89381be..b6df9bd 100644 (file)
 :1001A000A9020C50B9918688083CA6AAAA2ABE00CA\r
 :1001B0000000803F45464765666700202B2D2E30A6\r
 :1001C00031323334353637383968000011241FBED8\r
-:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0EEE6B0\r
+:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E8E0BC\r
 :1001E000F7E202C005900D92AA37B107D9F721E0D6\r
 :1001F000AAE7B0E001C01D92A836B207E1F70E945D\r
-:1002000020060C94B5130C9400001F920F920FB6A9\r
+:1002000020060C9482130C9400001F920F920FB6DC\r
 :100210000F9211242F933F934F935F936F937F938C\r
 :100220008F939F93AF93BF93EF93FF9381B1887F99\r
 :10023000803881F040F4803609F01CC385EC86BF1D\r
@@ -74,7 +74,7 @@
 :100490008091A4009091A500A091A600B091A70022\r
 :1004A0006627782F892F9A2F622B6093A400709370\r
 :1004B000A5008093A6009093A70023E33BE542E8C4\r
-:1004C00055E40E9464100E94440F7093D100609321\r
+:1004C00055E40E9431100E94110F7093D100609387\r
 :1004D000D0007093CF006093CE0081E08093D7006E\r
 :1004E0008093D600B7C183B190E0A0E0B0E00EC029\r
 :1004F00023B18091A4009091A500A091A600B09195\r
@@ -91,7 +91,7 @@
 :1005A000D30058C183B18093AB0003C083B1809363\r
 :1005B000AA0081E08093F2004DC18091E90090E0B3\r
 :1005C000FC013297E13AF10508F04BC1E65DFF4FBF\r
-:1005D0000C9430118AB59BB53CC188B599B539C129\r
+:1005D0000C94FD108AB59BB53CC188B599B539C15D\r
 :1005E00083B537C18CB735C113B834C18091DE00F3\r
 :1005F0009091DF000EC08091DC009091DD0009C079\r
 :100600008091DA009091DB0004C08091D800909135\r
 :100AA0000F900FBE0F901F9018959C018AB188611E\r
 :100AB0008AB9579A80B5866080BD40E050E084E0F6\r
 :100AC000220F331F441F551F8A95D1F760E079E04C\r
-:100AD0008DE390E00E941111DA01C9010197A1098B\r
+:100AD0008DE390E00E94DE10DA01C9010197A109BF\r
 :100AE000B109892F9A2FAB2FBB27A7FDBA9580BDDF\r
 :100AF000215029B987EF90E09093F4008093F300A0\r
 :100B00009093F6008093F50008955D9BFECFFC0165\r
 :100B3000DF91CF910895CF93DF93EC01CE01219601\r
 :100B4000FC012081222319F00E948505F7CFDF9157\r
 :100B5000CF9108955F9BFECF8CB190E008950C94E7\r
-:100B6000AA056FEA75E08BE895E00C946311CF93CA\r
+:100B6000AA056FEA75E08BE895E00C943011CF93FD\r
 :100B7000DF93FC01E253FF4FA081B181EC01C4532C\r
 :100B8000DF4F28813981A217B307A1F05D9B12C006\r
 :100B90002C912CB920813181AC0145535F4F241732\r
 :100C1000CD93DC9302C08D939C93D1E0EA35FD0720\r
 :100C200030F43196F093F400E093F30006C087EFC0\r
 :100C300090E09093F4008093F300DF91CF910895BA\r
-:100C4000CF93DF93CDB7DEB76E970FB6F894DEBFC4\r
+:100C4000CF93DF93CDB7DEB7A0970FB6F894DEBF92\r
 :100C50000FBECDBF88E087BB8CEF84BB8CEB81BB24\r
 :100C600087E088BB80E482BB1092E80080E895E2D0\r
 :100C70000E9455050E94B10580E582B986B78B7E3A\r
 :100C800086BF85EC86BF81EA8FBD89E08EBD1BBC27\r
 :100C90001ABC19BC18BC89E685BD13BC83BF1CBE39\r
-:100CA00080E790E00E94E01185B78F7885BF84E0EF\r
-:100CB00089BF789494E6292E312C8091E9008F3FEA\r
-:100CC00041F48091E800853A21F4F894E0E0F8E1FD\r
-:100CD00009958091F200882309F4E6C0F894809089\r
-:100CE000EA009090EB00A090EC00B090ED006091D5\r
-:100CF000EE007091EF008091F0009091F100109261\r
-:100D0000F20078942BED3FE049E450E40E94641037\r
-:100D100027EB3BE04DEB5EE30E94641020E030E007\r
-:100D200040E05FE30E946410A50194010E94710EEF\r
-:100D30006B017C01A5019401C501B4010E94710EF3\r
-:100D4000A70196010E94700E23E33BE542E855E4BB\r
-:100D50000E9464104B015C0123E33BE542E855E44B\r
-:100D6000C701B6010E9464106B017C018091AA004A\r
-:100D70008823B9F18091AA009101281B3109B9019A\r
-:100D8000882777FD8095982F0E94770F9B01AC01F3\r
-:100D9000C501B4010E94641020E030E048EC52E448\r
-:100DA0000E94DC0E0E94440F7093D1006093D0002B\r
-:100DB0008091AA00A101481B5109BA01882777FD3B\r
-:100DC0008095982F0E94770F9B01AC01C701B60157\r
-:100DD0000E94641020E030E048EC52E40E94DC0EF7\r
-:100DE0000AC0C501B4010E94440F7093D100609302\r
-:100DF000D000C701B6010E94440F7093CB006093EE\r
-:100E0000CA008091AB008823B1F18091AB00F10161\r
+:100CA00080E790E00E94AD1185B78F7885BF84E022\r
+:100CB00089BF78942224239433243A940FEF10E0D0\r
+:100CC0008091E9008F3F41F48091E800853A21F45A\r
+:100CD000F894E0E0F8E109958091F200882309F4A6\r
+:100CE000E4C0F8948090EA009090EB00A090EC00B3\r
+:100CF000B090ED006091EE007091EF008091F000F7\r
+:100D00009091F1001092F200789427EB3BE04DEBCC\r
+:100D10005EE30E94311020E030E040E05FE30E949B\r
+:100D20003110A50194010E943E0E6B017C01A501CA\r
+:100D30009401C501B4010E943E0EA70196010E94D4\r
+:100D40003D0E23E33BE542E855E40E9431104B01A0\r
+:100D50005C0123E33BE542E855E4C701B6010E948C\r
+:100D600031106B017C018091AA008823C9F1809128\r
+:100D7000AA0024E630E0281B3109B901882777FD55\r
+:100D80008095982F0E94440F9B01AC01C501B401CE\r
+:100D90000E94311020E030E048EC52E40E94A90E9D\r
+:100DA0000E94110F7093D1006093D0008091AA002F\r
+:100DB00044E650E0481B5109BA01882777FD809529\r
+:100DC000982F0E94440F9B01AC01C701B6010E94FD\r
+:100DD000311020E030E048EC52E40E94A90E0AC035\r
+:100DE000C501B4010E94110F7093D1006093D0002F\r
+:100DF000C701B6010E94110F7093CB006093CA0027\r
+:100E00008091AB008823C1F18091AB00E4E6F0E073\r
 :100E1000E81BF109BF01882777FD8095982F0E9474\r
-:100E2000770F9B01AC01C501B4010E94641020E062\r
-:100E300030E048EC52E40E94DC0E0E94440F7093B4\r
-:100E4000CF006093CE008091AB00B101681B7109A7\r
-:100E5000882777FD8095982F0E94770F9B01AC0122\r
-:100E6000C701B6010E94641020E030E048EC52E473\r
-:100E70000E94DC0E0AC0C501B4010E94440F7093A9\r
-:100E8000CF006093CE00C701B6010E94440F70935B\r
-:100E9000CD006093CC00F1E0F093D700F093D60042\r
-:100EA000F093D500F093D4008091C9008C3908F4F8\r
-:100EB000C2C51092C900F8942091DE003091DF0085\r
-:100EC0003A8329834091DC005091DD005C834B83A1\r
-:100ED0008091DA009091DB009E838D83E091D800B1\r
-:100EE000F091D900F887EF837894809198009091E1\r
-:100EF00099005901A81AB90A80919600909197001B\r
-:100F00008A01081B190B8091940090919500ED8047\r
-:100F1000FE80E81AF90A80919200909193006F0187\r
-:100F2000C81AD90AB501882777FD8095982F0E94A5\r
-:100F3000770F2AE037ED43E25CE30E94DC0E0E946B\r
-:100F4000440F69877A878B879C87B801882777FD4C\r
-:100F50008095982F0E94770F2AE037ED43E25CE3FB\r
-:100F60000E94DC0E0E94440F6D877E878F87988BCE\r
-:100F7000B701882777FD8095982F0E94770F2AE088\r
-:100F800037ED43E25CE30E94DC0E0E94440F698B64\r
-:100F90007A8B8B8B9C8BB601882777FD8095982F59\r
-:100FA0000E94770F2AE037ED43E25CE30E94DC0EFB\r
-:100FB0000E94440F6D8B7E8B8F8B988FB501600FD5\r
-:100FC000711F882777FD8095982F0E94770F23E364\r
-:100FD0003BE542E056E40E94DC0E4B015C01B701A8\r
-:100FE0006C0D7D1D882777FD8095982F0E94770FC7\r
-:100FF00023E33BE542E056E40E94DC0E2B013C017A\r
-:10100000C090B500D090B600E090B700F090B80066\r
-:10101000A50194010E94700E27EB3BE04DEB5EE3CF\r
-:101020000E94DC0E9B01AC01C701B6010E94710E4B\r
-:101030006B017C012BED3FE049EC50E40E94601015\r
-:1010400018164CF42BED3FE049EC50E4C701B60113\r
-:101050000E94700E12C02BED3FE049EC50ECC7012E\r
-:10106000B6010E94D50E87FF0AC02BED3FE049EC88\r
-:1010700050E4C701B6010E94710E6B017C01A3010F\r
-:101080009201C501B4010E94710E20E030E040E001\r
-:101090005FE30E9464104B015C014090BD005090E2\r
-:1010A000BE006090BF007090C000C701B6010E94F2\r
-:1010B000D90EA50194010E9464109B01AC01C301EB\r
-:1010C000B2010E94710E698F7A8F8B8F9C8F409036\r
-:1010D000B9005090BA006090BB007090BC00C7018E\r
-:1010E000B6010E94C710A50194010E9464109B01E3\r
-:1010F000AC01C301B2010E94710E2B013C010D85B0\r
-:101100001E8529853A85020F131F17FF02C00F5F46\r
-:101110001F4F159507954D895E8989899A89480FD2\r
-:10112000591F57FF02C04F5F5F4FFA01F595E795D2\r
-:10113000FE8FED8FBF01600F711F882777FD8095AF\r
-:10114000982F0E94770F23E33BE542E056E40E948C\r
-:10115000DC0E4B015C016D8D7E8D601B710B882751\r
-:1011600077FD8095982F0E94770F29E935E347E9AD\r
-:1011700055E40E94DC0EF894C092B500D092B600FF\r
-:10118000E092B700F092B800298D3A8D4B8D5C8DBE\r
-:101190002093BD003093BE004093BF005093C00029\r
-:1011A0004092B9005092BA006092BB007092BC00AD\r
-:1011B00049855A855093C8004093C700ED85FE8548\r
-:1011C000F093C600E093C50029893A893093C400A2\r
-:1011D0002093C3004D895E895093C2004093C100A3\r
-:1011E0008092B1009092B200A092B300B092B4008D\r
-:1011F0006093AD007093AE008093AF009093B00009\r
-:10120000789489819A819093990080939800EB81DA\r
-:10121000FC81F0939700E09396002D813E813093FE\r
-:101220009500209394004F815885509393004093EC\r
-:1012300092008091D700813009F0B3C08091D00036\r
-:101240009091D100892B89F41092E7001092E6006A\r
-:10125000109291001092900010928C0010928D00CC\r
-:1012600010928E0010928F009CC00091D0001091BF\r
-:10127000D1008091C7009091C800081B190BB801DC\r
-:10128000882777FD8095982FC0908C00D0908D0096\r
-:10129000E0908E00F0908F00C60ED71EE81EF91E5B\r
-:1012A000C0928C00D0928D00E0928E00F0928F0060\r
-:1012B0000E94770F27E73EEB4FE15DE30E94641049\r
-:1012C0004B015C01C701B6010E94770F27E137EBA4\r
-:1012D00041E55AE30E9464109B01AC01C501B401D1\r
-:1012E0000E94710E6B017C018091900090919100A1\r
-:1012F000B801681B790B882777FD8095982F0E948D\r
-:10130000770F20E030E0A9010E9464109B01AC013E\r
-:10131000C701B6010E94710E0E94440F7093E7004E\r
-:101320006093E60010939100009390008091E60096\r
-:101330009091E7001816190634F48091D00090912E\r
-:10134000D10097FD0DC08091E6009091E70097FFD6\r
-:101350000CC08091D0009091D100181619062CF481\r
-:101360001092E7001092E6001CC08091E600909178\r
-:10137000E7008F3F910541F03CF08FEF90E09093B4\r
-:10138000E7008093E6000DC08091E6009091E700B1\r
-:1013900081309F4F34F421E03FEF3093E7002093FA\r
-:1013A000E6008091D600813009F0B3C08091CE0074\r
-:1013B0009091CF00892B89F41092E5001092E400FF\r
-:1013C00010928B0010928A00109286001092870073\r
-:1013D00010928800109289009CC00091CE0010915C\r
-:1013E000CF008091C5009091C600081B190BB80171\r
-:1013F000882777FD8095982FC0908600D090870031\r
-:10140000E0908800F0908900C60ED71EE81EF91EF5\r
-:10141000C0928600D0928700E0928800F092890006\r
-:101420000E94770F27E73EEB4FE15DE30E946410D7\r
-:101430004B015C01C701B6010E94770F27E137EB32\r
-:1014400041E55AE30E9464109B01AC01C501B4015F\r
-:101450000E94710E6B017C0180918A0090918B003B\r
-:10146000B801681B790B882777FD8095982F0E941B\r
-:10147000770F20E030E0A9010E9464109B01AC01CD\r
-:10148000C701B6010E94710E0E94440F7093E500DF\r
-:101490006093E40010938B0000938A008091E40035\r
-:1014A0009091E5001816190634F48091CE009091C1\r
-:1014B000CF0097FD0DC08091E4009091E50097FF6B\r
-:1014C0000CC08091CE009091CF00181619062CF414\r
-:1014D0001092E5001092E4001CC08091E40090910D\r
-:1014E000E5008F3F910541F03CF04FEF50E0509305\r
-:1014F000E5004093E4000DC08091E4009091E50088\r
-:1015000081309F4F34F481E09FEF9093E50080930A\r
-:10151000E4008091D500813009F0B3C08091CC0007\r
-:101520009091CD00892B89F41092E3001092E20093\r
-:101530001092850010928400109280001092810019\r
-:1015400010928200109283009CC00091CC001091F8\r
-:10155000CD008091C3009091C400081B190BB80105\r
-:10156000882777FD8095982FC0908000D0908100CB\r
-:10157000E0908200F0908300C60ED71EE81EF91E90\r
-:10158000C0928000D0928100E0928200F0928300AD\r
-:101590000E94770F27E73EEB4FE15DE30E94641066\r
-:1015A0004B015C01C701B6010E94770F27E137EBC1\r
-:1015B00041E55AE30E9464109B01AC01C501B401EE\r
-:1015C0000E94710E6B017C018091840090918500D6\r
-:1015D000B801681B790B882777FD8095982F0E94AA\r
-:1015E000770F20E030E0A9010E9464109B01AC015C\r
-:1015F000C701B6010E94710E0E94440F7093E30070\r
-:101600006093E20010938500009384008091E200D3\r
-:101610009091E3001816190634F48091CC00909153\r
-:10162000CD0097FD0DC08091E2009091E30097FFFF\r
-:101630000CC08091CC009091CD00181619062CF4A6\r
-:101640001092E3001092E2001CC08091E2009091A1\r
-:10165000E3008F3F910541F03CF0EFEFF0E0F093B5\r
-:10166000E300E093E2000DC08091E2009091E3007E\r
-:1016700081309F4F34F421E03FEF3093E30020931B\r
-:10168000E2008091D400813009F0B3C08091CA009B\r
-:101690009091CB00892B89F41092E1001092E00028\r
-:1016A00010927F0010927E0010927A0010927B00C0\r
-:1016B00010927C0010927D009CC00091CA00109195\r
-:1016C000CB008091C1009091C200081B190BB8019A\r
-:1016D000882777FD8095982FC0907A00D0907B0066\r
-:1016E000E0907C00F0907D00C60ED71EE81EF91E2B\r
-:1016F000C0927A00D0927B00E0927C00F0927D0054\r
-:101700000E94770F27E73EEB4FE15DE30E946410F4\r
-:101710004B015C01C701B6010E94770F27E137EB4F\r
-:1017200041E55AE30E9464109B01AC01C501B4017C\r
-:101730000E94710E6B017C0180917E0090917F0070\r
-:10174000B801681B790B882777FD8095982F0E9438\r
-:10175000770F20E030E0A9010E9464109B01AC01EA\r
-:10176000C701B6010E94710E0E94440F7093E10000\r
-:101770006093E00010937F0000937E008091E00072\r
-:101780009091E1001816190634F48091CA009091E6\r
-:10179000CB0097FD0DC08091E0009091E10097FF94\r
-:1017A0000CC08091CA009091CB00181619062CF439\r
-:1017B0001092E1001092E0001CC08091E000909136\r
-:1017C000E1008F3F910541F03CF04FEF50E0509326\r
-:1017D000E1004093E0000DC08091E0009091E100B5\r
-:1017E00081309F4F34F481E09FEF9093E10080932C\r
-:1017F000E00080B326B3807490E0A3E095958795D0\r
-:10180000AA95E1F72770282B20952F702093A90027\r
-:101810008091E6009091E70020916600309167008A\r
-:1018200028173907C9F18091E6009091E700892BCC\r
-:1018300019F485B3837F1CC080916900811107C0B2\r
-:101840008091E6009091E7001816190654F08091F7\r
-:101850006900882351F08091E6009091E70097FF9E\r
-:1018600004C085B3877F846003C085B38B7F8860A5\r
-:1018700085BB8091E6009091E7009093670080938C\r
-:1018800066008091E6009091E70097FF03C0919574\r
-:10189000819591099BBD8ABD8091E4009091E500FE\r
-:1018A000209164003091650028173907C9F18091B3\r
-:1018B000E4009091E500892B19F485B38F7C1CC05E\r
-:1018C00080916800811107C08091E4009091E5004B\r
-:1018D0001816190654F080916800882351F0809101\r
-:1018E000E4009091E50097FF04C085B38F7D80618F\r
-:1018F00003C085B38F7E806285BB8091E4009091A8\r
-:10190000E50090936500809364008091E4009091DD\r
-:10191000E50097FF03C091958195910999BD88BD18\r
-:101920008091E2009091E300209162003091630089\r
-:1019300028173907C1F18091E2009091E300892BCB\r
-:1019400019F485B38F731CC08091D300811107C037\r
-:101950008091E2009091E3001816190654F08091EE\r
-:10196000D300882351F08091E2009091E30097FF2B\r
-:1019700004C085B38F77806403C085B38F7B806894\r
-:1019800085BB8091E2009091E30090936300809387\r
-:1019900062008091E2009091E30097FF03C091956F\r
-:1019A0008195910983BD8091E0009091E1002091A3\r
-:1019B00060003091610028173907C1F18091E00083\r
-:1019C0009091E100892B19F482B3837F1CC0809130\r
-:1019D000D200811107C08091E0009091E1001816BB\r
-:1019E000190654F08091D200882351F08091E000D4\r
-:1019F0009091E10097FF04C082B3877F846003C0A9\r
-:101A000082B38B7F886082BB8091E0009091E1007F\r
-:101A100090936100809360008091E0009091E100DC\r
-:101A200097FF03C09195819591098CBF8091AC007F\r
-:101A30008F5F8093AC0085B7806885BF889585B738\r
-:101A40008F7785BF3AC96F927F929F92AF92BF9274\r
-:101A5000CF92DF92EF92FF920F931F93CF93DF937A\r
-:101A6000CDB7DEB72C970FB6F894DEBF0FBECDBF53\r
-:101A70008C017B013A01FC0117821682838181FF70\r
-:101A800019C1CE0101965C01F801D380F701D3FCA6\r
-:101A90002591D3FE21917F01222309F407C125322C\r
-:101AA00049F4D3FC2591D3FE21917F01253211F019\r
-:101AB000912C1BC0B801822F90E00E94AE116301EF\r
-:101AC0003601E2CF222309F4F1C0622F70E08BEBE4\r
-:101AD00091E02C870E9458112C85892B49F0F70141\r
-:101AE000D3FC2591D3FE21917F0197FEEBCF0CC053\r
-:101AF000233221F4F92DF0619F2EF1CF2C3639F4E9\r
-:101B0000292D2068922EEBCF222309F4CFC0622F1B\r
-:101B100070E084EB91E02C870E9458112C85892B72\r
-:101B200041F06301F4E0CF0ED11CB8018FE390E0E7\r
-:101B300012C0233641F0233789F0233521F5F92DE2\r
-:101B4000F1609F2E0BC0630122E0C20ED11CB801D0\r
-:101B5000F301808191810E94AE11B2CF630122E036\r
-:101B6000C20ED11CF30160807180F30190FC85915D\r
-:101B700090FE81913F01882309F4A2CFB80190E043\r
-:101B80000E94AE11F2CF243611F0293639F56301E7\r
-:101B900097FE09C0F4E0CF0ED11CF3016081718182\r
-:101BA000828193810AC0F2E0CF0ED11CF3016081E3\r
-:101BB0007181882777FD8095982FF92DFF7E9F2EC4\r
-:101BC00097FF09C090958095709561957F4F8F4FD5\r
-:101BD0009F4FF0649F2E2AE030E038C02037A1F0FC\r
-:101BE00040F42835D1F02F3609F060C028E030E00D\r
-:101BF00019C0253719F0283751F058C0292D2F7EEC\r
-:101C0000922E2AE030E00EC0892D8061982E992D09\r
-:101C10009462992E20E130E005C0E92DE4609E2E0B\r
-:101C200020E132E0630197FE09C0F4E0CF0ED11C41\r
-:101C3000F301608171818281938108C0F2E0CF0E4F\r
-:101C4000D11CF3016081718180E090E0A5010E94C8\r
-:101C50000D12782E7A1896FE05C0B8018DE290E03C\r
-:101C60000E94AE1194FE16C0FE01E70DF11D8081A9\r
-:101C7000803381F0B80180E390E00E94AE1192FEC3\r
-:101C800009C0292D2072822F90E0B801885A9F4FF9\r
-:101C90000E94AE117A94F501E70DF11D8081B80123\r
-:101CA00090E00E94AE117110F5CF0ACFF801868145\r
-:101CB000978102C08FEF9FEF2C960FB6F894DEBF8E\r
-:101CC0000FBECDBFDF91CF911F910F91FF90EF908D\r
-:101CD000DF90CF90BF90AF909F907F906F900895CE\r
-:101CE0005058BB27AA270ED0A0C169D130F06ED1C1\r
-:101CF00020F031F49F3F11F41EF45EC10EF4E09524\r
-:101D0000E7FB54C1E92FB3D180F3BA176207730719\r
-:101D10008407950718F071F49EF5CBC10EF4E09599\r
-:101D20000B2EBA2FA02D0B01B90190010C01CA0195\r
-:101D3000A0011124FF27591B99F0593F50F4503E40\r
-:101D400068F11A16F040A22F232F342F4427585F32\r
-:101D5000F3CF469537952795A795F0405395C9F74A\r
-:101D60007EF41F16BA0B620B730B840BBAF0915002\r
-:101D7000A1F0FF0FBB1F661F771F881FC2F70EC0A1\r
-:101D8000BA0F621F731F841F48F487957795679574\r
-:101D9000B795F7959E3F08F0B3CF9395880F08F05D\r
-:101DA0009927EE0F979587950895DCD008F481E088\r
-:101DB000089514D1E3954AC10CD037C107D140F042\r
-:101DC000FED030F021F45F3F19F0F0C0511172C124\r
-:101DD000F3C04DD198F39923C9F35523B1F3951B63\r
-:101DE000550BBB27AA2762177307840738F09F5F3C\r
-:101DF0005F4F220F331F441FAA1FA9F333D00E2EAB\r
-:101E00003AF0E0E830D091505040E695001CCAF717\r
-:101E100029D0FE2F27D0660F771F881FBB1F2617DC\r
-:101E200037074807AB07B0E809F0BB0B802DBF01AF\r
-:101E3000FF2793585F4F2AF09E3F510568F0B6C0C8\r
-:101E400039C15F3FECF3983EDCF386957795679553\r
-:101E5000B795F7959F5FC9F7880F911D9695879560\r
-:101E600097F90895E1E0660F771F881FBB1F62177F\r
-:101E700073078407BA0720F0621B730B840BBA0B3D\r
-:101E8000EE1F88F7E095089504D06894B11112C14F\r
-:101E90000895F5D088F09F5790F0B92F9927B75142\r
-:101EA000A0F0D1F0660F771F881F991F1AF0BA951E\r
-:101EB000C9F712C0B13081F0FCD0B1E00895F9C08B\r
-:101EC000672F782F8827B85F39F0B93FCCF3869514\r
-:101ED00077956795B395D9F73EF490958095709571\r
-:101EE00061957F4F8F4F9F4F0895E89409C097FBEE\r
-:101EF0003EF490958095709561957F4F8F4F9F4FE1\r
-:101F00009923A9F0F92F96E9BB279395F695879524\r
-:101F100077956795B795F111F8CFFAF4BB0F11F4E7\r
-:101F200060FF1BC06F5F7F4F8F4F9F4F16C088238E\r
-:101F300011F096E911C0772321F09EE8872F762FC4\r
-:101F400005C0662371F096E8862F70E060E02AF005\r
-:101F50009A95660F771F881FDAF7880F96958795F1\r
-:101F600097F90895990F0008550FAA0BE0E8FEEFC6\r
-:101F700016161706E807F907C0F012161306E4074D\r
-:101F8000F50798F0621B730B840B950B39F40A2646\r
-:101F900061F0232B242B252B21F408950A2609F424\r
-:101FA000A140A6958FEF811D811D089597F99F6728\r
-:101FB00080E870E060E008959FEF80EC08950024D1\r
-:101FC0000A941616170618060906089500240A949E\r
-:101FD00012161306140605060895EECF50D0E8F346\r
-:101FE000E894E0E0BB279F57F0F02AED3FE049EC92\r
-:101FF00006C0EE0FBB0F661F771F881F28F0B23A8E\r
-:1020000062077307840728F0B25A620B730B840BC4\r
-:10201000E3959A9572F7803830F49A95BB0F661F56\r
-:10202000771F881FD2F79048BAC0092E0394000C7E\r
-:1020300011F4882352F0BB0F40F4BF2B11F460FF62\r
-:1020400004C06F5F7F4F8F4F9F4F0895EF93E0FF66\r
-:1020500006C0A2EA2AED3FE049EC5FEB53DEE5DF84\r
-:102060000F90039401FC9058E6E9F1E0A4C057FDFD\r
-:102070009058440F551F59F05F3F71F04795880FF6\r
-:1020800097FB991F61F09F3F79F08795089512168D\r
-:1020900013061406551FF2CF4695F1DF08C0161639\r
-:1020A00017061806991FF1CF8695710561050894EA\r
-:1020B0000895E894BB2766277727CB0197F9089501\r
-:1020C00051DF08F48FEF08950BD0AFCF78DF28F001\r
-:1020D0007DDF18F0952309F069CF6ECF1124EACF88\r
-:1020E000C6DFA0F3959FD1F3950F50E0551F629F77\r
-:1020F000F001729FBB27F00DB11D639FAA27F00D61\r
-:10210000B11DAA1F649F6627B00DA11D661F829F87\r
-:102110002227B00DA11D621F739FB00DA11D621F6C\r
-:10212000839FA00D611D221F749F3327A00D611D89\r
-:10213000231F849F600D211D822F762F6A2F11246B\r
-:102140009F5750408AF0E1F088234AF0EE0FFF1FBE\r
-:10215000BB1F661F771F881F91505040A9F79E3FF5\r
-:10216000510570F023CFA6CF5F3FECF3983EDCF330\r
-:10217000869577956795B795F795E7959F5FC1F732\r
-:10218000FE2B880F911D9695879597F908959F933B\r
-:1021900025DF0F9007FCEE5F59CF9F3F31F0915044\r
-:1021A00020F4879577956795B795880F911D96953B\r
-:1021B000879597F908959F938F937F936F93FF93DC\r
-:1021C000EF939B01AC0180DFEF91FF9105D02F9140\r
-:1021D0003F914F915F9178CFDF93CF931F930F93F0\r
-:1021E000FF92EF92DF927B018C01689405C0DA2E9A\r
-:1021F000EF0176DFFE01E894A59125913591459197\r
-:102200005591AEF3EF017EDDFE019701A801DA944E\r
-:1022100079F7DF90EF90FF900F911F91CF91DF91B1\r
-:102220000895052E97FB1EF400940E94281157FD77\r
-:1022300007D00E94361107FC03D04EF40C942811ED\r
-:1022400050954095309521953F4F4F4F5F4F0895E2\r
-:1022500090958095709561957F4F8F4F9F4F089512\r
-:10226000EE0FFF1F0590F491E02D0994A1E21A2EC4\r
-:10227000AA1BBB1BFD010DC0AA1FBB1FEE1FFF1F2A\r
-:10228000A217B307E407F50720F0A21BB30BE40B7A\r
-:10229000F50B661F771F881F991F1A9469F76095C1\r
-:1022A0007095809590959B01AC01BD01CF0108957B\r
-:1022B000FC010590061621F00020D9F7C001089511\r
-:1022C0003197CF0108950F931F93CF93DF93EC01C4\r
-:1022D0008B01009731F46115710519F480E090E0ED\r
-:1022E00038C06EE070E081E090E00E946B12FC016B\r
-:1022F0000097A1F380E883830115110571F013871E\r
-:10230000028781E8838380915E0190915F01892B30\r
-:1023100021F4F0935F01E0935E012097C9F0D1872B\r
-:10232000C087838182608383809160019091610185\r
-:10233000892B71F4F0936101E09360018091620157\r
-:1023400090916301892B21F4F0936301E093620182\r
-:10235000CF01DF91CF911F910F9108950F931F939C\r
-:10236000CF93DF93182F092FEB018B8181FD03C0E1\r
-:102370008FEF9FEF20C082FF10C04E815F812C81C4\r
-:102380003D81421753077CF4E881F9819F012F5F5B\r
-:102390003F4F39832883108306C0E885F985812F54\r
-:1023A0000995892B29F72E813F812F5F3F4F3F836E\r
-:1023B0002E83812F902FDF91CF911F910F91089540\r
-:1023C0000F931F93CF93DF93E0916001F091610130\r
-:1023D000238121FF1BC0EC0100E010E08991609196\r
-:1023E000600170916101DB011896ED91FC911997E4\r
-:1023F000882331F00995892B89F30FEF1FEFEECF7A\r
-:102400008AE00995892B11F4C80102C08FEF9FEF74\r
-:10241000DF91CF911F910F910895FA01AA272830DB\r
-:1024200051F1203181F1E8946F936E7F6E5F7F4FA1\r
-:102430008F4F9F4FAF4FB1E03ED0B4E03CD0670F1D\r
-:10244000781F891F9A1FA11D680F791F8A1F911D70\r
-:10245000A11D6A0F711D811D911DA11D20D009F4C0\r
-:1024600068943F912AE0269F11243019305D319302\r
-:10247000DEF6CF010895462F4770405D4193B3E0EB\r
-:102480000FD0C9F7F6CF462F4F70405D4A3318F092\r
-:10249000495D31FD4052419302D0A9F7EACFB4E043\r
-:1024A000A6959795879577956795BA95C9F70097FB\r
-:1024B0006105710508959B01AC010A2E069457959C\r
-:1024C000479537952795BA95C9F7620F731F841FF3\r
-:1024D000951FA01D08950F931F93CF93DF93869FA1\r
-:1024E0008001879F100D969F100D1124C8010E9436\r
-:1024F0008712EC01009729F0A80160E070E00E94CB\r
-:10250000AE13CE01DF91CF911F910F910895CF931C\r
-:10251000DF938230910510F482E090E0E091660153\r
-:10252000F091670120E030E0A0E0B0E0309739F1B1\r
-:102530004081518148175907B8F04817590771F47D\r
-:1025400082819381109729F013969C938E93129712\r
-:102550002CC0909367018093660127C02115310537\r
-:1025600031F04217530718F0A901DB0101C0EF0158\r
-:102570009A01BD01DF010280F381E02DD7CF211543\r
-:102580003105F9F0281B390B2430310580F48A819C\r
-:102590009B816115710521F0FB019383828304C047\r
-:1025A0009093670180936601FE01329644C0FE015C\r
-:1025B000E20FF31F819391932250310939832883CD\r
-:1025C0003AC02091640130916501232B41F42091A0\r
-:1025D0006C0030916D00309365012093640120916F\r
-:1025E0006A0030916B002115310541F42DB73EB7DB\r
-:1025F00040916E0050916F00241B350BE0916401F7\r
-:10260000F0916501E217F307A0F42E1B3F0B28178A\r
-:10261000390778F0AC014E5F5F4F2417350748F05B\r
-:102620004E0F5F1F50936501409364018193919316\r
-:1026300002C0E0E0F0E0CF01DF91CF910895CF93A9\r
-:10264000DF93009709F487C0FC013297138212824E\r
-:10265000C0916601D0916701209781F4208131817A\r
-:10266000280F391F809164019091650182179307AB\r
-:1026700079F5F0936501E09364016DC0DE0120E01F\r
-:1026800030E0AE17BF0750F412964D915C9113974E\r
-:102690009D014115510509F1DA01F3CFB383A283FE\r
-:1026A00040815181840F951F8A179B0771F48D918A\r
-:1026B0009C911197840F951F0296918380831296A7\r
-:1026C0008D919C911397938382832115310529F471\r
-:1026D000F0936701E09366013EC0D9011396FC9325\r
-:1026E000EE9312974D915D91A40FB51FEA17FB076A\r
-:1026F00079F480819181840F951F0296D9011196FA\r
-:102700009C938E938281938113969C938E931297C0\r
-:10271000E0E0F0E08A819B81009719F0FE01EC0176\r
-:10272000F9CFCE01029628813981820F931F209123\r
-:102730006401309165012817390769F4309729F44D\r
-:10274000109267011092660102C013821282D09328\r
-:102750006501C0936401DF91CF910895DC0101C050\r
-:0E2760006D9341505040E0F70895F894FFCF7C\r
-:10276E0000800080008000800101000068012000D0\r
-:0A277E000D0A53746172740D00001F\r
+:100E2000440F9B01AC01C501B4010E94311020E0C8\r
+:100E300030E048EC52E40E94A90E0E94110F70931A\r
+:100E4000CF006093CE008091AB0064E670E0681B39\r
+:100E50007109882777FD8095982F0E94440F9B0188\r
+:100E6000AC01C701B6010E94311020E030E048EC2F\r
+:100E700052E40E94A90E0AC0C501B4010E94110FDC\r
+:100E80007093CF006093CE00C701B6010E94110F8E\r
+:100E90007093CD006093CC00F1E0F093D700F09315\r
+:100EA000D600F093D500F093D4008091C9008C391E\r
+:100EB00008F48EC51092C900F8942091DE0030919C\r
+:100EC000DF003A8329834091DC005091DD005C8390\r
+:100ED0004B838091DA009091DB009E838D83E091BB\r
+:100EE000D800F091D900F887EF837894809198002A\r
+:100EF000909199007901E81AF90A809196009091F1\r
+:100F000097006A01C81AD90A8091940090919500BF\r
+:100F10006D807E80681A790A80919200909193008A\r
+:100F20002F01481A590AB701882777FD8095982F15\r
+:100F30000E94440F2AE037ED43E25CE30E94A90ED1\r
+:100F40000E94110F6D877E878F87988BB601882747\r
+:100F500077FD8095982F0E94440F2AE037ED43E2F9\r
+:100F60005CE30E94A90E0E94110F698B7A8B8B8B18\r
+:100F70009C8BB301882777FD8095982F0E94440FA2\r
+:100F80002AE037ED43E25CE30E94A90E0E94110FB4\r
+:100F90006D8B7E8B8F8B988FB201882777FD809524\r
+:100FA000982F0E94440F2AE037ED43E25CE30E9451\r
+:100FB000A90E0E94110F698F7A8F8B8F9C8FB701BA\r
+:100FC0006C0D7D1D882777FD8095982F0E94440F1A\r
+:100FD00023E33BE542E056E40E94A90E4B015C018D\r
+:100FE000B301640D751D882777FD8095982F0E94A9\r
+:100FF000440F23E33BE542E056E40E94A90E2B0197\r
+:101000003C01A50194010E943D0E27EB3BE04DEB16\r
+:101010005EE30E94A90E69877A878B879C8760911F\r
+:10102000B5007091B6008091B7009091B800298505\r
+:101030003A854B855C850E943E0E6B017C012BED51\r
+:101040003FE049EC50E40E942D1018164CF42BEDB3\r
+:101050003FE049EC50E4C701B6010E943D0E12C0CA\r
+:101060002BED3FE049EC50ECC701B6010E94A20E07\r
+:1010700087FF0AC02BED3FE049EC50E4C701B60101\r
+:101080000E943E0E6B017C01A3019201C501B401D7\r
+:101090000E943E0E20E030E040E05FE30E9431100D\r
+:1010A0004B015C014090BD005090BE006090BF00BD\r
+:1010B0007090C000C701B6010E94A60EA501940160\r
+:1010C0000E9431109B01AC01C301B2010E943E0E8F\r
+:1010D0006D8F7E8F8F8F98A34090B9005090BA008B\r
+:1010E0006090BB007090BC00C701B6010E949410D4\r
+:1010F000A50194010E9431109B01AC01C301B20112\r
+:101100000E943E0E2B013C012AE037ED43E25CE3F6\r
+:10111000C501B4010E94A90E4B015C012AE037ED24\r
+:1011200043E25CE369857A858B859C850E94A90EE4\r
+:10113000F894C092B500D092B600E092B700F09259\r
+:10114000B8002D8D3E8D4F8D58A12093BD0030935A\r
+:10115000BE004093BF005093C0004092B90050922F\r
+:10116000BA006092BB007092BC004D855E855093C2\r
+:10117000C8004093C700E989FA89F093C600E0935C\r
+:10118000C5002D893E893093C4002093C300498D4A\r
+:101190005A8D5093C2004093C1008092B10090924A\r
+:1011A000B200A092B300B092B4006093AD0070930F\r
+:1011B000AE008093AF009093B000789489819A81BB\r
+:1011C0009093990080939800EB81FC81F0939700B5\r
+:1011D000E09396002D813E813093950020939400FA\r
+:1011E0004F81588550939300409392008091D7008F\r
+:1011F000813009F0AFC08091D0009091D100892B4F\r
+:1012000089F41092E7001092E6001092910010927B\r
+:10121000900010928C0010928D0010928E0010920F\r
+:101220008F0098C0A090D000B090D1008091C700EE\r
+:101230009091C800A81AB90AB501882777FD809552\r
+:10124000982FC0908C00D0908D00E0908E00F09090\r
+:101250008F00C60ED71EE81EF91EC0928C00D092D9\r
+:101260008D00E0928E00F0928F000E94440F27E7DD\r
+:101270003EEB4FE15DE30E9431102B013C01C701C1\r
+:10128000B6010E94440F27E137EB41E55AE30E9483\r
+:1012900031109B01AC01C301B2010E943E0E6B01F3\r
+:1012A0007C018091900090919100B501681B790BB1\r
+:1012B000882777FD8095982F0E94440F20E030E02A\r
+:1012C000A9010E9431109B01AC01C701B6010E9427\r
+:1012D0003E0E0E94110F7093E7006093E600B092FB\r
+:1012E0009100A09290008091E6009091E70018167E\r
+:1012F000190634F48091D0009091D10097FD0DC073\r
+:101300008091E6009091E70097FF0CC08091D0009B\r
+:101310009091D100181619062CF41092E700109243\r
+:10132000E60018C08091E6009091E7008F3F91059C\r
+:1013300031F02CF01093E7000093E6000BC0809191\r
+:10134000E6009091E70081309F4F24F43092E7004F\r
+:101350002092E6008091D600813009F0AFC08091E4\r
+:10136000CE009091CF00892B89F41092E500109265\r
+:10137000E40010928B0010928A0010928600109266\r
+:101380008700109288001092890098C0A090CE002B\r
+:10139000B090CF008091C5009091C600A81AB90AFC\r
+:1013A000B501882777FD8095982FC0908600D09052\r
+:1013B0008700E0908800F0908900C60ED71EE81ED6\r
+:1013C000F91EC0928600D0928700E0928800F092C9\r
+:1013D00089000E94440F27E73EEB4FE15DE30E9446\r
+:1013E00031102B013C01C701B6010E94440F27E1D7\r
+:1013F00037EB41E55AE30E9431109B01AC01C30178\r
+:10140000B2010E943E0E6B017C0180918A00909196\r
+:101410008B00B501681B790B882777FD8095982F85\r
+:101420000E94440F20E030E0A9010E9431109B018E\r
+:10143000AC01C701B6010E943E0E0E94110F7093CD\r
+:10144000E5006093E400B0928B00A0928A00809146\r
+:10145000E4009091E5001816190634F48091CE004E\r
+:101460009091CF0097FD0DC08091E4009091E50030\r
+:1014700097FF0CC08091CE009091CF0018161906EE\r
+:101480002CF41092E5001092E40018C08091E40062\r
+:101490009091E5008F3F910531F02CF01093E5001D\r
+:1014A0000093E4000BC08091E4009091E50081304E\r
+:1014B0009F4F24F43092E5002092E4008091D50003\r
+:1014C000813009F0AFC08091CC009091CD00892B84\r
+:1014D00089F41092E3001092E200109285001092BD\r
+:1014E000840010928000109281001092820010926D\r
+:1014F000830098C0A090CC00B090CD008091C30034\r
+:101500009091C400A81AB90AB501882777FD809583\r
+:10151000982FC0908000D0908100E0908200F090E1\r
+:101520008300C60ED71EE81EF91EC0928000D0921E\r
+:101530008100E0928200F09283000E94440F27E72E\r
+:101540003EEB4FE15DE30E9431102B013C01C701EE\r
+:10155000B6010E94440F27E137EB41E55AE30E94B0\r
+:1015600031109B01AC01C301B2010E943E0E6B0120\r
+:101570007C018091840090918500B501681B790BF6\r
+:10158000882777FD8095982F0E94440F20E030E057\r
+:10159000A9010E9431109B01AC01C701B6010E9454\r
+:1015A0003E0E0E94110F7093E3006093E200B09230\r
+:1015B0008500A09284008091E2009091E3001816CB\r
+:1015C000190634F48091CC009091CD0097FD0DC0A8\r
+:1015D0008091E2009091E30097FF0CC08091CC00D5\r
+:1015E0009091CD00181619062CF41092E300109279\r
+:1015F000E20018C08091E2009091E3008F3F9105D6\r
+:1016000031F02CF01093E3000093E2000BC08091C6\r
+:10161000E2009091E30081309F4F24F43092E30088\r
+:101620002092E2008091D400813009F0AFC0809117\r
+:10163000CA009091CB00892B89F41092E10010929E\r
+:10164000E00010927F0010927E0010927A001092BB\r
+:101650007B0010927C0010927D0098C0A090CA0080\r
+:10166000B090CB008091C1009091C200A81AB90A35\r
+:10167000B501882777FD8095982FC0907A00D0908B\r
+:101680007B00E0907C00F0907D00C60ED71EE81E27\r
+:10169000F91EC0927A00D0927B00E0927C00F0921A\r
+:1016A0007D000E94440F27E73EEB4FE15DE30E947F\r
+:1016B00031102B013C01C701B6010E94440F27E104\r
+:1016C00037EB41E55AE30E9431109B01AC01C301A5\r
+:1016D000B2010E943E0E6B017C0180917E009091D0\r
+:1016E0007F00B501681B790B882777FD8095982FBF\r
+:1016F0000E94440F20E030E0A9010E9431109B01BC\r
+:10170000AC01C701B6010E943E0E0E94110F7093FA\r
+:10171000E1006093E000B0927F00A0927E00809193\r
+:10172000E0009091E1001816190634F48091CA0087\r
+:101730009091CB0097FD0DC08091E0009091E10069\r
+:1017400097FF0CC08091CA009091CB001816190623\r
+:101750002CF41092E1001092E00018C08091E0009B\r
+:101760009091E1008F3F910531F02CF01093E10052\r
+:101770000093E0000BC08091E0009091E100813087\r
+:101780009F4F24F43092E1002092E00080B326B312\r
+:10179000807490E0A3E095958795AA95E1F727706E\r
+:1017A000282B20952F702093A9008091E60090911E\r
+:1017B000E700209166003091670028173907C9F1CA\r
+:1017C0008091E6009091E700892B19F485B3837F1F\r
+:1017D0001CC080916900811107C08091E600909142\r
+:1017E000E7001816190654F080916900882351F01B\r
+:1017F0008091E6009091E70097FF04C085B3877F52\r
+:10180000846003C085B38B7F886085BB8091E600D0\r
+:101810009091E70090936700809366008091E600C6\r
+:101820009091E70097FF03C09195819591099BBD29\r
+:101830008ABD8091E4009091E50020916400309190\r
+:10184000650028173907C9F18091E4009091E500FF\r
+:10185000892B19F485B38F7C1CC08091680081119D\r
+:1018600007C08091E4009091E5001816190654F025\r
+:1018700080916800882351F08091E4009091E50008\r
+:1018800097FF04C085B38F7D806103C085B38F7ED1\r
+:10189000806285BB8091E4009091E50090936500A3\r
+:1018A000809364008091E4009091E50097FF03C06D\r
+:1018B00091958195910999BD88BD8091E2009091A3\r
+:1018C000E300209162003091630028173907C1F1CD\r
+:1018D0008091E2009091E300892B19F485B38F7316\r
+:1018E0001CC08091D300811107C08091E2009091CB\r
+:1018F000E3001816190654F08091D300882351F0A4\r
+:101900008091E2009091E30097FF04C085B38F7748\r
+:10191000806403C085B38F7B806885BB8091E200C3\r
+:101920009091E30090936300809362008091E200C5\r
+:101930009091E30097FF03C091958195910983BD34\r
+:101940008091E0009091E100209160003091610071\r
+:1019500028173907C1F18091E0009091E100892BAF\r
+:1019600019F482B3837F1CC08091D200811107C01B\r
+:101970008091E0009091E1001816190654F08091D2\r
+:10198000D200882351F08091E0009091E10097FF10\r
+:1019900004C082B3877F846003C082B38B7F88607A\r
+:1019A00082BB8091E0009091E10090936100809370\r
+:1019B00060008091E0009091E10097FF03C0919555\r
+:1019C000819591098CBF8091AC008F5F8093AC00B2\r
+:1019D00085B7806885BF889585B78F7785BF70C9C3\r
+:1019E0006F927F929F92AF92BF92CF92DF92EF92CF\r
+:1019F000FF920F931F93CF93DF93CDB7DEB72C9752\r
+:101A00000FB6F894DEBF0FBECDBF8C017B013A014B\r
+:101A1000FC0117821682838181FF19C1CE010196D4\r
+:101A20005C01F801D380F701D3FC2591D3FE21910D\r
+:101A30007F01222309F407C1253249F4D3FC259103\r
+:101A4000D3FE21917F01253211F0912C1BC0B801EA\r
+:101A5000822F90E00E947B1163013601E2CF2223A6\r
+:101A600009F4F1C0622F70E08BEB91E02C870E94AB\r
+:101A700025112C85892B49F0F701D3FC2591D3FE44\r
+:101A800021917F0197FEEBCF0CC0233221F4F92D79\r
+:101A9000F0619F2EF1CF2C3639F4292D2068922E3B\r
+:101AA000EBCF222309F4CFC0622F70E084EB91E0EA\r
+:101AB0002C870E9425112C85892B41F06301F4E0CD\r
+:101AC000CF0ED11CB8018FE390E012C0233641F055\r
+:101AD000233789F0233521F5F92DF1609F2E0BC0B6\r
+:101AE000630122E0C20ED11CB801F3018081918113\r
+:101AF0000E947B11B2CF630122E0C20ED11CF30120\r
+:101B000060807180F30190FC859190FE81913F018E\r
+:101B1000882309F4A2CFB80190E00E947B11F2CF94\r
+:101B2000243611F0293639F5630197FE09C0F4E037\r
+:101B3000CF0ED11CF30160817181828193810AC033\r
+:101B4000F2E0CF0ED11CF30160817181882777FD0F\r
+:101B50008095982FF92DFF7E9F2E97FF09C09095B5\r
+:101B60008095709561957F4F8F4F9F4FF0649F2EAA\r
+:101B70002AE030E038C02037A1F040F42835D1F019\r
+:101B80002F3609F060C028E030E019C0253719F081\r
+:101B9000283751F058C0292D2F7E922E2AE030E0B0\r
+:101BA0000EC0892D8061982E992D9462992E20E186\r
+:101BB00030E005C0E92DE4609E2E20E132E06301B3\r
+:101BC00097FE09C0F4E0CF0ED11CF3016081718152\r
+:101BD0008281938108C0F2E0CF0ED11CF3016081B5\r
+:101BE000718180E090E0A5010E94DA11782E7A18C8\r
+:101BF00096FE05C0B8018DE290E00E947B1194FE34\r
+:101C000016C0FE01E70DF11D8081803381F0B8011F\r
+:101C100080E390E00E947B1192FE09C0292D207282\r
+:101C2000822F90E0B801885A9F4F0E947B117A94CE\r
+:101C3000F501E70DF11D8081B80190E00E947B1154\r
+:101C40007110F5CF0ACFF8018681978102C08FEF1E\r
+:101C50009FEF2C960FB6F894DEBF0FBECDBFDF917D\r
+:101C6000CF911F910F91FF90EF90DF90CF90BF9099\r
+:101C7000AF909F907F906F9008955058BB27AA27F0\r
+:101C80000ED0A0C169D130F06ED120F031F49F3F69\r
+:101C900011F41EF45EC10EF4E095E7FB54C1E92F88\r
+:101CA000B3D180F3BA17620773078407950718F05A\r
+:101CB00071F49EF5CBC10EF4E0950B2EBA2FA02D3A\r
+:101CC0000B01B90190010C01CA01A0011124FF27E9\r
+:101CD000591B99F0593F50F4503E68F11A16F040E4\r
+:101CE000A22F232F342F4427585FF3CF46953795E3\r
+:101CF0002795A795F0405395C9F77EF41F16BA0BA8\r
+:101D0000620B730B840BBAF09150A1F0FF0FBB1F55\r
+:101D1000661F771F881FC2F70EC0BA0F621F731F9E\r
+:101D2000841F48F4879577956795B795F7959E3FFB\r
+:101D300008F0B3CF9395880F08F09927EE0F979589\r
+:101D400087950895DCD008F481E0089514D1E395D7\r
+:101D50004AC10CD037C107D140F0FED030F021F499\r
+:101D60005F3F19F0F0C0511172C1F3C04DD198F32B\r
+:101D70009923C9F35523B1F3951B550BBB27AA270C\r
+:101D800062177307840738F09F5F5F4F220F331F7E\r
+:101D9000441FAA1FA9F333D00E2E3AF0E0E830D04A\r
+:101DA00091505040E695001CCAF729D0FE2F27D04D\r
+:101DB000660F771F881FBB1F261737074807AB071B\r
+:101DC000B0E809F0BB0B802DBF01FF2793585F4F90\r
+:101DD0002AF09E3F510568F0B6C039C15F3FECF371\r
+:101DE000983EDCF3869577956795B795F7959F5F55\r
+:101DF000C9F7880F911D9695879597F90895E1E0A9\r
+:101E0000660F771F881FBB1F621773078407BA0707\r
+:101E100020F0621B730B840BBA0BEE1F88F7E09562\r
+:101E2000089504D06894B11112C10895F5D088F0D6\r
+:101E30009F5790F0B92F9927B751A0F0D1F0660FB6\r
+:101E4000771F881F991F1AF0BA95C9F712C0B130D1\r
+:101E500081F0FCD0B1E00895F9C0672F782F882772\r
+:101E6000B85F39F0B93FCCF3869577956795B39510\r
+:101E7000D9F73EF490958095709561957F4F8F4F7F\r
+:101E80009F4F0895E89409C097FB3EF49095809584\r
+:101E9000709561957F4F8F4F9F4F9923A9F0F92F30\r
+:101EA00096E9BB279395F695879577956795B795AE\r
+:101EB000F111F8CFFAF4BB0F11F460FF1BC06F5F94\r
+:101EC0007F4F8F4F9F4F16C0882311F096E911C0A6\r
+:101ED000772321F09EE8872F762F05C0662371F0C7\r
+:101EE00096E8862F70E060E02AF09A95660F771FDB\r
+:101EF000881FDAF7880F9695879597F90895990FB7\r
+:101F00000008550FAA0BE0E8FEEF16161706E807C3\r
+:101F1000F907C0F012161306E407F50798F0621BE4\r
+:101F2000730B840B950B39F40A2661F0232B242BB9\r
+:101F3000252B21F408950A2609F4A140A6958FEFD8\r
+:101F4000811D811D089597F99F6780E870E060E02A\r
+:101F500008959FEF80EC089500240A941616170642\r
+:101F600018060906089500240A941216130614068A\r
+:101F700005060895EECF50D0E8F3E894E0E0BB27E3\r
+:101F80009F57F0F02AED3FE049EC06C0EE0FBB0F83\r
+:101F9000661F771F881F28F0B23A6207730784070D\r
+:101FA00028F0B25A620B730B840BE3959A9572F783\r
+:101FB000803830F49A95BB0F661F771F881FD2F7C1\r
+:101FC0009048BAC0092E0394000C11F4882352F0F3\r
+:101FD000BB0F40F4BF2B11F460FF04C06F5F7F4F55\r
+:101FE0008F4F9F4F0895EF93E0FF06C0A2EA2AEDBE\r
+:101FF0003FE049EC5FEB53DEE5DF0F90039401FC1B\r
+:102000009058E6E9F1E0A4C057FD9058440F551FE1\r
+:1020100059F05F3F71F04795880F97FB991F61F06A\r
+:102020009F3F79F087950895121613061406551FE1\r
+:10203000F2CF4695F1DF08C0161617061806991F4D\r
+:10204000F1CF86957105610508940895E894BB2742\r
+:1020500066277727CB0197F9089551DF08F48FEFB2\r
+:1020600008950BD0AFCF78DF28F07DDF18F09523EF\r
+:1020700009F069CF6ECF1124EACFC6DFA0F3959F98\r
+:10208000D1F3950F50E0551F629FF001729FBB275F\r
+:10209000F00DB11D639FAA27F00DB11DAA1F649F0B\r
+:1020A0006627B00DA11D661F829F2227B00DA11DBE\r
+:1020B000621F739FB00DA11D621F839FA00D611D44\r
+:1020C000221F749F3327A00D611D231F849F600D65\r
+:1020D000211D822F762F6A2F11249F5750408AF09E\r
+:1020E000E1F088234AF0EE0FFF1FBB1F661F771F2A\r
+:1020F000881F91505040A9F79E3F510570F023CFA3\r
+:10210000A6CF5F3FECF3983EDCF386957795679515\r
+:10211000B795F795E7959F5FC1F7FE2B880F911D47\r
+:102120009695879597F908959F9325DF0F9007FC63\r
+:10213000EE5F59CF9F3F31F0915020F4879577950E\r
+:102140006795B795880F911D9695879597F908958E\r
+:102150009F938F937F936F93FF93EF939B01AC01BA\r
+:1021600080DFEF91FF9105D02F913F914F915F91CB\r
+:1021700078CFDF93CF931F930F93FF92EF92DF926D\r
+:102180007B018C01689405C0DA2EEF0176DFFE0139\r
+:10219000E894A5912591359145915591AEF3EF01C4\r
+:1021A0007EDDFE019701A801DA9479F7DF90EF90C8\r
+:1021B000FF900F911F91CF91DF910895052E97FB0E\r
+:1021C0001EF400940E94F51057FD07D00E940311E1\r
+:1021D00007FC03D04EF40C94F510509540953095C3\r
+:1021E00021953F4F4F4F5F4F089590958095709583\r
+:1021F00061957F4F8F4F9F4F0895EE0FFF1F059002\r
+:10220000F491E02D0994A1E21A2EAA1BBB1BFD013B\r
+:102210000DC0AA1FBB1FEE1FFF1FA217B307E407C5\r
+:10222000F50720F0A21BB30BE40BF50B661F771F1D\r
+:10223000881F991F1A9469F76095709580959095FD\r
+:102240009B01AC01BD01CF010895FC01059006166C\r
+:1022500021F00020D9F7C00108953197CF010895EA\r
+:102260000F931F93CF93DF93EC018B01009731F411\r
+:102270006115710519F480E090E038C06EE070E0FF\r
+:1022800081E090E00E943812FC010097A1F380E801\r
+:1022900083830115110571F01387028781E8838319\r
+:1022A00080915E0190915F01892B21F4F0935F0191\r
+:1022B000E0935E012097C9F0D187C0878381826057\r
+:1022C00083838091600190916101892B71F4F09377\r
+:1022D0006101E09360018091620190916301892B1B\r
+:1022E00021F4F0936301E0936201CF01DF91CF917C\r
+:1022F0001F910F9108950F931F93CF93DF93182F82\r
+:10230000092FEB018B8181FD03C08FEF9FEF20C070\r
+:1023100082FF10C04E815F812C813D81421753079F\r
+:102320007CF4E881F9819F012F5F3F4F3983288337\r
+:10233000108306C0E885F985812F0995892B29F737\r
+:102340002E813F812F5F3F4F3F832E83812F902F20\r
+:10235000DF91CF911F910F9108950F931F93CF930A\r
+:10236000DF93E0916001F0916101238121FF1BC0A7\r
+:10237000EC0100E010E089916091600170916101D1\r
+:10238000DB011896ED91FC911997882331F009959E\r
+:10239000892B89F30FEF1FEFEECF8AE00995892B88\r
+:1023A00011F4C80102C08FEF9FEFDF91CF911F9111\r
+:1023B0000F910895FA01AA27283051F1203181F1B7\r
+:1023C000E8946F936E7F6E5F7F4F8F4F9F4FAF4F3D\r
+:1023D000B1E03ED0B4E03CD0670F781F891F9A1F50\r
+:1023E000A11D680F791F8A1F911DA11D6A0F711D04\r
+:1023F000811D911DA11D20D009F468943F912AE010\r
+:10240000269F11243019305D3193DEF6CF010895F7\r
+:10241000462F4770405D4193B3E00FD0C9F7F6CF28\r
+:10242000462F4F70405D4A3318F0495D31FD4052F0\r
+:10243000419302D0A9F7EACFB4E0A6959795879586\r
+:1024400077956795BA95C9F7009761057105089565\r
+:102450009B01AC010A2E0694579547953795279511\r
+:10246000BA95C9F7620F731F841F951FA01D0895A9\r
+:102470000F931F93CF93DF93869F8001879F100D4B\r
+:10248000969F100D1124C8010E945412EC01009770\r
+:1024900029F0A80160E070E00E947B13CE01DF917B\r
+:1024A000CF911F910F910895CF93DF9382309105C3\r
+:1024B00010F482E090E0E0916601F091670120E085\r
+:1024C00030E0A0E0B0E0309739F140815181481709\r
+:1024D0005907B8F04817590771F482819381109712\r
+:1024E00029F013969C938E9312972CC090936701BA\r
+:1024F0008093660127C02115310531F0421753073B\r
+:1025000018F0A901DB0101C0EF019A01BD01DF0153\r
+:102510000280F381E02DD7CF21153105F9F0281B7A\r
+:10252000390B2430310580F48A819B816115710556\r
+:1025300021F0FB019383828304C090936701809311\r
+:102540006601FE01329644C0FE01E20FF31F819343\r
+:10255000919322503109398328833AC02091640134\r
+:1025600030916501232B41F420916C0030916D0076\r
+:10257000309365012093640120916A0030916B00D3\r
+:102580002115310541F42DB73EB740916E005091B1\r
+:102590006F00241B350BE0916401F0916501E21797\r
+:1025A000F307A0F42E1B3F0B2817390778F0AC0176\r
+:1025B0004E5F5F4F2417350748F04E0F5F1F509353\r
+:1025C0006501409364018193919302C0E0E0F0E0E3\r
+:1025D000CF01DF91CF910895CF93DF93009709F456\r
+:1025E00087C0FC01329713821282C0916601D0919C\r
+:1025F0006701209781F420813181280F391F809154\r
+:102600006401909165018217930779F5F093650154\r
+:10261000E09364016DC0DE0120E030E0AE17BF073B\r
+:1026200050F412964D915C9113979D0141155105FF\r
+:1026300009F1DA01F3CFB383A28340815181840F82\r
+:10264000951F8A179B0771F48D919C911197840FA8\r
+:10265000951F02969183808312968D919C9113977A\r
+:10266000938382832115310529F4F0936701E09368\r
+:1026700066013EC0D9011396FC93EE9312974D91DB\r
+:102680005D91A40FB51FEA17FB0779F48081918152\r
+:10269000840F951F0296D90111969C938E93828187\r
+:1026A000938113969C938E931297E0E0F0E08A81D9\r
+:1026B0009B81009719F0FE01EC01F9CFCE01029643\r
+:1026C00028813981820F931F209164013091650127\r
+:1026D0002817390769F4309729F41092670110928E\r
+:1026E000660102C013821282D0936501C093640117\r
+:1026F000DF91CF910895DC0101C06D9341505040AE\r
+:08270000E0F70895F894FFCF03\r
+:102708000080008000800080010100006801200036\r
+:0A2718000D0A53746172740D000085\r
 :00000001FF\r
index 48c57b2..d6413ad 100644 (file)
@@ -23,8 +23,8 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
-magn_ellipsoid_center: [252.957, 54.6821, -690.632]
-magn_ellipsoid_transform: [[0.953315, 0.00715770, 0.00266159], [0.00715770, 0.931906, 0.0360847], [0.00266159, 0.0360847, 0.979971]]
+magn_ellipsoid_center: [344.256, 18.1668, -330.980]
+magn_ellipsoid_transform: [[0.838154, 0.00504547, 0.0313606], [0.00504547, 0.989158, 0.0278265], [0.0313606, 0.0278265, 0.916270]]
 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0
index ae639ae..a62a50d 100755 (executable)
@@ -14,6 +14,7 @@ def set_pwm(left, right):
        i2c_write_reg(0x50, 0x7, struct.pack(">h", right))
 
 if __name__ == "__main__":
+       i2c_write_reg(0x50, 0x90, struct.pack("BBBB", 1, 1, 0, 0)) # switch direction
        set_pwm(int(sys.argv[1]), int(sys.argv[2]))
 
        while True: