From 46faef5e452508e2de611fff209e73f1796f3864 Mon Sep 17 00:00:00 2001 From: NemcekMartin <127301773+NemcekMartin@users.noreply.github.com> Date: Tue, 28 May 2024 16:27:16 +0200 Subject: [PATCH] Bicop EMPC fix for UNO --- .../BicopShield_EMPC/BicopShield_EMPC.ino | 2 +- examples/BicopShield/BicopShield_EMPC/ectrl.h | 1356 +--------------- .../BicopShield/BicopShield_EMPC/ectrl_due.h | 1366 +++++++++++++++++ .../BicopShield_EMPC_Simulation.m | 4 +- .../BicopShield_GreyboxModel_LinearSS.mat | Bin 0 -> 5152 bytes .../BicopShield/BicopShield_EMPC/ectrl.h | 1356 +--------------- .../BicopShield/BicopShield_EMPC/ectrl_due.h | 1366 +++++++++++++++++ .../BicopShield_GreyboxModel_LinearSS.mat | Bin 0 -> 5152 bytes 8 files changed, 2821 insertions(+), 2629 deletions(-) create mode 100644 examples/BicopShield/BicopShield_EMPC/ectrl_due.h create mode 100644 matlab/examples/BicopShield/BicopShield_EMPC/BicopShield_GreyboxModel_LinearSS.mat create mode 100644 matlab/examples/BicopShield/BicopShield_EMPC/ectrl_due.h create mode 100644 matlab/examples/BicopShield/BicopShield_LQI/BicopShield_GreyboxModel_LinearSS.mat diff --git a/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC.ino b/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC.ino index 7d1736e8..67fe6682 100644 --- a/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC.ino +++ b/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC.ino @@ -12,7 +12,7 @@ a predetermined reference trajectory. Upload the code to your board and open the Serial Plotter tool in Arduino IDE. - Tested on an UNO(max prediction horizon 3). + Tested on an UNO(max prediction horizon 1). This code is part of the AutomationShield hardware and software ecosystem. Visit http://www.automationshield.com for more diff --git a/examples/BicopShield/BicopShield_EMPC/ectrl.h b/examples/BicopShield/BicopShield_EMPC/ectrl.h index cf025668..0130b96b 100644 --- a/examples/BicopShield/BicopShield_EMPC/ectrl.h +++ b/examples/BicopShield/BicopShield_EMPC/ectrl.h @@ -32,1337 +32,67 @@ */ #include -#define MPT_NR 129 +#define MPT_NR 5 #define MPT_DOMAIN 3 -#define MPT_RANGE 6 +#define MPT_RANGE 2 #define MPT_ABSTOL 1.000000e-08 const float MPT_A[] PROGMEM = { --2.7941309e-02, 9.8641862e-01, 1.6185672e-01, -2.8670865e-02, 9.8702068e-01, -1.5801315e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, -8.9441719e-01, 4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, --1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9361501e-02, --9.8754664e-01, -1.5456238e-01, -2.8707816e-02, 9.8705077e-01, 1.5781835e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7941309e-02, -9.8641862e-01, --1.6185672e-01, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -2.7941309e-02, -9.8641862e-01, 1.6185672e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, --7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, -3.1638477e-01, 9.4858479e-01, 9.3580493e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8670865e-02, -9.8702068e-01, --1.5801315e-01, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.8670865e-02, -9.8702068e-01, 1.5801315e-01, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 3.1621947e-01, -9.4863900e-01, --9.4490605e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, 3.1638477e-01, --9.4858479e-01, -9.3580493e-03, -2.7841079e-02, 9.8633695e-01, 1.6237087e-01, --2.8623413e-02, 9.8698410e-01, 1.5825010e-01, 2.9361501e-02, -9.8754664e-01, --1.5456238e-01, -2.9361501e-02, 9.8754664e-01, 1.5456238e-01, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, -4.4755899e-01, 8.9424397e-01, 4.3207198e-03, --3.1693421e-01, 9.4840421e-01, 9.0639411e-03, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.8707816e-02, -9.8705077e-01, --1.5781835e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.8707816e-02, -9.8705077e-01, 1.5781835e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, --2.8660499e-02, 9.8701434e-01, 1.5805462e-01, 2.9431206e-02, -9.8760061e-01, --1.5420392e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.7841079e-02, -9.8633695e-01, -1.6237087e-01, --2.7841079e-02, 9.8633695e-01, 1.6237087e-01, -2.8763969e-02, 9.8709643e-01, -1.5752230e-01, 2.7941309e-02, -9.8641862e-01, -1.6185672e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, --2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9401253e-02, -9.8757655e-01, --1.5436364e-01, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, --2.8623413e-02, 9.8698410e-01, 1.5825010e-01, -2.7828592e-02, 9.8632425e-01, -1.6245013e-01, 2.8670865e-02, -9.8702068e-01, -1.5801315e-01, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, --3.1660445e-01, 9.4851268e-01, 9.2370891e-03, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -2.9461666e-02, -9.8762191e-01, -1.5406159e-01, 3.1621947e-01, -9.4863900e-01, --9.4490605e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -5.1465432e-01, -8.5739605e-01, 1.7123568e-03, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -3.1693421e-01, -9.4840421e-01, -9.0639411e-03, 3.1621947e-01, -9.4863900e-01, --9.4490605e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, 0.0000000e+00, -0.0000000e+00, -1.0000000e+00, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -3.1660445e-01, -9.4851268e-01, -9.2370891e-03, -2.7686827e-02, 9.8621074e-01, -1.6316196e-01, -2.8550707e-02, 9.8692793e-01, 1.5861313e-01, 2.9361501e-02, --9.8754664e-01, -1.5456238e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, --4.4801347e-01, 8.9401724e-01, 4.1366262e-03, -3.1787210e-01, 9.4809498e-01, -8.5583910e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, -1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.9361501e-02, 9.8754664e-01, 1.5456238e-01, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 4.4755899e-01, -8.9424397e-01, --4.3207198e-03, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, -2.8660499e-02, -9.8701434e-01, -1.5805462e-01, -2.8660499e-02, 9.8701434e-01, -1.5805462e-01, -2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.8707816e-02, --9.8705077e-01, -1.5781835e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7828592e-02, -9.8632425e-01, -1.6245013e-01, -2.8707816e-02, 9.8705077e-01, -1.5781835e-01, 2.9530786e-02, -9.8767524e-01, -1.5370603e-01, -2.7828592e-02, -9.8632425e-01, 1.6245013e-01, 2.7896798e-02, -9.8638139e-01, -1.6209107e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8763969e-02, -9.8709643e-01, --1.5752230e-01, 2.9575905e-02, -9.8771133e-01, -1.5346531e-01, -2.8763969e-02, -9.8709643e-01, 1.5752230e-01, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 2.7686827e-02, -9.8621074e-01, -1.6316196e-01, -2.9431206e-02, -9.8760061e-01, 1.5420392e-01, -2.7686827e-02, 9.8621074e-01, 1.6316196e-01, --2.8716859e-02, 9.8706023e-01, 1.5775753e-01, 2.9536735e-02, -9.8768205e-01, --1.5366115e-01, -2.9536735e-02, 9.8768205e-01, 1.5366115e-01, 2.7841079e-02, --9.8633695e-01, -1.6237087e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7641502e-02, 9.8617252e-01, 1.6340044e-01, 2.9401253e-02, -9.8757655e-01, --1.5436364e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8550707e-02, --9.8692793e-01, -1.5861313e-01, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, --2.8550707e-02, 9.8692793e-01, 1.5861313e-01, -2.7727550e-02, 9.8624160e-01, -1.6296839e-01, 2.9461666e-02, -9.8762191e-01, -1.5406159e-01, -2.9461666e-02, -9.8762191e-01, 1.5406159e-01, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8623413e-02, 9.8698410e-01, -1.5825010e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, 2.8670865e-02, --9.8702068e-01, -1.5801315e-01, -2.8670865e-02, 9.8702068e-01, 1.5801315e-01, --7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, -3.1638477e-01, 9.4858479e-01, 9.3580493e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9401253e-02, -9.8757655e-01, --1.5436364e-01, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -5.1465432e-01, -8.5739605e-01, 1.7123568e-03, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, --3.1621947e-01, 9.4863900e-01, 9.4490605e-03, 3.1787210e-01, -9.4809498e-01, --8.5583910e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -3.1621947e-01, -9.4863900e-01, 9.4490605e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 3.1638477e-01, -9.4858479e-01, --9.3580493e-03, -2.7841079e-02, 9.8633695e-01, 1.6237087e-01, -2.8623413e-02, -9.8698410e-01, 1.5825010e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, --4.4755899e-01, 8.9424397e-01, 4.3207198e-03, -3.1693421e-01, 9.4840421e-01, -9.0639411e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, -1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.9361501e-02, -9.8754664e-01, -1.5456238e-01, -2.9361501e-02, 9.8754664e-01, -1.5456238e-01, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, 4.4801347e-01, -8.9401724e-01, -4.1366262e-03, 2.9470725e-02, --9.8763026e-01, -1.5400634e-01, 2.7641502e-02, -9.8617252e-01, -1.6340044e-01, -2.8588002e-02, -9.8695841e-01, -1.5841660e-01, -2.9470725e-02, 9.8763026e-01, -1.5400634e-01, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.7641502e-02, -9.8617252e-01, 1.6340044e-01, 2.9530786e-02, -9.8767524e-01, -1.5370603e-01, --2.9530786e-02, 9.8767524e-01, 1.5370603e-01, 2.8660499e-02, -9.8701434e-01, --1.5805462e-01, 2.7727550e-02, -9.8624160e-01, -1.6296839e-01, -2.8660499e-02, -9.8701434e-01, 1.5805462e-01, -2.7727550e-02, 9.8624160e-01, 1.6296839e-01, -2.9575905e-02, -9.8771133e-01, -1.5346531e-01, -2.9575905e-02, 9.8771133e-01, -1.5346531e-01, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.7796248e-02, 9.8629934e-01, 1.6260684e-01, -2.8716859e-02, -9.8706023e-01, -1.5775753e-01, -2.8716859e-02, 9.8706023e-01, -1.5775753e-01, 2.8707816e-02, -9.8705077e-01, -1.5781835e-01, -2.8707816e-02, -9.8705077e-01, 1.5781835e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.9470725e-02, -9.8763026e-01, --1.5400634e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, 2.8763969e-02, --9.8709643e-01, -1.5752230e-01, 2.7828592e-02, -9.8632425e-01, -1.6245013e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7828592e-02, 9.8632425e-01, -1.6245013e-01, -2.8763969e-02, 9.8709643e-01, 1.5752230e-01, 2.9635436e-02, --9.8775575e-01, -1.5316764e-01, -2.8660499e-02, 9.8701434e-01, 1.5805462e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7841079e-02, -9.8633695e-01, --1.6237087e-01, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -2.9431206e-02, -9.8760061e-01, 1.5420392e-01, -2.7841079e-02, 9.8633695e-01, 1.6237087e-01, --2.8644678e-02, 9.8700467e-01, 1.5811791e-01, 2.9536735e-02, -9.8768205e-01, --1.5366115e-01, 2.7686827e-02, -9.8621074e-01, -1.6316196e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.7686827e-02, 9.8621074e-01, 1.6316196e-01, --2.9536735e-02, 9.8768205e-01, 1.5366115e-01, -2.7796248e-02, 9.8629934e-01, -1.6260684e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8623413e-02, --9.8698410e-01, -1.5825010e-01, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, --2.9401253e-02, 9.8757655e-01, 1.5436364e-01, -2.8623413e-02, 9.8698410e-01, -1.5825010e-01, -2.7572044e-02, 9.8611385e-01, 1.6376585e-01, 2.9461666e-02, --9.8762191e-01, -1.5406159e-01, 2.8550707e-02, -9.8692793e-01, -1.5861313e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8550707e-02, 9.8692793e-01, -1.5861313e-01, -2.9461666e-02, 9.8762191e-01, 1.5406159e-01, -2.7796248e-02, -9.8629934e-01, 1.6260684e-01, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, -2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.9401253e-02, 9.8757655e-01, -1.5436364e-01, -2.8623413e-02, 9.8698410e-01, 1.5825010e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.7941309e-02, 9.8641862e-01, 1.6185672e-01, --7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9361501e-02, -9.8754664e-01, --1.5456238e-01, 2.8670865e-02, -9.8702068e-01, -1.5801315e-01, -5.1465432e-01, -8.5739605e-01, 1.7123568e-03, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -3.1621947e-01, 9.4863900e-01, -9.4490605e-03, 3.1693421e-01, -9.4840421e-01, -9.0639411e-03, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, 4.4755899e-01, --8.9424397e-01, -4.3207198e-03, -2.7941309e-02, 9.8641862e-01, 1.6185672e-01, --2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -2.9361501e-02, 9.8754664e-01, -1.5456238e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, -8.9441719e-01, 4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -1.0000000e+00, +2.9635436e-02, -9.8775575e-01, -1.5316764e-01, -7.0710678e-01, 7.0710678e-01, +0.0000000e+00, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, 2.8660499e-02, --9.8701434e-01, -1.5805462e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, --2.9470725e-02, 9.8763026e-01, 1.5400634e-01, -2.8660499e-02, 9.8701434e-01, -1.5805462e-01, -2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9530786e-02, --9.8767524e-01, -1.5370603e-01, 2.8588002e-02, -9.8695841e-01, -1.5841660e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7572044e-02, -9.8611385e-01, --1.6376585e-01, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.9530786e-02, -9.8767524e-01, 1.5370603e-01, -2.7572044e-02, 9.8611385e-01, 1.6376585e-01, -2.9575905e-02, -9.8771133e-01, -1.5346531e-01, 2.7641502e-02, -9.8617252e-01, --1.6340044e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7641502e-02, -9.8617252e-01, 1.6340044e-01, 2.8644678e-02, -9.8700467e-01, -1.5811791e-01, --2.9575905e-02, 9.8771133e-01, 1.5346531e-01, -2.8644678e-02, 9.8700467e-01, -1.5811791e-01, 2.8660499e-02, -9.8701434e-01, -1.5805462e-01, 2.9470725e-02, --9.8763026e-01, -1.5400634e-01, -2.9470725e-02, 9.8763026e-01, 1.5400634e-01, --2.8660499e-02, 9.8701434e-01, 1.5805462e-01, 2.7796248e-02, -9.8629934e-01, --1.6260684e-01, -2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9635436e-02, --9.8775575e-01, -1.5316764e-01, -2.9635436e-02, 9.8775575e-01, 1.5316764e-01, -2.8716859e-02, -9.8706023e-01, -1.5775753e-01, 2.7727550e-02, -9.8624160e-01, --1.6296839e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7727550e-02, -9.8624160e-01, 1.6296839e-01, -2.8716859e-02, 9.8706023e-01, 1.5775753e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, 2.9470725e-02, -9.8763026e-01, --1.5400634e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8660499e-02, -9.8701434e-01, 1.5805462e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, --4.4721134e-01, 8.9441719e-01, 4.4615011e-03, -3.1621947e-01, 9.4863900e-01, -9.4490605e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +1.0000000e+00, -2.9635436e-02, 9.8775575e-01, 1.5316764e-01, -7.0710678e-01, +7.0710678e-01, 0.0000000e+00, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, +-1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +-1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +0.0000000e+00, 1.0000000e+00, 2.9635436e-02, -9.8775575e-01, -1.5316764e-01, +-2.9635436e-02, 9.8775575e-01, 1.5316764e-01, 2.9635436e-02, -9.8775575e-01, +-1.5316764e-01, -2.9635436e-02, 9.8775575e-01, 1.5316764e-01, -7.0710678e-01, +7.0710678e-01, 0.0000000e+00, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, +-1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +-1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +0.0000000e+00, 1.0000000e+00, -2.9635436e-02, 9.8775575e-01, 1.5316764e-01, +-7.0710678e-01, 7.0710678e-01, 0.0000000e+00, 0.0000000e+00, -9.9995024e-01, +-9.9758962e-03, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 7.0710678e-01, +-7.0710678e-01, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, +0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, 0.0000000e+00, +0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -7.0710678e-01, +7.0710678e-01, 0.0000000e+00, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, +0.0000000e+00, 9.9995024e-01, 9.9758962e-03, 0.0000000e+00, 1.0000000e+00, +0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7941309e-02, -9.8641862e-01, -1.6185672e-01, 2.9431206e-02, -9.8760061e-01, --1.5420392e-01, 2.8707816e-02, -9.8705077e-01, -1.5781835e-01, -2.7941309e-02, -9.8641862e-01, 1.6185672e-01, 2.8763969e-02, -9.8709643e-01, -1.5752230e-01, --2.8763969e-02, 9.8709643e-01, 1.5752230e-01, 2.7896798e-02, -9.8638139e-01, --1.6209107e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7896798e-02, -9.8638139e-01, 1.6209107e-01, 2.9575905e-02, -9.8771133e-01, -1.5346531e-01, -2.7828592e-02, -9.8632425e-01, -1.6245013e-01, -2.7828592e-02, 9.8632425e-01, -1.6245013e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8707816e-02, -9.8705077e-01, 1.5781835e-01, 2.9530786e-02, -9.8767524e-01, -1.5370603e-01, --2.8707816e-02, 9.8705077e-01, 1.5781835e-01, -2.9431206e-02, 9.8760061e-01, -1.5420392e-01, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, --8.9441719e-01, -4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 2.7941309e-02, --9.8641862e-01, -1.6185672e-01, -2.7941309e-02, 9.8641862e-01, 1.6185672e-01, --2.8716859e-02, 9.8706023e-01, 1.5775753e-01, 2.7841079e-02, -9.8633695e-01, --1.6237087e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7841079e-02, -9.8633695e-01, 1.6237087e-01, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, --2.9536735e-02, 9.8768205e-01, 1.5366115e-01, 2.7686827e-02, -9.8621074e-01, --1.6316196e-01, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.7686827e-02, -9.8621074e-01, 1.6316196e-01, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7896798e-02, 9.8638139e-01, -1.6209107e-01, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.8670865e-02, -9.8702068e-01, -1.5801315e-01, --2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -2.7727550e-02, 9.8624160e-01, -1.6296839e-01, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9461666e-02, -9.8762191e-01, -1.5406159e-01, --2.9461666e-02, 9.8762191e-01, 1.5406159e-01, -2.7641502e-02, 9.8617252e-01, -1.6340044e-01, 2.8550707e-02, -9.8692793e-01, -1.5861313e-01, -2.8550707e-02, -9.8692793e-01, 1.5861313e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.9401253e-02, 9.8757655e-01, 1.5436364e-01, -2.7841079e-02, 9.8633695e-01, -1.6237087e-01, 2.9361501e-02, -9.8754664e-01, -1.5456238e-01, -2.9361501e-02, -9.8754664e-01, 1.5456238e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8623413e-02, -9.8698410e-01, -1.5825010e-01, -2.9470725e-02, 9.8763026e-01, -1.5400634e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7896798e-02, --9.8638139e-01, -1.6209107e-01, 2.8707816e-02, -9.8705077e-01, -1.5781835e-01, --2.8707816e-02, 9.8705077e-01, 1.5781835e-01, -2.7896798e-02, 9.8638139e-01, -1.6209107e-01, 2.8660499e-02, -9.8701434e-01, -1.5805462e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.7727550e-02, -9.8624160e-01, -1.6296839e-01, --2.8660499e-02, 9.8701434e-01, 1.5805462e-01, 2.9530786e-02, -9.8767524e-01, --1.5370603e-01, -2.9530786e-02, 9.8767524e-01, 1.5370603e-01, -2.7727550e-02, -9.8624160e-01, 1.6296839e-01, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, --2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.8716859e-02, -9.8706023e-01, --1.5775753e-01, 2.9575905e-02, -9.8771133e-01, -1.5346531e-01, -2.9575905e-02, -9.8771133e-01, 1.5346531e-01, -2.8716859e-02, 9.8706023e-01, 1.5775753e-01, -2.8588002e-02, -9.8695841e-01, -1.5841660e-01, -2.8588002e-02, 9.8695841e-01, -1.5841660e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.7641502e-02, -9.8617252e-01, -1.6340044e-01, --2.9470725e-02, 9.8763026e-01, 1.5400634e-01, -2.7641502e-02, 9.8617252e-01, -1.6340044e-01, 2.9635436e-02, -9.8775575e-01, -1.5316764e-01, 2.8644678e-02, --9.8700467e-01, -1.5811791e-01, 2.7572044e-02, -9.8611385e-01, -1.6376585e-01, --2.7572044e-02, 9.8611385e-01, 1.6376585e-01, -2.8644678e-02, 9.8700467e-01, -1.5811791e-01, -2.9635436e-02, 9.8775575e-01, 1.5316764e-01, 2.7641502e-02, --9.8617252e-01, -1.6340044e-01, -2.7641502e-02, 9.8617252e-01, 1.6340044e-01, -2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 2.8588002e-02, -9.8695841e-01, -1.5841660e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -2.9431206e-02, 9.8760061e-01, -1.5420392e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7841079e-02, --9.8633695e-01, -1.6237087e-01, 2.8660499e-02, -9.8701434e-01, -1.5805462e-01, --2.7841079e-02, 9.8633695e-01, 1.6237087e-01, 2.8716859e-02, -9.8706023e-01, --1.5775753e-01, 2.9575905e-02, -9.8771133e-01, -1.5346531e-01, -2.9575905e-02, -9.8771133e-01, 1.5346531e-01, -2.8716859e-02, 9.8706023e-01, 1.5775753e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, -2.7796248e-02, 9.8629934e-01, -1.6260684e-01, 2.7727550e-02, -9.8624160e-01, -1.6296839e-01, 2.9530786e-02, --9.8767524e-01, -1.5370603e-01, -2.9530786e-02, 9.8767524e-01, 1.5370603e-01, --2.7727550e-02, 9.8624160e-01, 1.6296839e-01, 2.8660499e-02, -9.8701434e-01, --1.5805462e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8660499e-02, -9.8701434e-01, 1.5805462e-01, 2.7941309e-02, -9.8641862e-01, -1.6185672e-01, --7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7941309e-02, 9.8641862e-01, -1.6185672e-01, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, 2.8763969e-02, --9.8709643e-01, -1.5752230e-01, 2.7896798e-02, -9.8638139e-01, -1.6209107e-01, -2.8707816e-02, -9.8705077e-01, -1.5781835e-01, -2.8707816e-02, 9.8705077e-01, -1.5781835e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8670865e-02, 9.8702068e-01, -1.5801315e-01, 2.9461666e-02, -9.8762191e-01, -1.5406159e-01, 2.7828592e-02, --9.8632425e-01, -1.6245013e-01, -2.8763969e-02, 9.8709643e-01, 1.5752230e-01, --2.9536735e-02, 9.8768205e-01, 1.5366115e-01, 2.7941309e-02, -9.8641862e-01, --1.6185672e-01, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, --8.9441719e-01, -4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -2.7941309e-02, -9.8641862e-01, 1.6185672e-01, 2.7841079e-02, -9.8633695e-01, -1.6237087e-01, --2.8660499e-02, 9.8701434e-01, 1.5805462e-01, -2.7841079e-02, 9.8633695e-01, -1.6237087e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9431206e-02, --9.8760061e-01, -1.5420392e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, --2.8550707e-02, 9.8692793e-01, 1.5861313e-01, 2.9361501e-02, -9.8754664e-01, --1.5456238e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7686827e-02, --9.8621074e-01, -1.6316196e-01, -2.7828592e-02, 9.8632425e-01, 1.6245013e-01, --2.9461666e-02, 9.8762191e-01, 1.5406159e-01, 2.8670865e-02, -9.8702068e-01, --1.5801315e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7686827e-02, -9.8621074e-01, 1.6316196e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.9361501e-02, 9.8754664e-01, 1.5456238e-01, 2.8550707e-02, -9.8692793e-01, --1.5861313e-01, -2.9530786e-02, 9.8767524e-01, 1.5370603e-01, 2.8707816e-02, --9.8705077e-01, -1.5781835e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7828592e-02, -9.8632425e-01, -1.6245013e-01, -2.7828592e-02, 9.8632425e-01, -1.6245013e-01, -2.9575905e-02, 9.8771133e-01, 1.5346531e-01, 2.7896798e-02, --9.8638139e-01, -1.6209107e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7896798e-02, 9.8638139e-01, 1.6209107e-01, 2.8763969e-02, -9.8709643e-01, --1.5752230e-01, -2.8763969e-02, 9.8709643e-01, 1.5752230e-01, 2.8660499e-02, --9.8701434e-01, -1.5805462e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.9470725e-02, 9.8763026e-01, 1.5400634e-01, -2.7796248e-02, 9.8629934e-01, -1.6260684e-01, 2.8716859e-02, -9.8706023e-01, -1.5775753e-01, 2.7727550e-02, --9.8624160e-01, -1.6296839e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7727550e-02, 9.8624160e-01, 1.6296839e-01, -2.8716859e-02, 9.8706023e-01, -1.5775753e-01, 2.9635436e-02, -9.8775575e-01, -1.5316764e-01, -2.9635436e-02, -9.8775575e-01, 1.5316764e-01, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, --2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.8660499e-02, -9.8701434e-01, --1.5805462e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, -2.8660499e-02, 9.8701434e-01, 1.5805462e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7686827e-02, -9.8621074e-01, --1.6316196e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, 2.8588002e-02, --9.8695841e-01, -1.5841660e-01, -2.7686827e-02, 9.8621074e-01, 1.6316196e-01, -2.8644678e-02, -9.8700467e-01, -1.5811791e-01, -2.8644678e-02, 9.8700467e-01, -1.5811791e-01, 2.9575905e-02, -9.8771133e-01, -1.5346531e-01, 2.7641502e-02, --9.8617252e-01, -1.6340044e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7641502e-02, 9.8617252e-01, 1.6340044e-01, -2.9575905e-02, 9.8771133e-01, -1.5346531e-01, 2.7572044e-02, -9.8611385e-01, -1.6376585e-01, -2.7572044e-02, -9.8611385e-01, 1.6376585e-01, 2.9530786e-02, -9.8767524e-01, -1.5370603e-01, -2.8588002e-02, -9.8695841e-01, -1.5841660e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.9530786e-02, -9.8767524e-01, 1.5370603e-01, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8550707e-02, -9.8692793e-01, --1.5861313e-01, 2.7641502e-02, -9.8617252e-01, -1.6340044e-01, -2.8550707e-02, -9.8692793e-01, 1.5861313e-01, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, --2.9536735e-02, 9.8768205e-01, 1.5366115e-01, 2.7841079e-02, -9.8633695e-01, --1.6237087e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7841079e-02, -9.8633695e-01, 1.6237087e-01, 2.8716859e-02, -9.8706023e-01, -1.5775753e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, 2.8660499e-02, -9.8701434e-01, --1.5805462e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, -2.8660499e-02, 9.8701434e-01, 1.5805462e-01, --2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9461666e-02, -9.8762191e-01, --1.5406159e-01, -2.9461666e-02, 9.8762191e-01, 1.5406159e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.8623413e-02, 9.8698410e-01, 1.5825010e-01, -2.7727550e-02, -9.8624160e-01, -1.6296839e-01, 2.7941309e-02, -9.8641862e-01, --1.6185672e-01, -2.7941309e-02, 9.8641862e-01, 1.6185672e-01, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, --3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -2.8707816e-02, -9.8705077e-01, -1.5781835e-01, 2.8670865e-02, -9.8702068e-01, --1.5801315e-01, -2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.7941309e-02, -9.8641862e-01, --1.6185672e-01, -2.8707816e-02, 9.8705077e-01, 1.5781835e-01, -2.9431206e-02, -9.8760061e-01, 1.5420392e-01, -2.7941309e-02, 9.8641862e-01, 1.6185672e-01, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -2.8623413e-02, 9.8698410e-01, -1.5825010e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9361501e-02, --9.8754664e-01, -1.5456238e-01, 2.7841079e-02, -9.8633695e-01, -1.6237087e-01, --2.9361501e-02, 9.8754664e-01, 1.5456238e-01, -2.9635436e-02, 9.8775575e-01, -1.5316764e-01, 2.8763969e-02, -9.8709643e-01, -1.5752230e-01, 2.7828592e-02, --9.8632425e-01, -1.6245013e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7828592e-02, 9.8632425e-01, 1.6245013e-01, -2.8763969e-02, 9.8709643e-01, -1.5752230e-01, 2.7896798e-02, -9.8638139e-01, -1.6209107e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8707816e-02, -9.8705077e-01, --1.5781835e-01, -2.8707816e-02, 9.8705077e-01, 1.5781835e-01, 2.8716859e-02, --9.8706023e-01, -1.5775753e-01, -2.8716859e-02, 9.8706023e-01, 1.5775753e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, -2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9575905e-02, --9.8771133e-01, -1.5346531e-01, -2.9575905e-02, 9.8771133e-01, 1.5346531e-01, -2.7727550e-02, -9.8624160e-01, -1.6296839e-01, -2.7727550e-02, 9.8624160e-01, -1.6296839e-01, 2.8660499e-02, -9.8701434e-01, -1.5805462e-01, -2.8660499e-02, -9.8701434e-01, 1.5805462e-01, 2.9530786e-02, -9.8767524e-01, -1.5370603e-01, --2.9530786e-02, 9.8767524e-01, 1.5370603e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, 2.9401253e-02, --9.8757655e-01, -1.5436364e-01, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, --2.9401253e-02, 9.8757655e-01, 1.5436364e-01, -2.8623413e-02, 9.8698410e-01, -1.5825010e-01, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, 2.7686827e-02, --9.8621074e-01, -1.6316196e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7686827e-02, 9.8621074e-01, 1.6316196e-01, -2.9536735e-02, 9.8768205e-01, -1.5366115e-01, 2.8644678e-02, -9.8700467e-01, -1.5811791e-01, 2.7641502e-02, --9.8617252e-01, -1.6340044e-01, 2.8588002e-02, -9.8695841e-01, -1.5841660e-01, --2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.7641502e-02, 9.8617252e-01, -1.6340044e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, 2.9461666e-02, -9.8762191e-01, -1.5406159e-01, -2.8550707e-02, -9.8692793e-01, -1.5861313e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, -2.8550707e-02, 9.8692793e-01, 1.5861313e-01, -2.9461666e-02, -9.8762191e-01, 1.5406159e-01, 2.7572044e-02, -9.8611385e-01, -1.6376585e-01, -2.7841079e-02, -9.8633695e-01, -1.6237087e-01, 2.9431206e-02, -9.8760061e-01, --1.5420392e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, -2.7841079e-02, -9.8633695e-01, 1.6237087e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8660499e-02, -9.8701434e-01, -1.5805462e-01, 2.8623413e-02, -9.8698410e-01, --1.5825010e-01, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.9401253e-02, -9.8757655e-01, 1.5436364e-01, -2.8623413e-02, 9.8698410e-01, 1.5825010e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7796248e-02, -9.8629934e-01, --1.6260684e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, -8.9441719e-01, 4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 2.9361501e-02, -9.8754664e-01, -1.5456238e-01, 2.8670865e-02, --9.8702068e-01, -1.5801315e-01, 2.7941309e-02, -9.8641862e-01, -1.6185672e-01, --2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -2.9361501e-02, 9.8754664e-01, -1.5456238e-01, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, --8.9441719e-01, -4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 2.7941309e-02, --9.8641862e-01, -1.6185672e-01, 2.7828592e-02, -9.8632425e-01, -1.6245013e-01, --2.9530786e-02, 9.8767524e-01, 1.5370603e-01, -2.7828592e-02, 9.8632425e-01, -1.6245013e-01, 2.8707816e-02, -9.8705077e-01, -1.5781835e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.8707816e-02, 9.8705077e-01, 1.5781835e-01, -2.8763969e-02, -9.8709643e-01, -1.5752230e-01, -2.9575905e-02, 9.8771133e-01, -1.5346531e-01, -2.8763969e-02, 9.8709643e-01, 1.5752230e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, --2.9401253e-02, 9.8757655e-01, 1.5436364e-01, 7.0710678e-01, -7.0710678e-01, -0.0000000e+00, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, 3.1638477e-01, --9.4858479e-01, -9.3580493e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 2.8670865e-02, -9.8702068e-01, -1.5801315e-01, 2.7896798e-02, --9.8638139e-01, -1.6209107e-01, -2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7841079e-02, 9.8633695e-01, -1.6237087e-01, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, 2.8716859e-02, --9.8706023e-01, -1.5775753e-01, -2.9536735e-02, 9.8768205e-01, 1.5366115e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, 2.8660499e-02, -9.8701434e-01, --1.5805462e-01, -2.8660499e-02, 9.8701434e-01, 1.5805462e-01, -2.7796248e-02, -9.8629934e-01, 1.6260684e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, --2.9470725e-02, 9.8763026e-01, 1.5400634e-01, 2.8623413e-02, -9.8698410e-01, --1.5825010e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8623413e-02, -9.8698410e-01, 1.5825010e-01, 2.9461666e-02, -9.8762191e-01, -1.5406159e-01, -2.7727550e-02, -9.8624160e-01, -1.6296839e-01, -2.9461666e-02, 9.8762191e-01, -1.5406159e-01, 2.7686827e-02, -9.8621074e-01, -1.6316196e-01, -2.7686827e-02, -9.8621074e-01, 1.6316196e-01, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.9431206e-02, 9.8760061e-01, -1.5420392e-01, 2.8588002e-02, -9.8695841e-01, -1.5841660e-01, 2.8550707e-02, --9.8692793e-01, -1.5861313e-01, -2.8550707e-02, 9.8692793e-01, 1.5861313e-01, -2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, 2.7641502e-02, --9.8617252e-01, -1.6340044e-01, 2.9361501e-02, -9.8754664e-01, -1.5456238e-01, --2.9361501e-02, 9.8754664e-01, 1.5456238e-01, 7.0710678e-01, -7.0710678e-01, -0.0000000e+00, 4.4755899e-01, -8.9424397e-01, -4.3207198e-03, 3.1693421e-01, --9.4840421e-01, -9.0639411e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, 2.7841079e-02, --9.8633695e-01, -1.6237087e-01, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, --4.4721134e-01, 8.9441719e-01, 4.4615011e-03, 7.0710678e-01, -7.0710678e-01, -0.0000000e+00, -5.1465432e-01, 8.5739605e-01, 1.7123568e-03, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, -4.4755899e-01, 8.9424397e-01, 4.3207198e-03, -3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -3.1621947e-01, 9.4863900e-01, -9.4490605e-03, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, -3.1693421e-01, 9.4840421e-01, 9.0639411e-03, --2.9461666e-02, 9.8762191e-01, 1.5406159e-01, 2.8670865e-02, -9.8702068e-01, --1.5801315e-01, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, --8.9441719e-01, -4.4615011e-03, 3.1660445e-01, -9.4851268e-01, -9.2370891e-03, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -2.8670865e-02, -9.8702068e-01, 1.5801315e-01, 2.7828592e-02, -9.8632425e-01, -1.6245013e-01, -2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.8707816e-02, -9.8705077e-01, --1.5781835e-01, -2.9470725e-02, 9.8763026e-01, 1.5400634e-01, -2.8707816e-02, -9.8705077e-01, 1.5781835e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.9536735e-02, 9.8768205e-01, -1.5366115e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7941309e-02, -9.8641862e-01, 1.6185672e-01, 2.8763969e-02, -9.8709643e-01, -1.5752230e-01, -4.4721134e-01, -8.9441719e-01, -4.4615011e-03, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -3.1621947e-01, -9.4863900e-01, 9.4490605e-03, -3.1638477e-01, 9.4858479e-01, 9.3580493e-03, -2.7841079e-02, -9.8633695e-01, -1.6237087e-01, -2.7841079e-02, 9.8633695e-01, -1.6237087e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9431206e-02, --9.8760061e-01, -1.5420392e-01, 2.8660499e-02, -9.8701434e-01, -1.5805462e-01, --2.9431206e-02, 9.8760061e-01, 1.5420392e-01, 2.8623413e-02, -9.8698410e-01, --1.5825010e-01, -2.8623413e-02, 9.8698410e-01, 1.5825010e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, -2.9401253e-02, 9.8757655e-01, -1.5436364e-01, 2.9361501e-02, -9.8754664e-01, -1.5456238e-01, 7.0710678e-01, --7.0710678e-01, 0.0000000e+00, 4.4801347e-01, -8.9401724e-01, -4.1366262e-03, -3.1787210e-01, -9.4809498e-01, -8.5583910e-03, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, -2.9361501e-02, 9.8754664e-01, 1.5456238e-01, -2.8550707e-02, -9.8692793e-01, -1.5861313e-01, 2.7686827e-02, -9.8621074e-01, --1.6316196e-01, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, 7.0710678e-01, --7.0710678e-01, 0.0000000e+00, -5.1465432e-01, 8.5739605e-01, 1.7123568e-03, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, -4.4801347e-01, 8.9401724e-01, 4.1366262e-03, 3.1621947e-01, --9.4863900e-01, -9.4490605e-03, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -3.1621947e-01, 9.4863900e-01, -9.4490605e-03, -3.1787210e-01, 9.4809498e-01, 8.5583910e-03, 3.1621947e-01, --9.4863900e-01, -9.4490605e-03, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -3.1621947e-01, 9.4863900e-01, -9.4490605e-03, -3.1660445e-01, 9.4851268e-01, 9.2370891e-03, 2.8670865e-02, --9.8702068e-01, -1.5801315e-01, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, --2.8670865e-02, 9.8702068e-01, 1.5801315e-01, 7.0710678e-01, -7.0710678e-01, -0.0000000e+00, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, 3.1638477e-01, --9.4858479e-01, -9.3580493e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.7941309e-02, --9.8641862e-01, -1.6185672e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, --2.7941309e-02, 9.8641862e-01, 1.6185672e-01, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 2.8707816e-02, -9.8705077e-01, -1.5781835e-01, 7.0710678e-01, --7.0710678e-01, 0.0000000e+00, 4.4755899e-01, -8.9424397e-01, -4.3207198e-03, -3.1693421e-01, -9.4840421e-01, -9.0639411e-03, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, 2.9361501e-02, -9.8754664e-01, -1.5456238e-01, -2.8623413e-02, -9.8698410e-01, -1.5825010e-01, 2.7841079e-02, -9.8633695e-01, --1.6237087e-01, -2.9361501e-02, 9.8754664e-01, 1.5456238e-01, 7.0710678e-01, --7.0710678e-01, 0.0000000e+00, -5.1465432e-01, 8.5739605e-01, 1.7123568e-03, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, -4.4755899e-01, -8.9424397e-01, 4.3207198e-03, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 3.1621947e-01, -9.4863900e-01, --9.4490605e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -3.1693421e-01, -9.4840421e-01, 9.0639411e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, --3.1621947e-01, 9.4863900e-01, 9.4490605e-03, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -3.1638477e-01, -9.4858479e-01, 9.3580493e-03, -2.9361501e-02, 9.8754664e-01, 1.5456238e-01, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 2.8670865e-02, -9.8702068e-01, --1.5801315e-01, 2.7941309e-02, -9.8641862e-01, -1.6185672e-01 }; +0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 2.9635436e-02, -9.8775575e-01, +-1.5316764e-01 }; const float MPT_B[] PROGMEM = { --1.3895442e-01, -1.2758139e-01, 7.0710678e+03, 4.4721137e+03, 3.1621952e+03, -1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -9.1989026e-02, -1.2700513e-01, -1.0000000e+04, 1.3895442e-01, -1.0333071e-01, -1.1385063e-01, -1.3964801e-01, -7.0710678e+03, 4.4721137e+03, 3.1640234e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, 1.2758139e-01, -1.0463051e-01, -1.0451399e-01, 4.4721137e+03, -1.0000000e+04, -3.1621952e+03, 3.1621952e+03, -3.1640234e+03, -1.5524321e-01, --1.4266334e-01, -7.0682278e-02, 9.1989026e-02, 7.0710678e+03, 4.4758646e+03, -3.1701189e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.3964801e-01, 1.2700513e-01, -1.1591788e-01, -1.0283622e-01, -1.1308694e-01, --1.4206672e-01, -8.1046541e-02, 1.0333071e-01, 1.0000000e+04, 1.5524321e-01, --1.2845172e-01, -1.2796905e-01, 1.1385063e-01, 1.0000000e+04, -1.1872361e-01, --1.5596377e-01, -8.2175907e-02, 1.0463051e-01, 1.0000000e+04, 1.4266334e-01, --1.1809773e-01, -1.4274260e-01, 1.0451399e-01, 7.0710678e+03, 4.4721137e+03, -3.1664528e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0824316e-01, --1.2193486e-01, -3.1621952e+03, 3.1621952e+03, 5.1465433e+03, 1.0000000e+04, --3.1701189e+03, -3.1621952e+03, 4.4721137e+03, 1.0000000e+04, 3.1621955e+03, --3.1664528e+03, -1.7814849e-01, -1.6367246e-01, 1.2772450e-01, 7.0710678e+03, -4.4807683e+03, 3.1805169e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -7.0682278e-02, -4.4721137e+03, 4.4721137e+03, 7.0710678e+03, -5.1465433e+03, -1.0000000e+04, -4.4758646e+03, -9.2490697e-02, 1.1591788e-01, 1.5596377e-01, -1.4206672e-01, -1.1639930e-01, -1.2770703e-01, 1.0283622e-01, 1.0000000e+04, -1.4274260e-01, 1.1925800e-01, -1.3314513e-01, -1.1394861e-01, 1.1308694e-01, -1.0000000e+04, 1.2796905e-01, -1.3123181e-01, -1.0212614e-01, -1.6304718e-01, -1.2562400e-01, 1.0000000e+04, 1.7814849e-01, 8.1046541e-02, -1.4875994e-01, --1.4300339e-01, -9.4959558e-02, 1.1872361e-01, 1.2845172e-01, 1.0000000e+04, --1.7890763e-01, 1.2596141e-01, 1.0000000e+04, 1.6367246e-01, 8.2175907e-02, --1.3681143e-01, -1.5910730e-01, -9.7735705e-02, 1.2193486e-01, 1.1809773e-01, -1.0000000e+04, 1.0742179e-01, -1.2242478e-01, -1.0824316e-01, 1.3131057e-01, -7.0710678e+03, 4.4721137e+03, 3.1640235e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, -1.2088866e-01, -3.1621940e+03, 5.1465433e+03, 1.0000000e+04, -3.1621952e+03, -3.1805169e+03, -3.1621955e+03, 3.1621956e+03, 4.4721137e+03, -1.0000000e+04, -3.1640235e+03, -1.7350735e-01, -1.6044994e-01, 7.0710678e+03, -4.4758643e+03, 3.1701183e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.4903125e-01, -1.2772450e-01, -4.4721132e+03, 7.0710678e+03, -5.1465433e+03, -1.0000000e+04, 4.4721137e+03, -4.4807683e+03, 1.2386938e-01, 1.7890763e-01, -1.6304718e-01, 9.2490697e-02, -1.3508390e-01, -1.4804153e-01, -1.0798073e-01, -1.3314513e-01, 1.1639930e-01, 1.5910730e-01, 1.1845977e-01, -1.2860539e-01, --1.0633205e-01, 1.3123181e-01, 1.2770703e-01, 1.0000000e+04, 1.2871086e-01, -1.4300339e-01, -1.1566153e-01, -1.1925800e-01, 1.4342692e-01, 1.0000000e+04, -1.2242478e-01, -1.3213141e-01, -9.5863716e-02, 1.0212614e-01, 1.1394861e-01, -1.0000000e+04, 1.4701368e-01, 1.3415792e-01, -1.4834728e-01, -1.5983067e-01, -1.0000000e+04, 1.7350735e-01, 1.4790817e-01, -1.2562400e-01, -1.4671586e-01, --1.6394595e-01, 1.2422293e-01, 1.4875994e-01, 1.0000000e+04, 1.1734926e-01, -9.4959558e-02, -1.7425525e-01, 1.0000000e+04, 1.6044994e-01, 1.4841602e-01, --1.2596141e-01, -1.3588434e-01, -1.8212204e-01, 1.2519039e-01, 1.3681143e-01, -1.0000000e+04, 1.0826153e-01, 9.7735705e-02, -1.3867612e-01, -1.0742179e-01, --9.8434055e-02, 1.2088866e-01, 1.3198740e-01, 1.0000000e+04, -1.0783877e-01, -7.0710678e+03, 4.4721137e+03, 3.1621956e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, -1.2145607e-01, -1.3131057e-01, 5.1465433e+03, 1.0000000e+04, --3.1621939e+03, 3.1621940e+03, -3.1701183e+03, 7.0710678e+03, -5.1465433e+03, -1.0000000e+04, -4.4721132e+03, 4.4721132e+03, -4.4758643e+03, -1.7189507e-01, --1.5971609e-01, -1.4903125e-01, 7.0710678e+03, 4.4721132e+03, 3.1621939e+03, -7.0710678e+03, 4.4721137e+03, 3.1621956e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, 1.0000000e+04, 1.7425525e-01, 1.5983067e-01, 1.4729656e-01, --1.2386938e-01, -1.3416325e-01, -1.4599851e-01, 1.2310596e-01, 1.3508390e-01, -1.0000000e+04, 1.8212204e-01, 1.1933228e-01, 1.0798073e-01, -1.4899185e-01, -1.2247802e-01, 1.4804153e-01, 1.0000000e+04, 1.3065475e-01, 1.6394595e-01, -1.0633205e-01, -1.3430757e-01, -1.1845977e-01, -1.0870423e-01, 1.3213141e-01, -1.4412718e-01, 1.3867612e-01, -1.1041938e-01, -1.2172140e-01, 1.4834728e-01, -1.1566153e-01, 1.2860539e-01, 1.0000000e+04, 1.4693877e-01, 1.3339106e-01, --1.2871086e-01, -1.0765585e-01, 1.0000000e+04, -1.0069582e-01, 7.0710678e+03, -4.4721137e+03, 3.1621956e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.0783877e-01, -1.3271674e-01, -1.4342692e-01, -8.2734975e-02, -1.3415792e-01, -1.6000083e-01, 9.5863716e-02, 1.0000000e+04, 1.4607673e-01, -1.4737777e-01, --1.4701368e-01, 1.7580768e-01, 1.0000000e+04, 1.3493007e-01, -1.4827035e-01, --1.5909898e-01, -1.4790817e-01, 7.0710678e+03, 4.4721137e+03, 3.1621956e+03, -1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.7189507e-01, -1.4679127e-01, --1.6073291e-01, 1.4671586e-01, 1.0000000e+04, 9.7219855e-02, 1.4798698e-01, --1.2422293e-01, -1.1734926e-01, -1.4729556e-01, 1.4673781e-01, 1.1043258e-01, -1.0000000e+04, -1.7263779e-01, -1.4841602e-01, 1.0000000e+04, 1.5971609e-01, --1.3664868e-01, -1.7744068e-01, 1.3588434e-01, 1.0000000e+04, 1.4938955e-01, --1.2519039e-01, -1.6152086e-01, -1.0826153e-01, 1.3512256e-01, 1.0000000e+04, -9.8434055e-02, -1.2401135e-01, -1.0014932e-01, 1.2145607e-01, 1.0000000e+04, --1.3198740e-01, -1.4729656e-01, 1.0000000e+04, 1.7263779e-01, 1.5909898e-01, --1.3493007e-01, -1.4607673e-01, 1.3416325e-01, 1.0000000e+04, 1.7744068e-01, -1.0069582e-01, 1.4827035e-01, -1.2310596e-01, -1.4693877e-01, 1.4599851e-01, -1.1041938e-01, 1.6073291e-01, 1.4737777e-01, -1.2247802e-01, -1.3339106e-01, --1.1933228e-01, 1.4729556e-01, 1.0765585e-01, 1.0000000e+04, 1.6152086e-01, -1.0870423e-01, -1.3065475e-01, 1.2172140e-01, 1.3430757e-01, 1.4899185e-01, -1.4899185e-01, 1.3430757e-01, 1.2172140e-01, -1.3065475e-01, 1.6152086e-01, -1.0870423e-01, 1.0000000e+04, 1.4729556e-01, 1.0765585e-01, -1.1933228e-01, --1.1043258e-01, 1.3271674e-01, 1.0000000e+04, 1.2401135e-01, -1.4412718e-01, --9.7219855e-02, -1.3339106e-01, -1.2247802e-01, 1.4737777e-01, 1.6073291e-01, -1.1041938e-01, 1.4599851e-01, -1.4693877e-01, -1.2310596e-01, 1.4827035e-01, -1.7744068e-01, 1.0069582e-01, 1.0000000e+04, 1.3416325e-01, 8.2734975e-02, -7.0710678e+03, 4.4721137e+03, 3.1621956e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, 1.4679127e-01, -1.4798698e-01, -1.6000083e-01, -1.4607673e-01, --1.3493007e-01, 1.5909898e-01, 1.7263779e-01, 1.0000000e+04, -1.4729656e-01, -1.0000000e+04, 1.3664868e-01, -1.4938955e-01, -1.7580768e-01, -1.6000083e-01, --1.4798698e-01, 1.4679127e-01, 7.0710678e+03, 4.4721137e+03, 3.1621956e+03, -1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 8.2734975e-02, -9.7219855e-02, --1.4412718e-01, 1.2401135e-01, 1.0000000e+04, 1.3271674e-01, -1.1043258e-01, --1.3512256e-01, 1.0014932e-01, 1.0000000e+04, -1.4673781e-01, -1.7580768e-01, --1.4938955e-01, 1.3664868e-01, 1.0000000e+04, -1.4673781e-01, 1.0000000e+04, -1.0014932e-01, -1.3512256e-01, -1.4827035e-01, 1.3493007e-01, 1.0000000e+04, -1.7580768e-01, -1.4701368e-01, -1.4737777e-01, 1.4607673e-01, 1.0000000e+04, -9.5863716e-02, 1.6000083e-01, -1.3415792e-01, -1.0069582e-01, 1.0000000e+04, --1.0765585e-01, -1.2871086e-01, 1.3339106e-01, 1.4693877e-01, 1.0000000e+04, -1.2860539e-01, 1.1566153e-01, 1.4834728e-01, -1.2172140e-01, -1.1041938e-01, -1.3867612e-01, 1.4412718e-01, 1.3213141e-01, -1.0870423e-01, -1.1845977e-01, -1.0000000e+04, 1.4673781e-01, 1.1043258e-01, -1.4729556e-01, -1.1734926e-01, --1.3430757e-01, 1.6394595e-01, 1.0633205e-01, 1.3065475e-01, 1.0000000e+04, -1.4804153e-01, 1.2247802e-01, -1.4899185e-01, 1.8212204e-01, 1.0798073e-01, -1.1933228e-01, 1.0000000e+04, 1.3508390e-01, 1.2310596e-01, 9.8434055e-02, -1.0000000e+04, 1.3512256e-01, -1.6152086e-01, -1.0826153e-01, -1.2422293e-01, -1.4798698e-01, 9.7219855e-02, 1.0000000e+04, 1.4671586e-01, -1.6073291e-01, --1.4599851e-01, -1.3416325e-01, -1.2386938e-01, 1.4729656e-01, 1.5983067e-01, -1.7425525e-01, -1.2519039e-01, 1.4938955e-01, 1.0000000e+04, 1.3588434e-01, --1.7744068e-01, -1.4679127e-01, 1.7189507e-01, 7.0710678e+03, 4.4721137e+03, -3.1621956e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.4790817e-01, --1.5909898e-01, -1.3664868e-01, 1.5971609e-01, 1.0000000e+04, -1.4841602e-01, --1.7263779e-01, -8.2734975e-02, -1.4342692e-01, -1.3271674e-01, 1.0783877e-01, -7.0710678e+03, 4.4721137e+03, 3.1621956e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, -1.3198740e-01, 1.0000000e+04, 1.2145607e-01, -1.2401135e-01, --1.0014932e-01, -1.4834728e-01, 1.3415792e-01, 1.4701368e-01, 1.0000000e+04, -1.1394861e-01, 1.0212614e-01, -9.5863716e-02, -1.3213141e-01, 1.2242478e-01, -1.0000000e+04, 1.4342692e-01, -1.1925800e-01, -1.1566153e-01, 1.4300339e-01, -1.2871086e-01, 1.0000000e+04, 1.2770703e-01, 1.3123181e-01, -1.0633205e-01, --1.2860539e-01, 1.5910730e-01, 1.1845977e-01, 1.1639930e-01, 1.3314513e-01, --1.0798073e-01, 1.0000000e+04, 1.3198740e-01, 1.2088866e-01, -1.3867612e-01, --9.8434055e-02, -1.0742179e-01, 9.4959558e-02, 1.1734926e-01, 1.0000000e+04, -1.4875994e-01, 1.2422293e-01, -1.6394595e-01, -1.4804153e-01, -1.3508390e-01, -1.6304718e-01, 1.7890763e-01, 9.2490697e-02, 1.2386938e-01, 9.7735705e-02, -1.0826153e-01, 1.0000000e+04, 1.3681143e-01, 1.2519039e-01, -1.8212204e-01, --1.4671586e-01, -1.2562400e-01, 1.4790817e-01, 1.7350735e-01, 1.0000000e+04, --1.5983067e-01, -1.3588434e-01, -1.2596141e-01, 1.4841602e-01, 1.6044994e-01, -1.0000000e+04, -1.7425525e-01, 7.0710678e+03, 4.4721137e+03, 3.1621956e+03, -7.0710678e+03, 4.4721132e+03, 3.1621939e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, 1.0000000e+04, -1.4903125e-01, -1.5971609e-01, -1.7189507e-01, --1.3131057e-01, -1.2145607e-01, 7.0710678e+03, 4.4721137e+03, 3.1621956e+03, -1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.0783877e-01, -1.1394861e-01, --1.3314513e-01, 1.4274260e-01, 1.1925800e-01, 1.0000000e+04, 1.0283622e-01, --1.0212614e-01, -1.3123181e-01, 1.2796905e-01, 1.0000000e+04, 1.1308694e-01, --1.2088866e-01, 7.0710678e+03, 4.4721137e+03, 3.1640235e+03, 1.0000000e+04, -1.0000000e+04, 1.0000000e+04, 1.3131057e-01, -1.2242478e-01, -1.0824316e-01, -1.0000000e+04, 1.2845172e-01, 1.1872361e-01, -1.4300339e-01, -9.4959558e-02, --1.2770703e-01, -1.1639930e-01, 1.4206672e-01, 1.5596377e-01, 1.1591788e-01, --9.2490697e-02, 1.0742179e-01, 1.0000000e+04, 1.1809773e-01, 1.2193486e-01, --1.5910730e-01, -9.7735705e-02, -1.4875994e-01, 1.7814849e-01, 8.1046541e-02, -1.0000000e+04, 1.2562400e-01, -1.6304718e-01, -1.3681143e-01, 1.6367246e-01, -8.2175907e-02, 1.0000000e+04, 1.2596141e-01, -1.7890763e-01, -1.2772450e-01, -1.4903125e-01, 7.0710678e+03, 4.4758643e+03, 3.1701183e+03, 1.0000000e+04, -1.0000000e+04, 1.0000000e+04, -1.6044994e-01, -1.7350735e-01, 4.4721132e+03, --4.4721132e+03, 7.0710678e+03, -5.1465433e+03, 1.0000000e+04, -4.4758643e+03, -3.1621940e+03, -3.1621939e+03, 5.1465433e+03, 1.0000000e+04, -3.1701183e+03, --1.2193486e-01, 1.0824316e-01, 7.0710678e+03, 4.4721137e+03, 3.1664528e+03, -1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0451399e-01, -1.4274260e-01, --1.1308694e-01, -1.0283622e-01, -1.1591788e-01, 1.2700513e-01, 1.3964801e-01, -1.0000000e+04, -1.1872361e-01, 1.0000000e+04, 1.1385063e-01, -1.2796905e-01, -4.4721137e+03, 1.0000000e+04, 3.1621956e+03, -3.1621955e+03, -3.1640235e+03, --1.2845172e-01, 1.5524321e-01, 1.0000000e+04, 1.0333071e-01, -1.4206672e-01, --8.1046541e-02, -1.1809773e-01, 1.4266334e-01, 1.0000000e+04, 1.0463051e-01, --1.5596377e-01, -8.2175907e-02, 7.0682278e-02, 7.0710678e+03, 4.4807683e+03, -3.1805169e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.2772450e-01, --1.6367246e-01, -1.7814849e-01, 4.4721137e+03, 7.0710678e+03, -5.1465433e+03, -1.0000000e+04, -4.4721132e+03, -4.4807683e+03, 3.1621952e+03, 5.1465433e+03, -1.0000000e+04, -3.1621940e+03, -3.1805169e+03, 3.1621955e+03, 4.4721137e+03, -1.0000000e+04, -3.1621952e+03, -3.1664528e+03, -1.0451399e-01, -1.0463051e-01, -1.2758139e-01, 7.0710678e+03, 4.4721137e+03, 3.1640234e+03, 1.0000000e+04, -1.0000000e+04, 1.0000000e+04, -1.3964801e-01, -1.1385063e-01, -1.0333071e-01, -1.3895442e-01, 1.0000000e+04, -1.2700513e-01, 7.0710678e+03, 4.4758646e+03, -3.1701189e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 9.1989026e-02, --1.4266334e-01, -1.5524321e-01, -7.0682278e-02, 7.0710678e+03, -5.1465433e+03, -1.0000000e+04, 4.4721137e+03, -4.4721137e+03, -4.4758646e+03, 5.1465433e+03, -1.0000000e+04, 3.1621952e+03, -3.1621952e+03, -3.1701189e+03, 3.1621952e+03, --3.1621952e+03, 4.4721137e+03, 1.0000000e+04, -3.1640234e+03, -9.1989026e-02, -7.0710678e+03, 4.4721137e+03, 3.1621952e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, -1.2758139e-01, -1.3895442e-01 }; +1.2172140e-01, 7.0710678e+03, 7.0710678e+03, 1.0000000e+04, 1.0000000e+04, +1.0000000e+04, 1.0000000e+04, 1.2172140e-01, 7.0710678e+03, 7.0710678e+03, +1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.4834728e-01, +-1.2172140e-01, -1.2172140e-01, 1.4834728e-01, 7.0710678e+03, 7.0710678e+03, +1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.4834728e-01, +7.0710678e+03, 9.9996259e+03, 1.0000000e+04, 7.0710678e+03, 1.0000000e+04, +1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 7.0710678e+03, 7.0710678e+03, +9.9996259e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, +1.0000000e+04, -1.4834728e-01 }; const int MPT_NC[] PROGMEM = { -9, 5, 10, 5, 10, -6, 6, 4, 6, 10, -5, 5, 10, 6, 6, -6, 5, 6, 5, 6, -6, 10, 5, 5, 10, -6, 6, 6, 7, 6, -6, 6, 6, 6, 6, -6, 9, 5, 6, 13, -6, 7, 7, 6, 7, -4, 10, 6, 5, 10, -6, 5, 5, 5, 5, -5, 6, 7, 6, 7, -6, 7, 6, 6, 7, -10, 6, 4, 10, 6, -4, 4, 4, 5, 6, -4, 7, 6, 5, 7, -7, 5, 6, 6, 5, -10, 5, 10, 5, 6, -6, 7, 6, 6, 6, -6, 6, 6, 6, 13, -9, 6, 5, 10, 5, -6, 6, 6, 6, 10, -6, 5, 10, 6, 4, -5, 6, 6, 10, 6, -5, 5, 10, 5, 10, -6, 5, 5, 9 }; +8, 8, 8, 9, 9 +}; const float MPT_F[] PROGMEM = { -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -6.3618820e+00, -2.2459502e+02, -3.6852726e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 7.1042831e+00, -2.4457143e+02, -3.9153690e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.2841140e+05, -3.8522632e+05, -3.8371043e+03, 0.0000000e+00, 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0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 7.1042831e+00, -2.3756088e+02, -3.6959139e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 5.5432465e+00, --1.9638280e+02, -3.2328552e+01, -6.8479712e+00, 2.4260579e+02, 3.9937786e+01, -7.1903322e+00, -2.4096420e+02, -3.7574805e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 6.3823383e+00, -2.1979587e+02, -3.5196807e+01, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 5.6226667e+00, -1.9951011e+02, -3.2892355e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 6.9588145e+00, -2.3327526e+02, --3.6389185e+01, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 6.1643997e+00, --2.1255901e+02, -3.4081082e+01, -7.6153263e+00, 2.6258944e+02, 4.2102813e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 6.9164460e+00, -2.3208992e+02, -3.6238511e+01, -8.5443832e+00, -2.8671738e+02, 4.4768040e+01, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 5.3848450e+00, -1.9180933e+02, --3.1733570e+01, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 6.8607153e+00, --2.3044873e+02, -3.6020404e+01, -8.4755351e+00, 2.8468990e+02, 4.4498595e+01, -6.0753667e+00, -2.1001053e+02, -3.3751631e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 7.8766090e+00, -2.6492238e+02, -4.1463390e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.2841140e+05, -2.5682122e+05, -1.2810668e+03, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 3.2153807e+04, -9.6459448e+04, --9.6079874e+02, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 6.5450076e+00, -2.2531786e+02, -3.6071366e+01, --8.0855186e+00, 2.7835135e+02, 4.4561553e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -6.7892413e+00, -2.3343210e+02, -3.7323176e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 6.0032591e+00, -2.1226462e+02, -3.4881232e+01, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 5.9124557e+00, --2.0872882e+02, -3.4249316e+01, -7.3040818e+00, 2.5785773e+02, 4.2310644e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 1.2841140e+05, -3.8522632e+05, -3.8371043e+03, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 7.5490076e+00, -2.5331631e+02, --3.9552799e+01, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -5.9397388e+00, -2.1042948e+02, -3.4640919e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 7.4840827e+00, -2.5138740e+02, -3.9293232e+01, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 6.6599679e+00, -2.2964705e+02, -3.6820928e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 7.1874573e+00, --2.4174341e+02, -3.7835615e+01, -8.8791830e+00, 2.9864302e+02, 4.6741057e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 5.0832974e+04, -1.0166532e+05, -5.0712347e+02, --6.2797629e+04, 1.2559449e+05, 6.2648610e+02, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.2728415e+04, -3.8184464e+04, -3.8034206e+02, -1.5724327e+04, 4.7172015e+04, -4.6986391e+02, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 5.0832974e+04, --1.5249580e+05, -1.5189572e+03, -6.2797629e+04, 1.8838903e+05, 1.8764771e+03, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 7.1042831e+00, -2.4457143e+02, -3.9153690e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 6.3618820e+00, -2.2459502e+02, -3.6852726e+01, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 7.8766090e+00, -2.6492238e+02, -4.1463390e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.2841140e+05, -2.5682122e+05, -1.2810668e+03, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 3.2153807e+04, -9.6459448e+04, --9.6079874e+02, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 1.2841140e+05, -3.8522632e+05, -3.8371043e+03, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +3.7750381e+01, 6.3618820e+00, -2.1204296e+02, -3.2880720e+01, 0.0000000e+00, +0.0000000e+00, 0.0000000e+00, 6.3618820e+00, -2.1204296e+02, -3.2880720e+01, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00 }; +0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00 +}; const float MPT_G[] PROGMEM = { --3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --1.6381611e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -1.6130791e+00, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -1.2841142e+09, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -5.3227337e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.6017534e-02, -3.0000000e+01, -5.1591655e-02, --3.0000000e+01, -3.4960128e+00, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --3.1202736e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 1.9308683e-01, -2.3853405e-01, -3.3663248e+00, 3.0000000e+01, --3.1942680e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 4.2564978e-01, -5.2583579e-01, 3.0000000e+01, -3.0000000e+01, -3.2153809e+08, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 5.0832984e+08, -6.2797642e+08, -3.0000000e+01, -3.0000000e+01, -6.9817364e+00, 8.6250411e+00, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 1.2841141e+09, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -1.7181011e+00, -3.0000000e+01, -1.6364983e+00, -3.0000000e+01, -1.5485846e+00, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 1.7955880e+00, -2.2182191e+00, 1.6645618e+00, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 1.6963948e+00, -3.0000000e+01, -1.5825300e+00, -1.9550131e+00, -5.2379373e+00, 6.4708007e+00, 3.0000000e+01, --3.0000000e+01, -4.6483190e+00, -3.0000000e+01, -1.4441660e+00, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -1.2909582e+00, 1.5948135e+00, -5.1086242e+00, -6.3110510e+00, -4.8282165e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --1.1991136e+00, 3.0000000e+01, -1.1495962e+00, 1.4201789e+00, 3.0000000e+01, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 2.5371228e+00, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 1.2728415e+08, -1.5724326e+08, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -1.2841143e+09, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -9.9795922e+00, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -5.0832974e+08, -6.2797629e+08, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.5219333e+00, 4.3508976e+00, -3.3275489e+00, -3.0000000e+01, --3.1302912e+00, -3.0000000e+01, 2.4245252e-01, 3.0000000e+01, 2.1305034e-01, --2.6319640e-01, 1.8456136e-01, -3.0000000e+01, 1.2467036e-01, 3.0000000e+01, -1.0514253e-01, -3.0000000e+01, 9.5068259e-02, -1.1744466e-01, -3.0000000e+01, -3.0000000e+01, 3.9196804e+00, 3.0000000e+01, 3.6547656e+00, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 3.2920777e+00, -4.0669404e+00, 3.0769136e+00, --3.8011327e+00, -7.9379602e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --7.0168247e+00, -3.0000000e+01, -3.2422172e+00, 4.0053442e+00, 3.0000000e+01, --3.0000000e+01, -2.8664279e+00, 3.5411046e+00, -7.7792671e+00, -3.0000000e+01, --7.3327762e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -2.9907429e+00, -3.6946798e+00, -2.8289988e+00, 3.4948657e+00, 3.0000000e+01, -3.0000000e+01, -7.7218343e-01, 3.0000000e+01, 7.1023890e-01, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.2153802e+08, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 1.2841140e+09, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --5.9377393e+00, -3.0000000e+01, -5.5923108e+00, -3.0000000e+01, -5.2486125e+00, --3.0000000e+01, -1.5894631e+00, 1.9635780e+00, -1.5035024e+00, 1.8573847e+00, --1.4207708e+00, -3.0000000e+01, -1.7136118e+00, 2.1169480e+00, -1.6172667e+00, --3.0000000e+01, -1.5149956e+00, 1.8715830e+00, 2.2377114e+00, 3.0000000e+01, -2.0953391e+00, 3.0000000e+01, 1.9483870e+00, -3.0000000e+01, 1.8459251e+00, -3.0000000e+01, 1.7287396e+00, -2.1356364e+00, 1.6157524e+00, -1.9960552e+00, -1.9819268e+00, 3.0000000e+01, 1.8604734e+00, -3.0000000e+01, 1.7516409e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -5.4464788e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 5.3882451e+00, -3.0000000e+01, 5.0400093e+00, -6.2262860e+00, -3.0000000e+01, 3.0000000e+01, -5.2228117e+00, -6.4521150e+00, 4.8990951e+00, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -9.1383290e+00, -3.0000000e+01, --5.5943680e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -4.9274050e+00, -6.0871778e+00, -1.6678938e+00, 2.0604692e+00, 3.0000000e+01, -3.0000000e+01, --1.4607834e+00, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -9.5756569e+00, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -5.2856540e+00, -3.0000000e+01, --4.9801580e+00, 6.1523474e+00, 3.0000000e+01, -3.0000000e+01, -1.3148224e+00, -1.6242947e+00, -1.2469793e+00, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -2.5821883e+00, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -7.6260377e+00, -3.0000000e+01, --7.1508378e+00, -3.0000000e+01, -3.6779812e+00, -3.0000000e+01, -3.4604985e+00, -4.2750027e+00, -3.2509673e+00, -3.0000000e+01, -3.8310276e+00, -3.0000000e+01, --3.6012147e+00, -3.0000000e+01, -3.3695393e+00, 4.1626342e+00, 1.1766914e-01, --1.4536516e-01, 1.0784894e-01, 3.0000000e+01, 8.9408793e-02, -3.0000000e+01, --3.5527137e-15, 0.0000000e+00, 7.1054274e-15, 0.0000000e+00, -3.5527137e-15, -0.0000000e+00, -1.1766914e-01, 1.4536516e-01, -1.0784894e-01, -3.0000000e+01, --8.9408793e-02, 3.0000000e+01, 4.0414091e+00, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.5428710e+00, -3.0000000e+01, 3.8310276e+00, 3.0000000e+01, -3.6012147e+00, 3.0000000e+01, 3.3695393e+00, -4.1626342e+00, 3.6779812e+00, -3.0000000e+01, 3.4604985e+00, -4.2750027e+00, 3.2509673e+00, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 6.7772422e+00, --8.3724148e+00, -3.0000000e+01, 3.0000000e+01, 7.6260377e+00, 3.0000000e+01, -7.1508378e+00, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 6.9100842e+00, --8.5365241e+00, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -6.7772422e+00, 8.3724148e+00, -4.0414091e+00, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.5428710e+00, 3.0000000e+01, --2.3155684e-01, 2.8605882e-01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -6.9100842e+00, 8.5365241e+00, -3.0000000e+01, -3.0000000e+01, 2.3155684e-01, -2.8605882e-01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --5.2228117e+00, 6.4521150e+00, -4.8990951e+00, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -5.3882451e+00, -3.0000000e+01, -5.0400093e+00, 6.2262860e+00, --1.9819268e+00, -3.0000000e+01, -1.8604734e+00, 3.0000000e+01, -1.7516409e+00, --3.0000000e+01, -1.8459251e+00, -3.0000000e+01, -1.7287396e+00, 2.1356364e+00, --1.6157524e+00, 1.9960552e+00, -2.2377114e+00, -3.0000000e+01, -2.0953391e+00, --3.0000000e+01, -1.9483870e+00, 3.0000000e+01, 1.6678938e+00, -2.0604692e+00, --3.0000000e+01, 3.0000000e+01, 1.4607834e+00, -3.0000000e+01, 1.7136118e+00, --2.1169480e+00, 1.6172667e+00, 3.0000000e+01, 1.5149956e+00, -1.8715830e+00, -1.5894631e+00, -1.9635780e+00, 1.5035024e+00, -1.8573847e+00, 1.4207708e+00, -3.0000000e+01, 1.3148224e+00, -1.6242947e+00, 1.2469793e+00, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 5.5943680e+00, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 4.9274050e+00, -6.0871778e+00, 5.9377393e+00, 3.0000000e+01, -5.5923108e+00, 3.0000000e+01, 5.2486125e+00, 3.0000000e+01, 5.2856540e+00, -3.0000000e+01, 4.9801580e+00, -6.1523474e+00, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 9.1383290e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 9.5756569e+00, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -5.4464788e+00, 3.0000000e+01, -2.5821883e+00, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.2920777e+00, 4.0669404e+00, -3.0769136e+00, 3.8011327e+00, -3.0000000e+01, -3.0000000e+01, -3.9196804e+00, -3.0000000e+01, -3.6547656e+00, -3.0000000e+01, -1.2467036e-01, -3.0000000e+01, -1.0514253e-01, 3.0000000e+01, --9.5068259e-02, 1.1744466e-01, -2.4245252e-01, -3.0000000e+01, -2.1305034e-01, -2.6319640e-01, -1.8456136e-01, 3.0000000e+01, -7.7218343e-01, -3.0000000e+01, --7.1023890e-01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.2422172e+00, --4.0053442e+00, -3.0000000e+01, 3.0000000e+01, 2.8664279e+00, -3.5411046e+00, -3.5219333e+00, -4.3508976e+00, 3.3275489e+00, 3.0000000e+01, 3.1302912e+00, -3.0000000e+01, 2.9907429e+00, -3.6946798e+00, 2.8289988e+00, -3.4948657e+00, --3.0000000e+01, 3.0000000e+01, 7.9379602e+00, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 7.0168247e+00, 3.0000000e+01, 7.7792671e+00, 3.0000000e+01, -7.3327762e+00, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -1.7955880e+00, 2.2182191e+00, --1.6645618e+00, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -1.6963948e+00, -3.0000000e+01, -1.5825300e+00, 1.9550131e+00, 3.0000000e+01, -3.0000000e+01, --2.5371228e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 1.4441660e+00, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 1.2909582e+00, -1.5948135e+00, -1.7181011e+00, -3.0000000e+01, 1.6364983e+00, 3.0000000e+01, 1.5485846e+00, -3.0000000e+01, 1.1991136e+00, -3.0000000e+01, 1.1495962e+00, -1.4201789e+00, --3.0000000e+01, 3.0000000e+01, 5.2379373e+00, -6.4708007e+00, -3.0000000e+01, -3.0000000e+01, 4.6483190e+00, 3.0000000e+01, 5.1086242e+00, -6.3110510e+00, -4.8282165e+00, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 9.9795922e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --1.2841140e+09, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.2153802e+08, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -4.2564978e-01, -5.2583579e-01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.6017534e-02, 3.0000000e+01, 5.1591655e-02, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -1.9308683e-01, 2.3853405e-01, -3.0000000e+01, -3.0000000e+01, -1.2841143e+09, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.4960128e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.1202736e+00, 3.0000000e+01, 3.3663248e+00, -3.0000000e+01, 3.1942680e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 6.9817364e+00, -8.6250411e+00, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -5.0832974e+08, -6.2797629e+08, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --1.2728415e+08, 1.5724326e+08, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -5.0832984e+08, 6.2797642e+08, --3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 1.6130791e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 1.6381611e+00, 3.0000000e+01, 5.3227337e+00, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --1.2841141e+09, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.2153809e+08, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -1.2841142e+09, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01 }; +-3.5527137e-15, 0.0000000e+00, -1.8459251e+00, -3.0000000e+01, 1.8459251e+00, +3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01 +}; diff --git a/examples/BicopShield/BicopShield_EMPC/ectrl_due.h b/examples/BicopShield/BicopShield_EMPC/ectrl_due.h new file mode 100644 index 00000000..db74230c --- /dev/null +++ b/examples/BicopShield/BicopShield_EMPC/ectrl_due.h @@ -0,0 +1,1366 @@ +/* + MATRICES FOR EXPLICIT MPC POLYTOPES AND CORRESPONDING PWA LAWS + + The automatically generated set of matrices have been adapted from + the C code auto-generation routine of the Multi-Parametric Toolbox 3 + MPT3) of Kvasnica et al. for MATLAB. Please see http://www.mpt3.org + for more information. Please see the original "toC.m" for more details + in the MPT3. + + The following C code has been slightly adapted to perform microcontroller + architecutre-specific changes for AVR and ARM Cortex-A devices. + + The list of changes from the original are as follows: + - Changed "static" modifiers to "const" so microcontrollers will + prefer to use ROM instead of RAM. + - Added PROGMEM functionality for the AVR architecture, and calling + the necessary headers. + - Removed the possibility to use PWQ, this only handles PWA. + - Removed matrix export for the tie-breaking function. + + Usage: include alongside with the empcSequential.h header to your + example. + + This code snippet has been altered for the needs of the + the AutomationShield hardware and software ecosystem. + Visit http://www.automationshield.com for more details. + + + Copyright (C) 2005 by Michal Kvasnica (michal.kvasnica@stuba.sk) + Revised in 2012-2013 by Martin Herceg (herceg@control.ee.ethz.ch) + Adapted for MCU use by Gergely Tak�cs in 2020 (gergely.takacs@stuba.sk) +*/ +#define MPT_NR 129 +#define MPT_DOMAIN 3 +#define MPT_RANGE 6 +#define MPT_ABSTOL 1.000000e-08 + +const float MPT_A[] = { +-2.7941309e-02, 9.8641862e-01, 1.6185672e-01, -2.8670865e-02, 9.8702068e-01, +1.5801315e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, +8.9441719e-01, 4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, +-1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +-1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9361501e-02, +-9.8754664e-01, -1.5456238e-01, -2.8707816e-02, 9.8705077e-01, 1.5781835e-01, +-1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7941309e-02, -9.8641862e-01, +-1.6185672e-01, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -2.7941309e-02, +9.8641862e-01, 1.6185672e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, +-7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, +4.4615011e-03, -3.1638477e-01, 9.4858479e-01, 9.3580493e-03, -1.0000000e+00, +0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, +1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8670865e-02, -9.8702068e-01, +-1.5801315e-01, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.8670865e-02, +9.8702068e-01, 1.5801315e-01, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, +0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 3.1621947e-01, -9.4863900e-01, +-9.4490605e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, 3.1638477e-01, +-9.4858479e-01, -9.3580493e-03, -2.7841079e-02, 9.8633695e-01, 1.6237087e-01, +-2.8623413e-02, 9.8698410e-01, 1.5825010e-01, 2.9361501e-02, -9.8754664e-01, +-1.5456238e-01, -2.9361501e-02, 9.8754664e-01, 1.5456238e-01, -7.0710678e-01, +7.0710678e-01, 0.0000000e+00, -4.4755899e-01, 8.9424397e-01, 4.3207198e-03, +-3.1693421e-01, 9.4840421e-01, 9.0639411e-03, -1.0000000e+00, 0.0000000e+00, +0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, +0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, +2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.8707816e-02, -9.8705077e-01, +-1.5781835e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.8707816e-02, +9.8705077e-01, 1.5781835e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, +-2.8660499e-02, 9.8701434e-01, 1.5805462e-01, 2.9431206e-02, -9.8760061e-01, +-1.5420392e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, -1.0000000e+00, +0.0000000e+00, 0.0000000e+00, 2.7841079e-02, -9.8633695e-01, -1.6237087e-01, +-2.7841079e-02, 9.8633695e-01, 1.6237087e-01, -2.8763969e-02, 9.8709643e-01, +1.5752230e-01, 2.7941309e-02, -9.8641862e-01, -1.6185672e-01, -1.0000000e+00, +0.0000000e+00, 0.0000000e+00, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, +-2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9401253e-02, -9.8757655e-01, +-1.5436364e-01, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, 1.0000000e+00, +0.0000000e+00, 0.0000000e+00, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, 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-3.0000000e+01, +-3.0000000e+01, 3.0000000e+01, 1.6381611e+00, 3.0000000e+01, 5.3227337e+00, +-3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, +-1.2841141e+09, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, +3.0000000e+01, -3.2153809e+08, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, +-3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -1.2841142e+09, +3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, +-3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01 }; + diff --git a/matlab/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC_Simulation.m b/matlab/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC_Simulation.m index 2cae3d9f..6f6dbb60 100644 --- a/matlab/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC_Simulation.m +++ b/matlab/examples/BicopShield/BicopShield_EMPC/BicopShield_EMPC_Simulation.m @@ -68,7 +68,7 @@ xhat = zeros(2,1); % States estimated by Kalman filter yhat = zeros(1,1); % Outputs estimated by Kalman filter Y = zeros(1,1); -kalmanrychlost=zeros(1,length(measuredOutput)); +%kalmanrychlost=zeros(1,length(measuredOutput)); disp('Simulating...') for k=1:length(t)-1 Rr(k)=R(i); % Original reference, just for logging @@ -168,7 +168,7 @@ %% export controller files for usage in arduino example and Python if exportempc ectrl.exportToC('ectrl','cmpc') % Export to C - empcToC(ectrl,'AVR'); % Export to code, for ARM MCU use 'generic', for AVR use 'AVR' + empcToC(ectrl,'generic'); % Export to code, for ARM MCU use 'generic', for AVR use 'AVR' % empcToPython(ectrl); % Export to code suitable for Python end diff --git a/matlab/examples/BicopShield/BicopShield_EMPC/BicopShield_GreyboxModel_LinearSS.mat b/matlab/examples/BicopShield/BicopShield_EMPC/BicopShield_GreyboxModel_LinearSS.mat new file mode 100644 index 0000000000000000000000000000000000000000..6e330b2611eeb66429dad382eb82651118be283a GIT binary patch literal 5152 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a/matlab/examples/BicopShield/BicopShield_EMPC/ectrl.h b/matlab/examples/BicopShield/BicopShield_EMPC/ectrl.h index cf025668..0130b96b 100644 --- a/matlab/examples/BicopShield/BicopShield_EMPC/ectrl.h +++ b/matlab/examples/BicopShield/BicopShield_EMPC/ectrl.h @@ -32,1337 +32,67 @@ */ #include -#define MPT_NR 129 +#define MPT_NR 5 #define MPT_DOMAIN 3 -#define MPT_RANGE 6 +#define MPT_RANGE 2 #define MPT_ABSTOL 1.000000e-08 const float MPT_A[] PROGMEM = { --2.7941309e-02, 9.8641862e-01, 1.6185672e-01, -2.8670865e-02, 9.8702068e-01, -1.5801315e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, -8.9441719e-01, 4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, --1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9361501e-02, --9.8754664e-01, -1.5456238e-01, -2.8707816e-02, 9.8705077e-01, 1.5781835e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7941309e-02, -9.8641862e-01, --1.6185672e-01, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -2.7941309e-02, -9.8641862e-01, 1.6185672e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, --7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, -3.1638477e-01, 9.4858479e-01, 9.3580493e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8670865e-02, -9.8702068e-01, --1.5801315e-01, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.8670865e-02, -9.8702068e-01, 1.5801315e-01, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 3.1621947e-01, -9.4863900e-01, --9.4490605e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, 3.1638477e-01, --9.4858479e-01, -9.3580493e-03, -2.7841079e-02, 9.8633695e-01, 1.6237087e-01, --2.8623413e-02, 9.8698410e-01, 1.5825010e-01, 2.9361501e-02, -9.8754664e-01, --1.5456238e-01, -2.9361501e-02, 9.8754664e-01, 1.5456238e-01, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, -4.4755899e-01, 8.9424397e-01, 4.3207198e-03, --3.1693421e-01, 9.4840421e-01, 9.0639411e-03, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.8707816e-02, -9.8705077e-01, --1.5781835e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.8707816e-02, -9.8705077e-01, 1.5781835e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, --2.8660499e-02, 9.8701434e-01, 1.5805462e-01, 2.9431206e-02, -9.8760061e-01, --1.5420392e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.7841079e-02, -9.8633695e-01, -1.6237087e-01, --2.7841079e-02, 9.8633695e-01, 1.6237087e-01, -2.8763969e-02, 9.8709643e-01, -1.5752230e-01, 2.7941309e-02, -9.8641862e-01, -1.6185672e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, --2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9401253e-02, -9.8757655e-01, --1.5436364e-01, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, --2.8623413e-02, 9.8698410e-01, 1.5825010e-01, -2.7828592e-02, 9.8632425e-01, -1.6245013e-01, 2.8670865e-02, -9.8702068e-01, -1.5801315e-01, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, --3.1660445e-01, 9.4851268e-01, 9.2370891e-03, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -2.9461666e-02, -9.8762191e-01, -1.5406159e-01, 3.1621947e-01, -9.4863900e-01, --9.4490605e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -5.1465432e-01, -8.5739605e-01, 1.7123568e-03, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -3.1693421e-01, -9.4840421e-01, -9.0639411e-03, 3.1621947e-01, -9.4863900e-01, --9.4490605e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, 0.0000000e+00, -0.0000000e+00, -1.0000000e+00, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -3.1660445e-01, -9.4851268e-01, -9.2370891e-03, -2.7686827e-02, 9.8621074e-01, -1.6316196e-01, -2.8550707e-02, 9.8692793e-01, 1.5861313e-01, 2.9361501e-02, --9.8754664e-01, -1.5456238e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, --4.4801347e-01, 8.9401724e-01, 4.1366262e-03, -3.1787210e-01, 9.4809498e-01, -8.5583910e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, -1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.9361501e-02, 9.8754664e-01, 1.5456238e-01, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 4.4755899e-01, -8.9424397e-01, --4.3207198e-03, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, -2.8660499e-02, -9.8701434e-01, -1.5805462e-01, -2.8660499e-02, 9.8701434e-01, -1.5805462e-01, -2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.8707816e-02, --9.8705077e-01, -1.5781835e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7828592e-02, -9.8632425e-01, -1.6245013e-01, -2.8707816e-02, 9.8705077e-01, -1.5781835e-01, 2.9530786e-02, -9.8767524e-01, -1.5370603e-01, -2.7828592e-02, -9.8632425e-01, 1.6245013e-01, 2.7896798e-02, -9.8638139e-01, -1.6209107e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8763969e-02, -9.8709643e-01, --1.5752230e-01, 2.9575905e-02, -9.8771133e-01, -1.5346531e-01, -2.8763969e-02, -9.8709643e-01, 1.5752230e-01, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 2.7686827e-02, -9.8621074e-01, -1.6316196e-01, -2.9431206e-02, -9.8760061e-01, 1.5420392e-01, -2.7686827e-02, 9.8621074e-01, 1.6316196e-01, --2.8716859e-02, 9.8706023e-01, 1.5775753e-01, 2.9536735e-02, -9.8768205e-01, --1.5366115e-01, -2.9536735e-02, 9.8768205e-01, 1.5366115e-01, 2.7841079e-02, --9.8633695e-01, -1.6237087e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7641502e-02, 9.8617252e-01, 1.6340044e-01, 2.9401253e-02, -9.8757655e-01, --1.5436364e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8550707e-02, --9.8692793e-01, -1.5861313e-01, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, --2.8550707e-02, 9.8692793e-01, 1.5861313e-01, -2.7727550e-02, 9.8624160e-01, -1.6296839e-01, 2.9461666e-02, -9.8762191e-01, -1.5406159e-01, -2.9461666e-02, -9.8762191e-01, 1.5406159e-01, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8623413e-02, 9.8698410e-01, -1.5825010e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, 2.8670865e-02, --9.8702068e-01, -1.5801315e-01, -2.8670865e-02, 9.8702068e-01, 1.5801315e-01, --7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, -3.1638477e-01, 9.4858479e-01, 9.3580493e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9401253e-02, -9.8757655e-01, --1.5436364e-01, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -5.1465432e-01, -8.5739605e-01, 1.7123568e-03, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, --3.1621947e-01, 9.4863900e-01, 9.4490605e-03, 3.1787210e-01, -9.4809498e-01, --8.5583910e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -3.1621947e-01, -9.4863900e-01, 9.4490605e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 3.1638477e-01, -9.4858479e-01, --9.3580493e-03, -2.7841079e-02, 9.8633695e-01, 1.6237087e-01, -2.8623413e-02, -9.8698410e-01, 1.5825010e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, --4.4755899e-01, 8.9424397e-01, 4.3207198e-03, -3.1693421e-01, 9.4840421e-01, -9.0639411e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, -1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.9361501e-02, -9.8754664e-01, -1.5456238e-01, -2.9361501e-02, 9.8754664e-01, -1.5456238e-01, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, 4.4801347e-01, -8.9401724e-01, -4.1366262e-03, 2.9470725e-02, --9.8763026e-01, -1.5400634e-01, 2.7641502e-02, -9.8617252e-01, -1.6340044e-01, -2.8588002e-02, -9.8695841e-01, -1.5841660e-01, -2.9470725e-02, 9.8763026e-01, -1.5400634e-01, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.7641502e-02, -9.8617252e-01, 1.6340044e-01, 2.9530786e-02, -9.8767524e-01, -1.5370603e-01, --2.9530786e-02, 9.8767524e-01, 1.5370603e-01, 2.8660499e-02, -9.8701434e-01, --1.5805462e-01, 2.7727550e-02, -9.8624160e-01, -1.6296839e-01, -2.8660499e-02, -9.8701434e-01, 1.5805462e-01, -2.7727550e-02, 9.8624160e-01, 1.6296839e-01, -2.9575905e-02, -9.8771133e-01, -1.5346531e-01, -2.9575905e-02, 9.8771133e-01, -1.5346531e-01, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.7796248e-02, 9.8629934e-01, 1.6260684e-01, -2.8716859e-02, -9.8706023e-01, -1.5775753e-01, -2.8716859e-02, 9.8706023e-01, -1.5775753e-01, 2.8707816e-02, -9.8705077e-01, -1.5781835e-01, -2.8707816e-02, -9.8705077e-01, 1.5781835e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.9470725e-02, -9.8763026e-01, --1.5400634e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, 2.8763969e-02, --9.8709643e-01, -1.5752230e-01, 2.7828592e-02, -9.8632425e-01, -1.6245013e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7828592e-02, 9.8632425e-01, -1.6245013e-01, -2.8763969e-02, 9.8709643e-01, 1.5752230e-01, 2.9635436e-02, --9.8775575e-01, -1.5316764e-01, -2.8660499e-02, 9.8701434e-01, 1.5805462e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7841079e-02, -9.8633695e-01, --1.6237087e-01, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -2.9431206e-02, -9.8760061e-01, 1.5420392e-01, -2.7841079e-02, 9.8633695e-01, 1.6237087e-01, --2.8644678e-02, 9.8700467e-01, 1.5811791e-01, 2.9536735e-02, -9.8768205e-01, --1.5366115e-01, 2.7686827e-02, -9.8621074e-01, -1.6316196e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.7686827e-02, 9.8621074e-01, 1.6316196e-01, --2.9536735e-02, 9.8768205e-01, 1.5366115e-01, -2.7796248e-02, 9.8629934e-01, -1.6260684e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8623413e-02, --9.8698410e-01, -1.5825010e-01, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, --2.9401253e-02, 9.8757655e-01, 1.5436364e-01, -2.8623413e-02, 9.8698410e-01, -1.5825010e-01, -2.7572044e-02, 9.8611385e-01, 1.6376585e-01, 2.9461666e-02, --9.8762191e-01, -1.5406159e-01, 2.8550707e-02, -9.8692793e-01, -1.5861313e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8550707e-02, 9.8692793e-01, -1.5861313e-01, -2.9461666e-02, 9.8762191e-01, 1.5406159e-01, -2.7796248e-02, -9.8629934e-01, 1.6260684e-01, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, -2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.9401253e-02, 9.8757655e-01, -1.5436364e-01, -2.8623413e-02, 9.8698410e-01, 1.5825010e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.7941309e-02, 9.8641862e-01, 1.6185672e-01, --7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9361501e-02, -9.8754664e-01, --1.5456238e-01, 2.8670865e-02, -9.8702068e-01, -1.5801315e-01, -5.1465432e-01, -8.5739605e-01, 1.7123568e-03, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -3.1621947e-01, 9.4863900e-01, -9.4490605e-03, 3.1693421e-01, -9.4840421e-01, -9.0639411e-03, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, -0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, 4.4755899e-01, --8.9424397e-01, -4.3207198e-03, -2.7941309e-02, 9.8641862e-01, 1.6185672e-01, --2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -2.9361501e-02, 9.8754664e-01, -1.5456238e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, -8.9441719e-01, 4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -1.0000000e+00, +2.9635436e-02, -9.8775575e-01, -1.5316764e-01, -7.0710678e-01, 7.0710678e-01, +0.0000000e+00, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, 2.8660499e-02, --9.8701434e-01, -1.5805462e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, --2.9470725e-02, 9.8763026e-01, 1.5400634e-01, -2.8660499e-02, 9.8701434e-01, -1.5805462e-01, -2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9530786e-02, --9.8767524e-01, -1.5370603e-01, 2.8588002e-02, -9.8695841e-01, -1.5841660e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7572044e-02, -9.8611385e-01, --1.6376585e-01, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.9530786e-02, -9.8767524e-01, 1.5370603e-01, -2.7572044e-02, 9.8611385e-01, 1.6376585e-01, -2.9575905e-02, -9.8771133e-01, -1.5346531e-01, 2.7641502e-02, -9.8617252e-01, --1.6340044e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7641502e-02, -9.8617252e-01, 1.6340044e-01, 2.8644678e-02, -9.8700467e-01, -1.5811791e-01, --2.9575905e-02, 9.8771133e-01, 1.5346531e-01, -2.8644678e-02, 9.8700467e-01, -1.5811791e-01, 2.8660499e-02, -9.8701434e-01, -1.5805462e-01, 2.9470725e-02, --9.8763026e-01, -1.5400634e-01, -2.9470725e-02, 9.8763026e-01, 1.5400634e-01, --2.8660499e-02, 9.8701434e-01, 1.5805462e-01, 2.7796248e-02, -9.8629934e-01, --1.6260684e-01, -2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9635436e-02, --9.8775575e-01, -1.5316764e-01, -2.9635436e-02, 9.8775575e-01, 1.5316764e-01, -2.8716859e-02, -9.8706023e-01, -1.5775753e-01, 2.7727550e-02, -9.8624160e-01, --1.6296839e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7727550e-02, -9.8624160e-01, 1.6296839e-01, -2.8716859e-02, 9.8706023e-01, 1.5775753e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, 2.9470725e-02, -9.8763026e-01, --1.5400634e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8660499e-02, -9.8701434e-01, 1.5805462e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, --4.4721134e-01, 8.9441719e-01, 4.4615011e-03, -3.1621947e-01, 9.4863900e-01, -9.4490605e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +1.0000000e+00, -2.9635436e-02, 9.8775575e-01, 1.5316764e-01, -7.0710678e-01, +7.0710678e-01, 0.0000000e+00, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, +-1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +-1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +0.0000000e+00, 1.0000000e+00, 2.9635436e-02, -9.8775575e-01, -1.5316764e-01, +-2.9635436e-02, 9.8775575e-01, 1.5316764e-01, 2.9635436e-02, -9.8775575e-01, +-1.5316764e-01, -2.9635436e-02, 9.8775575e-01, 1.5316764e-01, -7.0710678e-01, +7.0710678e-01, 0.0000000e+00, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, +-1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +-1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +0.0000000e+00, 1.0000000e+00, -2.9635436e-02, 9.8775575e-01, 1.5316764e-01, +-7.0710678e-01, 7.0710678e-01, 0.0000000e+00, 0.0000000e+00, -9.9995024e-01, +-9.9758962e-03, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 7.0710678e-01, +-7.0710678e-01, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, +0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, 0.0000000e+00, +0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -7.0710678e-01, +7.0710678e-01, 0.0000000e+00, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, +0.0000000e+00, 9.9995024e-01, 9.9758962e-03, 0.0000000e+00, 1.0000000e+00, +0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7941309e-02, -9.8641862e-01, -1.6185672e-01, 2.9431206e-02, -9.8760061e-01, --1.5420392e-01, 2.8707816e-02, -9.8705077e-01, -1.5781835e-01, -2.7941309e-02, -9.8641862e-01, 1.6185672e-01, 2.8763969e-02, -9.8709643e-01, -1.5752230e-01, --2.8763969e-02, 9.8709643e-01, 1.5752230e-01, 2.7896798e-02, -9.8638139e-01, --1.6209107e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7896798e-02, -9.8638139e-01, 1.6209107e-01, 2.9575905e-02, -9.8771133e-01, -1.5346531e-01, -2.7828592e-02, -9.8632425e-01, -1.6245013e-01, -2.7828592e-02, 9.8632425e-01, -1.6245013e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8707816e-02, -9.8705077e-01, 1.5781835e-01, 2.9530786e-02, -9.8767524e-01, -1.5370603e-01, --2.8707816e-02, 9.8705077e-01, 1.5781835e-01, -2.9431206e-02, 9.8760061e-01, -1.5420392e-01, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, --8.9441719e-01, -4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 2.7941309e-02, --9.8641862e-01, -1.6185672e-01, -2.7941309e-02, 9.8641862e-01, 1.6185672e-01, --2.8716859e-02, 9.8706023e-01, 1.5775753e-01, 2.7841079e-02, -9.8633695e-01, --1.6237087e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7841079e-02, -9.8633695e-01, 1.6237087e-01, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, --2.9536735e-02, 9.8768205e-01, 1.5366115e-01, 2.7686827e-02, -9.8621074e-01, --1.6316196e-01, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.7686827e-02, -9.8621074e-01, 1.6316196e-01, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7896798e-02, 9.8638139e-01, -1.6209107e-01, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.8670865e-02, -9.8702068e-01, -1.5801315e-01, --2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -2.7727550e-02, 9.8624160e-01, -1.6296839e-01, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9461666e-02, -9.8762191e-01, -1.5406159e-01, --2.9461666e-02, 9.8762191e-01, 1.5406159e-01, -2.7641502e-02, 9.8617252e-01, -1.6340044e-01, 2.8550707e-02, -9.8692793e-01, -1.5861313e-01, -2.8550707e-02, -9.8692793e-01, 1.5861313e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.9401253e-02, 9.8757655e-01, 1.5436364e-01, -2.7841079e-02, 9.8633695e-01, -1.6237087e-01, 2.9361501e-02, -9.8754664e-01, -1.5456238e-01, -2.9361501e-02, -9.8754664e-01, 1.5456238e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8623413e-02, -9.8698410e-01, -1.5825010e-01, -2.9470725e-02, 9.8763026e-01, -1.5400634e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7896798e-02, --9.8638139e-01, -1.6209107e-01, 2.8707816e-02, -9.8705077e-01, -1.5781835e-01, --2.8707816e-02, 9.8705077e-01, 1.5781835e-01, -2.7896798e-02, 9.8638139e-01, -1.6209107e-01, 2.8660499e-02, -9.8701434e-01, -1.5805462e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.7727550e-02, -9.8624160e-01, -1.6296839e-01, --2.8660499e-02, 9.8701434e-01, 1.5805462e-01, 2.9530786e-02, -9.8767524e-01, --1.5370603e-01, -2.9530786e-02, 9.8767524e-01, 1.5370603e-01, -2.7727550e-02, -9.8624160e-01, 1.6296839e-01, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, --2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.8716859e-02, -9.8706023e-01, --1.5775753e-01, 2.9575905e-02, -9.8771133e-01, -1.5346531e-01, -2.9575905e-02, -9.8771133e-01, 1.5346531e-01, -2.8716859e-02, 9.8706023e-01, 1.5775753e-01, -2.8588002e-02, -9.8695841e-01, -1.5841660e-01, -2.8588002e-02, 9.8695841e-01, -1.5841660e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.7641502e-02, -9.8617252e-01, -1.6340044e-01, --2.9470725e-02, 9.8763026e-01, 1.5400634e-01, -2.7641502e-02, 9.8617252e-01, -1.6340044e-01, 2.9635436e-02, -9.8775575e-01, -1.5316764e-01, 2.8644678e-02, --9.8700467e-01, -1.5811791e-01, 2.7572044e-02, -9.8611385e-01, -1.6376585e-01, --2.7572044e-02, 9.8611385e-01, 1.6376585e-01, -2.8644678e-02, 9.8700467e-01, -1.5811791e-01, -2.9635436e-02, 9.8775575e-01, 1.5316764e-01, 2.7641502e-02, --9.8617252e-01, -1.6340044e-01, -2.7641502e-02, 9.8617252e-01, 1.6340044e-01, -2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 2.8588002e-02, -9.8695841e-01, -1.5841660e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -2.9431206e-02, 9.8760061e-01, -1.5420392e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7841079e-02, --9.8633695e-01, -1.6237087e-01, 2.8660499e-02, -9.8701434e-01, -1.5805462e-01, --2.7841079e-02, 9.8633695e-01, 1.6237087e-01, 2.8716859e-02, -9.8706023e-01, --1.5775753e-01, 2.9575905e-02, -9.8771133e-01, -1.5346531e-01, -2.9575905e-02, -9.8771133e-01, 1.5346531e-01, -2.8716859e-02, 9.8706023e-01, 1.5775753e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, -2.7796248e-02, 9.8629934e-01, -1.6260684e-01, 2.7727550e-02, -9.8624160e-01, -1.6296839e-01, 2.9530786e-02, --9.8767524e-01, -1.5370603e-01, -2.9530786e-02, 9.8767524e-01, 1.5370603e-01, --2.7727550e-02, 9.8624160e-01, 1.6296839e-01, 2.8660499e-02, -9.8701434e-01, --1.5805462e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8660499e-02, -9.8701434e-01, 1.5805462e-01, 2.7941309e-02, -9.8641862e-01, -1.6185672e-01, --7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7941309e-02, 9.8641862e-01, -1.6185672e-01, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, 2.8763969e-02, --9.8709643e-01, -1.5752230e-01, 2.7896798e-02, -9.8638139e-01, -1.6209107e-01, -2.8707816e-02, -9.8705077e-01, -1.5781835e-01, -2.8707816e-02, 9.8705077e-01, -1.5781835e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8670865e-02, 9.8702068e-01, -1.5801315e-01, 2.9461666e-02, -9.8762191e-01, -1.5406159e-01, 2.7828592e-02, --9.8632425e-01, -1.6245013e-01, -2.8763969e-02, 9.8709643e-01, 1.5752230e-01, --2.9536735e-02, 9.8768205e-01, 1.5366115e-01, 2.7941309e-02, -9.8641862e-01, --1.6185672e-01, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, --8.9441719e-01, -4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -2.7941309e-02, -9.8641862e-01, 1.6185672e-01, 2.7841079e-02, -9.8633695e-01, -1.6237087e-01, --2.8660499e-02, 9.8701434e-01, 1.5805462e-01, -2.7841079e-02, 9.8633695e-01, -1.6237087e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9431206e-02, --9.8760061e-01, -1.5420392e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, --2.8550707e-02, 9.8692793e-01, 1.5861313e-01, 2.9361501e-02, -9.8754664e-01, --1.5456238e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7686827e-02, --9.8621074e-01, -1.6316196e-01, -2.7828592e-02, 9.8632425e-01, 1.6245013e-01, --2.9461666e-02, 9.8762191e-01, 1.5406159e-01, 2.8670865e-02, -9.8702068e-01, --1.5801315e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7686827e-02, -9.8621074e-01, 1.6316196e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.9361501e-02, 9.8754664e-01, 1.5456238e-01, 2.8550707e-02, -9.8692793e-01, --1.5861313e-01, -2.9530786e-02, 9.8767524e-01, 1.5370603e-01, 2.8707816e-02, --9.8705077e-01, -1.5781835e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7828592e-02, -9.8632425e-01, -1.6245013e-01, -2.7828592e-02, 9.8632425e-01, -1.6245013e-01, -2.9575905e-02, 9.8771133e-01, 1.5346531e-01, 2.7896798e-02, --9.8638139e-01, -1.6209107e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7896798e-02, 9.8638139e-01, 1.6209107e-01, 2.8763969e-02, -9.8709643e-01, --1.5752230e-01, -2.8763969e-02, 9.8709643e-01, 1.5752230e-01, 2.8660499e-02, --9.8701434e-01, -1.5805462e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.9470725e-02, 9.8763026e-01, 1.5400634e-01, -2.7796248e-02, 9.8629934e-01, -1.6260684e-01, 2.8716859e-02, -9.8706023e-01, -1.5775753e-01, 2.7727550e-02, --9.8624160e-01, -1.6296839e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7727550e-02, 9.8624160e-01, 1.6296839e-01, -2.8716859e-02, 9.8706023e-01, -1.5775753e-01, 2.9635436e-02, -9.8775575e-01, -1.5316764e-01, -2.9635436e-02, -9.8775575e-01, 1.5316764e-01, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, --2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.8660499e-02, -9.8701434e-01, --1.5805462e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, -2.8660499e-02, 9.8701434e-01, 1.5805462e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7686827e-02, -9.8621074e-01, --1.6316196e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, 2.8588002e-02, --9.8695841e-01, -1.5841660e-01, -2.7686827e-02, 9.8621074e-01, 1.6316196e-01, -2.8644678e-02, -9.8700467e-01, -1.5811791e-01, -2.8644678e-02, 9.8700467e-01, -1.5811791e-01, 2.9575905e-02, -9.8771133e-01, -1.5346531e-01, 2.7641502e-02, --9.8617252e-01, -1.6340044e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7641502e-02, 9.8617252e-01, 1.6340044e-01, -2.9575905e-02, 9.8771133e-01, -1.5346531e-01, 2.7572044e-02, -9.8611385e-01, -1.6376585e-01, -2.7572044e-02, -9.8611385e-01, 1.6376585e-01, 2.9530786e-02, -9.8767524e-01, -1.5370603e-01, -2.8588002e-02, -9.8695841e-01, -1.5841660e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, -2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.9530786e-02, -9.8767524e-01, 1.5370603e-01, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8550707e-02, -9.8692793e-01, --1.5861313e-01, 2.7641502e-02, -9.8617252e-01, -1.6340044e-01, -2.8550707e-02, -9.8692793e-01, 1.5861313e-01, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, --2.9536735e-02, 9.8768205e-01, 1.5366115e-01, 2.7841079e-02, -9.8633695e-01, --1.6237087e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7841079e-02, -9.8633695e-01, 1.6237087e-01, 2.8716859e-02, -9.8706023e-01, -1.5775753e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, 2.8660499e-02, -9.8701434e-01, --1.5805462e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, -2.8660499e-02, 9.8701434e-01, 1.5805462e-01, --2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9461666e-02, -9.8762191e-01, --1.5406159e-01, -2.9461666e-02, 9.8762191e-01, 1.5406159e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.8623413e-02, 9.8698410e-01, 1.5825010e-01, -2.7727550e-02, -9.8624160e-01, -1.6296839e-01, 2.7941309e-02, -9.8641862e-01, --1.6185672e-01, -2.7941309e-02, 9.8641862e-01, 1.6185672e-01, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, --3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -2.8707816e-02, -9.8705077e-01, -1.5781835e-01, 2.8670865e-02, -9.8702068e-01, --1.5801315e-01, -2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.7941309e-02, -9.8641862e-01, --1.6185672e-01, -2.8707816e-02, 9.8705077e-01, 1.5781835e-01, -2.9431206e-02, -9.8760061e-01, 1.5420392e-01, -2.7941309e-02, 9.8641862e-01, 1.6185672e-01, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -2.8623413e-02, 9.8698410e-01, -1.5825010e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9361501e-02, --9.8754664e-01, -1.5456238e-01, 2.7841079e-02, -9.8633695e-01, -1.6237087e-01, --2.9361501e-02, 9.8754664e-01, 1.5456238e-01, -2.9635436e-02, 9.8775575e-01, -1.5316764e-01, 2.8763969e-02, -9.8709643e-01, -1.5752230e-01, 2.7828592e-02, --9.8632425e-01, -1.6245013e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7828592e-02, 9.8632425e-01, 1.6245013e-01, -2.8763969e-02, 9.8709643e-01, -1.5752230e-01, 2.7896798e-02, -9.8638139e-01, -1.6209107e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8707816e-02, -9.8705077e-01, --1.5781835e-01, -2.8707816e-02, 9.8705077e-01, 1.5781835e-01, 2.8716859e-02, --9.8706023e-01, -1.5775753e-01, -2.8716859e-02, 9.8706023e-01, 1.5775753e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, -2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9575905e-02, --9.8771133e-01, -1.5346531e-01, -2.9575905e-02, 9.8771133e-01, 1.5346531e-01, -2.7727550e-02, -9.8624160e-01, -1.6296839e-01, -2.7727550e-02, 9.8624160e-01, -1.6296839e-01, 2.8660499e-02, -9.8701434e-01, -1.5805462e-01, -2.8660499e-02, -9.8701434e-01, 1.5805462e-01, 2.9530786e-02, -9.8767524e-01, -1.5370603e-01, --2.9530786e-02, 9.8767524e-01, 1.5370603e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, 2.9401253e-02, --9.8757655e-01, -1.5436364e-01, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, --2.9401253e-02, 9.8757655e-01, 1.5436364e-01, -2.8623413e-02, 9.8698410e-01, -1.5825010e-01, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, 2.7686827e-02, --9.8621074e-01, -1.6316196e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, --2.7686827e-02, 9.8621074e-01, 1.6316196e-01, -2.9536735e-02, 9.8768205e-01, -1.5366115e-01, 2.8644678e-02, -9.8700467e-01, -1.5811791e-01, 2.7641502e-02, --9.8617252e-01, -1.6340044e-01, 2.8588002e-02, -9.8695841e-01, -1.5841660e-01, --2.8588002e-02, 9.8695841e-01, 1.5841660e-01, -2.7641502e-02, 9.8617252e-01, -1.6340044e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.9470725e-02, -9.8763026e-01, 1.5400634e-01, 2.9461666e-02, -9.8762191e-01, -1.5406159e-01, -2.8550707e-02, -9.8692793e-01, -1.5861313e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, -2.8550707e-02, 9.8692793e-01, 1.5861313e-01, -2.9461666e-02, -9.8762191e-01, 1.5406159e-01, 2.7572044e-02, -9.8611385e-01, -1.6376585e-01, -2.7841079e-02, -9.8633695e-01, -1.6237087e-01, 2.9431206e-02, -9.8760061e-01, --1.5420392e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, -2.7841079e-02, -9.8633695e-01, 1.6237087e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8660499e-02, -9.8701434e-01, -1.5805462e-01, 2.8623413e-02, -9.8698410e-01, --1.5825010e-01, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.9401253e-02, -9.8757655e-01, 1.5436364e-01, -2.8623413e-02, 9.8698410e-01, 1.5825010e-01, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7796248e-02, -9.8629934e-01, --1.6260684e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, -8.9441719e-01, 4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 2.9361501e-02, -9.8754664e-01, -1.5456238e-01, 2.8670865e-02, --9.8702068e-01, -1.5801315e-01, 2.7941309e-02, -9.8641862e-01, -1.6185672e-01, --2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -2.9361501e-02, 9.8754664e-01, -1.5456238e-01, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, --8.9441719e-01, -4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 2.7941309e-02, --9.8641862e-01, -1.6185672e-01, 2.7828592e-02, -9.8632425e-01, -1.6245013e-01, --2.9530786e-02, 9.8767524e-01, 1.5370603e-01, -2.7828592e-02, 9.8632425e-01, -1.6245013e-01, 2.8707816e-02, -9.8705077e-01, -1.5781835e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.8707816e-02, 9.8705077e-01, 1.5781835e-01, -2.8763969e-02, -9.8709643e-01, -1.5752230e-01, -2.9575905e-02, 9.8771133e-01, -1.5346531e-01, -2.8763969e-02, 9.8709643e-01, 1.5752230e-01, 1.0000000e+00, -0.0000000e+00, 0.0000000e+00, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, --2.9401253e-02, 9.8757655e-01, 1.5436364e-01, 7.0710678e-01, -7.0710678e-01, -0.0000000e+00, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, 3.1638477e-01, --9.4858479e-01, -9.3580493e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 2.8670865e-02, -9.8702068e-01, -1.5801315e-01, 2.7896798e-02, --9.8638139e-01, -1.6209107e-01, -2.8670865e-02, 9.8702068e-01, 1.5801315e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7841079e-02, 9.8633695e-01, -1.6237087e-01, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, 2.8716859e-02, --9.8706023e-01, -1.5775753e-01, -2.9536735e-02, 9.8768205e-01, 1.5366115e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, 2.8660499e-02, -9.8701434e-01, --1.5805462e-01, -2.8660499e-02, 9.8701434e-01, 1.5805462e-01, -2.7796248e-02, -9.8629934e-01, 1.6260684e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, --2.9470725e-02, 9.8763026e-01, 1.5400634e-01, 2.8623413e-02, -9.8698410e-01, --1.5825010e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.8623413e-02, -9.8698410e-01, 1.5825010e-01, 2.9461666e-02, -9.8762191e-01, -1.5406159e-01, -2.7727550e-02, -9.8624160e-01, -1.6296839e-01, -2.9461666e-02, 9.8762191e-01, -1.5406159e-01, 2.7686827e-02, -9.8621074e-01, -1.6316196e-01, -2.7686827e-02, -9.8621074e-01, 1.6316196e-01, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.9431206e-02, 9.8760061e-01, -1.5420392e-01, 2.8588002e-02, -9.8695841e-01, -1.5841660e-01, 2.8550707e-02, --9.8692793e-01, -1.5861313e-01, -2.8550707e-02, 9.8692793e-01, 1.5861313e-01, -2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, 2.7641502e-02, --9.8617252e-01, -1.6340044e-01, 2.9361501e-02, -9.8754664e-01, -1.5456238e-01, --2.9361501e-02, 9.8754664e-01, 1.5456238e-01, 7.0710678e-01, -7.0710678e-01, -0.0000000e+00, 4.4755899e-01, -8.9424397e-01, -4.3207198e-03, 3.1693421e-01, --9.4840421e-01, -9.0639411e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, 2.7841079e-02, --9.8633695e-01, -1.6237087e-01, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, --4.4721134e-01, 8.9441719e-01, 4.4615011e-03, 7.0710678e-01, -7.0710678e-01, -0.0000000e+00, -5.1465432e-01, 8.5739605e-01, 1.7123568e-03, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, -4.4755899e-01, 8.9424397e-01, 4.3207198e-03, -3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -3.1621947e-01, 9.4863900e-01, -9.4490605e-03, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, -3.1693421e-01, 9.4840421e-01, 9.0639411e-03, --2.9461666e-02, 9.8762191e-01, 1.5406159e-01, 2.8670865e-02, -9.8702068e-01, --1.5801315e-01, 7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, --8.9441719e-01, -4.4615011e-03, 3.1660445e-01, -9.4851268e-01, -9.2370891e-03, --1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -2.8670865e-02, -9.8702068e-01, 1.5801315e-01, 2.7828592e-02, -9.8632425e-01, -1.6245013e-01, -2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.8707816e-02, -9.8705077e-01, --1.5781835e-01, -2.9470725e-02, 9.8763026e-01, 1.5400634e-01, -2.8707816e-02, -9.8705077e-01, 1.5781835e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.9536735e-02, 9.8768205e-01, -1.5366115e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -2.7941309e-02, -9.8641862e-01, 1.6185672e-01, 2.8763969e-02, -9.8709643e-01, -1.5752230e-01, -4.4721134e-01, -8.9441719e-01, -4.4615011e-03, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -3.1621947e-01, -9.4863900e-01, 9.4490605e-03, -3.1638477e-01, 9.4858479e-01, 9.3580493e-03, -2.7841079e-02, -9.8633695e-01, -1.6237087e-01, -2.7841079e-02, 9.8633695e-01, -1.6237087e-01, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9431206e-02, --9.8760061e-01, -1.5420392e-01, 2.8660499e-02, -9.8701434e-01, -1.5805462e-01, --2.9431206e-02, 9.8760061e-01, 1.5420392e-01, 2.8623413e-02, -9.8698410e-01, --1.5825010e-01, -2.8623413e-02, 9.8698410e-01, 1.5825010e-01, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.7796248e-02, -9.8629934e-01, -1.6260684e-01, -2.9401253e-02, 9.8757655e-01, -1.5436364e-01, 2.9361501e-02, -9.8754664e-01, -1.5456238e-01, 7.0710678e-01, --7.0710678e-01, 0.0000000e+00, 4.4801347e-01, -8.9401724e-01, -4.1366262e-03, -3.1787210e-01, -9.4809498e-01, -8.5583910e-03, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, -2.9361501e-02, 9.8754664e-01, 1.5456238e-01, -2.8550707e-02, -9.8692793e-01, -1.5861313e-01, 2.7686827e-02, -9.8621074e-01, --1.6316196e-01, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, 7.0710678e-01, --7.0710678e-01, 0.0000000e+00, -5.1465432e-01, 8.5739605e-01, 1.7123568e-03, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -4.4721134e-01, 8.9441719e-01, -4.4615011e-03, -4.4801347e-01, 8.9401724e-01, 4.1366262e-03, 3.1621947e-01, --9.4863900e-01, -9.4490605e-03, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -3.1621947e-01, 9.4863900e-01, -9.4490605e-03, -3.1787210e-01, 9.4809498e-01, 8.5583910e-03, 3.1621947e-01, --9.4863900e-01, -9.4490605e-03, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -3.1621947e-01, 9.4863900e-01, -9.4490605e-03, -3.1660445e-01, 9.4851268e-01, 9.2370891e-03, 2.8670865e-02, --9.8702068e-01, -1.5801315e-01, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, --2.8670865e-02, 9.8702068e-01, 1.5801315e-01, 7.0710678e-01, -7.0710678e-01, -0.0000000e+00, 4.4721134e-01, -8.9441719e-01, -4.4615011e-03, 3.1638477e-01, --9.4858479e-01, -9.3580493e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.7941309e-02, --9.8641862e-01, -1.6185672e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, --2.7941309e-02, 9.8641862e-01, 1.6185672e-01, 1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 2.8707816e-02, -9.8705077e-01, -1.5781835e-01, 7.0710678e-01, --7.0710678e-01, 0.0000000e+00, 4.4755899e-01, -8.9424397e-01, -4.3207198e-03, -3.1693421e-01, -9.4840421e-01, -9.0639411e-03, -1.0000000e+00, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 1.0000000e+00, 2.9361501e-02, -9.8754664e-01, -1.5456238e-01, -2.8623413e-02, -9.8698410e-01, -1.5825010e-01, 2.7841079e-02, -9.8633695e-01, --1.6237087e-01, -2.9361501e-02, 9.8754664e-01, 1.5456238e-01, 7.0710678e-01, --7.0710678e-01, 0.0000000e+00, -5.1465432e-01, 8.5739605e-01, 1.7123568e-03, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, -4.4755899e-01, -8.9424397e-01, 4.3207198e-03, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 3.1621947e-01, -9.4863900e-01, --9.4490605e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -3.1693421e-01, -9.4840421e-01, 9.0639411e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, --3.1621947e-01, 9.4863900e-01, 9.4490605e-03, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -3.1638477e-01, -9.4858479e-01, 9.3580493e-03, -2.9361501e-02, 9.8754664e-01, 1.5456238e-01, -7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, -8.9441719e-01, --4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -1.0000000e+00, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 2.8670865e-02, -9.8702068e-01, --1.5801315e-01, 2.7941309e-02, -9.8641862e-01, -1.6185672e-01 }; +0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 2.9635436e-02, -9.8775575e-01, +-1.5316764e-01 }; const float MPT_B[] PROGMEM = { --1.3895442e-01, -1.2758139e-01, 7.0710678e+03, 4.4721137e+03, 3.1621952e+03, -1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -9.1989026e-02, -1.2700513e-01, -1.0000000e+04, 1.3895442e-01, -1.0333071e-01, -1.1385063e-01, -1.3964801e-01, -7.0710678e+03, 4.4721137e+03, 3.1640234e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, 1.2758139e-01, -1.0463051e-01, -1.0451399e-01, 4.4721137e+03, -1.0000000e+04, -3.1621952e+03, 3.1621952e+03, -3.1640234e+03, -1.5524321e-01, --1.4266334e-01, -7.0682278e-02, 9.1989026e-02, 7.0710678e+03, 4.4758646e+03, -3.1701189e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.3964801e-01, 1.2700513e-01, -1.1591788e-01, -1.0283622e-01, -1.1308694e-01, --1.4206672e-01, -8.1046541e-02, 1.0333071e-01, 1.0000000e+04, 1.5524321e-01, --1.2845172e-01, -1.2796905e-01, 1.1385063e-01, 1.0000000e+04, -1.1872361e-01, --1.5596377e-01, -8.2175907e-02, 1.0463051e-01, 1.0000000e+04, 1.4266334e-01, --1.1809773e-01, -1.4274260e-01, 1.0451399e-01, 7.0710678e+03, 4.4721137e+03, -3.1664528e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0824316e-01, --1.2193486e-01, -3.1621952e+03, 3.1621952e+03, 5.1465433e+03, 1.0000000e+04, --3.1701189e+03, -3.1621952e+03, 4.4721137e+03, 1.0000000e+04, 3.1621955e+03, --3.1664528e+03, -1.7814849e-01, -1.6367246e-01, 1.2772450e-01, 7.0710678e+03, -4.4807683e+03, 3.1805169e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -7.0682278e-02, -4.4721137e+03, 4.4721137e+03, 7.0710678e+03, -5.1465433e+03, -1.0000000e+04, -4.4758646e+03, -9.2490697e-02, 1.1591788e-01, 1.5596377e-01, -1.4206672e-01, -1.1639930e-01, -1.2770703e-01, 1.0283622e-01, 1.0000000e+04, -1.4274260e-01, 1.1925800e-01, -1.3314513e-01, -1.1394861e-01, 1.1308694e-01, -1.0000000e+04, 1.2796905e-01, -1.3123181e-01, -1.0212614e-01, -1.6304718e-01, -1.2562400e-01, 1.0000000e+04, 1.7814849e-01, 8.1046541e-02, -1.4875994e-01, --1.4300339e-01, -9.4959558e-02, 1.1872361e-01, 1.2845172e-01, 1.0000000e+04, --1.7890763e-01, 1.2596141e-01, 1.0000000e+04, 1.6367246e-01, 8.2175907e-02, --1.3681143e-01, -1.5910730e-01, -9.7735705e-02, 1.2193486e-01, 1.1809773e-01, -1.0000000e+04, 1.0742179e-01, -1.2242478e-01, -1.0824316e-01, 1.3131057e-01, -7.0710678e+03, 4.4721137e+03, 3.1640235e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, -1.2088866e-01, -3.1621940e+03, 5.1465433e+03, 1.0000000e+04, -3.1621952e+03, -3.1805169e+03, -3.1621955e+03, 3.1621956e+03, 4.4721137e+03, -1.0000000e+04, -3.1640235e+03, -1.7350735e-01, -1.6044994e-01, 7.0710678e+03, -4.4758643e+03, 3.1701183e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.4903125e-01, -1.2772450e-01, -4.4721132e+03, 7.0710678e+03, -5.1465433e+03, -1.0000000e+04, 4.4721137e+03, -4.4807683e+03, 1.2386938e-01, 1.7890763e-01, -1.6304718e-01, 9.2490697e-02, -1.3508390e-01, -1.4804153e-01, -1.0798073e-01, -1.3314513e-01, 1.1639930e-01, 1.5910730e-01, 1.1845977e-01, -1.2860539e-01, --1.0633205e-01, 1.3123181e-01, 1.2770703e-01, 1.0000000e+04, 1.2871086e-01, -1.4300339e-01, -1.1566153e-01, -1.1925800e-01, 1.4342692e-01, 1.0000000e+04, -1.2242478e-01, -1.3213141e-01, -9.5863716e-02, 1.0212614e-01, 1.1394861e-01, -1.0000000e+04, 1.4701368e-01, 1.3415792e-01, -1.4834728e-01, -1.5983067e-01, -1.0000000e+04, 1.7350735e-01, 1.4790817e-01, -1.2562400e-01, -1.4671586e-01, --1.6394595e-01, 1.2422293e-01, 1.4875994e-01, 1.0000000e+04, 1.1734926e-01, -9.4959558e-02, -1.7425525e-01, 1.0000000e+04, 1.6044994e-01, 1.4841602e-01, --1.2596141e-01, -1.3588434e-01, -1.8212204e-01, 1.2519039e-01, 1.3681143e-01, -1.0000000e+04, 1.0826153e-01, 9.7735705e-02, -1.3867612e-01, -1.0742179e-01, --9.8434055e-02, 1.2088866e-01, 1.3198740e-01, 1.0000000e+04, -1.0783877e-01, -7.0710678e+03, 4.4721137e+03, 3.1621956e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, -1.2145607e-01, -1.3131057e-01, 5.1465433e+03, 1.0000000e+04, --3.1621939e+03, 3.1621940e+03, -3.1701183e+03, 7.0710678e+03, -5.1465433e+03, -1.0000000e+04, -4.4721132e+03, 4.4721132e+03, -4.4758643e+03, -1.7189507e-01, --1.5971609e-01, -1.4903125e-01, 7.0710678e+03, 4.4721132e+03, 3.1621939e+03, -7.0710678e+03, 4.4721137e+03, 3.1621956e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, 1.0000000e+04, 1.7425525e-01, 1.5983067e-01, 1.4729656e-01, --1.2386938e-01, -1.3416325e-01, -1.4599851e-01, 1.2310596e-01, 1.3508390e-01, -1.0000000e+04, 1.8212204e-01, 1.1933228e-01, 1.0798073e-01, -1.4899185e-01, -1.2247802e-01, 1.4804153e-01, 1.0000000e+04, 1.3065475e-01, 1.6394595e-01, -1.0633205e-01, -1.3430757e-01, -1.1845977e-01, -1.0870423e-01, 1.3213141e-01, -1.4412718e-01, 1.3867612e-01, -1.1041938e-01, -1.2172140e-01, 1.4834728e-01, -1.1566153e-01, 1.2860539e-01, 1.0000000e+04, 1.4693877e-01, 1.3339106e-01, --1.2871086e-01, -1.0765585e-01, 1.0000000e+04, -1.0069582e-01, 7.0710678e+03, -4.4721137e+03, 3.1621956e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.0783877e-01, -1.3271674e-01, -1.4342692e-01, -8.2734975e-02, -1.3415792e-01, -1.6000083e-01, 9.5863716e-02, 1.0000000e+04, 1.4607673e-01, -1.4737777e-01, --1.4701368e-01, 1.7580768e-01, 1.0000000e+04, 1.3493007e-01, -1.4827035e-01, --1.5909898e-01, -1.4790817e-01, 7.0710678e+03, 4.4721137e+03, 3.1621956e+03, -1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.7189507e-01, -1.4679127e-01, --1.6073291e-01, 1.4671586e-01, 1.0000000e+04, 9.7219855e-02, 1.4798698e-01, --1.2422293e-01, -1.1734926e-01, -1.4729556e-01, 1.4673781e-01, 1.1043258e-01, -1.0000000e+04, -1.7263779e-01, -1.4841602e-01, 1.0000000e+04, 1.5971609e-01, --1.3664868e-01, -1.7744068e-01, 1.3588434e-01, 1.0000000e+04, 1.4938955e-01, --1.2519039e-01, -1.6152086e-01, -1.0826153e-01, 1.3512256e-01, 1.0000000e+04, -9.8434055e-02, -1.2401135e-01, -1.0014932e-01, 1.2145607e-01, 1.0000000e+04, --1.3198740e-01, -1.4729656e-01, 1.0000000e+04, 1.7263779e-01, 1.5909898e-01, --1.3493007e-01, -1.4607673e-01, 1.3416325e-01, 1.0000000e+04, 1.7744068e-01, -1.0069582e-01, 1.4827035e-01, -1.2310596e-01, -1.4693877e-01, 1.4599851e-01, -1.1041938e-01, 1.6073291e-01, 1.4737777e-01, -1.2247802e-01, -1.3339106e-01, --1.1933228e-01, 1.4729556e-01, 1.0765585e-01, 1.0000000e+04, 1.6152086e-01, -1.0870423e-01, -1.3065475e-01, 1.2172140e-01, 1.3430757e-01, 1.4899185e-01, -1.4899185e-01, 1.3430757e-01, 1.2172140e-01, -1.3065475e-01, 1.6152086e-01, -1.0870423e-01, 1.0000000e+04, 1.4729556e-01, 1.0765585e-01, -1.1933228e-01, --1.1043258e-01, 1.3271674e-01, 1.0000000e+04, 1.2401135e-01, -1.4412718e-01, --9.7219855e-02, -1.3339106e-01, -1.2247802e-01, 1.4737777e-01, 1.6073291e-01, -1.1041938e-01, 1.4599851e-01, -1.4693877e-01, -1.2310596e-01, 1.4827035e-01, -1.7744068e-01, 1.0069582e-01, 1.0000000e+04, 1.3416325e-01, 8.2734975e-02, -7.0710678e+03, 4.4721137e+03, 3.1621956e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, 1.4679127e-01, -1.4798698e-01, -1.6000083e-01, -1.4607673e-01, --1.3493007e-01, 1.5909898e-01, 1.7263779e-01, 1.0000000e+04, -1.4729656e-01, -1.0000000e+04, 1.3664868e-01, -1.4938955e-01, -1.7580768e-01, -1.6000083e-01, --1.4798698e-01, 1.4679127e-01, 7.0710678e+03, 4.4721137e+03, 3.1621956e+03, -1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 8.2734975e-02, -9.7219855e-02, --1.4412718e-01, 1.2401135e-01, 1.0000000e+04, 1.3271674e-01, -1.1043258e-01, --1.3512256e-01, 1.0014932e-01, 1.0000000e+04, -1.4673781e-01, -1.7580768e-01, --1.4938955e-01, 1.3664868e-01, 1.0000000e+04, -1.4673781e-01, 1.0000000e+04, -1.0014932e-01, -1.3512256e-01, -1.4827035e-01, 1.3493007e-01, 1.0000000e+04, -1.7580768e-01, -1.4701368e-01, -1.4737777e-01, 1.4607673e-01, 1.0000000e+04, -9.5863716e-02, 1.6000083e-01, -1.3415792e-01, -1.0069582e-01, 1.0000000e+04, --1.0765585e-01, -1.2871086e-01, 1.3339106e-01, 1.4693877e-01, 1.0000000e+04, -1.2860539e-01, 1.1566153e-01, 1.4834728e-01, -1.2172140e-01, -1.1041938e-01, -1.3867612e-01, 1.4412718e-01, 1.3213141e-01, -1.0870423e-01, -1.1845977e-01, -1.0000000e+04, 1.4673781e-01, 1.1043258e-01, -1.4729556e-01, -1.1734926e-01, --1.3430757e-01, 1.6394595e-01, 1.0633205e-01, 1.3065475e-01, 1.0000000e+04, -1.4804153e-01, 1.2247802e-01, -1.4899185e-01, 1.8212204e-01, 1.0798073e-01, -1.1933228e-01, 1.0000000e+04, 1.3508390e-01, 1.2310596e-01, 9.8434055e-02, -1.0000000e+04, 1.3512256e-01, -1.6152086e-01, -1.0826153e-01, -1.2422293e-01, -1.4798698e-01, 9.7219855e-02, 1.0000000e+04, 1.4671586e-01, -1.6073291e-01, --1.4599851e-01, -1.3416325e-01, -1.2386938e-01, 1.4729656e-01, 1.5983067e-01, -1.7425525e-01, -1.2519039e-01, 1.4938955e-01, 1.0000000e+04, 1.3588434e-01, --1.7744068e-01, -1.4679127e-01, 1.7189507e-01, 7.0710678e+03, 4.4721137e+03, -3.1621956e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.4790817e-01, --1.5909898e-01, -1.3664868e-01, 1.5971609e-01, 1.0000000e+04, -1.4841602e-01, --1.7263779e-01, -8.2734975e-02, -1.4342692e-01, -1.3271674e-01, 1.0783877e-01, -7.0710678e+03, 4.4721137e+03, 3.1621956e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, -1.3198740e-01, 1.0000000e+04, 1.2145607e-01, -1.2401135e-01, --1.0014932e-01, -1.4834728e-01, 1.3415792e-01, 1.4701368e-01, 1.0000000e+04, -1.1394861e-01, 1.0212614e-01, -9.5863716e-02, -1.3213141e-01, 1.2242478e-01, -1.0000000e+04, 1.4342692e-01, -1.1925800e-01, -1.1566153e-01, 1.4300339e-01, -1.2871086e-01, 1.0000000e+04, 1.2770703e-01, 1.3123181e-01, -1.0633205e-01, --1.2860539e-01, 1.5910730e-01, 1.1845977e-01, 1.1639930e-01, 1.3314513e-01, --1.0798073e-01, 1.0000000e+04, 1.3198740e-01, 1.2088866e-01, -1.3867612e-01, --9.8434055e-02, -1.0742179e-01, 9.4959558e-02, 1.1734926e-01, 1.0000000e+04, -1.4875994e-01, 1.2422293e-01, -1.6394595e-01, -1.4804153e-01, -1.3508390e-01, -1.6304718e-01, 1.7890763e-01, 9.2490697e-02, 1.2386938e-01, 9.7735705e-02, -1.0826153e-01, 1.0000000e+04, 1.3681143e-01, 1.2519039e-01, -1.8212204e-01, --1.4671586e-01, -1.2562400e-01, 1.4790817e-01, 1.7350735e-01, 1.0000000e+04, --1.5983067e-01, -1.3588434e-01, -1.2596141e-01, 1.4841602e-01, 1.6044994e-01, -1.0000000e+04, -1.7425525e-01, 7.0710678e+03, 4.4721137e+03, 3.1621956e+03, -7.0710678e+03, 4.4721132e+03, 3.1621939e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, 1.0000000e+04, -1.4903125e-01, -1.5971609e-01, -1.7189507e-01, --1.3131057e-01, -1.2145607e-01, 7.0710678e+03, 4.4721137e+03, 3.1621956e+03, -1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.0783877e-01, -1.1394861e-01, --1.3314513e-01, 1.4274260e-01, 1.1925800e-01, 1.0000000e+04, 1.0283622e-01, --1.0212614e-01, -1.3123181e-01, 1.2796905e-01, 1.0000000e+04, 1.1308694e-01, --1.2088866e-01, 7.0710678e+03, 4.4721137e+03, 3.1640235e+03, 1.0000000e+04, -1.0000000e+04, 1.0000000e+04, 1.3131057e-01, -1.2242478e-01, -1.0824316e-01, -1.0000000e+04, 1.2845172e-01, 1.1872361e-01, -1.4300339e-01, -9.4959558e-02, --1.2770703e-01, -1.1639930e-01, 1.4206672e-01, 1.5596377e-01, 1.1591788e-01, --9.2490697e-02, 1.0742179e-01, 1.0000000e+04, 1.1809773e-01, 1.2193486e-01, --1.5910730e-01, -9.7735705e-02, -1.4875994e-01, 1.7814849e-01, 8.1046541e-02, -1.0000000e+04, 1.2562400e-01, -1.6304718e-01, -1.3681143e-01, 1.6367246e-01, -8.2175907e-02, 1.0000000e+04, 1.2596141e-01, -1.7890763e-01, -1.2772450e-01, -1.4903125e-01, 7.0710678e+03, 4.4758643e+03, 3.1701183e+03, 1.0000000e+04, -1.0000000e+04, 1.0000000e+04, -1.6044994e-01, -1.7350735e-01, 4.4721132e+03, --4.4721132e+03, 7.0710678e+03, -5.1465433e+03, 1.0000000e+04, -4.4758643e+03, -3.1621940e+03, -3.1621939e+03, 5.1465433e+03, 1.0000000e+04, -3.1701183e+03, --1.2193486e-01, 1.0824316e-01, 7.0710678e+03, 4.4721137e+03, 3.1664528e+03, -1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0451399e-01, -1.4274260e-01, --1.1308694e-01, -1.0283622e-01, -1.1591788e-01, 1.2700513e-01, 1.3964801e-01, -1.0000000e+04, -1.1872361e-01, 1.0000000e+04, 1.1385063e-01, -1.2796905e-01, -4.4721137e+03, 1.0000000e+04, 3.1621956e+03, -3.1621955e+03, -3.1640235e+03, --1.2845172e-01, 1.5524321e-01, 1.0000000e+04, 1.0333071e-01, -1.4206672e-01, --8.1046541e-02, -1.1809773e-01, 1.4266334e-01, 1.0000000e+04, 1.0463051e-01, --1.5596377e-01, -8.2175907e-02, 7.0682278e-02, 7.0710678e+03, 4.4807683e+03, -3.1805169e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.2772450e-01, --1.6367246e-01, -1.7814849e-01, 4.4721137e+03, 7.0710678e+03, -5.1465433e+03, -1.0000000e+04, -4.4721132e+03, -4.4807683e+03, 3.1621952e+03, 5.1465433e+03, -1.0000000e+04, -3.1621940e+03, -3.1805169e+03, 3.1621955e+03, 4.4721137e+03, -1.0000000e+04, -3.1621952e+03, -3.1664528e+03, -1.0451399e-01, -1.0463051e-01, -1.2758139e-01, 7.0710678e+03, 4.4721137e+03, 3.1640234e+03, 1.0000000e+04, -1.0000000e+04, 1.0000000e+04, -1.3964801e-01, -1.1385063e-01, -1.0333071e-01, -1.3895442e-01, 1.0000000e+04, -1.2700513e-01, 7.0710678e+03, 4.4758646e+03, -3.1701189e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 9.1989026e-02, --1.4266334e-01, -1.5524321e-01, -7.0682278e-02, 7.0710678e+03, -5.1465433e+03, -1.0000000e+04, 4.4721137e+03, -4.4721137e+03, -4.4758646e+03, 5.1465433e+03, -1.0000000e+04, 3.1621952e+03, -3.1621952e+03, -3.1701189e+03, 3.1621952e+03, --3.1621952e+03, 4.4721137e+03, 1.0000000e+04, -3.1640234e+03, -9.1989026e-02, -7.0710678e+03, 4.4721137e+03, 3.1621952e+03, 1.0000000e+04, 1.0000000e+04, -1.0000000e+04, -1.2758139e-01, -1.3895442e-01 }; +1.2172140e-01, 7.0710678e+03, 7.0710678e+03, 1.0000000e+04, 1.0000000e+04, +1.0000000e+04, 1.0000000e+04, 1.2172140e-01, 7.0710678e+03, 7.0710678e+03, +1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.4834728e-01, +-1.2172140e-01, -1.2172140e-01, 1.4834728e-01, 7.0710678e+03, 7.0710678e+03, +1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -1.4834728e-01, +7.0710678e+03, 9.9996259e+03, 1.0000000e+04, 7.0710678e+03, 1.0000000e+04, +1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 7.0710678e+03, 7.0710678e+03, +9.9996259e+03, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, 1.0000000e+04, +1.0000000e+04, -1.4834728e-01 }; const int MPT_NC[] PROGMEM = { -9, 5, 10, 5, 10, -6, 6, 4, 6, 10, -5, 5, 10, 6, 6, -6, 5, 6, 5, 6, -6, 10, 5, 5, 10, -6, 6, 6, 7, 6, -6, 6, 6, 6, 6, -6, 9, 5, 6, 13, -6, 7, 7, 6, 7, -4, 10, 6, 5, 10, -6, 5, 5, 5, 5, -5, 6, 7, 6, 7, -6, 7, 6, 6, 7, -10, 6, 4, 10, 6, -4, 4, 4, 5, 6, -4, 7, 6, 5, 7, -7, 5, 6, 6, 5, -10, 5, 10, 5, 6, -6, 7, 6, 6, 6, -6, 6, 6, 6, 13, -9, 6, 5, 10, 5, -6, 6, 6, 6, 10, -6, 5, 10, 6, 4, -5, 6, 6, 10, 6, -5, 5, 10, 5, 10, -6, 5, 5, 9 }; +8, 8, 8, 9, 9 +}; const float MPT_F[] PROGMEM = { -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -6.3618820e+00, -2.2459502e+02, -3.6852726e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 7.1042831e+00, -2.4457143e+02, -3.9153690e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.2841140e+05, -3.8522632e+05, -3.8371043e+03, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 7.8766090e+00, -2.6492238e+02, -4.1463390e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 6.7892413e+00, -2.3343210e+02, -3.7323176e+01, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 6.0032591e+00, -2.1226462e+02, -3.4881232e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 7.5490076e+00, -2.5331631e+02, --3.9552799e+01, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -5.9397388e+00, -2.1042948e+02, -3.4640919e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 5.9124557e+00, -2.0872882e+02, --3.4249316e+01, -7.3040818e+00, 2.5785773e+02, 4.2310644e+01, 7.4840827e+00, --2.5138740e+02, -3.9293232e+01, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -6.6599679e+00, -2.2964705e+02, -3.6820928e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 6.5450076e+00, -2.2531786e+02, --3.6071366e+01, -8.0855186e+00, 2.7835135e+02, 4.4561553e+01, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -3.2153807e+04, -9.6459448e+04, -9.6079874e+02, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 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-9.6459448e+04, --9.6079874e+02, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 6.5450076e+00, -2.2531786e+02, -3.6071366e+01, --8.0855186e+00, 2.7835135e+02, 4.4561553e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -6.7892413e+00, -2.3343210e+02, -3.7323176e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 6.0032591e+00, -2.1226462e+02, -3.4881232e+01, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 5.9124557e+00, --2.0872882e+02, -3.4249316e+01, -7.3040818e+00, 2.5785773e+02, 4.2310644e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 1.2841140e+05, -3.8522632e+05, -3.8371043e+03, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 7.5490076e+00, -2.5331631e+02, --3.9552799e+01, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -5.9397388e+00, -2.1042948e+02, -3.4640919e+01, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 7.4840827e+00, -2.5138740e+02, -3.9293232e+01, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 6.6599679e+00, -2.2964705e+02, -3.6820928e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 7.1874573e+00, --2.4174341e+02, -3.7835615e+01, -8.8791830e+00, 2.9864302e+02, 4.6741057e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 5.0832974e+04, -1.0166532e+05, -5.0712347e+02, --6.2797629e+04, 1.2559449e+05, 6.2648610e+02, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.2728415e+04, -3.8184464e+04, -3.8034206e+02, -1.5724327e+04, 4.7172015e+04, -4.6986391e+02, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 5.0832974e+04, --1.5249580e+05, -1.5189572e+03, -6.2797629e+04, 1.8838903e+05, 1.8764771e+03, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 7.1042831e+00, -2.4457143e+02, -3.9153690e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 6.3618820e+00, -2.2459502e+02, -3.6852726e+01, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 7.8766090e+00, -2.6492238e+02, -4.1463390e+01, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.2841140e+05, -2.5682122e+05, -1.2810668e+03, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 3.2153807e+04, -9.6459448e+04, --9.6079874e+02, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 1.2841140e+05, -3.8522632e+05, -3.8371043e+03, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +3.7750381e+01, 6.3618820e+00, -2.1204296e+02, -3.2880720e+01, 0.0000000e+00, +0.0000000e+00, 0.0000000e+00, 6.3618820e+00, -2.1204296e+02, -3.2880720e+01, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -0.0000000e+00, 0.0000000e+00 }; +0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00 +}; const float MPT_G[] PROGMEM = { --3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --1.6381611e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -1.6130791e+00, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -1.2841142e+09, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -5.3227337e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.6017534e-02, -3.0000000e+01, -5.1591655e-02, --3.0000000e+01, -3.4960128e+00, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --3.1202736e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 1.9308683e-01, -2.3853405e-01, -3.3663248e+00, 3.0000000e+01, --3.1942680e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 4.2564978e-01, -5.2583579e-01, 3.0000000e+01, -3.0000000e+01, -3.2153809e+08, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 5.0832984e+08, -6.2797642e+08, -3.0000000e+01, -3.0000000e+01, -6.9817364e+00, 8.6250411e+00, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 1.2841141e+09, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -1.7181011e+00, -3.0000000e+01, -1.6364983e+00, -3.0000000e+01, -1.5485846e+00, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 1.7955880e+00, -2.2182191e+00, 1.6645618e+00, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 1.6963948e+00, -3.0000000e+01, -1.5825300e+00, -1.9550131e+00, -5.2379373e+00, 6.4708007e+00, 3.0000000e+01, --3.0000000e+01, -4.6483190e+00, -3.0000000e+01, -1.4441660e+00, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -1.2909582e+00, 1.5948135e+00, -5.1086242e+00, -6.3110510e+00, -4.8282165e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --1.1991136e+00, 3.0000000e+01, -1.1495962e+00, 1.4201789e+00, 3.0000000e+01, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 2.5371228e+00, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 1.2728415e+08, -1.5724326e+08, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -1.2841143e+09, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -9.9795922e+00, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -5.0832974e+08, -6.2797629e+08, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.5219333e+00, 4.3508976e+00, -3.3275489e+00, -3.0000000e+01, --3.1302912e+00, -3.0000000e+01, 2.4245252e-01, 3.0000000e+01, 2.1305034e-01, --2.6319640e-01, 1.8456136e-01, -3.0000000e+01, 1.2467036e-01, 3.0000000e+01, -1.0514253e-01, -3.0000000e+01, 9.5068259e-02, -1.1744466e-01, -3.0000000e+01, -3.0000000e+01, 3.9196804e+00, 3.0000000e+01, 3.6547656e+00, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 3.2920777e+00, -4.0669404e+00, 3.0769136e+00, --3.8011327e+00, -7.9379602e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --7.0168247e+00, -3.0000000e+01, -3.2422172e+00, 4.0053442e+00, 3.0000000e+01, --3.0000000e+01, -2.8664279e+00, 3.5411046e+00, -7.7792671e+00, -3.0000000e+01, --7.3327762e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -2.9907429e+00, -3.6946798e+00, -2.8289988e+00, 3.4948657e+00, 3.0000000e+01, -3.0000000e+01, -7.7218343e-01, 3.0000000e+01, 7.1023890e-01, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.2153802e+08, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 1.2841140e+09, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --5.9377393e+00, -3.0000000e+01, -5.5923108e+00, -3.0000000e+01, -5.2486125e+00, --3.0000000e+01, -1.5894631e+00, 1.9635780e+00, -1.5035024e+00, 1.8573847e+00, --1.4207708e+00, -3.0000000e+01, -1.7136118e+00, 2.1169480e+00, -1.6172667e+00, --3.0000000e+01, -1.5149956e+00, 1.8715830e+00, 2.2377114e+00, 3.0000000e+01, -2.0953391e+00, 3.0000000e+01, 1.9483870e+00, -3.0000000e+01, 1.8459251e+00, -3.0000000e+01, 1.7287396e+00, -2.1356364e+00, 1.6157524e+00, -1.9960552e+00, -1.9819268e+00, 3.0000000e+01, 1.8604734e+00, -3.0000000e+01, 1.7516409e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -5.4464788e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 5.3882451e+00, -3.0000000e+01, 5.0400093e+00, -6.2262860e+00, -3.0000000e+01, 3.0000000e+01, -5.2228117e+00, -6.4521150e+00, 4.8990951e+00, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -9.1383290e+00, -3.0000000e+01, --5.5943680e+00, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -4.9274050e+00, -6.0871778e+00, -1.6678938e+00, 2.0604692e+00, 3.0000000e+01, -3.0000000e+01, --1.4607834e+00, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -9.5756569e+00, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -5.2856540e+00, -3.0000000e+01, --4.9801580e+00, 6.1523474e+00, 3.0000000e+01, -3.0000000e+01, -1.3148224e+00, -1.6242947e+00, -1.2469793e+00, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -2.5821883e+00, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -7.6260377e+00, -3.0000000e+01, --7.1508378e+00, -3.0000000e+01, -3.6779812e+00, -3.0000000e+01, -3.4604985e+00, -4.2750027e+00, -3.2509673e+00, -3.0000000e+01, -3.8310276e+00, -3.0000000e+01, --3.6012147e+00, -3.0000000e+01, -3.3695393e+00, 4.1626342e+00, 1.1766914e-01, --1.4536516e-01, 1.0784894e-01, 3.0000000e+01, 8.9408793e-02, -3.0000000e+01, --3.5527137e-15, 0.0000000e+00, 7.1054274e-15, 0.0000000e+00, -3.5527137e-15, -0.0000000e+00, -1.1766914e-01, 1.4536516e-01, -1.0784894e-01, -3.0000000e+01, --8.9408793e-02, 3.0000000e+01, 4.0414091e+00, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.5428710e+00, -3.0000000e+01, 3.8310276e+00, 3.0000000e+01, -3.6012147e+00, 3.0000000e+01, 3.3695393e+00, -4.1626342e+00, 3.6779812e+00, -3.0000000e+01, 3.4604985e+00, -4.2750027e+00, 3.2509673e+00, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 6.7772422e+00, --8.3724148e+00, -3.0000000e+01, 3.0000000e+01, 7.6260377e+00, 3.0000000e+01, -7.1508378e+00, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 6.9100842e+00, --8.5365241e+00, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -6.7772422e+00, 8.3724148e+00, -4.0414091e+00, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.5428710e+00, 3.0000000e+01, --2.3155684e-01, 2.8605882e-01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -6.9100842e+00, 8.5365241e+00, -3.0000000e+01, -3.0000000e+01, 2.3155684e-01, -2.8605882e-01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --5.2228117e+00, 6.4521150e+00, -4.8990951e+00, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -5.3882451e+00, -3.0000000e+01, -5.0400093e+00, 6.2262860e+00, --1.9819268e+00, -3.0000000e+01, -1.8604734e+00, 3.0000000e+01, -1.7516409e+00, --3.0000000e+01, -1.8459251e+00, -3.0000000e+01, -1.7287396e+00, 2.1356364e+00, --1.6157524e+00, 1.9960552e+00, -2.2377114e+00, -3.0000000e+01, -2.0953391e+00, --3.0000000e+01, -1.9483870e+00, 3.0000000e+01, 1.6678938e+00, -2.0604692e+00, --3.0000000e+01, 3.0000000e+01, 1.4607834e+00, -3.0000000e+01, 1.7136118e+00, --2.1169480e+00, 1.6172667e+00, 3.0000000e+01, 1.5149956e+00, -1.8715830e+00, -1.5894631e+00, -1.9635780e+00, 1.5035024e+00, -1.8573847e+00, 1.4207708e+00, -3.0000000e+01, 1.3148224e+00, -1.6242947e+00, 1.2469793e+00, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 5.5943680e+00, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 4.9274050e+00, -6.0871778e+00, 5.9377393e+00, 3.0000000e+01, -5.5923108e+00, 3.0000000e+01, 5.2486125e+00, 3.0000000e+01, 5.2856540e+00, -3.0000000e+01, 4.9801580e+00, -6.1523474e+00, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 9.1383290e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 9.5756569e+00, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -5.4464788e+00, 3.0000000e+01, -2.5821883e+00, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.2920777e+00, 4.0669404e+00, -3.0769136e+00, 3.8011327e+00, -3.0000000e+01, -3.0000000e+01, -3.9196804e+00, -3.0000000e+01, -3.6547656e+00, -3.0000000e+01, -1.2467036e-01, -3.0000000e+01, -1.0514253e-01, 3.0000000e+01, --9.5068259e-02, 1.1744466e-01, -2.4245252e-01, -3.0000000e+01, -2.1305034e-01, -2.6319640e-01, -1.8456136e-01, 3.0000000e+01, -7.7218343e-01, -3.0000000e+01, --7.1023890e-01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.2422172e+00, --4.0053442e+00, -3.0000000e+01, 3.0000000e+01, 2.8664279e+00, -3.5411046e+00, -3.5219333e+00, -4.3508976e+00, 3.3275489e+00, 3.0000000e+01, 3.1302912e+00, -3.0000000e+01, 2.9907429e+00, -3.6946798e+00, 2.8289988e+00, -3.4948657e+00, --3.0000000e+01, 3.0000000e+01, 7.9379602e+00, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 7.0168247e+00, 3.0000000e+01, 7.7792671e+00, 3.0000000e+01, -7.3327762e+00, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -1.7955880e+00, 2.2182191e+00, --1.6645618e+00, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -1.6963948e+00, -3.0000000e+01, -1.5825300e+00, 1.9550131e+00, 3.0000000e+01, -3.0000000e+01, --2.5371228e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 1.4441660e+00, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 1.2909582e+00, -1.5948135e+00, -1.7181011e+00, -3.0000000e+01, 1.6364983e+00, 3.0000000e+01, 1.5485846e+00, -3.0000000e+01, 1.1991136e+00, -3.0000000e+01, 1.1495962e+00, -1.4201789e+00, --3.0000000e+01, 3.0000000e+01, 5.2379373e+00, -6.4708007e+00, -3.0000000e+01, -3.0000000e+01, 4.6483190e+00, 3.0000000e+01, 5.1086242e+00, -6.3110510e+00, -4.8282165e+00, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 9.9795922e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --1.2841140e+09, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.2153802e+08, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -4.2564978e-01, -5.2583579e-01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.6017534e-02, 3.0000000e+01, 5.1591655e-02, 3.0000000e+01, 3.0000000e+01, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -1.9308683e-01, 2.3853405e-01, -3.0000000e+01, -3.0000000e+01, -1.2841143e+09, -3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.4960128e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.1202736e+00, 3.0000000e+01, 3.3663248e+00, -3.0000000e+01, 3.1942680e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 6.9817364e+00, -8.6250411e+00, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -5.0832974e+08, -6.2797629e+08, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --1.2728415e+08, 1.5724326e+08, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -5.0832984e+08, 6.2797642e+08, --3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 1.6130791e+00, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 1.6381611e+00, 3.0000000e+01, 5.3227337e+00, --3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --1.2841141e+09, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, -3.2153809e+08, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, --3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -1.2841142e+09, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01, 3.0000000e+01, -3.0000000e+01, --3.0000000e+01, 3.0000000e+01, -3.0000000e+01, 3.0000000e+01 }; +-3.5527137e-15, 0.0000000e+00, -1.8459251e+00, -3.0000000e+01, 1.8459251e+00, +3.0000000e+01, 3.0000000e+01, -3.0000000e+01, -3.0000000e+01, 3.0000000e+01 +}; diff --git a/matlab/examples/BicopShield/BicopShield_EMPC/ectrl_due.h b/matlab/examples/BicopShield/BicopShield_EMPC/ectrl_due.h new file mode 100644 index 00000000..db74230c --- /dev/null +++ b/matlab/examples/BicopShield/BicopShield_EMPC/ectrl_due.h @@ -0,0 +1,1366 @@ +/* + MATRICES FOR EXPLICIT MPC POLYTOPES AND CORRESPONDING PWA LAWS + + The automatically generated set of matrices have been adapted from + the C code auto-generation routine of the Multi-Parametric Toolbox 3 + MPT3) of Kvasnica et al. for MATLAB. Please see http://www.mpt3.org + for more information. Please see the original "toC.m" for more details + in the MPT3. + + The following C code has been slightly adapted to perform microcontroller + architecutre-specific changes for AVR and ARM Cortex-A devices. + + The list of changes from the original are as follows: + - Changed "static" modifiers to "const" so microcontrollers will + prefer to use ROM instead of RAM. + - Added PROGMEM functionality for the AVR architecture, and calling + the necessary headers. + - Removed the possibility to use PWQ, this only handles PWA. + - Removed matrix export for the tie-breaking function. + + Usage: include alongside with the empcSequential.h header to your + example. + + This code snippet has been altered for the needs of the + the AutomationShield hardware and software ecosystem. + Visit http://www.automationshield.com for more details. + + + Copyright (C) 2005 by Michal Kvasnica (michal.kvasnica@stuba.sk) + Revised in 2012-2013 by Martin Herceg (herceg@control.ee.ethz.ch) + Adapted for MCU use by Gergely Tak�cs in 2020 (gergely.takacs@stuba.sk) +*/ +#define MPT_NR 129 +#define MPT_DOMAIN 3 +#define MPT_RANGE 6 +#define MPT_ABSTOL 1.000000e-08 + +const float MPT_A[] = { +-2.7941309e-02, 9.8641862e-01, 1.6185672e-01, -2.8670865e-02, 9.8702068e-01, +1.5801315e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, +8.9441719e-01, 4.4615011e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, +-1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +-1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.9361501e-02, +-9.8754664e-01, -1.5456238e-01, -2.8707816e-02, 9.8705077e-01, 1.5781835e-01, +-1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.7941309e-02, -9.8641862e-01, +-1.6185672e-01, 2.9431206e-02, -9.8760061e-01, -1.5420392e-01, -2.7941309e-02, +9.8641862e-01, 1.6185672e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, +-7.0710678e-01, 7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, +4.4615011e-03, -3.1638477e-01, 9.4858479e-01, 9.3580493e-03, -1.0000000e+00, +0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, +1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.8670865e-02, -9.8702068e-01, +-1.5801315e-01, 2.9401253e-02, -9.8757655e-01, -1.5436364e-01, -2.8670865e-02, +9.8702068e-01, 1.5801315e-01, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, +0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 3.1621947e-01, -9.4863900e-01, +-9.4490605e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, 3.1638477e-01, +-9.4858479e-01, -9.3580493e-03, -2.7841079e-02, 9.8633695e-01, 1.6237087e-01, +-2.8623413e-02, 9.8698410e-01, 1.5825010e-01, 2.9361501e-02, -9.8754664e-01, +-1.5456238e-01, -2.9361501e-02, 9.8754664e-01, 1.5456238e-01, -7.0710678e-01, +7.0710678e-01, 0.0000000e+00, -4.4755899e-01, 8.9424397e-01, 4.3207198e-03, +-3.1693421e-01, 9.4840421e-01, 9.0639411e-03, -1.0000000e+00, 0.0000000e+00, +0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, +0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, +2.7896798e-02, -9.8638139e-01, -1.6209107e-01, 2.8707816e-02, -9.8705077e-01, +-1.5781835e-01, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.8707816e-02, +9.8705077e-01, 1.5781835e-01, -2.7896798e-02, 9.8638139e-01, 1.6209107e-01, +-2.8660499e-02, 9.8701434e-01, 1.5805462e-01, 2.9431206e-02, -9.8760061e-01, +-1.5420392e-01, -2.9431206e-02, 9.8760061e-01, 1.5420392e-01, -1.0000000e+00, +0.0000000e+00, 0.0000000e+00, 2.7841079e-02, -9.8633695e-01, -1.6237087e-01, +-2.7841079e-02, 9.8633695e-01, 1.6237087e-01, -2.8763969e-02, 9.8709643e-01, +1.5752230e-01, 2.7941309e-02, -9.8641862e-01, -1.6185672e-01, -1.0000000e+00, +0.0000000e+00, 0.0000000e+00, 2.9536735e-02, -9.8768205e-01, -1.5366115e-01, +-2.7796248e-02, 9.8629934e-01, 1.6260684e-01, 2.9401253e-02, -9.8757655e-01, +-1.5436364e-01, -2.9401253e-02, 9.8757655e-01, 1.5436364e-01, 1.0000000e+00, +0.0000000e+00, 0.0000000e+00, 2.8623413e-02, -9.8698410e-01, -1.5825010e-01, +-2.8623413e-02, 9.8698410e-01, 1.5825010e-01, -2.7828592e-02, 9.8632425e-01, +1.6245013e-01, 2.8670865e-02, -9.8702068e-01, -1.5801315e-01, -7.0710678e-01, +7.0710678e-01, 0.0000000e+00, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, +-3.1660445e-01, 9.4851268e-01, 9.2370891e-03, -1.0000000e+00, 0.0000000e+00, +0.0000000e+00, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 1.0000000e+00, +0.0000000e+00, 0.0000000e+00, -2.8670865e-02, 9.8702068e-01, 1.5801315e-01, +2.9461666e-02, -9.8762191e-01, -1.5406159e-01, 3.1621947e-01, -9.4863900e-01, +-9.4490605e-03, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, -5.1465432e-01, +8.5739605e-01, 1.7123568e-03, 0.0000000e+00, 0.0000000e+00, -1.0000000e+00, +3.1693421e-01, -9.4840421e-01, -9.0639411e-03, 3.1621947e-01, -9.4863900e-01, +-9.4490605e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, 0.0000000e+00, +0.0000000e+00, -1.0000000e+00, -3.1621947e-01, 9.4863900e-01, 9.4490605e-03, +3.1660445e-01, -9.4851268e-01, -9.2370891e-03, -2.7686827e-02, 9.8621074e-01, +1.6316196e-01, -2.8550707e-02, 9.8692793e-01, 1.5861313e-01, 2.9361501e-02, +-9.8754664e-01, -1.5456238e-01, -7.0710678e-01, 7.0710678e-01, 0.0000000e+00, +-4.4801347e-01, 8.9401724e-01, 4.1366262e-03, -3.1787210e-01, 9.4809498e-01, +8.5583910e-03, -1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, +0.0000000e+00, -1.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, +-2.9361501e-02, 9.8754664e-01, 1.5456238e-01, 4.4721134e-01, -8.9441719e-01, +-4.4615011e-03, -4.4721134e-01, 8.9441719e-01, 4.4615011e-03, -7.0710678e-01, +7.0710678e-01, 0.0000000e+00, 5.1465432e-01, -8.5739605e-01, -1.7123568e-03, +0.0000000e+00, 0.0000000e+00, -1.0000000e+00, 4.4755899e-01, -8.9424397e-01, +-4.3207198e-03, 2.9470725e-02, -9.8763026e-01, -1.5400634e-01, -2.9470725e-02, +9.8763026e-01, 1.5400634e-01, 2.7796248e-02, -9.8629934e-01, -1.6260684e-01, +2.8660499e-02, -9.8701434e-01, -1.5805462e-01, -2.8660499e-02, 9.8701434e-01, +1.5805462e-01, -2.7796248e-02, 9.8629934e-01, 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3.1621947e-01, -9.4863900e-01, -9.4490605e-03, +-3.1621947e-01, 9.4863900e-01, 9.4490605e-03, 4.4721134e-01, -8.9441719e-01, +-4.4615011e-03, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00, -3.1638477e-01, +9.4858479e-01, 9.3580493e-03, -2.9361501e-02, 9.8754664e-01, 1.5456238e-01, +7.0710678e-01, -7.0710678e-01, 0.0000000e+00, 4.4721134e-01, -8.9441719e-01, +-4.4615011e-03, 3.1621947e-01, -9.4863900e-01, -9.4490605e-03, -1.0000000e+00, +0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 0.0000000e+00, 0.0000000e+00, +0.0000000e+00, 0.0000000e+00, 1.0000000e+00, 2.8670865e-02, -9.8702068e-01, +-1.5801315e-01, 2.7941309e-02, -9.8641862e-01, -1.6185672e-01 }; + +const float MPT_B[] = { +-1.3895442e-01, -1.2758139e-01, 7.0710678e+03, 4.4721137e+03, 3.1621952e+03, +1.0000000e+04, 1.0000000e+04, 1.0000000e+04, -9.1989026e-02, -1.2700513e-01, +1.0000000e+04, 1.3895442e-01, -1.0333071e-01, -1.1385063e-01, -1.3964801e-01, +7.0710678e+03, 4.4721137e+03, 3.1640234e+03, 1.0000000e+04, 1.0000000e+04, 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