| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2014/04/10
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| 6 | // filename: X4X8Multiplex_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Class defining X4 and X8 multiplexing
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "X4X8Multiplex_impl.h"
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| 19 | #include "X4X8Multiplex.h"
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| 20 | #include <cvmatrix.h>
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| 21 | #include <Tab.h>
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| 22 | #include <GridLayout.h>
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| 23 | #include <GroupBox.h>
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| 24 | #include <ComboBox.h>
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| 25 | #include <DataPlot1D.h>
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| 26 | #include <math.h>
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| 27 |
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| 28 | #define MAX_MOTORS 8
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| 29 |
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| 30 | using std::string;
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| 31 | using namespace flair::core;
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| 32 | using namespace flair::gui;
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| 33 | using namespace flair::filter;
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| 34 |
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| 35 | X4X8Multiplex_impl::X4X8Multiplex_impl(flair::filter::X4X8Multiplex* self,int nb_mot)
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| 36 | {
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| 37 | this->nb_mot=nb_mot;
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| 38 | this->self=self;
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| 39 |
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| 40 | if(nb_mot==4)
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| 41 | {
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| 42 | GroupBox *groupbox=new GroupBox(self->GetLayout()->NewRow(),"x4 multiplex");
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| 43 | pas=new ComboBox(groupbox->NewRow(),"front left blade pitch:");
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| 44 | }
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| 45 | else
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| 46 | {
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| 47 | GroupBox *groupbox=new GroupBox(self->GetLayout()->NewRow(),"x8 multiplex");
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| 48 | pas=new ComboBox(groupbox->NewRow(),"top front left blade pitch:");
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| 49 | }
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| 50 | pas->AddItem("normal");
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| 51 | pas->AddItem("inverted");
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| 52 |
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| 53 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(nb_mot,1);
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| 54 | for(int i=0;i<nb_mot;i++)
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| 55 | {
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| 56 | desc->SetElementName(i,0,MotorName(i));
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| 57 | }
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| 58 |
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| 59 | output=new cvmatrix(self,desc,floatType);
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| 60 |
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| 61 | self->AddDataToLog(output);
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| 62 | }
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| 63 |
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| 64 | X4X8Multiplex_impl::~X4X8Multiplex_impl(void)
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| 65 | {
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| 66 | }
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| 67 |
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| 68 | void X4X8Multiplex_impl::UseDefaultPlot(void)
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| 69 | {
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| 70 | Tab *plot_tab=new Tab(self->GetTabWidget(),"Values");
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| 71 | plots[0]=new DataPlot1D(plot_tab->NewRow(),"front left",0,1);
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| 72 | plots[1]=new DataPlot1D(plot_tab->LastRowLastCol(),"front right",0,1);
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| 73 | plots[2]=new DataPlot1D(plot_tab->NewRow(),"rear left",0,1);
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| 74 | plots[3]=new DataPlot1D(plot_tab->LastRowLastCol(),"rear right",0,1);
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| 75 |
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| 76 | for(int i=0;i<4;i++) plots[i]->AddCurve(output->Element(i));
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| 77 |
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| 78 | if(nb_mot==8)
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| 79 | {
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| 80 | for(int i=0;i<4;i++) plots[i]->AddCurve(output->Element(i+4),DataPlot::Blue);
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| 81 | }
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| 82 | }
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| 83 |
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| 84 | void X4X8Multiplex_impl::UpdateFrom(const io_data *data)
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| 85 | {
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| 86 | float u_roll,u_pitch,u_yaw,u_thrust;
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| 87 | float trim_roll,trim_pitch,trim_yaw;
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| 88 | float value[MAX_MOTORS];
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| 89 |
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| 90 | cvmatrix* input=(cvmatrix*)data;
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| 91 |
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| 92 | //on prend une fois pour toute le mutex et on fait des accès directs
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| 93 | input->GetMutex();
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| 94 |
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| 95 | u_roll=input->ValueNoMutex(0,0);
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| 96 | u_pitch=input->ValueNoMutex(1,0);
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| 97 | u_yaw=input->ValueNoMutex(2,0);
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| 98 | u_thrust=input->ValueNoMutex(3,0);
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| 99 | trim_roll=input->ValueNoMutex(4,0);
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| 100 | trim_pitch=input->ValueNoMutex(5,0);
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| 101 | trim_yaw=input->ValueNoMutex(6,0);
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| 102 |
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| 103 | input->ReleaseMutex();
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| 104 |
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| 105 | if(pas->CurrentIndex()==1)
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| 106 | {
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| 107 | trim_yaw=-trim_yaw;
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| 108 | u_yaw=-u_yaw;
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| 109 | }
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| 110 |
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| 111 | if(nb_mot==2)
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| 112 | {
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| 113 | //(top) front left
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| 114 | value[self->MultiplexValue(X4X8Multiplex::TopFrontLeft)]=Set(trim_pitch+trim_roll+trim_yaw,
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| 115 | u_thrust+u_pitch+u_roll+u_yaw);
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| 116 |
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| 117 | //(top) front right
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| 118 | value[self->MultiplexValue(X4X8Multiplex::TopFrontRight)]=Set(trim_pitch-trim_roll-trim_yaw,
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| 119 | u_thrust+u_pitch-u_roll-u_yaw);
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| 120 | }
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| 121 | if(nb_mot==4 || nb_mot==8)
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| 122 | {
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| 123 | //(top) front left
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| 124 | value[self->MultiplexValue(X4X8Multiplex::TopFrontLeft)]=Set(trim_pitch+trim_roll+trim_yaw,
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| 125 | u_thrust+u_pitch+u_roll+u_yaw);
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| 126 |
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| 127 | //(top) front right
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| 128 | value[self->MultiplexValue(X4X8Multiplex::TopFrontRight)]=Set(trim_pitch-trim_roll-trim_yaw,
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| 129 | u_thrust+u_pitch-u_roll-u_yaw);
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| 130 |
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| 131 | //(top) rear left
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| 132 | value[self->MultiplexValue(X4X8Multiplex::TopRearLeft)]=Set(-trim_pitch+trim_roll-trim_yaw,
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| 133 | u_thrust-u_pitch+u_roll-u_yaw);
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| 134 |
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| 135 | //(top) rear right
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| 136 | value[self->MultiplexValue(X4X8Multiplex::TopRearRight)]=Set(-trim_pitch-trim_roll+trim_yaw,
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| 137 | u_thrust-u_pitch-u_roll+u_yaw);
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| 138 | }
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| 139 |
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| 140 | if(nb_mot==8)
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| 141 | {
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| 142 | //bottom front left
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| 143 | value[self->MultiplexValue(X4X8Multiplex::BottomFrontLeft)]=Set(trim_pitch+trim_roll-trim_yaw,
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| 144 | u_thrust+u_pitch+u_roll-u_yaw);
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| 145 |
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| 146 | //bottom front right
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| 147 | value[self->MultiplexValue(X4X8Multiplex::BottomFrontRight)]=Set(trim_pitch-trim_roll+trim_yaw,
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| 148 | u_thrust+u_pitch-u_roll+u_yaw);
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| 149 |
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| 150 | //bottom rear left
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| 151 | value[self->MultiplexValue(X4X8Multiplex::BottomRearLeft)]=Set(-trim_pitch+trim_roll+trim_yaw,
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| 152 | u_thrust-u_pitch+u_roll+u_yaw);
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| 153 |
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| 154 | //bottom rear right
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| 155 | value[self->MultiplexValue(X4X8Multiplex::BottomRearRight)]=Set(-trim_pitch-trim_roll-trim_yaw,
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| 156 | u_thrust-u_pitch-u_roll-u_yaw);
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| 157 |
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| 158 | }
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| 159 |
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| 160 | //on prend une fois pour toute le mutex et on fait des accès directs
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| 161 | output->GetMutex();
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| 162 | for(int i=0;i<nb_mot;i++) output->SetValueNoMutex(i,0,value[i]);
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| 163 | output->ReleaseMutex();
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| 164 |
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| 165 | output->SetDataTime(data->DataTime());
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| 166 |
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| 167 | self->ProcessUpdate(output);
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| 168 | }
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| 169 |
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| 170 | float X4X8Multiplex_impl::Set(float trim,float u)
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| 171 | {
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| 172 | float value=trim;
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| 173 |
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| 174 | if(u>0)
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| 175 | {
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| 176 | value+=sqrtf(u);
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| 177 | }
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| 178 |
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| 179 | return value;
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| 180 | }
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| 181 |
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| 182 | string X4X8Multiplex_impl::MotorName(int index)
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| 183 | {
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| 184 | switch(nb_mot)
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| 185 | {
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| 186 | case 4:
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| 187 | {
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| 188 | switch(index)
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| 189 | {
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| 190 | case 0:
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| 191 | return "front left";
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| 192 | case 1:
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| 193 | return "front rigth";
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| 194 | case 2:
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| 195 | return "rear left";
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| 196 | case 3:
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| 197 | return "rear rigth";
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| 198 | default:
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| 199 | return "unammed motor";
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| 200 | }
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| 201 | }
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| 202 | case 8:
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| 203 | {
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| 204 | switch(index)
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| 205 | {
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| 206 | case 0:
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| 207 | return "top front left";
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| 208 | case 1:
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| 209 | return "top front rigth";
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| 210 | case 2:
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| 211 | return "top rear left";
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| 212 | case 3:
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| 213 | return "top rear rigth";
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| 214 | case 4:
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| 215 | return "bottom front left";
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| 216 | case 5:
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| 217 | return "bottom front rigth";
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| 218 | case 6:
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| 219 | return "bottom rear left";
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| 220 | case 7:
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| 221 | return "bottom rear rigth";
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| 222 | default:
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| 223 | return "unammed motor";
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| 224 | }
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| 225 | }
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| 226 | default:
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| 227 | {
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| 228 | return "unammed motor";
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| 229 | }
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| 230 | }
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| 231 | }
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