290 lines
6.9 KiB
C
290 lines
6.9 KiB
C
/**
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* @author Rémi Heredero
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* @version. 0.0.0
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* @date August 2023
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* @file kartculator.c
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*/
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#include "kartculator.h"
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void deadJoystick(void* p){
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eKart.torque = 0;
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eKart.position = eKart.center;
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}
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void initRamp() {
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rampTorque[0] = 0;
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rampTorque[1] = 3;
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rampTorque[2] = 5;
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rampTorque[3] = 7;
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rampTorque[4] = 10;
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rampTorque[5] = 12;
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rampTorque[6] = 14;
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rampTorque[7] = 16;
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rampTorque[8] = 18;
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rampTorque[9] = 20;
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rampTorque[10] = 22;
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rampTorque[11] = 24;
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rampTorque[12] = 25;
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rampTorque[13] = 27;
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rampTorque[14] = 28;
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rampTorque[15] = 30;
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rampTorque[16] = 31;
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rampTorque[17] = 33;
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rampTorque[18] = 34;
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rampTorque[19] = 36;
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rampTorque[20] = 37;
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rampTorque[21] = 38;
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rampTorque[22] = 39;
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rampTorque[23] = 40;
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rampTorque[24] = 41;
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rampTorque[25] = 42;
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rampTorque[26] = 43;
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rampTorque[27] = 44;
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rampTorque[28] = 45;
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rampTorque[29] = 46;
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rampTorque[30] = 47;
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rampTorque[31] = 47;
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rampTorque[32] = 48;
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rampTorque[33] = 49;
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rampTorque[34] = 50;
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rampTorque[35] = 50;
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rampTorque[36] = 51;
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rampTorque[37] = 51;
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rampTorque[38] = 52;
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rampTorque[39] = 53;
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rampTorque[40] = 53;
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rampTorque[41] = 53;
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rampTorque[42] = 54;
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rampTorque[43] = 54;
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rampTorque[44] = 55;
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rampTorque[45] = 55;
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rampTorque[46] = 56;
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rampTorque[47] = 56;
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rampTorque[48] = 56;
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rampTorque[49] = 57;
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rampTorque[50] = 57;
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rampTorque[51] = 58;
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rampTorque[52] = 58;
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rampTorque[53] = 58;
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rampTorque[54] = 59;
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rampTorque[55] = 59;
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rampTorque[56] = 59;
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rampTorque[57] = 60;
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rampTorque[58] = 60;
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rampTorque[59] = 60;
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rampTorque[60] = 61;
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rampTorque[61] = 61;
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rampTorque[62] = 62;
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rampTorque[63] = 62;
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rampTorque[64] = 62;
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rampTorque[65] = 63;
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rampTorque[66] = 63;
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rampTorque[67] = 64;
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rampTorque[68] = 64;
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rampTorque[69] = 65;
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rampTorque[70] = 65;
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rampTorque[71] = 66;
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rampTorque[72] = 67;
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rampTorque[73] = 67;
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rampTorque[74] = 68;
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rampTorque[75] = 69;
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rampTorque[76] = 69;
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rampTorque[77] = 70;
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rampTorque[78] = 71;
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rampTorque[79] = 72;
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rampTorque[80] = 72;
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rampTorque[81] = 73;
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rampTorque[82] = 74;
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rampTorque[83] = 75;
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rampTorque[84] = 76;
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rampTorque[85] = 77;
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rampTorque[86] = 78;
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rampTorque[87] = 80;
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rampTorque[88] = 81;
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rampTorque[89] = 82;
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rampTorque[90] = 83;
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rampTorque[91] = 85;
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rampTorque[92] = 86;
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rampTorque[93] = 88;
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rampTorque[94] = 89;
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rampTorque[95] = 91;
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rampTorque[96] = 93;
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rampTorque[97] = 94;
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rampTorque[98] = 96;
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rampTorque[99] = 98;
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rampTorque[100] = 100;
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rampPosition[0] = 0;
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rampPosition[1] = 0;
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rampPosition[2] = 0;
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rampPosition[3] = 0;
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rampPosition[4] = 0;
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rampPosition[5] = 1;
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rampPosition[6] = 1;
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rampPosition[7] = 1;
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rampPosition[8] = 2;
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rampPosition[9] = 2;
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rampPosition[10] = 3;
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rampPosition[11] = 3;
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rampPosition[12] = 4;
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rampPosition[13] = 5;
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rampPosition[14] = 5;
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rampPosition[15] = 6;
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rampPosition[16] = 7;
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rampPosition[17] = 8;
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rampPosition[18] = 9;
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rampPosition[19] = 9;
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rampPosition[20] = 10;
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rampPosition[21] = 11;
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rampPosition[22] = 12;
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rampPosition[23] = 13;
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rampPosition[24] = 15;
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rampPosition[25] = 16;
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rampPosition[26] = 17;
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rampPosition[27] = 18;
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rampPosition[28] = 19;
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rampPosition[29] = 20;
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rampPosition[30] = 22;
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rampPosition[31] = 23;
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rampPosition[32] = 24;
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rampPosition[33] = 25;
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rampPosition[34] = 27;
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rampPosition[35] = 28;
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rampPosition[36] = 30;
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rampPosition[37] = 31;
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rampPosition[38] = 32;
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rampPosition[39] = 34;
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rampPosition[40] = 35;
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rampPosition[41] = 37;
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rampPosition[42] = 38;
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rampPosition[43] = 40;
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rampPosition[44] = 41;
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rampPosition[45] = 43;
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rampPosition[46] = 44;
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rampPosition[47] = 46;
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rampPosition[48] = 47;
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rampPosition[49] = 49;
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rampPosition[50] = 50;
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rampPosition[51] = 51;
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rampPosition[52] = 53;
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rampPosition[53] = 54;
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rampPosition[54] = 56;
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rampPosition[55] = 57;
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rampPosition[56] = 59;
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rampPosition[57] = 60;
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rampPosition[58] = 62;
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rampPosition[59] = 63;
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rampPosition[60] = 65;
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rampPosition[61] = 66;
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rampPosition[62] = 68;
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rampPosition[63] = 69;
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rampPosition[64] = 70;
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rampPosition[65] = 72;
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rampPosition[66] = 73;
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rampPosition[67] = 75;
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rampPosition[68] = 76;
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rampPosition[69] = 77;
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rampPosition[70] = 78;
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rampPosition[71] = 80;
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rampPosition[72] = 81;
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rampPosition[73] = 82;
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rampPosition[74] = 83;
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rampPosition[75] = 84;
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rampPosition[76] = 85;
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rampPosition[77] = 87;
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rampPosition[78] = 88;
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rampPosition[79] = 89;
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rampPosition[80] = 90;
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rampPosition[81] = 91;
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rampPosition[82] = 91;
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rampPosition[83] = 92;
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rampPosition[84] = 93;
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rampPosition[85] = 94;
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rampPosition[86] = 95;
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rampPosition[87] = 95;
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rampPosition[88] = 96;
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rampPosition[89] = 97;
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rampPosition[90] = 97;
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rampPosition[91] = 98;
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rampPosition[92] = 98;
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rampPosition[93] = 99;
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rampPosition[94] = 99;
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rampPosition[95] = 99;
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rampPosition[96] = 100;
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rampPosition[97] = 100;
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rampPosition[98] = 100;
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rampPosition[99] = 100;
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rampPosition[100] = 100;
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}
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void calcTorque(uint8_t joy_pos) {
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int32_t calcTorque;
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calcTorque = (int8_t) joy_pos; // joystick position
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// if mode race, use special curve for torque
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if(eKart.powerMode == 2) {
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if(calcTorque >= 0) {
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calcTorque = rampTorque[calcTorque];
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} else {
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calcTorque *= -1;
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calcTorque = rampTorque[calcTorque];
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calcTorque *= -1;
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}
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}
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calcTorque *= KART_CST.CONTROL_POWER_FACTOR; // convert by power factor
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calcTorque /= 1000; // torque define by joystick
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eKart.torque = (int16_t) calcTorque;
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}
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void calcPosition(uint8_t joy_pos){
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int32_t calcPosition;
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calcPosition = (int8_t) joy_pos;
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calcPosition *= -1; // change left and right
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// if mode race, use special curve for steering
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if (eKart.powerMode == 2) {
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if(calcPosition >= 0) {
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calcPosition = rampPosition[calcPosition];
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} else {
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calcPosition *= -1;
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calcPosition = rampPosition[calcPosition];
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calcPosition *= -1;
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}
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}
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calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
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calcPosition /= 1000;
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calcPosition += eKart.center;
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eKart.position = (uint32_t) calcPosition;
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}
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void calcSpeed(int32_t rpm) {
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int32_t calcSpeed;
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if(rpm>=0){
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calcSpeed = rpm;
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} else {
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calcSpeed = -rpm;
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}
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calcSpeed *= 1000;
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calcSpeed /= KART_CST.CONTROL_SPEED_FACTOR;
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eKart.speed = (uint8_t) calcSpeed;
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}
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int16_t getTorque() {
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}
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uint32_t getPosition() {
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}
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uint8_t getSpeed() {
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}
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