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A4954.h
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A4954.h
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/*
A4954.h
Copyright (C) 2017 Niryo
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef A4954_H
#define A4954_H
#include "config.h"
#include <Arduino.h>
#include "analogFastWrite.h"
const int sin_1[] = {0, 2, 4, 5, 7, 9, 11, 13, 14, 16, 18, 20, 21, 23, 25, 27, 29, 30, 32, 34, 36, 38, 39, 41, 43, 45, 46, 48, 50, 52, 54, 55, 57, 59, 61, 63, 64, 66, 68, 70, 71, 73, 75, 77, 79, 80, 82, 84, 86, 87, 89, 91, 93, 95, 96, 98, 100, 102, 103, 105, 107, 109, 111, 112, 114, 116, 118, 119, 121, 123, 125, 127, 128, 130, 132, 134, 135, 137, 139, 141, 143, 144, 146, 148, 150, 151, 153, 155, 157, 158, 160, 162, 164, 165, 167, 169, 171, 173, 174, 176, 178, 180, 181, 183, 185, 187, 188, 190, 192, 194, 195, 197, 199, 201, 202, 204, 206, 208, 209, 211, 213, 215, 216, 218, 220, 222, 223, 225, 227, 229, 230, 232, 234, 236, 237, 239, 241, 243, 244, 246, 248, 249, 251, 253, 255, 256, 258, 260, 262, 263, 265, 267, 268, 270, 272, 274, 275, 277, 279, 281, 282, 284, 286, 287, 289, 291, 293, 294, 296, 298, 299, 301, 303, 305, 306, 308, 310, 311, 313, 315, 316, 318, 320, 322, 323, 325, 327, 328, 330, 332, 333, 335, 337, 338, 340, 342, 344, 345, 347, 349, 350, 352, 354, 355, 357, 359, 360, 362, 364, 365, 367, 369, 370, 372, 374, 375, 377, 379, 380, 382, 384, 385, 387, 389, 390, 392, 394, 395, 397, 398, 400, 402, 403, 405, 407, 408, 410, 412, 413, 415, 416, 418, 420, 421, 423, 425, 426, 428, 430, 431, 433, 434, 436, 438, 439, 441, 442, 444, 446, 447, 449, 450, 452, 454, 455, 457, 459, 460, 462, 463, 465, 466, 468, 470, 471, 473, 474, 476, 478, 479, 481, 482, 484, 485, 487, 489, 490, 492, 493, 495, 496, 498, 500, 501, 503, 504, 506, 507, 509, 510, 512, 514, 515, 517, 518, 520, 521, 523, 524, 526, 527, 529, 530, 532, 534, 535, 537, 538, 540, 541, 543, 544, 546, 547, 549, 550, 552, 553, 555, 556, 558, 559, 561, 562, 564, 565, 567, 568, 570, 571, 573, 574, 576, 577, 579, 580, 581, 583, 584, 586, 587, 589, 590, 592, 593, 595, 596, 598, 599, 600, 602, 603, 605, 606, 608, 609, 611, 612, 613, 615, 616, 618, 619, 621, 622, 623, 625, 626, 628, 629, 630, 632, 633, 635, 636, 637, 639, 640, 642, 643, 644, 646, 647, 649, 650, 651, 653, 654, 655, 657, 658, 660, 661, 662, 664, 665, 666, 668, 669, 670, 672, 673, 674, 676, 677, 679, 680, 681, 683, 684, 685, 687, 688, 689, 690, 692, 693, 694, 696, 697, 698, 700, 701, 702, 704, 705, 706, 707, 709, 710, 711, 713, 714, 715, 716, 718, 719, 720, 722, 723, 724, 725, 727, 728, 729, 730, 732, 733, 734, 735, 737, 738, 739, 740, 742, 743, 744, 745, 746, 748, 749, 750, 751, 753, 754, 755, 756, 757, 759, 760, 761, 762, 763, 765, 766, 767, 768, 769, 770, 772, 773, 774, 775, 776, 777, 779, 780, 781, 782, 783, 784, 786, 787, 788, 789, 790, 791, 792, 794, 795, 796, 797, 798, 799, 800, 801, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 828, 829, 831, 832, 833, 834, 835, 836, 837, 838, 839, 840, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 851, 852, 853, 854, 855, 856, 857, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 889, 890, 891, 892, 893, 894, 895, 896, 896, 897, 898, 899, 900, 901, 902, 902, 903, 904, 905, 906, 907, 907, 908, 909, 910, 911, 912, 912, 913, 914, 915, 916, 916, 917, 918, 919, 920, 920, 921, 922, 923, 923, 924, 925, 926, 927, 927, 928, 929, 930, 930, 931, 932, 933, 933, 934, 935, 935, 936, 937, 938, 938, 939, 940, 940, 941, 942, 943, 943, 944, 945, 945, 946, 947, 947, 948, 949, 949, 950, 951, 951, 952, 953, 953, 954, 955, 955, 956, 957, 957, 958, 959, 959, 960, 960, 961, 962, 962, 963, 963, 964, 965, 965, 966, 966, 967, 968, 968, 969, 969, 970, 971, 971, 972, 972, 973, 973, 974, 974, 975, 976, 976, 977, 977, 978, 978, 979, 979, 980, 980, 981, 981, 982, 982, 983, 983, 984, 984, 985, 985, 986, 986, 987, 987, 988, 988, 989, 989, 990, 990, 990, 991, 991, 992, 992, 993, 993, 994, 994, 994, 995, 995, 996, 996, 997, 997, 997, 998, 998, 999, 999, 999, 1000, 1000, 1000, 1001, 1001, 1002, 1002, 1002, 1003, 1003, 1003, 1004, 1004, 1004, 1005, 1005, 1006, 1006, 1006, 1007, 1007, 1007, 1007, 1008, 1008, 1008, 1009, 1009, 1009, 1010, 1010, 1010, 1011, 1011, 1011, 1011, 1012, 1012, 1012, 1012, 1013, 1013, 1013, 1014, 1014, 1014, 1014, 1015, 1015, 1015, 1015, 1015, 1016, 1016, 1016, 1016, 1017, 1017, 1017, 1017, 1017, 1018, 1018, 1018, 1018, 1018, 1019, 1019, 1019, 1019, 1019, 1019, 1020, 1020, 1020, 1020, 1020, 1020, 1021, 1021, 1021, 1021, 1021, 1021, 1021, 1022, 1022, 1022, 1022, 1022, 1022, 1022, 1022, 1022, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1022, 1022, 1022, 1022, 1022, 1022, 1022, 1022, 1022, 1021, 1021, 1021, 1021, 1021, 1021, 1021, 1020, 1020, 1020, 1020, 1020, 1020, 1019, 1019, 1019, 1019, 1019, 1019, 1018, 1018, 1018, 1018, 1018, 1017, 1017, 1017, 1017, 1017, 1016, 1016, 1016, 1016, 1015, 1015, 1015, 1015, 1015, 1014, 1014, 1014, 1014, 1013, 1013, 1013, 1012, 1012, 1012, 1012, 1011, 1011, 1011, 1011, 1010, 1010, 1010, 1009, 1009, 1009, 1008, 1008, 1008, 1007, 1007, 1007, 1007, 1006, 1006, 1006, 1005, 1005, 1004, 1004, 1004, 1003, 1003, 1003, 1002, 1002, 1002, 1001, 1001, 1000, 1000, 1000, 999, 999, 999, 998, 998, 997, 997, 997, 996, 996, 995, 995, 994, 994, 994, 993, 993, 992, 992, 991, 991, 990, 990, 990, 989, 989, 988, 988, 987, 987, 986, 986, 985, 985, 984, 984, 983, 983, 982, 982, 981, 981, 980, 980, 979, 979, 978, 978, 977, 977, 976, 976, 975, 974, 974, 973, 973, 972, 972, 971, 971, 970, 969, 969, 968, 968, 967, 966, 966, 965, 965, 964, 963, 963, 962, 962, 961, 960, 960, 959, 959, 958, 957, 957, 956, 955, 955, 954, 953, 953, 952, 951, 951, 950, 949, 949, 948, 947, 947, 946, 945, 945, 944, 943, 943, 942, 941, 940, 940, 939, 938, 938, 937, 936, 935, 935, 934, 933, 933, 932, 931, 930, 930, 929, 928, 927, 927, 926, 925, 924, 923, 923, 922, 921, 920, 920, 919, 918, 917, 916, 916, 915, 914, 913, 912, 912, 911, 910, 909, 908, 907, 907, 906, 905, 904, 903, 902, 902, 901, 900, 899, 898, 897, 896, 896, 895, 894, 893, 892, 891, 890, 889, 889, 888, 887, 886, 885, 884, 883, 882, 881, 880, 880, 879, 878, 877, 876, 875, 874, 873, 872, 871, 870, 869, 868, 867, 867, 866, 865, 864, 863, 862, 861, 860, 859, 858, 857, 856, 855, 854, 853, 852, 851, 850, 849, 848, 847, 846, 845, 844, 843, 842, 841, 840, 839, 838, 837, 836, 835, 834, 833, 832, 831, 829, 828, 827, 826, 825, 824, 823, 822, 821, 820, 819, 818, 817, 816, 815, 813, 812, 811, 810, 809, 808, 807, 806, 805, 804, 803, 801, 800, 799, 798, 797, 796, 795, 794, 792, 791, 790, 789, 788, 787, 786, 784, 783, 782, 781, 780, 779, 777, 776, 775, 774, 773, 772, 770, 769, 768, 767, 766, 765, 763, 762, 761, 760, 759, 757, 756, 755, 754, 753, 751, 750, 749, 748, 746, 745, 744, 743, 742, 740, 739, 738, 737, 735, 734, 733, 732, 730, 729, 728, 727, 725, 724, 723, 722, 720, 719, 718, 716, 715, 714, 713, 711, 710, 709, 707, 706, 705, 704, 702, 701, 700, 698, 697, 696, 694, 693, 692, 690, 689, 688, 687, 685, 684, 683, 681, 680, 679, 677, 676, 674, 673, 672, 670, 669, 668, 666, 665, 664, 662, 661, 660, 658, 657, 655, 654, 653, 651, 650, 649, 647, 646, 644, 643, 642, 640, 639, 637, 636, 635, 633, 632, 630, 629, 628, 626, 625, 623, 622, 621, 619, 618, 616, 615, 613, 612, 611, 609, 608, 606, 605, 603, 602, 600, 599, 598, 596, 595, 593, 592, 590, 589, 587, 586, 584, 583, 581, 580, 579, 577, 576, 574, 573, 571, 570, 568, 567, 565, 564, 562, 561, 559, 558, 556, 555, 553, 552, 550, 549, 547, 546, 544, 543, 541, 540, 538, 537, 535, 534, 532, 530, 529, 527, 526, 524, 523, 521, 520, 518, 517, 515, 514, 512, 510, 509, 507, 506, 504, 503, 501, 500, 498, 496, 495, 493, 492, 490, 489, 487, 485, 484, 482, 481, 479, 478, 476, 474, 473, 471, 470, 468, 466, 465, 463, 462, 460, 459, 457, 455, 454, 452, 450, 449, 447, 446, 444, 442, 441, 439, 438, 436, 434, 433, 431, 430, 428, 426, 425, 423, 421, 420, 418, 416, 415, 413, 412, 410, 408, 407, 405, 403, 402, 400, 398, 397, 395, 394, 392, 390, 389, 387, 385, 384, 382, 380, 379, 377, 375, 374, 372, 370, 369, 367, 365, 364, 362, 360, 359, 357, 355, 354, 352, 350, 349, 347, 345, 344, 342, 340, 338, 337, 335, 333, 332, 330, 328, 327, 325, 323, 322, 320, 318, 316, 315, 313, 311, 310, 308, 306, 305, 303, 301, 299, 298, 296, 294, 293, 291, 289, 287, 286, 284, 282, 281, 279, 277, 275, 274, 272, 270, 268, 267, 265, 263, 262, 260, 258, 256, 255, 253, 251, 249, 248, 246, 244, 243, 241, 239, 237, 236, 234, 232, 230, 229, 227, 225, 223, 222, 220, 218, 216, 215, 213, 211, 209, 208, 206, 204, 202, 201, 199, 197, 195, 194, 192, 190, 188, 187, 185, 183, 181, 180, 178, 176, 174, 173, 171, 169, 167, 165, 164, 162, 160, 158, 157, 155, 153, 151, 150, 148, 146, 144, 143, 141, 139, 137, 135, 134, 132, 130, 128, 127, 125, 123, 121, 119, 118, 116, 114, 112, 111, 109, 107, 105, 103, 102, 100, 98, 96, 95, 93, 91, 89, 87, 86, 84, 82, 80, 79, 77, 75, 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};
void init_driver();
int mod(int xMod, int mMod);
void output(long theta, int effort);
void relaxed_mode_with_resistance();
#endif