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modes.h_smallerFile
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#define WalkingDOF 8
const char *gaits[]={"crR","wk","bk","vt","cr","crL","bkL","tr","bkR","buttUp","dropped","sit","calib","pee","balance","lifted","rest",};
const char crR[] PROGMEM = { 21,
58, 68, 63, 73,-12,-23,-17,-33,
66, 62, 59, 88, -9,-23,-16,-29,
73, 57, 55, 98, -5,-22,-15,-22,
76, 52, 52,100, 3,-21,-15, -7,
77, 40, 48, 89, 13,-16,-14, 26,
75, 40, 45, 79, 26,-12,-13, 27,
73, 45, 37, 81, 46,-14,-10, 13,
96, 48, 47, 81, 2,-15,-20, 2,
97, 53, 53, 76,-14,-16,-22, -4,
91, 57, 58, 70,-25,-17,-23,-10,
79, 60, 64, 62,-32,-17,-23,-12,
61, 62, 69, 51,-31,-15,-23,-10,
41, 65, 73, 39,-26,-15,-23, -6,
20, 68, 78, 27,-14,-15,-22, 1,
1, 71, 81, 13, 4,-14,-20, 11,
-15, 74, 78, -1, 35,-13,-12, 23,
1, 76, 76,-24, 19, -8,-14, 51,
15, 82, 74, 1, 5,-20,-15, 4,
27, 79, 72, 20, -2,-21,-16,-11,
40, 75, 69, 40, -8,-23,-17,-23,
51, 70, 65, 62,-12,-23,-17,-32,
'\0'};
const char wk[] PROGMEM = { 30,
19, 67, 74, 50, 14, 15,-33, 2,
24, 68, 86, 47, 10, 19,-30, 2,
28, 71, 94, 43, 8, 25,-24, 3,
33, 87, 96, 39, 6, 7, -9, 4,
37, 97, 84, 34, 4,-13, 11, 5,
41, 94, 69, 30, 3,-24, 25, 8,
46, 86, 68, 25, 2,-31, 19, 10,
49, 74, 67, 20, 2,-33, 15, 13,
53, 59, 66, 15, 2,-31, 11, 16,
56, 42, 65, 7, 2,-25, 9, 23,
59, 23, 63, 2, 3,-13, 7, 19,
61, 8, 61, 13, 5, 6, 5, -4,
63, 2, 58, 30, 7, 25, 3,-19,
65, 11, 55, 47, 9, 20, 2,-27,
67, 17, 52, 63, 12, 16, 2,-32,
67, 21, 48, 78, 16, 13, 2,-33,
68, 26, 45, 89, 20, 9, 2,-29,
75, 31, 41, 96, 22, 7, 3,-22,
91, 35, 36, 94, 1, 5, 5, -5,
97, 40, 32, 79,-17, 3, 7, 17,
93, 44, 27, 68,-26, 2, 9, 22,
84, 47, 23, 68,-31, 2, 11, 18,
71, 51, 18, 67,-33, 2, 14, 14,
56, 55, 12, 66,-31, 2, 19, 11,
39, 57, 2, 64,-24, 3, 26, 8,
18, 60, 8, 63, -9, 4, 7, 6,
6, 62, 23, 60, 11, 6,-13, 4,
4, 64, 39, 57, 25, 8,-24, 3,
13, 66, 56, 55, 19, 11,-31, 2,
18, 67, 71, 51, 15, 14,-33, 2,
'\0'};
const char bk[] PROGMEM = { 28,
49, 61, 47, 63, 5,-17, 6,-17,
43, 72, 52, 51, 6,-16, 6,-16,
38, 79, 56, 37, 7,-11, 7,-10,
31, 83, 59, 22, 9, -2, 10, -2,
25, 84, 63, 4, 13, 12, 13, 12,
17, 73, 64,-10, 18, 34, 18, 33,
10, 62, 65,-11, 24, 44, 24, 44,
2, 64, 64, -1, 31, 34, 31, 34,
-11, 65, 62, 7, 44, 26, 44, 26,
-10, 64, 74, 15, 33, 20, 33, 20,
6, 63, 84, 22, 11, 15, 11, 15,
19, 61, 84, 29, 1, 11, 1, 11,
34, 57, 80, 35, -9, 8, -9, 8,
48, 53, 73, 42,-15, 6,-15, 6,
61, 49, 63, 47,-17, 5,-17, 6,
72, 43, 51, 52,-16, 6,-16, 6,
79, 38, 37, 56,-11, 7,-10, 7,
83, 31, 22, 59, -2, 9, -2, 10,
84, 25, 4, 63, 12, 13, 12, 13,
73, 17,-10, 64, 34, 18, 33, 18,
62, 10,-11, 65, 44, 24, 44, 24,
64, 2, -1, 64, 34, 31, 34, 31,
65,-11, 7, 62, 26, 44, 26, 44,
64,-10, 15, 74, 20, 33, 20, 33,
63, 6, 22, 84, 15, 11, 15, 11,
61, 19, 29, 84, 11, 1, 11, 1,
57, 34, 35, 80, 8, -9, 8, -9,
53, 48, 42, 73, 6,-15, 6,-15,
'\0'};
const char vt[] PROGMEM = { 19,
49, 31, 49, 31, 3, 35, 4, 35,
39, 31, 39, 31, 20, 35, 20, 35,
31, 31, 31, 31, 35, 35, 35, 35,
31, 31, 31, 31, 35, 35, 35, 35,
31, 32, 31, 32, 35, 33, 35, 32,
31, 43, 31, 43, 35, 14, 35, 13,
31, 53, 31, 53, 35, -2, 35, -2,
31, 63, 31, 63, 35,-19, 35,-19,
31, 58, 31, 58, 35,-11, 35,-11,
31, 49, 31, 49, 35, 3, 35, 4,
31, 39, 31, 39, 35, 20, 35, 20,
31, 31, 31, 31, 35, 35, 35, 35,
31, 31, 31, 31, 35, 35, 35, 35,
31, 31, 31, 31, 35, 35, 35, 35,
38, 31, 38, 31, 23, 35, 22, 35,
48, 31, 48, 31, 5, 35, 6, 35,
57, 31, 57, 31, -9, 35, -9, 35,
62, 31, 62, 31,-17, 35,-17, 35,
54, 31, 54, 31, -4, 35, -4, 35,
'\0'};
const char cr[] PROGMEM = { 21,
58, 72, 58, 72,-11,-31,-11,-31,
67, 52, 47, 87, -9,-28, -9,-28,
73, 33, 35, 95, -5,-20, -5,-20,
77, 12, 23, 97, 2, -5, 2, -6,
79,-14, 9, 91, 12, 22, 12, 22,
77,-11, -5, 75, 26, 33, 26, 33,
77, 4,-23, 78, 42, 17, 42, 17,
96, 17, 4, 78, 2, 6, 2, 6,
97, 30, 24, 75,-14, -2,-14, -2,
91, 43, 45, 70,-25, -8,-25, -8,
79, 54, 64, 62,-31,-10,-31,-11,
61, 64, 81, 51,-30,-10,-30,-10,
40, 71, 92, 40,-23, -7,-24, -7,
20, 76, 97, 28,-11, -1,-11, -1,
1, 78, 96, 15, 4, 8, 4, 8,
-18, 78, 72, 1, 41, 20, 41, 20,
-2, 74, 77,-14, 23, 37, 23, 37,
12, 95, 79, -3, 10, 9, 10, 9,
25, 97, 77, 17, 1, -9, 1, -9,
38, 94, 72, 36, -6,-21, -6,-21,
49, 84, 65, 56,-10,-29, -9,-29,
'\0'};
const char crL[] PROGMEM = { 21,
61, 73, 60, 65,-17,-33,-13,-24,
63, 53, 48, 71,-15,-29, -9,-23,
66, 32, 36, 75,-15,-22, -5,-23,
69, 11, 23, 78,-15, -7, 3,-21,
71,-17, 10, 83,-14, 26, 13,-16,
74, -8, -4, 77,-13, 27, 26,-12,
79, 6,-25, 75,-11, 13, 47,-14,
81, 19, 4, 73,-20, 2, 2,-15,
78, 32, 24, 70,-22, -5,-14,-16,
74, 45, 45, 67,-23,-10,-25,-17,
69, 56, 66, 64,-24,-12,-33,-17,
64, 64, 83, 60,-23,-10,-32,-16,
59, 71, 95, 57,-23, -6,-26,-16,
53, 76,100, 53,-22, 1,-14,-15,
48, 77, 98, 48,-20, 11, 4,-14,
39, 76, 77, 45,-12, 24, 35,-13,
43, 68, 81, 37,-13, 51, 18, -8,
47, 96, 81, 46,-14, 5, 6,-20,
51, 97, 78, 51,-16,-11, -2,-21,
54, 92, 73, 57,-16,-23, -8,-23,
59, 82, 65, 63,-17,-32,-11,-23,
'\0'};
const char bkL[] PROGMEM = { 34,
52, 61, 47, 57, 1,-17, 6, -7,
51, 70, 51, 54, 1,-16, 6, -7,
49, 77, 55, 51, 1,-13, 7, -7,
49, 82, 58, 49, 1, -8, 8, -6,
47, 84, 61, 45, 1, 1, 11, -6,
46, 84, 63, 40, 1, 13, 14, -4,
43, 73, 64, 35, 1, 34, 18, -1,
43, 61, 65, 34, 1, 49, 23, 4,
41, 63, 65, 36, 1, 37, 28, 3,
39, 65, 64, 37, 2, 29, 36, 3,
34, 65, 61, 40, 4, 24, 50, 2,
35, 64, 75, 40, -1, 19, 31, 2,
41, 63, 84, 43, -4, 15, 11, 1,
43, 61, 84, 45, -5, 12, 1, 1,
47, 59, 81, 45, -6, 8, -7, 1,
50, 55, 77, 48, -7, 7,-13, 1,
53, 52, 70, 49, -7, 6,-16, 1,
56, 48, 61, 51, -7, 5,-17, 1,
57, 43, 51, 51, -7, 6,-16, 1,
60, 38, 39, 53, -7, 7,-12, 1,
63, 34, 27, 55, -6, 8, -6, 1,
65, 28, 15, 56, -5, 11, 3, 1,
69, 22, 1, 57, -4, 14, 16, 1,
67, 16,-13, 58, 1, 19, 39, 1,
63, 10,-11, 59, 3, 24, 44, 1,
63, 3, -3, 60, 3, 29, 35, 2,
61, -4, 4, 61, 2, 37, 29, 2,
61,-16, 11, 65, 2, 47, 23, 3,
60, -5, 17, 69, 1, 24, 18, -3,
59, 7, 23, 67, 1, 9, 14, -4,
57, 19, 29, 65, 1, 1, 11, -5,
57, 31, 35, 63, 1, -8, 8, -6,
55, 45, 39, 60, 1,-14, 7, -7,
53, 55, 44, 59, 1,-17, 6, -7,
'\0'};
const char tr[] PROGMEM = { 21,
48, 62, 48, 69, 5,-22, 6,-22,
56, 44, 41, 81, 4,-17, 5,-18,
61, 25, 33, 87, 7, -8, 7, -8,
64, 2, 24, 86, 12, 12, 12, 12,
66,-16, 14, 61, 19, 50, 19, 50,
66, 1, 4, 64, 28, 33, 27, 33,
63, 11,-13, 65, 45, 23, 45, 23,
86, 21, -1, 63, 14, 16, 15, 15,
89, 30, 21, 60, -6, 10, -6, 10,
84, 38, 41, 56,-17, 7,-17, 7,
73, 47, 59, 49,-23, 5,-23, 6,
56, 54, 74, 44,-21, 4,-21, 4,
37, 60, 84, 35,-14, 6,-15, 7,
18, 63, 88, 27, -3, 10, -3, 11,
-7, 66, 79, 17, 25, 17, 26, 17,
-8, 67, 63, 7, 41, 25, 40, 25,
4, 65, 65, -5, 28, 37, 28, 36,
15, 80, 64, -6, 20, 24, 20, 24,
25, 90, 63, 17, 13, -3, 13, -3,
34, 86, 59, 36, 8,-15, 9,-15,
41, 76, 54, 55, 6,-22, 6,-22,
'\0'};
const char bkR[] PROGMEM = { 34,
49, 55, 51, 63, 5, -7, 1,-17,
44, 57, 51, 53, 6, -7, 1,-16,
40, 60, 53, 42, 7, -7, 1,-13,
35, 62, 54, 30, 8, -7, 1, -7,
29, 64, 56, 18, 10, -6, 1, 1,
23, 68, 57, 3, 14, -4, 1, 14,
17, 68, 58,-10, 18, -1, 1, 33,
11, 64, 59,-14, 23, 4, 1, 48,
4, 63, 60, -4, 28, 3, 2, 37,
-3, 62, 61, 3, 35, 3, 2, 30,
-16, 61, 64, 10, 50, 2, 4, 24,
-9, 60, 69, 16, 31, 2, -1, 19,
6, 59, 67, 22, 11, 1, -4, 15,
18, 57, 66, 28, 1, 1, -5, 11,
30, 57, 64, 33, -7, 1, -6, 9,
42, 55, 61, 39,-13, 1, -7, 7,
53, 54, 59, 43,-16, 1, -7, 6,
63, 52, 56, 48,-17, 1, -7, 6,
72, 51, 54, 52,-16, 1, -7, 6,
78, 49, 51, 56,-12, 1, -7, 7,
82, 48, 48, 59, -6, 1, -6, 9,
84, 47, 44, 61, 3, 1, -5, 11,
83, 45, 39, 63, 16, 1, -3, 15,
70, 43, 35, 64, 39, 1, 1, 19,
62, 42, 35, 65, 44, 1, 4, 24,
64, 41, 36, 65, 36, 1, 3, 30,
65, 39, 39, 64, 28, 2, 2, 37,
65, 34, 40, 64, 23, 3, 2, 47,
64, 37, 42, 79, 18, -3, 1, 24,
63, 41, 43, 84, 14, -4, 1, 10,
61, 44, 45, 84, 11, -5, 1, 1,
58, 47, 45, 81, 9, -6, 1, -8,
55, 51, 48, 75, 7, -7, 1,-14,
51, 53, 50, 68, 6, -7, 1,-17,
'\0'};
const char buttUp[] PROGMEM = { 1,
20, 40, 1, 1, 5, 5, 3, 3, 90, 90, 45, 45,-60,-60, 5, 5,'\0'};
const char dropped[] PROGMEM = { 1,
1, 30, 1, 1, -5, -5, 15, 15,-75,-75, 60, 60, 60, 60,-30,-30,'\0'};
const char sit[] PROGMEM = { 1,
1, 1, 1, 1, -5, -5, 20, 20, 45, 45, 90, 90, 45, 45,-45,-45,'\0'};
const char calib[] PROGMEM = { 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,'\0'};
const char pee[] PROGMEM = { 1,
45, 20, 1, 1, 15,-10, 60,-10, 45, 45, 60, 15, 15, 45,-30, 1,'\0'};
const char balance[] PROGMEM = { 1,
1, 20, 1, 1, 1, 1, 1, 1, 30, 30, 15, 15, 30, 30, 30, 30,'\0'};
const char lifted[] PROGMEM = { 1,
1,-20, 1, 1, 1, 1, 1, 1, 30, 30, 15, 15, 90, 90,-90,-90,'\0'};
const char rest[] PROGMEM = { 1,
1, 10, 1, 1, -3, -3, 3, 3, 60, 60, 60, 60,-45,-45,-45,-45,'\0'};
const char* const gaits_table[] PROGMEM = { crR, wk, bk, vt, cr, crL, bkL, tr, bkR, buttUp, dropped, sit, calib, pee, balance, lifted, rest, };
char *dutyAng=new char [274];