diff --git a/README.md b/README.md index cdaa23e..97d5487 100644 --- a/README.md +++ b/README.md @@ -5,5 +5,5 @@ Hexapod v2 using Linkit 7697 (Still under construction) ![Hexapod](files/hexapod.jpg) * [Mechanism](mechanism/README.md) -* Electronic (TBD) -* Software (TBD) \ No newline at end of file +* [Electronics](electronics/README.md) +* [Software](software/README.md) diff --git a/electronics/README.md b/electronics/README.md new file mode 100644 index 0000000..d399028 --- /dev/null +++ b/electronics/README.md @@ -0,0 +1,52 @@ +# Electronics + +## Connection Diagram + +![connections](files/connections.jpg) + +## Bill of Materials + +### PCB + +Name | Thumbnail | Required | +-------- | --------- | -------- | +main | | 1 | +sub | | 2 | + +### Components + +Name | Thumbnail | Required | +-------- | --------- | -------- | +[Linkit 7697](https://labs.mediatek.com/zh-tw/platform/linkit-7697) | | 1 | +[mini360 DC-DC](https://www.aliexpress.com/w/wholesale-mini360-dc-dc.html) Buck voltage regulator | ![](files/mini360.png) | 7 | +[PCA9865](https://cdn-shop.adafruit.com/datasheets/PCA9685.pdf) (TSSOP28)| ![](files/pca9865.png) | 2 | +Resistor: 220 ohm (0805) | | 18 | +Resistor: 10K ohm (0805) | | 12 | +Resistor: 470 ohm (0805) | | 1 | +LED: green or any color (0805) | | 1 | +Capacitor: 10 uF (0805) | | 2 | +14 pin 2.54mm female header | | 4 | +4 pin 2.54mm female header | | 2 | +6 pin 2.54mm female header | | 2 | +4 pin 2.54mm 90 degress male header | | 2 | +6 pin 2.54mm 90 degress male header | | 2 | +4 pin 2.54mm male header | | 2 | +3 pin 2.54mm male header (black) | | 6 | +3 pin 2.54mm male header (yellow) | | 6 | +3 pin 2.54mm male header (red) | | 6 | +2 pin 2.54mm male header | | 1 | +Jumper 2.54mm | | 1 | + +## PCB detail + +> Please use 'Eagle' software to open below schematics + +### Main + +![main_sch](files/main_sch.png) +![main_brd](files/main_brd.png) + +### Sub (x2) + +![sub_sch](files/sub_sch.png) +![sub_brd](files/sub_brd.png) diff --git a/electronics/files/connections.jpg b/electronics/files/connections.jpg new file mode 100644 index 0000000..43da989 Binary files /dev/null and b/electronics/files/connections.jpg differ diff --git a/electronics/files/main_brd.png b/electronics/files/main_brd.png new file mode 100644 index 0000000..04cd94b Binary files /dev/null and b/electronics/files/main_brd.png differ diff --git a/electronics/files/main_sch.png b/electronics/files/main_sch.png new file mode 100644 index 0000000..3bed320 Binary files /dev/null and b/electronics/files/main_sch.png differ diff --git a/electronics/files/mini360.png b/electronics/files/mini360.png new file mode 100644 index 0000000..a0aebe7 Binary files /dev/null and b/electronics/files/mini360.png differ diff --git a/electronics/files/pca9865.png b/electronics/files/pca9865.png new file mode 100644 index 0000000..bb6e236 Binary files /dev/null and b/electronics/files/pca9865.png differ diff --git a/electronics/files/sub_brd.png b/electronics/files/sub_brd.png new file mode 100644 index 0000000..3db46b6 Binary files /dev/null and b/electronics/files/sub_brd.png differ diff --git a/electronics/files/sub_sch.png b/electronics/files/sub_sch.png new file mode 100644 index 0000000..6d26d6a Binary files /dev/null and b/electronics/files/sub_sch.png differ diff --git a/electronics/main.brd b/electronics/main.brd new file mode 100644 index 0000000..a0eafbf --- /dev/null +++ b/electronics/main.brd @@ -0,0 +1,2043 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND +VBAT +VBAT +PWR +GND +VDD +SDA + + + + + + +SCL +Linkit 7697 + + + + + + + + + + + + + + + +<b>Pin Header Connectors</b><p> +<author>Created by librarian@cadsoft.de</author> + + +<b>PIN HEADER</b> - 2.54 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + +<b>PIN HEADER</b> - 2.54 90° + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + +<b>PIN HEADER</b> - 2.54 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + +<b>PIN HEADER</b> - 2.54 90° + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + +<b>PIN HEADER</b> - 2.54 + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + +<b>LEDs</b><p> +<author>Created by librarian@cadsoft.de</author><br> +Extended by Federico Battaglin <author>&lt;federico.rd@fdpinternational.com&gt;</author> with DUOLED + + +<b>Hyper CHIPLED Hyper-Bright LED</b><p> +LB R99A<br> +Source: http://www.osram.convergy.de/ ... lb_r99a.pdf + + + + +>NAME +>VALUE + + + + + + + + + +<b>Resistors, Capacitors, Inductors</b><p> +Based on the previous libraries: +<ul> +<li>r.lbr +<li>cap.lbr +<li>cap-fe.lbr +<li>captant.lbr +<li>polcap.lbr +<li>ipc-smd.lbr +</ul> +All SMD packages are defined according to the IPC specifications and CECC<p> +<author>Created by librarian@cadsoft.de</author><p> +<p> +for Electrolyt Capacitors see also :<p> +www.bccomponents.com <p> +www.panasonic.com<p> +www.kemet.com<p> +<p> +for trimmer refence see : <u>www.electrospec-inc.com/cross_references/trimpotcrossref.asp</u><p> + +<map name="nav_main"> +<area shape="rect" coords="0,1,140,23" href="../military_specs.asp" title=""> +<area shape="rect" coords="0,24,140,51" href="../about.asp" title=""> +<area shape="rect" coords="1,52,140,77" href="../rfq.asp" title=""> +<area shape="rect" coords="0,78,139,103" href="../products.asp" title=""> +<area shape="rect" coords="1,102,138,128" href="../excess_inventory.asp" title=""> +<area shape="rect" coords="1,129,138,150" href="../edge.asp" title=""> +<area shape="rect" coords="1,151,139,178" href="../industry_links.asp" title=""> +<area shape="rect" coords="0,179,139,201" href="../comments.asp" title=""> +<area shape="rect" coords="1,203,138,231" href="../directory.asp" title=""> +<area shape="default" nohref> +</map> + +<html> + +<title></title> + + <LINK REL="StyleSheet" TYPE="text/css" HREF="style-sheet.css"> + +<body bgcolor="#ffffff" text="#000000" marginwidth="0" marginheight="0" topmargin="0" leftmargin="0"> +<table border=0 cellspacing=0 cellpadding=0 width="100%" cellpaddding=0 height="55%"> +<tr valign="top"> + +</td> +<! <td width="10">&nbsp;</td> +<td width="90%"> + +<b><font color="#0000FF" size="4">TRIM-POT CROSS REFERENCE</font></b> +<P> +<TABLE BORDER=0 CELLSPACING=1 CELLPADDING=2> + <TR> + <TD COLSPAN=8> + <FONT SIZE=3 FACE=ARIAL><B>RECTANGULAR MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">BOURNS</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">BI&nbsp;TECH</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">DALE-VISHAY</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">PHILIPS/MEPCO</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">MURATA</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">PANASONIC</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">SPECTROL</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">MILSPEC</FONT> + </B> + </TD><TD>&nbsp;</TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3 > + 3005P<BR> + 3006P<BR> + 3006W<BR> + 3006Y<BR> + 3009P<BR> + 3009W<BR> + 3009Y<BR> + 3057J<BR> + 3057L<BR> + 3057P<BR> + 3057Y<BR> + 3059J<BR> + 3059L<BR> + 3059P<BR> + 3059Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 89P<BR> + 89W<BR> + 89X<BR> + 89PH<BR> + 76P<BR> + 89XH<BR> + 78SLT<BR> + 78L&nbsp;ALT<BR> + 56P&nbsp;ALT<BR> + 78P&nbsp;ALT<BR> + T8S<BR> + 78L<BR> + 56P<BR> + 78P<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + T18/784<BR> + 783<BR> + 781<BR> + -<BR> + -<BR> + -<BR> + 2199<BR> + 1697/1897<BR> + 1680/1880<BR> + 2187<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 8035EKP/CT20/RJ-20P<BR> + -<BR> + RJ-20X<BR> + -<BR> + -<BR> + -<BR> + 1211L<BR> + 8012EKQ&nbsp;ALT<BR> + 8012EKR&nbsp;ALT<BR> + 1211P<BR> + 8012EKJ<BR> + 8012EKL<BR> + 8012EKQ<BR> + 8012EKR<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 2101P<BR> + 2101W<BR> + 2101Y<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 2102L<BR> + 2102S<BR> + 2102Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + EVMCOG<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 43P<BR> + 43W<BR> + 43Y<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 40L<BR> + 40P<BR> + 40Y<BR> + 70Y-T602<BR> + 70L<BR> + 70P<BR> + 70Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + RT/RTR12<BR> + RT/RTR12<BR> + RT/RTR12<BR> + -<BR> + RJ/RJR12<BR> + RJ/RJR12<BR> + RJ/RJR12<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=8>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=8> + <FONT SIZE=4 FACE=ARIAL><B>SQUARE MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BOURN</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MURATA</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>SPECTROL</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MILSPEC</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3250L<BR> + 3250P<BR> + 3250W<BR> + 3250X<BR> + 3252P<BR> + 3252W<BR> + 3252X<BR> + 3260P<BR> + 3260W<BR> + 3260X<BR> + 3262P<BR> + 3262W<BR> + 3262X<BR> + 3266P<BR> + 3266W<BR> + 3266X<BR> + 3290H<BR> + 3290P<BR> + 3290W<BR> + 3292P<BR> + 3292W<BR> + 3292X<BR> + 3296P<BR> + 3296W<BR> + 3296X<BR> + 3296Y<BR> + 3296Z<BR> + 3299P<BR> + 3299W<BR> + 3299X<BR> + 3299Y<BR> + 3299Z<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66X&nbsp;ALT<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66X&nbsp;ALT<BR> + -<BR> + 64W&nbsp;ALT<BR> + -<BR> + 64P&nbsp;ALT<BR> + 64W&nbsp;ALT<BR> + 64X&nbsp;ALT<BR> + 64P<BR> + 64W<BR> + 64X<BR> + 66X&nbsp;ALT<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66P<BR> + 66W<BR> + 66X<BR> + 67P<BR> + 67W<BR> + 67X<BR> + 67Y<BR> + 67Z<BR> + 68P<BR> + 68W<BR> + 68X<BR> + 67Y&nbsp;ALT<BR> + 67Z&nbsp;ALT<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 5050<BR> + 5091<BR> + 5080<BR> + 5087<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + T63YB<BR> + T63XB<BR> + -<BR> + -<BR> + -<BR> + 5887<BR> + 5891<BR> + 5880<BR> + -<BR> + -<BR> + -<BR> + T93Z<BR> + T93YA<BR> + T93XA<BR> + T93YB<BR> + T93XB<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 8026EKP<BR> + 8026EKW<BR> + 8026EKM<BR> + 8026EKP<BR> + 8026EKB<BR> + 8026EKM<BR> + 1309X<BR> + 1309P<BR> + 1309W<BR> + 8024EKP<BR> + 8024EKW<BR> + 8024EKN<BR> + RJ-9P/CT9P<BR> + RJ-9W<BR> + RJ-9X<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3103P<BR> + 3103Y<BR> + 3103Z<BR> + 3103P<BR> + 3103Y<BR> + 3103Z<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3105P/3106P<BR> + 3105W/3106W<BR> + 3105X/3106X<BR> + 3105Y/3106Y<BR> + 3105Z/3105Z<BR> + 3102P<BR> + 3102W<BR> + 3102X<BR> + 3102Y<BR> + 3102Z<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + EVMCBG<BR> + EVMCCG<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 55-1-X<BR> + 55-4-X<BR> + 55-3-X<BR> + 55-2-X<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 50-2-X<BR> + 50-4-X<BR> + 50-3-X<BR> + -<BR> + -<BR> + -<BR> + 64P<BR> + 64W<BR> + 64X<BR> + 64Y<BR> + 64Z<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + RT/RTR22<BR> + RT/RTR22<BR> + RT/RTR22<BR> + RT/RTR22<BR> + RJ/RJR22<BR> + RJ/RJR22<BR> + RJ/RJR22<BR> + RT/RTR26<BR> + RT/RTR26<BR> + RT/RTR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RT/RTR24<BR> + RT/RTR24<BR> + RT/RTR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=8>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=8> + <FONT SIZE=4 FACE=ARIAL><B>SINGLE TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BOURN</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MURATA</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>SPECTROL</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MILSPEC</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3323P<BR> + 3323S<BR> + 3323W<BR> + 3329H<BR> + 3329P<BR> + 3329W<BR> + 3339H<BR> + 3339P<BR> + 3339W<BR> + 3352E<BR> + 3352H<BR> + 3352K<BR> + 3352P<BR> + 3352T<BR> + 3352V<BR> + 3352W<BR> + 3362H<BR> + 3362M<BR> + 3362P<BR> + 3362R<BR> + 3362S<BR> + 3362U<BR> + 3362W<BR> + 3362X<BR> + 3386B<BR> + 3386C<BR> + 3386F<BR> + 3386H<BR> + 3386K<BR> + 3386M<BR> + 3386P<BR> + 3386S<BR> + 3386W<BR> + 3386X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 25P<BR> + 25S<BR> + 25RX<BR> + 82P<BR> + 82M<BR> + 82PA<BR> + -<BR> + -<BR> + -<BR> + 91E<BR> + 91X<BR> + 91T<BR> + 91B<BR> + 91A<BR> + 91V<BR> + 91W<BR> + 25W<BR> + 25V<BR> + 25P<BR> + -<BR> + 25S<BR> + 25U<BR> + 25RX<BR> + 25X<BR> + 72XW<BR> + 72XL<BR> + 72PM<BR> + 72RX<BR> + -<BR> + 72PX<BR> + 72P<BR> + 72RXW<BR> + 72RXL<BR> + 72X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + T7YB<BR> + T7YA<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + TXD<BR> + TYA<BR> + TYP<BR> + -<BR> + TYD<BR> + TX<BR> + -<BR> + 150SX<BR> + 100SX<BR> + 102T<BR> + 101S<BR> + 190T<BR> + 150TX<BR> + 101<BR> + -<BR> + -<BR> + 101SX<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + ET6P<BR> + ET6S<BR> + ET6X<BR> + RJ-6W/8014EMW<BR> + RJ-6P/8014EMP<BR> + RJ-6X/8014EMX<BR> + TM7W<BR> + TM7P<BR> + TM7X<BR> + -<BR> + 8017SMS<BR> + -<BR> + 8017SMB<BR> + 8017SMA<BR> + -<BR> + -<BR> + CT-6W<BR> + CT-6H<BR> + CT-6P<BR> + CT-6R<BR> + -<BR> + CT-6V<BR> + CT-6X<BR> + -<BR> + -<BR> + 8038EKV<BR> + -<BR> + 8038EKX<BR> + -<BR> + -<BR> + 8038EKP<BR> + 8038EKZ<BR> + 8038EKW<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + 3321H<BR> + 3321P<BR> + 3321N<BR> + 1102H<BR> + 1102P<BR> + 1102T<BR> + RVA0911V304A<BR> + -<BR> + RVA0911H413A<BR> + RVG0707V100A<BR> + RVA0607V(H)306A<BR> + RVA1214H213A<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3104B<BR> + 3104C<BR> + 3104F<BR> + 3104H<BR> + -<BR> + 3104M<BR> + 3104P<BR> + 3104S<BR> + 3104W<BR> + 3104X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + EVMQ0G<BR> + EVMQIG<BR> + EVMQ3G<BR> + EVMS0G<BR> + EVMQ0G<BR> + EVMG0G<BR> + -<BR> + -<BR> + -<BR> + EVMK4GA00B<BR> + EVM30GA00B<BR> + EVMK0GA00B<BR> + EVM38GA00B<BR> + EVMB6<BR> + EVLQ0<BR> + -<BR> + EVMMSG<BR> + EVMMBG<BR> + EVMMAG<BR> + -<BR> + -<BR> + EVMMCS<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + EVMM1<BR> + -<BR> + -<BR> + EVMM0<BR> + -<BR> + -<BR> + EVMM3<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + 62-3-1<BR> + 62-1-2<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 67R<BR> + -<BR> + 67P<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 67X<BR> + 63V<BR> + 63S<BR> + 63M<BR> + -<BR> + -<BR> + 63H<BR> + 63P<BR> + -<BR> + -<BR> + 63X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + RJ/RJR50<BR> + RJ/RJR50<BR> + RJ/RJR50<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> +</TABLE> +<P>&nbsp;<P> +<TABLE BORDER=0 CELLSPACING=1 CELLPADDING=3> + <TR> + <TD COLSPAN=7> + <FONT color="#0000FF" SIZE=4 FACE=ARIAL><B>SMD TRIM-POT CROSS REFERENCE</B></FONT> + <P> + <FONT SIZE=4 FACE=ARIAL><B>MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BOURNS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>TOCOS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>AUX/KYOCERA</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3224G<BR> + 3224J<BR> + 3224W<BR> + 3269P<BR> + 3269W<BR> + 3269X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 44G<BR> + 44J<BR> + 44W<BR> + 84P<BR> + 84W<BR> + 84X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + ST63Z<BR> + ST63Y<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + ST5P<BR> + ST5W<BR> + ST5X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=7>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=7> + <FONT SIZE=4 FACE=ARIAL><B>SINGLE TURN</B></FONT> + </TD> + </TR> + <TR> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BOURNS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>TOCOS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>AUX/KYOCERA</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3314G<BR> + 3314J<BR> + 3364A/B<BR> + 3364C/D<BR> + 3364W/X<BR> + 3313G<BR> + 3313J<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 23B<BR> + 23A<BR> + 21X<BR> + 21W<BR> + -<BR> + 22B<BR> + 22A<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + ST5YL/ST53YL<BR> + ST5YJ/5T53YJ<BR> + ST-23A<BR> + ST-22B<BR> + ST-22<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + ST-4B<BR> + ST-4A<BR> + -<BR> + -<BR> + -<BR> + ST-3B<BR> + ST-3A<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + EVM-6YS<BR> + EVM-1E<BR> + EVM-1G<BR> + EVM-1D<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + G4B<BR> + G4A<BR> + TR04-3S1<BR> + TRG04-2S1<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + DVR-43A<BR> + CVR-42C<BR> + CVR-42A/C<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> +</TABLE> +<P> +<FONT SIZE=4 FACE=ARIAL><B>ALT =&nbsp;ALTERNATE</B></FONT> +<P> + +&nbsp; +<P> +</td> +</tr> +</table> +</BODY></HTML> + + +<b>RESISTOR</b><p> + + + + + + + + +>NAME +>VALUE + + + + + + + +<b>DIY Modules for Arduino, Raspberry Pi, CubieBoard etc.</b> +<br><br> +The library contains a list of symbols and footprints for popular, cheap and easy-to-use electronic modules.<br> +The modules are intend to work with microprocessor-based platforms such as <a href="http://arduino.cc">Arduino</a>, <a href="http://raspberrypi.org/">Raspberry Pi</a>, <a href="http://cubieboard.org/">CubieBoard</a>, <a href="http://beagleboard.org/">BeagleBone</a> and many others. There are many manufacturers of the modules in the world. Almost all of them can be bought on <a href="ebay.com">ebay.com</a>.<br> +<br> +By using this library, you can design a PCB for devices created with usage of modules. Even if you do not need to create PCB design, you can also use the library to quickly document your work by drawing schematics of devices built by you.<br> +<br> +The latest version, examples, photos and much more can be found at: <b><a href="http://diymodules.org/eagle">diymodules.org/eagle</a></b><br><br> +Comments, suggestions and bug reports please send to: <b><a href="mailto:eagle@diymodules.org">eagle@diymodules.org</b></a><br><br> +<i>Version: 1.8.0 (2017-Jul-02)</i><br> +<i>Created by: Miroslaw Brudnowski</i><br><br> +<i>Released under the Creative Commons Attribution 4.0 International License: <a href="http://creativecommons.org/licenses/by/4.0">http://creativecommons.org/licenses/by/4.0</a></i> +<br><br> +<center> +<a href="http://diymodules.org/eagle"><img src="http://www.diymodules.org/img/diymodules-lbr-image.php?v=1.8.0" alt="DIYmodules.org"></a> +</center> + + +<b>DC/DC Step-Down Regulator</b> based on <b>MP2307DN</b> chip + + + + + + + + +>NAME +>VALUE +IN + + + + + + +OUT + + + + + + + + + + + + + + + + + +<b>EAGLE Design Rules</b> +<p> +Die Standard-Design-Rules sind so gewählt, dass sie für +die meisten Anwendungen passen. Sollte ihre Platine +besondere Anforderungen haben, treffen Sie die erforderlichen +Einstellungen hier und speichern die Design Rules unter +einem neuen Namen ab. +<b>EAGLE Design Rules</b> +<p> +The default Design Rules have been set to cover +a wide range of applications. Your particular design +may have different requirements, so please make the +necessary adjustments and save your customized +design rules under a new name. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/electronics/main.sch b/electronics/main.sch new file mode 100644 index 0000000..ee5f342 --- /dev/null +++ b/electronics/main.sch @@ -0,0 +1,7041 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>Pin Header Connectors</b><p> +<author>Created by librarian@cadsoft.de</author> + + +<b>PIN HEADER</b> - 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2.54 90° + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + +<b>PIN HEADER</b> - 2.54 + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + +<b>PIN HEADER</b> - 2 + + + + + + +>NAME +>VALUE + + + + +<b>PIN HEADER</b> - 2.54 SMD + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + +<b>PIN HEADER</b> - 2.54 90° + + + + + + + + + + + +>NAME +>VALUE + + + + + + +<b>PIN HEADER</b> - 2.54 90° + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + +>NAME +>VALUE + + + + + + +<b>PIN HEADER</b> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>PIN HEADER</b> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>PIN HEADER</b> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>PIN HEADER</b> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>DIY Modules for Arduino, Raspberry Pi, CubieBoard etc.</b> +<br><br> +The library contains a list of symbols and footprints for popular, cheap and easy-to-use electronic modules.<br> +The modules are intend to work with microprocessor-based platforms such as <a href="http://arduino.cc">Arduino</a>, <a href="http://raspberrypi.org/">Raspberry Pi</a>, <a href="http://cubieboard.org/">CubieBoard</a>, <a href="http://beagleboard.org/">BeagleBone</a> and many others. There are many manufacturers of the modules in the world. Almost all of them can be bought on <a href="ebay.com">ebay.com</a>.<br> +<br> +By using this library, you can design a PCB for devices created with usage of modules. Even if you do not need to create PCB design, you can also use the library to quickly document your work by drawing schematics of devices built by you.<br> +<br> +The latest version, examples, photos and much more can be found at: <b><a href="http://diymodules.org/eagle">diymodules.org/eagle</a></b><br><br> +Comments, suggestions and bug reports please send to: <b><a href="mailto:eagle@diymodules.org">eagle@diymodules.org</b></a><br><br> +<i>Version: 1.8.0 (2017-Jul-02)</i><br> +<i>Created by: Miroslaw Brudnowski</i><br><br> +<i>Released under the Creative Commons Attribution 4.0 International License: <a href="http://creativecommons.org/licenses/by/4.0">http://creativecommons.org/licenses/by/4.0</a></i> +<br><br> +<center> +<a href="http://diymodules.org/eagle"><img src="http://www.diymodules.org/img/diymodules-lbr-image.php?v=1.8.0" alt="DIYmodules.org"></a> +</center> + + +<b>DC/DC Step-Down Regulator</b> based on <b>MP2307DN</b> chip + + + + + + + + +>NAME +>VALUE +IN + + + + + + +OUT + + + + +<b>DC/DC Step-Down Regulator</b> based on <b>MP2307DN</b> chip + + + + + + + + +>NAME +>VALUE + + + + +<b>DC/DC Step-Down Regulator</b> based on <b>MP2307DN</b> chip +<p><b>MP2307</b> datasheet available here:<br> +<a href="https://cdn-shop.adafruit.com/datasheets/MP2307_r1.9.pdf">https://cdn-shop.adafruit.com/datasheets/MP2307_r1.9.pdf</a></p> +<p><b><a href="http://www.ebay.com/sch/dc+dc+3a+mini+converter">Click here to find device on ebay.com</a></b></p> + +<p><img alt="photo" src="http://www.diymodules.org/img/device-photo.php?name=DC-DC-STEP-DOWN-MP2307"></p> + + + + + + + + + + + + + + + + + + + + +<b>Supply Symbols</b><p> +GND, VCC, 0V, +5V, -5V, etc.<p> +Please keep in mind, that these devices are necessary for the +automatic wiring of the supply signals.<p> +The pin name defined in the symbol is identical to the net which is to be wired automatically.<p> +In this library the device names are the same as the pin names of the symbols, therefore the correct signal names appear next to the supply symbols in the schematic.<p> +<author>Created by librarian@cadsoft.de</author> + + + + + + + +>VALUE + + + + +>VALUE + + + + +>VALUE + + + + + +<b>SUPPLY SYMBOL</b> + + + + + + + + + + + + +<b>SUPPLY SYMBOL</b> + + + + + + + + + + + + +<b>SUPPLY SYMBOL</b> + + + + + + + + + + + + + + +<b>LEDs</b><p> +<author>Created by librarian@cadsoft.de</author><br> +Extended by Federico Battaglin <author>&lt;federico.rd@fdpinternational.com&gt;</author> with DUOLED + + +<b>CHICAGO MINIATURE LAMP, INC.</b><p> +7022X Series SMT LEDs 1206 Package Size + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + +<B>LED</B><p> +5 mm, square, Siemens + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + +<B>LED</B><p> +2 x 5 mm, rectangle + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + +<B>LED</B><p> +3 mm, round + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + +<B>LED</B><p> +5 mm, round + + + + + + + + + + + +>NAME +>VALUE + + +<B>LED</B><p> +1 mm, round, Siemens + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + +<B>LED BLOCK</B><p> +1 LED, Siemens + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + +<b>LED HOLDER</b><p> +Siemens + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + +<b>LED HOLDER</b><p> +Siemens + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + +<b>LED HOLDER</b><p> +Siemens + + + + + + + + + + + + + + + + + +A+ +K- +>NAME +>VALUE + + + + + +<b>LED HOLDER</b><p> +Siemens + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE ++ +- + + +<B>IR LED</B><p> +infrared emitting diode, Infineon +TO-18, lead spacing 2.54 mm, cathode marking<p> +Inifineon + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + +<B>IR LED</B><p> +infrared emitting diode, Infineon +TO-18, lead spacing 2.54 mm, cathode marking<p> +Inifineon + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + +<B>LED</B><p> +rectangle, 5.7 x 3.2 mm + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + +<B>IR LED</B><p> +IR transmitter Siemens + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + +<b>TOPLED® High-optical Power LED (HOP)</b><p> +Source: http://www.osram.convergy.de/ ... ls_t675.pdf + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE +A +C + + + + + + + +<b>BLUE LINETM Hyper Mini TOPLED® Hyper-Bright LED</b><p> +Source: http://www.osram.convergy.de/ ... LB M676.pdf + + + + + + + + + + + + + + +A +C +>NAME +>VALUE + + + + + + + +<b>Super SIDELED® High-Current LED</b><p> +LG A672, LP A672 <br> +Source: http://www.osram.convergy.de/ ... LG_LP_A672.pdf (2004.05.13) + + + + + + + + + + + + + + + + + + + +C +A +>NAME +>VALUE + + + + + + + +<b>SmartLEDTM Hyper-Bright LED</b><p> +Source: http://www.osram.convergy.de/ ... LA_LO_LS_LY L896.pdf + + + + + + + + +>NAME +>VALUE + + + + + +<b>Hyper TOPLED® RG Hyper-Bright LED</b><p> +Source: http://www.osram.convergy.de/ ... LA_LO_LS_LY T776.pdf + + + + + + + + + + + + + + + + + + +>NAME +>VALUE +A +C + + + + + + + + + + +<b>Hyper Micro SIDELED®</b><p> +Source: http://www.osram.convergy.de/ ... LA_LO_LS_LY Y876.pdf + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + +<b>Power TOPLED®</b><p> +Source: http://www.osram.convergy.de/ ... LA_LO_LA_LY E67B.pdf + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE +C +A +C +C + + + + + + + + + + + +<b>Hyper CHIPLED Hyper-Bright LED</b><p> +LB Q993<br> +Source: http://www.osram.convergy.de/ ... Lb_q993.pdf + + + + +>NAME +>VALUE + + + + + + + +<b>Hyper CHIPLED Hyper-Bright LED</b><p> +LB R99A<br> +Source: http://www.osram.convergy.de/ ... lb_r99a.pdf + + + + +>NAME +>VALUE + + + + + + + +<b>Mini TOPLED Santana®</b><p> +Source: http://www.osram.convergy.de/ ... LG M470.pdf + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + +<b>CHIPLED</b><p> +Source: http://www.osram.convergy.de/ ... LG_R971.pdf + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + +<b>CHIPLED</b><p> +Source: http://www.osram.convergy.de/ ... LG_LY N971.pdf + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + +<b>CHIPLED</b><p> +Source: http://www.osram.convergy.de/ ... LG_LY Q971.pdf + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + +<b>CHIPLED-0603</b><p> +Recommended Solder Pad useable for SmartLEDTM and Chipled - Package 0603<br> +Package able to withstand TTW-soldering heat<br> +Package suitable for TTW-soldering<br> +Source: http://www.osram.convergy.de/ ... LO_LS_LY L89K.pdf + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + +<b>SmartLED TTW</b><p> +Recommended Solder Pad useable for SmartLEDTM and Chipled - Package 0603<br> +Package able to withstand TTW-soldering heat<br> +Package suitable for TTW-soldering<br> +Source: http://www.osram.convergy.de/ ... LO_LS_LY L89K.pdf + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + +<b>Lumileds Lighting. LUXEON®</b> with cool pad<p> +Source: K2.pdf + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>Lumileds Lighting. LUXEON®</b> without cool pad<p> +Source: K2.pdf + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + +<B>LED</B><p> +10 mm, round + + + + + + + + + + + + + +>NAME +>VALUE + + +<b>SURFACE MOUNT LED LAMP</b> 3.5x2.8mm<p> +Source: http://www.kingbright.com/manager/upload/pdf/KA-3528ASYC(Ver1189474662.1) + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + +<b>SML0805-2CW-TR (0805 PROFILE)</b> COOL WHITE<p> +Source: http://www.ledtronics.com/ds/smd-0603/Dstr0093.pdf + + + + + + + + + + + +>NAME +>VALUE + + +<b>SML10XXKH-TR (HIGH INTENSITY) LED</b><p> +<table> +<tr><td>SML10R3KH-TR</td><td>ULTRA RED</td></tr> +<tr><td>SML10E3KH-TR</td><td>SUPER REDSUPER BLUE</td></tr> +<tr><td>SML10O3KH-TR</td><td>SUPER ORANGE</td></tr> +<tr><td>SML10PY3KH-TR</td><td>PURE YELLOW</td></tr> +<tr><td>SML10OY3KH-TR</td><td>ULTRA YELLOW</td></tr> +<tr><td>SML10AG3KH-TR</td><td>AQUA GREEN</td></tr> +<tr><td>SML10BG3KH-TR</td><td>BLUE GREEN</td></tr> +<tr><td>SML10PB1KH-TR</td><td>SUPER BLUE</td></tr> +<tr><td>SML10CW1KH-TR</td><td>WHITE</td></tr> +</table> + +Source: http://www.ledtronics.com/ds/smd-1206/dstr0094.PDF + + + + + + + +>NAME +>VALUE + + + + + + + + + +<b>SML0603-XXX (HIGH INTENSITY) LED</b><p> +<table> +<tr><td>AG3K</td><td>AQUA GREEN</td></tr> +<tr><td>B1K</td><td>SUPER BLUE</td></tr> +<tr><td>R1K</td><td>SUPER RED</td></tr> +<tr><td>R3K</td><td>ULTRA RED</td></tr> +<tr><td>O3K</td><td>SUPER ORANGE</td></tr> +<tr><td>O3KH</td><td>SOFT ORANGE</td></tr> +<tr><td>Y3KH</td><td>SUPER YELLOW</td></tr> +<tr><td>Y3K</td><td>SUPER YELLOW</td></tr> +<tr><td>2CW</td><td>WHITE</td></tr> +</table> +Source: http://www.ledtronics.com/ds/smd-0603/Dstr0092.pdf + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + +<b>LED</b><p> +<u>OSRAM</u>:<br> + +- <u>CHIPLED</u><br> +LG R971, LG N971, LY N971, LG Q971, LY Q971, LO R971, LY R971 +LH N974, LH R974<br> +LS Q976, LO Q976, LY Q976<br> +LO Q996<br> + +- <u>Hyper CHIPLED</u><br> +LW Q18S<br> +LB Q993, LB Q99A, LB R99A<br> + +- <u>SideLED</u><br> +LS A670, LO A670, LY A670, LG A670, LP A670<br> +LB A673, LV A673, LT A673, LW A673<br> +LH A674<br> +LY A675<br> +LS A676, LA A676, LO A676, LY A676, LW A676<br> +LS A679, LY A679, LG A679<br> + +- <u>Hyper Micro SIDELED®</u><br> +LS Y876, LA Y876, LO Y876, LY Y876<br> +LT Y87S<br> + +- <u>SmartLED</u><br> +LW L88C, LW L88S<br> +LB L89C, LB L89S, LG L890<br> +LS L89K, LO L89K, LY L89K<br> +LS L896, LA L896, LO L896, LY L896<br> + +- <u>TOPLED</u><br> +LS T670, LO T670, LY T670, LG T670, LP T670<br> +LSG T670, LSP T670, LSY T670, LOP T670, LYG T670<br> +LG T671, LOG T671, LSG T671<br> +LB T673, LV T673, LT T673, LW T673<br> +LH T674<br> +LS T676, LA T676, LO T676, LY T676, LB T676, LH T676, LSB T676, LW T676<br> +LB T67C, LV T67C, LT T67C, LS T67K, LO T67K, LY T67K, LW E67C<br> +LS E67B, LA E67B, LO E67B, LY E67B, LB E67C, LV E67C, LT E67C<br> +LW T67C<br> +LS T679, LY T679, LG T679<br> +LS T770, LO T770, LY T770, LG T770, LP T770<br> +LB T773, LV T773, LT T773, LW T773<br> +LH T774<br> +LS E675, LA E675, LY E675, LS T675<br> +LS T776, LA T776, LO T776, LY T776, LB T776<br> +LHGB T686<br> +LT T68C, LB T68C<br> + +- <u>Hyper Mini TOPLED®</u><br> +LB M676<br> + +- <u>Mini TOPLED Santana®</u><br> +LG M470<br> +LS M47K, LO M47K, LY M47K +<p> +Source: http://www.osram.convergy.de<p> + +<u>LUXEON:</u><br> +- <u>LUMILED®</u><br> +LXK2-PW12-R00, LXK2-PW12-S00, LXK2-PW14-U00, LXK2-PW14-V00<br> +LXK2-PM12-R00, LXK2-PM12-S00, LXK2-PM14-U00<br> +LXK2-PE12-Q00, LXK2-PE12-R00, LXK2-PE12-S00, LXK2-PE14-T00, LXK2-PE14-U00<br> +LXK2-PB12-K00, LXK2-PB12-L00, LXK2-PB12-M00, LXK2-PB14-N00, LXK2-PB14-P00, LXK2-PB14-Q00<br> +LXK2-PR12-L00, LXK2-PR12-M00, LXK2-PR14-Q00, LXK2-PR14-R00<br> +LXK2-PD12-Q00, LXK2-PD12-R00, LXK2-PD12-S00<br> +LXK2-PH12-R00, LXK2-PH12-S00<br> +LXK2-PL12-P00, LXK2-PL12-Q00, LXK2-PL12-R00 +<p> +Source: www.luxeon.com<p> + +<u>KINGBRIGHT:</U><p> +KA-3528ASYC<br> +Source: www.kingbright.com + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>Resistors, Capacitors, Inductors</b><p> +Based on the previous libraries: +<ul> +<li>r.lbr +<li>cap.lbr +<li>cap-fe.lbr +<li>captant.lbr +<li>polcap.lbr +<li>ipc-smd.lbr +</ul> +All SMD packages are defined according to the IPC specifications and CECC<p> +<author>Created by librarian@cadsoft.de</author><p> +<p> +for Electrolyt Capacitors see also :<p> +www.bccomponents.com <p> +www.panasonic.com<p> +www.kemet.com<p> +<p> +for trimmer refence see : <u>www.electrospec-inc.com/cross_references/trimpotcrossref.asp</u><p> + +<map name="nav_main"> +<area shape="rect" coords="0,1,140,23" href="../military_specs.asp" title=""> +<area shape="rect" coords="0,24,140,51" href="../about.asp" title=""> +<area shape="rect" coords="1,52,140,77" href="../rfq.asp" title=""> +<area shape="rect" coords="0,78,139,103" href="../products.asp" title=""> +<area shape="rect" coords="1,102,138,128" href="../excess_inventory.asp" title=""> +<area shape="rect" coords="1,129,138,150" href="../edge.asp" title=""> +<area shape="rect" coords="1,151,139,178" href="../industry_links.asp" title=""> +<area shape="rect" coords="0,179,139,201" href="../comments.asp" title=""> +<area shape="rect" coords="1,203,138,231" href="../directory.asp" title=""> +<area shape="default" nohref> +</map> + +<html> + +<title></title> + + <LINK REL="StyleSheet" TYPE="text/css" HREF="style-sheet.css"> + +<body bgcolor="#ffffff" text="#000000" marginwidth="0" marginheight="0" topmargin="0" leftmargin="0"> +<table border=0 cellspacing=0 cellpadding=0 width="100%" cellpaddding=0 height="55%"> +<tr valign="top"> + +</td> +<! <td width="10">&nbsp;</td> +<td width="90%"> + +<b><font color="#0000FF" size="4">TRIM-POT CROSS REFERENCE</font></b> +<P> +<TABLE BORDER=0 CELLSPACING=1 CELLPADDING=2> + <TR> + <TD COLSPAN=8> + <FONT SIZE=3 FACE=ARIAL><B>RECTANGULAR MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">BOURNS</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">BI&nbsp;TECH</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">DALE-VISHAY</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">PHILIPS/MEPCO</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">MURATA</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">PANASONIC</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">SPECTROL</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">MILSPEC</FONT> + </B> + </TD><TD>&nbsp;</TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3 > + 3005P<BR> + 3006P<BR> + 3006W<BR> + 3006Y<BR> + 3009P<BR> + 3009W<BR> + 3009Y<BR> + 3057J<BR> + 3057L<BR> + 3057P<BR> + 3057Y<BR> + 3059J<BR> + 3059L<BR> + 3059P<BR> + 3059Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 89P<BR> + 89W<BR> + 89X<BR> + 89PH<BR> + 76P<BR> + 89XH<BR> + 78SLT<BR> + 78L&nbsp;ALT<BR> + 56P&nbsp;ALT<BR> + 78P&nbsp;ALT<BR> + T8S<BR> + 78L<BR> + 56P<BR> + 78P<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + T18/784<BR> + 783<BR> + 781<BR> + -<BR> + -<BR> + -<BR> + 2199<BR> + 1697/1897<BR> + 1680/1880<BR> + 2187<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 8035EKP/CT20/RJ-20P<BR> + -<BR> + RJ-20X<BR> + -<BR> + -<BR> + -<BR> + 1211L<BR> + 8012EKQ&nbsp;ALT<BR> + 8012EKR&nbsp;ALT<BR> + 1211P<BR> + 8012EKJ<BR> + 8012EKL<BR> + 8012EKQ<BR> + 8012EKR<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 2101P<BR> + 2101W<BR> + 2101Y<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 2102L<BR> + 2102S<BR> + 2102Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + EVMCOG<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 43P<BR> + 43W<BR> + 43Y<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 40L<BR> + 40P<BR> + 40Y<BR> + 70Y-T602<BR> + 70L<BR> + 70P<BR> + 70Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + RT/RTR12<BR> + RT/RTR12<BR> + RT/RTR12<BR> + -<BR> + RJ/RJR12<BR> + RJ/RJR12<BR> + RJ/RJR12<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=8>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=8> + <FONT SIZE=4 FACE=ARIAL><B>SQUARE MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BOURN</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MURATA</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>SPECTROL</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MILSPEC</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3250L<BR> + 3250P<BR> + 3250W<BR> + 3250X<BR> + 3252P<BR> + 3252W<BR> + 3252X<BR> + 3260P<BR> + 3260W<BR> + 3260X<BR> + 3262P<BR> + 3262W<BR> + 3262X<BR> + 3266P<BR> + 3266W<BR> + 3266X<BR> + 3290H<BR> + 3290P<BR> + 3290W<BR> + 3292P<BR> + 3292W<BR> + 3292X<BR> + 3296P<BR> + 3296W<BR> + 3296X<BR> + 3296Y<BR> + 3296Z<BR> + 3299P<BR> + 3299W<BR> + 3299X<BR> + 3299Y<BR> + 3299Z<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66X&nbsp;ALT<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66X&nbsp;ALT<BR> + -<BR> + 64W&nbsp;ALT<BR> + -<BR> + 64P&nbsp;ALT<BR> + 64W&nbsp;ALT<BR> + 64X&nbsp;ALT<BR> + 64P<BR> + 64W<BR> + 64X<BR> + 66X&nbsp;ALT<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66P<BR> + 66W<BR> + 66X<BR> + 67P<BR> + 67W<BR> + 67X<BR> + 67Y<BR> + 67Z<BR> + 68P<BR> + 68W<BR> + 68X<BR> + 67Y&nbsp;ALT<BR> + 67Z&nbsp;ALT<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 5050<BR> + 5091<BR> + 5080<BR> + 5087<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + T63YB<BR> + T63XB<BR> + -<BR> + -<BR> + -<BR> + 5887<BR> + 5891<BR> + 5880<BR> + -<BR> + -<BR> + -<BR> + T93Z<BR> + T93YA<BR> + T93XA<BR> + T93YB<BR> + T93XB<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 8026EKP<BR> + 8026EKW<BR> + 8026EKM<BR> + 8026EKP<BR> + 8026EKB<BR> + 8026EKM<BR> + 1309X<BR> + 1309P<BR> + 1309W<BR> + 8024EKP<BR> + 8024EKW<BR> + 8024EKN<BR> + RJ-9P/CT9P<BR> + RJ-9W<BR> + RJ-9X<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3103P<BR> + 3103Y<BR> + 3103Z<BR> + 3103P<BR> + 3103Y<BR> + 3103Z<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3105P/3106P<BR> + 3105W/3106W<BR> + 3105X/3106X<BR> + 3105Y/3106Y<BR> + 3105Z/3105Z<BR> + 3102P<BR> + 3102W<BR> + 3102X<BR> + 3102Y<BR> + 3102Z<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + EVMCBG<BR> + EVMCCG<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 55-1-X<BR> + 55-4-X<BR> + 55-3-X<BR> + 55-2-X<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 50-2-X<BR> + 50-4-X<BR> + 50-3-X<BR> + -<BR> + -<BR> + -<BR> + 64P<BR> + 64W<BR> + 64X<BR> + 64Y<BR> + 64Z<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + RT/RTR22<BR> + RT/RTR22<BR> + RT/RTR22<BR> + RT/RTR22<BR> + RJ/RJR22<BR> + RJ/RJR22<BR> + RJ/RJR22<BR> + RT/RTR26<BR> + RT/RTR26<BR> + RT/RTR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RT/RTR24<BR> + RT/RTR24<BR> + RT/RTR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=8>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=8> + <FONT SIZE=4 FACE=ARIAL><B>SINGLE TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BOURN</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MURATA</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>SPECTROL</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MILSPEC</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3323P<BR> + 3323S<BR> + 3323W<BR> + 3329H<BR> + 3329P<BR> + 3329W<BR> + 3339H<BR> + 3339P<BR> + 3339W<BR> + 3352E<BR> + 3352H<BR> + 3352K<BR> + 3352P<BR> + 3352T<BR> + 3352V<BR> + 3352W<BR> + 3362H<BR> + 3362M<BR> + 3362P<BR> + 3362R<BR> + 3362S<BR> + 3362U<BR> + 3362W<BR> + 3362X<BR> + 3386B<BR> + 3386C<BR> + 3386F<BR> + 3386H<BR> + 3386K<BR> + 3386M<BR> + 3386P<BR> + 3386S<BR> + 3386W<BR> + 3386X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 25P<BR> + 25S<BR> + 25RX<BR> + 82P<BR> + 82M<BR> + 82PA<BR> + -<BR> + -<BR> + -<BR> + 91E<BR> + 91X<BR> + 91T<BR> + 91B<BR> + 91A<BR> + 91V<BR> + 91W<BR> + 25W<BR> + 25V<BR> + 25P<BR> + -<BR> + 25S<BR> + 25U<BR> + 25RX<BR> + 25X<BR> + 72XW<BR> + 72XL<BR> + 72PM<BR> + 72RX<BR> + -<BR> + 72PX<BR> + 72P<BR> + 72RXW<BR> + 72RXL<BR> + 72X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + T7YB<BR> + T7YA<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + TXD<BR> + TYA<BR> + TYP<BR> + -<BR> + TYD<BR> + TX<BR> + -<BR> + 150SX<BR> + 100SX<BR> + 102T<BR> + 101S<BR> + 190T<BR> + 150TX<BR> + 101<BR> + -<BR> + -<BR> + 101SX<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + ET6P<BR> + ET6S<BR> + ET6X<BR> + RJ-6W/8014EMW<BR> + RJ-6P/8014EMP<BR> + RJ-6X/8014EMX<BR> + TM7W<BR> + TM7P<BR> + TM7X<BR> + -<BR> + 8017SMS<BR> + -<BR> + 8017SMB<BR> + 8017SMA<BR> + -<BR> + -<BR> + CT-6W<BR> + CT-6H<BR> + CT-6P<BR> + CT-6R<BR> + -<BR> + CT-6V<BR> + CT-6X<BR> + -<BR> + -<BR> + 8038EKV<BR> + -<BR> + 8038EKX<BR> + -<BR> + -<BR> + 8038EKP<BR> + 8038EKZ<BR> + 8038EKW<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + 3321H<BR> + 3321P<BR> + 3321N<BR> + 1102H<BR> + 1102P<BR> + 1102T<BR> + RVA0911V304A<BR> + -<BR> + RVA0911H413A<BR> + RVG0707V100A<BR> + RVA0607V(H)306A<BR> + RVA1214H213A<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3104B<BR> + 3104C<BR> + 3104F<BR> + 3104H<BR> + -<BR> + 3104M<BR> + 3104P<BR> + 3104S<BR> + 3104W<BR> + 3104X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + EVMQ0G<BR> + EVMQIG<BR> + EVMQ3G<BR> + EVMS0G<BR> + EVMQ0G<BR> + EVMG0G<BR> + -<BR> + -<BR> + -<BR> + EVMK4GA00B<BR> + EVM30GA00B<BR> + EVMK0GA00B<BR> + EVM38GA00B<BR> + EVMB6<BR> + EVLQ0<BR> + -<BR> + EVMMSG<BR> + EVMMBG<BR> + EVMMAG<BR> + -<BR> + -<BR> + EVMMCS<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + EVMM1<BR> + -<BR> + -<BR> + EVMM0<BR> + -<BR> + -<BR> + EVMM3<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + 62-3-1<BR> + 62-1-2<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 67R<BR> + -<BR> + 67P<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 67X<BR> + 63V<BR> + 63S<BR> + 63M<BR> + -<BR> + -<BR> + 63H<BR> + 63P<BR> + -<BR> + -<BR> + 63X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + RJ/RJR50<BR> + RJ/RJR50<BR> + RJ/RJR50<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> +</TABLE> +<P>&nbsp;<P> +<TABLE BORDER=0 CELLSPACING=1 CELLPADDING=3> + <TR> + <TD COLSPAN=7> + <FONT color="#0000FF" SIZE=4 FACE=ARIAL><B>SMD TRIM-POT CROSS REFERENCE</B></FONT> + <P> + <FONT SIZE=4 FACE=ARIAL><B>MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BOURNS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>TOCOS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>AUX/KYOCERA</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3224G<BR> + 3224J<BR> + 3224W<BR> + 3269P<BR> + 3269W<BR> + 3269X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 44G<BR> + 44J<BR> + 44W<BR> + 84P<BR> + 84W<BR> + 84X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + ST63Z<BR> + ST63Y<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + ST5P<BR> + ST5W<BR> + ST5X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=7>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=7> + <FONT SIZE=4 FACE=ARIAL><B>SINGLE TURN</B></FONT> + </TD> + </TR> + <TR> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BOURNS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + 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height="55%"> +<tr valign="top"> + +</td> +<! <td width="10">&nbsp;</td> +<td width="90%"> + +<b><font color="#0000FF" size="4">TRIM-POT CROSS REFERENCE</font></b> +<P> +<TABLE BORDER=0 CELLSPACING=1 CELLPADDING=2> + <TR> + <TD COLSPAN=8> + <FONT SIZE=3 FACE=ARIAL><B>RECTANGULAR MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">BOURNS</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">BI&nbsp;TECH</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">DALE-VISHAY</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">PHILIPS/MEPCO</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">MURATA</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">PANASONIC</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">SPECTROL</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">MILSPEC</FONT> + </B> + </TD><TD>&nbsp;</TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3 > + 3005P<BR> + 3006P<BR> + 3006W<BR> + 3006Y<BR> + 3009P<BR> + 3009W<BR> + 3009Y<BR> + 3057J<BR> + 3057L<BR> + 3057P<BR> + 3057Y<BR> + 3059J<BR> + 3059L<BR> + 3059P<BR> + 3059Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 89P<BR> + 89W<BR> + 89X<BR> + 89PH<BR> + 76P<BR> + 89XH<BR> + 78SLT<BR> + 78L&nbsp;ALT<BR> + 56P&nbsp;ALT<BR> + 78P&nbsp;ALT<BR> + T8S<BR> + 78L<BR> + 56P<BR> + 78P<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + T18/784<BR> + 783<BR> + 781<BR> + -<BR> + -<BR> + -<BR> + 2199<BR> + 1697/1897<BR> + 1680/1880<BR> + 2187<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 8035EKP/CT20/RJ-20P<BR> + -<BR> + RJ-20X<BR> + -<BR> + -<BR> + -<BR> + 1211L<BR> + 8012EKQ&nbsp;ALT<BR> + 8012EKR&nbsp;ALT<BR> + 1211P<BR> + 8012EKJ<BR> + 8012EKL<BR> + 8012EKQ<BR> + 8012EKR<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 2101P<BR> + 2101W<BR> + 2101Y<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 2102L<BR> + 2102S<BR> + 2102Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + EVMCOG<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 43P<BR> + 43W<BR> + 43Y<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 40L<BR> + 40P<BR> + 40Y<BR> + 70Y-T602<BR> + 70L<BR> + 70P<BR> + 70Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + RT/RTR12<BR> + RT/RTR12<BR> + RT/RTR12<BR> + -<BR> + RJ/RJR12<BR> + RJ/RJR12<BR> + RJ/RJR12<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=8>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=8> + <FONT SIZE=4 FACE=ARIAL><B>SQUARE MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BOURN</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MURATA</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>SPECTROL</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MILSPEC</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3250L<BR> + 3250P<BR> + 3250W<BR> + 3250X<BR> + 3252P<BR> + 3252W<BR> + 3252X<BR> + 3260P<BR> + 3260W<BR> + 3260X<BR> + 3262P<BR> + 3262W<BR> + 3262X<BR> + 3266P<BR> + 3266W<BR> + 3266X<BR> + 3290H<BR> + 3290P<BR> + 3290W<BR> + 3292P<BR> + 3292W<BR> + 3292X<BR> + 3296P<BR> + 3296W<BR> + 3296X<BR> + 3296Y<BR> + 3296Z<BR> + 3299P<BR> + 3299W<BR> + 3299X<BR> + 3299Y<BR> + 3299Z<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66X&nbsp;ALT<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66X&nbsp;ALT<BR> + -<BR> + 64W&nbsp;ALT<BR> + -<BR> + 64P&nbsp;ALT<BR> + 64W&nbsp;ALT<BR> + 64X&nbsp;ALT<BR> + 64P<BR> + 64W<BR> + 64X<BR> + 66X&nbsp;ALT<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66P<BR> + 66W<BR> + 66X<BR> + 67P<BR> + 67W<BR> + 67X<BR> + 67Y<BR> + 67Z<BR> + 68P<BR> + 68W<BR> + 68X<BR> + 67Y&nbsp;ALT<BR> + 67Z&nbsp;ALT<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 5050<BR> + 5091<BR> + 5080<BR> + 5087<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + T63YB<BR> + T63XB<BR> + -<BR> + -<BR> + -<BR> + 5887<BR> + 5891<BR> + 5880<BR> + -<BR> + -<BR> + -<BR> + T93Z<BR> + T93YA<BR> + T93XA<BR> + T93YB<BR> + T93XB<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 8026EKP<BR> + 8026EKW<BR> + 8026EKM<BR> + 8026EKP<BR> + 8026EKB<BR> + 8026EKM<BR> + 1309X<BR> + 1309P<BR> + 1309W<BR> + 8024EKP<BR> + 8024EKW<BR> + 8024EKN<BR> + RJ-9P/CT9P<BR> + RJ-9W<BR> + RJ-9X<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3103P<BR> + 3103Y<BR> + 3103Z<BR> + 3103P<BR> + 3103Y<BR> + 3103Z<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3105P/3106P<BR> + 3105W/3106W<BR> + 3105X/3106X<BR> + 3105Y/3106Y<BR> + 3105Z/3105Z<BR> + 3102P<BR> + 3102W<BR> + 3102X<BR> + 3102Y<BR> + 3102Z<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + EVMCBG<BR> + EVMCCG<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 55-1-X<BR> + 55-4-X<BR> + 55-3-X<BR> + 55-2-X<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 50-2-X<BR> + 50-4-X<BR> + 50-3-X<BR> + -<BR> + -<BR> + -<BR> + 64P<BR> + 64W<BR> + 64X<BR> + 64Y<BR> + 64Z<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + RT/RTR22<BR> + RT/RTR22<BR> + RT/RTR22<BR> + RT/RTR22<BR> + RJ/RJR22<BR> + RJ/RJR22<BR> + RJ/RJR22<BR> + RT/RTR26<BR> + RT/RTR26<BR> + RT/RTR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RT/RTR24<BR> + RT/RTR24<BR> + RT/RTR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=8>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=8> + <FONT SIZE=4 FACE=ARIAL><B>SINGLE TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BOURN</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MURATA</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>SPECTROL</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MILSPEC</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3323P<BR> + 3323S<BR> + 3323W<BR> + 3329H<BR> + 3329P<BR> + 3329W<BR> + 3339H<BR> + 3339P<BR> + 3339W<BR> + 3352E<BR> + 3352H<BR> + 3352K<BR> + 3352P<BR> + 3352T<BR> + 3352V<BR> + 3352W<BR> + 3362H<BR> + 3362M<BR> + 3362P<BR> + 3362R<BR> + 3362S<BR> + 3362U<BR> + 3362W<BR> + 3362X<BR> + 3386B<BR> + 3386C<BR> + 3386F<BR> + 3386H<BR> + 3386K<BR> + 3386M<BR> + 3386P<BR> + 3386S<BR> + 3386W<BR> + 3386X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 25P<BR> + 25S<BR> + 25RX<BR> + 82P<BR> + 82M<BR> + 82PA<BR> + -<BR> + -<BR> + -<BR> + 91E<BR> + 91X<BR> + 91T<BR> + 91B<BR> + 91A<BR> + 91V<BR> + 91W<BR> + 25W<BR> + 25V<BR> + 25P<BR> + -<BR> + 25S<BR> + 25U<BR> + 25RX<BR> + 25X<BR> + 72XW<BR> + 72XL<BR> + 72PM<BR> + 72RX<BR> + -<BR> + 72PX<BR> + 72P<BR> + 72RXW<BR> + 72RXL<BR> + 72X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + T7YB<BR> + T7YA<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + TXD<BR> + TYA<BR> + TYP<BR> + -<BR> + TYD<BR> + TX<BR> + -<BR> + 150SX<BR> + 100SX<BR> + 102T<BR> + 101S<BR> + 190T<BR> + 150TX<BR> + 101<BR> + -<BR> + -<BR> + 101SX<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + ET6P<BR> + ET6S<BR> + ET6X<BR> + RJ-6W/8014EMW<BR> + RJ-6P/8014EMP<BR> + RJ-6X/8014EMX<BR> + TM7W<BR> + TM7P<BR> + TM7X<BR> + -<BR> + 8017SMS<BR> + -<BR> + 8017SMB<BR> + 8017SMA<BR> + -<BR> + -<BR> + CT-6W<BR> + CT-6H<BR> + CT-6P<BR> + CT-6R<BR> + -<BR> + CT-6V<BR> + CT-6X<BR> + -<BR> + -<BR> + 8038EKV<BR> + -<BR> + 8038EKX<BR> + -<BR> + -<BR> + 8038EKP<BR> + 8038EKZ<BR> + 8038EKW<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + 3321H<BR> + 3321P<BR> + 3321N<BR> + 1102H<BR> + 1102P<BR> + 1102T<BR> + RVA0911V304A<BR> + -<BR> + RVA0911H413A<BR> + RVG0707V100A<BR> + RVA0607V(H)306A<BR> + RVA1214H213A<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3104B<BR> + 3104C<BR> + 3104F<BR> + 3104H<BR> + -<BR> + 3104M<BR> + 3104P<BR> + 3104S<BR> + 3104W<BR> + 3104X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + EVMQ0G<BR> + EVMQIG<BR> + EVMQ3G<BR> + EVMS0G<BR> + EVMQ0G<BR> + EVMG0G<BR> + -<BR> + -<BR> + -<BR> + EVMK4GA00B<BR> + EVM30GA00B<BR> + EVMK0GA00B<BR> + EVM38GA00B<BR> + EVMB6<BR> + EVLQ0<BR> + -<BR> + EVMMSG<BR> + EVMMBG<BR> + EVMMAG<BR> + -<BR> + -<BR> + EVMMCS<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + EVMM1<BR> + -<BR> + -<BR> + EVMM0<BR> + -<BR> + -<BR> + EVMM3<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + 62-3-1<BR> + 62-1-2<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 67R<BR> + -<BR> + 67P<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 67X<BR> + 63V<BR> + 63S<BR> + 63M<BR> + -<BR> + -<BR> + 63H<BR> + 63P<BR> + -<BR> + -<BR> + 63X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + RJ/RJR50<BR> + RJ/RJR50<BR> + RJ/RJR50<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> +</TABLE> +<P>&nbsp;<P> +<TABLE BORDER=0 CELLSPACING=1 CELLPADDING=3> + <TR> + <TD COLSPAN=7> + <FONT color="#0000FF" SIZE=4 FACE=ARIAL><B>SMD TRIM-POT CROSS REFERENCE</B></FONT> + <P> + <FONT SIZE=4 FACE=ARIAL><B>MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BOURNS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>TOCOS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>AUX/KYOCERA</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3224G<BR> + 3224J<BR> + 3224W<BR> + 3269P<BR> + 3269W<BR> + 3269X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 44G<BR> + 44J<BR> + 44W<BR> + 84P<BR> + 84W<BR> + 84X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + ST63Z<BR> + ST63Y<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + ST5P<BR> + ST5W<BR> + ST5X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=7>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=7> + <FONT SIZE=4 FACE=ARIAL><B>SINGLE TURN</B></FONT> + </TD> + </TR> + <TR> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BOURNS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>TOCOS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>AUX/KYOCERA</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3314G<BR> + 3314J<BR> + 3364A/B<BR> + 3364C/D<BR> + 3364W/X<BR> + 3313G<BR> + 3313J<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 23B<BR> + 23A<BR> + 21X<BR> + 21W<BR> + -<BR> + 22B<BR> + 22A<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + ST5YL/ST53YL<BR> + ST5YJ/5T53YJ<BR> + ST-23A<BR> + ST-22B<BR> + ST-22<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + ST-4B<BR> + ST-4A<BR> + -<BR> + -<BR> + -<BR> + ST-3B<BR> + ST-3A<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + EVM-6YS<BR> + EVM-1E<BR> + EVM-1G<BR> + EVM-1D<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + G4B<BR> + G4A<BR> + TR04-3S1<BR> + TRG04-2S1<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + DVR-43A<BR> + CVR-42C<BR> + CVR-42A/C<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> +</TABLE> +<P> +<FONT SIZE=4 FACE=ARIAL><B>ALT =&nbsp;ALTERNATE</B></FONT> +<P> + +&nbsp; +<P> +</td> +</tr> +</table> +</BODY></HTML> + + +<b>CAPACITOR</b><p> + + + + + + + + +>NAME +>VALUE + + + + + +<b>RESISTOR</b><p> +MELF 0.10 W + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + +>value +>name +>name + + + + + + + + + + + + + + + +>name +>value + + + + + +<b>Jumpers</b><p> +<author>Created by librarian@cadsoft.de</author> + + +<b>Solder jumper</b> + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + +<b>DIY Modules for Arduino, Raspberry Pi, CubieBoard etc.</b> +<br><br> +The library contains a list of symbols and footprints for popular, cheap and easy-to-use electronic modules.<br> +The modules are intend to work with microprocessor-based platforms such as <a href="http://arduino.cc">Arduino</a>, <a href="http://raspberrypi.org/">Raspberry Pi</a>, <a href="http://cubieboard.org/">CubieBoard</a>, <a href="http://beagleboard.org/">BeagleBone</a> and many others. There are many manufacturers of the modules in the world. Almost all of them can be bought on <a href="ebay.com">ebay.com</a>.<br> +<br> +By using this library, you can design a PCB for devices created with usage of modules. Even if you do not need to create PCB design, you can also use the library to quickly document your work by drawing schematics of devices built by you.<br> +<br> +The latest version, examples, photos and much more can be found at: <b><a href="http://diymodules.org/eagle">diymodules.org/eagle</a></b><br><br> +Comments, suggestions and bug reports please send to: <b><a href="mailto:eagle@diymodules.org">eagle@diymodules.org</b></a><br><br> +<i>Version: 1.8.0 (2017-Jul-02)</i><br> +<i>Created by: Miroslaw Brudnowski</i><br><br> +<i>Released under the Creative Commons Attribution 4.0 International License: <a href="http://creativecommons.org/licenses/by/4.0">http://creativecommons.org/licenses/by/4.0</a></i> +<br><br> +<center> +<a href="http://diymodules.org/eagle"><img src="http://www.diymodules.org/img/diymodules-lbr-image.php?v=1.8.0" alt="DIYmodules.org"></a> +</center> + + +<b>DC/DC Step-Down Regulator</b> based on <b>MP2307DN</b> chip + + + + + + + + +>NAME +>VALUE +IN + + + + + + +OUT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>EAGLE Design Rules</b> +<p> +Die Standard-Design-Rules sind so gewählt, dass sie für +die meisten Anwendungen passen. Sollte ihre Platine +besondere Anforderungen haben, treffen Sie die erforderlichen +Einstellungen hier und speichern die Design Rules unter +einem neuen Namen ab. +<b>EAGLE Design Rules</b> +<p> +The default Design Rules have been set to cover +a wide range of applications. Your particular design +may have different requirements, so please make the +necessary adjustments and save your customized +design rules under a new name. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/electronics/sub.sch b/electronics/sub.sch new file mode 100644 index 0000000..aca903a --- /dev/null +++ b/electronics/sub.sch @@ -0,0 +1,7111 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>DIY Modules for Arduino, Raspberry Pi, CubieBoard etc.</b> +<br><br> +The library contains a list of symbols and footprints for popular, cheap and easy-to-use electronic modules.<br> +The modules are intend to work with microprocessor-based platforms such as <a href="http://arduino.cc">Arduino</a>, <a href="http://raspberrypi.org/">Raspberry Pi</a>, <a href="http://cubieboard.org/">CubieBoard</a>, <a href="http://beagleboard.org/">BeagleBone</a> and many others. There are many manufacturers of the modules in the world. Almost all of them can be bought on <a href="ebay.com">ebay.com</a>.<br> +<br> +By using this library, you can design a PCB for devices created with usage of modules. Even if you do not need to create PCB design, you can also use the library to quickly document your work by drawing schematics of devices built by you.<br> +<br> +The latest version, examples, photos and much more can be found at: <b><a href="http://diymodules.org/eagle">diymodules.org/eagle</a></b><br><br> +Comments, suggestions and bug reports please send to: <b><a href="mailto:eagle@diymodules.org">eagle@diymodules.org</b></a><br><br> +<i>Version: 1.8.0 (2017-Jul-02)</i><br> +<i>Created by: Miroslaw Brudnowski</i><br><br> +<i>Released under the Creative Commons Attribution 4.0 International License: <a href="http://creativecommons.org/licenses/by/4.0">http://creativecommons.org/licenses/by/4.0</a></i> +<br><br> +<center> +<a href="http://diymodules.org/eagle"><img src="http://www.diymodules.org/img/diymodules-lbr-image.php?v=1.8.0" alt="DIYmodules.org"></a> +</center> + + +<b>DC/DC Step-Down Regulator</b> based on <b>MP2307DN</b> chip + + + + + + + + +>NAME +>VALUE +IN + + + + + + +OUT + + + + +<b>DC/DC Step-Down Regulator</b> based on <b>MP2307DN</b> chip + + + + + + + + +>NAME +>VALUE + + + + +<b>DC/DC Step-Down Regulator</b> based on <b>MP2307DN</b> chip +<p><b>MP2307</b> datasheet available here:<br> +<a href="https://cdn-shop.adafruit.com/datasheets/MP2307_r1.9.pdf">https://cdn-shop.adafruit.com/datasheets/MP2307_r1.9.pdf</a></p> +<p><b><a href="http://www.ebay.com/sch/dc+dc+3a+mini+converter">Click here to find device on ebay.com</a></b></p> + +<p><img alt="photo" src="http://www.diymodules.org/img/device-photo.php?name=DC-DC-STEP-DOWN-MP2307"></p> + + + + + + + + + + + + + + + + + + + + +<b>Supply Symbols</b><p> +GND, VCC, 0V, +5V, -5V, etc.<p> +Please keep in mind, that these devices are necessary for the +automatic wiring of the supply signals.<p> +The pin name defined in the symbol is identical to the net which is to be wired automatically.<p> +In this library the device names are the same as the pin names of the symbols, therefore the correct signal names appear next to the supply symbols in the schematic.<p> +<author>Created by librarian@cadsoft.de</author> + + + + + + + +>VALUE + + + + +>VALUE + + + + + +<b>SUPPLY SYMBOL</b> + + + + + + + + + + + + +<b>SUPPLY SYMBOL</b> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>value +>name +>name + + + + + + + + + + + + + + + +>name +>value + + + + + + + + + +>name +>value + + + + + + + + + + + + +>name +>value + + + + + + + + +320030060 + + + + + + + + + + + + + + + + + + + + + + + +320030017 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +PCA9685 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>Resistors, Capacitors, Inductors</b><p> +Based on the previous libraries: +<ul> +<li>r.lbr +<li>cap.lbr +<li>cap-fe.lbr +<li>captant.lbr +<li>polcap.lbr +<li>ipc-smd.lbr +</ul> +All SMD packages are defined according to the IPC specifications and CECC<p> +<author>Created by librarian@cadsoft.de</author><p> +<p> +for Electrolyt Capacitors see also :<p> +www.bccomponents.com <p> +www.panasonic.com<p> +www.kemet.com<p> +<p> +for trimmer refence see : <u>www.electrospec-inc.com/cross_references/trimpotcrossref.asp</u><p> + +<map name="nav_main"> +<area shape="rect" coords="0,1,140,23" href="../military_specs.asp" title=""> +<area shape="rect" coords="0,24,140,51" href="../about.asp" title=""> +<area shape="rect" coords="1,52,140,77" href="../rfq.asp" title=""> +<area shape="rect" coords="0,78,139,103" href="../products.asp" title=""> +<area shape="rect" coords="1,102,138,128" href="../excess_inventory.asp" title=""> +<area shape="rect" coords="1,129,138,150" href="../edge.asp" title=""> +<area shape="rect" coords="1,151,139,178" href="../industry_links.asp" title=""> +<area shape="rect" coords="0,179,139,201" href="../comments.asp" title=""> +<area shape="rect" coords="1,203,138,231" href="../directory.asp" title=""> +<area shape="default" nohref> +</map> + +<html> + +<title></title> + + <LINK REL="StyleSheet" TYPE="text/css" HREF="style-sheet.css"> + +<body bgcolor="#ffffff" text="#000000" marginwidth="0" marginheight="0" topmargin="0" leftmargin="0"> +<table border=0 cellspacing=0 cellpadding=0 width="100%" cellpaddding=0 height="55%"> +<tr valign="top"> + +</td> +<! <td width="10">&nbsp;</td> +<td width="90%"> + +<b><font color="#0000FF" size="4">TRIM-POT CROSS REFERENCE</font></b> +<P> +<TABLE BORDER=0 CELLSPACING=1 CELLPADDING=2> + <TR> + <TD COLSPAN=8> + <FONT SIZE=3 FACE=ARIAL><B>RECTANGULAR MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">BOURNS</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">BI&nbsp;TECH</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">DALE-VISHAY</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">PHILIPS/MEPCO</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">MURATA</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">PANASONIC</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">SPECTROL</FONT> + </B> + </TD> + <TD ALIGN=CENTER> + <B> + <FONT SIZE=3 FACE=ARIAL color="#FF0000">MILSPEC</FONT> + </B> + </TD><TD>&nbsp;</TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3 > + 3005P<BR> + 3006P<BR> + 3006W<BR> + 3006Y<BR> + 3009P<BR> + 3009W<BR> + 3009Y<BR> + 3057J<BR> + 3057L<BR> + 3057P<BR> + 3057Y<BR> + 3059J<BR> + 3059L<BR> + 3059P<BR> + 3059Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 89P<BR> + 89W<BR> + 89X<BR> + 89PH<BR> + 76P<BR> + 89XH<BR> + 78SLT<BR> + 78L&nbsp;ALT<BR> + 56P&nbsp;ALT<BR> + 78P&nbsp;ALT<BR> + T8S<BR> + 78L<BR> + 56P<BR> + 78P<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + T18/784<BR> + 783<BR> + 781<BR> + -<BR> + -<BR> + -<BR> + 2199<BR> + 1697/1897<BR> + 1680/1880<BR> + 2187<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 8035EKP/CT20/RJ-20P<BR> + -<BR> + RJ-20X<BR> + -<BR> + -<BR> + -<BR> + 1211L<BR> + 8012EKQ&nbsp;ALT<BR> + 8012EKR&nbsp;ALT<BR> + 1211P<BR> + 8012EKJ<BR> + 8012EKL<BR> + 8012EKQ<BR> + 8012EKR<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 2101P<BR> + 2101W<BR> + 2101Y<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 2102L<BR> + 2102S<BR> + 2102Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + EVMCOG<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 43P<BR> + 43W<BR> + 43Y<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 40L<BR> + 40P<BR> + 40Y<BR> + 70Y-T602<BR> + 70L<BR> + 70P<BR> + 70Y<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + RT/RTR12<BR> + RT/RTR12<BR> + RT/RTR12<BR> + -<BR> + RJ/RJR12<BR> + RJ/RJR12<BR> + RJ/RJR12<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=8>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=8> + <FONT SIZE=4 FACE=ARIAL><B>SQUARE MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BOURN</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MURATA</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>SPECTROL</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MILSPEC</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3250L<BR> + 3250P<BR> + 3250W<BR> + 3250X<BR> + 3252P<BR> + 3252W<BR> + 3252X<BR> + 3260P<BR> + 3260W<BR> + 3260X<BR> + 3262P<BR> + 3262W<BR> + 3262X<BR> + 3266P<BR> + 3266W<BR> + 3266X<BR> + 3290H<BR> + 3290P<BR> + 3290W<BR> + 3292P<BR> + 3292W<BR> + 3292X<BR> + 3296P<BR> + 3296W<BR> + 3296X<BR> + 3296Y<BR> + 3296Z<BR> + 3299P<BR> + 3299W<BR> + 3299X<BR> + 3299Y<BR> + 3299Z<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66X&nbsp;ALT<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66X&nbsp;ALT<BR> + -<BR> + 64W&nbsp;ALT<BR> + -<BR> + 64P&nbsp;ALT<BR> + 64W&nbsp;ALT<BR> + 64X&nbsp;ALT<BR> + 64P<BR> + 64W<BR> + 64X<BR> + 66X&nbsp;ALT<BR> + 66P&nbsp;ALT<BR> + 66W&nbsp;ALT<BR> + 66P<BR> + 66W<BR> + 66X<BR> + 67P<BR> + 67W<BR> + 67X<BR> + 67Y<BR> + 67Z<BR> + 68P<BR> + 68W<BR> + 68X<BR> + 67Y&nbsp;ALT<BR> + 67Z&nbsp;ALT<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 5050<BR> + 5091<BR> + 5080<BR> + 5087<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + T63YB<BR> + T63XB<BR> + -<BR> + -<BR> + -<BR> + 5887<BR> + 5891<BR> + 5880<BR> + -<BR> + -<BR> + -<BR> + T93Z<BR> + T93YA<BR> + T93XA<BR> + T93YB<BR> + T93XB<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 8026EKP<BR> + 8026EKW<BR> + 8026EKM<BR> + 8026EKP<BR> + 8026EKB<BR> + 8026EKM<BR> + 1309X<BR> + 1309P<BR> + 1309W<BR> + 8024EKP<BR> + 8024EKW<BR> + 8024EKN<BR> + RJ-9P/CT9P<BR> + RJ-9W<BR> + RJ-9X<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3103P<BR> + 3103Y<BR> + 3103Z<BR> + 3103P<BR> + 3103Y<BR> + 3103Z<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3105P/3106P<BR> + 3105W/3106W<BR> + 3105X/3106X<BR> + 3105Y/3106Y<BR> + 3105Z/3105Z<BR> + 3102P<BR> + 3102W<BR> + 3102X<BR> + 3102Y<BR> + 3102Z<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + EVMCBG<BR> + EVMCCG<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 55-1-X<BR> + 55-4-X<BR> + 55-3-X<BR> + 55-2-X<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 50-2-X<BR> + 50-4-X<BR> + 50-3-X<BR> + -<BR> + -<BR> + -<BR> + 64P<BR> + 64W<BR> + 64X<BR> + 64Y<BR> + 64Z<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + RT/RTR22<BR> + RT/RTR22<BR> + RT/RTR22<BR> + RT/RTR22<BR> + RJ/RJR22<BR> + RJ/RJR22<BR> + RJ/RJR22<BR> + RT/RTR26<BR> + RT/RTR26<BR> + RT/RTR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RJ/RJR26<BR> + RT/RTR24<BR> + RT/RTR24<BR> + RT/RTR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + RJ/RJR24<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=8>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=8> + <FONT SIZE=4 FACE=ARIAL><B>SINGLE TURN</B></FONT> + </TD> + </TR> + <TR> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BOURN</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MURATA</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>SPECTROL</B></FONT> + </TD> + <TD ALIGN=CENTER> + <FONT SIZE=3 FACE=ARIAL><B>MILSPEC</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3323P<BR> + 3323S<BR> + 3323W<BR> + 3329H<BR> + 3329P<BR> + 3329W<BR> + 3339H<BR> + 3339P<BR> + 3339W<BR> + 3352E<BR> + 3352H<BR> + 3352K<BR> + 3352P<BR> + 3352T<BR> + 3352V<BR> + 3352W<BR> + 3362H<BR> + 3362M<BR> + 3362P<BR> + 3362R<BR> + 3362S<BR> + 3362U<BR> + 3362W<BR> + 3362X<BR> + 3386B<BR> + 3386C<BR> + 3386F<BR> + 3386H<BR> + 3386K<BR> + 3386M<BR> + 3386P<BR> + 3386S<BR> + 3386W<BR> + 3386X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 25P<BR> + 25S<BR> + 25RX<BR> + 82P<BR> + 82M<BR> + 82PA<BR> + -<BR> + -<BR> + -<BR> + 91E<BR> + 91X<BR> + 91T<BR> + 91B<BR> + 91A<BR> + 91V<BR> + 91W<BR> + 25W<BR> + 25V<BR> + 25P<BR> + -<BR> + 25S<BR> + 25U<BR> + 25RX<BR> + 25X<BR> + 72XW<BR> + 72XL<BR> + 72PM<BR> + 72RX<BR> + -<BR> + 72PX<BR> + 72P<BR> + 72RXW<BR> + 72RXL<BR> + 72X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + T7YB<BR> + T7YA<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + TXD<BR> + TYA<BR> + TYP<BR> + -<BR> + TYD<BR> + TX<BR> + -<BR> + 150SX<BR> + 100SX<BR> + 102T<BR> + 101S<BR> + 190T<BR> + 150TX<BR> + 101<BR> + -<BR> + -<BR> + 101SX<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + ET6P<BR> + ET6S<BR> + ET6X<BR> + RJ-6W/8014EMW<BR> + RJ-6P/8014EMP<BR> + RJ-6X/8014EMX<BR> + TM7W<BR> + TM7P<BR> + TM7X<BR> + -<BR> + 8017SMS<BR> + -<BR> + 8017SMB<BR> + 8017SMA<BR> + -<BR> + -<BR> + CT-6W<BR> + CT-6H<BR> + CT-6P<BR> + CT-6R<BR> + -<BR> + CT-6V<BR> + CT-6X<BR> + -<BR> + -<BR> + 8038EKV<BR> + -<BR> + 8038EKX<BR> + -<BR> + -<BR> + 8038EKP<BR> + 8038EKZ<BR> + 8038EKW<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + 3321H<BR> + 3321P<BR> + 3321N<BR> + 1102H<BR> + 1102P<BR> + 1102T<BR> + RVA0911V304A<BR> + -<BR> + RVA0911H413A<BR> + RVG0707V100A<BR> + RVA0607V(H)306A<BR> + RVA1214H213A<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 3104B<BR> + 3104C<BR> + 3104F<BR> + 3104H<BR> + -<BR> + 3104M<BR> + 3104P<BR> + 3104S<BR> + 3104W<BR> + 3104X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + EVMQ0G<BR> + EVMQIG<BR> + EVMQ3G<BR> + EVMS0G<BR> + EVMQ0G<BR> + EVMG0G<BR> + -<BR> + -<BR> + -<BR> + EVMK4GA00B<BR> + EVM30GA00B<BR> + EVMK0GA00B<BR> + EVM38GA00B<BR> + EVMB6<BR> + EVLQ0<BR> + -<BR> + EVMMSG<BR> + EVMMBG<BR> + EVMMAG<BR> + -<BR> + -<BR> + EVMMCS<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + EVMM1<BR> + -<BR> + -<BR> + EVMM0<BR> + -<BR> + -<BR> + EVMM3<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + 62-3-1<BR> + 62-1-2<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 67R<BR> + -<BR> + 67P<BR> + -<BR> + -<BR> + -<BR> + -<BR> + 67X<BR> + 63V<BR> + 63S<BR> + 63M<BR> + -<BR> + -<BR> + 63H<BR> + 63P<BR> + -<BR> + -<BR> + 63X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + RJ/RJR50<BR> + RJ/RJR50<BR> + RJ/RJR50<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> +</TABLE> +<P>&nbsp;<P> +<TABLE BORDER=0 CELLSPACING=1 CELLPADDING=3> + <TR> + <TD COLSPAN=7> + <FONT color="#0000FF" SIZE=4 FACE=ARIAL><B>SMD TRIM-POT CROSS REFERENCE</B></FONT> + <P> + <FONT SIZE=4 FACE=ARIAL><B>MULTI-TURN</B></FONT> + </TD> + </TR> + <TR> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BOURNS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>TOCOS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>AUX/KYOCERA</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3224G<BR> + 3224J<BR> + 3224W<BR> + 3269P<BR> + 3269W<BR> + 3269X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 44G<BR> + 44J<BR> + 44W<BR> + 84P<BR> + 84W<BR> + 84X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + ST63Z<BR> + ST63Y<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + ST5P<BR> + ST5W<BR> + ST5X<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> + <TR> + <TD COLSPAN=7>&nbsp; + </TD> + </TR> + <TR> + <TD COLSPAN=7> + <FONT SIZE=4 FACE=ARIAL><B>SINGLE TURN</B></FONT> + </TD> + </TR> + <TR> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BOURNS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>BI&nbsp;TECH</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>DALE-VISHAY</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PHILIPS/MEPCO</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>PANASONIC</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>TOCOS</B></FONT> + </TD> + <TD> + <FONT SIZE=3 FACE=ARIAL><B>AUX/KYOCERA</B></FONT> + </TD> + </TR> + <TR> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 3314G<BR> + 3314J<BR> + 3364A/B<BR> + 3364C/D<BR> + 3364W/X<BR> + 3313G<BR> + 3313J<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + 23B<BR> + 23A<BR> + 21X<BR> + 21W<BR> + -<BR> + 22B<BR> + 22A<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + ST5YL/ST53YL<BR> + ST5YJ/5T53YJ<BR> + ST-23A<BR> + ST-22B<BR> + ST-22<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + ST-4B<BR> + ST-4A<BR> + -<BR> + -<BR> + -<BR> + ST-3B<BR> + ST-3A<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + EVM-6YS<BR> + EVM-1E<BR> + EVM-1G<BR> + EVM-1D<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + G4B<BR> + G4A<BR> + TR04-3S1<BR> + TRG04-2S1<BR> + -<BR> + -<BR> + -<BR></FONT> + </TD> + <TD BGCOLOR="#cccccc" ALIGN=CENTER><FONT FACE=ARIAL SIZE=3> + -<BR> + -<BR> + DVR-43A<BR> + CVR-42C<BR> + CVR-42A/C<BR> + -<BR> + -<BR></FONT> + </TD> + </TR> +</TABLE> +<P> +<FONT SIZE=4 FACE=ARIAL><B>ALT =&nbsp;ALTERNATE</B></FONT> +<P> + +&nbsp; +<P> +</td> +</tr> +</table> +</BODY></HTML> + + +<b>RESISTOR</b> + + + + + + + + +>NAME +>VALUE + + + + + +<b>RESISTOR</b> + + + + + + + + +>NAME +>VALUE + + + + + +<b>RESISTOR</b><p> + + + + + + + + +>NAME +>VALUE + + + + + +<b>RESISTOR</b> wave soldering<p> + + + + + + + + +>NAME +>VALUE + + + + + +<b>RESISTOR</b> + + + + + + + + +>NAME +>VALUE + + + + + +<b>RESISTOR</b><p> +wave soldering + + + + + + + + +>NAME +>VALUE + + + + + +<b>RESISTOR</b> + + + + + + + + +>NAME +>VALUE + 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+ + diff --git a/mechanism/README.md b/mechanism/README.md index 784f5a0..e698579 100644 --- a/mechanism/README.md +++ b/mechanism/README.md @@ -10,6 +10,4 @@ - - ## Body Assemble \ No newline at end of file diff --git a/software/README.md b/software/README.md new file mode 100644 index 0000000..d8cb973 --- /dev/null +++ b/software/README.md @@ -0,0 +1,29 @@ +# Software + +Software contain 2 parts, one is software of running on Linkt 7697 (an arduino C++ program), another is path generation (a python program). + +* hexapod7697: an arduino program running on Linkit 7697 +* pathTool: a python program that generate 3D points header, included by `hexapod7697` + +## hexapod7697 + +Files/Folder | Description | +------------ | ----------- | +src/normal_mode | provide normal calibration (forward/backward/turn left/turn right/rotate/etc...) | +src/setting_mode | provide calirbration functions, to make sure servo is correctly aligned. | +src/linkit_control/ | UI control helper | +src/hexapod | hexapod class | +src/hexapod/hal | Hardware Abatraction Layer to running on Linkit 7697 | + +> hexapod7697 use c++11 and STL, you may encounter problem if want to port it on pure Arduino platform. + +## pathTool + +* Python compatibility: + * 3.x: ok. + * 2.x: not verified. +* Required package + * numpy: `pip3 install numpy` + + + diff --git a/software/hexapod7697/.gitignore b/software/hexapod7697/.gitignore new file mode 100644 index 0000000..dbe9c82 --- /dev/null +++ b/software/hexapod7697/.gitignore @@ -0,0 +1 @@ +.vscode/ \ No newline at end of file diff --git a/software/hexapod7697/hexapod7697.ino b/software/hexapod7697/hexapod7697.ino new file mode 100644 index 0000000..f1e46e0 --- /dev/null +++ b/software/hexapod7697/hexapod7697.ino @@ -0,0 +1,84 @@ + +#include "src/setting_mode.h" +#include "src/normal_mode.h" + +#include "src/hexapod/debug.h" +#include "src/hexapod/hexapod.h" + +// +// mode +// 0: normal mode +// 1: setting mode (for servo calibration) +// +static int _mode = 0; + +static void log_output(const char* log) { + Serial.println(log); +} + +// +// wait for N secs, enter setting mode if pressed USR button +// +void boot_wait(int wait_for = 2000) { + digitalWrite(LED_BUILTIN, HIGH); + + pinMode(6, INPUT); + while (wait_for > 0) { + if (HIGH == digitalRead(6)) { + _mode = 1; + break; + } + delay(100); + wait_for -= 100; + } + + digitalWrite(LED_BUILTIN, LOW); +} + +// +// Do common setup and mode-specific setup +// +void setup() { + //Initialize serial and wait for port to open: + Serial.begin(115200); + Serial.println("Starting..."); + + // + // Common setup() + // + + // Initialize GPIO + pinMode(LED_BUILTIN, OUTPUT); + + // Workaround for beta PCB + pinMode(2, INPUT); + pinMode(3, INPUT); + + boot_wait(); + + hexapod::initLogOutput(log_output, millis); + hexapod::Hexapod.init(_mode == 1); + + // + // Mode-specific setup() + // + + if (_mode == 0) { + normal_setup(); + } + else if (_mode == 1) { + setting_setup(); + } + + Serial.print("Started, mode="); + Serial.println(_mode); +} + +void loop() { + if (_mode == 0) { + normal_loop(); + } + else if (_mode == 1) { + setting_loop(); + } +} diff --git a/software/hexapod7697/src/hexapod/base.h b/software/hexapod7697/src/hexapod/base.h new file mode 100644 index 0000000..9941e3b --- /dev/null +++ b/software/hexapod7697/src/hexapod/base.h @@ -0,0 +1,71 @@ +#pragma once + +#include + +namespace hexapod { + + class Point3D { + public: + Point3D() = default; + Point3D(float x, float y, float z): x_{x}, y_{y}, z_{z} { + } + + public: + float x_; + float y_; + float z_; + }; + + inline Point3D operator-(const Point3D &lhs, const Point3D &rhs) { + return Point3D(lhs.x_ - rhs.x_, lhs.y_ - rhs.y_, lhs.z_ - rhs.z_); + }; + + inline Point3D operator*(const Point3D &lhs, const float& b) { + return Point3D(lhs.x_ * b, lhs.y_ * b, lhs.z_ * b); + }; + + inline Point3D& operator +=(Point3D& a, const Point3D& b) { + a.x_ += b.x_; + a.y_ += b.y_; + a.z_ += b.z_; + return a; + } + + inline bool operator ==(const Point3D &a, const Point3D &b) { + return (a.x_ == b.x_) && (a.y_ == b.y_) && (a.z_ == b.z_); + } + + class Locations { + public: + Locations() = default; + Locations(const Point3D& foreRight, const Point3D& right, const Point3D& hindRight, const Point3D& hindLeft, const Point3D& left, const Point3D& foreLeft): + points_{foreRight, right, hindRight, hindLeft, left, foreLeft} { + } + + const Point3D& get(int index) const { + return points_[index]; + } + + Locations operator-(const Locations &b) const { + return Locations{ + points_[0] - b.points_[0], points_[1] - b.points_[1], points_[2] - b.points_[2], + points_[3] - b.points_[3], points_[4] - b.points_[4], points_[5] - b.points_[5], + }; + } + + Locations operator*(const float& b) const { + return Locations{ + points_[0] * b, points_[1] * b, points_[2] * b, + points_[3] * b, points_[4] * b, points_[5] * b, + }; + } + + Locations& operator +=(const Locations& b) { + for(auto i=0;i<6;i++) + points_[i] += b.points_[i]; + return *this; + } + private: + Point3D points_[6]; + }; +} diff --git a/software/hexapod7697/src/hexapod/config.h b/software/hexapod7697/src/hexapod/config.h new file mode 100644 index 0000000..620182f --- /dev/null +++ b/software/hexapod7697/src/hexapod/config.h @@ -0,0 +1,22 @@ +#pragma once + +namespace hexapod { + + namespace config { + // all below definition use unit: mm + const float kLegMountLeftRightX = 29.87; + const float kLegMountOtherX = 22.41; + const float kLegMountOtherY = 55.41; + + const float kLegRootToJoint1 = 20.75; + const float kLegJoint1ToJoint2 = 28.0; + const float kLegJoint2ToJoint3 = 42.6; + const float kLegJoint3ToTip = 89.07; + + + // timing setting. unit: ms + const int movementInterval = 5; + const int movementSwitchDuration = 150; + } + +} \ No newline at end of file diff --git a/software/hexapod7697/src/hexapod/debug.cpp b/software/hexapod7697/src/hexapod/debug.cpp new file mode 100644 index 0000000..b936220 --- /dev/null +++ b/software/hexapod7697/src/hexapod/debug.cpp @@ -0,0 +1,36 @@ +#include "debug.h" + +#include +#include // For va_start, etc. + +namespace { + std::function _writer = nullptr; + std::function _time_func = nullptr; +} + +void _my_log_impl(const char* format, ...) +{ + char buffer[256]; + int pos = 0; + + if(_time_func) { + pos = sprintf(buffer, "[%d]", _time_func()); + } + + if (_writer) { + va_list ap; + va_start(ap, format); + vsprintf(buffer+pos, format, ap); + va_end(ap); + _writer(buffer); + } +} + +namespace hexapod { + + void initLogOutput(std::function writer, std::function time_func) { + _writer = writer; + _time_func = time_func; + } + +} \ No newline at end of file diff --git a/software/hexapod7697/src/hexapod/debug.h b/software/hexapod7697/src/hexapod/debug.h new file mode 100644 index 0000000..517326c --- /dev/null +++ b/software/hexapod7697/src/hexapod/debug.h @@ -0,0 +1,25 @@ +#pragma once + +#include + +#undef LOG_DEBUG_ON +#define LOG_INFO_ON + + +#ifdef LOG_DEBUG_ON +void _my_log_impl(const char* format, ...); +#define LOG_DEBUG(format, ...) _my_log_impl(format, ##__VA_ARGS__) +#else +#define LOG_DEBUG(format, ...) +#endif + +#ifdef LOG_INFO_ON +void _my_log_impl(const char* format, ...); +#define LOG_INFO(format, ...) _my_log_impl(format, ##__VA_ARGS__) +#else +#define LOG_INFO(format, ...) +#endif + +namespace hexapod { + void initLogOutput(std::function writer, std::function time_func); +} diff --git a/software/hexapod7697/src/hexapod/hal/pwm.cpp b/software/hexapod7697/src/hexapod/hal/pwm.cpp new file mode 100644 index 0000000..215088b --- /dev/null +++ b/software/hexapod7697/src/hexapod/hal/pwm.cpp @@ -0,0 +1,29 @@ + +#include +#include + +#include "pwm.h" + +namespace hexapod { namespace hal { + + PCA9685::PCA9685(int i2cAddress) { + obj_ = (void*)new Adafruit_PWMServoDriver(i2cAddress); + } + + PCA9685::~PCA9685() { + delete ((Adafruit_PWMServoDriver*)obj_); + } + + void PCA9685::begin() { + ((Adafruit_PWMServoDriver*)obj_)->begin(); + } + + void PCA9685::setPWMFreq(int freq) { + ((Adafruit_PWMServoDriver*)obj_)->setPWMFreq(freq); + } + + void PCA9685::setPWM(int index, int on, int off) { + ((Adafruit_PWMServoDriver*)obj_)->setPWM(index, (uint16_t)on, (uint16_t)off); + } + +}} \ No newline at end of file diff --git a/software/hexapod7697/src/hexapod/hal/pwm.h b/software/hexapod7697/src/hexapod/hal/pwm.h new file mode 100644 index 0000000..8f8ade5 --- /dev/null +++ b/software/hexapod7697/src/hexapod/hal/pwm.h @@ -0,0 +1,18 @@ +#pragma once + +namespace hexapod { namespace hal { + + class PCA9685 { + public: + PCA9685(int i2cAddress = 0x40); + ~PCA9685(); + + void begin(); + void setPWMFreq(int freq); + void setPWM(int index, int on, int off); + + private: + void* obj_; + }; + +}} \ No newline at end of file diff --git a/software/hexapod7697/src/hexapod/hexapod.cpp b/software/hexapod7697/src/hexapod/hexapod.cpp new file mode 100644 index 0000000..9b9ac5d --- /dev/null +++ b/software/hexapod7697/src/hexapod/hexapod.cpp @@ -0,0 +1,99 @@ + +#include "hexapod.h" +#include "servo.h" +#include "debug.h" + +// TBD: move to hal +#include + +namespace hexapod { + + HexapodClass Hexapod; + + HexapodClass::HexapodClass(): + legs_{{0}, {1}, {2}, {3}, {4}, {5}}, + movement_{MOVEMENT_STANDBY}, + mode_{MOVEMENT_STANDBY} + { + + } + + void HexapodClass::init(bool setting) { + Servo::init(); + + LFlash.begin(); + calibrationLoad(); + + // default to standby mode + if (!setting) + processMovement(MOVEMENT_STANDBY); + + LOG_INFO("Hexapod init done."); + } + + void HexapodClass::processMovement(MovementMode mode, int elapsed) { + if (mode_ != mode) { + mode_ = mode; + movement_.setMode(mode_); + } + + auto& location = movement_.next(elapsed); + for(int i=0;i<6;i++) { + legs_[i].moveTip(location.get(i)); + } + } + + void HexapodClass::calibrationSave() { + + short data[6*3*2]; + + for(int i=0;i<6;i++) { + for(int j=0;j<3;j++) { + int offset, scale; + legs_[i].get(j)->getParameter(offset, scale); + data[2*3*i + 2*j] = (short)offset; + data[2*3*i + 2*j + 1] = (short)scale; + } + } + + LFlash.write( + "HEXAPOD", + "CALI", + LFLASH_RAW_DATA, + (const uint8_t *)data, + sizeof(data) + ); + + } + + void HexapodClass::calibrationGet(int legIndex, int partIndex, int& offset, int& scale) { + legs_[legIndex].get(partIndex)->getParameter(offset, scale); + } + + void HexapodClass::calibrationSet(int legIndex, int partIndex, int offset, int scale) { + legs_[legIndex].get(partIndex)->setParameter(offset, scale); + } + + void HexapodClass::calibrationTest(int legIndex, int partIndex, float angle) { + legs_[legIndex].get(partIndex)->setAngle(angle); + } + + void HexapodClass::calibrationLoad() { + short data[6*3*2] = {0}; + uint32_t size = sizeof(data); + + LFlash.read( + "HEXAPOD", + "CALI", + (uint8_t *)data, + &size + ); + + for(int i=0;i<6;i++) { + for(int j=0;j<3;j++) { + legs_[i].get(j)->setParameter(data[2*3*i + 2*j], data[2*3*i + 2*j + 1], false); + } + } + } + +} \ No newline at end of file diff --git a/software/hexapod7697/src/hexapod/hexapod.h b/software/hexapod7697/src/hexapod/hexapod.h new file mode 100644 index 0000000..9cc4fb2 --- /dev/null +++ b/software/hexapod7697/src/hexapod/hexapod.h @@ -0,0 +1,37 @@ +#pragma once + +#include "movement.h" +#include "leg.h" + +namespace hexapod { + + class HexapodClass { + public: + HexapodClass(); + + // init + + void init(bool setting = false); + + // Movement API + + void processMovement(MovementMode mode, int elapsed = 0); + + // Calibration API + + void calibrationSave(); // write to flash + void calibrationGet(int legIndex, int partIndex, int& offset, int& scale); // read servo setting + void calibrationSet(int legIndex, int partIndex, int offset, int scale); // update servo setting + void calibrationTest(int legIndex, int partIndex, float angle); // test servo setting + + private: + void calibrationLoad(); // read from flash + + private: + MovementMode mode_; + Movement movement_; + Leg legs_[6]; + }; + + extern HexapodClass Hexapod; +} \ No newline at end of file diff --git a/software/hexapod7697/src/hexapod/leg.cpp b/software/hexapod7697/src/hexapod/leg.cpp new file mode 100644 index 0000000..30deb61 --- /dev/null +++ b/software/hexapod7697/src/hexapod/leg.cpp @@ -0,0 +1,201 @@ +#include + +#include "leg.h" +#include "config.h" +#include "debug.h" + +#include + +using namespace hexapod::config; + +// Angle (CCW) +// 0 : + X-axis +// 90 : + Y-axis +// 180 : - X-axis +// 270 : - Y-axis + +namespace hexapod { + + namespace { + + // rotate matrix: + // x' = x * cos - y * sin + // y' = x * sin + y * cos + + #define SIN45 0.7071 + #define COS45 0.7071 + + void rotate0(const Point3D& src, Point3D& dest) { + dest = src; + } + + void rotate45(const Point3D& src, Point3D& dest) { + dest.x_ = src.x_ * COS45 - src.y_ * SIN45; + dest.y_ = src.x_ * SIN45 + src.y_ * COS45; + dest.z_ = src.z_; + } + + void rotate135(const Point3D& src, Point3D& dest) { + dest.x_ = src.x_ * (-COS45) - src.y_ * SIN45; + dest.y_ = src.x_ * SIN45 + src.y_ * (-COS45); + dest.z_ = src.z_; + } + + void rotate180(const Point3D& src, Point3D& dest) { + dest.x_ = -src.x_; + dest.y_ = -src.y_; + dest.z_ = src.z_; + } + + void rotate225(const Point3D& src, Point3D& dest) { + dest.x_ = src.x_ * (-COS45) - src.y_ * (-SIN45); + dest.y_ = src.x_ * (-SIN45) + src.y_ * (-COS45); + dest.z_ = src.z_; + } + + void rotate315(const Point3D& src, Point3D& dest) { + dest.x_ = src.x_ * COS45 - src.y_ * (-SIN45); + dest.y_ = src.x_ * (-SIN45) + src.y_ * COS45; + dest.z_ = src.z_; + } + } + + // Public + + Leg::Leg(int legIndex): index_(legIndex) { + switch(legIndex) { + case 0: // 45 degree + mountPosition_ = Point3D(kLegMountOtherX, kLegMountOtherY, 0); + localConv_ = rotate315; + worldConv_ = rotate45; + break; + case 1: // 0 degree + mountPosition_ = Point3D(kLegMountLeftRightX, 0, 0); + localConv_ = rotate0; + worldConv_ = rotate0; + break; + case 2: // -45 or 315 degree + mountPosition_ = Point3D(kLegMountOtherX, -kLegMountOtherY, 0); + localConv_ = rotate45; + worldConv_ = rotate315; + break; + case 3: // -135 or 225 degree + mountPosition_ = Point3D(-kLegMountOtherX, -kLegMountOtherY, 0); + localConv_ = rotate135; + worldConv_ = rotate225; + break; + case 4: // 180 degree + mountPosition_ = Point3D(-kLegMountLeftRightX, 0, 0); + localConv_ = rotate180; + worldConv_ = rotate180; + break; + case 5: // 135 degree + mountPosition_ = Point3D(-kLegMountOtherX, kLegMountOtherY, 0); + localConv_ = rotate225; + worldConv_ = rotate135; + break; + } + + for(int i=0;i<3;i++) + servos_[i] = new hexapod::Servo(legIndex, i); + } + + Leg::~Leg() { + for(int i=0;i<3;i++) { + delete servos_[i]; + servos_[i] = nullptr; + } + } + + void Leg::translateToLocal(const Point3D& world, Point3D& local) { + localConv_(world - mountPosition_, local); + } + + void Leg::translateToWorld(const Point3D& local, Point3D& world) { + worldConv_(local, world); + world += mountPosition_; + } + + void Leg::setJointAngle(float angle[3]) { + Point3D to; + _forwardKinematics(angle, to); + moveTipLocal(to); + } + + void Leg::moveTip(const Point3D& to) { + if (to == tipPos_) + return; + + Point3D local; + translateToLocal(to, local); + LOG_DEBUG("leg(%d) moveTip(%f,%f,%f)(%f,%f,%f)", index_, to.x_, to.y_, to.z_, local.x_, local.y_, local.z_); + _move(local); + tipPos_ = to; + tipPosLocal_ = local; + } + + const Point3D& Leg::getTipPosition(void) { + return tipPos_; + } + + void Leg::moveTipLocal(const Point3D& to) { + if (to == tipPosLocal_) + return; + + Point3D world; + translateToWorld(to, world); + _move(to); + tipPos_ = world; + tipPosLocal_ = to; + } + + const Point3D& Leg::getTipPositionLocal(void) { + return tipPosLocal_; + } + + // + // Private + // + const float pi = std::acos(-1); + const float hpi = pi/2; + + void Leg::_forwardKinematics(float angle[3], Point3D& out) { + float radian[3]; + for(int i=0; i<3; i++) + radian[i] = pi * angle [i] / 180; + + float x = kLegJoint1ToJoint2 + std::cos(radian[1]) * kLegJoint2ToJoint3 + std::cos(radian[1] + radian[2] - hpi) * kLegJoint3ToTip; + + out.x_ = kLegRootToJoint1 + std::cos(radian[0]) * x; + out.y_ = std::sin(radian[0]) * x; + out.z_ = std::sin(radian[1]) * kLegJoint2ToJoint3 + std::sin(radian[1] + radian[2] - hpi) * kLegJoint3ToTip; + } + + void Leg::_inverseKinematics(const Point3D& to, float angles[3]) { + + float x = to.x_ - kLegRootToJoint1; + float y = to.y_; + + angles[0] = std::atan2(y, x) * 180 / pi; + + x = std::sqrt(x*x + y*y) - kLegJoint1ToJoint2; + y = to.z_; + float ar = std::atan2(y, x); + float lr2 = x*x + y*y; + float lr = std::sqrt(lr2); + float a1 = std::acos((lr2 + kLegJoint2ToJoint3*kLegJoint2ToJoint3 - kLegJoint3ToTip*kLegJoint3ToTip)/(2*kLegJoint2ToJoint3*lr)); + float a2 = std::acos((lr2 - kLegJoint2ToJoint3*kLegJoint2ToJoint3 + kLegJoint3ToTip*kLegJoint3ToTip)/(2*kLegJoint3ToTip*lr)); + angles[1] = (ar + a1) * 180 / pi; + angles[2] = 90 - ((a1 + a2) * 180 / pi); + } + + void Leg::_move(const Point3D& to) { + float angles[3]; + _inverseKinematics(to, angles); + LOG_DEBUG("leg(%d) move: (%f,%f,%f)", index_, angles[0], angles[1], angles[2]); + for(int i=0; i<3; i++) { + servos_[i]->setAngle(angles[i]); + } + } + +} \ No newline at end of file diff --git a/software/hexapod7697/src/hexapod/leg.h b/software/hexapod7697/src/hexapod/leg.h new file mode 100644 index 0000000..7dc2148 --- /dev/null +++ b/software/hexapod7697/src/hexapod/leg.h @@ -0,0 +1,52 @@ +#pragma once + +#include "base.h" +#include "servo.h" + +#include + +namespace hexapod { + + class Leg { + public: + Leg(int legIndex); + virtual ~Leg(); + + // coordinate system translation + void translateToLocal(const Point3D& world, Point3D& local); + void translateToWorld(const Point3D& local, Point3D& world); + + void setJointAngle(float angle[3]); + + // world coordinate system (default) + void moveTip(const Point3D& to); + const Point3D& getTipPosition(void); + + // local coordinate system version + void moveTipLocal(const Point3D& to); + const Point3D& getTipPositionLocal(void); + + // + Servo* get(int partIndex) { + return servos_[partIndex]; + } + + private: + // Local coorinate system + static void _forwardKinematics(float angle[3], Point3D& out); + static void _inverseKinematics(const Point3D& to, float angles[3]); + void _move(const Point3D& to); + + private: + int index_; + Servo* servos_[3]; + Point3D mountPosition_; + std::function localConv_; + std::function worldConv_; + + Point3D tipPos_; + Point3D tipPosLocal_; + + }; + +} \ No newline at end of file diff --git a/software/hexapod7697/src/hexapod/movement.cpp b/software/hexapod7697/src/hexapod/movement.cpp new file mode 100644 index 0000000..a05a19f --- /dev/null +++ b/software/hexapod7697/src/hexapod/movement.cpp @@ -0,0 +1,67 @@ +#include "movement.h" +#include "debug.h" +#include "config.h" + +#include + +namespace hexapod { + + extern const MovementTable& standbyTable(); + extern const MovementTable& forwardTable(); + extern const MovementTable& backwardTable(); + extern const MovementTable& turnleftTable(); + extern const MovementTable& turnrightTable(); + extern const MovementTable& shiftleftTable(); + extern const MovementTable& shiftrightTable(); + extern const MovementTable& rotatexTable(); + extern const MovementTable& rotateyTable(); + extern const MovementTable& rotatezTable(); + + const MovementTable kTable[MOVEMENT_TOTAL] { + standbyTable(), + forwardTable(), + backwardTable(), + turnleftTable(), + turnrightTable(), + shiftleftTable(), + shiftrightTable(), + rotatexTable(), + rotateyTable(), + rotatezTable(), + }; + + Movement::Movement(MovementMode mode): + mode_{mode}, transiting_{false} + { + } + + void Movement::setMode(MovementMode newMode) { + mode_ = newMode; + + const MovementTable& table = kTable[mode_]; + + index_ = table.entries[std::rand() % table.entriesCount]; + remainTime_ = config::movementSwitchDuration > table.stepDuration ? config::movementSwitchDuration : table.stepDuration; + } + + const Locations& Movement::next(int elapsed) { + + const MovementTable& table = kTable[mode_]; + + if (elapsed <= 0) + elapsed = table.stepDuration; + + if (remainTime_ <= 0) { + index_ = (index_ + 1)%table.length; + remainTime_ = table.stepDuration; + } + if (elapsed >= remainTime_) + elapsed = remainTime_; + + auto ratio = (float)elapsed / remainTime_; + position_ += (table.table[index_] - position_)*ratio; + remainTime_ -= elapsed; + + return position_; + } +} \ No newline at end of file diff --git a/software/hexapod7697/src/hexapod/movement.h b/software/hexapod7697/src/hexapod/movement.h new file mode 100644 index 0000000..9b21786 --- /dev/null +++ b/software/hexapod7697/src/hexapod/movement.h @@ -0,0 +1,53 @@ +#pragma once + +#include "base.h" + +namespace hexapod { + + enum MovementMode { + MOVEMENT_STANDBY = 0, + + MOVEMENT_FORWARD, + MOVEMENT_BACKWARD, + MOVEMENT_TURNLEFT, + MOVEMENT_TURNRIGHT, + MOVEMENT_SHIFTLEFT, + MOVEMENT_SHIFTRIGHT, + MOVEMENT_ROTATEX, + MOVEMENT_ROTATEY, + MOVEMENT_ROTATEZ, + + MOVEMENT_TOTAL, + }; + + inline MovementMode operator++ (MovementMode& m, int) { + if (m < MOVEMENT_TOTAL) + m = static_cast(static_cast(m) + 1); + return m; + } + + struct MovementTable { + const Locations* table; + int length; + int stepDuration; + const int* entries; + int entriesCount; + }; + + class Movement { + public: + Movement(MovementMode mode); + + void setMode(MovementMode newMode); + + const Locations& next(int elapsed); + + private: + MovementMode mode_; + Locations position_; + int index_; // index in mode position table + bool transiting_; // if still in transiting to new mode + int remainTime_; + }; + +} \ No newline at end of file diff --git a/software/hexapod7697/src/hexapod/movement_table.h b/software/hexapod7697/src/hexapod/movement_table.h new file mode 100644 index 0000000..64fd475 --- /dev/null +++ b/software/hexapod7697/src/hexapod/movement_table.h @@ -0,0 +1,558 @@ +// +// This file is generated, dont directly modify content... +// +namespace { + +const Locations backward_paths[] { + {{P1X+(0.00), P1Y+(0.00), P1Z+(20.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(20.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(20.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(-6.18), P1Z+(19.02)}, {P2X+(0.00), P2Y+(4.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-6.18), P3Z+(19.02)}, {P4X+(0.00), P4Y+(4.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-6.18), P5Z+(19.02)}, {P6X+(0.00), P6Y+(4.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(-11.76), P1Z+(16.18)}, {P2X+(0.00), P2Y+(8.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-11.76), P3Z+(16.18)}, {P4X+(0.00), P4Y+(8.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-11.76), P5Z+(16.18)}, {P6X+(0.00), P6Y+(8.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(-16.18), P1Z+(11.76)}, {P2X+(0.00), P2Y+(12.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-16.18), P3Z+(11.76)}, {P4X+(0.00), P4Y+(12.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-16.18), P5Z+(11.76)}, {P6X+(0.00), P6Y+(12.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(-19.02), P1Z+(6.18)}, {P2X+(0.00), P2Y+(16.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-19.02), P3Z+(6.18)}, {P4X+(0.00), P4Y+(16.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-19.02), P5Z+(6.18)}, {P6X+(0.00), P6Y+(16.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(-20.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(20.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-20.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(20.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-20.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(20.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(-16.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(19.02), P2Z+(6.18)}, {P3X+(0.00), P3Y+(-16.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(19.02), P4Z+(6.18)}, {P5X+(0.00), P5Y+(-16.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(19.02), P6Z+(6.18)}}, + {{P1X+(0.00), P1Y+(-12.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(16.18), P2Z+(11.76)}, {P3X+(0.00), P3Y+(-12.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(16.18), P4Z+(11.76)}, {P5X+(0.00), P5Y+(-12.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(16.18), P6Z+(11.76)}}, + {{P1X+(0.00), P1Y+(-8.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(11.76), P2Z+(16.18)}, {P3X+(0.00), P3Y+(-8.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(11.76), P4Z+(16.18)}, {P5X+(0.00), P5Y+(-8.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(11.76), P6Z+(16.18)}}, + {{P1X+(0.00), P1Y+(-4.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(6.18), P2Z+(19.02)}, {P3X+(0.00), P3Y+(-4.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(6.18), P4Z+(19.02)}, {P5X+(0.00), P5Y+(-4.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(6.18), P6Z+(19.02)}}, + {{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(20.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(20.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(20.00)}}, + {{P1X+(0.00), P1Y+(4.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-6.18), P2Z+(19.02)}, {P3X+(0.00), P3Y+(4.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-6.18), P4Z+(19.02)}, {P5X+(0.00), P5Y+(4.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-6.18), P6Z+(19.02)}}, + {{P1X+(0.00), P1Y+(8.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-11.76), P2Z+(16.18)}, {P3X+(0.00), P3Y+(8.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-11.76), P4Z+(16.18)}, {P5X+(0.00), P5Y+(8.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-11.76), P6Z+(16.18)}}, + {{P1X+(0.00), P1Y+(12.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-16.18), P2Z+(11.76)}, {P3X+(0.00), P3Y+(12.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-16.18), P4Z+(11.76)}, {P5X+(0.00), P5Y+(12.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-16.18), P6Z+(11.76)}}, + {{P1X+(0.00), P1Y+(16.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-19.02), P2Z+(6.18)}, {P3X+(0.00), P3Y+(16.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-19.02), P4Z+(6.18)}, {P5X+(0.00), P5Y+(16.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-19.02), P6Z+(6.18)}}, + {{P1X+(0.00), P1Y+(20.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-20.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(20.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-20.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(20.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-20.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(19.02), P1Z+(6.18)}, {P2X+(0.00), P2Y+(-16.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(19.02), P3Z+(6.18)}, {P4X+(0.00), P4Y+(-16.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(19.02), P5Z+(6.18)}, {P6X+(0.00), P6Y+(-16.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(16.18), P1Z+(11.76)}, {P2X+(0.00), P2Y+(-12.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(16.18), P3Z+(11.76)}, {P4X+(0.00), P4Y+(-12.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(16.18), P5Z+(11.76)}, {P6X+(0.00), P6Y+(-12.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(11.76), P1Z+(16.18)}, {P2X+(0.00), P2Y+(-8.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(11.76), P3Z+(16.18)}, {P4X+(0.00), P4Y+(-8.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(11.76), P5Z+(16.18)}, {P6X+(0.00), P6Y+(-8.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(6.18), P1Z+(19.02)}, {P2X+(0.00), P2Y+(-4.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(6.18), P3Z+(19.02)}, {P4X+(0.00), P4Y+(-4.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(6.18), P5Z+(19.02)}, {P6X+(0.00), P6Y+(-4.00), P6Z+(0.00)}}, +}; +const int backward_entries[] { 0,10 }; +const MovementTable backward_table {backward_paths, 20, 20, backward_entries, 2 }; + +const Locations forward_paths[] { + {{P1X+(0.00), P1Y+(0.00), P1Z+(20.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(20.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(20.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(6.18), P1Z+(19.02)}, {P2X+(0.00), P2Y+(-4.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(6.18), P3Z+(19.02)}, {P4X+(0.00), P4Y+(-4.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(6.18), P5Z+(19.02)}, {P6X+(0.00), P6Y+(-4.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(11.76), P1Z+(16.18)}, {P2X+(0.00), P2Y+(-8.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(11.76), P3Z+(16.18)}, {P4X+(0.00), P4Y+(-8.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(11.76), P5Z+(16.18)}, {P6X+(0.00), P6Y+(-8.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(16.18), P1Z+(11.76)}, {P2X+(0.00), P2Y+(-12.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(16.18), P3Z+(11.76)}, {P4X+(0.00), P4Y+(-12.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(16.18), P5Z+(11.76)}, {P6X+(0.00), P6Y+(-12.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(19.02), P1Z+(6.18)}, {P2X+(0.00), P2Y+(-16.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(19.02), P3Z+(6.18)}, {P4X+(0.00), P4Y+(-16.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(19.02), P5Z+(6.18)}, {P6X+(0.00), P6Y+(-16.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(20.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-20.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(20.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-20.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(20.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-20.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(16.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-19.02), P2Z+(6.18)}, {P3X+(0.00), P3Y+(16.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-19.02), P4Z+(6.18)}, {P5X+(0.00), P5Y+(16.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-19.02), P6Z+(6.18)}}, + {{P1X+(0.00), P1Y+(12.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-16.18), P2Z+(11.76)}, {P3X+(0.00), P3Y+(12.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-16.18), P4Z+(11.76)}, {P5X+(0.00), P5Y+(12.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-16.18), P6Z+(11.76)}}, + {{P1X+(0.00), P1Y+(8.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-11.76), P2Z+(16.18)}, {P3X+(0.00), P3Y+(8.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-11.76), P4Z+(16.18)}, {P5X+(0.00), P5Y+(8.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-11.76), P6Z+(16.18)}}, + {{P1X+(0.00), P1Y+(4.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-6.18), P2Z+(19.02)}, {P3X+(0.00), P3Y+(4.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-6.18), P4Z+(19.02)}, {P5X+(0.00), P5Y+(4.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-6.18), P6Z+(19.02)}}, + {{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(20.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(20.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(20.00)}}, + {{P1X+(0.00), P1Y+(-4.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(6.18), P2Z+(19.02)}, {P3X+(0.00), P3Y+(-4.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(6.18), P4Z+(19.02)}, {P5X+(0.00), P5Y+(-4.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(6.18), P6Z+(19.02)}}, + {{P1X+(0.00), P1Y+(-8.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(11.76), P2Z+(16.18)}, {P3X+(0.00), P3Y+(-8.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(11.76), P4Z+(16.18)}, {P5X+(0.00), P5Y+(-8.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(11.76), P6Z+(16.18)}}, + {{P1X+(0.00), P1Y+(-12.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(16.18), P2Z+(11.76)}, {P3X+(0.00), P3Y+(-12.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(16.18), P4Z+(11.76)}, {P5X+(0.00), P5Y+(-12.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(16.18), P6Z+(11.76)}}, + {{P1X+(0.00), P1Y+(-16.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(19.02), P2Z+(6.18)}, {P3X+(0.00), P3Y+(-16.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(19.02), P4Z+(6.18)}, {P5X+(0.00), P5Y+(-16.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(19.02), P6Z+(6.18)}}, + {{P1X+(0.00), P1Y+(-20.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(20.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-20.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(20.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-20.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(20.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(-19.02), P1Z+(6.18)}, {P2X+(0.00), P2Y+(16.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-19.02), P3Z+(6.18)}, {P4X+(0.00), P4Y+(16.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-19.02), P5Z+(6.18)}, {P6X+(0.00), P6Y+(16.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(-16.18), P1Z+(11.76)}, {P2X+(0.00), P2Y+(12.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-16.18), P3Z+(11.76)}, {P4X+(0.00), P4Y+(12.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-16.18), P5Z+(11.76)}, {P6X+(0.00), P6Y+(12.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(-11.76), P1Z+(16.18)}, {P2X+(0.00), P2Y+(8.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-11.76), P3Z+(16.18)}, {P4X+(0.00), P4Y+(8.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-11.76), P5Z+(16.18)}, {P6X+(0.00), P6Y+(8.00), P6Z+(0.00)}}, + {{P1X+(0.00), P1Y+(-6.18), P1Z+(19.02)}, {P2X+(0.00), P2Y+(4.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-6.18), P3Z+(19.02)}, {P4X+(0.00), P4Y+(4.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-6.18), P5Z+(19.02)}, {P6X+(0.00), P6Y+(4.00), P6Z+(0.00)}}, +}; +const int forward_entries[] { 0,10 }; +const MovementTable forward_table {forward_paths, 20, 20, forward_entries, 2 }; + +const Locations rotatex_paths[] { + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.97 + P1Z*-0.26 + 0.00, P1X*0.00 + P1Y*0.26 + P1Z*0.97 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.97 + P2Z*-0.26 + 0.00, P2X*0.00 + P2Y*0.26 + P2Z*0.97 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.97 + P3Z*-0.26 + 0.00, P3X*0.00 + P3Y*0.26 + P3Z*0.97 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.97 + P4Z*-0.26 + 0.00, P4X*0.00 + P4Y*0.26 + P4Z*0.97 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.97 + P5Z*-0.26 + 0.00, P5X*0.00 + P5Y*0.26 + P5Z*0.97 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.97 + P6Z*-0.26 + 0.00, P6X*0.00 + P6Y*0.26 + P6Z*0.97 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.98 + P1Z*-0.21 + -3.00, P1X*0.00 + P1Y*0.21 + P1Z*0.98 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.98 + P2Z*-0.21 + -3.00, P2X*0.00 + P2Y*0.21 + P2Z*0.98 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.98 + P3Z*-0.21 + -3.00, P3X*0.00 + P3Y*0.21 + P3Z*0.98 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.98 + P4Z*-0.21 + -3.00, P4X*0.00 + P4Y*0.21 + P4Z*0.98 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.98 + P5Z*-0.21 + -3.00, P5X*0.00 + P5Y*0.21 + P5Z*0.98 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.98 + P6Z*-0.21 + -3.00, P6X*0.00 + P6Y*0.21 + P6Z*0.98 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.99 + P1Z*-0.16 + -6.00, P1X*0.00 + P1Y*0.16 + P1Z*0.99 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.99 + P2Z*-0.16 + -6.00, P2X*0.00 + P2Y*0.16 + P2Z*0.99 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.99 + P3Z*-0.16 + -6.00, P3X*0.00 + P3Y*0.16 + P3Z*0.99 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.99 + P4Z*-0.16 + -6.00, P4X*0.00 + P4Y*0.16 + P4Z*0.99 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.99 + P5Z*-0.16 + -6.00, P5X*0.00 + P5Y*0.16 + P5Z*0.99 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.99 + P6Z*-0.16 + -6.00, P6X*0.00 + P6Y*0.16 + P6Z*0.99 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.99 + P1Z*-0.10 + -9.00, P1X*0.00 + P1Y*0.10 + P1Z*0.99 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.99 + P2Z*-0.10 + -9.00, P2X*0.00 + P2Y*0.10 + P2Z*0.99 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.99 + P3Z*-0.10 + -9.00, P3X*0.00 + P3Y*0.10 + P3Z*0.99 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.99 + P4Z*-0.10 + -9.00, P4X*0.00 + P4Y*0.10 + P4Z*0.99 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.99 + P5Z*-0.10 + -9.00, P5X*0.00 + P5Y*0.10 + P5Z*0.99 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.99 + P6Z*-0.10 + -9.00, P6X*0.00 + P6Y*0.10 + P6Z*0.99 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*-0.05 + -12.00, P1X*0.00 + P1Y*0.05 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*1.00 + P2Z*-0.05 + -12.00, P2X*0.00 + P2Y*0.05 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*1.00 + P3Z*-0.05 + -12.00, P3X*0.00 + P3Y*0.05 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*1.00 + P4Z*-0.05 + -12.00, P4X*0.00 + P4Y*0.05 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*1.00 + P5Z*-0.05 + -12.00, P5X*0.00 + P5Y*0.05 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*1.00 + P6Z*-0.05 + -12.00, P6X*0.00 + P6Y*0.05 + P6Z*1.00 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*-0.00 + -15.00, P1X*0.00 + P1Y*0.00 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*1.00 + P2Z*-0.00 + -15.00, P2X*0.00 + P2Y*0.00 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*1.00 + P3Z*-0.00 + -15.00, P3X*0.00 + P3Y*0.00 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*1.00 + P4Z*-0.00 + -15.00, P4X*0.00 + P4Y*0.00 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*1.00 + P5Z*-0.00 + -15.00, P5X*0.00 + P5Y*0.00 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*1.00 + P6Z*-0.00 + -15.00, P6X*0.00 + P6Y*0.00 + P6Z*1.00 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*0.05 + -12.00, P1X*0.00 + P1Y*-0.05 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*1.00 + P2Z*0.05 + -12.00, P2X*0.00 + P2Y*-0.05 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*1.00 + P3Z*0.05 + -12.00, P3X*0.00 + P3Y*-0.05 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*1.00 + P4Z*0.05 + -12.00, P4X*0.00 + P4Y*-0.05 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*1.00 + P5Z*0.05 + -12.00, P5X*0.00 + P5Y*-0.05 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*1.00 + P6Z*0.05 + -12.00, P6X*0.00 + P6Y*-0.05 + P6Z*1.00 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.99 + P1Z*0.10 + -9.00, P1X*0.00 + P1Y*-0.10 + P1Z*0.99 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.99 + P2Z*0.10 + -9.00, P2X*0.00 + P2Y*-0.10 + P2Z*0.99 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.99 + P3Z*0.10 + -9.00, P3X*0.00 + P3Y*-0.10 + P3Z*0.99 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.99 + P4Z*0.10 + -9.00, P4X*0.00 + P4Y*-0.10 + P4Z*0.99 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.99 + P5Z*0.10 + -9.00, P5X*0.00 + P5Y*-0.10 + P5Z*0.99 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.99 + P6Z*0.10 + -9.00, P6X*0.00 + P6Y*-0.10 + P6Z*0.99 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.99 + P1Z*0.16 + -6.00, P1X*0.00 + P1Y*-0.16 + P1Z*0.99 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.99 + P2Z*0.16 + -6.00, P2X*0.00 + P2Y*-0.16 + P2Z*0.99 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.99 + P3Z*0.16 + -6.00, P3X*0.00 + P3Y*-0.16 + P3Z*0.99 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.99 + P4Z*0.16 + -6.00, P4X*0.00 + P4Y*-0.16 + P4Z*0.99 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.99 + P5Z*0.16 + -6.00, P5X*0.00 + P5Y*-0.16 + P5Z*0.99 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.99 + P6Z*0.16 + -6.00, P6X*0.00 + P6Y*-0.16 + P6Z*0.99 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.98 + P1Z*0.21 + -3.00, P1X*0.00 + P1Y*-0.21 + P1Z*0.98 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.98 + P2Z*0.21 + -3.00, P2X*0.00 + P2Y*-0.21 + P2Z*0.98 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.98 + P3Z*0.21 + -3.00, P3X*0.00 + P3Y*-0.21 + P3Z*0.98 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.98 + P4Z*0.21 + -3.00, P4X*0.00 + P4Y*-0.21 + P4Z*0.98 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.98 + P5Z*0.21 + -3.00, P5X*0.00 + P5Y*-0.21 + P5Z*0.98 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.98 + P6Z*0.21 + -3.00, P6X*0.00 + P6Y*-0.21 + P6Z*0.98 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.97 + P1Z*0.26 + 0.00, P1X*0.00 + P1Y*-0.26 + P1Z*0.97 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.97 + P2Z*0.26 + 0.00, P2X*0.00 + P2Y*-0.26 + P2Z*0.97 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.97 + P3Z*0.26 + 0.00, P3X*0.00 + P3Y*-0.26 + P3Z*0.97 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.97 + P4Z*0.26 + 0.00, P4X*0.00 + P4Y*-0.26 + P4Z*0.97 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.97 + P5Z*0.26 + 0.00, P5X*0.00 + P5Y*-0.26 + P5Z*0.97 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.97 + P6Z*0.26 + 0.00, P6X*0.00 + P6Y*-0.26 + P6Z*0.97 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.98 + P1Z*0.21 + 3.00, P1X*0.00 + P1Y*-0.21 + P1Z*0.98 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.98 + P2Z*0.21 + 3.00, P2X*0.00 + P2Y*-0.21 + P2Z*0.98 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.98 + P3Z*0.21 + 3.00, P3X*0.00 + P3Y*-0.21 + P3Z*0.98 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.98 + P4Z*0.21 + 3.00, P4X*0.00 + P4Y*-0.21 + P4Z*0.98 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.98 + P5Z*0.21 + 3.00, P5X*0.00 + P5Y*-0.21 + P5Z*0.98 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.98 + P6Z*0.21 + 3.00, P6X*0.00 + P6Y*-0.21 + P6Z*0.98 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.99 + P1Z*0.16 + 6.00, P1X*0.00 + P1Y*-0.16 + P1Z*0.99 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.99 + P2Z*0.16 + 6.00, P2X*0.00 + P2Y*-0.16 + P2Z*0.99 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.99 + P3Z*0.16 + 6.00, P3X*0.00 + P3Y*-0.16 + P3Z*0.99 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.99 + P4Z*0.16 + 6.00, P4X*0.00 + P4Y*-0.16 + P4Z*0.99 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.99 + P5Z*0.16 + 6.00, P5X*0.00 + P5Y*-0.16 + P5Z*0.99 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.99 + P6Z*0.16 + 6.00, P6X*0.00 + P6Y*-0.16 + P6Z*0.99 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.99 + P1Z*0.10 + 9.00, P1X*0.00 + P1Y*-0.10 + P1Z*0.99 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.99 + P2Z*0.10 + 9.00, P2X*0.00 + P2Y*-0.10 + P2Z*0.99 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.99 + P3Z*0.10 + 9.00, P3X*0.00 + P3Y*-0.10 + P3Z*0.99 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.99 + P4Z*0.10 + 9.00, P4X*0.00 + P4Y*-0.10 + P4Z*0.99 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.99 + P5Z*0.10 + 9.00, P5X*0.00 + P5Y*-0.10 + P5Z*0.99 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.99 + P6Z*0.10 + 9.00, P6X*0.00 + P6Y*-0.10 + P6Z*0.99 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*0.05 + 12.00, P1X*0.00 + P1Y*-0.05 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*1.00 + P2Z*0.05 + 12.00, P2X*0.00 + P2Y*-0.05 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*1.00 + P3Z*0.05 + 12.00, P3X*0.00 + P3Y*-0.05 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*1.00 + P4Z*0.05 + 12.00, P4X*0.00 + P4Y*-0.05 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*1.00 + P5Z*0.05 + 12.00, P5X*0.00 + P5Y*-0.05 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*1.00 + P6Z*0.05 + 12.00, P6X*0.00 + P6Y*-0.05 + P6Z*1.00 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*-0.00 + 15.00, P1X*0.00 + P1Y*0.00 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*1.00 + P2Z*-0.00 + 15.00, P2X*0.00 + P2Y*0.00 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*1.00 + P3Z*-0.00 + 15.00, P3X*0.00 + P3Y*0.00 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*1.00 + P4Z*-0.00 + 15.00, P4X*0.00 + P4Y*0.00 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*1.00 + P5Z*-0.00 + 15.00, P5X*0.00 + P5Y*0.00 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*1.00 + P6Z*-0.00 + 15.00, P6X*0.00 + P6Y*0.00 + P6Z*1.00 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*-0.05 + 12.00, P1X*0.00 + P1Y*0.05 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*1.00 + P2Z*-0.05 + 12.00, P2X*0.00 + P2Y*0.05 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*1.00 + P3Z*-0.05 + 12.00, P3X*0.00 + P3Y*0.05 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*1.00 + P4Z*-0.05 + 12.00, P4X*0.00 + P4Y*0.05 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*1.00 + P5Z*-0.05 + 12.00, P5X*0.00 + P5Y*0.05 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*1.00 + P6Z*-0.05 + 12.00, P6X*0.00 + P6Y*0.05 + P6Z*1.00 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.99 + P1Z*-0.10 + 9.00, P1X*0.00 + P1Y*0.10 + P1Z*0.99 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.99 + P2Z*-0.10 + 9.00, P2X*0.00 + P2Y*0.10 + P2Z*0.99 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.99 + P3Z*-0.10 + 9.00, P3X*0.00 + P3Y*0.10 + P3Z*0.99 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.99 + P4Z*-0.10 + 9.00, P4X*0.00 + P4Y*0.10 + P4Z*0.99 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.99 + P5Z*-0.10 + 9.00, P5X*0.00 + P5Y*0.10 + P5Z*0.99 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.99 + P6Z*-0.10 + 9.00, P6X*0.00 + P6Y*0.10 + P6Z*0.99 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.99 + P1Z*-0.16 + 6.00, P1X*0.00 + P1Y*0.16 + P1Z*0.99 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.99 + P2Z*-0.16 + 6.00, P2X*0.00 + P2Y*0.16 + P2Z*0.99 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.99 + P3Z*-0.16 + 6.00, P3X*0.00 + P3Y*0.16 + P3Z*0.99 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.99 + P4Z*-0.16 + 6.00, P4X*0.00 + P4Y*0.16 + P4Z*0.99 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.99 + P5Z*-0.16 + 6.00, P5X*0.00 + P5Y*0.16 + P5Z*0.99 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.99 + P6Z*-0.16 + 6.00, P6X*0.00 + P6Y*0.16 + P6Z*0.99 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.98 + P1Z*-0.21 + 3.00, P1X*0.00 + P1Y*0.21 + P1Z*0.98 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.98 + P2Z*-0.21 + 3.00, P2X*0.00 + P2Y*0.21 + P2Z*0.98 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 + P3Y*0.98 + P3Z*-0.21 + 3.00, P3X*0.00 + P3Y*0.21 + P3Z*0.98 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 0.00, P4X*0.00 + P4Y*0.98 + P4Z*-0.21 + 3.00, P4X*0.00 + P4Y*0.21 + P4Z*0.98 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 0.00, P5X*0.00 + P5Y*0.98 + P5Z*-0.21 + 3.00, P5X*0.00 + P5Y*0.21 + P5Z*0.98 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 0.00, P6X*0.00 + P6Y*0.98 + P6Z*-0.21 + 3.00, P6X*0.00 + P6Y*0.21 + P6Z*0.98 + 0.00}}, +}; +const int rotatex_entries[] { 0,10 }; +const MovementTable rotatex_table {rotatex_paths, 20, 50, rotatex_entries, 2 }; + +const Locations rotatey_paths[] { + {{P1X*0.97 + P1Y*0.00 + P1Z*0.26 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.26 + P1Y*0.00 + P1Z*0.97 + 0.00}, + {P2X*0.97 + P2Y*0.00 + P2Z*0.26 + 0.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.26 + P2Y*0.00 + P2Z*0.97 + 0.00}, + {P3X*0.97 + P3Y*0.00 + P3Z*0.26 + 0.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.26 + P3Y*0.00 + P3Z*0.97 + 0.00}, + {P4X*0.97 + P4Y*0.00 + P4Z*0.26 + 0.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.26 + P4Y*0.00 + P4Z*0.97 + 0.00}, + {P5X*0.97 + P5Y*0.00 + P5Z*0.26 + 0.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.26 + P5Y*0.00 + P5Z*0.97 + 0.00}, + {P6X*0.97 + P6Y*0.00 + P6Z*0.26 + 0.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.26 + P6Y*0.00 + P6Z*0.97 + 0.00}}, + {{P1X*0.98 + P1Y*0.00 + P1Z*0.21 + -3.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.21 + P1Y*0.00 + P1Z*0.98 + 0.00}, + {P2X*0.98 + P2Y*0.00 + P2Z*0.21 + -3.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.21 + P2Y*0.00 + P2Z*0.98 + 0.00}, + {P3X*0.98 + P3Y*0.00 + P3Z*0.21 + -3.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.21 + P3Y*0.00 + P3Z*0.98 + 0.00}, + {P4X*0.98 + P4Y*0.00 + P4Z*0.21 + -3.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.21 + P4Y*0.00 + P4Z*0.98 + 0.00}, + {P5X*0.98 + P5Y*0.00 + P5Z*0.21 + -3.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.21 + P5Y*0.00 + P5Z*0.98 + 0.00}, + {P6X*0.98 + P6Y*0.00 + P6Z*0.21 + -3.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.21 + P6Y*0.00 + P6Z*0.98 + 0.00}}, + {{P1X*0.99 + P1Y*0.00 + P1Z*0.16 + -6.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.16 + P1Y*0.00 + P1Z*0.99 + 0.00}, + {P2X*0.99 + P2Y*0.00 + P2Z*0.16 + -6.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.16 + P2Y*0.00 + P2Z*0.99 + 0.00}, + {P3X*0.99 + P3Y*0.00 + P3Z*0.16 + -6.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.16 + P3Y*0.00 + P3Z*0.99 + 0.00}, + {P4X*0.99 + P4Y*0.00 + P4Z*0.16 + -6.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.16 + P4Y*0.00 + P4Z*0.99 + 0.00}, + {P5X*0.99 + P5Y*0.00 + P5Z*0.16 + -6.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.16 + P5Y*0.00 + P5Z*0.99 + 0.00}, + {P6X*0.99 + P6Y*0.00 + P6Z*0.16 + -6.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.16 + P6Y*0.00 + P6Z*0.99 + 0.00}}, + {{P1X*0.99 + P1Y*0.00 + P1Z*0.10 + -9.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.10 + P1Y*0.00 + P1Z*0.99 + 0.00}, + {P2X*0.99 + P2Y*0.00 + P2Z*0.10 + -9.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.10 + P2Y*0.00 + P2Z*0.99 + 0.00}, + {P3X*0.99 + P3Y*0.00 + P3Z*0.10 + -9.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.10 + P3Y*0.00 + P3Z*0.99 + 0.00}, + {P4X*0.99 + P4Y*0.00 + P4Z*0.10 + -9.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.10 + P4Y*0.00 + P4Z*0.99 + 0.00}, + {P5X*0.99 + P5Y*0.00 + P5Z*0.10 + -9.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.10 + P5Y*0.00 + P5Z*0.99 + 0.00}, + {P6X*0.99 + P6Y*0.00 + P6Z*0.10 + -9.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.10 + P6Y*0.00 + P6Z*0.99 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.05 + -12.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.05 + P1Y*0.00 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.05 + -12.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.05 + P2Y*0.00 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.05 + -12.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.05 + P3Y*0.00 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.05 + -12.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.05 + P4Y*0.00 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.05 + -12.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.05 + P5Y*0.00 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.05 + -12.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.05 + P6Y*0.00 + P6Z*1.00 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + -15.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.00 + P1Y*0.00 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + -15.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.00 + P2Y*0.00 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + -15.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.00 + P3Y*0.00 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + -15.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.00 + P4Y*0.00 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + -15.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.00 + P5Y*0.00 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + -15.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.00 + P6Y*0.00 + P6Z*1.00 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*-0.05 + -12.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*0.05 + P1Y*0.00 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*-0.05 + -12.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*0.05 + P2Y*0.00 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*-0.05 + -12.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*0.05 + P3Y*0.00 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*-0.05 + -12.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*0.05 + P4Y*0.00 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*-0.05 + -12.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*0.05 + P5Y*0.00 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*-0.05 + -12.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*0.05 + P6Y*0.00 + P6Z*1.00 + 0.00}}, + {{P1X*0.99 + P1Y*0.00 + P1Z*-0.10 + -9.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*0.10 + P1Y*0.00 + P1Z*0.99 + 0.00}, + {P2X*0.99 + P2Y*0.00 + P2Z*-0.10 + -9.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*0.10 + P2Y*0.00 + P2Z*0.99 + 0.00}, + {P3X*0.99 + P3Y*0.00 + P3Z*-0.10 + -9.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*0.10 + P3Y*0.00 + P3Z*0.99 + 0.00}, + {P4X*0.99 + P4Y*0.00 + P4Z*-0.10 + -9.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*0.10 + P4Y*0.00 + P4Z*0.99 + 0.00}, + {P5X*0.99 + P5Y*0.00 + P5Z*-0.10 + -9.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*0.10 + P5Y*0.00 + P5Z*0.99 + 0.00}, + {P6X*0.99 + P6Y*0.00 + P6Z*-0.10 + -9.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*0.10 + P6Y*0.00 + P6Z*0.99 + 0.00}}, + {{P1X*0.99 + P1Y*0.00 + P1Z*-0.16 + -6.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*0.16 + P1Y*0.00 + P1Z*0.99 + 0.00}, + {P2X*0.99 + P2Y*0.00 + P2Z*-0.16 + -6.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*0.16 + P2Y*0.00 + P2Z*0.99 + 0.00}, + {P3X*0.99 + P3Y*0.00 + P3Z*-0.16 + -6.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*0.16 + P3Y*0.00 + P3Z*0.99 + 0.00}, + {P4X*0.99 + P4Y*0.00 + P4Z*-0.16 + -6.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*0.16 + P4Y*0.00 + P4Z*0.99 + 0.00}, + {P5X*0.99 + P5Y*0.00 + P5Z*-0.16 + -6.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*0.16 + P5Y*0.00 + P5Z*0.99 + 0.00}, + {P6X*0.99 + P6Y*0.00 + P6Z*-0.16 + -6.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*0.16 + P6Y*0.00 + P6Z*0.99 + 0.00}}, + {{P1X*0.98 + P1Y*0.00 + P1Z*-0.21 + -3.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*0.21 + P1Y*0.00 + P1Z*0.98 + 0.00}, + {P2X*0.98 + P2Y*0.00 + P2Z*-0.21 + -3.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*0.21 + P2Y*0.00 + P2Z*0.98 + 0.00}, + {P3X*0.98 + P3Y*0.00 + P3Z*-0.21 + -3.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*0.21 + P3Y*0.00 + P3Z*0.98 + 0.00}, + {P4X*0.98 + P4Y*0.00 + P4Z*-0.21 + -3.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*0.21 + P4Y*0.00 + P4Z*0.98 + 0.00}, + {P5X*0.98 + P5Y*0.00 + P5Z*-0.21 + -3.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*0.21 + P5Y*0.00 + P5Z*0.98 + 0.00}, + {P6X*0.98 + P6Y*0.00 + P6Z*-0.21 + -3.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*0.21 + P6Y*0.00 + P6Z*0.98 + 0.00}}, + {{P1X*0.97 + P1Y*0.00 + P1Z*-0.26 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*0.26 + P1Y*0.00 + P1Z*0.97 + 0.00}, + {P2X*0.97 + P2Y*0.00 + P2Z*-0.26 + 0.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*0.26 + P2Y*0.00 + P2Z*0.97 + 0.00}, + {P3X*0.97 + P3Y*0.00 + P3Z*-0.26 + 0.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*0.26 + P3Y*0.00 + P3Z*0.97 + 0.00}, + {P4X*0.97 + P4Y*0.00 + P4Z*-0.26 + 0.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*0.26 + P4Y*0.00 + P4Z*0.97 + 0.00}, + {P5X*0.97 + P5Y*0.00 + P5Z*-0.26 + 0.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*0.26 + P5Y*0.00 + P5Z*0.97 + 0.00}, + {P6X*0.97 + P6Y*0.00 + P6Z*-0.26 + 0.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*0.26 + P6Y*0.00 + P6Z*0.97 + 0.00}}, + {{P1X*0.98 + P1Y*0.00 + P1Z*-0.21 + 3.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*0.21 + P1Y*0.00 + P1Z*0.98 + 0.00}, + {P2X*0.98 + P2Y*0.00 + P2Z*-0.21 + 3.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*0.21 + P2Y*0.00 + P2Z*0.98 + 0.00}, + {P3X*0.98 + P3Y*0.00 + P3Z*-0.21 + 3.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*0.21 + P3Y*0.00 + P3Z*0.98 + 0.00}, + {P4X*0.98 + P4Y*0.00 + P4Z*-0.21 + 3.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*0.21 + P4Y*0.00 + P4Z*0.98 + 0.00}, + {P5X*0.98 + P5Y*0.00 + P5Z*-0.21 + 3.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*0.21 + P5Y*0.00 + P5Z*0.98 + 0.00}, + {P6X*0.98 + P6Y*0.00 + P6Z*-0.21 + 3.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*0.21 + P6Y*0.00 + P6Z*0.98 + 0.00}}, + {{P1X*0.99 + P1Y*0.00 + P1Z*-0.16 + 6.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*0.16 + P1Y*0.00 + P1Z*0.99 + 0.00}, + {P2X*0.99 + P2Y*0.00 + P2Z*-0.16 + 6.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*0.16 + P2Y*0.00 + P2Z*0.99 + 0.00}, + {P3X*0.99 + P3Y*0.00 + P3Z*-0.16 + 6.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*0.16 + P3Y*0.00 + P3Z*0.99 + 0.00}, + {P4X*0.99 + P4Y*0.00 + P4Z*-0.16 + 6.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*0.16 + P4Y*0.00 + P4Z*0.99 + 0.00}, + {P5X*0.99 + P5Y*0.00 + P5Z*-0.16 + 6.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*0.16 + P5Y*0.00 + P5Z*0.99 + 0.00}, + {P6X*0.99 + P6Y*0.00 + P6Z*-0.16 + 6.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*0.16 + P6Y*0.00 + P6Z*0.99 + 0.00}}, + {{P1X*0.99 + P1Y*0.00 + P1Z*-0.10 + 9.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*0.10 + P1Y*0.00 + P1Z*0.99 + 0.00}, + {P2X*0.99 + P2Y*0.00 + P2Z*-0.10 + 9.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*0.10 + P2Y*0.00 + P2Z*0.99 + 0.00}, + {P3X*0.99 + P3Y*0.00 + P3Z*-0.10 + 9.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*0.10 + P3Y*0.00 + P3Z*0.99 + 0.00}, + {P4X*0.99 + P4Y*0.00 + P4Z*-0.10 + 9.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*0.10 + P4Y*0.00 + P4Z*0.99 + 0.00}, + {P5X*0.99 + P5Y*0.00 + P5Z*-0.10 + 9.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*0.10 + P5Y*0.00 + P5Z*0.99 + 0.00}, + {P6X*0.99 + P6Y*0.00 + P6Z*-0.10 + 9.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*0.10 + P6Y*0.00 + P6Z*0.99 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*-0.05 + 12.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*0.05 + P1Y*0.00 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*-0.05 + 12.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*0.05 + P2Y*0.00 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*-0.05 + 12.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*0.05 + P3Y*0.00 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*-0.05 + 12.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*0.05 + P4Y*0.00 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*-0.05 + 12.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*0.05 + P5Y*0.00 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*-0.05 + 12.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*0.05 + P6Y*0.00 + P6Z*1.00 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 15.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.00 + P1Y*0.00 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 15.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.00 + P2Y*0.00 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 15.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.00 + P3Y*0.00 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.00 + 15.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.00 + P4Y*0.00 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.00 + 15.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.00 + P5Y*0.00 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.00 + 15.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.00 + P6Y*0.00 + P6Z*1.00 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.05 + 12.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.05 + P1Y*0.00 + P1Z*1.00 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.05 + 12.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.05 + P2Y*0.00 + P2Z*1.00 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.05 + 12.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.05 + P3Y*0.00 + P3Z*1.00 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*0.05 + 12.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.05 + P4Y*0.00 + P4Z*1.00 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*0.05 + 12.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.05 + P5Y*0.00 + P5Z*1.00 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*0.05 + 12.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.05 + P6Y*0.00 + P6Z*1.00 + 0.00}}, + {{P1X*0.99 + P1Y*0.00 + P1Z*0.10 + 9.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.10 + P1Y*0.00 + P1Z*0.99 + 0.00}, + {P2X*0.99 + P2Y*0.00 + P2Z*0.10 + 9.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.10 + P2Y*0.00 + P2Z*0.99 + 0.00}, + {P3X*0.99 + P3Y*0.00 + P3Z*0.10 + 9.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.10 + P3Y*0.00 + P3Z*0.99 + 0.00}, + {P4X*0.99 + P4Y*0.00 + P4Z*0.10 + 9.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.10 + P4Y*0.00 + P4Z*0.99 + 0.00}, + {P5X*0.99 + P5Y*0.00 + P5Z*0.10 + 9.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.10 + P5Y*0.00 + P5Z*0.99 + 0.00}, + {P6X*0.99 + P6Y*0.00 + P6Z*0.10 + 9.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.10 + P6Y*0.00 + P6Z*0.99 + 0.00}}, + {{P1X*0.99 + P1Y*0.00 + P1Z*0.16 + 6.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.16 + P1Y*0.00 + P1Z*0.99 + 0.00}, + {P2X*0.99 + P2Y*0.00 + P2Z*0.16 + 6.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.16 + P2Y*0.00 + P2Z*0.99 + 0.00}, + {P3X*0.99 + P3Y*0.00 + P3Z*0.16 + 6.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.16 + P3Y*0.00 + P3Z*0.99 + 0.00}, + {P4X*0.99 + P4Y*0.00 + P4Z*0.16 + 6.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.16 + P4Y*0.00 + P4Z*0.99 + 0.00}, + {P5X*0.99 + P5Y*0.00 + P5Z*0.16 + 6.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.16 + P5Y*0.00 + P5Z*0.99 + 0.00}, + {P6X*0.99 + P6Y*0.00 + P6Z*0.16 + 6.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.16 + P6Y*0.00 + P6Z*0.99 + 0.00}}, + {{P1X*0.98 + P1Y*0.00 + P1Z*0.21 + 3.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.21 + P1Y*0.00 + P1Z*0.98 + 0.00}, + {P2X*0.98 + P2Y*0.00 + P2Z*0.21 + 3.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.21 + P2Y*0.00 + P2Z*0.98 + 0.00}, + {P3X*0.98 + P3Y*0.00 + P3Z*0.21 + 3.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.21 + P3Y*0.00 + P3Z*0.98 + 0.00}, + {P4X*0.98 + P4Y*0.00 + P4Z*0.21 + 3.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.21 + P4Y*0.00 + P4Z*0.98 + 0.00}, + {P5X*0.98 + P5Y*0.00 + P5Z*0.21 + 3.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.21 + P5Y*0.00 + P5Z*0.98 + 0.00}, + {P6X*0.98 + P6Y*0.00 + P6Z*0.21 + 3.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.21 + P6Y*0.00 + P6Z*0.98 + 0.00}}, +}; +const int rotatey_entries[] { 0,10 }; +const MovementTable rotatey_table {rotatey_paths, 20, 50, rotatey_entries, 2 }; + +const Locations rotatez_paths[] { + {{P1X*0.98 + P1Y*0.00 + P1Z*0.22 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*0.00 + 0.00, P1X*-0.22 + P1Y*0.00 + P1Z*0.98 + 0.00}, + {P2X*0.98 + P2Y*0.00 + P2Z*0.22 + 0.00, P2X*0.00 + P2Y*1.00 + P2Z*0.00 + 0.00, P2X*-0.22 + P2Y*0.00 + P2Z*0.98 + 0.00}, + {P3X*0.98 + P3Y*0.00 + P3Z*0.22 + 0.00, P3X*0.00 + P3Y*1.00 + P3Z*0.00 + 0.00, P3X*-0.22 + P3Y*0.00 + P3Z*0.98 + 0.00}, + {P4X*0.98 + P4Y*0.00 + P4Z*0.22 + 0.00, P4X*0.00 + P4Y*1.00 + P4Z*0.00 + 0.00, P4X*-0.22 + P4Y*0.00 + P4Z*0.98 + 0.00}, + {P5X*0.98 + P5Y*0.00 + P5Z*0.22 + 0.00, P5X*0.00 + P5Y*1.00 + P5Z*0.00 + 0.00, P5X*-0.22 + P5Y*0.00 + P5Z*0.98 + 0.00}, + {P6X*0.98 + P6Y*0.00 + P6Z*0.22 + 0.00, P6X*0.00 + P6Y*1.00 + P6Z*0.00 + 0.00, P6X*-0.22 + P6Y*0.00 + P6Z*0.98 + 0.00}}, + {{P1X*0.98 + P1Y*0.01 + P1Z*0.21 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*-0.07 + 0.00, P1X*-0.21 + P1Y*0.07 + P1Z*0.98 + 0.00}, + {P2X*0.98 + P2Y*0.01 + P2Z*0.21 + 0.00, P2X*0.00 + P2Y*1.00 + P2Z*-0.07 + 0.00, P2X*-0.21 + P2Y*0.07 + P2Z*0.98 + 0.00}, + {P3X*0.98 + P3Y*0.01 + P3Z*0.21 + 0.00, P3X*0.00 + P3Y*1.00 + P3Z*-0.07 + 0.00, P3X*-0.21 + P3Y*0.07 + P3Z*0.98 + 0.00}, + {P4X*0.98 + P4Y*0.01 + P4Z*0.21 + 0.00, P4X*0.00 + P4Y*1.00 + P4Z*-0.07 + 0.00, P4X*-0.21 + P4Y*0.07 + P4Z*0.98 + 0.00}, + {P5X*0.98 + P5Y*0.01 + P5Z*0.21 + 0.00, P5X*0.00 + P5Y*1.00 + P5Z*-0.07 + 0.00, P5X*-0.21 + P5Y*0.07 + P5Z*0.98 + 0.00}, + {P6X*0.98 + P6Y*0.01 + P6Z*0.21 + 0.00, P6X*0.00 + P6Y*1.00 + P6Z*-0.07 + 0.00, P6X*-0.21 + P6Y*0.07 + P6Z*0.98 + 0.00}}, + {{P1X*0.98 + P1Y*0.02 + P1Z*0.18 + 0.00, P1X*0.00 + P1Y*0.99 + P1Z*-0.13 + 0.00, P1X*-0.18 + P1Y*0.13 + P1Z*0.98 + 0.00}, + {P2X*0.98 + P2Y*0.02 + P2Z*0.18 + 0.00, P2X*0.00 + P2Y*0.99 + P2Z*-0.13 + 0.00, P2X*-0.18 + P2Y*0.13 + P2Z*0.98 + 0.00}, + {P3X*0.98 + P3Y*0.02 + P3Z*0.18 + 0.00, P3X*0.00 + P3Y*0.99 + P3Z*-0.13 + 0.00, P3X*-0.18 + P3Y*0.13 + P3Z*0.98 + 0.00}, + {P4X*0.98 + P4Y*0.02 + P4Z*0.18 + 0.00, P4X*0.00 + P4Y*0.99 + P4Z*-0.13 + 0.00, P4X*-0.18 + P4Y*0.13 + P4Z*0.98 + 0.00}, + {P5X*0.98 + P5Y*0.02 + P5Z*0.18 + 0.00, P5X*0.00 + P5Y*0.99 + P5Z*-0.13 + 0.00, P5X*-0.18 + P5Y*0.13 + P5Z*0.98 + 0.00}, + {P6X*0.98 + P6Y*0.02 + P6Z*0.18 + 0.00, P6X*0.00 + P6Y*0.99 + P6Z*-0.13 + 0.00, P6X*-0.18 + P6Y*0.13 + P6Z*0.98 + 0.00}}, + {{P1X*0.99 + P1Y*0.02 + P1Z*0.13 + 0.00, P1X*0.00 + P1Y*0.98 + P1Z*-0.18 + 0.00, P1X*-0.13 + P1Y*0.18 + P1Z*0.98 + 0.00}, + {P2X*0.99 + P2Y*0.02 + P2Z*0.13 + 0.00, P2X*0.00 + P2Y*0.98 + P2Z*-0.18 + 0.00, P2X*-0.13 + P2Y*0.18 + P2Z*0.98 + 0.00}, + {P3X*0.99 + P3Y*0.02 + P3Z*0.13 + 0.00, P3X*0.00 + P3Y*0.98 + P3Z*-0.18 + 0.00, P3X*-0.13 + P3Y*0.18 + P3Z*0.98 + 0.00}, + {P4X*0.99 + P4Y*0.02 + P4Z*0.13 + 0.00, P4X*0.00 + P4Y*0.98 + P4Z*-0.18 + 0.00, P4X*-0.13 + P4Y*0.18 + P4Z*0.98 + 0.00}, + {P5X*0.99 + P5Y*0.02 + P5Z*0.13 + 0.00, P5X*0.00 + P5Y*0.98 + P5Z*-0.18 + 0.00, P5X*-0.13 + P5Y*0.18 + P5Z*0.98 + 0.00}, + {P6X*0.99 + P6Y*0.02 + P6Z*0.13 + 0.00, P6X*0.00 + P6Y*0.98 + P6Z*-0.18 + 0.00, P6X*-0.13 + P6Y*0.18 + P6Z*0.98 + 0.00}}, + {{P1X*1.00 + P1Y*0.01 + P1Z*0.07 + 0.00, P1X*0.00 + P1Y*0.98 + P1Z*-0.21 + 0.00, P1X*-0.07 + P1Y*0.21 + P1Z*0.98 + 0.00}, + {P2X*1.00 + P2Y*0.01 + P2Z*0.07 + 0.00, P2X*0.00 + P2Y*0.98 + P2Z*-0.21 + 0.00, P2X*-0.07 + P2Y*0.21 + P2Z*0.98 + 0.00}, + {P3X*1.00 + P3Y*0.01 + P3Z*0.07 + 0.00, P3X*0.00 + P3Y*0.98 + P3Z*-0.21 + 0.00, P3X*-0.07 + P3Y*0.21 + P3Z*0.98 + 0.00}, + {P4X*1.00 + P4Y*0.01 + P4Z*0.07 + 0.00, P4X*0.00 + P4Y*0.98 + P4Z*-0.21 + 0.00, P4X*-0.07 + P4Y*0.21 + P4Z*0.98 + 0.00}, + {P5X*1.00 + P5Y*0.01 + P5Z*0.07 + 0.00, P5X*0.00 + P5Y*0.98 + P5Z*-0.21 + 0.00, P5X*-0.07 + P5Y*0.21 + P5Z*0.98 + 0.00}, + {P6X*1.00 + P6Y*0.01 + P6Z*0.07 + 0.00, P6X*0.00 + P6Y*0.98 + P6Z*-0.21 + 0.00, P6X*-0.07 + P6Y*0.21 + P6Z*0.98 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*0.98 + P1Z*-0.22 + 0.00, P1X*-0.00 + P1Y*0.22 + P1Z*0.98 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*0.00 + 0.00, P2X*0.00 + P2Y*0.98 + P2Z*-0.22 + 0.00, P2X*-0.00 + P2Y*0.22 + P2Z*0.98 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*0.00 + 0.00, P3X*0.00 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+ P5Y*-0.21 + P5Z*0.98 + 0.00}, + {P6X*1.00 + P6Y*0.01 + P6Z*-0.07 + 0.00, P6X*0.00 + P6Y*0.98 + P6Z*0.21 + 0.00, P6X*0.07 + P6Y*-0.21 + P6Z*0.98 + 0.00}}, + {{P1X*1.00 + P1Y*0.00 + P1Z*-0.00 + 0.00, P1X*0.00 + P1Y*0.98 + P1Z*0.22 + 0.00, P1X*0.00 + P1Y*-0.22 + P1Z*0.98 + 0.00}, + {P2X*1.00 + P2Y*0.00 + P2Z*-0.00 + 0.00, P2X*0.00 + P2Y*0.98 + P2Z*0.22 + 0.00, P2X*0.00 + P2Y*-0.22 + P2Z*0.98 + 0.00}, + {P3X*1.00 + P3Y*0.00 + P3Z*-0.00 + 0.00, P3X*0.00 + P3Y*0.98 + P3Z*0.22 + 0.00, P3X*0.00 + P3Y*-0.22 + P3Z*0.98 + 0.00}, + {P4X*1.00 + P4Y*0.00 + P4Z*-0.00 + 0.00, P4X*0.00 + P4Y*0.98 + P4Z*0.22 + 0.00, P4X*0.00 + P4Y*-0.22 + P4Z*0.98 + 0.00}, + {P5X*1.00 + P5Y*0.00 + P5Z*-0.00 + 0.00, P5X*0.00 + P5Y*0.98 + P5Z*0.22 + 0.00, P5X*0.00 + P5Y*-0.22 + P5Z*0.98 + 0.00}, + {P6X*1.00 + P6Y*0.00 + P6Z*-0.00 + 0.00, P6X*0.00 + P6Y*0.98 + P6Z*0.22 + 0.00, P6X*0.00 + P6Y*-0.22 + P6Z*0.98 + 0.00}}, + {{P1X*1.00 + P1Y*-0.01 + P1Z*0.07 + 0.00, P1X*0.00 + P1Y*0.98 + P1Z*0.21 + 0.00, P1X*-0.07 + P1Y*-0.21 + P1Z*0.98 + 0.00}, + {P2X*1.00 + P2Y*-0.01 + P2Z*0.07 + 0.00, P2X*0.00 + P2Y*0.98 + P2Z*0.21 + 0.00, P2X*-0.07 + P2Y*-0.21 + P2Z*0.98 + 0.00}, + {P3X*1.00 + P3Y*-0.01 + P3Z*0.07 + 0.00, P3X*0.00 + P3Y*0.98 + P3Z*0.21 + 0.00, P3X*-0.07 + P3Y*-0.21 + P3Z*0.98 + 0.00}, + {P4X*1.00 + P4Y*-0.01 + P4Z*0.07 + 0.00, P4X*0.00 + P4Y*0.98 + P4Z*0.21 + 0.00, P4X*-0.07 + P4Y*-0.21 + P4Z*0.98 + 0.00}, + {P5X*1.00 + P5Y*-0.01 + P5Z*0.07 + 0.00, P5X*0.00 + P5Y*0.98 + P5Z*0.21 + 0.00, P5X*-0.07 + P5Y*-0.21 + P5Z*0.98 + 0.00}, + {P6X*1.00 + P6Y*-0.01 + P6Z*0.07 + 0.00, P6X*0.00 + P6Y*0.98 + P6Z*0.21 + 0.00, P6X*-0.07 + P6Y*-0.21 + P6Z*0.98 + 0.00}}, + {{P1X*0.99 + P1Y*-0.02 + P1Z*0.13 + 0.00, P1X*0.00 + P1Y*0.98 + P1Z*0.18 + 0.00, P1X*-0.13 + P1Y*-0.18 + P1Z*0.98 + 0.00}, + {P2X*0.99 + P2Y*-0.02 + P2Z*0.13 + 0.00, P2X*0.00 + P2Y*0.98 + P2Z*0.18 + 0.00, P2X*-0.13 + P2Y*-0.18 + P2Z*0.98 + 0.00}, + {P3X*0.99 + P3Y*-0.02 + P3Z*0.13 + 0.00, P3X*0.00 + P3Y*0.98 + P3Z*0.18 + 0.00, P3X*-0.13 + P3Y*-0.18 + P3Z*0.98 + 0.00}, + {P4X*0.99 + P4Y*-0.02 + P4Z*0.13 + 0.00, P4X*0.00 + P4Y*0.98 + P4Z*0.18 + 0.00, P4X*-0.13 + P4Y*-0.18 + P4Z*0.98 + 0.00}, + {P5X*0.99 + P5Y*-0.02 + P5Z*0.13 + 0.00, P5X*0.00 + P5Y*0.98 + P5Z*0.18 + 0.00, P5X*-0.13 + P5Y*-0.18 + P5Z*0.98 + 0.00}, + {P6X*0.99 + P6Y*-0.02 + P6Z*0.13 + 0.00, P6X*0.00 + P6Y*0.98 + P6Z*0.18 + 0.00, P6X*-0.13 + P6Y*-0.18 + P6Z*0.98 + 0.00}}, + {{P1X*0.98 + P1Y*-0.02 + P1Z*0.18 + 0.00, P1X*0.00 + P1Y*0.99 + P1Z*0.13 + 0.00, P1X*-0.18 + P1Y*-0.13 + P1Z*0.98 + 0.00}, + {P2X*0.98 + P2Y*-0.02 + P2Z*0.18 + 0.00, P2X*0.00 + P2Y*0.99 + P2Z*0.13 + 0.00, P2X*-0.18 + P2Y*-0.13 + P2Z*0.98 + 0.00}, + {P3X*0.98 + P3Y*-0.02 + P3Z*0.18 + 0.00, P3X*0.00 + P3Y*0.99 + P3Z*0.13 + 0.00, P3X*-0.18 + P3Y*-0.13 + P3Z*0.98 + 0.00}, + {P4X*0.98 + P4Y*-0.02 + P4Z*0.18 + 0.00, P4X*0.00 + P4Y*0.99 + P4Z*0.13 + 0.00, P4X*-0.18 + P4Y*-0.13 + P4Z*0.98 + 0.00}, + {P5X*0.98 + P5Y*-0.02 + P5Z*0.18 + 0.00, P5X*0.00 + P5Y*0.99 + P5Z*0.13 + 0.00, P5X*-0.18 + P5Y*-0.13 + P5Z*0.98 + 0.00}, + {P6X*0.98 + P6Y*-0.02 + P6Z*0.18 + 0.00, P6X*0.00 + P6Y*0.99 + P6Z*0.13 + 0.00, P6X*-0.18 + P6Y*-0.13 + P6Z*0.98 + 0.00}}, + {{P1X*0.98 + P1Y*-0.01 + P1Z*0.21 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*0.07 + 0.00, P1X*-0.21 + P1Y*-0.07 + P1Z*0.98 + 0.00}, + {P2X*0.98 + P2Y*-0.01 + P2Z*0.21 + 0.00, P2X*0.00 + P2Y*1.00 + P2Z*0.07 + 0.00, P2X*-0.21 + P2Y*-0.07 + P2Z*0.98 + 0.00}, + {P3X*0.98 + P3Y*-0.01 + P3Z*0.21 + 0.00, P3X*0.00 + P3Y*1.00 + P3Z*0.07 + 0.00, P3X*-0.21 + P3Y*-0.07 + P3Z*0.98 + 0.00}, + {P4X*0.98 + P4Y*-0.01 + P4Z*0.21 + 0.00, P4X*0.00 + P4Y*1.00 + P4Z*0.07 + 0.00, P4X*-0.21 + P4Y*-0.07 + P4Z*0.98 + 0.00}, + {P5X*0.98 + P5Y*-0.01 + P5Z*0.21 + 0.00, P5X*0.00 + P5Y*1.00 + P5Z*0.07 + 0.00, P5X*-0.21 + P5Y*-0.07 + P5Z*0.98 + 0.00}, + {P6X*0.98 + P6Y*-0.01 + P6Z*0.21 + 0.00, P6X*0.00 + P6Y*1.00 + P6Z*0.07 + 0.00, P6X*-0.21 + P6Y*-0.07 + P6Z*0.98 + 0.00}}, +}; +const int rotatez_entries[] { 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19 }; +const MovementTable rotatez_table {rotatez_paths, 20, 50, rotatez_entries, 20 }; + +const Locations shiftleft_paths[] { + {{P1X+(-0.00), P1Y+(0.00), P1Z+(20.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(-0.00), P3Y+(0.00), P3Z+(20.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(0.00), P5Z+(20.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(-6.18), P1Y+(0.00), P1Z+(19.02)}, {P2X+(4.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-6.18), P3Y+(0.00), P3Z+(19.02)}, {P4X+(4.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-6.18), P5Y+(0.00), P5Z+(19.02)}, {P6X+(4.00), P6Y+(-0.00), P6Z+(0.00)}}, + {{P1X+(-11.76), P1Y+(0.00), P1Z+(16.18)}, {P2X+(8.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-11.76), P3Y+(0.00), P3Z+(16.18)}, {P4X+(8.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-11.76), P5Y+(0.00), P5Z+(16.18)}, {P6X+(8.00), P6Y+(-0.00), P6Z+(0.00)}}, + {{P1X+(-16.18), P1Y+(0.00), P1Z+(11.76)}, {P2X+(12.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-16.18), P3Y+(0.00), P3Z+(11.76)}, {P4X+(12.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-16.18), P5Y+(0.00), P5Z+(11.76)}, {P6X+(12.00), P6Y+(-0.00), P6Z+(0.00)}}, + {{P1X+(-19.02), P1Y+(0.00), P1Z+(6.18)}, {P2X+(16.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-19.02), P3Y+(0.00), P3Z+(6.18)}, {P4X+(16.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-19.02), P5Y+(0.00), P5Z+(6.18)}, {P6X+(16.00), P6Y+(-0.00), P6Z+(0.00)}}, + {{P1X+(-20.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(20.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-20.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(20.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-20.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(20.00), P6Y+(-0.00), P6Z+(0.00)}}, + {{P1X+(-16.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(19.02), P2Y+(-0.00), P2Z+(6.18)}, {P3X+(-16.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(19.02), P4Y+(-0.00), P4Z+(6.18)}, {P5X+(-16.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(19.02), P6Y+(-0.00), P6Z+(6.18)}}, + {{P1X+(-12.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(16.18), P2Y+(-0.00), P2Z+(11.76)}, {P3X+(-12.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(16.18), P4Y+(-0.00), P4Z+(11.76)}, {P5X+(-12.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(16.18), P6Y+(-0.00), P6Z+(11.76)}}, + {{P1X+(-8.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(11.76), P2Y+(-0.00), P2Z+(16.18)}, {P3X+(-8.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(11.76), P4Y+(-0.00), P4Z+(16.18)}, {P5X+(-8.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(11.76), P6Y+(-0.00), P6Z+(16.18)}}, + {{P1X+(-4.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(6.18), P2Y+(-0.00), P2Z+(19.02)}, {P3X+(-4.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(6.18), P4Y+(-0.00), P4Z+(19.02)}, {P5X+(-4.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(6.18), P6Y+(-0.00), P6Z+(19.02)}}, + {{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(0.00), P2Z+(20.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(-0.00), P4Y+(0.00), P4Z+(20.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(-0.00), P6Y+(0.00), P6Z+(20.00)}}, + {{P1X+(4.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-6.18), P2Y+(0.00), P2Z+(19.02)}, {P3X+(4.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-6.18), P4Y+(0.00), P4Z+(19.02)}, {P5X+(4.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-6.18), P6Y+(0.00), P6Z+(19.02)}}, + {{P1X+(8.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-11.76), P2Y+(0.00), P2Z+(16.18)}, {P3X+(8.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-11.76), P4Y+(0.00), P4Z+(16.18)}, {P5X+(8.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-11.76), P6Y+(0.00), P6Z+(16.18)}}, + {{P1X+(12.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-16.18), P2Y+(0.00), P2Z+(11.76)}, {P3X+(12.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-16.18), P4Y+(0.00), P4Z+(11.76)}, {P5X+(12.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-16.18), P6Y+(0.00), P6Z+(11.76)}}, + {{P1X+(16.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-19.02), P2Y+(0.00), P2Z+(6.18)}, {P3X+(16.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-19.02), P4Y+(0.00), P4Z+(6.18)}, {P5X+(16.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-19.02), P6Y+(0.00), P6Z+(6.18)}}, + {{P1X+(20.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-20.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(20.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-20.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(20.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-20.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(19.02), P1Y+(-0.00), P1Z+(6.18)}, {P2X+(-16.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(19.02), P3Y+(-0.00), P3Z+(6.18)}, {P4X+(-16.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(19.02), P5Y+(-0.00), P5Z+(6.18)}, {P6X+(-16.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(16.18), P1Y+(-0.00), P1Z+(11.76)}, {P2X+(-12.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(16.18), P3Y+(-0.00), P3Z+(11.76)}, {P4X+(-12.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(16.18), P5Y+(-0.00), P5Z+(11.76)}, {P6X+(-12.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(11.76), P1Y+(-0.00), P1Z+(16.18)}, {P2X+(-8.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(11.76), P3Y+(-0.00), P3Z+(16.18)}, {P4X+(-8.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(11.76), P5Y+(-0.00), P5Z+(16.18)}, {P6X+(-8.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(6.18), P1Y+(-0.00), P1Z+(19.02)}, {P2X+(-4.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(6.18), P3Y+(-0.00), P3Z+(19.02)}, {P4X+(-4.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(6.18), P5Y+(-0.00), P5Z+(19.02)}, {P6X+(-4.00), P6Y+(0.00), P6Z+(0.00)}}, +}; +const int shiftleft_entries[] { 0,10 }; +const MovementTable shiftleft_table {shiftleft_paths, 20, 20, shiftleft_entries, 2 }; + +const Locations shiftright_paths[] { + {{P1X+(0.00), P1Y+(-0.00), P1Z+(20.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-0.00), P3Z+(20.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-0.00), P5Z+(20.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(6.18), P1Y+(-0.00), P1Z+(19.02)}, {P2X+(-4.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(6.18), P3Y+(-0.00), P3Z+(19.02)}, {P4X+(-4.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(6.18), P5Y+(-0.00), P5Z+(19.02)}, {P6X+(-4.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(11.76), P1Y+(-0.00), P1Z+(16.18)}, {P2X+(-8.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(11.76), P3Y+(-0.00), P3Z+(16.18)}, {P4X+(-8.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(11.76), P5Y+(-0.00), P5Z+(16.18)}, {P6X+(-8.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(16.18), P1Y+(-0.00), P1Z+(11.76)}, {P2X+(-12.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(16.18), P3Y+(-0.00), P3Z+(11.76)}, {P4X+(-12.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(16.18), P5Y+(-0.00), P5Z+(11.76)}, {P6X+(-12.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(19.02), P1Y+(-0.00), P1Z+(6.18)}, {P2X+(-16.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(19.02), P3Y+(-0.00), P3Z+(6.18)}, {P4X+(-16.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(19.02), P5Y+(-0.00), P5Z+(6.18)}, {P6X+(-16.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(20.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-20.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(20.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-20.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(20.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-20.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(16.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-19.02), P2Y+(0.00), P2Z+(6.18)}, {P3X+(16.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-19.02), P4Y+(0.00), P4Z+(6.18)}, {P5X+(16.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-19.02), P6Y+(0.00), P6Z+(6.18)}}, + {{P1X+(12.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-16.18), P2Y+(0.00), P2Z+(11.76)}, {P3X+(12.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-16.18), P4Y+(0.00), P4Z+(11.76)}, {P5X+(12.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-16.18), P6Y+(0.00), P6Z+(11.76)}}, + {{P1X+(8.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-11.76), P2Y+(0.00), P2Z+(16.18)}, {P3X+(8.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-11.76), P4Y+(0.00), P4Z+(16.18)}, {P5X+(8.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-11.76), P6Y+(0.00), P6Z+(16.18)}}, + {{P1X+(4.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-6.18), P2Y+(0.00), P2Z+(19.02)}, {P3X+(4.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-6.18), P4Y+(0.00), P4Z+(19.02)}, {P5X+(4.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-6.18), P6Y+(0.00), P6Z+(19.02)}}, + {{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-0.00), P2Z+(20.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-0.00), P4Z+(20.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-0.00), P6Z+(20.00)}}, + {{P1X+(-4.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(6.18), P2Y+(-0.00), P2Z+(19.02)}, {P3X+(-4.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(6.18), P4Y+(-0.00), P4Z+(19.02)}, {P5X+(-4.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(6.18), P6Y+(-0.00), P6Z+(19.02)}}, + {{P1X+(-8.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(11.76), P2Y+(-0.00), P2Z+(16.18)}, {P3X+(-8.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(11.76), P4Y+(-0.00), P4Z+(16.18)}, {P5X+(-8.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(11.76), P6Y+(-0.00), P6Z+(16.18)}}, + {{P1X+(-12.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(16.18), P2Y+(-0.00), P2Z+(11.76)}, {P3X+(-12.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(16.18), P4Y+(-0.00), P4Z+(11.76)}, {P5X+(-12.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(16.18), P6Y+(-0.00), P6Z+(11.76)}}, + {{P1X+(-16.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(19.02), P2Y+(-0.00), P2Z+(6.18)}, {P3X+(-16.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(19.02), P4Y+(-0.00), P4Z+(6.18)}, {P5X+(-16.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(19.02), P6Y+(-0.00), P6Z+(6.18)}}, + {{P1X+(-20.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(20.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-20.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(20.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-20.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(20.00), P6Y+(-0.00), P6Z+(0.00)}}, + {{P1X+(-19.02), P1Y+(0.00), P1Z+(6.18)}, {P2X+(16.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-19.02), P3Y+(0.00), P3Z+(6.18)}, {P4X+(16.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-19.02), P5Y+(0.00), P5Z+(6.18)}, {P6X+(16.00), P6Y+(-0.00), P6Z+(0.00)}}, + {{P1X+(-16.18), P1Y+(0.00), P1Z+(11.76)}, {P2X+(12.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-16.18), P3Y+(0.00), P3Z+(11.76)}, {P4X+(12.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-16.18), P5Y+(0.00), P5Z+(11.76)}, {P6X+(12.00), P6Y+(-0.00), P6Z+(0.00)}}, + {{P1X+(-11.76), P1Y+(0.00), P1Z+(16.18)}, {P2X+(8.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-11.76), P3Y+(0.00), P3Z+(16.18)}, {P4X+(8.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-11.76), P5Y+(0.00), P5Z+(16.18)}, {P6X+(8.00), P6Y+(-0.00), P6Z+(0.00)}}, + {{P1X+(-6.18), P1Y+(0.00), P1Z+(19.02)}, {P2X+(4.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-6.18), P3Y+(0.00), P3Z+(19.02)}, {P4X+(4.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-6.18), P5Y+(0.00), P5Z+(19.02)}, {P6X+(4.00), P6Y+(-0.00), P6Z+(0.00)}}, +}; +const int shiftright_entries[] { 0,10 }; +const MovementTable shiftright_table {shiftright_paths, 20, 20, shiftright_entries, 2 }; + +const Locations turnleft_paths[] { + {{P1X+(-0.00), P1Y+(0.00), P1Z+(20.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(20.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-0.00), P5Z+(20.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(-4.37), P1Y+(4.37), P1Z+(19.02)}, {P2X+(0.00), P2Y+(-4.00), P2Z+(0.00)}, {P3X+(4.37), P3Y+(4.37), P3Z+(19.02)}, {P4X+(-2.83), P4Y+(2.83), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-6.18), P5Z+(19.02)}, {P6X+(2.83), P6Y+(2.83), P6Z+(0.00)}}, + {{P1X+(-8.31), P1Y+(8.31), P1Z+(16.18)}, {P2X+(0.00), P2Y+(-8.00), P2Z+(0.00)}, {P3X+(8.31), P3Y+(8.31), P3Z+(16.18)}, {P4X+(-5.66), P4Y+(5.66), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-11.76), P5Z+(16.18)}, {P6X+(5.66), P6Y+(5.66), P6Z+(0.00)}}, + {{P1X+(-11.44), P1Y+(11.44), P1Z+(11.76)}, {P2X+(0.00), P2Y+(-12.00), P2Z+(0.00)}, {P3X+(11.44), P3Y+(11.44), P3Z+(11.76)}, {P4X+(-8.49), P4Y+(8.49), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-16.18), P5Z+(11.76)}, {P6X+(8.49), P6Y+(8.49), P6Z+(0.00)}}, + {{P1X+(-13.45), P1Y+(13.45), P1Z+(6.18)}, {P2X+(0.00), P2Y+(-16.00), P2Z+(0.00)}, {P3X+(13.45), P3Y+(13.45), P3Z+(6.18)}, {P4X+(-11.31), P4Y+(11.31), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-19.02), P5Z+(6.18)}, {P6X+(11.31), P6Y+(11.31), P6Z+(0.00)}}, + {{P1X+(-14.14), P1Y+(14.14), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-20.00), P2Z+(0.00)}, {P3X+(14.14), P3Y+(14.14), P3Z+(0.00)}, {P4X+(-14.14), P4Y+(14.14), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-20.00), P5Z+(0.00)}, {P6X+(14.14), P6Y+(14.14), P6Z+(0.00)}}, + {{P1X+(-11.31), P1Y+(11.31), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-19.02), P2Z+(6.18)}, {P3X+(11.31), P3Y+(11.31), P3Z+(0.00)}, {P4X+(-13.45), P4Y+(13.45), P4Z+(6.18)}, {P5X+(-0.00), P5Y+(-16.00), P5Z+(0.00)}, {P6X+(13.45), P6Y+(13.45), P6Z+(6.18)}}, + {{P1X+(-8.49), P1Y+(8.49), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-16.18), P2Z+(11.76)}, {P3X+(8.49), P3Y+(8.49), P3Z+(0.00)}, {P4X+(-11.44), P4Y+(11.44), P4Z+(11.76)}, {P5X+(-0.00), P5Y+(-12.00), P5Z+(0.00)}, {P6X+(11.44), P6Y+(11.44), P6Z+(11.76)}}, + {{P1X+(-5.66), P1Y+(5.66), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-11.76), P2Z+(16.18)}, {P3X+(5.66), P3Y+(5.66), P3Z+(0.00)}, {P4X+(-8.31), P4Y+(8.31), P4Z+(16.18)}, {P5X+(-0.00), P5Y+(-8.00), P5Z+(0.00)}, {P6X+(8.31), P6Y+(8.31), P6Z+(16.18)}}, + {{P1X+(-2.83), P1Y+(2.83), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-6.18), P2Z+(19.02)}, {P3X+(2.83), P3Y+(2.83), P3Z+(0.00)}, {P4X+(-4.37), P4Y+(4.37), P4Z+(19.02)}, {P5X+(-0.00), P5Y+(-4.00), P5Z+(0.00)}, {P6X+(4.37), P6Y+(4.37), P6Z+(19.02)}}, + {{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(20.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-0.00), P4Z+(20.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(-0.00), P6Y+(-0.00), P6Z+(20.00)}}, + {{P1X+(2.83), P1Y+(-2.83), P1Z+(0.00)}, {P2X+(0.00), P2Y+(6.18), P2Z+(19.02)}, {P3X+(-2.83), P3Y+(-2.83), P3Z+(0.00)}, {P4X+(4.37), P4Y+(-4.37), P4Z+(19.02)}, {P5X+(0.00), P5Y+(4.00), P5Z+(0.00)}, {P6X+(-4.37), P6Y+(-4.37), P6Z+(19.02)}}, + {{P1X+(5.66), P1Y+(-5.66), P1Z+(0.00)}, {P2X+(0.00), P2Y+(11.76), P2Z+(16.18)}, {P3X+(-5.66), P3Y+(-5.66), P3Z+(0.00)}, {P4X+(8.31), P4Y+(-8.31), P4Z+(16.18)}, {P5X+(0.00), P5Y+(8.00), P5Z+(0.00)}, {P6X+(-8.31), P6Y+(-8.31), P6Z+(16.18)}}, + {{P1X+(8.49), P1Y+(-8.49), P1Z+(0.00)}, {P2X+(0.00), P2Y+(16.18), P2Z+(11.76)}, {P3X+(-8.49), P3Y+(-8.49), P3Z+(0.00)}, {P4X+(11.44), P4Y+(-11.44), P4Z+(11.76)}, {P5X+(0.00), P5Y+(12.00), P5Z+(0.00)}, {P6X+(-11.44), P6Y+(-11.44), P6Z+(11.76)}}, + {{P1X+(11.31), P1Y+(-11.31), P1Z+(0.00)}, {P2X+(0.00), P2Y+(19.02), P2Z+(6.18)}, {P3X+(-11.31), P3Y+(-11.31), P3Z+(0.00)}, {P4X+(13.45), P4Y+(-13.45), P4Z+(6.18)}, {P5X+(0.00), P5Y+(16.00), P5Z+(0.00)}, {P6X+(-13.45), P6Y+(-13.45), P6Z+(6.18)}}, + {{P1X+(14.14), P1Y+(-14.14), P1Z+(0.00)}, {P2X+(0.00), P2Y+(20.00), P2Z+(0.00)}, {P3X+(-14.14), P3Y+(-14.14), P3Z+(0.00)}, {P4X+(14.14), P4Y+(-14.14), P4Z+(0.00)}, {P5X+(0.00), P5Y+(20.00), P5Z+(0.00)}, {P6X+(-14.14), P6Y+(-14.14), P6Z+(0.00)}}, + {{P1X+(13.45), P1Y+(-13.45), P1Z+(6.18)}, {P2X+(0.00), P2Y+(16.00), P2Z+(0.00)}, {P3X+(-13.45), P3Y+(-13.45), P3Z+(6.18)}, {P4X+(11.31), P4Y+(-11.31), P4Z+(0.00)}, {P5X+(0.00), P5Y+(19.02), P5Z+(6.18)}, {P6X+(-11.31), P6Y+(-11.31), P6Z+(0.00)}}, + {{P1X+(11.44), P1Y+(-11.44), P1Z+(11.76)}, {P2X+(0.00), P2Y+(12.00), P2Z+(0.00)}, {P3X+(-11.44), P3Y+(-11.44), P3Z+(11.76)}, {P4X+(8.49), P4Y+(-8.49), P4Z+(0.00)}, {P5X+(0.00), P5Y+(16.18), P5Z+(11.76)}, {P6X+(-8.49), P6Y+(-8.49), P6Z+(0.00)}}, + {{P1X+(8.31), P1Y+(-8.31), P1Z+(16.18)}, {P2X+(0.00), P2Y+(8.00), P2Z+(0.00)}, {P3X+(-8.31), P3Y+(-8.31), P3Z+(16.18)}, {P4X+(5.66), P4Y+(-5.66), P4Z+(0.00)}, {P5X+(0.00), P5Y+(11.76), P5Z+(16.18)}, {P6X+(-5.66), P6Y+(-5.66), P6Z+(0.00)}}, + {{P1X+(4.37), P1Y+(-4.37), P1Z+(19.02)}, {P2X+(0.00), P2Y+(4.00), P2Z+(0.00)}, {P3X+(-4.37), P3Y+(-4.37), P3Z+(19.02)}, {P4X+(2.83), P4Y+(-2.83), P4Z+(0.00)}, {P5X+(0.00), P5Y+(6.18), P5Z+(19.02)}, {P6X+(-2.83), P6Y+(-2.83), P6Z+(0.00)}}, +}; +const int turnleft_entries[] { 0,10 }; +const MovementTable turnleft_table {turnleft_paths, 20, 20, turnleft_entries, 2 }; + +const Locations turnright_paths[] { + {{P1X+(0.00), P1Y+(-0.00), P1Z+(20.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(-0.00), P3Y+(-0.00), P3Z+(20.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(20.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}}, + {{P1X+(4.37), P1Y+(-4.37), P1Z+(19.02)}, {P2X+(0.00), P2Y+(4.00), P2Z+(0.00)}, {P3X+(-4.37), P3Y+(-4.37), P3Z+(19.02)}, {P4X+(2.83), P4Y+(-2.83), P4Z+(0.00)}, {P5X+(0.00), P5Y+(6.18), P5Z+(19.02)}, {P6X+(-2.83), P6Y+(-2.83), P6Z+(0.00)}}, + {{P1X+(8.31), P1Y+(-8.31), P1Z+(16.18)}, {P2X+(0.00), P2Y+(8.00), P2Z+(0.00)}, {P3X+(-8.31), P3Y+(-8.31), P3Z+(16.18)}, {P4X+(5.66), P4Y+(-5.66), P4Z+(0.00)}, {P5X+(0.00), P5Y+(11.76), P5Z+(16.18)}, {P6X+(-5.66), P6Y+(-5.66), P6Z+(0.00)}}, + {{P1X+(11.44), P1Y+(-11.44), P1Z+(11.76)}, {P2X+(0.00), P2Y+(12.00), P2Z+(0.00)}, {P3X+(-11.44), P3Y+(-11.44), P3Z+(11.76)}, {P4X+(8.49), P4Y+(-8.49), P4Z+(0.00)}, {P5X+(0.00), P5Y+(16.18), P5Z+(11.76)}, {P6X+(-8.49), P6Y+(-8.49), P6Z+(0.00)}}, + {{P1X+(13.45), P1Y+(-13.45), P1Z+(6.18)}, {P2X+(0.00), P2Y+(16.00), P2Z+(0.00)}, {P3X+(-13.45), P3Y+(-13.45), P3Z+(6.18)}, {P4X+(11.31), P4Y+(-11.31), P4Z+(0.00)}, {P5X+(0.00), P5Y+(19.02), P5Z+(6.18)}, {P6X+(-11.31), P6Y+(-11.31), P6Z+(0.00)}}, + {{P1X+(14.14), P1Y+(-14.14), P1Z+(0.00)}, {P2X+(0.00), P2Y+(20.00), P2Z+(0.00)}, {P3X+(-14.14), P3Y+(-14.14), P3Z+(0.00)}, {P4X+(14.14), P4Y+(-14.14), P4Z+(0.00)}, {P5X+(0.00), P5Y+(20.00), P5Z+(0.00)}, {P6X+(-14.14), P6Y+(-14.14), P6Z+(0.00)}}, + {{P1X+(11.31), P1Y+(-11.31), P1Z+(0.00)}, {P2X+(0.00), P2Y+(19.02), P2Z+(6.18)}, {P3X+(-11.31), P3Y+(-11.31), P3Z+(0.00)}, {P4X+(13.45), P4Y+(-13.45), P4Z+(6.18)}, {P5X+(0.00), P5Y+(16.00), P5Z+(0.00)}, {P6X+(-13.45), P6Y+(-13.45), P6Z+(6.18)}}, + {{P1X+(8.49), P1Y+(-8.49), P1Z+(0.00)}, {P2X+(0.00), P2Y+(16.18), P2Z+(11.76)}, {P3X+(-8.49), P3Y+(-8.49), P3Z+(0.00)}, {P4X+(11.44), P4Y+(-11.44), P4Z+(11.76)}, {P5X+(0.00), P5Y+(12.00), P5Z+(0.00)}, {P6X+(-11.44), P6Y+(-11.44), P6Z+(11.76)}}, + {{P1X+(5.66), P1Y+(-5.66), P1Z+(0.00)}, {P2X+(0.00), P2Y+(11.76), P2Z+(16.18)}, {P3X+(-5.66), P3Y+(-5.66), P3Z+(0.00)}, {P4X+(8.31), P4Y+(-8.31), P4Z+(16.18)}, {P5X+(0.00), P5Y+(8.00), P5Z+(0.00)}, {P6X+(-8.31), P6Y+(-8.31), P6Z+(16.18)}}, + {{P1X+(2.83), P1Y+(-2.83), P1Z+(0.00)}, {P2X+(0.00), P2Y+(6.18), P2Z+(19.02)}, {P3X+(-2.83), P3Y+(-2.83), P3Z+(0.00)}, {P4X+(4.37), P4Y+(-4.37), P4Z+(19.02)}, {P5X+(0.00), P5Y+(4.00), P5Z+(0.00)}, {P6X+(-4.37), P6Y+(-4.37), P6Z+(19.02)}}, + {{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-0.00), P2Z+(20.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(-0.00), P4Y+(0.00), P4Z+(20.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(20.00)}}, + {{P1X+(-2.83), P1Y+(2.83), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-6.18), P2Z+(19.02)}, {P3X+(2.83), P3Y+(2.83), P3Z+(0.00)}, {P4X+(-4.37), P4Y+(4.37), P4Z+(19.02)}, {P5X+(-0.00), P5Y+(-4.00), P5Z+(0.00)}, {P6X+(4.37), P6Y+(4.37), P6Z+(19.02)}}, + {{P1X+(-5.66), P1Y+(5.66), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-11.76), P2Z+(16.18)}, {P3X+(5.66), P3Y+(5.66), P3Z+(0.00)}, {P4X+(-8.31), P4Y+(8.31), P4Z+(16.18)}, {P5X+(-0.00), P5Y+(-8.00), P5Z+(0.00)}, {P6X+(8.31), P6Y+(8.31), P6Z+(16.18)}}, + {{P1X+(-8.49), P1Y+(8.49), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-16.18), P2Z+(11.76)}, {P3X+(8.49), P3Y+(8.49), P3Z+(0.00)}, {P4X+(-11.44), P4Y+(11.44), P4Z+(11.76)}, {P5X+(-0.00), P5Y+(-12.00), P5Z+(0.00)}, {P6X+(11.44), P6Y+(11.44), P6Z+(11.76)}}, + {{P1X+(-11.31), P1Y+(11.31), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-19.02), P2Z+(6.18)}, {P3X+(11.31), P3Y+(11.31), P3Z+(0.00)}, {P4X+(-13.45), P4Y+(13.45), P4Z+(6.18)}, {P5X+(-0.00), P5Y+(-16.00), P5Z+(0.00)}, {P6X+(13.45), P6Y+(13.45), P6Z+(6.18)}}, + {{P1X+(-14.14), P1Y+(14.14), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-20.00), P2Z+(0.00)}, {P3X+(14.14), P3Y+(14.14), P3Z+(0.00)}, {P4X+(-14.14), P4Y+(14.14), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-20.00), P5Z+(0.00)}, {P6X+(14.14), P6Y+(14.14), P6Z+(0.00)}}, + {{P1X+(-13.45), P1Y+(13.45), P1Z+(6.18)}, {P2X+(-0.00), P2Y+(-16.00), P2Z+(0.00)}, {P3X+(13.45), P3Y+(13.45), P3Z+(6.18)}, {P4X+(-11.31), P4Y+(11.31), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-19.02), P5Z+(6.18)}, {P6X+(11.31), P6Y+(11.31), P6Z+(0.00)}}, + {{P1X+(-11.44), P1Y+(11.44), P1Z+(11.76)}, {P2X+(-0.00), P2Y+(-12.00), P2Z+(0.00)}, {P3X+(11.44), P3Y+(11.44), P3Z+(11.76)}, {P4X+(-8.49), P4Y+(8.49), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-16.18), P5Z+(11.76)}, {P6X+(8.49), P6Y+(8.49), P6Z+(0.00)}}, + {{P1X+(-8.31), P1Y+(8.31), P1Z+(16.18)}, {P2X+(-0.00), P2Y+(-8.00), P2Z+(0.00)}, {P3X+(8.31), P3Y+(8.31), P3Z+(16.18)}, {P4X+(-5.66), P4Y+(5.66), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-11.76), P5Z+(16.18)}, {P6X+(5.66), P6Y+(5.66), P6Z+(0.00)}}, + {{P1X+(-4.37), P1Y+(4.37), P1Z+(19.02)}, {P2X+(-0.00), P2Y+(-4.00), P2Z+(0.00)}, {P3X+(4.37), P3Y+(4.37), P3Z+(19.02)}, {P4X+(-2.83), P4Y+(2.83), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-6.18), P5Z+(19.02)}, {P6X+(2.83), P6Y+(2.83), P6Z+(0.00)}}, +}; +const int turnright_entries[] { 0,10 }; +const MovementTable turnright_table {turnright_paths, 20, 20, turnright_entries, 2 }; +} + +const MovementTable& backwardTable() { + return backward_table; +} +const MovementTable& forwardTable() { + return forward_table; +} +const MovementTable& rotatexTable() { + return rotatex_table; +} +const MovementTable& rotateyTable() { + return rotatey_table; +} +const MovementTable& rotatezTable() { + return rotatez_table; +} +const MovementTable& shiftleftTable() { + return shiftleft_table; +} +const MovementTable& shiftrightTable() { + return shiftright_table; +} +const MovementTable& turnleftTable() { + return turnleft_table; +} +const MovementTable& turnrightTable() { + return turnright_table; +} diff --git a/software/hexapod7697/src/hexapod/movements.cpp b/software/hexapod7697/src/hexapod/movements.cpp new file mode 100644 index 0000000..b00c6e5 --- /dev/null +++ b/software/hexapod7697/src/hexapod/movements.cpp @@ -0,0 +1,59 @@ +#include "movement.h" +#include "config.h" + +using namespace hexapod::config; +using namespace hexapod; + +#define SIN30 0.5 +#define COS30 0.866 +#define SIN45 0.7071 +#define COS45 0.7071 +#define SIN15 0.2588 +#define COS15 0.9659 + +#define STANDBY_Z (kLegJoint3ToTip*COS15-kLegJoint2ToJoint3*SIN30) +#define LEFTRIGHT_X (kLegMountLeftRightX+kLegRootToJoint1+kLegJoint1ToJoint2+(kLegJoint2ToJoint3*COS30)+kLegJoint3ToTip*SIN15) +#define OTHER_X (kLegMountOtherX + (kLegRootToJoint1+kLegJoint1ToJoint2+(kLegJoint2ToJoint3*COS30)+kLegJoint3ToTip*SIN15)*COS45) +#define OTHER_Y (kLegMountOtherY + (kLegRootToJoint1+kLegJoint1ToJoint2+(kLegJoint2ToJoint3*COS30)+kLegJoint3ToTip*SIN15)*SIN45) + +#define P1X OTHER_X +#define P1Y OTHER_Y +#define P1Z -STANDBY_Z + +#define P2X LEFTRIGHT_X +#define P2Y 0 +#define P2Z -STANDBY_Z + +#define P3X OTHER_X +#define P3Y -OTHER_Y +#define P3Z -STANDBY_Z + +#define P4X -OTHER_X +#define P4Y -OTHER_Y +#define P4Z -STANDBY_Z + +#define P5X -LEFTRIGHT_X +#define P5Y 0 +#define P5Z -STANDBY_Z + +#define P6X -OTHER_X +#define P6Y OTHER_Y +#define P6Z -STANDBY_Z + +namespace hexapod { + + namespace { + const Locations kStandby { + {P1X, P1Y, P1Z}, {P2X, P2Y, P2Z}, {P3X, P3Y, P3Z}, {P4X, P4Y, P4Z}, {P5X, P5Y, P5Z}, {P6X, P6Y, P6Z} + }; + const int zero = 0; + + const MovementTable standay_table {&kStandby, 1, 20, &zero, 1}; + } + + const MovementTable& standbyTable() { + return standay_table; + } + + #include "movement_table.h" +} diff --git a/software/hexapod7697/src/hexapod/servo.cpp b/software/hexapod7697/src/hexapod/servo.cpp new file mode 100644 index 0000000..f53af97 --- /dev/null +++ b/software/hexapod7697/src/hexapod/servo.cpp @@ -0,0 +1,117 @@ +#include "servo.h" +#include "debug.h" + +#include "hal/pwm.h" + +namespace hexapod { + + namespace { + // if freq = 240, 1 tick = 1000000 / (240*4096) ~= 1us + // if freq = 120, 1 tick = 1000000 / (120*4096) ~= 2us + const static int kFrequency = 120; + const static int kTickUs = 2; + const static int kServoMiddle = 1400; + const static int kServoMax = 2000; + const static int kServoMin = 800; + const static int kServoRange = kServoMax-kServoMiddle; + + auto pwmLeft = hal::PCA9685(0x41); + auto pwmRight = hal::PCA9685(0x40); + bool pwmInited = false; + + void initPWM(void) { + if (pwmInited) + return; + + pwmLeft.begin(); + pwmLeft.setPWMFreq(kFrequency); + pwmRight.begin(); + pwmRight.setPWMFreq(kFrequency); + pwmInited = true; + } + + int hexapod2pwm(int legIndex, int partIndex) { + switch(legIndex) { + case 0: return 5 + partIndex; + case 1: return 2 + partIndex; + case 2: return 8 + partIndex; + case 3: return 16 + 8 + partIndex; + case 4: return 16 + 2 + partIndex; + case 5: return 16 + 5 + partIndex; + default: return 0; + } + } + + int pwm2hexapod(int pwm) { + if(pwm >= 16+8) + return 9 + pwm - (16+8); + if(pwm >= 16+5) + return 15 + pwm - (16+5); + if(pwm >= 16+2) + return 12 + pwm - (16+2); + if(pwm >= 8) + return 6 + pwm - (8); + if(pwm >= 5) + return 0 + pwm - (5); + if(pwm >= 2) + return 3 + pwm - (2); + return -1; + } + + } + + void Servo::init(void) { + initPWM(); + } + + Servo::Servo(int legIndex, int partIndex) { + pwmIndex_ = hexapod2pwm(legIndex, partIndex); + inverse_ = partIndex == 1 ? true : false; + adjust_angle_ = partIndex == 1 ? 15.0 : 0.0; + range_ = partIndex == 0 ? 45 : 60; + angle_ = 0; + } + + void Servo::setAngle(float angle) { + initPWM(); + + if (angle > range_ + adjust_angle_) { + LOG_INFO("exceed[%d][%f]", pwm2hexapod(pwmIndex_), angle); + angle = range_; + } + else if(angle < -range_ + adjust_angle_) { + LOG_INFO("exceed[%d][%f]", pwm2hexapod(pwmIndex_), angle); + angle = -range_; + } + + angle_ = angle; + + hal::PCA9685* pwm; + int idx; + if (pwmIndex_ < 16) { + pwm = &pwmRight; + idx = pwmIndex_; + } + else { + pwm = &pwmLeft; + idx = pwmIndex_ - 16; + } + angle -= adjust_angle_; + if (inverse_) + angle = -angle; + + int us = kServoMiddle + offset_ + angle*(kServoRange/60)*(1+0.01*scale_); + if (us > kServoMax) + us = kServoMax; + else if(us < kServoMin) + us = kServoMin; + + pwm->setPWM(idx, 0, us/kTickUs); + LOG_DEBUG("setAngle(%.2f, %d)", angle, us); + } + + float Servo::getAngle(void) { + return angle_; + } + +} \ No newline at end of file diff --git a/software/hexapod7697/src/hexapod/servo.h b/software/hexapod7697/src/hexapod/servo.h new file mode 100644 index 0000000..2058de5 --- /dev/null +++ b/software/hexapod7697/src/hexapod/servo.h @@ -0,0 +1,38 @@ +#pragma once + +namespace hexapod { + + class Servo { + public: + static void init(void); + + public: + Servo(int legIndex, int partIndex); + + // angle: 0 means center, range is -60~60 + void setAngle(float angle); + float getAngle(void); + + void getParameter(int& offset, int& scale) { + offset = offset_; + scale = scale_; + } + + void setParameter(int offset, int scale, bool update = true) { + offset_ = offset; + scale_ = scale; + if (update) + setAngle(angle_); + } + + private: + float angle_; + int pwmIndex_; + bool inverse_; + int offset_; + int scale_; + int range_; + float adjust_angle_; + }; + +} \ No newline at end of file diff --git a/software/hexapod7697/src/linkit_control/ui_controls.cpp b/software/hexapod7697/src/linkit_control/ui_controls.cpp new file mode 100644 index 0000000..6f1b386 --- /dev/null +++ b/software/hexapod7697/src/linkit_control/ui_controls.cpp @@ -0,0 +1,83 @@ +#include +#include "ui_controls.h" + +namespace { + const static int kRepeatPeriod1 = 500; + const static int kRepeatPeriod1Count = 4; + const static int kRepeatPeriod2 = 100; +} + +void ButtonGroup::addControl(Button &button) { + // prevent duplicated entry + for (const auto control : controls_) { + if (control == &button) { + return; + } + } + controls_.push_back(&button); +}; + +void ButtonGroup::addControl(Button *button) { + // prevent duplicated entry + for (const auto control : controls_) { + if (control == button) { + return; + } + } + controls_.push_back(button); +}; + +void ButtonGroup::addControls(std::vector