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delete old files

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Zhengyu Peng 3 years ago
parent 0ebda4a460
commit a1c7e8e833
45 changed files with 0 additions and 2238 deletions
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software/archive/hexapod7697/.gitignore vendored
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.vscode/

84
software/archive/hexapod7697/hexapod7697.ino
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#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();
}
}

71
software/archive/hexapod7697/src/hexapod/base.h
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#pragma once
#include <stdexcept>
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];
};
}

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software/archive/hexapod7697/src/hexapod/config.h
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#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;
}
}

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software/archive/hexapod7697/src/hexapod/debug.cpp
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#include "debug.h"
#include <stdio.h>
#include <stdarg.h> // For va_start, etc.
namespace {
std::function<void(const char*)> _writer = nullptr;
std::function<int(void)> _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<void(const char*)> writer, std::function<int(void)> time_func) {
_writer = writer;
_time_func = time_func;
}
}

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software/archive/hexapod7697/src/hexapod/debug.h
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#pragma once
#include <functional>
#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<void(const char*)> writer, std::function<int(void)> time_func);
}

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software/archive/hexapod7697/src/hexapod/hal/pwm.cpp
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#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
#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);
}
}}

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software/archive/hexapod7697/src/hexapod/hal/pwm.h
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#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_;
};
}}

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software/archive/hexapod7697/src/hexapod/hexapod.cpp
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#include "hexapod.h"
#include "servo.h"
#include "debug.h"
// TBD: move to hal
#include <LFlash.h>
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);
}
}
}
}

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software/archive/hexapod7697/src/hexapod/hexapod.h
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#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;
}

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software/archive/hexapod7697/src/hexapod/leg.cpp
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#include <Arduino.h>
#include "leg.h"
#include "config.h"
#include "debug.h"
#include <cmath>
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]);
}
}
}

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software/archive/hexapod7697/src/hexapod/leg.h
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#pragma once
#include "base.h"
#include "servo.h"
#include <functional>
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<void(const Point3D& src, Point3D& dest)> localConv_;
std::function<void(const Point3D& src, Point3D& dest)> worldConv_;
Point3D tipPos_;
Point3D tipPosLocal_;
};
}

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software/archive/hexapod7697/src/hexapod/movement.cpp
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#include "movement.h"
#include "debug.h"
#include "config.h"
#include <cstdlib>
namespace hexapod {
extern const MovementTable& standbyTable();
extern const MovementTable& forwardTable();
extern const MovementTable& forwardfastTable();
extern const MovementTable& backwardTable();
extern const MovementTable& turnleftTable();
extern const MovementTable& turnrightTable();
extern const MovementTable& shiftleftTable();
extern const MovementTable& shiftrightTable();
extern const MovementTable& climbTable();
extern const MovementTable& rotatexTable();
extern const MovementTable& rotateyTable();
extern const MovementTable& rotatezTable();
extern const MovementTable& twistTable();
const MovementTable kTable[MOVEMENT_TOTAL] {
standbyTable(),
forwardTable(),
forwardfastTable(),
backwardTable(),
turnleftTable(),
turnrightTable(),
shiftleftTable(),
shiftrightTable(),
climbTable(),
rotatexTable(),
rotateyTable(),
rotatezTable(),
twistTable(),
};
Movement::Movement(MovementMode mode):
mode_{mode}, transiting_{false}
{
}
void Movement::setMode(MovementMode newMode) {
if (!kTable[newMode].entries) {
LOG_INFO("Error: null movement of mode(%d)!", newMode);
return;
}
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_;
}
}

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software/archive/hexapod7697/src/hexapod/movement.h
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#pragma once
#include "base.h"
namespace hexapod {
enum MovementMode {
MOVEMENT_STANDBY = 0,
MOVEMENT_FORWARD,
MOVEMENT_FORWARDFAST,
MOVEMENT_BACKWARD,
MOVEMENT_TURNLEFT,
MOVEMENT_TURNRIGHT,
MOVEMENT_SHIFTLEFT,
MOVEMENT_SHIFTRIGHT,
MOVEMENT_CLIMB,
MOVEMENT_ROTATEX,
MOVEMENT_ROTATEY,
MOVEMENT_ROTATEZ,
MOVEMENT_TWIST,
MOVEMENT_TOTAL,
};
inline MovementMode operator++ (MovementMode& m, int) {
if (m < MOVEMENT_TOTAL)
m = static_cast<MovementMode>(static_cast<int>(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_;
};
}

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software/archive/hexapod7697/src/hexapod/movement_table.h
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//
// This file is generated, dont directly modify content...
//
namespace {
const Locations backward_paths[] {
{{P1X+(0.00), P1Y+(0.00), P1Z+(25.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(25.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(25.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(-7.73), P1Z+(23.78)}, {P2X+(0.00), P2Y+(5.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-7.73), P3Z+(23.78)}, {P4X+(0.00), P4Y+(5.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-7.73), P5Z+(23.78)}, {P6X+(0.00), P6Y+(5.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(-14.69), P1Z+(20.23)}, {P2X+(0.00), P2Y+(10.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-14.69), P3Z+(20.23)}, {P4X+(0.00), P4Y+(10.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-14.69), P5Z+(20.23)}, {P6X+(0.00), P6Y+(10.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(-20.23), P1Z+(14.69)}, {P2X+(0.00), P2Y+(15.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-20.23), P3Z+(14.69)}, {P4X+(0.00), P4Y+(15.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-20.23), P5Z+(14.69)}, {P6X+(0.00), P6Y+(15.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(-23.78), P1Z+(7.73)}, {P2X+(0.00), P2Y+(20.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-23.78), P3Z+(7.73)}, {P4X+(0.00), P4Y+(20.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-23.78), P5Z+(7.73)}, {P6X+(0.00), P6Y+(20.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(-25.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(25.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-25.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(25.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-25.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(25.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(-20.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(23.78), P2Z+(7.73)}, {P3X+(0.00), P3Y+(-20.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(23.78), P4Z+(7.73)}, {P5X+(0.00), P5Y+(-20.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(23.78), P6Z+(7.73)}},
{{P1X+(0.00), P1Y+(-15.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(20.23), P2Z+(14.69)}, {P3X+(0.00), P3Y+(-15.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(20.23), P4Z+(14.69)}, {P5X+(0.00), P5Y+(-15.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(20.23), P6Z+(14.69)}},
{{P1X+(0.00), P1Y+(-10.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(14.69), P2Z+(20.23)}, {P3X+(0.00), P3Y+(-10.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(14.69), P4Z+(20.23)}, {P5X+(0.00), P5Y+(-10.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(14.69), P6Z+(20.23)}},
{{P1X+(0.00), P1Y+(-5.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(7.73), P2Z+(23.78)}, {P3X+(0.00), P3Y+(-5.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(7.73), P4Z+(23.78)}, {P5X+(0.00), P5Y+(-5.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(7.73), P6Z+(23.78)}},
{{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(25.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(25.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(25.00)}},
{{P1X+(0.00), P1Y+(5.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-7.73), P2Z+(23.78)}, {P3X+(0.00), P3Y+(5.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-7.73), P4Z+(23.78)}, {P5X+(0.00), P5Y+(5.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-7.73), P6Z+(23.78)}},
{{P1X+(0.00), P1Y+(10.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-14.69), P2Z+(20.23)}, {P3X+(0.00), P3Y+(10.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-14.69), P4Z+(20.23)}, {P5X+(0.00), P5Y+(10.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-14.69), P6Z+(20.23)}},
{{P1X+(0.00), P1Y+(15.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-20.23), P2Z+(14.69)}, {P3X+(0.00), P3Y+(15.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-20.23), P4Z+(14.69)}, {P5X+(0.00), P5Y+(15.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-20.23), P6Z+(14.69)}},
{{P1X+(0.00), P1Y+(20.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-23.78), P2Z+(7.73)}, {P3X+(0.00), P3Y+(20.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-23.78), P4Z+(7.73)}, {P5X+(0.00), P5Y+(20.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-23.78), P6Z+(7.73)}},
{{P1X+(0.00), P1Y+(25.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-25.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(25.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-25.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(25.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-25.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(23.78), P1Z+(7.73)}, {P2X+(0.00), P2Y+(-20.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(23.78), P3Z+(7.73)}, {P4X+(0.00), P4Y+(-20.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(23.78), P5Z+(7.73)}, {P6X+(0.00), P6Y+(-20.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(20.23), P1Z+(14.69)}, {P2X+(0.00), P2Y+(-15.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(20.23), P3Z+(14.69)}, {P4X+(0.00), P4Y+(-15.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(20.23), P5Z+(14.69)}, {P6X+(0.00), P6Y+(-15.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(14.69), P1Z+(20.23)}, {P2X+(0.00), P2Y+(-10.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(14.69), P3Z+(20.23)}, {P4X+(0.00), P4Y+(-10.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(14.69), P5Z+(20.23)}, {P6X+(0.00), P6Y+(-10.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(7.73), P1Z+(23.78)}, {P2X+(0.00), P2Y+(-5.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(7.73), P3Z+(23.78)}, {P4X+(0.00), P4Y+(-5.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(7.73), P5Z+(23.78)}, {P6X+(0.00), P6Y+(-5.00), P6Z+(0.00)}},
};
const int backward_entries[] { 0,10 };
const MovementTable backward_table {backward_paths, 20, 20, backward_entries, 2 };
const Locations climb_paths[] {
{{P1X+(30.00), P1Y+(0.00), P1Z+(50.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(-30.00)}, {P3X+(30.00), P3Y+(0.00), P3Z+(50.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(-30.00)}, {P5X+(-30.00), P5Y+(0.00), P5Z+(50.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(-30.00)}},
{{P1X+(28.53), P1Y+(6.18), P1Z+(46.08)}, {P2X+(0.00), P2Y+(-4.00), P2Z+(-30.00)}, {P3X+(28.53), P3Y+(6.18), P3Z+(46.08)}, {P4X+(0.00), P4Y+(-4.00), P4Z+(-30.00)}, {P5X+(-28.53), P5Y+(6.18), P5Z+(46.08)}, {P6X+(0.00), P6Y+(-4.00), P6Z+(-30.00)}},
{{P1X+(24.27), P1Y+(11.76), P1Z+(34.72)}, {P2X+(0.00), P2Y+(-8.00), P2Z+(-30.00)}, {P3X+(24.27), P3Y+(11.76), P3Z+(34.72)}, {P4X+(0.00), P4Y+(-8.00), P4Z+(-30.00)}, {P5X+(-24.27), P5Y+(11.76), P5Z+(34.72)}, {P6X+(0.00), P6Y+(-8.00), P6Z+(-30.00)}},
{{P1X+(17.63), P1Y+(16.18), P1Z+(17.02)}, {P2X+(0.00), P2Y+(-12.00), P2Z+(-30.00)}, {P3X+(17.63), P3Y+(16.18), P3Z+(17.02)}, {P4X+(0.00), P4Y+(-12.00), P4Z+(-30.00)}, {P5X+(-17.63), P5Y+(16.18), P5Z+(17.02)}, {P6X+(0.00), P6Y+(-12.00), P6Z+(-30.00)}},
{{P1X+(9.27), P1Y+(19.02), P1Z+(-5.28)}, {P2X+(0.00), P2Y+(-16.00), P2Z+(-30.00)}, {P3X+(9.27), P3Y+(19.02), P3Z+(-5.28)}, {P4X+(0.00), P4Y+(-16.00), P4Z+(-30.00)}, {P5X+(-9.27), P5Y+(19.02), P5Z+(-5.28)}, {P6X+(0.00), P6Y+(-16.00), P6Z+(-30.00)}},
{{P1X+(0.00), P1Y+(20.00), P1Z+(-30.00)}, {P2X+(0.00), P2Y+(-20.00), P2Z+(-30.00)}, {P3X+(0.00), P3Y+(20.00), P3Z+(-30.00)}, {P4X+(-0.00), P4Y+(-20.00), P4Z+(-30.00)}, {P5X+(0.00), P5Y+(20.00), P5Z+(-30.00)}, {P6X+(-0.00), P6Y+(-20.00), P6Z+(-30.00)}},
{{P1X+(0.00), P1Y+(16.00), P1Z+(-30.00)}, {P2X+(9.27), P2Y+(-19.02), P2Z+(-5.28)}, {P3X+(0.00), P3Y+(16.00), P3Z+(-30.00)}, {P4X+(-9.27), P4Y+(-19.02), P4Z+(-5.28)}, {P5X+(0.00), P5Y+(16.00), P5Z+(-30.00)}, {P6X+(-9.27), P6Y+(-19.02), P6Z+(-5.28)}},
{{P1X+(0.00), P1Y+(12.00), P1Z+(-30.00)}, {P2X+(17.63), P2Y+(-16.18), P2Z+(17.02)}, {P3X+(0.00), P3Y+(12.00), P3Z+(-30.00)}, {P4X+(-17.63), P4Y+(-16.18), P4Z+(17.02)}, {P5X+(0.00), P5Y+(12.00), P5Z+(-30.00)}, {P6X+(-17.63), P6Y+(-16.18), P6Z+(17.02)}},
{{P1X+(0.00), P1Y+(8.00), P1Z+(-30.00)}, {P2X+(24.27), P2Y+(-11.76), P2Z+(34.72)}, {P3X+(0.00), P3Y+(8.00), P3Z+(-30.00)}, {P4X+(-24.27), P4Y+(-11.76), P4Z+(34.72)}, {P5X+(0.00), P5Y+(8.00), P5Z+(-30.00)}, {P6X+(-24.27), P6Y+(-11.76), P6Z+(34.72)}},
{{P1X+(0.00), P1Y+(4.00), P1Z+(-30.00)}, {P2X+(28.53), P2Y+(-6.18), P2Z+(46.08)}, {P3X+(0.00), P3Y+(4.00), P3Z+(-30.00)}, {P4X+(-28.53), P4Y+(-6.18), P4Z+(46.08)}, {P5X+(0.00), P5Y+(4.00), P5Z+(-30.00)}, {P6X+(-28.53), P6Y+(-6.18), P6Z+(46.08)}},
{{P1X+(0.00), P1Y+(0.00), P1Z+(-30.00)}, {P2X+(30.00), P2Y+(0.00), P2Z+(50.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(-30.00)}, {P4X+(-30.00), P4Y+(0.00), P4Z+(50.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(-30.00)}, {P6X+(-30.00), P6Y+(0.00), P6Z+(50.00)}},
{{P1X+(0.00), P1Y+(-4.00), P1Z+(-30.00)}, {P2X+(28.53), P2Y+(6.18), P2Z+(46.08)}, {P3X+(0.00), P3Y+(-4.00), P3Z+(-30.00)}, {P4X+(-28.53), P4Y+(6.18), P4Z+(46.08)}, {P5X+(0.00), P5Y+(-4.00), P5Z+(-30.00)}, {P6X+(-28.53), P6Y+(6.18), P6Z+(46.08)}},
{{P1X+(0.00), P1Y+(-8.00), P1Z+(-30.00)}, {P2X+(24.27), P2Y+(11.76), P2Z+(34.72)}, {P3X+(0.00), P3Y+(-8.00), P3Z+(-30.00)}, {P4X+(-24.27), P4Y+(11.76), P4Z+(34.72)}, {P5X+(0.00), P5Y+(-8.00), P5Z+(-30.00)}, {P6X+(-24.27), P6Y+(11.76), P6Z+(34.72)}},
{{P1X+(0.00), P1Y+(-12.00), P1Z+(-30.00)}, {P2X+(17.63), P2Y+(16.18), P2Z+(17.02)}, {P3X+(0.00), P3Y+(-12.00), P3Z+(-30.00)}, {P4X+(-17.63), P4Y+(16.18), P4Z+(17.02)}, {P5X+(0.00), P5Y+(-12.00), P5Z+(-30.00)}, {P6X+(-17.63), P6Y+(16.18), P6Z+(17.02)}},
{{P1X+(0.00), P1Y+(-16.00), P1Z+(-30.00)}, {P2X+(9.27), P2Y+(19.02), P2Z+(-5.28)}, {P3X+(0.00), P3Y+(-16.00), P3Z+(-30.00)}, {P4X+(-9.27), P4Y+(19.02), P4Z+(-5.28)}, {P5X+(0.00), P5Y+(-16.00), P5Z+(-30.00)}, {P6X+(-9.27), P6Y+(19.02), P6Z+(-5.28)}},
{{P1X+(0.00), P1Y+(-20.00), P1Z+(-30.00)}, {P2X+(0.00), P2Y+(20.00), P2Z+(-30.00)}, {P3X+(0.00), P3Y+(-20.00), P3Z+(-30.00)}, {P4X+(0.00), P4Y+(20.00), P4Z+(-30.00)}, {P5X+(-0.00), P5Y+(-20.00), P5Z+(-30.00)}, {P6X+(0.00), P6Y+(20.00), P6Z+(-30.00)}},
{{P1X+(9.27), P1Y+(-19.02), P1Z+(-5.28)}, {P2X+(0.00), P2Y+(16.00), P2Z+(-30.00)}, {P3X+(9.27), P3Y+(-19.02), P3Z+(-5.28)}, {P4X+(0.00), P4Y+(16.00), P4Z+(-30.00)}, {P5X+(-9.27), P5Y+(-19.02), P5Z+(-5.28)}, {P6X+(0.00), P6Y+(16.00), P6Z+(-30.00)}},
{{P1X+(17.63), P1Y+(-16.18), P1Z+(17.02)}, {P2X+(0.00), P2Y+(12.00), P2Z+(-30.00)}, {P3X+(17.63), P3Y+(-16.18), P3Z+(17.02)}, {P4X+(0.00), P4Y+(12.00), P4Z+(-30.00)}, {P5X+(-17.63), P5Y+(-16.18), P5Z+(17.02)}, {P6X+(0.00), P6Y+(12.00), P6Z+(-30.00)}},
{{P1X+(24.27), P1Y+(-11.76), P1Z+(34.72)}, {P2X+(0.00), P2Y+(8.00), P2Z+(-30.00)}, {P3X+(24.27), P3Y+(-11.76), P3Z+(34.72)}, {P4X+(0.00), P4Y+(8.00), P4Z+(-30.00)}, {P5X+(-24.27), P5Y+(-11.76), P5Z+(34.72)}, {P6X+(0.00), P6Y+(8.00), P6Z+(-30.00)}},
{{P1X+(28.53), P1Y+(-6.18), P1Z+(46.08)}, {P2X+(0.00), P2Y+(4.00), P2Z+(-30.00)}, {P3X+(28.53), P3Y+(-6.18), P3Z+(46.08)}, {P4X+(0.00), P4Y+(4.00), P4Z+(-30.00)}, {P5X+(-28.53), P5Y+(-6.18), P5Z+(46.08)}, {P6X+(0.00), P6Y+(4.00), P6Z+(-30.00)}},
};
const int climb_entries[] { 0,10 };
const MovementTable climb_table {climb_paths, 20, 30, climb_entries, 2 };
const Locations forward_paths[] {
{{P1X+(0.00), P1Y+(0.00), P1Z+(25.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(25.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(25.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(7.73), P1Z+(23.78)}, {P2X+(0.00), P2Y+(-5.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(7.73), P3Z+(23.78)}, {P4X+(0.00), P4Y+(-5.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(7.73), P5Z+(23.78)}, {P6X+(0.00), P6Y+(-5.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(14.69), P1Z+(20.23)}, {P2X+(0.00), P2Y+(-10.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(14.69), P3Z+(20.23)}, {P4X+(0.00), P4Y+(-10.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(14.69), P5Z+(20.23)}, {P6X+(0.00), P6Y+(-10.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(20.23), P1Z+(14.69)}, {P2X+(0.00), P2Y+(-15.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(20.23), P3Z+(14.69)}, {P4X+(0.00), P4Y+(-15.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(20.23), P5Z+(14.69)}, {P6X+(0.00), P6Y+(-15.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(23.78), P1Z+(7.73)}, {P2X+(0.00), P2Y+(-20.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(23.78), P3Z+(7.73)}, {P4X+(0.00), P4Y+(-20.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(23.78), P5Z+(7.73)}, {P6X+(0.00), P6Y+(-20.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(25.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-25.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(25.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-25.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(25.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-25.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(20.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-23.78), P2Z+(7.73)}, {P3X+(0.00), P3Y+(20.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-23.78), P4Z+(7.73)}, {P5X+(0.00), P5Y+(20.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-23.78), P6Z+(7.73)}},
{{P1X+(0.00), P1Y+(15.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-20.23), P2Z+(14.69)}, {P3X+(0.00), P3Y+(15.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-20.23), P4Z+(14.69)}, {P5X+(0.00), P5Y+(15.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-20.23), P6Z+(14.69)}},
{{P1X+(0.00), P1Y+(10.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-14.69), P2Z+(20.23)}, {P3X+(0.00), P3Y+(10.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-14.69), P4Z+(20.23)}, {P5X+(0.00), P5Y+(10.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-14.69), P6Z+(20.23)}},
{{P1X+(0.00), P1Y+(5.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-7.73), P2Z+(23.78)}, {P3X+(0.00), P3Y+(5.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-7.73), P4Z+(23.78)}, {P5X+(0.00), P5Y+(5.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-7.73), P6Z+(23.78)}},
{{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(25.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(25.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(25.00)}},
{{P1X+(0.00), P1Y+(-5.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(7.73), P2Z+(23.78)}, {P3X+(0.00), P3Y+(-5.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(7.73), P4Z+(23.78)}, {P5X+(0.00), P5Y+(-5.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(7.73), P6Z+(23.78)}},
{{P1X+(0.00), P1Y+(-10.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(14.69), P2Z+(20.23)}, {P3X+(0.00), P3Y+(-10.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(14.69), P4Z+(20.23)}, {P5X+(0.00), P5Y+(-10.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(14.69), P6Z+(20.23)}},
{{P1X+(0.00), P1Y+(-15.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(20.23), P2Z+(14.69)}, {P3X+(0.00), P3Y+(-15.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(20.23), P4Z+(14.69)}, {P5X+(0.00), P5Y+(-15.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(20.23), P6Z+(14.69)}},
{{P1X+(0.00), P1Y+(-20.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(23.78), P2Z+(7.73)}, {P3X+(0.00), P3Y+(-20.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(23.78), P4Z+(7.73)}, {P5X+(0.00), P5Y+(-20.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(23.78), P6Z+(7.73)}},
{{P1X+(0.00), P1Y+(-25.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(25.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-25.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(25.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-25.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(25.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(-23.78), P1Z+(7.73)}, {P2X+(0.00), P2Y+(20.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-23.78), P3Z+(7.73)}, {P4X+(0.00), P4Y+(20.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-23.78), P5Z+(7.73)}, {P6X+(0.00), P6Y+(20.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(-20.23), P1Z+(14.69)}, {P2X+(0.00), P2Y+(15.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-20.23), P3Z+(14.69)}, {P4X+(0.00), P4Y+(15.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-20.23), P5Z+(14.69)}, {P6X+(0.00), P6Y+(15.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(-14.69), P1Z+(20.23)}, {P2X+(0.00), P2Y+(10.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-14.69), P3Z+(20.23)}, {P4X+(0.00), P4Y+(10.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-14.69), P5Z+(20.23)}, {P6X+(0.00), P6Y+(10.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(-7.73), P1Z+(23.78)}, {P2X+(0.00), P2Y+(5.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-7.73), P3Z+(23.78)}, {P4X+(0.00), P4Y+(5.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-7.73), P5Z+(23.78)}, {P6X+(0.00), P6Y+(5.00), P6Z+(0.00)}},
};
const int forward_entries[] { 0,10 };
const MovementTable forward_table {forward_paths, 20, 20, forward_entries, 2 };
const Locations forwardfast_paths[] {
{{P1X+(10.00), P1Y+(0.00), P1Z+(30.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(10.00), P3Y+(0.00), P3Z+(30.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(-10.00), P5Y+(0.00), P5Z+(30.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(9.51), P1Y+(15.45), P1Z+(28.53)}, {P2X+(0.00), P2Y+(-10.00), P2Z+(0.00)}, {P3X+(9.51), P3Y+(15.45), P3Z+(28.53)}, {P4X+(0.00), P4Y+(-10.00), P4Z+(0.00)}, {P5X+(-9.51), P5Y+(15.45), P5Z+(28.53)}, {P6X+(0.00), P6Y+(-10.00), P6Z+(0.00)}},
{{P1X+(8.09), P1Y+(29.39), P1Z+(24.27)}, {P2X+(0.00), P2Y+(-20.00), P2Z+(0.00)}, {P3X+(8.09), P3Y+(29.39), P3Z+(24.27)}, {P4X+(0.00), P4Y+(-20.00), P4Z+(0.00)}, {P5X+(-8.09), P5Y+(29.39), P5Z+(24.27)}, {P6X+(0.00), P6Y+(-20.00), P6Z+(0.00)}},
{{P1X+(5.88), P1Y+(40.45), P1Z+(17.63)}, {P2X+(0.00), P2Y+(-30.00), P2Z+(0.00)}, {P3X+(5.88), P3Y+(40.45), P3Z+(17.63)}, {P4X+(0.00), P4Y+(-30.00), P4Z+(0.00)}, {P5X+(-5.88), P5Y+(40.45), P5Z+(17.63)}, {P6X+(0.00), P6Y+(-30.00), P6Z+(0.00)}},
{{P1X+(3.09), P1Y+(47.55), P1Z+(9.27)}, {P2X+(0.00), P2Y+(-40.00), P2Z+(0.00)}, {P3X+(3.09), P3Y+(47.55), P3Z+(9.27)}, {P4X+(0.00), P4Y+(-40.00), P4Z+(0.00)}, {P5X+(-3.09), P5Y+(47.55), P5Z+(9.27)}, {P6X+(0.00), P6Y+(-40.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(50.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-50.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(50.00), P3Z+(0.00)}, {P4X+(-0.00), P4Y+(-50.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(50.00), P5Z+(0.00)}, {P6X+(-0.00), P6Y+(-50.00), P6Z+(0.00)}},
{{P1X+(0.00), P1Y+(40.00), P1Z+(0.00)}, {P2X+(3.09), P2Y+(-47.55), P2Z+(9.27)}, {P3X+(0.00), P3Y+(40.00), P3Z+(0.00)}, {P4X+(-3.09), P4Y+(-47.55), P4Z+(9.27)}, {P5X+(0.00), P5Y+(40.00), P5Z+(0.00)}, {P6X+(-3.09), P6Y+(-47.55), P6Z+(9.27)}},
{{P1X+(0.00), P1Y+(30.00), P1Z+(0.00)}, {P2X+(5.88), P2Y+(-40.45), P2Z+(17.63)}, {P3X+(0.00), P3Y+(30.00), P3Z+(0.00)}, {P4X+(-5.88), P4Y+(-40.45), P4Z+(17.63)}, {P5X+(0.00), P5Y+(30.00), P5Z+(0.00)}, {P6X+(-5.88), P6Y+(-40.45), P6Z+(17.63)}},
{{P1X+(0.00), P1Y+(20.00), P1Z+(0.00)}, {P2X+(8.09), P2Y+(-29.39), P2Z+(24.27)}, {P3X+(0.00), P3Y+(20.00), P3Z+(0.00)}, {P4X+(-8.09), P4Y+(-29.39), P4Z+(24.27)}, {P5X+(0.00), P5Y+(20.00), P5Z+(0.00)}, {P6X+(-8.09), P6Y+(-29.39), P6Z+(24.27)}},
{{P1X+(0.00), P1Y+(10.00), P1Z+(0.00)}, {P2X+(9.51), P2Y+(-15.45), P2Z+(28.53)}, {P3X+(0.00), P3Y+(10.00), P3Z+(0.00)}, {P4X+(-9.51), P4Y+(-15.45), P4Z+(28.53)}, {P5X+(0.00), P5Y+(10.00), P5Z+(0.00)}, {P6X+(-9.51), P6Y+(-15.45), P6Z+(28.53)}},
{{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(10.00), P2Y+(0.00), P2Z+(30.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(-10.00), P4Y+(0.00), P4Z+(30.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(-10.00), P6Y+(0.00), P6Z+(30.00)}},
{{P1X+(0.00), P1Y+(-10.00), P1Z+(0.00)}, {P2X+(9.51), P2Y+(15.45), P2Z+(28.53)}, {P3X+(0.00), P3Y+(-10.00), P3Z+(0.00)}, {P4X+(-9.51), P4Y+(15.45), P4Z+(28.53)}, {P5X+(0.00), P5Y+(-10.00), P5Z+(0.00)}, {P6X+(-9.51), P6Y+(15.45), P6Z+(28.53)}},
{{P1X+(0.00), P1Y+(-20.00), P1Z+(0.00)}, {P2X+(8.09), P2Y+(29.39), P2Z+(24.27)}, {P3X+(0.00), P3Y+(-20.00), P3Z+(0.00)}, {P4X+(-8.09), P4Y+(29.39), P4Z+(24.27)}, {P5X+(0.00), P5Y+(-20.00), P5Z+(0.00)}, {P6X+(-8.09), P6Y+(29.39), P6Z+(24.27)}},
{{P1X+(0.00), P1Y+(-30.00), P1Z+(0.00)}, {P2X+(5.88), P2Y+(40.45), P2Z+(17.63)}, {P3X+(0.00), P3Y+(-30.00), P3Z+(0.00)}, {P4X+(-5.88), P4Y+(40.45), P4Z+(17.63)}, {P5X+(0.00), P5Y+(-30.00), P5Z+(0.00)}, {P6X+(-5.88), P6Y+(40.45), P6Z+(17.63)}},
{{P1X+(0.00), P1Y+(-40.00), P1Z+(0.00)}, {P2X+(3.09), P2Y+(47.55), P2Z+(9.27)}, {P3X+(0.00), P3Y+(-40.00), P3Z+(0.00)}, {P4X+(-3.09), P4Y+(47.55), P4Z+(9.27)}, {P5X+(0.00), P5Y+(-40.00), P5Z+(0.00)}, {P6X+(-3.09), P6Y+(47.55), P6Z+(9.27)}},
{{P1X+(0.00), P1Y+(-50.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(50.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-50.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(50.00), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-50.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(50.00), P6Z+(0.00)}},
{{P1X+(3.09), P1Y+(-47.55), P1Z+(9.27)}, {P2X+(0.00), P2Y+(40.00), P2Z+(0.00)}, {P3X+(3.09), P3Y+(-47.55), P3Z+(9.27)}, {P4X+(0.00), P4Y+(40.00), P4Z+(0.00)}, {P5X+(-3.09), P5Y+(-47.55), P5Z+(9.27)}, {P6X+(0.00), P6Y+(40.00), P6Z+(0.00)}},
{{P1X+(5.88), P1Y+(-40.45), P1Z+(17.63)}, {P2X+(0.00), P2Y+(30.00), P2Z+(0.00)}, {P3X+(5.88), P3Y+(-40.45), P3Z+(17.63)}, {P4X+(0.00), P4Y+(30.00), P4Z+(0.00)}, {P5X+(-5.88), P5Y+(-40.45), P5Z+(17.63)}, {P6X+(0.00), P6Y+(30.00), P6Z+(0.00)}},
{{P1X+(8.09), P1Y+(-29.39), P1Z+(24.27)}, {P2X+(0.00), P2Y+(20.00), P2Z+(0.00)}, {P3X+(8.09), P3Y+(-29.39), P3Z+(24.27)}, {P4X+(0.00), P4Y+(20.00), P4Z+(0.00)}, {P5X+(-8.09), P5Y+(-29.39), P5Z+(24.27)}, {P6X+(0.00), P6Y+(20.00), P6Z+(0.00)}},
{{P1X+(9.51), P1Y+(-15.45), P1Z+(28.53)}, {P2X+(0.00), P2Y+(10.00), P2Z+(0.00)}, {P3X+(9.51), P3Y+(-15.45), P3Z+(28.53)}, {P4X+(0.00), P4Y+(10.00), P4Z+(0.00)}, {P5X+(-9.51), P5Y+(-15.45), P5Z+(28.53)}, {P6X+(0.00), P6Y+(10.00), P6Z+(0.00)}},
};
const int forwardfast_entries[] { 0,10 };
const MovementTable forwardfast_table {forwardfast_paths, 20, 20, forwardfast_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 + 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}},
{{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 + 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+(25.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(-0.00), P3Y+(0.00), P3Z+(25.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(0.00), P5Z+(25.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(-7.73), P1Y+(0.00), P1Z+(23.78)}, {P2X+(5.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-7.73), P3Y+(0.00), P3Z+(23.78)}, {P4X+(5.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-7.73), P5Y+(0.00), P5Z+(23.78)}, {P6X+(5.00), P6Y+(-0.00), P6Z+(0.00)}},
{{P1X+(-14.69), P1Y+(0.00), P1Z+(20.23)}, {P2X+(10.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-14.69), P3Y+(0.00), P3Z+(20.23)}, {P4X+(10.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-14.69), P5Y+(0.00), P5Z+(20.23)}, {P6X+(10.00), P6Y+(-0.00), P6Z+(0.00)}},
{{P1X+(-20.23), P1Y+(0.00), P1Z+(14.69)}, {P2X+(15.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-20.23), P3Y+(0.00), P3Z+(14.69)}, {P4X+(15.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-20.23), P5Y+(0.00), P5Z+(14.69)}, {P6X+(15.00), P6Y+(-0.00), P6Z+(0.00)}},
{{P1X+(-23.78), P1Y+(0.00), P1Z+(7.73)}, {P2X+(20.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-23.78), P3Y+(0.00), P3Z+(7.73)}, {P4X+(20.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-23.78), P5Y+(0.00), P5Z+(7.73)}, {P6X+(20.00), P6Y+(-0.00), P6Z+(0.00)}},
{{P1X+(-25.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(25.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-25.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(25.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-25.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(25.00), P6Y+(-0.00), P6Z+(0.00)}},
{{P1X+(-20.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(23.78), P2Y+(-0.00), P2Z+(7.73)}, {P3X+(-20.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(23.78), P4Y+(-0.00), P4Z+(7.73)}, {P5X+(-20.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(23.78), P6Y+(-0.00), P6Z+(7.73)}},
{{P1X+(-15.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(20.23), P2Y+(-0.00), P2Z+(14.69)}, {P3X+(-15.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(20.23), P4Y+(-0.00), P4Z+(14.69)}, {P5X+(-15.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(20.23), P6Y+(-0.00), P6Z+(14.69)}},
{{P1X+(-10.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(14.69), P2Y+(-0.00), P2Z+(20.23)}, {P3X+(-10.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(14.69), P4Y+(-0.00), P4Z+(20.23)}, {P5X+(-10.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(14.69), P6Y+(-0.00), P6Z+(20.23)}},
{{P1X+(-5.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(7.73), P2Y+(-0.00), P2Z+(23.78)}, {P3X+(-5.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(7.73), P4Y+(-0.00), P4Z+(23.78)}, {P5X+(-5.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(7.73), P6Y+(-0.00), P6Z+(23.78)}},
{{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(0.00), P2Z+(25.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(-0.00), P4Y+(0.00), P4Z+(25.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(-0.00), P6Y+(0.00), P6Z+(25.00)}},
{{P1X+(5.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-7.73), P2Y+(0.00), P2Z+(23.78)}, {P3X+(5.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-7.73), P4Y+(0.00), P4Z+(23.78)}, {P5X+(5.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-7.73), P6Y+(0.00), P6Z+(23.78)}},
{{P1X+(10.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-14.69), P2Y+(0.00), P2Z+(20.23)}, {P3X+(10.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-14.69), P4Y+(0.00), P4Z+(20.23)}, {P5X+(10.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-14.69), P6Y+(0.00), P6Z+(20.23)}},
{{P1X+(15.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-20.23), P2Y+(0.00), P2Z+(14.69)}, {P3X+(15.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-20.23), P4Y+(0.00), P4Z+(14.69)}, {P5X+(15.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-20.23), P6Y+(0.00), P6Z+(14.69)}},
{{P1X+(20.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-23.78), P2Y+(0.00), P2Z+(7.73)}, {P3X+(20.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-23.78), P4Y+(0.00), P4Z+(7.73)}, {P5X+(20.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-23.78), P6Y+(0.00), P6Z+(7.73)}},
{{P1X+(25.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-25.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(25.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-25.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(25.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-25.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(23.78), P1Y+(-0.00), P1Z+(7.73)}, {P2X+(-20.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(23.78), P3Y+(-0.00), P3Z+(7.73)}, {P4X+(-20.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(23.78), P5Y+(-0.00), P5Z+(7.73)}, {P6X+(-20.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(20.23), P1Y+(-0.00), P1Z+(14.69)}, {P2X+(-15.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(20.23), P3Y+(-0.00), P3Z+(14.69)}, {P4X+(-15.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(20.23), P5Y+(-0.00), P5Z+(14.69)}, {P6X+(-15.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(14.69), P1Y+(-0.00), P1Z+(20.23)}, {P2X+(-10.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(14.69), P3Y+(-0.00), P3Z+(20.23)}, {P4X+(-10.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(14.69), P5Y+(-0.00), P5Z+(20.23)}, {P6X+(-10.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(7.73), P1Y+(-0.00), P1Z+(23.78)}, {P2X+(-5.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(7.73), P3Y+(-0.00), P3Z+(23.78)}, {P4X+(-5.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(7.73), P5Y+(-0.00), P5Z+(23.78)}, {P6X+(-5.00), 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+(25.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(-0.00), P3Z+(25.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(-0.00), P5Z+(25.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(7.73), P1Y+(-0.00), P1Z+(23.78)}, {P2X+(-5.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(7.73), P3Y+(-0.00), P3Z+(23.78)}, {P4X+(-5.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(7.73), P5Y+(-0.00), P5Z+(23.78)}, {P6X+(-5.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(14.69), P1Y+(-0.00), P1Z+(20.23)}, {P2X+(-10.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(14.69), P3Y+(-0.00), P3Z+(20.23)}, {P4X+(-10.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(14.69), P5Y+(-0.00), P5Z+(20.23)}, {P6X+(-10.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(20.23), P1Y+(-0.00), P1Z+(14.69)}, {P2X+(-15.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(20.23), P3Y+(-0.00), P3Z+(14.69)}, {P4X+(-15.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(20.23), P5Y+(-0.00), P5Z+(14.69)}, {P6X+(-15.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(23.78), P1Y+(-0.00), P1Z+(7.73)}, {P2X+(-20.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(23.78), P3Y+(-0.00), P3Z+(7.73)}, {P4X+(-20.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(23.78), P5Y+(-0.00), P5Z+(7.73)}, {P6X+(-20.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(25.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-25.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(25.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-25.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(25.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-25.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(20.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-23.78), P2Y+(0.00), P2Z+(7.73)}, {P3X+(20.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-23.78), P4Y+(0.00), P4Z+(7.73)}, {P5X+(20.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-23.78), P6Y+(0.00), P6Z+(7.73)}},
{{P1X+(15.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-20.23), P2Y+(0.00), P2Z+(14.69)}, {P3X+(15.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-20.23), P4Y+(0.00), P4Z+(14.69)}, {P5X+(15.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-20.23), P6Y+(0.00), P6Z+(14.69)}},
{{P1X+(10.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-14.69), P2Y+(0.00), P2Z+(20.23)}, {P3X+(10.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-14.69), P4Y+(0.00), P4Z+(20.23)}, {P5X+(10.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-14.69), P6Y+(0.00), P6Z+(20.23)}},
{{P1X+(5.00), P1Y+(-0.00), P1Z+(0.00)}, {P2X+(-7.73), P2Y+(0.00), P2Z+(23.78)}, {P3X+(5.00), P3Y+(-0.00), P3Z+(0.00)}, {P4X+(-7.73), P4Y+(0.00), P4Z+(23.78)}, {P5X+(5.00), P5Y+(-0.00), P5Z+(0.00)}, {P6X+(-7.73), P6Y+(0.00), P6Z+(23.78)}},
{{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-0.00), P2Z+(25.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-0.00), P4Z+(25.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(-0.00), P6Z+(25.00)}},
{{P1X+(-5.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(7.73), P2Y+(-0.00), P2Z+(23.78)}, {P3X+(-5.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(7.73), P4Y+(-0.00), P4Z+(23.78)}, {P5X+(-5.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(7.73), P6Y+(-0.00), P6Z+(23.78)}},
{{P1X+(-10.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(14.69), P2Y+(-0.00), P2Z+(20.23)}, {P3X+(-10.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(14.69), P4Y+(-0.00), P4Z+(20.23)}, {P5X+(-10.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(14.69), P6Y+(-0.00), P6Z+(20.23)}},
{{P1X+(-15.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(20.23), P2Y+(-0.00), P2Z+(14.69)}, {P3X+(-15.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(20.23), P4Y+(-0.00), P4Z+(14.69)}, {P5X+(-15.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(20.23), P6Y+(-0.00), P6Z+(14.69)}},
{{P1X+(-20.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(23.78), P2Y+(-0.00), P2Z+(7.73)}, {P3X+(-20.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(23.78), P4Y+(-0.00), P4Z+(7.73)}, {P5X+(-20.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(23.78), P6Y+(-0.00), P6Z+(7.73)}},
{{P1X+(-25.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(25.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-25.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(25.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-25.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(25.00), P6Y+(-0.00), P6Z+(0.00)}},
{{P1X+(-23.78), P1Y+(0.00), P1Z+(7.73)}, {P2X+(20.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-23.78), P3Y+(0.00), P3Z+(7.73)}, {P4X+(20.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-23.78), P5Y+(0.00), P5Z+(7.73)}, {P6X+(20.00), P6Y+(-0.00), P6Z+(0.00)}},
{{P1X+(-20.23), P1Y+(0.00), P1Z+(14.69)}, {P2X+(15.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-20.23), P3Y+(0.00), P3Z+(14.69)}, {P4X+(15.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-20.23), P5Y+(0.00), P5Z+(14.69)}, {P6X+(15.00), P6Y+(-0.00), P6Z+(0.00)}},
{{P1X+(-14.69), P1Y+(0.00), P1Z+(20.23)}, {P2X+(10.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-14.69), P3Y+(0.00), P3Z+(20.23)}, {P4X+(10.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-14.69), P5Y+(0.00), P5Z+(20.23)}, {P6X+(10.00), P6Y+(-0.00), P6Z+(0.00)}},
{{P1X+(-7.73), P1Y+(0.00), P1Z+(23.78)}, {P2X+(5.00), P2Y+(-0.00), P2Z+(0.00)}, {P3X+(-7.73), P3Y+(0.00), P3Z+(23.78)}, {P4X+(5.00), P4Y+(-0.00), P4Z+(0.00)}, {P5X+(-7.73), P5Y+(0.00), P5Z+(23.78)}, {P6X+(5.00), 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+(25.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(25.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-0.00), P5Z+(25.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(-5.46), P1Y+(5.46), P1Z+(23.78)}, {P2X+(0.00), P2Y+(-5.00), P2Z+(0.00)}, {P3X+(5.46), P3Y+(5.46), P3Z+(23.78)}, {P4X+(-3.54), P4Y+(3.54), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-7.73), P5Z+(23.78)}, {P6X+(3.54), P6Y+(3.54), P6Z+(0.00)}},
{{P1X+(-10.39), P1Y+(10.39), P1Z+(20.23)}, {P2X+(0.00), P2Y+(-10.00), P2Z+(0.00)}, {P3X+(10.39), P3Y+(10.39), P3Z+(20.23)}, {P4X+(-7.07), P4Y+(7.07), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-14.69), P5Z+(20.23)}, {P6X+(7.07), P6Y+(7.07), P6Z+(0.00)}},
{{P1X+(-14.30), P1Y+(14.30), P1Z+(14.69)}, {P2X+(0.00), P2Y+(-15.00), P2Z+(0.00)}, {P3X+(14.30), P3Y+(14.30), P3Z+(14.69)}, {P4X+(-10.61), P4Y+(10.61), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-20.23), P5Z+(14.69)}, {P6X+(10.61), P6Y+(10.61), P6Z+(0.00)}},
{{P1X+(-16.81), P1Y+(16.81), P1Z+(7.73)}, {P2X+(0.00), P2Y+(-20.00), P2Z+(0.00)}, {P3X+(16.81), P3Y+(16.81), P3Z+(7.73)}, {P4X+(-14.14), P4Y+(14.14), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-23.78), P5Z+(7.73)}, {P6X+(14.14), P6Y+(14.14), P6Z+(0.00)}},
{{P1X+(-17.68), P1Y+(17.68), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-25.00), P2Z+(0.00)}, {P3X+(17.68), P3Y+(17.68), P3Z+(0.00)}, {P4X+(-17.68), P4Y+(17.68), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-25.00), P5Z+(0.00)}, {P6X+(17.68), P6Y+(17.68), P6Z+(0.00)}},
{{P1X+(-14.14), P1Y+(14.14), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-23.78), P2Z+(7.73)}, {P3X+(14.14), P3Y+(14.14), P3Z+(0.00)}, {P4X+(-16.81), P4Y+(16.81), P4Z+(7.73)}, {P5X+(-0.00), P5Y+(-20.00), P5Z+(0.00)}, {P6X+(16.81), P6Y+(16.81), P6Z+(7.73)}},
{{P1X+(-10.61), P1Y+(10.61), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-20.23), P2Z+(14.69)}, {P3X+(10.61), P3Y+(10.61), P3Z+(0.00)}, {P4X+(-14.30), P4Y+(14.30), P4Z+(14.69)}, {P5X+(-0.00), P5Y+(-15.00), P5Z+(0.00)}, {P6X+(14.30), P6Y+(14.30), P6Z+(14.69)}},
{{P1X+(-7.07), P1Y+(7.07), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-14.69), P2Z+(20.23)}, {P3X+(7.07), P3Y+(7.07), P3Z+(0.00)}, {P4X+(-10.39), P4Y+(10.39), P4Z+(20.23)}, {P5X+(-0.00), P5Y+(-10.00), P5Z+(0.00)}, {P6X+(10.39), P6Y+(10.39), P6Z+(20.23)}},
{{P1X+(-3.54), P1Y+(3.54), P1Z+(0.00)}, {P2X+(0.00), P2Y+(-7.73), P2Z+(23.78)}, {P3X+(3.54), P3Y+(3.54), P3Z+(0.00)}, {P4X+(-5.46), P4Y+(5.46), P4Z+(23.78)}, {P5X+(-0.00), P5Y+(-5.00), P5Z+(0.00)}, {P6X+(5.46), P6Y+(5.46), P6Z+(23.78)}},
{{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(25.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(0.00), P4Y+(-0.00), P4Z+(25.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(-0.00), P6Y+(-0.00), P6Z+(25.00)}},
{{P1X+(3.54), P1Y+(-3.54), P1Z+(0.00)}, {P2X+(0.00), P2Y+(7.73), P2Z+(23.78)}, {P3X+(-3.54), P3Y+(-3.54), P3Z+(0.00)}, {P4X+(5.46), P4Y+(-5.46), P4Z+(23.78)}, {P5X+(0.00), P5Y+(5.00), P5Z+(0.00)}, {P6X+(-5.46), P6Y+(-5.46), P6Z+(23.78)}},
{{P1X+(7.07), P1Y+(-7.07), P1Z+(0.00)}, {P2X+(0.00), P2Y+(14.69), P2Z+(20.23)}, {P3X+(-7.07), P3Y+(-7.07), P3Z+(0.00)}, {P4X+(10.39), P4Y+(-10.39), P4Z+(20.23)}, {P5X+(0.00), P5Y+(10.00), P5Z+(0.00)}, {P6X+(-10.39), P6Y+(-10.39), P6Z+(20.23)}},
{{P1X+(10.61), P1Y+(-10.61), P1Z+(0.00)}, {P2X+(0.00), P2Y+(20.23), P2Z+(14.69)}, {P3X+(-10.61), P3Y+(-10.61), P3Z+(0.00)}, {P4X+(14.30), P4Y+(-14.30), P4Z+(14.69)}, {P5X+(0.00), P5Y+(15.00), P5Z+(0.00)}, {P6X+(-14.30), P6Y+(-14.30), P6Z+(14.69)}},
{{P1X+(14.14), P1Y+(-14.14), P1Z+(0.00)}, {P2X+(0.00), P2Y+(23.78), P2Z+(7.73)}, {P3X+(-14.14), P3Y+(-14.14), P3Z+(0.00)}, {P4X+(16.81), P4Y+(-16.81), P4Z+(7.73)}, {P5X+(0.00), P5Y+(20.00), P5Z+(0.00)}, {P6X+(-16.81), P6Y+(-16.81), P6Z+(7.73)}},
{{P1X+(17.68), P1Y+(-17.68), P1Z+(0.00)}, {P2X+(0.00), P2Y+(25.00), P2Z+(0.00)}, {P3X+(-17.68), P3Y+(-17.68), P3Z+(0.00)}, {P4X+(17.68), P4Y+(-17.68), P4Z+(0.00)}, {P5X+(0.00), P5Y+(25.00), P5Z+(0.00)}, {P6X+(-17.68), P6Y+(-17.68), P6Z+(0.00)}},
{{P1X+(16.81), P1Y+(-16.81), P1Z+(7.73)}, {P2X+(0.00), P2Y+(20.00), P2Z+(0.00)}, {P3X+(-16.81), P3Y+(-16.81), P3Z+(7.73)}, {P4X+(14.14), P4Y+(-14.14), P4Z+(0.00)}, {P5X+(0.00), P5Y+(23.78), P5Z+(7.73)}, {P6X+(-14.14), P6Y+(-14.14), P6Z+(0.00)}},
{{P1X+(14.30), P1Y+(-14.30), P1Z+(14.69)}, {P2X+(0.00), P2Y+(15.00), P2Z+(0.00)}, {P3X+(-14.30), P3Y+(-14.30), P3Z+(14.69)}, {P4X+(10.61), P4Y+(-10.61), P4Z+(0.00)}, {P5X+(0.00), P5Y+(20.23), P5Z+(14.69)}, {P6X+(-10.61), P6Y+(-10.61), P6Z+(0.00)}},
{{P1X+(10.39), P1Y+(-10.39), P1Z+(20.23)}, {P2X+(0.00), P2Y+(10.00), P2Z+(0.00)}, {P3X+(-10.39), P3Y+(-10.39), P3Z+(20.23)}, {P4X+(7.07), P4Y+(-7.07), P4Z+(0.00)}, {P5X+(0.00), P5Y+(14.69), P5Z+(20.23)}, {P6X+(-7.07), P6Y+(-7.07), P6Z+(0.00)}},
{{P1X+(5.46), P1Y+(-5.46), P1Z+(23.78)}, {P2X+(0.00), P2Y+(5.00), P2Z+(0.00)}, {P3X+(-5.46), P3Y+(-5.46), P3Z+(23.78)}, {P4X+(3.54), P4Y+(-3.54), P4Z+(0.00)}, {P5X+(0.00), P5Y+(7.73), P5Z+(23.78)}, {P6X+(-3.54), P6Y+(-3.54), 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+(25.00)}, {P2X+(0.00), P2Y+(0.00), P2Z+(0.00)}, {P3X+(-0.00), P3Y+(-0.00), P3Z+(25.00)}, {P4X+(0.00), P4Y+(0.00), P4Z+(0.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(25.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(0.00)}},
{{P1X+(5.46), P1Y+(-5.46), P1Z+(23.78)}, {P2X+(0.00), P2Y+(5.00), P2Z+(0.00)}, {P3X+(-5.46), P3Y+(-5.46), P3Z+(23.78)}, {P4X+(3.54), P4Y+(-3.54), P4Z+(0.00)}, {P5X+(0.00), P5Y+(7.73), P5Z+(23.78)}, {P6X+(-3.54), P6Y+(-3.54), P6Z+(0.00)}},
{{P1X+(10.39), P1Y+(-10.39), P1Z+(20.23)}, {P2X+(0.00), P2Y+(10.00), P2Z+(0.00)}, {P3X+(-10.39), P3Y+(-10.39), P3Z+(20.23)}, {P4X+(7.07), P4Y+(-7.07), P4Z+(0.00)}, {P5X+(0.00), P5Y+(14.69), P5Z+(20.23)}, {P6X+(-7.07), P6Y+(-7.07), P6Z+(0.00)}},
{{P1X+(14.30), P1Y+(-14.30), P1Z+(14.69)}, {P2X+(0.00), P2Y+(15.00), P2Z+(0.00)}, {P3X+(-14.30), P3Y+(-14.30), P3Z+(14.69)}, {P4X+(10.61), P4Y+(-10.61), P4Z+(0.00)}, {P5X+(0.00), P5Y+(20.23), P5Z+(14.69)}, {P6X+(-10.61), P6Y+(-10.61), P6Z+(0.00)}},
{{P1X+(16.81), P1Y+(-16.81), P1Z+(7.73)}, {P2X+(0.00), P2Y+(20.00), P2Z+(0.00)}, {P3X+(-16.81), P3Y+(-16.81), P3Z+(7.73)}, {P4X+(14.14), P4Y+(-14.14), P4Z+(0.00)}, {P5X+(0.00), P5Y+(23.78), P5Z+(7.73)}, {P6X+(-14.14), P6Y+(-14.14), P6Z+(0.00)}},
{{P1X+(17.68), P1Y+(-17.68), P1Z+(0.00)}, {P2X+(0.00), P2Y+(25.00), P2Z+(0.00)}, {P3X+(-17.68), P3Y+(-17.68), P3Z+(0.00)}, {P4X+(17.68), P4Y+(-17.68), P4Z+(0.00)}, {P5X+(0.00), P5Y+(25.00), P5Z+(0.00)}, {P6X+(-17.68), P6Y+(-17.68), P6Z+(0.00)}},
{{P1X+(14.14), P1Y+(-14.14), P1Z+(0.00)}, {P2X+(0.00), P2Y+(23.78), P2Z+(7.73)}, {P3X+(-14.14), P3Y+(-14.14), P3Z+(0.00)}, {P4X+(16.81), P4Y+(-16.81), P4Z+(7.73)}, {P5X+(0.00), P5Y+(20.00), P5Z+(0.00)}, {P6X+(-16.81), P6Y+(-16.81), P6Z+(7.73)}},
{{P1X+(10.61), P1Y+(-10.61), P1Z+(0.00)}, {P2X+(0.00), P2Y+(20.23), P2Z+(14.69)}, {P3X+(-10.61), P3Y+(-10.61), P3Z+(0.00)}, {P4X+(14.30), P4Y+(-14.30), P4Z+(14.69)}, {P5X+(0.00), P5Y+(15.00), P5Z+(0.00)}, {P6X+(-14.30), P6Y+(-14.30), P6Z+(14.69)}},
{{P1X+(7.07), P1Y+(-7.07), P1Z+(0.00)}, {P2X+(0.00), P2Y+(14.69), P2Z+(20.23)}, {P3X+(-7.07), P3Y+(-7.07), P3Z+(0.00)}, {P4X+(10.39), P4Y+(-10.39), P4Z+(20.23)}, {P5X+(0.00), P5Y+(10.00), P5Z+(0.00)}, {P6X+(-10.39), P6Y+(-10.39), P6Z+(20.23)}},
{{P1X+(3.54), P1Y+(-3.54), P1Z+(0.00)}, {P2X+(0.00), P2Y+(7.73), P2Z+(23.78)}, {P3X+(-3.54), P3Y+(-3.54), P3Z+(0.00)}, {P4X+(5.46), P4Y+(-5.46), P4Z+(23.78)}, {P5X+(0.00), P5Y+(5.00), P5Z+(0.00)}, {P6X+(-5.46), P6Y+(-5.46), P6Z+(23.78)}},
{{P1X+(0.00), P1Y+(0.00), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-0.00), P2Z+(25.00)}, {P3X+(0.00), P3Y+(0.00), P3Z+(0.00)}, {P4X+(-0.00), P4Y+(0.00), P4Z+(25.00)}, {P5X+(0.00), P5Y+(0.00), P5Z+(0.00)}, {P6X+(0.00), P6Y+(0.00), P6Z+(25.00)}},
{{P1X+(-3.54), P1Y+(3.54), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-7.73), P2Z+(23.78)}, {P3X+(3.54), P3Y+(3.54), P3Z+(0.00)}, {P4X+(-5.46), P4Y+(5.46), P4Z+(23.78)}, {P5X+(-0.00), P5Y+(-5.00), P5Z+(0.00)}, {P6X+(5.46), P6Y+(5.46), P6Z+(23.78)}},
{{P1X+(-7.07), P1Y+(7.07), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-14.69), P2Z+(20.23)}, {P3X+(7.07), P3Y+(7.07), P3Z+(0.00)}, {P4X+(-10.39), P4Y+(10.39), P4Z+(20.23)}, {P5X+(-0.00), P5Y+(-10.00), P5Z+(0.00)}, {P6X+(10.39), P6Y+(10.39), P6Z+(20.23)}},
{{P1X+(-10.61), P1Y+(10.61), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-20.23), P2Z+(14.69)}, {P3X+(10.61), P3Y+(10.61), P3Z+(0.00)}, {P4X+(-14.30), P4Y+(14.30), P4Z+(14.69)}, {P5X+(-0.00), P5Y+(-15.00), P5Z+(0.00)}, {P6X+(14.30), P6Y+(14.30), P6Z+(14.69)}},
{{P1X+(-14.14), P1Y+(14.14), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-23.78), P2Z+(7.73)}, {P3X+(14.14), P3Y+(14.14), P3Z+(0.00)}, {P4X+(-16.81), P4Y+(16.81), P4Z+(7.73)}, {P5X+(-0.00), P5Y+(-20.00), P5Z+(0.00)}, {P6X+(16.81), P6Y+(16.81), P6Z+(7.73)}},
{{P1X+(-17.68), P1Y+(17.68), P1Z+(0.00)}, {P2X+(-0.00), P2Y+(-25.00), P2Z+(0.00)}, {P3X+(17.68), P3Y+(17.68), P3Z+(0.00)}, {P4X+(-17.68), P4Y+(17.68), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-25.00), P5Z+(0.00)}, {P6X+(17.68), P6Y+(17.68), P6Z+(0.00)}},
{{P1X+(-16.81), P1Y+(16.81), P1Z+(7.73)}, {P2X+(-0.00), P2Y+(-20.00), P2Z+(0.00)}, {P3X+(16.81), P3Y+(16.81), P3Z+(7.73)}, {P4X+(-14.14), P4Y+(14.14), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-23.78), P5Z+(7.73)}, {P6X+(14.14), P6Y+(14.14), P6Z+(0.00)}},
{{P1X+(-14.30), P1Y+(14.30), P1Z+(14.69)}, {P2X+(-0.00), P2Y+(-15.00), P2Z+(0.00)}, {P3X+(14.30), P3Y+(14.30), P3Z+(14.69)}, {P4X+(-10.61), P4Y+(10.61), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-20.23), P5Z+(14.69)}, {P6X+(10.61), P6Y+(10.61), P6Z+(0.00)}},
{{P1X+(-10.39), P1Y+(10.39), P1Z+(20.23)}, {P2X+(-0.00), P2Y+(-10.00), P2Z+(0.00)}, {P3X+(10.39), P3Y+(10.39), P3Z+(20.23)}, {P4X+(-7.07), P4Y+(7.07), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-14.69), P5Z+(20.23)}, {P6X+(7.07), P6Y+(7.07), P6Z+(0.00)}},
{{P1X+(-5.46), P1Y+(5.46), P1Z+(23.78)}, {P2X+(-0.00), P2Y+(-5.00), P2Z+(0.00)}, {P3X+(5.46), P3Y+(5.46), P3Z+(23.78)}, {P4X+(-3.54), P4Y+(3.54), P4Z+(0.00)}, {P5X+(-0.00), P5Y+(-7.73), P5Z+(23.78)}, {P6X+(3.54), P6Y+(3.54), P6Z+(0.00)}},
};
const int turnright_entries[] { 0,10 };
const MovementTable turnright_table {turnright_paths, 20, 20, turnright_entries, 2 };
const Locations twist_paths[] {
{{P1X*1.00 + P1Y*0.00 + P1Z*0.00 + 0.00, P1X*0.00 + P1Y*1.00 + P1Z*-0.05 + 0.00, 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 + 0.00, 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 + 0.00, 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 + 0.00, 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 + 0.00, 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 + 0.00, P6X*0.00 + P6Y*0.05 + P6Z*1.00 + 0.00}},
{{P1X*1.00 + P1Y*-0.07 + P1Z*0.00 + 0.00, P1X*0.07 + P1Y*0.99 + P1Z*-0.09 + 0.00, P1X*0.00 + P1Y*0.09 + P1Z*1.00 + 0.00},
{P2X*1.00 + P2Y*-0.07 + P2Z*0.00 + 0.00, P2X*0.07 + P2Y*0.99 + P2Z*-0.09 + 0.00, P2X*0.00 + P2Y*0.09 + P2Z*1.00 + 0.00},
{P3X*1.00 + P3Y*-0.07 + P3Z*0.00 + 0.00, P3X*0.07 + P3Y*0.99 + P3Z*-0.09 + 0.00, P3X*0.00 + P3Y*0.09 + P3Z*1.00 + 0.00},
{P4X*1.00 + P4Y*-0.07 + P4Z*0.00 + 0.00, P4X*0.07 + P4Y*0.99 + P4Z*-0.09 + 0.00, P4X*0.00 + P4Y*0.09 + P4Z*1.00 + 0.00},
{P5X*1.00 + P5Y*-0.07 + P5Z*0.00 + 0.00, P5X*0.07 + P5Y*0.99 + P5Z*-0.09 + 0.00, P5X*0.00 + P5Y*0.09 + P5Z*1.00 + 0.00},
{P6X*1.00 + P6Y*-0.07 + P6Z*0.00 + 0.00, P6X*0.07 + P6Y*0.99 + P6Z*-0.09 + 0.00, P6X*0.00 + P6Y*0.09 + P6Z*1.00 + 0.00}},
{{P1X*0.99 + P1Y*-0.14 + P1Z*0.01 + 0.00, P1X*0.14 + P1Y*0.98 + P1Z*-0.13 + 0.00, P1X*0.01 + P1Y*0.14 + P1Z*0.99 + 0.00},
{P2X*0.99 + P2Y*-0.14 + P2Z*0.01 + 0.00, P2X*0.14 + P2Y*0.98 + P2Z*-0.13 + 0.00, P2X*0.01 + P2Y*0.14 + P2Z*0.99 + 0.00},
{P3X*0.99 + P3Y*-0.14 + P3Z*0.01 + 0.00, P3X*0.14 + P3Y*0.98 + P3Z*-0.13 + 0.00, P3X*0.01 + P3Y*0.14 + P3Z*0.99 + 0.00},
{P4X*0.99 + P4Y*-0.14 + P4Z*0.01 + 0.00, P4X*0.14 + P4Y*0.98 + P4Z*-0.13 + 0.00, P4X*0.01 + P4Y*0.14 + P4Z*0.99 + 0.00},
{P5X*0.99 + P5Y*-0.14 + P5Z*0.01 + 0.00, P5X*0.14 + P5Y*0.98 + P5Z*-0.13 + 0.00, P5X*0.01 + P5Y*0.14 + P5Z*0.99 + 0.00},
{P6X*0.99 + P6Y*-0.14 + P6Z*0.01 + 0.00, P6X*0.14 + P6Y*0.98 + P6Z*-0.13 + 0.00, P6X*0.01 + P6Y*0.14 + P6Z*0.99 + 0.00}},
{{P1X*0.98 + P1Y*-0.21 + P1Z*0.03 + 0.00, P1X*0.21 + P1Y*0.96 + P1Z*-0.17 + 0.00, P1X*0.01 + P1Y*0.18 + P1Z*0.98 + 0.00},
{P2X*0.98 + P2Y*-0.21 + P2Z*0.03 + 0.00, P2X*0.21 + P2Y*0.96 + P2Z*-0.17 + 0.00, P2X*0.01 + P2Y*0.18 + P2Z*0.98 + 0.00},
{P3X*0.98 + P3Y*-0.21 + P3Z*0.03 + 0.00, P3X*0.21 + P3Y*0.96 + P3Z*-0.17 + 0.00, P3X*0.01 + P3Y*0.18 + P3Z*0.98 + 0.00},
{P4X*0.98 + P4Y*-0.21 + P4Z*0.03 + 0.00, P4X*0.21 + P4Y*0.96 + P4Z*-0.17 + 0.00, P4X*0.01 + P4Y*0.18 + P4Z*0.98 + 0.00},
{P5X*0.98 + P5Y*-0.21 + P5Z*0.03 + 0.00, P5X*0.21 + P5Y*0.96 + P5Z*-0.17 + 0.00, P5X*0.01 + P5Y*0.18 + P5Z*0.98 + 0.00},
{P6X*0.98 + P6Y*-0.21 + P6Z*0.03 + 0.00, P6X*0.21 + P6Y*0.96 + P6Z*-0.17 + 0.00, P6X*0.01 + P6Y*0.18 + P6Z*0.98 + 0.00}},
{{P1X*0.96 + P1Y*-0.27 + P1Z*0.05 + 0.00, P1X*0.28 + P1Y*0.94 + P1Z*-0.21 + 0.00, P1X*0.01 + P1Y*0.22 + P1Z*0.98 + 0.00},
{P2X*0.96 + P2Y*-0.27 + P2Z*0.05 + 0.00, P2X*0.28 + P2Y*0.94 + P2Z*-0.21 + 0.00, P2X*0.01 + P2Y*0.22 + P2Z*0.98 + 0.00},
{P3X*0.96 + P3Y*-0.27 + P3Z*0.05 + 0.00, P3X*0.28 + P3Y*0.94 + P3Z*-0.21 + 0.00, P3X*0.01 + P3Y*0.22 + P3Z*0.98 + 0.00},
{P4X*0.96 + P4Y*-0.27 + P4Z*0.05 + 0.00, P4X*0.28 + P4Y*0.94 + P4Z*-0.21 + 0.00, P4X*0.01 + P4Y*0.22 + P4Z*0.98 + 0.00},
{P5X*0.96 + P5Y*-0.27 + P5Z*0.05 + 0.00, P5X*0.28 + P5Y*0.94 + P5Z*-0.21 + 0.00, P5X*0.01 + P5Y*0.22 + P5Z*0.98 + 0.00},
{P6X*0.96 + P6Y*-0.27 + P6Z*0.05 + 0.00, P6X*0.28 + P6Y*0.94 + P6Z*-0.21 + 0.00, P6X*0.01 + P6Y*0.22 + P6Z*0.98 + 0.00}},
{{P1X*0.94 + P1Y*-0.33 + P1Z*0.07 + 0.00, P1X*0.34 + P1Y*0.91 + P1Z*-0.25 + 0.00, P1X*0.02 + P1Y*0.26 + P1Z*0.97 + 0.00},
{P2X*0.94 + P2Y*-0.33 + P2Z*0.07 + 0.00, P2X*0.34 + P2Y*0.91 + P2Z*-0.25 + 0.00, P2X*0.02 + P2Y*0.26 + P2Z*0.97 + 0.00},
{P3X*0.94 + P3Y*-0.33 + P3Z*0.07 + 0.00, P3X*0.34 + P3Y*0.91 + P3Z*-0.25 + 0.00, P3X*0.02 + P3Y*0.26 + P3Z*0.97 + 0.00},
{P4X*0.94 + P4Y*-0.33 + P4Z*0.07 + 0.00, P4X*0.34 + P4Y*0.91 + P4Z*-0.25 + 0.00, P4X*0.02 + P4Y*0.26 + P4Z*0.97 + 0.00},
{P5X*0.94 + P5Y*-0.33 + P5Z*0.07 + 0.00, P5X*0.34 + P5Y*0.91 + P5Z*-0.25 + 0.00, P5X*0.02 + P5Y*0.26 + P5Z*0.97 + 0.00},
{P6X*0.94 + P6Y*-0.33 + P6Z*0.07 + 0.00, P6X*0.34 + P6Y*0.91 + P6Z*-0.25 + 0.00, P6X*0.02 + P6Y*0.26 + P6Z*0.97 + 0.00}},
{{P1X*0.96 + P1Y*-0.27 + P1Z*0.05 + 0.00, P1X*0.28 + P1Y*0.94 + P1Z*-0.21 + 0.00, P1X*0.01 + P1Y*0.22 + P1Z*0.98 + 0.00},
{P2X*0.96 + P2Y*-0.27 + P2Z*0.05 + 0.00, P2X*0.28 + P2Y*0.94 + P2Z*-0.21 + 0.00, P2X*0.01 + P2Y*0.22 + P2Z*0.98 + 0.00},
{P3X*0.96 + P3Y*-0.27 + P3Z*0.05 + 0.00, P3X*0.28 + P3Y*0.94 + P3Z*-0.21 + 0.00, P3X*0.01 + P3Y*0.22 + P3Z*0.98 + 0.00},
{P4X*0.96 + P4Y*-0.27 + P4Z*0.05 + 0.00, P4X*0.28 + P4Y*0.94 + P4Z*-0.21 + 0.00, P4X*0.01 + P4Y*0.22 + P4Z*0.98 + 0.00},
{P5X*0.96 + P5Y*-0.27 + P5Z*0.05 + 0.00, P5X*0.28 + P5Y*0.94 + P5Z*-0.21 + 0.00, P5X*0.01 + P5Y*0.22 + P5Z*0.98 + 0.00},
{P6X*0.96 + P6Y*-0.27 + P6Z*0.05 + 0.00, P6X*0.28 + P6Y*0.94 + P6Z*-0.21 + 0.00, P6X*0.01 + P6Y*0.22 + P6Z*0.98 + 0.00}},
{{P1X*0.98 + P1Y*-0.21 + P1Z*0.03 + 0.00, P1X*0.21 + P1Y*0.96 + P1Z*-0.17 + 0.00, P1X*0.01 + P1Y*0.18 + P1Z*0.98 + 0.00},
{P2X*0.98 + P2Y*-0.21 + P2Z*0.03 + 0.00, P2X*0.21 + P2Y*0.96 + P2Z*-0.17 + 0.00, P2X*0.01 + P2Y*0.18 + P2Z*0.98 + 0.00},
{P3X*0.98 + P3Y*-0.21 + P3Z*0.03 + 0.00, P3X*0.21 + P3Y*0.96 + P3Z*-0.17 + 0.00, P3X*0.01 + P3Y*0.18 + P3Z*0.98 + 0.00},
{P4X*0.98 + P4Y*-0.21 + P4Z*0.03 + 0.00, P4X*0.21 + P4Y*0.96 + P4Z*-0.17 + 0.00, P4X*0.01 + P4Y*0.18 + P4Z*0.98 + 0.00},
{P5X*0.98 + P5Y*-0.21 + P5Z*0.03 + 0.00, P5X*0.21 + P5Y*0.96 + P5Z*-0.17 + 0.00, P5X*0.01 + P5Y*0.18 + P5Z*0.98 + 0.00},
{P6X*0.98 + P6Y*-0.21 + P6Z*0.03 + 0.00, P6X*0.21 + P6Y*0.96 + P6Z*-0.17 + 0.00, P6X*0.01 + P6Y*0.18 + P6Z*0.98 + 0.00}},
{{P1X*0.99 + P1Y*-0.14 + P1Z*0.01 + 0.00, P1X*0.14 + P1Y*0.98 + P1Z*-0.13 + 0.00, P1X*0.01 + P1Y*0.14 + P1Z*0.99 + 0.00},
{P2X*0.99 + P2Y*-0.14 + P2Z*0.01 + 0.00, P2X*0.14 + P2Y*0.98 + P2Z*-0.13 + 0.00, P2X*0.01 + P2Y*0.14 + P2Z*0.99 + 0.00},
{P3X*0.99 + P3Y*-0.14 + P3Z*0.01 + 0.00, P3X*0.14 + P3Y*0.98 + P3Z*-0.13 + 0.00, P3X*0.01 + P3Y*0.14 + P3Z*0.99 + 0.00},
{P4X*0.99 + P4Y*-0.14 + P4Z*0.01 + 0.00, P4X*0.14 + P4Y*0.98 + P4Z*-0.13 + 0.00, P4X*0.01 + P4Y*0.14 + P4Z*0.99 + 0.00},
{P5X*0.99 + P5Y*-0.14 + P5Z*0.01 + 0.00, P5X*0.14 + P5Y*0.98 + P5Z*-0.13 + 0.00, P5X*0.01 + P5Y*0.14 + P5Z*0.99 + 0.00},
{P6X*0.99 + P6Y*-0.14 + P6Z*0.01 + 0.00, P6X*0.14 + P6Y*0.98 + P6Z*-0.13 + 0.00, P6X*0.01 + P6Y*0.14 + P6Z*0.99 + 0.00}},
{{P1X*1.00 + P1Y*-0.07 + P1Z*0.00 + 0.00, P1X*0.07 + P1Y*0.99 + P1Z*-0.09 + 0.00, P1X*0.00 + P1Y*0.09 + P1Z*1.00 + 0.00},
{P2X*1.00 + P2Y*-0.07 + P2Z*0.00 + 0.00, P2X*0.07 + P2Y*0.99 + P2Z*-0.09 + 0.00, P2X*0.00 + P2Y*0.09 + P2Z*1.00 + 0.00},
{P3X*1.00 + P3Y*-0.07 + P3Z*0.00 + 0.00, P3X*0.07 + P3Y*0.99 + P3Z*-0.09 + 0.00, P3X*0.00 + P3Y*0.09 + P3Z*1.00 + 0.00},
{P4X*1.00 + P4Y*-0.07 + P4Z*0.00 + 0.00, P4X*0.07 + P4Y*0.99 + P4Z*-0.09 + 0.00, P4X*0.00 + P4Y*0.09 + P4Z*1.00 + 0.00},
{P5X*1.00 + P5Y*-0.07 + P5Z*0.00 + 0.00, P5X*0.07 + P5Y*0.99 + P5Z*-0.09 + 0.00, P5X*0.00 + P5Y*0.09 + P5Z*1.00 + 0.00},
{P6X*1.00 + P6Y*-0.07 + P6Z*0.00 + 0.00, P6X*0.07 + P6Y*0.99 + P6Z*-0.09 + 0.00, P6X*0.00 + P6Y*0.09 + 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 + 0.00, 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 + 0.00, 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 + 0.00, 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 + 0.00, 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 + 0.00, 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 + 0.00, P6X*0.00 + P6Y*0.05 + P6Z*1.00 + 0.00}},
{{P1X*1.00 + P1Y*0.07 + P1Z*-0.00 + 0.00, P1X*-0.07 + P1Y*0.99 + P1Z*-0.09 + 0.00, P1X*-0.00 + P1Y*0.09 + P1Z*1.00 + 0.00},
{P2X*1.00 + P2Y*0.07 + P2Z*-0.00 + 0.00, P2X*-0.07 + P2Y*0.99 + P2Z*-0.09 + 0.00, P2X*-0.00 + P2Y*0.09 + P2Z*1.00 + 0.00},
{P3X*1.00 + P3Y*0.07 + P3Z*-0.00 + 0.00, P3X*-0.07 + P3Y*0.99 + P3Z*-0.09 + 0.00, P3X*-0.00 + P3Y*0.09 + P3Z*1.00 + 0.00},
{P4X*1.00 + P4Y*0.07 + P4Z*-0.00 + 0.00, P4X*-0.07 + P4Y*0.99 + P4Z*-0.09 + 0.00, P4X*-0.00 + P4Y*0.09 + P4Z*1.00 + 0.00},
{P5X*1.00 + P5Y*0.07 + P5Z*-0.00 + 0.00, P5X*-0.07 + P5Y*0.99 + P5Z*-0.09 + 0.00, P5X*-0.00 + P5Y*0.09 + P5Z*1.00 + 0.00},
{P6X*1.00 + P6Y*0.07 + P6Z*-0.00 + 0.00, P6X*-0.07 + P6Y*0.99 + P6Z*-0.09 + 0.00, P6X*-0.00 + P6Y*0.09 + P6Z*1.00 + 0.00}},
{{P1X*0.99 + P1Y*0.14 + P1Z*-0.01 + 0.00, P1X*-0.14 + P1Y*0.98 + P1Z*-0.13 + 0.00, P1X*-0.01 + P1Y*0.14 + P1Z*0.99 + 0.00},
{P2X*0.99 + P2Y*0.14 + P2Z*-0.01 + 0.00, P2X*-0.14 + P2Y*0.98 + P2Z*-0.13 + 0.00, P2X*-0.01 + P2Y*0.14 + P2Z*0.99 + 0.00},
{P3X*0.99 + P3Y*0.14 + P3Z*-0.01 + 0.00, P3X*-0.14 + P3Y*0.98 + P3Z*-0.13 + 0.00, P3X*-0.01 + P3Y*0.14 + P3Z*0.99 + 0.00},
{P4X*0.99 + P4Y*0.14 + P4Z*-0.01 + 0.00, P4X*-0.14 + P4Y*0.98 + P4Z*-0.13 + 0.00, P4X*-0.01 + P4Y*0.14 + P4Z*0.99 + 0.00},
{P5X*0.99 + P5Y*0.14 + P5Z*-0.01 + 0.00, P5X*-0.14 + P5Y*0.98 + P5Z*-0.13 + 0.00, P5X*-0.01 + P5Y*0.14 + P5Z*0.99 + 0.00},
{P6X*0.99 + P6Y*0.14 + P6Z*-0.01 + 0.00, P6X*-0.14 + P6Y*0.98 + P6Z*-0.13 + 0.00, P6X*-0.01 + P6Y*0.14 + P6Z*0.99 + 0.00}},
{{P1X*0.98 + P1Y*0.21 + P1Z*-0.03 + 0.00, P1X*-0.21 + P1Y*0.96 + P1Z*-0.17 + 0.00, P1X*-0.01 + P1Y*0.18 + P1Z*0.98 + 0.00},
{P2X*0.98 + P2Y*0.21 + P2Z*-0.03 + 0.00, P2X*-0.21 + P2Y*0.96 + P2Z*-0.17 + 0.00, P2X*-0.01 + P2Y*0.18 + P2Z*0.98 + 0.00},
{P3X*0.98 + P3Y*0.21 + P3Z*-0.03 + 0.00, P3X*-0.21 + P3Y*0.96 + P3Z*-0.17 + 0.00, P3X*-0.01 + P3Y*0.18 + P3Z*0.98 + 0.00},
{P4X*0.98 + P4Y*0.21 + P4Z*-0.03 + 0.00, P4X*-0.21 + P4Y*0.96 + P4Z*-0.17 + 0.00, P4X*-0.01 + P4Y*0.18 + P4Z*0.98 + 0.00},
{P5X*0.98 + P5Y*0.21 + P5Z*-0.03 + 0.00, P5X*-0.21 + P5Y*0.96 + P5Z*-0.17 + 0.00, P5X*-0.01 + P5Y*0.18 + P5Z*0.98 + 0.00},
{P6X*0.98 + P6Y*0.21 + P6Z*-0.03 + 0.00, P6X*-0.21 + P6Y*0.96 + P6Z*-0.17 + 0.00, P6X*-0.01 + P6Y*0.18 + P6Z*0.98 + 0.00}},
{{P1X*0.96 + P1Y*0.27 + P1Z*-0.05 + 0.00, P1X*-0.28 + P1Y*0.94 + P1Z*-0.21 + 0.00, P1X*-0.01 + P1Y*0.22 + P1Z*0.98 + 0.00},
{P2X*0.96 + P2Y*0.27 + P2Z*-0.05 + 0.00, P2X*-0.28 + P2Y*0.94 + P2Z*-0.21 + 0.00, P2X*-0.01 + P2Y*0.22 + P2Z*0.98 + 0.00},
{P3X*0.96 + P3Y*0.27 + P3Z*-0.05 + 0.00, P3X*-0.28 + P3Y*0.94 + P3Z*-0.21 + 0.00, P3X*-0.01 + P3Y*0.22 + P3Z*0.98 + 0.00},
{P4X*0.96 + P4Y*0.27 + P4Z*-0.05 + 0.00, P4X*-0.28 + P4Y*0.94 + P4Z*-0.21 + 0.00, P4X*-0.01 + P4Y*0.22 + P4Z*0.98 + 0.00},
{P5X*0.96 + P5Y*0.27 + P5Z*-0.05 + 0.00, P5X*-0.28 + P5Y*0.94 + P5Z*-0.21 + 0.00, P5X*-0.01 + P5Y*0.22 + P5Z*0.98 + 0.00},
{P6X*0.96 + P6Y*0.27 + P6Z*-0.05 + 0.00, P6X*-0.28 + P6Y*0.94 + P6Z*-0.21 + 0.00, P6X*-0.01 + P6Y*0.22 + P6Z*0.98 + 0.00}},
{{P1X*0.94 + P1Y*0.33 + P1Z*-0.07 + 0.00, P1X*-0.34 + P1Y*0.91 + P1Z*-0.25 + 0.00, P1X*-0.02 + P1Y*0.26 + P1Z*0.97 + 0.00},
{P2X*0.94 + P2Y*0.33 + P2Z*-0.07 + 0.00, P2X*-0.34 + P2Y*0.91 + P2Z*-0.25 + 0.00, P2X*-0.02 + P2Y*0.26 + P2Z*0.97 + 0.00},
{P3X*0.94 + P3Y*0.33 + P3Z*-0.07 + 0.00, P3X*-0.34 + P3Y*0.91 + P3Z*-0.25 + 0.00, P3X*-0.02 + P3Y*0.26 + P3Z*0.97 + 0.00},
{P4X*0.94 + P4Y*0.33 + P4Z*-0.07 + 0.00, P4X*-0.34 + P4Y*0.91 + P4Z*-0.25 + 0.00, P4X*-0.02 + P4Y*0.26 + P4Z*0.97 + 0.00},
{P5X*0.94 + P5Y*0.33 + P5Z*-0.07 + 0.00, P5X*-0.34 + P5Y*0.91 + P5Z*-0.25 + 0.00, P5X*-0.02 + P5Y*0.26 + P5Z*0.97 + 0.00},
{P6X*0.94 + P6Y*0.33 + P6Z*-0.07 + 0.00, P6X*-0.34 + P6Y*0.91 + P6Z*-0.25 + 0.00, P6X*-0.02 + P6Y*0.26 + P6Z*0.97 + 0.00}},
{{P1X*0.96 + P1Y*0.27 + P1Z*-0.05 + 0.00, P1X*-0.28 + P1Y*0.94 + P1Z*-0.21 + 0.00, P1X*-0.01 + P1Y*0.22 + P1Z*0.98 + 0.00},
{P2X*0.96 + P2Y*0.27 + P2Z*-0.05 + 0.00, P2X*-0.28 + P2Y*0.94 + P2Z*-0.21 + 0.00, P2X*-0.01 + P2Y*0.22 + P2Z*0.98 + 0.00},
{P3X*0.96 + P3Y*0.27 + P3Z*-0.05 + 0.00, P3X*-0.28 + P3Y*0.94 + P3Z*-0.21 + 0.00, P3X*-0.01 + P3Y*0.22 + P3Z*0.98 + 0.00},
{P4X*0.96 + P4Y*0.27 + P4Z*-0.05 + 0.00, P4X*-0.28 + P4Y*0.94 + P4Z*-0.21 + 0.00, P4X*-0.01 + P4Y*0.22 + P4Z*0.98 + 0.00},
{P5X*0.96 + P5Y*0.27 + P5Z*-0.05 + 0.00, P5X*-0.28 + P5Y*0.94 + P5Z*-0.21 + 0.00, P5X*-0.01 + P5Y*0.22 + P5Z*0.98 + 0.00},
{P6X*0.96 + P6Y*0.27 + P6Z*-0.05 + 0.00, P6X*-0.28 + P6Y*0.94 + P6Z*-0.21 + 0.00, P6X*-0.01 + P6Y*0.22 + P6Z*0.98 + 0.00}},
{{P1X*0.98 + P1Y*0.21 + P1Z*-0.03 + 0.00, P1X*-0.21 + P1Y*0.96 + P1Z*-0.17 + 0.00, P1X*-0.01 + P1Y*0.18 + P1Z*0.98 + 0.00},
{P2X*0.98 + P2Y*0.21 + P2Z*-0.03 + 0.00, P2X*-0.21 + P2Y*0.96 + P2Z*-0.17 + 0.00, P2X*-0.01 + P2Y*0.18 + P2Z*0.98 + 0.00},
{P3X*0.98 + P3Y*0.21 + P3Z*-0.03 + 0.00, P3X*-0.21 + P3Y*0.96 + P3Z*-0.17 + 0.00, P3X*-0.01 + P3Y*0.18 + P3Z*0.98 + 0.00},
{P4X*0.98 + P4Y*0.21 + P4Z*-0.03 + 0.00, P4X*-0.21 + P4Y*0.96 + P4Z*-0.17 + 0.00, P4X*-0.01 + P4Y*0.18 + P4Z*0.98 + 0.00},
{P5X*0.98 + P5Y*0.21 + P5Z*-0.03 + 0.00, P5X*-0.21 + P5Y*0.96 + P5Z*-0.17 + 0.00, P5X*-0.01 + P5Y*0.18 + P5Z*0.98 + 0.00},
{P6X*0.98 + P6Y*0.21 + P6Z*-0.03 + 0.00, P6X*-0.21 + P6Y*0.96 + P6Z*-0.17 + 0.00, P6X*-0.01 + P6Y*0.18 + P6Z*0.98 + 0.00}},
{{P1X*0.99 + P1Y*0.14 + P1Z*-0.01 + 0.00, P1X*-0.14 + P1Y*0.98 + P1Z*-0.13 + 0.00, P1X*-0.01 + P1Y*0.14 + P1Z*0.99 + 0.00},
{P2X*0.99 + P2Y*0.14 + P2Z*-0.01 + 0.00, P2X*-0.14 + P2Y*0.98 + P2Z*-0.13 + 0.00, P2X*-0.01 + P2Y*0.14 + P2Z*0.99 + 0.00},
{P3X*0.99 + P3Y*0.14 + P3Z*-0.01 + 0.00, P3X*-0.14 + P3Y*0.98 + P3Z*-0.13 + 0.00, P3X*-0.01 + P3Y*0.14 + P3Z*0.99 + 0.00},
{P4X*0.99 + P4Y*0.14 + P4Z*-0.01 + 0.00, P4X*-0.14 + P4Y*0.98 + P4Z*-0.13 + 0.00, P4X*-0.01 + P4Y*0.14 + P4Z*0.99 + 0.00},
{P5X*0.99 + P5Y*0.14 + P5Z*-0.01 + 0.00, P5X*-0.14 + P5Y*0.98 + P5Z*-0.13 + 0.00, P5X*-0.01 + P5Y*0.14 + P5Z*0.99 + 0.00},
{P6X*0.99 + P6Y*0.14 + P6Z*-0.01 + 0.00, P6X*-0.14 + P6Y*0.98 + P6Z*-0.13 + 0.00, P6X*-0.01 + P6Y*0.14 + P6Z*0.99 + 0.00}},
{{P1X*1.00 + P1Y*0.07 + P1Z*-0.00 + 0.00, P1X*-0.07 + P1Y*0.99 + P1Z*-0.09 + 0.00, P1X*-0.00 + P1Y*0.09 + P1Z*1.00 + 0.00},
{P2X*1.00 + P2Y*0.07 + P2Z*-0.00 + 0.00, P2X*-0.07 + P2Y*0.99 + P2Z*-0.09 + 0.00, P2X*-0.00 + P2Y*0.09 + P2Z*1.00 + 0.00},
{P3X*1.00 + P3Y*0.07 + P3Z*-0.00 + 0.00, P3X*-0.07 + P3Y*0.99 + P3Z*-0.09 + 0.00, P3X*-0.00 + P3Y*0.09 + P3Z*1.00 + 0.00},
{P4X*1.00 + P4Y*0.07 + P4Z*-0.00 + 0.00, P4X*-0.07 + P4Y*0.99 + P4Z*-0.09 + 0.00, P4X*-0.00 + P4Y*0.09 + P4Z*1.00 + 0.00},
{P5X*1.00 + P5Y*0.07 + P5Z*-0.00 + 0.00, P5X*-0.07 + P5Y*0.99 + P5Z*-0.09 + 0.00, P5X*-0.00 + P5Y*0.09 + P5Z*1.00 + 0.00},
{P6X*1.00 + P6Y*0.07 + P6Z*-0.00 + 0.00, P6X*-0.07 + P6Y*0.99 + P6Z*-0.09 + 0.00, P6X*-0.00 + P6Y*0.09 + P6Z*1.00 + 0.00}},
};
const int twist_entries[] { 0,10 };
const MovementTable twist_table {twist_paths, 20, 50, twist_entries, 2 };
}
const MovementTable& backwardTable() {
return backward_table;
}
const MovementTable& climbTable() {
return climb_table;
}
const MovementTable& forwardTable() {
return forward_table;
}
const MovementTable& forwardfastTable() {
return forwardfast_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;
}
const MovementTable& twistTable() {
return twist_table;
}

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software/archive/hexapod7697/src/hexapod/movements.cpp
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#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"
}

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software/archive/hexapod7697/src/hexapod/servo.cpp
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#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_;
}
}

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software/archive/hexapod7697/src/hexapod/servo.h
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#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_;
};
}

83
software/archive/hexapod7697/src/linkit_control/ui_controls.cpp
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#include <Arduino.h>
#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<Button *> lists) {
for (auto button : lists) {
addControl(button);
}
}
void ButtonGroup::process() {
if (!callback_)
return;
if (pressed_) {
if (pressed_->isValueChanged() && pressed_->getValue() == 0) {
callback_(pressed_->_id, UP);
pressed_ = nullptr;
}
else if (millis() >= time_repeat_) {
callback_(pressed_->_id, REPEAT);
count_repeat_ += 1;
if (count_repeat_ < kRepeatPeriod1Count)
time_repeat_ = millis() + kRepeatPeriod1;
else
time_repeat_ = millis() + kRepeatPeriod2;
}
}
else {
for (auto control : controls_) {
if (control->isValueChanged() && control->getValue() == 1) {
// only 1 button can be pressed at the same time within the same group
pressed_ = control;
time_repeat_ = millis() + kRepeatPeriod1;
count_repeat_ = 0;
callback_(control->_id, DOWN);
return;
}
}
}
}
int ButtonGroup::getPressFlag() {
int flag = 0;
for (auto control : controls_) {
if (control->getValue() == 1) {
if (control->_id < 32)
flag |= (1<<control->_id);
}
}
return flag;
}
void LRemote_addControls(std::vector<LRemoteUIControl *> lists) {
for (auto control : lists) {
LRemote.addControl(*control);
}
}

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software/archive/hexapod7697/src/linkit_control/ui_controls.h
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#pragma once
#ifndef __LREMOTE_H__
#include <LRemote.h>
#define __LREMOTE_H__
#endif
class Label : public LRemoteLabel {
public:
Label(const String &text, uint8_t x, uint8_t y, uint8_t w, uint8_t h, RCColorType color = RC_GREY) : LRemoteLabel() {
setText(text);
setPos(x, y);
setSize(w, h);
setColor(color);
}
};
class Button : public LRemoteButton {
public:
Button(int id, const String &text, uint8_t x, uint8_t y, uint8_t w, uint8_t h, RCColorType color = RC_GREY) : LRemoteButton() {
setText(text);
setPos(x, y);
setSize(w, h);
setColor(color);
_id = id;
}
public:
int _id;
};
#include <vector>
#include <functional>
class ButtonGroup {
public:
enum mode {
NONE = 0,
DOWN,
UP,
REPEAT
};
void config(std::function<void(int, mode)> callback) {
callback_ = callback;
};
void addControl(Button &button);
void addControl(Button *button);
void addControls(std::vector<Button *> lists);
void process();
int getPressFlag();
public:
std::vector<Button *> controls_;
std::function<void(int, mode)> callback_ = nullptr;
Button *pressed_ = nullptr;
int time_repeat_ = 0;
int count_repeat_ = 0;
};
void LRemote_addControls(std::vector<LRemoteUIControl *> lists);

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software/archive/hexapod7697/src/normal_mode.cpp
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#include <Arduino.h>
#ifndef __LREMOTE_H__
#include <LRemote.h>
#define __LREMOTE_H__
#endif
#include "linkit_control/ui_controls.h"
#include "hexapod/debug.h"
#include "hexapod/config.h"
#include "hexapod/hexapod.h"
#define REACT_DELAY hexapod::config::movementInterval
static Button buttonForward(hexapod::MOVEMENT_FORWARD, "Forward", 1, 3, 1, 1, RC_BLUE);
static Button buttonRun(hexapod::MOVEMENT_FORWARDFAST, "Run", 1, 2, 1, 1, RC_ORANGE);
static Button buttonBackward(hexapod::MOVEMENT_BACKWARD, "Backward", 1, 4, 1, 1, RC_BLUE);
static Button buttonTL(hexapod::MOVEMENT_TURNLEFT, "TurnLeft", 0, 3, 1, 1, RC_GREEN);
static Button buttonTR(hexapod::MOVEMENT_TURNRIGHT, "TurnRight", 2, 3, 1, 1, RC_GREEN);
static Button buttonSL(hexapod::MOVEMENT_SHIFTLEFT, "ShiftLeft", 0, 4, 1, 1, RC_BLUE);
static Button buttonSR(hexapod::MOVEMENT_SHIFTRIGHT, "ShiftRight", 2, 4, 1, 1, RC_BLUE);
static Button buttonClimb(hexapod::MOVEMENT_CLIMB, "Climb", 2, 2, 1, 1, RC_ORANGE);
static Button buttonRotateX(hexapod::MOVEMENT_ROTATEX, "RotateX", 0, 0, 1, 1, RC_YELLOW);
static Button buttonRotateY(hexapod::MOVEMENT_ROTATEY, "RotateY", 1, 0, 1, 1, RC_YELLOW);
static Button buttonRotateZ(hexapod::MOVEMENT_ROTATEZ, "RotateZ", 2, 0, 1, 1, RC_YELLOW);
static Button buttonTwist(hexapod::MOVEMENT_TWIST, "Twist", 0, 1, 1, 1, RC_YELLOW);
static ButtonGroup btnGroup;
static void log_output(const char* log) {
Serial.println(log);
}
void normal_setup(void) {
LRemote.setName("Hexapod");
LRemote.setOrientation(RC_PORTRAIT);
LRemote.setGrid(3, 5);
LRemote_addControls({
&buttonForward, &buttonBackward,
&buttonTL, &buttonTR,
&buttonSL, &buttonSR,
&buttonRun, &buttonClimb,
&buttonRotateX, &buttonRotateY, &buttonRotateZ,
&buttonTwist,
});
btnGroup.addControls({
&buttonForward, &buttonBackward,
&buttonTL, &buttonTR,
&buttonSL, &buttonSR,
&buttonRun, &buttonClimb,
&buttonRotateX, &buttonRotateY, &buttonRotateZ,
&buttonTwist,
});
LRemote.begin();
}
void normal_loop(void) {
// check if we are connect by some
// BLE central device, e.g. an mobile app
if(!LRemote.connected()) {
delay(1000-REACT_DELAY);
}
auto t0 = millis();
// Process the incoming BLE write request
// and translate them to control events
LRemote.process();
auto flag = btnGroup.getPressFlag();
auto mode = hexapod::MOVEMENT_STANDBY;
for (auto m = hexapod::MOVEMENT_STANDBY; m < hexapod::MOVEMENT_TOTAL; m++) {
if (flag & (1<<m)) {
mode = m;
break;
}
}
hexapod::Hexapod.processMovement(mode, REACT_DELAY);
auto spent = millis() - t0;
if(spent < REACT_DELAY) {
// Serial.println(spent);
delay(REACT_DELAY-spent);
}
else {
Serial.println(spent);
}
}

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software/archive/hexapod7697/src/normal_mode.h
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#pragma once
void normal_setup(void);
void normal_loop(void);

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software/archive/hexapod7697/src/setting_mode.cpp
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#include <Arduino.h>
#ifndef __LREMOTE_H__
#include <LRemote.h>
#define __LREMOTE_H__
#endif
#include "linkit_control/ui_controls.h"
#include "hexapod/debug.h"
#include "hexapod/hexapod.h"
#define WIDTH 9
#define HEIGHT 18
#define L_W WIDTH
#define L_H 1
#define B_W 2
#define B_H 2
#define T_W 5
#define T_H 2
#define L_X(g) 0
#define L_Y(g) (L_H+T_H)*g
#define Bl_X(g) 0
#define Bl_Y(g) (L_H+T_H)*g+L_H
#define T_X(g) B_W
#define T_Y(g) (L_H+T_H)*g+L_H
#define Br_X(g) B_W+T_W
#define Br_Y(g) (L_H+T_H)*g+L_H
//---------------------------------------------------------------------------
// UI Group: Adjust setting
static Label label1("Select leg", L_X(0), L_Y(0), L_W, L_H);
static Label text1("", T_X(0), T_Y(0), T_W, T_H, RC_PINK);
static Button button1l(10, "<", Bl_X(0), Bl_Y(0), B_W, B_H, RC_BLUE);
static Button button1r(11, ">", Br_X(0), Br_Y(0), B_W, B_H, RC_BLUE);
static Label label2("Select joint", L_X(1), L_Y(1), L_W, L_H);
static Label text2("", T_X(1), T_Y(1), T_W, T_H, RC_PINK);
static Button button2l(20, "<", Bl_X(1), Bl_Y(1), B_W, B_H, RC_BLUE);
static Button button2r(21, ">", Br_X(1), Br_Y(1), B_W, B_H, RC_BLUE);
static Label label3("Servo offset", L_X(2), L_Y(2), L_W, L_H);
static Label text3("0", T_X(2), T_Y(2), T_W, T_H, RC_PINK);
static Button button3l(30, "-", Bl_X(2), Bl_Y(2), B_W, B_H, RC_BLUE);
static Button button3r(31, "+", Br_X(2), Br_Y(2), B_W, B_H, RC_BLUE);
static Label label4("Servo scale", L_X(3), L_Y(3), L_W, L_H);
static Label text4("0", T_X(3), T_Y(3), T_W, T_H, RC_PINK);
static Button button4l(40, "-", Bl_X(3), Bl_Y(3), B_W, B_H, RC_BLUE);
static Button button4r(41, "+", Br_X(3), Br_Y(3), B_W, B_H, RC_BLUE);
static Button buttonSave(60, "Save", 0, Bl_Y(5), WIDTH, B_H, RC_GREEN);
static ButtonGroup btnGroup;
//---------------------------------------------------------------------------
// UI Group: Test
static Label label5("Servo test", L_X(4), L_Y(4), L_W, L_H);
static Button button5l(-45, "-45°", 0, Bl_Y(4), WIDTH/3, B_H, RC_YELLOW);
static Button button5c(0, "0°", WIDTH/3, Bl_Y(4), WIDTH/3, B_H, RC_YELLOW);
static Button button5r(45, "+45°", WIDTH*2/3, Bl_Y(4), WIDTH/3, B_H, RC_YELLOW);
static ButtonGroup btnGroupTest;
//---------------------------------------------------------------------------
const static String _leg_table[] = {
"front right",
"right",
"rear right",
"rear left",
"left",
"front left",
};
const static String _joint_table[] = {
"body",
"thigh",
"foot",
};
static int _cur_leg = 0;
static int _cur_joint = 0;
static int _cur_offset = 0;
static int _cur_scale = 0;
static int _test_angle[3*6] = {0};
void update_text(void) {
text1.updateText(_leg_table[_cur_leg]);
text2.updateText(_joint_table[_cur_joint]);
text3.updateText(String(_cur_offset));
text4.updateText(String(1+0.01*_cur_scale));
}
static uint8_t led_blink_state = 0;
void setting_setup(void) {
digitalWrite(LED_BUILTIN, HIGH);
//
// initialize config mode UI
//
LRemote.setName("Hexapod (S)");
LRemote.setOrientation(RC_PORTRAIT);
LRemote.setGrid(WIDTH, HEIGHT);
LRemote_addControls({
&label1, &text1, &button1l, &button1r, // row1
&label2, &text2, &button2l, &button2r, // row2
&label3, &text3, &button3l, &button3r, // row3
&label4, &text4, &button4l, &button4r, // row4
&label5, &button5l, &button5c, &button5r, // row5
&buttonSave // row6
});
//
// Button group
//
btnGroup.addControls({
&button1l, &button1r,
&button2l, &button2r,
&button3l, &button3r,
&button4l, &button4r,
&buttonSave
});
btnGroup.config([](int btn_id, ButtonGroup::mode mode) {
if (mode != ButtonGroup::mode::DOWN && mode != ButtonGroup::mode::REPEAT)
return;
Serial.print("button id: ");
Serial.print(String(btn_id));
Serial.println(" is triggered");
int g = btn_id / 10;
int lr = btn_id % 10;
switch(g) {
case 1:
_cur_leg = (_cur_leg + 6 + (lr ? 1 : -1)) % 6;
hexapod::Hexapod.calibrationGet(_cur_leg, _cur_joint, _cur_offset, _cur_scale);
hexapod::Hexapod.calibrationTest(_cur_leg, _cur_joint, _test_angle[_cur_leg*3+_cur_joint]);
break;
case 2:
_cur_joint = (_cur_joint + 3 + (lr ? 1 : -1)) % 3;
hexapod::Hexapod.calibrationGet(_cur_leg, _cur_joint, _cur_offset, _cur_scale);
hexapod::Hexapod.calibrationTest(_cur_leg, _cur_joint, _test_angle[_cur_leg*3+_cur_joint]);
break;
case 3:
_cur_offset += (lr ? 1 : -1);
hexapod::Hexapod.calibrationSet(_cur_leg, _cur_joint, _cur_offset, _cur_scale);
break;
case 4:
_cur_scale += (lr ? 1 : -1);
hexapod::Hexapod.calibrationSet(_cur_leg, _cur_joint, _cur_offset, _cur_scale);
break;
case 6:
hexapod::Hexapod.calibrationSave();
}
update_text();
});
//
// Button group: Testing
//
btnGroupTest.addControls({
&button5l, &button5c, &button5r
});
btnGroupTest.config([](int btn_id, ButtonGroup::mode mode) {
if (mode != ButtonGroup::mode::DOWN)
return;
_test_angle[_cur_leg*3+_cur_joint] = btn_id;
hexapod::Hexapod.calibrationTest(_cur_leg, _cur_joint, _test_angle[_cur_leg*3+_cur_joint]);
delay(20);
});
//
// Ready to go
//
hexapod::Hexapod.calibrationGet(_cur_leg, _cur_joint, _cur_offset, _cur_scale);
update_text();
for(auto i=0;i<6;i++) {
for(auto j=0;j<3;j++) {
hexapod::Hexapod.calibrationTest(i, j, _test_angle[i*3+j]);
}
}
LRemote.begin();
}
void setting_loop(void) {
// check if we are connect by some
// BLE central device, e.g. an mobile app
if(!LRemote.connected()) {
delay(500);
led_blink_state = !led_blink_state;
} else {
// The interval between button down/up
// can be very short - e.g. a quick tap
// on the screen.
// We could lose some event if we
// delay something like 100ms.
delay(15);
led_blink_state = 1;
}
digitalWrite(LED_BUILTIN, led_blink_state ? HIGH : LOW);
// Process the incoming BLE write request
// and translate them to control events
LRemote.process();
btnGroup.process();
btnGroupTest.process();
}

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software/archive/hexapod7697/src/setting_mode.h
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#pragma once
void setting_setup(void);
void setting_loop(void);

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software/archive/pathTool/fabfile.py → software/pathTool/fabfile.py vendored
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