error0lasterror0allerror0KP350KD40KI0speed50WHILETRUEerrorMINUS1011PMULTIPLY1error1KPDMULTIPLY1MINUS1error1lasterror1KDallerrorADD1error1allerrorIMULTIPLYallerror1KIPIDADD1ADD1P1D1ITrueMixlyxintxerror00CCW01000MINUS1speed1PID-1001001CW01000ADD1speed1PID-100100{}ZnJvbSBmZWl5aSBpbXBvcnQgb25ib2FyZF9ib3Q1MQpmcm9tIGZlaXlpIGltcG9ydCBvbmJvYXJkX21hdHJpeAoKCmVycm9yID0gMApsYXN0ZXJyb3IgPSAwCmFsbGVycm9yID0gMApLUCA9IDM1MApLRCA9IDQwCktJID0gMApzcGVlZCA9IDUwCndoaWxlIFRydWU6CiAgICBlcnJvciA9IG9uYm9hcmRfYm90NTEucmVhZF9wcygwKSAtIG9uYm9hcmRfYm90NTEucmVhZF9wcygxKQogICAgUCA9IGVycm9yICogS1AKICAgIEQgPSAoZXJyb3IgLSBsYXN0ZXJyb3IpICogS0QKICAgIGFsbGVycm9yID0gZXJyb3IgKyBhbGxlcnJvcgogICAgSSA9IGFsbGVycm9yICogS0kKICAgIFBJRCA9IChQICsgRCkgKyBJCiAgICBvbmJvYXJkX21hdHJpeC5zaG93cyhzdHIoaW50KGVycm9yKSksc3BhY2UgPSAwLGNlbnRlciA9IFRydWUpCiAgICBvbmJvYXJkX2JvdDUxLm1vdG9yKDAsIkNDVyIsKG1pbihtYXgoc3BlZWQgLSBQSUQsIC0xMDApLCAxMDApKSkKICAgIG9uYm9hcmRfYm90NTEubW90b3IoMSwiQ1ciLChtaW4obWF4KHNwZWVkICsgUElELCAtMTAwKSwgMTAwKSkpCg==