ELFSÈ&4( ”hçpà€àà”€àà”ø”‘’à’x”`/€àà”n-€àà”€‘0ñô’€àà à°à€““ “°“€““ “°“€““ “°“'ý•ÿ$çüð”ÈŽŸ ª'—ý •º/¼Í”ÜË.â1àNêYã¼Í”;L Ȫ'—ý •º/¼Í”ÜË,ë=áJà\ã¼Í”[l€‘‘ ‘°‘¤“¼Í”ÜË€““ “°“€‘‘ ‘°‘¼Í”ÜËœ­Æµ”ÜËàð‘‘œ­È·”ÜË€““ “°“€‘‘ ‘°‘¼Í”ÜËœ­Æµ”ÜËàð‘‘œ­È·”ÜË€““ “°“€‘‘ ‘°‘¤“¼Í”ÜË€““ “°“€‘‘ ‘°‘+í?àIìPä¼Í”ˆ#Œð€‘‘ ‘°‘+í?àIìPä¼Í”"À€‘‘ ‘°‘ à0à@àPà¼Í”ˆ#Ôô€‘‘ ‘°‘+í?àIìPä¼Í”ÜË€““ “°“ø”€‘‘ ‘°‘ î>âEæRä¼Í”Ü˼͔ÜË“€“€‘‘ ‘°‘¼Í”ÜË“€“€‘‘ ‘°‘¼Í”ÜË“€“x”€àà”€àà”€àà”€àà”€‘툑ˆ½€àà”T΀à‘à“€“€‘‘“€“’’€‘‘“€“’’€‘‘“€“’’€‘‘“€“’’€‘‘“€“’’’’€‘‘ ‘°‘€““ “°“à€“±€€“•ü$…5…†…—…(9„ô„…•… ‰1‰‚“„‡•‡$…5…†…—…‚“¤ôÀ„…•… ‰1‰‚“ „‡•‡$…5…†…—…(9$ô†…—…„‡•‡d…u…Ï”•üËo·ø”œD'7ý@•T/€‘¢³‚“¤µ€ƒ‘ƒ¢ƒ³ƒo¿•ϓߓü€‘¢³)/:/K/U'GýZ•„•¦·éÈÙ €‘™'ŒŸ ŸP œŸP $€‘(/3'€…‘…¾hy Ë(Ÿ°)Ÿp 8Ÿp $FW€‘(/3'‚…“…(Ÿ°)Ÿp 8Ÿp $FWÊjàpà”À‡Ñ‡o7qðoçpà Àïb8xôaèïÀ‚…“…Œ‚‡“‡†/€X‚‹ß‘Ï‘•ϓߓ숅+<0±ô©0ðR/D'P“@“->0ð2/"'0“ “À’/ˆ'¼€àà”ž˜/ˆ'¼€àà”ߑϑ•ü†/o·ø”(/3''ý0•C/S/€‘¢³‚“¤µ€ƒ‘ƒ¢ƒ³ƒo¿•€‘‘‰+1ô€‘‘‰+ð€àà”€‘‘‰+±÷€‘‘‰+÷•à€“•€àà”•’’€‘‘“€“’’€‘‘“€“•A±@0‘T/S'•/–••u…/ˆŠz˜+Y+$/&•#'%u„/™'ˆ™8':z#+R#@“%/3'$ÿÀ€‘_€“%ÿÀ€‘P€“&ÿÀ€‘_€“WÿÀ€‘P€“• º dd"<1€Q€k€¤€Ü€€o€À€æ€$€N€w€‘€¬€Ì€€#€B€f€€¦‚²‚¢Ï‚î‚€Õ1€E¢F€?}€Eµ€H¢Þ‚ò‚‚¢6‚¢¢Y€â€gþ€e€w}€w”€ˆ§€ˆÃ€€¡6€¡Y€–€­»€­×€6€ÄX€Äy€Ü€Ò €Ò' €ô¢® ‚¢¹ ‚¢Å ‚¢Ð ‚Þ €‰ € €)q €3Þ €<3 €G“ €Oã €X: €a’ €r¢”‚ €o€¢‘$0D0D6D:D;D=D>D?D@"DA&DB*DE,DF6De@DgHDiLDjdDktDn„Do¾DqìDrDsxDtÔDvDw(DxJDynD|¢D}¤D~ÜDD€$D‚&Dƒ.D„6D…>D–FD—LDRDŸ\£@1³@1Àà\$\Ä$¢D¢D©DªD«4D¬LD­dD®|D°¬D³²D´º$¼Ö$Äç@ÃDÄDÅDÇDÈ DÉ.DÍ0DÎ@DÏNDÑVDÒ`$bø$Û@Ú@ÚDÛDÞDßDáDã*Dä,!@ÜÀà,$.+$ì9@ëDìDïDý(DþŠDŽD”DšD¢D¨D ´D ºB@íP@íÀàº$À^$m@DDDD$D<DJD!\$b‚$/”@.«@.D/D2D3D4D6,D7.µ@0Àà.$0¿$`D`DaD+De8$:Û$kDkDlDm$ñ$*D*D+D,$ $?D?D@DADG0$2$NDNDODPDQ DRDS4DV8DWJDXXDYfDZt9@OE@PÀàv$vO \ j { „ ‘ ¢ ¬ º 'Ë  * ? [ n !“($§(&dMotorTask.cC:\SRX1/MotorTask.cgcc2_compiled.int:t(0,1)=r(0,1);-32768;32767;char:t(0,2)=r(0,2);0;127;long int:t(0,3)=@s32;r(0,3);0020000000000;0017777777777;unsigned int:t(0,4)=r(0,4);0000000000000;0000000177777;long unsigned int:t(0,5)=@s32;r(0,5);0000000000000;0037777777777;long long int:t(0,6)=@s64;r(0,6);01000000000000000000000;0777777777777777777777;long long unsigned int:t(0,7)=@s64;r(0,7);0000000000000;01777777777777777777777;short int:t(0,8)=r(0,8);-32768;32767;short unsigned int:t(0,9)=r(0,9);0000000000000;0000000177777;signed char:t(0,10)=@s8;r(0,10);-128;127;unsigned char:t(0,11)=@s8;r(0,11);0;255;float:t(0,12)=r(0,1);4;0;double:t(0,13)=r(0,1);4;0;long double:t(0,14)=r(0,1);4;0;complex int:t(0,15)=s4real:(0,1),0,16;imag:(0,1),16,16;;complex float:t(0,16)=R3;8;0;complex double:t(0,17)=R3;8;0;complex long double:t(0,18)=R3;8;0;__builtin_va_list:t(0,19)=*(0,20)=(0,20)_Bool:t(0,21)=@s8;-16;MotorTask.cC:/WinAVR/avr/include/math.hC:/WinAVR/avr/include/stdlib.hC:/WinAVR/lib/gcc-lib/avr/3.3/include/stddef.hsize_t:t(4,1)=(0,4)wchar_t:t(4,2)=(0,1)div_t:t(3,1)=(3,2)=s4quot:(0,1),0,16;rem:(0,1),16,16;;ldiv_t:t(3,3)=(3,4)=s8quot:(0,3),0,32;rem:(0,3),32,32;;__compar_fn_t:t(3,5)=(3,6)=*(3,7)=f(0,1)c:/avrx/avrx/avrx.hC:/WinAVR/avr/include/avr/io.hC:/WinAVR/avr/include/avr/sfr_defs.hC:/WinAVR/avr/include/avr/iom128.hAvrXKernelData:T(5,1)=s7RunQueue:(5,2)=*(5,3)=xsProcessID:,0,16;Running:(5,2),16,16;AvrXStack:(5,4)=*(0,20),32,16;SysLevel:(0,11),48,8;;AvrXKernelData:t(5,5)=(5,1)ProcessID:T(5,3)=s6next:(5,2),0,16;flags:(0,11),16,8;priority:(0,11),24,8;ContextPointer:(5,4),32,16;;pProcessID:t(5,6)=(5,2)ProcessID:t(5,7)=(5,3)Mutex:t(5,8)=(5,6)pMutex:t(5,9)=(5,10)=*(5,6)MessageControlBlock:T(5,11)=s4next:(5,12)=*(5,11),0,16;semaphore:(5,8),16,16;;pMessageControlBlock:t(5,13)=(5,12)MessageControlBlock:t(5,14)=(5,11)MessageQueue:T(5,15)=s4message:(5,13),0,16;pid:(5,6),16,16;;pMessageQueue:t(5,16)=(5,17)=*(5,15)MessageQueue:t(5,18)=(5,15)TimerControlBlock:T(5,19)=s6next:(5,20)=*(5,19),0,16;semaphore:(5,8),16,16;count:(0,9),32,16;;pTimerControlBlock:t(5,21)=(5,20)TimerControlBlock:t(5,22)=(5,19)TimerMessageBlock:T(5,23)=s8u:(5,24)=u6mcb:(5,11),0,32;tcb:(5,19),0,48;;,0,48;queue:(5,17),48,16;;pTimerMessageBlock:t(5,25)=(5,26)=*(5,23)TimerMessageBlock:t(5,27)=(5,23)TaskControlBlock:t(5,28)=(5,29)=k(5,30)=s7r_stack:(5,4),0,16;start:(5,31)=*(5,32)=f(0,20),16,16;pid:(5,6),32,16;priority:(0,11),48,8;;hardware.hgeneralio.hserialio.hdefinitions.hBehaviourInfo:t(12,1)=(12,2)=s9enable:(0,11),0,8;active:(0,11),8,8;priority:(0,11),16,8;output_l:(0,1),24,16;output_r:(0,1),40,16;precision:(0,11),56,8;type:(0,11),64,8;;RotateMessage:t(12,3)=(12,4)=s9mcb:(5,14),0,32;angle:(0,1),32,16;type:(0,11),48,8;scan:(0,11),56,8;status:(0,11),64,8;;ForwardMessage:t(12,5)=(12,6)=s8mcb:(5,14),0,32;lenght:(0,1),32,16;ignore_door:(0,11),48,8;status:(0,11),56,8;;FollowMessage:t(12,7)=(12,8)=s7mcb:(5,14),0,32;side:(0,11),32,8;ignore_door:(0,11),40,8;status:(0,11),48,8;;AlignMessage:t(12,9)=(12,10)=s6mcb:(5,14),0,32;type:(0,11),32,8;status:(0,11),40,8;;GoAtMessage:t(12,11)=(12,12)=s10mcb:(5,14),0,32;x:(0,1),32,16;y:(0,1),48,16;theta:(0,4),64,16;;ExtinguishMessage:t(12,13)=(12,14)=s5mcb:(5,14),0,32;extinguished:(0,11),32,8;;SearchMessage:t(12,15)=(12,16)=s6mcb:(5,14),0,32;status:(0,11),32,8;side:(0,11),40,8;;ArbitrateMessage:t(12,17)=(12,18)=s14mcb:(5,14),0,32;id:(0,11),32,8;info:(12,1),40,72;;ConfigData:t(12,19)=(12,20)=s11dummy:(0,11),0,8;f_p:(0,11),8,8;f_d:(0,11),16,8;Kp:(0,11),24,8;Ki:(0,11),32,8;Kd:(0,11),40,8;line_threshold:(0,11),48,8;scm_exposure_h:(0,11),56,8;scm_exposure_l:(0,11),64,8;scm_threshold:(0,11),72,8;scm_min_size:(0,11),80,8;;MotorTask.hMotorInfo:t(13,1)=(13,2)=s19Setpoint:(0,3),0,32;Encoder:(0,3),32,32;PrevErr:(0,1),64,16;Ierror:(0,1),80,16;Velocity:(0,1),96,16;VelocitySetpoint:(0,1),112,16;Acceleration:(0,1),128,16;pwm_out:(0,11),144,8;;pMotorInfo:t(13,3)=(13,4)=*(13,2)MotorTask:F(0,20)LeftEnc:r(0,10)RightEnc:r(0,10)MotorInit:F(0,20)DoMotion:F(0,20)p:P(1,1)=*(13,1)AddToPosition:F(0,20)p:P(13,3)o:P(0,1)s:r(0,11)DoPid:F(0,20)p:P(1,1)Perror:r(0,1)output:r(0,1)motors:F(0,20)pInfo:P(1,2)=*(12,1)AddToLong:F(0,20)p:P(1,3)=*(1,4)=B(0,3)o:P(0,10)s:r(0,11)WaitForMotionToStop:F(0,20)ResetOdometry:F(0,20)SynchWithMotion:F(0,20)EmergencyStop:F(0,20)QuadratureDecoder:F(0,20)new:r(0,11)x:r(0,11)Left:G(13,1)Right:G(13,1)X:G(1,5)=B(0,12)Y:G(1,5)Theta:G(1,5)iX:G(1,6)=B(0,1)iY:G(1,6)iTheta:G(1,6)MotorLoop:G(5,8)MotorTaskStk:G(1,7)=ar(1,8)=r(1,8);0000000000000;0000000177777;;0;74;(0,2)MotorTaskPid:G(5,7)MotorTaskTcb:G(5,29)RightEncoder:G(1,9)=B(0,10)LeftEncoder:G(1,9)OdometryResetPending:G(1,10)=B(0,11)encoders_old:S(0,2)MotorTimer:S(5,22).symtab.strtab.shstrtab.rela.text.bss.rela.stab.stabstr.rela.progmem.data 4îà.X  L"&"0$  +8:Ì  6´ºDn&?;$  u&RÐ(Ð   ,?ñÿ ?ñÿ>ñÿ=ñÿ(ñÿ4ñÿALYî`ñÿfu„‘Kòÿž\¨òÿµÂÎÐÒ ØÛÞå\¼ïþòÿòÿÊ0(òÿ.òÿCOXaeirz‚Œb•¨À›©z.·ÈÔhbÛú:ï4< F2-xvMotorTask.c__SREG____SP_H____SP_L____tmp_reg____zero_reg__MotorTimerencoders_oldLetext*ABS*__do_copy_data__do_clear_bssMotorTaskTcbMotorTaskStkMotorTaskMotorTaskPidRightEncoderLeftEncoderXYThetaiXiYiThetaMotorInitAvrXStartTimerMotorLoopAvrXSetSemaphoreLeftAddToLongRightOdometryResetPending__floatsisf__mulsf3__addsf3cossin__subsf3__gesf2__ltsf2__fixsfsiDoMotionDoPidAvrXWaitTimerAddToPositionR_ParameterTable__divmodhi4motorsWaitForMotionToStopAvrXWaitSemaphoreResetOdometrySynchWithMotionEmergencyStopQuadratureDecoder\   !!" $(.#0#2Ê8%:%<ÊB&J&VZ^bfjnr v z ~ ‚ ¢'¶(Ð'ä(î ò ö ú )     " & * 0*@(JNRV`)jnrvz ~ ‚ † Œ+œ(¦ª®² ¼,ÆÊÎÒ Ö Ú Þ â ì)ö ú þ      -* . 2 6 D,L P T X f.p t x | Š)” ˜ œ   ¦ ª ® ² À(Ì/ÖÚÞâæêð/úþ  /"&#(#*.#0#2¨6%8%:>%@%B¨H%N#RTV2b%f%j%n%r#v#z% ~% ‚% †% Š# Ž# ’%–%š%ž%¢#¦#ª% ®%²%¶% º# ¾#Â% Æ% Ê% Î% Ò# Ö# Ú%Þ%â%æ%ê%î%ò%ö%ú#þ### &tzÒ4æ4 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