position.c

本人s12的一部分机器人巡线程序

/*******************************************************************/
/************************自建规则表查询下位机给定值**************/
/*
const  uchar rightforward[19][19]=
{
// 0  .4 .7  1 .4 .7  2 .4 .7  3 .4 .7  4 .4 .7  5 .4 .7  6
   28,28,30,30,32,32,34,34,36,36,36,34,34,32,32,30,30,28,28, // 0       
   26,28,28,30,30,32,32,34,34,36,34,34,32,32,30,30,28,28,26, //.4
   26,26,28,28,30,30,32,32,34,34,34,32,32,30,30,28,28,26,26, //.7
   24,26,26,28,28,30,30,32,32,34,32,32,30,30,28,28,26,26,24, // 1
   24,24,26,26,28,28,30,30,32,32,32,30,30,28,28,26,26,24,24, //.4
   22,24,24,26,26,28,28,30,30,32,30,30,28,28,26,26,24,24,22, //.7
   22,22,24,24,26,26,28,28,30,30,30,28,28,26,26,24,24,22,22, // 2   
   20,22,22,24,24,26,26,28,28,30,28,28,26,26,24,24,22,22,20, //.4
   20,20,22,22,24,24,26,26,28,28,28,26,26,24,24,22,22,20,20, //.7
   18,20,20,22,22,24,24,26,26,28,26,26,24,24,22,22,20,20,18, // 3
   18,18,20,20,22,22,24,24,26,26,26,24,24,22,22,20,20,18,18, //.4
   16,18,18,20,20,22,22,24,24,26,24,24,22,22,20,20,18,18,16, //.7
   16,16,18,18,20,20,22,22,24,24,24,22,22,20,20,18,18,16,16, // 4
   14,16,16,18,18,20,20,22,22,24,22,22,20,20,18,18,16,16,14, //.4
   14,14,16,16,18,18,20,20,22,22,22,20,20,18,18,16,16,14,14, //.7
   12,14,14,16,16,18,18,20,20,22,20,20,18,18,16,16,14,14,12, // 5
   12,12,14,14,16,16,18,18,20,20,20,18,18,16,16,14,14,12,12, //.4
   10,12,12,14,14,16,16,18,18,20,18,18,16,16,14,14,12,12,10, //.7
   10,10,12,12,14,14,16,16,18,18,18,16,16,14,14,12,12,10,10  // 6
};
const  uchar leftforward[19][19]=
{
   10,10,12,12,14,14,16,16,18,18,18,16,16,14,14,12,12,10,10,
   10,12,12,14,14,16,16,18,18,20,18,18,16,16,14,14,12,12,10,
   12,12,14,14,16,16,18,18,20,20,20,18,18,16,16,14,14,12,12,
   12,14,14,16,16,18,18,20,20,22,20,20,18,18,16,16,14,14,12,
   14,14,16,16,18,18,20,20,22,22,22,20,20,18,18,16,16,14,14,
   14,16,16,18,18,20,20,22,22,24,22,22,20,20,18,18,16,16,14,
   16,16,18,18,20,20,22,22,24,24,24,22,22,20,20,18,18,16,16,
   16,18,18,20,20,22,22,24,24,26,24,24,22,22,20,20,18,18,16,
   18,18,20,20,22,22,24,24,26,26,26,24,24,22,22,20,20,18,18,
   18,20,20,22,22,24,24,26,26,28,26,26,24,24,22,22,20,20,18,
   20,20,22,22,24,24,26,26,28,28,28,26,26,24,24,22,22,20,20,
   20,22,22,24,24,26,26,28,28,30,28,28,26,26,24,24,22,22,20,
   22,22,24,24,26,26,28,28,30,30,30,28,28,26,26,24,24,22,22,
   22,24,24,26,26,28,28,30,30,32,30,30,28,28,26,26,24,24,22,
   24,24,26,26,28,28,30,30,32,32,32,30,30,28,28,26,26,24,24,
   24,26,26,28,28,30,30,32,32,34,32,32,30,30,28,28,26,26,24,
   26,26,28,28,30,30,32,32,34,34,34,32,32,30,30,28,28,26,26,
   26,28,28,30,30,32,32,34,34,36,34,34,32,32,30,30,28,28,26,
   28,28,30,30,32,32,34,34,36,36,36,34,34,32,32,30,30,28,28
};




#define FA 14
#define FB 15
#define FC 16
#define FD 17
#define FE 18
#define FF 19
#define FG 20
#define FH 21
#define FI 22
#define FJ 23   
#define FK 24
#define FL 25
#define FM 26
#define FN 27
#define FO 28
#define FP 29   //表格的中心值
#define FQ 30
#define FR 31
#define FS 32
#define FT 33
#define FU 34
#define FV 35
#define FW 36
#define FX 37
//功能和上个表完全一样,只是这个用宏定义代替数字,本人认为不够直观
//横排表示的是上次的位置值,竖排表示的是当前位置值
const  uchar rightforward[31][31]=
  {
 // 0 .2 .4 .6 .8  1 .2 .4 .6 .8  2 .2 .4 .6 .8  3 .2 .4 .6 .8  4 .2 .4 .6 .8  5 .2 .4 .6 .8  6
    FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FW,FW,FW,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,//6
    FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FW,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,//.8
    FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,//.6
    FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,//.4
    FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,//.2
    FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,//5
    FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,//.8
    FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,//.6
    FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,//.4
    FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,//.2
    FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,//4
    FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,//.8
    FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,//.6
    FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,//.4
    FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,//.2
    FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,//3
    FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,//.8
    FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,//.6
    FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,//.4
    FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,//.2
    FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,//2
    FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,//.8
    FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,//.6
    FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,//.4
    FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,//.2
    FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,//1
    FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,//.8
    FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,//.6
    FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,//.4
    FA,FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,FA,//.2
    FA,FA,FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,FA,FA//0    
  };

const  uchar leftforward[31][31]=
  {
 // 0 .2 .4 .6 .8  1 .2 .4 .6 .8  2 .2 .4 .6 .8  3 .2 .4 .6 .8  4 .2 .4 .6 .8  5 .2 .4 .6 .8  6
    FA,FA,FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,FA,FA,//0
    FA,FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,FA,//.2
    FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,//.4
    FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,//.6
    FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,//.8
    FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,//1
    FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,//.2
    FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,//.4
    FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,//.6
    FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,//.8
    FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,//2
    FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,//.2
    FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,//.4
    FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,//.6
    FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,//.8
    FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,//3
    FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,//.2
    FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,//.4
    FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,//.6
    FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,//.8
    FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,//4
    FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,//.2
    FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,//.4
    FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,//.6
    FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,//.8
    FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,//5
    FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,//.2
    FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,//.4
    FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,//.6
    FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FW,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,//.8
    FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FW,FW,FW,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP//6
  };


const  uchar leftforward[31][31]=
{
 // 0 .2 .4 .6 .8  1 .2 .4 .6 .8  2 .2 .4 .6 .8  3 .2 .4 .6 .8  4 .2 .4 .6 .8  5 .2 .4 .6 .8  6
    15,15,16,16,17,17,18,18,19,19,20,20,21,21,22,22,22,21,21,20,20,19,19,18,18,17,17,16,16,15,15,//0
    15,16,16,17,17,18,18,19,19,20,20,21,21,22,22,23,22,22,21,21,20,20,19,19,18,18,17,17,16,16,15,//.2
    16,16,17,17,18,18,19,19,20,20,21,21,22,22,23,23,23,22,22,21,21,20,20,19,19,18,18,17,17,16,16,//.4
    16,17,17,18,18,19,19,20,20,21,21,22,22,23,23,24,23,23,22,22,21,21,20,20,19,19,18,18,17,17,16,//.6
    17,17,18,18,19,19,20,20,21,21,22,22,23,23,24,24,24,23,23,22,22,21,21,20,20,19,19,18,18,17,17,//.8
    17,18,18,19,19,20,20,21,21,22,22,23,23,24,24,25,24,24,23,23,22,22,21,21,20,20,19,19,18,18,17,//1
    18,18,19,19,20,20,21,21,22,22,23,23,24,24,25,25,25,24,24,23,23,22,22,21,21,20,20,19,19,18,18,//.2
    18,19,19,20,20,21,21,22,22,23,23,24,24,25,25,26,25,25,24,24,23,23,22,22,21,21,20,20,19,19,18,//.4
    19,19,20,20,21,21,22,22,23,23,24,24,25,25,26,26,26,25,25,24,24,23,23,22,22,21,21,20,20,19,19,//.6
    19,20,20,21,21,22,22,23,23,24,24,25,25,26,26,27,26,26,25,25,24,24,23,23,22,22,21,21,20,20,19,//.8
    20,20,21,21,22,22,23,23,24,24,25,25,26,26,27,27,27,26,26,25,25,24,24,23,23,22,22,21,21,20,20,//2
    20,21,21,22,22,23,23,24,24,25,25,26,26,27,27,28,27,27,26,26,25,25,24,24,23,23,22,22,21,21,20,//.2
    21,21,22,22,23,23,24,24,25,25,26,26,27,27,28,28,28,27,27,26,26,25,25,24,24,23,23,22,22,21,21,//.4
    21,22,22,23,23,24,24,25,25,26,26,27,27,28,28,29,28,28,27,27,26,26,25,25,24,24,23,23,22,22,21,//.6
    22,22,23,23,24,24,25,25,26,26,27,27,28,28,29,29,29,28,28,27,27,26,26,25,25,24,24,23,23,22,22,//.8
    22,23,23,24,24,25,25,26,26,27,27,28,28,29,29,30,29,29,28,28,27,27,26,26,25,25,24,24,23,23,22,//3
    23,23,24,24,25,25,26,26,27,27,28,28,29,29,30,30,30,29,29,28,28,27,27,26,26,25,25,24,24,23,23,//.2
    23,24,24,25,25,26,26,27,27,28,28,29,29,30,30,31,30,30,29,29,28,28,27,27,26,26,25,25,24,24,23,//.4
    24,24,25,25,26,26,27,27,28,28,29,29,30,30,31,31,31,30,30,29,29,28,28,27,27,26,26,25,25,24,24,//.6
    24,25,25,26,26,27,27,28,28,29,29,30,30,31,31,32,31,31,30,30,29,29,28,28,27,27,26,26,25,25,24,//.8
    25,25,26,26,27,27,28,28,29,29,30,30,31,31,32,32,32,31,31,30,30,29,29,28,28,27,27,26,26,25,25,//4
    25,26,26,27,27,28,28,29,29,30,30,31,31,32,32,33,32,32,31,31,30,30,29,29,28,28,27,27,26,26,25,//.2
    26,26,27,27,28,28,29,29,30,30,31,31,32,32,33,33,33,32,32,31,31,30,30,29,29,28,28,27,27,26,26,//.4
    26,27,27,28,28,29,29,30,30,31,31,32,32,33,33,34,33,33,32,32,31,31,30,30,29,29,28,28,27,27,26,//.6
    27,27,28,28,29,29,30,30,31,31,32,32,33,33,34,34,34,33,33,32,32,31,31,30,30,29,29,28,28,27,27,//.8
    27,28,28,29,29,30,30,31,31,32,32,33,33,34,34,35,34,34,33,33,32,32,31,31,30,30,29,29,28,28,27,//5
    28,28,29,29,30,30,31,31,32,32,33,33,34,34,35,35,35,34,34,33,33,32,32,31,31,30,30,29,29,28,28,//.2
    28,29,29,30,30,31,31,32,32,33,33,34,34,35,35,36,35,35,34,34,33,33,32,32,31,31,30,30,29,29,28,//.4
    29,29,30,30,31,31,32,32,33,33,34,34,35,35,36,36,36,35,35,34,34,33,33,32,32,31,31,30,30,29,29,//.6
    29,30,30,31,31,32,32,33,33,34,34,35,35,36,36,37,36,36,35,35,34,34,33,33,32,32,31,31,30,30,29,//.8
    30,30,31,31,32,32,33,33,34,34,35,35,36,36,37,37,37,36,36,35,35,34,34,33,33,32,32,31,31,30,30//6
};
const  uchar rightforward[31][31]=
{
 // 0 .2 .4 .6 .8  1 .2 .4 .6 .8  2 .2 .4 .6 .8  3 .2 .4 .6 .8  4 .2 .4 .6 .8  5 .2 .4 .6 .8  6
    30,30,31,31,32,32,33,33,34,34,35,35,36,36,37,37,37,36,36,35,35,34,34,33,33,32,32,31,31,30,30,//6
    29,30,30,31,31,32,32,33,33,34,34,35,35,36,36,37,36,36,35,35,34,34,33,33,32,32,31,31,30,30,29,//.8
    29,29,30,30,31,31,32,32,33,33,34,34,35,35,36,36,36,35,35,34,34,33,33,32,32,31,31,30,30,29,29,//.6