function [sR1,thetaR1,sR,thetaR]=FunzioneRegolazione(x,dtheta,a,h,r3,r,dy,dx)

%phi = linspace(0,2*pi,360);          % Angolo di rotazione delle camma
%h=10;                                  % Alzata massima
%r3=20; r=15; dy=10; dx=20;
%a=[5:5:45]                           % Distanza tra Offset e camma

for i=1:length(x)                          % Legge d'alzata
    if (pi/2+deg2rad(dtheta)<=x(i)) && (x(i)<=pi+deg2rad(dtheta))
        s(i)=-h+h/pi*(((pi*(x(i)-deg2rad(dtheta)))/(pi/2))-1/2*sin(2*pi*(x(i)-deg2rad(dtheta))/(pi/2)));

    elseif (pi+deg2rad(dtheta)<=x(i)) && (x(i)<=(3/2)*pi+deg2rad(dtheta))
        s(i)=3*h-h/pi*(((pi*(x(i)-deg2rad(dtheta)))/(pi/2))-1/2*sin(2*pi*(x(i)-deg2rad(dtheta))/(pi/2)));
    else
        s(i)=0;
    end
end

theta=(asin((-dy+r3-s)/r));
deltatheta=theta(1)-theta;

thetaR=theta(1)-deltatheta+deg2rad(dtheta);
dy1=r*sin(thetaR(1));
s11=-r*sin(thetaR)-dy1+r3;
sR=-s11(1)+s11;


for  i=1:length(x)
for  j=1:length(a)                     % Legge d'alzata
    if (pi/2+deg2rad(a(j))<=x(i)) && (x(i)<=pi+deg2rad(a(j)))
        s1(i,j)=-h+h/pi*(((pi*(x(i)-deg2rad(a(j))))/(pi/2))-1/2*sin(2*pi*(x(i)-deg2rad(a(j)))/(pi/2)));

    elseif (pi+deg2rad(a(j))<=x(i)) && (x(i)<=(3/2)*pi+deg2rad(a(j)))
        s1(i,j)=3*h-h/pi*(((pi*(x(i)-deg2rad(a(j))))/(pi/2))-1/2*sin(2*pi*(x(i)-deg2rad(a(j)))/(pi/2)));
    else
        s1(i,j)=0;
    end


theta1(i,j)=(asin((-dy+r3-s1(i,j))/r));
deltatheta1(i,j)=theta1(1)-theta1(i,j);

thetaR1(i,j)=theta1(1)-deltatheta1(i,j)+deg2rad(a(j));
dy11(i,j)=r*sin(thetaR1(1));
s111(i,j)=-r*sin(thetaR1(i,j))-dy11(i,j)+r3;

sR1(i,j)=+s111(i,j)-s111(1);

end

end
end