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- if(command.ReadMsgs() > 0){
- digitalWrite(0,HIGH-digitalRead(0));
- if((command.walkV) > 5 || (command.walkV < -5) ){
- Xspeed = multiplier*(command.walkV);
- // bodyPosX = (-(float)command.walkV)/2;
- }else{
- Xspeed = 0;
- }
- if((command.buttons&BUT_LT) > 0){
- if((command.walkH) > 5 || (command.walkH < -5) ){
- Yspeed = (2*(command.walkH));
- }
- else
- {
- Yspeed = 0;
- }
- }
- else
- {
- Rspeed = -(command.walkH)/150.0;
- Yspeed = 0;
- }
- }
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