Hoe kan ik een geschutstoren 290 graden laten draaien

Discussie in 'Model elektronica' gestart door Herby63, 4 sep 2021.

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  1. max z

    max z Vriend van modelbouwforum.nl PH-SAM

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    ???
     
    max z, 24 aug 2022
    #181
  2. Herby63

    Herby63

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    Tekst van post 179 is aangepast Max,
    Blijft hetzelfde @max z , servo 1 reageert niet, servo 2 tot 8 op pot 1 tot 7, en servo 6 moet er wel heel lang over nadenken om dan toch te doen wat pot 5 zegt.
     
    Herby63, 24 aug 2022
    #182
  3. max z

    max z Vriend van modelbouwforum.nl PH-SAM

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    Met de code van #180?
     
    max z, 24 aug 2022
    #183
  4. Herby63

    Herby63

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    Ja,
    Alles afgelegd, en even later, gedreven door een onbevredigbare nieuwsgierigheid, de boel weer aangesloten, de waardes van de eerste 4 Xtargethigh en Xtargetlow verwisseld, en nu werkt de correcte servo wel met de correcte pot.
    Reactie is binnen de seconde, alleen servo 5 (nu wel degelijk op pot 5) heeft heeeeel veeeeeel tijd nodig om in actie te komen.
     
    Herby63, 24 aug 2022
    #184
  5. max z

    max z Vriend van modelbouwforum.nl PH-SAM

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    anders weer het betreffende stukje in de monitor tonen? Morgen mag ook......
     
    max z, 24 aug 2022
    #185
    Herby63 vindt dit leuk.
  6. Herby63

    Herby63

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    komt er aan
     
    Herby63, 24 aug 2022
    #186
  7. Herby63

    Herby63

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    servo 5 blijft al deze tijd onbeweeglijk, het enig wat hij doet is positie 308 innemen
    hieronder een fragment uit het testresultaat
    Code:
    mpcount = 01028
Xpulse[0] = 463    Xtarget[0] = 467
mpcount = 21340
Xpulse[2] = 344    Xtarget[2] = 342
mpcount = 51612
Xpulse[5] = 328    Xtarget[5] = 330
mpcount = 71988
Xpulse[7] = 412    Xtarget[7] = 411
mpcount = 11196
Xpulse[1] = 402    Xtarget[1] = 400
mpcount = 31420
Xpulse[3] = 308    Xtarget[3] = 310
mpcount = 51604
Xpulse[5] = 330    Xtarget[5] = 328
mpcount = -1920
mpcount = 01044
Xpulse[0] = 467    Xtarget[0] = 462
mpcount = 21332
Xpulse[2] = 342    Xtarget[2] = 345
mpcount = 51600
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = 71992
Xpulse[7] = 411    Xtarget[7] = 412
mpcount = 11212
Xpulse[1] = 400    Xtarget[1] = 394
mpcount = 31420
Xpulse[3] = 310    Xtarget[3] = 310
mpcount = 61800
Xpulse[6] = 371    Xtarget[6] = 371
mpcount = -1916
mpcount = 01028
Xpulse[0] = 462    Xtarget[0] = 467
mpcount = 31420
Xpulse[3] = 310    Xtarget[3] = 310
mpcount = 51608
Xpulse[5] = 328    Xtarget[5] = 329
mpcount = -1920
mpcount = -1920
mpcount = 01048
Xpulse[0] = 467    Xtarget[0] = 460
mpcount = 31420
Xpulse[3] = 310    Xtarget[3] = 310
mpcount = 51604
Xpulse[5] = 329    Xtarget[5] = 328
mpcount = -1924
mpcount = -1924
mpcount = 01048
Xpulse[0] = 462    Xtarget[0] = 460
mpcount = 31420
Xpulse[3] = 310    Xtarget[3] = 310
mpcount = 51596
Xpulse[5] = 328    Xtarget[5] = 327
mpcount = -1924
mpcount = -1924
mpcount = 01036
Xpulse[0] = 460    Xtarget[0] = 465
mpcount = 31424
Xpulse[3] = 310    Xtarget[3] = 308
mpcount = 51604
Xpulse[5] = 327    Xtarget[5] = 328
mpcount = -1920
mpcount = 01032
Xpulse[0] = 464    Xtarget[0] = 467
mpcount = 21340
Xpulse[2] = 345    Xtarget[2] = 342
mpcount = 51600
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = 71984
Xpulse[7] = 412    Xtarget[7] = 410
mpcount = 11196
Xpulse[1] = 394    Xtarget[1] = 400
mpcount = 31420
Xpulse[3] = 308    Xtarget[3] = 310
mpcount = 61792
Xpulse[6] = 371    Xtarget[6] = 369
mpcount = -1920
mpcount = 01044
Xpulse[0] = 467    Xtarget[0] = 462
mpcount = 21336
Xpulse[2] = 342    Xtarget[2] = 344
mpcount = 51596
Xpulse[5] = 328    Xtarget[5] = 327
mpcount = 71988
Xpulse[7] = 410    Xtarget[7] = 411
mpcount = 11196
Xpulse[1] = 400    Xtarget[1] = 400
mpcount = 31420
Xpulse[3] = 310    Xtarget[3] = 310
mpcount = 61792
Xpulse[6] = 369    Xtarget[6] = 369
mpcount = -1928
mpcount = 01040
Xpulse[0] = 462    Xtarget[0] = 463
mpcount = 31420
Xpulse[3] = 310    Xtarget[3] = 310
mpcount = 51600
Xpulse[5] = 327    Xtarget[5] = 328
mpcount = -1924
mpcount = -1924
mpcount = 01044
Xpulse[0] = 463    Xtarget[0] = 462
mpcount = 31416
Xpulse[3] = 310    Xtarget[3] = 311
mpcount = 51604
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = -1920
mpcount = -1920
mpcount = 01044
Xpulse[0] = 462    Xtarget[0] = 462
mpcount = 31424
Xpulse[3] = 311    Xtarget[3] = 308
mpcount = 51604
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = -1928
mpcount = 01044
Xpulse[0] = 462    Xtarget[0] = 462
mpcount = 21340
Xpulse[2] = 344    Xtarget[2] = 342
mpcount = 51600
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = 71988
Xpulse[7] = 411    Xtarget[7] = 411
mpcount = 11204
Xpulse[1] = 400    Xtarget[1] = 397
mpcount = 31420
Xpulse[3] = 308    Xtarget[3] = 310
mpcount = 61808
Xpulse[6] = 369    Xtarget[6] = 372
mpcount = -1920
mpcount = 01044
Xpulse[0] = 462    Xtarget[0] = 462
mpcount = 21332
Xpulse[2] = 342    Xtarget[2] = 345
mpcount = 51600
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = 71984
Xpulse[7] = 411    Xtarget[7] = 410
mpcount = 11196
Xpulse[1] = 397    Xtarget[1] = 400
mpcount = 31424
Xpulse[3] = 310    Xtarget[3] = 308
mpcount = 61812
Xpulse[6] = 372    Xtarget[6] = 373
mpcount = -1932
mpcount = 01040
Xpulse[0] = 462    Xtarget[0] = 463
mpcount = 31432
Xpulse[3] = 308    Xtarget[3] = 305
mpcount = 51600
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = -1916
mpcount = -1916
mpcount = 01044
Xpulse[0] = 463    Xtarget[0] = 462
mpcount = 31416
Xpulse[3] = 305    Xtarget[3] = 311
mpcount = 51604
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = -1920
mpcount = -1920
mpcount = 01044
Xpulse[0] = 462    Xtarget[0] = 462
mpcount = 31416
Xpulse[3] = 310    Xtarget[3] = 311
mpcount = 51620
Xpulse[5] = 328    Xtarget[5] = 332
mpcount = -1920
mpcount = 01040
Xpulse[0] = 462    Xtarget[0] = 463
mpcount = 21328
Xpulse[2] = 345    Xtarget[2] = 347
mpcount = 51596
Xpulse[5] = 332    Xtarget[5] = 327
mpcount = 71988
Xpulse[7] = 410    Xtarget[7] = 411
mpcount = 11196
Xpulse[1] = 400    Xtarget[1] = 400
mpcount = 31436
Xpulse[3] = 311    Xtarget[3] = 303
mpcount = 51604
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = -1920
mpcount = 01044
Xpulse[0] = 463    Xtarget[0] = 462
mpcount = 21356
Xpulse[2] = 347    Xtarget[2] = 336
mpcount = 51600
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = 71988
Xpulse[7] = 411    Xtarget[7] = 411
mpcount = 11216
Xpulse[1] = 400    Xtarget[1] = 392
mpcount = 31420
Xpulse[3] = 303    Xtarget[3] = 310
mpcount = 61796
Xpulse[6] = 373    Xtarget[6] = 370
mpcount = -1920
mpcount = 01044
Xpulse[0] = 462    Xtarget[0] = 462
mpcount = 31424
Xpulse[3] = 307    Xtarget[3] = 308
mpcount = 51600
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = -1940
mpcount = -1940
mpcount = 01040
Xpulse[0] = 462    Xtarget[0] = 463
mpcount = 31432
Xpulse[3] = 308    Xtarget[3] = 305
mpcount = 51600
Xpulse[5] = 328    Xtarget[5] = 328
mpcount = -1920
mpcount = -1920
     
    Herby63, 24 aug 2022
    #187
  8. max z

    max z Vriend van modelbouwforum.nl PH-SAM

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    Dat is totaal niet wat ik verwachtte! Morgen maar eens nader bekijken.
     
    max z, 24 aug 2022
    #188
    Herby63 vindt dit leuk.
  9. max z

    max z Vriend van modelbouwforum.nl PH-SAM

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    Mijn grootste schrik is voorbij. Ik zag dat de waardes van mpcount véél te hoog waren, maar ze missen gewoon een spatie en een stuk tekst tussen de teller en de pulswaarde. Dat heb ik aangepast.

    Dat neemt niet weg dat de volgorde erg onregelmatig is. Ik heb nog een kleine aanpassing gedaan, het afkappen na 8 geldige pulsen was ook niet goed.

    Het werkt nu als volgt (ook voor mezelf, anders houd ik het niet meer bij :rolleyes: ):

    - het detecteren van de synchronisatiepuls zit nu in de interrupt routine, als er een puls <950 binnenkomt wordt de teller op -1 gezet, alle volgende pulsen krijgen tevens een volgnummer mee, startend met 0. Er zit geen maximum aan.
    Code:
      else if (RxchWas == 1) { // if pin 2 was already true, read timer
    inpulse = ((volatile int)micros() - timer);
    RxchWas = 0;
    sync = 1; // release loop stop
    seqnr += 1;
    if (inpulse<950) seqnr = -1; // reset seqnr for next incoming pulses to start with 0
  }
    - pulswaarde ("inpuls") en volgnummer ("seqnr") worden omgezet in de loop als deze daar aangekomen is, in "puls" en "mpcount"
    Code:
      cli();
  pulse = inpulse;
  mpcount = seqnr;
  sei();
    - pulswaarde en volnummer worden vervolgens naar de monitor gestuurd, óók als deze hoger als 7 zijn. We weten al dat dat er minstens 16 zijn, maar als de synchronisatie niet goed werkt wordt dat hier ook zichtbaar.
    - als het volgnummer >=0 en <8 is, wordt het verder verwerkt en opgeslagen in de array Xtarget
    Code:
      if (mpcount >= 0 && mpcount < 8 && pulse >=1000) {
    Xtarget [mpcount] = map (pulse, 1030, 1980, Xtargetlow [mpcount], Xtargethigh [mpcount]); // extending pulse to Xtarget
    , en vervolgens ook naar de monitor gestuurd.

    Ik hoop dat het meer helderheid geeft over de tekortkomingen van de code. Ik vermoed dat de verwerkingstijd simpelweg te lang is om de binnenkomende pulsen in de juiste volgorde bij te houden.
    Hierbij valt aan te tekenen dat het seriële verkeer met de monitor op zich al een (behoorlijke?) vertraging oplevert, je zou eens moeten testen of het deactiveren van de tweede serie iets oplevert, zó
    Code:
    //    Serial.print ("Xpulse["); Serial.print (mpcount); Serial.print ("] = "); Serial.print (Xpulse[mpcount]);
//    Serial.print ("    Xtarget["); Serial.print (mpcount); Serial.print ("] = "); Serial.println (Xtarget[mpcount]);
    Uiteindelijk kan al het seriële verkeer verwijderd worden, maar dan heb je alleen nog maar het gedrag van de servo's als feed back.
     
    Laatst bewerkt: 25 aug 2022
    max z, 25 aug 2022
    #189
    Herby63 vindt dit leuk.
  10. max z

    max z Vriend van modelbouwforum.nl PH-SAM

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    De complete code:
    Code:
    volatile unsigned long timer; // all timer variables are unsigned long
volatile int inpulse =  1500, seqnr = 20;
volatile byte sync = 0;
int mpcount, pulse;
int Xtarget [8], Xpulse[8];
const int slowstep = 1;
const int Xtargetlow [] = {83, 83, 83, 83, 205, 205, 205, 205};
const int Xtargethigh [] = {467, 467, 467, 467, 410, 410, 410, 410};
bool start = false, RxchWas = false;

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

void setup() {
 
  attachInterrupt(0, read_pwm, CHANGE); // Pin 2 = interrupt 0
  pinMode(2, INPUT);
 
  Serial.begin(9600);
 
  pwm.begin();

  pwm.setOscillatorFrequency(27000000);
  pwm.setPWMFreq(50); // 50Hz, frame length 20 millis

  for (uint8_t i=0; i<8; i++) {
    Xtarget [i] = 308; // equivalent of 1500 micros
    Xpulse [i] = 308;
    pwm.setPWM(i, 0, Xpulse [i]);
  }

  delay(10);
}

void loop() {
 
  while (sync == 0); // ISR sets sync to true when reading Rx pulse is complete, loop starts.
  sync = 0; // stops loop after one run.
 
  delay (6); // do an atomic copy, delayed to midframe to reduce jitter
  cli();
  pulse = inpulse;
  mpcount = seqnr;
  sei();
 
  Serial.print ("mpcount = "); Serial.print (mpcount); Serial.print ("     pulse = "); Serial.println (pulse);
 
  // read next 8 incoming pulses, triggered by a syncpulse, map to extended range and save in array Xtarget []
 
  if (mpcount >= 0 && mpcount < 8 && pulse >=1000) {
    Xtarget [mpcount] = map (pulse, 1030, 1980, Xtargetlow [mpcount], Xtargethigh [mpcount]); // extending pulse to Xtarget

    Serial.print ("Xpulse["); Serial.print (mpcount); Serial.print ("] = "); Serial.print (Xpulse[mpcount]);
    Serial.print ("    Xtarget["); Serial.print (mpcount); Serial.print ("] = "); Serial.println (Xtarget[mpcount]);
  }

  // update all servo outputs with or without changed targets, maximum step is slowstep setting
 
  for (uint8_t j=0; j<8; j++) {
    if ((Xtarget [j] - Xpulse [j]) >= slowstep) Xpulse [j] += slowstep;
    else if ((Xtarget [j] - Xpulse [j]) <= -slowstep) Xpulse [j] -= slowstep;
    else Xpulse [j] = Xtarget [j];
    pwm.setPWM(j, 0, Xpulse [j]); // LOW>HIGH at 0, HIGH>LOW at pulselen
  }
 
}

void read_pwm(){
  if (RxchWas == 0) { // if pin 2 was false previously
    timer = micros(); // start timer
    RxchWas = 1;
  }
  else if (RxchWas == 1) { // if pin 2 was already true, read timer
    inpulse = ((volatile int)micros() - timer);
    RxchWas = 0;
    sync = 1; // release loop stop
    seqnr += 1;
    if (inpulse<950) seqnr = -1; // reset seqnr for next incoming pulses to start with 0
  }

}
     
    Laatst bewerkt: 25 aug 2022
    max z, 25 aug 2022
    #190
    Herby63 vindt dit leuk.
  11. Herby63

    Herby63

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    :rofl:@max z
    Test met de code van post 190, zonder enige aanpassing :)
    Dat verdient een filmpje, dat is veel duidelijker dan het halve pagina beschrijvende tekst.

    Wie die commentator is, weet ik niet, ik herken in ieder geval mijn stem er niet in.

    Test met gedeactiveerde serial print volgt later
     
    Herby63, 25 aug 2022
    #191
    k-k vindt dit leuk.
  12. max z

    max z Vriend van modelbouwforum.nl PH-SAM

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    Tsja, de servo's doen wat ze moeten doen, maar erg langzaam en schokkerig. Het verschil tussen Xtargetlow en Xtargethigh is 467 - 83 = 384 stappen. De loop zou in de cadans van de ontvangen signalen moeten draaien, dus 50x per seconde. Dat zou overeenkomen met 50 stappen per seconde voor de snelheid waarmee Xpulse naar Xtarget toe beweegt, aldus in zo'n 3,5 seconden van het ene uiterste naar hat andere. Dat is wel een héél groot verschil met 28 seconden, dus moet de loop een stuk sneller kunnen draaien. Maar wat veroorzaakt nu dat grote verschil?

    De schokkerigheid is ook duidelijk grover dan de 384 stapjes. Dat kan ik alleen maar verklaren door een grote onregelmatigheid in de snelheid waarmee de loop draait, maar waardoor?

    Ik hoop dat de oorzaak wat duidelijker wordt als je de uitdraai kan laten zien. Zet de pots op een maximum en laat ze verder staan, en kijk dan wat er op de monitor verschijnt.
     
    max z, 25 aug 2022
    #192
  13. Herby63

    Herby63

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    Ik ben anders wel gelukkig met 28 seconden, sneller hoeft niet (de theoretische snelheid was 5,4°/s, of bijna 54 seconden voor 290°)
    hierbij een gans stuk van de uitdraai
    Code:
    mpcount = 22     pulse = 1472
mpcount = 23     pulse = 1472
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 308    Xtarget[0] = 263
mpcount = 2     pulse = 1544
Xpulse[2] = 308    Xtarget[2] = 290
mpcount = 5     pulse = 1460
Xpulse[5] = 308    Xtarget[5] = 297
mpcount = -1     pulse = 932
mpcount = 0     pulse = 1480
Xpulse[0] = 304    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 308    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 308    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 308    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 308    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 305    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 305    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 302    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 302    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 299    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 912
mpcount = 0     pulse = 1476
Xpulse[0] = 289    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 293    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 286    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 290    Xtarget[3] = 255
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 290    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 287    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 284    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 2     pulse = 1544
Xpulse[2] = 290    Xtarget[2] = 290
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 271    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 275    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 268    Xtarget[0] = 264
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1468
Xpulse[0] = 264    Xtarget[0] = 260
mpcount = 3     pulse = 1464
Xpulse[3] = 260    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1472
Xpulse[3] = 258    Xtarget[3] = 261
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1524
Xpulse[1] = 281    Xtarget[1] = 282
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 282    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1488
Xpulse[0] = 264    Xtarget[0] = 268
mpcount = 3     pulse = 1460
Xpulse[3] = 261    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 267    Xtarget[0] = 260
mpcount = 3     pulse = 1468
Xpulse[3] = 258    Xtarget[3] = 260
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 278    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 260    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 257    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 279    Xtarget[1] = 276
mpcount = 4     pulse = 1512
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1484
Xpulse[0] = 264    Xtarget[0] = 266
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 266    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 258    Xtarget[3] = 255
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1540
Xpulse[4] = 309    Xtarget[4] = 315
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 312    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 2     pulse = 1536
Xpulse[2] = 290    Xtarget[2] = 287
mpcount = 5     pulse = 1468
Xpulse[5] = 298    Xtarget[5] = 299
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1476
Xpulse[6] = 303    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 277    Xtarget[1] = 276
mpcount = 5     pulse = 1444
Xpulse[5] = 299    Xtarget[5] = 294
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1448
Xpulse[3] = 256    Xtarget[3] = 251
mpcount = 7     pulse = 1460
Xpulse[7] = 300    Xtarget[7] = 297
mpcount = 1     pulse = 1520
Xpulse[1] = 276    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1488
Xpulse[7] = 297    Xtarget[7] = 303
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 2     pulse = 1544
Xpulse[2] = 287    Xtarget[2] = 290
mpcount = 5     pulse = 1460
Xpulse[5] = 294    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 251    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1460
Xpulse[7] = 301    Xtarget[7] = 297
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 298    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1488
Xpulse[0] = 264    Xtarget[0] = 268
mpcount = 3     pulse = 1460
Xpulse[3] = 259    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 932
mpcount = 0     pulse = 1476
Xpulse[0] = 268    Xtarget[0] = 263
mpcount = 3     pulse = 1476
Xpulse[3] = 256    Xtarget[3] = 263
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1480
Xpulse[0] = 265    Xtarget[0] = 264
mpcount = 3     pulse = 1456
Xpulse[3] = 259    Xtarget[3] = 255
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 290    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1468
Xpulse[0] = 264    Xtarget[0] = 260
mpcount = 3     pulse = 1468
Xpulse[3] = 255    Xtarget[3] = 260
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1524
Xpulse[1] = 279    Xtarget[1] = 282
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1504
Xpulse[1] = 282    Xtarget[1] = 274
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1444
Xpulse[3] = 260    Xtarget[3] = 250
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 264    Xtarget[0] = 260
mpcount = 3     pulse = 1460
Xpulse[3] = 257    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1452
Xpulse[3] = 256    Xtarget[3] = 253
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1488
Xpulse[0] = 263    Xtarget[0] = 268
mpcount = 3     pulse = 1460
Xpulse[3] = 253    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 2     pulse = 1536
Xpulse[2] = 289    Xtarget[2] = 287
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 268    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 265    Xtarget[0] = 263
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1528
Xpulse[1] = 281    Xtarget[1] = 284
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 284    Xtarget[1] = 277
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 260    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 261    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 257    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1452
Xpulse[3] = 258    Xtarget[3] = 253
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 1     pulse = 1508
Xpulse[1] = 277    Xtarget[1] = 276
mpcount = 4     pulse = 1520
Xpulse[4] = 310    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1504
Xpulse[1] = 276    Xtarget[1] = 274
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 274    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1484
Xpulse[0] = 263    Xtarget[0] = 266
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 266    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1524
Xpulse[1] = 279    Xtarget[1] = 282
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 282    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 261    Xtarget[0] = 260
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1532
Xpulse[1] = 277    Xtarget[1] = 285
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1448
Xpulse[3] = 256    Xtarget[3] = 251
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 3     pulse = 1460
Xpulse[3] = 253    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 281    Xtarget[1] = 276
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1484
Xpulse[0] = 263    Xtarget[0] = 266
mpcount = 3     pulse = 1456
Xpulse[3] = 255    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 266    Xtarget[0] = 264
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1484
Xpulse[0] = 264    Xtarget[0] = 266
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 266    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1528
Xpulse[1] = 281    Xtarget[1] = 284
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 284    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1504
Xpulse[1] = 281    Xtarget[1] = 274
mpcount = 5     pulse = 1452
Xpulse[5] = 298    Xtarget[5] = 296
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 274    Xtarget[1] = 279
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 280    Xtarget[1] = 276
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 287    Xtarget[2] = 289
mpcount = 5     pulse = 1464
Xpulse[5] = 296    Xtarget[5] = 298
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1480
Xpulse[0] = 260    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 276    Xtarget[1] = 276
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 5     pulse = 1464
Xpulse[5] = 298    Xtarget[5] = 298
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1488
Xpulse[0] = 264    Xtarget[0] = 268
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 267    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 2     pulse = 1544
Xpulse[2] = 289    Xtarget[2] = 290
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1492
Xpulse[6] = 302    Xtarget[6] = 304
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 304    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1524
Xpulse[1] = 279    Xtarget[1] = 282
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1460
Xpulse[7] = 301    Xtarget[7] = 297
mpcount = 1     pulse = 1520
Xpulse[1] = 282    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 298    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 279    Xtarget[1] = 276
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 276    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = 7     pulse = 1468
Xpulse[7] = 298    Xtarget[7] = 299
mpcount = 2     pulse = 1540
Xpulse[2] = 290    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1484
Xpulse[0] = 263    Xtarget[0] = 266
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 301    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 266    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1460
Xpulse[7] = 299    Xtarget[7] = 297
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 297    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 301    Xtarget[7] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1476
Xpulse[7] = 302    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 310    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 2     pulse = 1544
Xpulse[2] = 289    Xtarget[2] = 290
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 308    Xtarget[4] = 308
mpcount = 7     pulse = 1464
Xpulse[7] = 299    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 280    Xtarget[1] = 279
mpcount = 4     pulse = 1524
Xpulse[4] = 308    Xtarget[4] = 311
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 259    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 4     pulse = 1508
Xpulse[4] = 311    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 308    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1476
Xpulse[7] = 298    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 310    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 310    Xtarget[4] = 308
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 255    Xtarget[3] = 255
mpcount = 7     pulse = 1464
Xpulse[7] = 302    Xtarget[7] = 298
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 278    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1452
Xpulse[3] = 255    Xtarget[3] = 253
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 253    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1476
Xpulse[6] = 301    Xtarget[6] = 301
mpcount = 0     pulse = 1484
Xpulse[0] = 264    Xtarget[0] = 266
mpcount = 3     pulse = 1456
Xpulse[3] = 255    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 280    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 5     pulse = 1456
Xpulse[5] = 297    Xtarget[5] = 296
mpcount = -1     pulse = 936
mpcount = 0     pulse = 1476
Xpulse[0] = 266    Xtarget[0] = 263
mpcount = 3     pulse = 1472
Xpulse[3] = 255    Xtarget[3] = 261
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1484
Xpulse[0] = 263    Xtarget[0] = 266
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 290    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 296    Xtarget[5] = 297
mpcount = -1     pulse = 940
mpcount = 0     pulse = 1476
Xpulse[0] = 266    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1460
Xpulse[7] = 300    Xtarget[7] = 297
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 297    Xtarget[7] = 299
mpcount = 1     pulse = 1508
Xpulse[1] = 277    Xtarget[1] = 276
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = -1     pulse = 912
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 260    Xtarget[3] = 255
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1484
Xpulse[0] = 263    Xtarget[0] = 266
mpcount = 3     pulse = 1460
Xpulse[3] = 257    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 301    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 5     pulse = 1456
Xpulse[5] = 297    Xtarget[5] = 296
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 266    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1484
Xpulse[0] = 264    Xtarget[0] = 266
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1528
Xpulse[1] = 281    Xtarget[1] = 284
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 296    Xtarget[5] = 297
mpcount = -1     pulse = 932
mpcount = 0     pulse = 1472
Xpulse[0] = 266    Xtarget[0] = 261
mpcount = 3     pulse = 1468
Xpulse[3] = 258    Xtarget[3] = 260
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 284    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 260    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 257    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1460
Xpulse[7] = 301    Xtarget[7] = 297
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 298    Xtarget[7] = 301
mpcount = 1     pulse = 1508
Xpulse[1] = 279    Xtarget[1] = 276
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 276    Xtarget[1] = 281
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1452
Xpulse[3] = 258    Xtarget[3] = 253
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 278    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1544
Xpulse[2] = 289    Xtarget[2] = 290
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1484
Xpulse[0] = 264    Xtarget[0] = 266
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 301    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1484
Xpulse[0] = 266    Xtarget[0] = 266
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 266    Xtarget[0] = 261
mpcount = 3     pulse = 1468
Xpulse[3] = 258    Xtarget[3] = 260
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 260    Xtarget[3] = 260
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 3     pulse = 1468
Xpulse[3] = 260    Xtarget[3] = 260
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 277    Xtarget[1] = 276
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1544
Xpulse[2] = 290    Xtarget[2] = 290
mpcount = 5     pulse = 1464
Xpulse[5] = 298    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 260    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1508
Xpulse[1] = 276    Xtarget[1] = 276
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 279    Xtarget[1] = 276
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 5     pulse = 1464
Xpulse[5] = 298    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 258    Xtarget[3] = 260
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 281    Xtarget[1] = 276
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1520
Xpulse[1] = 278    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 5     pulse = 1464
Xpulse[5] = 298    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 260    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 257    Xtarget[3] = 256
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 280    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1508
Xpulse[1] = 279    Xtarget[1] = 276
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1452
Xpulse[3] = 255    Xtarget[3] = 253
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 253    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 310    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 5     pulse = 1468
Xpulse[5] = 298    Xtarget[5] = 299
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 7     pulse = 1484
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 302    Xtarget[7] = 299
mpcount = 1     pulse = 1524
Xpulse[1] = 279    Xtarget[1] = 282
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 282    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 264    Xtarget[0] = 260
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1492
Xpulse[0] = 260    Xtarget[0] = 269
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1452
Xpulse[3] = 256    Xtarget[3] = 253
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 299    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 253    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1484
Xpulse[0] = 263    Xtarget[0] = 266
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1524
Xpulse[1] = 277    Xtarget[1] = 282
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 280    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 301    Xtarget[7] = 298
mpcount = 2     pulse = 1536
Xpulse[2] = 290    Xtarget[2] = 287
mpcount = 5     pulse = 1468
Xpulse[5] = 297    Xtarget[5] = 299
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 266    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1488
Xpulse[6] = 303    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1484
Xpulse[7] = 298    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 298    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 299    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = 7     pulse = 1460
Xpulse[7] = 300    Xtarget[7] = 297
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 297    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 2     pulse = 1544
Xpulse[2] = 287    Xtarget[2] = 290
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 6     pulse = 1476
Xpulse[6] = 303    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 259    Xtarget[3] = 256
mpcount = 6     pulse = 1492
Xpulse[6] = 301    Xtarget[6] = 304
mpcount = 1     pulse = 1524
Xpulse[1] = 277    Xtarget[1] = 282
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1508
Xpulse[1] = 280    Xtarget[1] = 276
mpcount = 4     pulse = 1516
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 304    Xtarget[6] = 301
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 290    Xtarget[2] = 289
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 912
mpcount = 0     pulse = 1484
Xpulse[0] = 264    Xtarget[0] = 266
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 266    Xtarget[0] = 261
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1500
Xpulse[1] = 279    Xtarget[1] = 272
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 279    Xtarget[1] = 276
mpcount = 5     pulse = 1452
Xpulse[5] = 298    Xtarget[5] = 296
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1452
Xpulse[3] = 258    Xtarget[3] = 253
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = 7     pulse = 1460
Xpulse[7] = 300    Xtarget[7] = 297
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 297    Xtarget[7] = 300
mpcount = 2     pulse = 1536
Xpulse[2] = 289    Xtarget[2] = 287
mpcount = 5     pulse = 1460
Xpulse[5] = 296    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1456
Xpulse[3] = 253    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 308    Xtarget[4] = 308
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = -1     pulse = 932
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 298    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1528
Xpulse[4] = 309    Xtarget[4] = 312
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 312    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 278    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 302    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 2     pulse = 1536
Xpulse[2] = 287    Xtarget[2] = 287
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1488
Xpulse[7] = 300    Xtarget[7] = 303
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 303    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 278    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 287    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1508
Xpulse[1] = 281    Xtarget[1] = 276
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 298    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 2     pulse = 1544
Xpulse[2] = 289    Xtarget[2] = 290
mpcount = 5     pulse = 1456
Xpulse[5] = 298    Xtarget[5] = 296
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1524
Xpulse[1] = 279    Xtarget[1] = 282
mpcount = 5     pulse = 1464
Xpulse[5] = 296    Xtarget[5] = 298
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 282    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 2     pulse = 1540
Xpulse[2] = 290    Xtarget[2] = 289
mpcount = 5     pulse = 1456
Xpulse[5] = 298    Xtarget[5] = 296
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 302    Xtarget[7] = 299
mpcount = 1     pulse = 1524
Xpulse[1] = 281    Xtarget[1] = 282
mpcount = 5     pulse = 1472
Xpulse[5] = 296    Xtarget[5] = 300
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 282    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1464
Xpulse[5] = 300    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1452
Xpulse[3] = 256    Xtarget[3] = 253
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 253    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 277    Xtarget[1] = 276
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 276    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 5     pulse = 1468
Xpulse[5] = 298    Xtarget[5] = 299
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1484
Xpulse[0] = 263    Xtarget[0] = 266
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 266    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 278    Xtarget[1] = 281
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 5     pulse = 1456
Xpulse[5] = 299    Xtarget[5] = 296
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 299    Xtarget[7] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 296    Xtarget[5] = 297
mpcount = -1     pulse = 932
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 278    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 261    Xtarget[0] = 260
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 260    Xtarget[0] = 264
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 281    Xtarget[1] = 276
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 278    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 260    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 257    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 5     pulse = 1468
Xpulse[5] = 297    Xtarget[5] = 299
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1472
Xpulse[3] = 258    Xtarget[3] = 261
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 299    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 261    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 279    Xtarget[1] = 276
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 276    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 308    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 298    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 280    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1524
Xpulse[1] = 281    Xtarget[1] = 282
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 932
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 258    Xtarget[3] = 260
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 260    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 282    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 278    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 261    Xtarget[0] = 260
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 260    Xtarget[0] = 264
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1524
Xpulse[1] = 277    Xtarget[1] = 282
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1484
Xpulse[0] = 264    Xtarget[0] = 266
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 266    Xtarget[0] = 261
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 310    Xtarget[4] = 308
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 261    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 258    Xtarget[3] = 255
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 5     pulse = 1468
Xpulse[5] = 297    Xtarget[5] = 299
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 299    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 260    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1496
Xpulse[1] = 279    Xtarget[1] = 271
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 276    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = -1     pulse = 936
mpcount = 0     pulse = 1468
Xpulse[0] = 260    Xtarget[0] = 260
mpcount = 3     pulse = 1472
Xpulse[3] = 256    Xtarget[3] = 261
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 259    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 278    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 260    Xtarget[0] = 264
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 7     pulse = 1484
Xpulse[7] = 299    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 302    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 308    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 260    Xtarget[3] = 258
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1488
Xpulse[0] = 263    Xtarget[0] = 268
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 266    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1484
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 2     pulse = 1552
Xpulse[2] = 289    Xtarget[2] = 293
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 2     pulse = 1548
Xpulse[2] = 293    Xtarget[2] = 292
mpcount = 5     pulse = 1456
Xpulse[5] = 298    Xtarget[5] = 296
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 310    Xtarget[4] = 308
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1524
Xpulse[1] = 279    Xtarget[1] = 282
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 282    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 308    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 296    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 258    Xtarget[3] = 260
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 292    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 260    Xtarget[3] = 255
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1464
Xpulse[0] = 261    Xtarget[0] = 258
mpcount = 3     pulse = 1460
Xpulse[3] = 257    Xtarget[3] = 256
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 258    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 303    Xtarget[6] = 303
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1480
Xpulse[7] = 299    Xtarget[7] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 302    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1488
Xpulse[0] = 264    Xtarget[0] = 268
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 267    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1496
Xpulse[6] = 302    Xtarget[6] = 305
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1524
Xpulse[4] = 310    Xtarget[4] = 311
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1476
Xpulse[6] = 305    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = 7     pulse = 1464
Xpulse[7] = 301    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 308    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 280    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 310    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 302    Xtarget[7] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = 7     pulse = 1468
Xpulse[7] = 302    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 299    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 261    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 310    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 310    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 255    Xtarget[3] = 255
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1524
Xpulse[1] = 279    Xtarget[1] = 282
mpcount = 4     pulse = 1508
Xpulse[4] = 310    Xtarget[4] = 308
mpcount = 7     pulse = 1484
Xpulse[7] = 299    Xtarget[7] = 302
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1456
Xpulse[5] = 297    Xtarget[5] = 296
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1468
Xpulse[6] = 302    Xtarget[6] = 299
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 302    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 282    Xtarget[1] = 279
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 299    Xtarget[6] = 302
mpcount = 0     pulse = 1484
Xpulse[0] = 263    Xtarget[0] = 266
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1504
Xpulse[1] = 277    Xtarget[1] = 274
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 274    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 296    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 266    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 258    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1524
Xpulse[1] = 281    Xtarget[1] = 282
mpcount = 4     pulse = 1520
Xpulse[4] = 310    Xtarget[4] = 310
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 282    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 301    Xtarget[7] = 302
mpcount = 2     pulse = 1548
Xpulse[2] = 289    Xtarget[2] = 292
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 261    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 261    Xtarget[0] = 261
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 261    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 255    Xtarget[3] = 255
mpcount = 6     pulse = 1496
Xpulse[6] = 302    Xtarget[6] = 305
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 305    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1504
Xpulse[4] = 310    Xtarget[4] = 307
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 307    Xtarget[4] = 310
mpcount = 7     pulse = 1464
Xpulse[7] = 299    Xtarget[7] = 298
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 280    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 2     pulse = 1532
Xpulse[2] = 292    Xtarget[2] = 285
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 912
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 258    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 302    Xtarget[7] = 298
mpcount = 1     pulse = 1524
Xpulse[1] = 279    Xtarget[1] = 282
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 282    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 298    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1524
Xpulse[1] = 279    Xtarget[1] = 282
mpcount = 5     pulse = 1468
Xpulse[5] = 298    Xtarget[5] = 299
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 260    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 282    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 258    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 279    Xtarget[1] = 276
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1468
Xpulse[3] = 255    Xtarget[3] = 260
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1452
Xpulse[3] = 258    Xtarget[3] = 253
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 5     pulse = 1464
Xpulse[5] = 299    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 253    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1480
Xpulse[7] = 299    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1528
Xpulse[1] = 279    Xtarget[1] = 284
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 282    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 285    Xtarget[2] = 289
mpcount = 5     pulse = 1456
Xpulse[5] = 298    Xtarget[5] = 296
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 264    Xtarget[0] = 260
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1472
Xpulse[0] = 260    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 296    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1472
Xpulse[6] = 302    Xtarget[6] = 300
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1524
Xpulse[1] = 279    Xtarget[1] = 282
mpcount = 4     pulse = 1512
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 282    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 300    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 261    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 279    Xtarget[1] = 276
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 276    Xtarget[1] = 281
mpcount = 5     pulse = 1468
Xpulse[5] = 298    Xtarget[5] = 299
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 258    Xtarget[3] = 255
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 4     pulse = 1504
Xpulse[4] = 308    Xtarget[4] = 307
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 2     pulse = 1536
Xpulse[2] = 289    Xtarget[2] = 287
mpcount = 5     pulse = 1456
Xpulse[5] = 299    Xtarget[5] = 296
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 296    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 260    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 257    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = 7     pulse = 1456
Xpulse[7] = 299    Xtarget[7] = 296
mpcount = 2     pulse = 1532
Xpulse[2] = 287    Xtarget[2] = 285
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 4     pulse = 1504
Xpulse[4] = 310    Xtarget[4] = 307
mpcount = 7     pulse = 1472
Xpulse[7] = 296    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 277    Xtarget[1] = 276
mpcount = 5     pulse = 1456
Xpulse[5] = 297    Xtarget[5] = 296
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 258    Xtarget[3] = 255
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 2     pulse = 1544
Xpulse[2] = 285    Xtarget[2] = 290
mpcount = 5     pulse = 1464
Xpulse[5] = 296    Xtarget[5] = 298
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1484
Xpulse[0] = 261    Xtarget[0] = 266
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1528
Xpulse[4] = 309    Xtarget[4] = 312
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 312    Xtarget[4] = 309
mpcount = 7     pulse = 1484
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 302    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 261    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1524
Xpulse[1] = 277    Xtarget[1] = 282
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 255    Xtarget[3] = 260
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = 7     pulse = 1460
Xpulse[7] = 300    Xtarget[7] = 297
mpcount = 1     pulse = 1516
Xpulse[1] = 282    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 310    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 297    Xtarget[7] = 299
mpcount = 1     pulse = 1500
Xpulse[1] = 279    Xtarget[1] = 272
mpcount = 4     pulse = 1508
Xpulse[4] = 308    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 308    Xtarget[4] = 308
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1452
Xpulse[3] = 260    Xtarget[3] = 253
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 257    Xtarget[3] = 256
mpcount = 6     pulse = 1472
Xpulse[6] = 302    Xtarget[6] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 279    Xtarget[1] = 276
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 276    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 280    Xtarget[1] = 281
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 300    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 281    Xtarget[1] = 276
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 2     pulse = 1540
Xpulse[2] = 290    Xtarget[2] = 289
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 278    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1468
Xpulse[0] = 264    Xtarget[0] = 260
mpcount = 3     pulse = 1452
Xpulse[3] = 258    Xtarget[3] = 253
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 310    Xtarget[4] = 308
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 302    Xtarget[7] = 299
mpcount = 1     pulse = 1532
Xpulse[1] = 277    Xtarget[1] = 285
mpcount = 5     pulse = 1468
Xpulse[5] = 298    Xtarget[5] = 299
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1476
Xpulse[3] = 256    Xtarget[3] = 263
mpcount = 7     pulse = 1480
Xpulse[7] = 299    Xtarget[7] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 285    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 282    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 298    Xtarget[7] = 301
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1460
Xpulse[5] = 299    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 263    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1528
Xpulse[4] = 309    Xtarget[4] = 312
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 260    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 259    Xtarget[3] = 256
mpcount = 6     pulse = 1496
Xpulse[6] = 302    Xtarget[6] = 305
mpcount = 1     pulse = 1528
Xpulse[1] = 279    Xtarget[1] = 284
mpcount = 4     pulse = 1508
Xpulse[4] = 312    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 282    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1472
Xpulse[6] = 305    Xtarget[6] = 300
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1504
Xpulse[4] = 307    Xtarget[4] = 307
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 299    Xtarget[7] = 298
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 289    Xtarget[2] = 289
mpcount = 5     pulse = 1456
Xpulse[5] = 297    Xtarget[5] = 296
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1484
Xpulse[0] = 263    Xtarget[0] = 266
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 300    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 266    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1500
Xpulse[1] = 277    Xtarget[1] = 272
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 274    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1488
Xpulse[6] = 303    Xtarget[6] = 303
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 303    Xtarget[6] = 303
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 296    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1476
Xpulse[6] = 303    Xtarget[6] = 301
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1548
Xpulse[2] = 289    Xtarget[2] = 292
mpcount = 5     pulse = 1456
Xpulse[5] = 297    Xtarget[5] = 296
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1496
Xpulse[4] = 309    Xtarget[4] = 305
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 306    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1468
Xpulse[0] = 261    Xtarget[0] = 260
mpcount = 3     pulse = 1456
Xpulse[3] = 258    Xtarget[3] = 255
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1480
Xpulse[0] = 260    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1476
Xpulse[6] = 303    Xtarget[6] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 310    Xtarget[4] = 310
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 301    Xtarget[7] = 298
mpcount = 1     pulse = 1528
Xpulse[1] = 277    Xtarget[1] = 284
mpcount = 5     pulse = 1468
Xpulse[5] = 296    Xtarget[5] = 299
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1484
Xpulse[0] = 264    Xtarget[0] = 266
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 266    Xtarget[0] = 261
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 7     pulse = 1476
Xpulse[7] = 298    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 284    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 2     pulse = 1540
Xpulse[2] = 292    Xtarget[2] = 289
mpcount = 5     pulse = 1456
Xpulse[5] = 299    Xtarget[5] = 296
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 261    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 260    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1472
Xpulse[0] = 261    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 257    Xtarget[3] = 255
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1460
Xpulse[7] = 299    Xtarget[7] = 297
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 297    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1524
Xpulse[1] = 281    Xtarget[1] = 282
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 282    Xtarget[1] = 279
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = -1     pulse = 932
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1476
Xpulse[3] = 258    Xtarget[3] = 263
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 261    Xtarget[3] = 256
mpcount = 6     pulse = 1492
Xpulse[6] = 302    Xtarget[6] = 304
mpcount = 1     pulse = 1524
Xpulse[1] = 279    Xtarget[1] = 282
mpcount = 4     pulse = 1520
Xpulse[4] = 311    Xtarget[4] = 310
mpcount = 7     pulse = 1464
Xpulse[7] = 299    Xtarget[7] = 298
mpcount = 1     pulse = 1516
Xpulse[1] = 282    Xtarget[1] = 279
mpcount = 4     pulse = 1524
Xpulse[4] = 310    Xtarget[4] = 311
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 311    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 5     pulse = 1464
Xpulse[5] = 296    Xtarget[5] = 298
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 304    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1508
Xpulse[1] = 281    Xtarget[1] = 276
mpcount = 4     pulse = 1524
Xpulse[4] = 309    Xtarget[4] = 311
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1520
Xpulse[1] = 278    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 311    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 258    Xtarget[3] = 260
mpcount = 6     pulse = 1484
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 278    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1456
Xpulse[3] = 260    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 257    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 2     pulse = 1544
Xpulse[2] = 289    Xtarget[2] = 290
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 299    Xtarget[7] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 302    Xtarget[7] = 299
mpcount = 1     pulse = 1532
Xpulse[1] = 277    Xtarget[1] = 285
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 299    Xtarget[7] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 302    Xtarget[7] = 299
mpcount = 1     pulse = 1508
Xpulse[1] = 280    Xtarget[1] = 276
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 299    Xtarget[7] = 298
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1468
Xpulse[7] = 298    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 308    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1460
Xpulse[7] = 300    Xtarget[7] = 297
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 297    Xtarget[7] = 300
mpcount = 2     pulse = 1544
Xpulse[2] = 290    Xtarget[2] = 290
mpcount = 5     pulse = 1448
Xpulse[5] = 297    Xtarget[5] = 295
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = -1     pulse = 908
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 298    Xtarget[7] = 299
mpcount = 1     pulse = 1508
Xpulse[1] = 277    Xtarget[1] = 276
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 295    Xtarget[5] = 297
mpcount = -1     pulse = 932
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1488
Xpulse[0] = 263    Xtarget[0] = 268
mpcount = 3     pulse = 1452
Xpulse[3] = 255    Xtarget[3] = 253
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1480
Xpulse[7] = 299    Xtarget[7] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 308    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 278    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1536
Xpulse[2] = 290    Xtarget[2] = 287
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 268    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 253    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1468
Xpulse[0] = 265    Xtarget[0] = 260
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 278    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1460
Xpulse[0] = 260    Xtarget[0] = 256
mpcount = 3     pulse = 1456
Xpulse[3] = 258    Xtarget[3] = 255
mpcount = 6     pulse = 1492
Xpulse[6] = 302    Xtarget[6] = 304
mpcount = 0     pulse = 1476
Xpulse[0] = 257    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 304    Xtarget[6] = 302
mpcount = 1     pulse = 1508
Xpulse[1] = 277    Xtarget[1] = 276
mpcount = 4     pulse = 1532
Xpulse[4] = 309    Xtarget[4] = 313
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 276    Xtarget[1] = 281
mpcount = 4     pulse = 1508
Xpulse[4] = 312    Xtarget[4] = 308
mpcount = 7     pulse = 1488
Xpulse[7] = 300    Xtarget[7] = 303
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1464
Xpulse[7] = 303    Xtarget[7] = 298
mpcount = 1     pulse = 1528
Xpulse[1] = 277    Xtarget[1] = 284
mpcount = 5     pulse = 1472
Xpulse[5] = 297    Xtarget[5] = 300
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 7     pulse = 1476
Xpulse[7] = 298    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 284    Xtarget[1] = 277
mpcount = 4     pulse = 1504
Xpulse[4] = 310    Xtarget[4] = 307
mpcount = 7     pulse = 1472
Xpulse[7] = 301    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 287    Xtarget[2] = 289
mpcount = 5     pulse = 1464
Xpulse[5] = 300    Xtarget[5] = 298
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 0     pulse = 1464
Xpulse[0] = 260    Xtarget[0] = 258
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1524
Xpulse[1] = 277    Xtarget[1] = 282
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 258    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 258    Xtarget[3] = 258
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 301    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 298    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1476
Xpulse[6] = 302    Xtarget[6] = 301
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1504
Xpulse[4] = 309    Xtarget[4] = 307
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 307    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 299    Xtarget[7] = 298
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1468
Xpulse[7] = 298    Xtarget[7] = 299
mpcount = 2     pulse = 1536
Xpulse[2] = 289    Xtarget[2] = 287
mpcount = 5     pulse = 1456
Xpulse[5] = 297    Xtarget[5] = 296
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1488
Xpulse[6] = 301    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 912
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 255    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1484
Xpulse[0] = 264    Xtarget[0] = 266
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 296    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1480
Xpulse[0] = 266    Xtarget[0] = 264
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 264    Xtarget[0] = 264
mpcount = 3     pulse = 1456
Xpulse[3] = 255    Xtarget[3] = 255
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1480
Xpulse[7] = 300    Xtarget[7] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1524
Xpulse[1] = 277    Xtarget[1] = 282
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 299    Xtarget[7] = 298
mpcount = 1     pulse = 1512
Xpulse[1] = 280    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1480
Xpulse[7] = 301    Xtarget[7] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 302    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 280    Xtarget[1] = 281
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1520
Xpulse[1] = 281    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1528
Xpulse[1] = 281    Xtarget[1] = 284
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 284    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1472
Xpulse[0] = 263    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 260    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1464
Xpulse[0] = 261    Xtarget[0] = 258
mpcount = 3     pulse = 1460
Xpulse[3] = 257    Xtarget[3] = 256
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 301    Xtarget[7] = 301
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1468
Xpulse[0] = 258    Xtarget[0] = 260
mpcount = 3     pulse = 1480
Xpulse[3] = 256    Xtarget[3] = 264
mpcount = 6     pulse = 1488
Xpulse[6] = 302    Xtarget[6] = 303
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 259    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 303    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1508
Xpulse[1] = 279    Xtarget[1] = 276
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 276    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1472
Xpulse[0] = 264    Xtarget[0] = 261
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1472
Xpulse[6] = 302    Xtarget[6] = 300
mpcount = 0     pulse = 1480
Xpulse[0] = 261    Xtarget[0] = 264
mpcount = 3     pulse = 1464
Xpulse[3] = 256    Xtarget[3] = 258
mpcount = 6     pulse = 1484
Xpulse[6] = 300    Xtarget[6] = 302
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1508
Xpulse[4] = 309    Xtarget[4] = 308
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 308    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 5     pulse = 1460
Xpulse[5] = 297    Xtarget[5] = 297
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 279    Xtarget[1] = 279
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 2     pulse = 1540
Xpulse[2] = 287    Xtarget[2] = 289
mpcount = 5     pulse = 1452
Xpulse[5] = 297    Xtarget[5] = 296
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1476
Xpulse[0] = 263    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 300    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 280    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1468
Xpulse[3] = 256    Xtarget[3] = 260
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1520
Xpulse[1] = 278    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1524
Xpulse[1] = 281    Xtarget[1] = 282
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 282    Xtarget[1] = 279
mpcount = 5     pulse = 1456
Xpulse[5] = 296    Xtarget[5] = 296
mpcount = -1     pulse = 936
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1472
Xpulse[3] = 260    Xtarget[3] = 261
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 261    Xtarget[3] = 256
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1528
Xpulse[1] = 279    Xtarget[1] = 284
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1464
Xpulse[7] = 300    Xtarget[7] = 298
mpcount = 1     pulse = 1520
Xpulse[1] = 282    Xtarget[1] = 281
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = 7     pulse = 1472
Xpulse[7] = 298    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 2     pulse = 1544
Xpulse[2] = 289    Xtarget[2] = 290
mpcount = 5     pulse = 1460
Xpulse[5] = 296    Xtarget[5] = 297
mpcount = -1     pulse = 916
mpcount = 0     pulse = 1468
Xpulse[0] = 264    Xtarget[0] = 260
mpcount = 3     pulse = 1456
Xpulse[3] = 256    Xtarget[3] = 255
mpcount = 6     pulse = 1484
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 261    Xtarget[0] = 263
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1516
Xpulse[1] = 277    Xtarget[1] = 279
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 299    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 279    Xtarget[1] = 281
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 299    Xtarget[7] = 300
mpcount = 1     pulse = 1516
Xpulse[1] = 281    Xtarget[1] = 279
mpcount = 4     pulse = 1520
Xpulse[4] = 309    Xtarget[4] = 310
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1468
Xpulse[0] = 263    Xtarget[0] = 260
mpcount = 3     pulse = 1464
Xpulse[3] = 255    Xtarget[3] = 258
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 260    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 258    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 1     pulse = 1512
Xpulse[1] = 279    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 310    Xtarget[4] = 309
mpcount = 7     pulse = 1472
Xpulse[7] = 300    Xtarget[7] = 300
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1476
Xpulse[7] = 300    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 277    Xtarget[1] = 277
mpcount = 4     pulse = 1512
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
mpcount = 1     pulse = 1520
Xpulse[1] = 277    Xtarget[1] = 281
mpcount = 5     pulse = 1464
Xpulse[5] = 297    Xtarget[5] = 298
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1480
Xpulse[0] = 263    Xtarget[0] = 264
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 6     pulse = 1480
Xpulse[6] = 302    Xtarget[6] = 302
mpcount = 0     pulse = 1476
Xpulse[0] = 264    Xtarget[0] = 263
mpcount = 3     pulse = 1460
Xpulse[3] = 256    Xtarget[3] = 256
mpcount = 7     pulse = 1476
Xpulse[7] = 299    Xtarget[7] = 301
mpcount = 1     pulse = 1512
Xpulse[1] = 281    Xtarget[1] = 277
mpcount = 4     pulse = 1516
Xpulse[4] = 309    Xtarget[4] = 309
mpcount = 7     pulse = 1468
Xpulse[7] = 301    Xtarget[7] = 299
    Oeps de pots staan allen rond de neutraalstand

    en nu met alle pots naar rechts gedraaid, hoge pulslengte)
    Code:
    mpcount = 5     pulse = 1984
Xpulse[5] = 409    Xtarget[5] = 410
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1984
Xpulse[0] = 470    Xtarget[0] = 468
mpcount = 3     pulse = 1984
Xpulse[3] = 467    Xtarget[3] = 468
mpcount = 6     pulse = 1988
Xpulse[6] = 410    Xtarget[6] = 411
mpcount = 0     pulse = 1988
Xpulse[0] = 468    Xtarget[0] = 470
mpcount = 3     pulse = 1988
Xpulse[3] = 468    Xtarget[3] = 470
mpcount = 7     pulse = 1988
Xpulse[7] = 410    Xtarget[7] = 411
mpcount = 1     pulse = 1988
Xpulse[1] = 468    Xtarget[1] = 470
mpcount = 4     pulse = 1988
Xpulse[4] = 410    Xtarget[4] = 411
mpcount = 7     pulse = 1980
Xpulse[7] = 411    Xtarget[7] = 410
mpcount = 1     pulse = 1988
Xpulse[1] = 470    Xtarget[1] = 470
mpcount = 4     pulse = 1988
Xpulse[4] = 411    Xtarget[4] = 411
mpcount = 7     pulse = 1988
Xpulse[7] = 410    Xtarget[7] = 411
mpcount = 1     pulse = 1984
Xpulse[1] = 470    Xtarget[1] = 468
mpcount = 4     pulse = 1984
Xpulse[4] = 411    Xtarget[4] = 410
mpcount = 7     pulse = 1984
Xpulse[7] = 411    Xtarget[7] = 410
mpcount = 2     pulse = 1988
Xpulse[2] = 470    Xtarget[2] = 470
mpcount = 5     pulse = 1988
Xpulse[5] = 410    Xtarget[5] = 411
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1988
Xpulse[0] = 470    Xtarget[0] = 470
mpcount = 3     pulse = 1988
Xpulse[3] = 470    Xtarget[3] = 470
mpcount = 6     pulse = 1988
Xpulse[6] = 411    Xtarget[6] = 411
mpcount = 0     pulse = 1992
Xpulse[0] = 470    Xtarget[0] = 471
mpcount = 4     pulse = 1988
Xpulse[4] = 410    Xtarget[4] = 411
mpcount = 7     pulse = 1988
Xpulse[7] = 410    Xtarget[7] = 411
mpcount = 1     pulse = 1992
Xpulse[1] = 468    Xtarget[1] = 471
mpcount = 4     pulse = 1984
Xpulse[4] = 411    Xtarget[4] = 410
mpcount = 7     pulse = 2004
Xpulse[7] = 411    Xtarget[7] = 415
mpcount = 1     pulse = 1984
Xpulse[1] = 471    Xtarget[1] = 468
mpcount = 4     pulse = 1988
Xpulse[4] = 410    Xtarget[4] = 411
mpcount = 7     pulse = 1988
Xpulse[7] = 414    Xtarget[7] = 411
mpcount = 1     pulse = 1988
Xpulse[1] = 468    Xtarget[1] = 470
mpcount = 4     pulse = 1988
Xpulse[4] = 411    Xtarget[4] = 411
mpcount = -1     pulse = 924
mpcount = 0     pulse = 1992
Xpulse[0] = 471    Xtarget[0] = 471
mpcount = 3     pulse = 1992
Xpulse[3] = 470    Xtarget[3] = 471
mpcount = 6     pulse = 1988
Xpulse[6] = 411    Xtarget[6] = 411
mpcount = 0     pulse = 1984
Xpulse[0] = 471    Xtarget[0] = 468
mpcount = 3     pulse = 1988
Xpulse[3] = 471    Xtarget[3] = 470
mpcount = 6     pulse = 1988
Xpulse[6] = 411    Xtarget[6] = 411
mpcount = 1     pulse = 1988
Xpulse[1] = 470    Xtarget[1] = 470
mpcount = 4     pulse = 1984
Xpulse[4] = 411    Xtarget[4] = 410
mpcount = 7     pulse = 1988
Xpulse[7] = 411    Xtarget[7] = 411
mpcount = 1     pulse = 1992
Xpulse[1] = 470    Xtarget[1] = 471
mpcount = 4     pulse = 1992
Xpulse[4] = 410    Xtarget[4] = 412
mpcount = 7     pulse = 1984
Xpulse[7] = 411    Xtarget[7] = 410
mpcount = 1     pulse = 1988
Xpulse[1] = 471    Xtarget[1] = 470
mpcount = 4     pulse = 1984
Xpulse[4] = 412    Xtarget[4] = 410
mpcount = 7     pulse = 1992
Xpulse[7] = 410    Xtarget[7] = 412
mpcount = 1     pulse = 1984
Xpulse[1] = 470    Xtarget[1] = 468
mpcount = 5     pulse = 1976
Xpulse[5] = 411    Xtarget[5] = 409
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1984
Xpulse[0] = 468    Xtarget[0] = 468
mpcount = 3     pulse = 1988
Xpulse[3] = 470    Xtarget[3] = 470
mpcount = 6     pulse = 1988
Xpulse[6] = 411    Xtarget[6] = 411
mpcount = 0     pulse = 1984
Xpulse[0] = 468    Xtarget[0] = 468
mpcount = 3     pulse = 1984
Xpulse[3] = 470    Xtarget[3] = 468
mpcount = 7     pulse = 1984
Xpulse[7] = 412    Xtarget[7] = 410
mpcount = 1     pulse = 1984
Xpulse[1] = 468    Xtarget[1] = 468
mpcount = 4     pulse = 1984
Xpulse[4] = 410    Xtarget[4] = 410
mpcount = 7     pulse = 1984
Xpulse[7] = 410    Xtarget[7] = 410
mpcount = 1     pulse = 1984
Xpulse[1] = 468    Xtarget[1] = 468
mpcount = 4     pulse = 1988
Xpulse[4] = 410    Xtarget[4] = 411
mpcount = 7     pulse = 1988
Xpulse[7] = 410    Xtarget[7] = 411
mpcount = 1     pulse = 1984
Xpulse[1] = 468    Xtarget[1] = 468
mpcount = 4     pulse = 1988
Xpulse[4] = 411    Xtarget[4] = 411
mpcount = 7     pulse = 1984
Xpulse[7] = 411    Xtarget[7] = 410
mpcount = 2     pulse = 1988
Xpulse[2] = 470    Xtarget[2] = 470
mpcount = 5     pulse = 1988
Xpulse[5] = 409    Xtarget[5] = 411
mpcount = -1     pulse = 920
mpcount = 0     pulse = 1992
Xpulse[0] = 468    Xtarget[0] = 471
mpcount = 3     pulse = 1984
Xpulse[3] = 468    Xtarget[3] = 468
mpcount = 6     pulse = 1988
Xpulse[6] = 411    Xtarget[6] = 411
mpcount = 0     pulse = 1984
Xpulse[0] = 471    Xtarget[0] = 468
mpcount = 4     pulse = 1980
Xpulse[4] = 411    Xtarget[4] = 410
mpcount = 7     pulse = 1996
Xpulse[7] = 410    Xtarget[7] = 413
mpcount = 1     pulse = 1984
Xpulse[1] = 468    Xtarget[1] = 468
mpcount = 4     pulse = 1988
Xpulse[4] = 410    Xtarget[4] = 411
mpcount = 7     pulse = 1984
Xpulse[7] = 413    Xtarget[7] = 410
mpcount = 1     pulse = 1992
Xpulse[1] = 468    Xtarget[1] = 471
mpcount = 4     pulse = 1984
Xpulse[4] = 411    Xtarget[4] = 410
mpcount = 7     pulse = 1988
Xpulse[7] = 410    Xtarget[7] = 411
mpcount = 1     pulse = 1984
Xpulse[1] = 471    Xtarget[1] = 468
mpcount = 4     pulse = 1996
Xpulse[4] = 410    Xtarget[4] = 413
mpcount = -1     pulse = 928
mpcount = 0     pulse = 1984
Xpulse[0] = 468    Xtarget[0] = 468
mpcount = 3     pulse = 1992
Xpulse[3] = 468    Xtarget[3] = 471
mpcount = 6     pulse = 1984
Xpulse[6] = 411    Xtarget[6] = 410
mpcount = 0     pulse = 1992
Xpulse[0] = 468    Xtarget[0] = 471
mpcount = 3     pulse = 1984
Xpulse[3] = 471    Xtarget[3] = 468
mpcount = 6     pulse = 1996
Xpulse[6] = 410    Xtarget[6] = 413
mpcount = 1     pulse = 1996
Xpulse[1] = 468    Xtarget[1] = 473
mpcount = 4     pulse = 1984
Xpulse[4] = 413    Xtarget[4] = 410
mpcount = 7     pulse = 1984
Xpulse[7] = 411    Xtarget[7] = 410
mpcount = 1     pulse = 1984
Xpulse[1] = 471    Xtarget[1] = 468
mpcount = 4     pulse = 2000
Xpulse[4] = 410    Xtarget[4] = 414
     
    Laatst bewerkt: 25 aug 2022
    Herby63, 25 aug 2022
    #193
  14. Herby63

    Herby63

    Lid geworden:
    6 aug 2009
    Berichten:
    4.400
    Locatie:
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    @k-k post 193 aangepast terwijl je aan het lezen was :)
     
    Herby63, 25 aug 2022
    #194
  15. max z

    max z Vriend van modelbouwforum.nl PH-SAM

    Lid geworden:
    4 dec 2009
    Berichten:
    2.421
    Locatie:
    Boskoop
    Eerste conclusie: de geregistreerde targets verspringen meestal 3 volgnummers (inclusief -1 voor de synchronisatiepuls), maar soms 2 of 4. Een duidelijk signaal dat de loop veel te traag is.

    Verder zie ik in je laatste uitdraai dat Xtarget en Xpulse vrij dicht bij elkaar zitten, dat zou duiden op een min of meer stabiele situatie, de pulse is "gearriveerd" bij de target en de servo staat stil. Klopt dit?
     
    max z, 25 aug 2022
    #195
  16. Herby63

    Herby63

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    6 aug 2009
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    4.400
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    En dit is het resultaat :)
     
    Herby63, 25 aug 2022
    #196
  17. Herby63

    Herby63

    Lid geworden:
    6 aug 2009
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    4.400
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    De servo's staan inderdaad stil op de gevraagde positie
     
    Herby63, 25 aug 2022
    #197
  18. max z

    max z Vriend van modelbouwforum.nl PH-SAM

    Lid geworden:
    4 dec 2009
    Berichten:
    2.421
    Locatie:
    Boskoop
    Bemoedigend! Haal nu ook de andere serial eens weg?
    Code:
    //  Serial.print ("mpcount = "); Serial.print (mpcount); Serial.print ("     pulse = "); Serial.println (pulse);
     
    max z, 25 aug 2022
    #198
  19. Herby63

    Herby63

    Lid geworden:
    6 aug 2009
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    eerst een filmpje met een praktijkopstelling :)



    nu eerste een boodschap doen, binnen een half uurtje terug :jan:
     
    Herby63, 25 aug 2022
    #199
  20. Herby63

    Herby63

    Lid geworden:
    6 aug 2009
    Berichten:
    4.400
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    Een verzoeknummertje van Max :)
     
    Herby63, 25 aug 2022
    #200
    k-k vindt dit leuk.
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