lots and lots of bugfixes after running on reals hardware for the first time
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@ -30,7 +30,7 @@
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#define true 1
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// Decide the sign of a value
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#define sign(a) (a>0 ? 1 : ((a<0) ? -1 : 0))
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#define signof(a) ((a>0) ? 1 : ((a<0) ? -1 : 0))
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#define clear_vector(a) memset(a, 0, sizeof(a))
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