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This diff has been restricted to the following files: 'thrust.c'

#
# old_revision [64de686d701acb9539dc52fe0bff299405612ab0]
# new_revision [9142f3330490a5aa00c1686475633b620c2ef5e7]
#
# add_file "thrust.c"
#  content [cd4c74340b2aaabdc4543f6334d5c44f287e0965]
#
============================================================
--- /dev/null	
+++ thrust.c	cd4c74340b2aaabdc4543f6334d5c44f287e0965
@@ -0,0 +1,15 @@
+/* thrust.c */
+
+#include "fisqrt.h"
+#include "timer.h"
+
+float linearise_thrust(float x)
+{
+	return fisqrt(fisqrt(x*x*x));
+}
+
+void set_thrust(int motor, float x)
+{
+	timer_set_pwm_value(motor, (int)(linearise_thrust(x) * PWM_MAX));
+}
+