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Gear & Accessories

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How to Customize and Optimize CM93 v2 2013 Charts for Different Regions and Preferences on OpenCPN


the following material applies to the cm93 v2 2013 release. this version of the code implements a new xml to xml protocol. this protocol is simpler to implement than previous versions, but has been put through the wringer for reliability. the error checking is pretty robust. there are a few things that can still happen, but for the most part they are bugs that i know about.




cm93 v2 2013



cm93 is free software; you can redistribute it and/or modify it under the terms of the mit license. this software is provided 'as-is', without any express or implied warranty. in no event will the authors be held liable for any damages arising from the use of this software. permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. the origin of this software must not be misrepresented; you must not claim that you wrote the original software. if you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 2. altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. this notice may not be removed or altered from any source distribution.


cm93 is distributed in the hope that it will be useful, but without any warranty; without even the implied warranty of merchantability or fitness for a particular purpose. see the license for more details.


  • the robot has been updated to cm93 v2: license has changed from gplv2 to gplv3

  • general architecture has changed.

  • it now supports two motors. one motor can be used to move the robot. the robot moves forward or backward depending on the switch toggle is used to select the direction. the robot has a speed switch which determines the speed of the robot. the other motor is used to control the robot's rotation. more sensors have been added.

  • sensors for the robot's location: ir sensor.

  • accelerometer.

  • magnetometer.

  • sensors for the robot's rotation: gyroscope.

  • angle encoder.

  • inclinometer.

  • sensors for the robot's twist: twist sensor.

  • sensors for the robot's color: color sensor.

  • release notes note: cm93 v2 2013 is different from cm93 v2 2012.

  • cm93 v2 2013 is compatible with cm93 v2 2012.

  • cm93 v2 2013 is not compatible with cm93 v2 2011.

if you have any question, you can e-mail us at smallrobot@gmail.com


https://www.gamersbattlearena.com/group/apex-legends/discussion/d40854f3-ed1d-4386-b9f7-a0eb84566356

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