Support for Servo motor for Arduino. Support for'diag' in c

2 files changed, 34 insertions, 11 deletions

diff --git a/src/c/auxiliaryFunctions/rand/dranda.c b/src/c/auxiliaryFunctions/rand/dranda.c
index f4678279..3defc264 100644
--- a/src/c/auxiliaryFunctions/rand/dranda.c
+++ b/src/c/auxiliaryFunctions/rand/dranda.c
@@ -16,5 +16,5 @@ void dranda(double *out, int size) {
   int i = 0;
   for (i = 0 ; i < size ; ++i) {
     out[i] = drands();
-  }
+      }
 }
diff --git a/src/c/auxiliaryFunctions/rand/drands.c b/src/c/auxiliaryFunctions/rand/drands.c
index 9b7c4cf4..658cd0b0 100644
--- a/src/c/auxiliaryFunctions/rand/drands.c
+++ b/src/c/auxiliaryFunctions/rand/drands.c
@@ -34,37 +34,60 @@ double	drands(void) {
   
       if (m2==0){
 	/*  if first entry, compute machine integer word length */
-		while (m>m2){
+               while (m>m2){
 		m2=m;
 		m=itwo*m2;
+               
 		}
+               
 		halfm = m2;
-	
-		/* compute multiplier and increment for linear congruential method */
+               
+	        /* compute multiplier and increment for linear congruential method */
 		ia = 8*(int)(halfm*atan(1.0)/8.0) + 5;
-		ic = 2*(int)(halfm*(0.5-sqrt(3.0)/6.0)) + 1;
-		mic = (m2 - ic) + m2;
-	
-		/* s is the scale factor for converting to floating point */
+               
+                ic = 2*(int)(halfm*(0.5-sqrt(3.0)/6.0)) + 1;
+		
+                mic = (m2 - ic) + m2;
+               
+                /* s is the scale factor for converting to floating point */
 		s = 0.5/halfm;
+                
+
 	}
 	
 	/* compute next random number	*/
 	iy = iy*ia;
+      
+
 
 	/* the following statement is for computers which do not allow
 	   integer overflow on addition  */
-      if (iy > mic) iy = (iy - m2) - m2;
+      if (iy > mic) 
+       {
+         iy = (iy - m2) - m2;
+        
+       }  
 
       iy = iy + ic;
 
 	/* the following statement is for computers where the
 	   word length for addition is greater than for multiplication */
-      if (iy/2 > m2) iy = (iy - m2) - m2;
+      if (iy/2 > m2)
+       { 
+         iy = (iy - m2) - m2;
+        
+       }
 
 	/* the following statement is for computers where integer
 	   overflow affects the sign bit */
-      if (iy < 0) iy = (iy + m2) + m2;
+      if (iy < 0) 
+       {
+        iy = (iy + m2) + m2;
+       
+
+       }
+      
+
       return (double)iy*s;
 }