0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,};  static long mpt_searchTree(const float *X){    int ix, iu;	Uint16 U0[MPT_NU],U[MPT_NU];    long node = 1, row;    float hx, k;        /* initialize U to zero*/   // for (iu=0; iu<MPT_NU; iu++) {   //     U[iu] = 0;   // }        /* find region which contains the state x0 */    while (node > 0) {        hx = 0;        row = (node-1)*(MPT_NX+3);        for (ix=0; ix<MPT_NX; ix++) {            hx = hx + MPT_ST[row+ix]*X[ix];        }        k = MPT_ST[row+MPT_NX];                if ((hx - k) < 0) {            /* x0 on plus-side of the hyperplane */            node = (long)MPT_ST[row+MPT_NX+2];        } else {            /* x0 on minus-side of the hyperplane */            node = (long)MPT_ST[row+MPT_NX+1];        }    }        node = -node;        /* compute control action associated to state x0 */    for (iu=0; iu<MPT_NU; iu++) {     //   for (ix=0; ix<MPT_NX; ix++) {     //       U[iu] = U[iu] + MPT_F[(node-1)*MPT_NX*MPT_NU + iu*MPT_NX + ix]*X[ix];     //   }        U[iu] = MPT_G[(node-1)*MPT_NU + iu];    }	GpioDataRegs.GPADAT.bit.GPIOA1 = U0[1] = U[0] || U[3];	GpioDataRegs.GPADAT.bit.GPIOA0 = U0[0] = U[0] && U0[1];	GpioDataRegs.GPADAT.bit.GPIOA3 = U0[3] = U[1] || U[4];	GpioDataRegs.GPADAT.bit.GPIOA2 = U0[2] = U[1] && U0[3];	GpioDataRegs.GPADAT.bit.GPIOA5 = U0[5] = U[2] || U[5];	GpioDataRegs.GPADAT.bit.GPIOA4 = U0[4] = U[2] && U0[5];    return node;}