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carte_esclave201_petit_rob
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Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
Actionneurs/Actionneurs.cpp@3:e2336813297b, 2019-05-10 (annotated)
- Committer:
- Artiom
- Date:
- Fri May 10 10:56:49 2019 +0000
- Revision:
- 3:e2336813297b
- Parent:
- 2:9e63099cca99
- Child:
- 4:4a79942713fa
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Artiom | 0:bc74da1c502f | 1 | #include "Actionneurs.h" |
| Artiom | 0:bc74da1c502f | 2 | #include "ident_crac.h" |
| Artiom | 0:bc74da1c502f | 3 | #include "mbed.h" |
| Artiom | 0:bc74da1c502f | 4 | #include "fonctions_herkulex.h" |
| Artiom | 1:568955af8c2b | 5 | #include "main.h" |
| Artiom | 0:bc74da1c502f | 6 | |
| Artiom | 0:bc74da1c502f | 7 | #ifdef ROBOT_SMALL |
| Artiom | 2:9e63099cca99 | 8 | void gabarit_petit_robot(void) |
| Artiom | 0:bc74da1c502f | 9 | { |
| Artiom | 0:bc74da1c502f | 10 | |
| Artiom | 0:bc74da1c502f | 11 | uint8_t servos_av_gauche[4] = {RLED_ON, AV_EP_G, RLED_ON, AV_poigne_G}; |
| Artiom | 0:bc74da1c502f | 12 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
| Artiom | 0:bc74da1c502f | 13 | uint8_t servos_av_droite[4] = {BLED_ON, AV_EP_D, BLED_ON, AV_poigne_D}; |
| Artiom | 0:bc74da1c502f | 14 | |
| Artiom | 0:bc74da1c502f | 15 | uint16_t pos_av_gauche[2] = {520,780};//epaule,poigne520,780 |
| Artiom | 3:e2336813297b | 16 | uint16_t pos_av_centre[2] = {550,600};//470,350 |
| Artiom | 0:bc74da1c502f | 17 | uint16_t pos_av_droite[2] = {550,270}; |
| Artiom | 0:bc74da1c502f | 18 | |
| Artiom | 0:bc74da1c502f | 19 | uint8_t servos_ar_gauche[4] = {RLED_ON, AR_EP_G, RLED_ON, AR_poigne_G}; |
| Artiom | 0:bc74da1c502f | 20 | uint8_t servos_ar_centre[4] = {GLED_ON, AR_EP_C, GLED_ON, AR_poigne_C}; |
| Artiom | 0:bc74da1c502f | 21 | uint8_t servos_ar_droite[4] = {BLED_ON, AR_EP_D, BLED_ON, AR_poigne_D}; |
| Artiom | 0:bc74da1c502f | 22 | |
| Artiom | 0:bc74da1c502f | 23 | uint16_t pos_ar_gauche[2] = {530,780}; |
| Artiom | 3:e2336813297b | 24 | uint16_t pos_ar_centre[2] = {600,500};//500,250 |
| Artiom | 0:bc74da1c502f | 25 | uint16_t pos_ar_droite[2] = {430,200}; |
| Artiom | 0:bc74da1c502f | 26 | |
| Artiom | 1:568955af8c2b | 27 | |
| Artiom | 1:568955af8c2b | 28 | uint8_t servos_sol[4] = {GLED_ON, AR_sol, GLED_ON, AV_sol}; |
| Artiom | 2:9e63099cca99 | 29 | uint16_t pos_sol[2] = {200,800}; //200 ,800 (90°) |
| Artiom | 1:568955af8c2b | 30 | |
| Artiom | 0:bc74da1c502f | 31 | int speed=100; |
| Artiom | 1:568955af8c2b | 32 | |
| Artiom | 0:bc74da1c502f | 33 | deverouillage_torque(); |
| Artiom | 0:bc74da1c502f | 34 | positionControl_Mul_ensemble_complex(2,speed,servos_av_gauche, pos_av_gauche,3); |
| Artiom | 0:bc74da1c502f | 35 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
| Artiom | 0:bc74da1c502f | 36 | positionControl_Mul_ensemble_complex(2,speed,servos_av_droite, pos_av_droite,1); |
| Artiom | 0:bc74da1c502f | 37 | |
| Artiom | 0:bc74da1c502f | 38 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_gauche, pos_ar_gauche,1); |
| Artiom | 0:bc74da1c502f | 39 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_centre, pos_ar_centre,2); |
| Artiom | 0:bc74da1c502f | 40 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_droite, pos_ar_droite,3); |
| Artiom | 1:568955af8c2b | 41 | |
| Artiom | 1:568955af8c2b | 42 | positionControl_Mul_ensemble_complex(2,speed,servos_sol, pos_sol,4); |
| Artiom | 0:bc74da1c502f | 43 | } |
| Artiom | 1:568955af8c2b | 44 | |
| Artiom | 0:bc74da1c502f | 45 | void presentoir_avant(void) |
| Artiom | 0:bc74da1c502f | 46 | { |
| Artiom | 0:bc74da1c502f | 47 | uint8_t servos_av_gauche[4] = {RLED_ON, AV_EP_G, RLED_ON, AV_poigne_G}; |
| Artiom | 0:bc74da1c502f | 48 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
| Artiom | 0:bc74da1c502f | 49 | uint8_t servos_av_droite[4] = {BLED_ON, AV_EP_D, BLED_ON, AV_poigne_D}; |
| Artiom | 0:bc74da1c502f | 50 | |
| Artiom | 0:bc74da1c502f | 51 | uint16_t pos_av_gauche[2] = {520,490}; |
| Artiom | 0:bc74da1c502f | 52 | uint16_t pos_av_centre[2] = {470,512}; |
| Artiom | 0:bc74da1c502f | 53 | uint16_t pos_av_droite[2] = {550,540}; |
| Artiom | 0:bc74da1c502f | 54 | |
| Artiom | 2:9e63099cca99 | 55 | int speed=1; |
| Artiom | 0:bc74da1c502f | 56 | |
| Artiom | 2:9e63099cca99 | 57 | //deverouillage_torque(); |
| Artiom | 0:bc74da1c502f | 58 | positionControl_Mul_ensemble_complex(2,speed,servos_av_gauche, pos_av_gauche,3); |
| Artiom | 0:bc74da1c502f | 59 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
| Artiom | 0:bc74da1c502f | 60 | positionControl_Mul_ensemble_complex(2,speed,servos_av_droite, pos_av_droite,1); |
| Artiom | 2:9e63099cca99 | 61 | |
| Artiom | 1:568955af8c2b | 62 | can.write(CANMessage(HACHEUR_GET_PRESENTOIR_AV)); |
| Artiom | 1:568955af8c2b | 63 | } |
| Artiom | 0:bc74da1c502f | 64 | |
| Artiom | 0:bc74da1c502f | 65 | void presentoir_arriere(void) |
| Artiom | 0:bc74da1c502f | 66 | { |
| Artiom | 0:bc74da1c502f | 67 | uint8_t servos_ar_gauche[4] = {RLED_ON, AR_EP_G, RLED_ON, AR_poigne_G}; |
| Artiom | 0:bc74da1c502f | 68 | uint8_t servos_ar_centre[4] = {GLED_ON, AR_EP_C, GLED_ON, AR_poigne_C}; |
| Artiom | 0:bc74da1c502f | 69 | uint8_t servos_ar_droite[4] = {BLED_ON, AR_EP_D, BLED_ON, AR_poigne_D}; |
| Artiom | 0:bc74da1c502f | 70 | |
| Artiom | 0:bc74da1c502f | 71 | uint16_t pos_ar_gauche[2] = {530,512}; |
| Artiom | 0:bc74da1c502f | 72 | uint16_t pos_ar_centre[2] = {500,430}; |
| Artiom | 0:bc74da1c502f | 73 | uint16_t pos_ar_droite[2] = {430,470}; |
| Artiom | 0:bc74da1c502f | 74 | |
| Artiom | 2:9e63099cca99 | 75 | int speed=1; |
| Artiom | 0:bc74da1c502f | 76 | |
| Artiom | 2:9e63099cca99 | 77 | //deverouillage_torque(); |
| Artiom | 0:bc74da1c502f | 78 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_gauche, pos_ar_gauche,1); |
| Artiom | 0:bc74da1c502f | 79 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_centre, pos_ar_centre,2); |
| Artiom | 0:bc74da1c502f | 80 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_droite, pos_ar_droite,3); |
| Artiom | 0:bc74da1c502f | 81 | |
| Artiom | 1:568955af8c2b | 82 | can.write(CANMessage(HACHEUR_GET_PRESENTOIR_AR)); |
| Artiom | 1:568955af8c2b | 83 | |
| Artiom | 0:bc74da1c502f | 84 | } |
| Artiom | 1:568955af8c2b | 85 | |
| Artiom | 0:bc74da1c502f | 86 | void balance_avant(void) |
| Artiom | 0:bc74da1c502f | 87 | { |
| Artiom | 0:bc74da1c502f | 88 | uint8_t servos_av_gauche[4] = {RLED_ON, AV_EP_G, RLED_ON, AV_poigne_G}; |
| Artiom | 0:bc74da1c502f | 89 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
| Artiom | 0:bc74da1c502f | 90 | uint8_t servos_av_droite[4] = {BLED_ON, AV_EP_D, BLED_ON, AV_poigne_D}; |
| Artiom | 0:bc74da1c502f | 91 | |
| Artiom | 0:bc74da1c502f | 92 | uint16_t pos_av_gauche[2] = {800,780}; |
| Artiom | 0:bc74da1c502f | 93 | uint16_t pos_av_centre[2] = {200,220}; |
| Artiom | 0:bc74da1c502f | 94 | uint16_t pos_av_droite[2] = {250,270}; |
| Artiom | 0:bc74da1c502f | 95 | |
| Artiom | 1:568955af8c2b | 96 | int speed=25; |
| Artiom | 0:bc74da1c502f | 97 | |
| Artiom | 0:bc74da1c502f | 98 | positionControl_Mul_ensemble_complex(2,speed,servos_av_gauche, pos_av_gauche,3); |
| Artiom | 0:bc74da1c502f | 99 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
| Artiom | 0:bc74da1c502f | 100 | positionControl_Mul_ensemble_complex(2,speed,servos_av_droite, pos_av_droite,1); |
| Artiom | 0:bc74da1c502f | 101 | |
| Artiom | 0:bc74da1c502f | 102 | } |
| Artiom | 0:bc74da1c502f | 103 | void balance_arriere(void) |
| Artiom | 0:bc74da1c502f | 104 | { |
| Artiom | 0:bc74da1c502f | 105 | uint8_t servos_ar_gauche[4] = {RLED_ON, AR_EP_G, RLED_ON, AR_poigne_G}; |
| Artiom | 0:bc74da1c502f | 106 | uint8_t servos_ar_centre[4] = {GLED_ON, AR_EP_C, GLED_ON, AR_poigne_C}; |
| Artiom | 0:bc74da1c502f | 107 | uint8_t servos_ar_droite[4] = {BLED_ON, AR_EP_D, BLED_ON, AR_poigne_D}; |
| Artiom | 0:bc74da1c502f | 108 | |
| Artiom | 0:bc74da1c502f | 109 | uint16_t pos_ar_gauche[2] = {820,780}; |
| Artiom | 0:bc74da1c502f | 110 | uint16_t pos_ar_centre[2] = {230,150}; |
| Artiom | 0:bc74da1c502f | 111 | uint16_t pos_ar_droite[2] = {150,200}; |
| Artiom | 0:bc74da1c502f | 112 | |
| Artiom | 1:568955af8c2b | 113 | int speed=25; |
| Artiom | 0:bc74da1c502f | 114 | |
| Artiom | 0:bc74da1c502f | 115 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_gauche, pos_ar_gauche,1); |
| Artiom | 0:bc74da1c502f | 116 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_centre, pos_ar_centre,2); |
| Artiom | 0:bc74da1c502f | 117 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_droite, pos_ar_droite,3); |
| Artiom | 0:bc74da1c502f | 118 | |
| Artiom | 0:bc74da1c502f | 119 | } |
| Artiom | 0:bc74da1c502f | 120 | |
| Artiom | 1:568955af8c2b | 121 | void goldenium_avant(void) |
| Artiom | 1:568955af8c2b | 122 | { |
| Artiom | 1:568955af8c2b | 123 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
| Artiom | 1:568955af8c2b | 124 | uint16_t pos_av_centre[2] = {200,220}; |
| Artiom | 1:568955af8c2b | 125 | int speed=25; |
| Artiom | 1:568955af8c2b | 126 | |
| Artiom | 1:568955af8c2b | 127 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
| Artiom | 1:568955af8c2b | 128 | |
| Artiom | 1:568955af8c2b | 129 | char pompe=AV_CENTRE; |
| Artiom | 1:568955af8c2b | 130 | can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); |
| Artiom | 2:9e63099cca99 | 131 | |
| Artiom | 1:568955af8c2b | 132 | } |
| Artiom | 1:568955af8c2b | 133 | |
| Artiom | 1:568955af8c2b | 134 | void goldenium_arriere(void) |
| Artiom | 1:568955af8c2b | 135 | { |
| Artiom | 1:568955af8c2b | 136 | uint8_t servos_ar_centre[4] = {GLED_ON, AR_EP_C, GLED_ON, AR_poigne_C}; |
| Artiom | 1:568955af8c2b | 137 | uint16_t pos_ar_centre[2] = {230,150}; |
| Artiom | 1:568955af8c2b | 138 | int speed=25; |
| Artiom | 2:9e63099cca99 | 139 | |
| Artiom | 1:568955af8c2b | 140 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_centre, pos_ar_centre,2); |
| Artiom | 1:568955af8c2b | 141 | |
| Artiom | 1:568955af8c2b | 142 | char pompe=AR_CENTRE; |
| Artiom | 1:568955af8c2b | 143 | can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); |
| Artiom | 2:9e63099cca99 | 144 | |
| Artiom | 1:568955af8c2b | 145 | } |
| Artiom | 1:568955af8c2b | 146 | |
| Artiom | 1:568955af8c2b | 147 | void accelerateur_avant(void) |
| Artiom | 1:568955af8c2b | 148 | { |
| Artiom | 1:568955af8c2b | 149 | uint8_t servos_av_gauche[4] = {RLED_ON, AV_EP_G, RLED_ON, AV_poigne_G}; |
| Artiom | 1:568955af8c2b | 150 | uint8_t servos_av_centre[4] = {GLED_ON, AV_EP_C, GLED_ON, AV_poigne_C}; |
| Artiom | 1:568955af8c2b | 151 | uint8_t servos_av_droite[4] = {BLED_ON, AV_EP_D, BLED_ON, AV_poigne_D}; |
| Artiom | 1:568955af8c2b | 152 | |
| Artiom | 1:568955af8c2b | 153 | uint16_t pos_av_gauche[2] = {800,490}; |
| Artiom | 1:568955af8c2b | 154 | uint16_t pos_av_centre[2] = {200,220}; |
| Artiom | 1:568955af8c2b | 155 | uint16_t pos_av_droite[2] = {250,540}; |
| Artiom | 1:568955af8c2b | 156 | |
| Artiom | 1:568955af8c2b | 157 | int speed=25; |
| Artiom | 1:568955af8c2b | 158 | |
| Artiom | 1:568955af8c2b | 159 | positionControl_Mul_ensemble_complex(2,speed,servos_av_gauche, pos_av_gauche,3); |
| Artiom | 1:568955af8c2b | 160 | positionControl_Mul_ensemble_complex(2,speed,servos_av_centre, pos_av_centre,2); |
| Artiom | 1:568955af8c2b | 161 | positionControl_Mul_ensemble_complex(2,speed,servos_av_droite, pos_av_droite,1); |
| Artiom | 2:9e63099cca99 | 162 | /* |
| Artiom | 2:9e63099cca99 | 163 | for(char pompe=1; pompe<=3; pompe++) { |
| Artiom | 2:9e63099cca99 | 164 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
| Artiom | 2:9e63099cca99 | 165 | }*/ |
| Artiom | 2:9e63099cca99 | 166 | can.write(CANMessage(HACHEUR_RELEASE_AV)); |
| Artiom | 1:568955af8c2b | 167 | } |
| Artiom | 1:568955af8c2b | 168 | void accelerateur_arriere(void) |
| Artiom | 1:568955af8c2b | 169 | { |
| Artiom | 1:568955af8c2b | 170 | uint8_t servos_ar_gauche[4] = {RLED_ON, AR_EP_G, RLED_ON, AR_poigne_G}; |
| Artiom | 1:568955af8c2b | 171 | uint8_t servos_ar_centre[4] = {GLED_ON, AR_EP_C, GLED_ON, AR_poigne_C}; |
| Artiom | 1:568955af8c2b | 172 | uint8_t servos_ar_droite[4] = {BLED_ON, AR_EP_D, BLED_ON, AR_poigne_D}; |
| Artiom | 1:568955af8c2b | 173 | |
| Artiom | 1:568955af8c2b | 174 | uint16_t pos_ar_gauche[2] = {820,512}; |
| Artiom | 1:568955af8c2b | 175 | uint16_t pos_ar_centre[2] = {230,150}; |
| Artiom | 1:568955af8c2b | 176 | uint16_t pos_ar_droite[2] = {150,470}; |
| Artiom | 1:568955af8c2b | 177 | |
| Artiom | 1:568955af8c2b | 178 | int speed=25; |
| Artiom | 1:568955af8c2b | 179 | |
| Artiom | 1:568955af8c2b | 180 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_gauche, pos_ar_gauche,1); |
| Artiom | 1:568955af8c2b | 181 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_centre, pos_ar_centre,2); |
| Artiom | 1:568955af8c2b | 182 | positionControl_Mul_ensemble_complex(2,speed,servos_ar_droite, pos_ar_droite,3); |
| Artiom | 2:9e63099cca99 | 183 | /* |
| Artiom | 2:9e63099cca99 | 184 | for(char pompe=5; pompe<=7; pompe++) { |
| Artiom | 2:9e63099cca99 | 185 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
| Artiom | 2:9e63099cca99 | 186 | }*/ |
| Artiom | 2:9e63099cca99 | 187 | can.write(CANMessage(HACHEUR_RELEASE_AR)); |
| Artiom | 2:9e63099cca99 | 188 | |
| Artiom | 1:568955af8c2b | 189 | } |
| Artiom | 1:568955af8c2b | 190 | |
| Artiom | 1:568955af8c2b | 191 | |
| Artiom | 1:568955af8c2b | 192 | |
| Artiom | 1:568955af8c2b | 193 | void sol_avant(void) |
| Artiom | 1:568955af8c2b | 194 | { |
| Artiom | 1:568955af8c2b | 195 | int speed=1; |
| Artiom | 1:568955af8c2b | 196 | char pompe=AV_BAS; |
| Artiom | 1:568955af8c2b | 197 | |
| Artiom | 1:568955af8c2b | 198 | can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); |
| Artiom | 1:568955af8c2b | 199 | positionControl(AV_sol,512,speed,BLED_ON,4);//descend |
| Artiom | 1:568955af8c2b | 200 | |
| Artiom | 1:568955af8c2b | 201 | wait(0.5); |
| Artiom | 1:568955af8c2b | 202 | |
| Artiom | 1:568955af8c2b | 203 | positionControl(AV_sol,800,speed,BLED_ON,4);//remonte |
| Artiom | 1:568955af8c2b | 204 | } |
| Artiom | 1:568955af8c2b | 205 | |
| Artiom | 1:568955af8c2b | 206 | void sol_arriere(void) |
| Artiom | 1:568955af8c2b | 207 | { |
| Artiom | 1:568955af8c2b | 208 | int speed=1; |
| Artiom | 1:568955af8c2b | 209 | char pompe=AR_BAS; |
| Artiom | 1:568955af8c2b | 210 | |
| Artiom | 1:568955af8c2b | 211 | can.write(CANMessage(HACHEUR_GET_ATOM, &pompe,1)); |
| Artiom | 1:568955af8c2b | 212 | positionControl(AR_sol,512,speed,BLED_ON,4);//descend |
| Artiom | 1:568955af8c2b | 213 | |
| Artiom | 1:568955af8c2b | 214 | wait(0.5); |
| Artiom | 1:568955af8c2b | 215 | |
| Artiom | 1:568955af8c2b | 216 | positionControl(AR_sol,200,speed,BLED_ON,4);//remonte |
| Artiom | 2:9e63099cca99 | 217 | } |
| Artiom | 2:9e63099cca99 | 218 | |
| Artiom | 2:9e63099cca99 | 219 | |
| Artiom | 2:9e63099cca99 | 220 | void sol_avant_relache(void) |
| Artiom | 2:9e63099cca99 | 221 | { |
| Artiom | 2:9e63099cca99 | 222 | int speed=1; |
| Artiom | 2:9e63099cca99 | 223 | char pompe=AV_BAS; |
| Artiom | 2:9e63099cca99 | 224 | |
| Artiom | 2:9e63099cca99 | 225 | positionControl(AV_sol,512,speed,BLED_ON,4);//descend |
| Artiom | 1:568955af8c2b | 226 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
| Artiom | 2:9e63099cca99 | 227 | |
| Artiom | 2:9e63099cca99 | 228 | wait(0.5); |
| Artiom | 2:9e63099cca99 | 229 | |
| Artiom | 2:9e63099cca99 | 230 | positionControl(AV_sol,800,speed,BLED_ON,4);//remonte |
| Artiom | 2:9e63099cca99 | 231 | } |
| Artiom | 2:9e63099cca99 | 232 | |
| Artiom | 2:9e63099cca99 | 233 | void sol_arriere_relache(void) |
| Artiom | 2:9e63099cca99 | 234 | { |
| Artiom | 2:9e63099cca99 | 235 | int speed=1; |
| Artiom | 2:9e63099cca99 | 236 | char pompe=AR_BAS; |
| Artiom | 2:9e63099cca99 | 237 | |
| Artiom | 2:9e63099cca99 | 238 | positionControl(AR_sol,512,speed,BLED_ON,4);//descend |
| Artiom | 2:9e63099cca99 | 239 | can.write(CANMessage(HACHEUR_RELEASE_ATOM, &pompe,1)); |
| Artiom | 2:9e63099cca99 | 240 | |
| Artiom | 2:9e63099cca99 | 241 | wait(0.5); |
| Artiom | 2:9e63099cca99 | 242 | |
| Artiom | 2:9e63099cca99 | 243 | positionControl(AR_sol,200,speed,BLED_ON,4);//remonte |
| Artiom | 1:568955af8c2b | 244 | } |
| Artiom | 1:568955af8c2b | 245 | |
| Artiom | 1:568955af8c2b | 246 | |
| Artiom | 1:568955af8c2b | 247 | |
| Artiom | 1:568955af8c2b | 248 | |
| Artiom | 0:bc74da1c502f | 249 | |
| Artiom | 0:bc74da1c502f | 250 | #endif |