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nicer code
Dependencies: mbed
Fork of 161015 by
main.cpp@1:f4e3365155e1, 2015-10-18 (annotated)
- Committer:
- benparkes
- Date:
- Sun Oct 18 18:23:58 2015 +0000
- Revision:
- 1:f4e3365155e1
- Parent:
- 0:e79700919e2e
new code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benparkes | 0:e79700919e2e | 1 | #include "mbed.h" |
benparkes | 0:e79700919e2e | 2 | |
benparkes | 1:f4e3365155e1 | 3 | |
benparkes | 0:e79700919e2e | 4 | #define wheelc 0.1759292 |
benparkes | 1:f4e3365155e1 | 5 | #define wheel_spacing 0.128 //add this in |
benparkes | 0:e79700919e2e | 6 | #define pi 3.141592654 |
benparkes | 0:e79700919e2e | 7 | #define degreel 0.021988888 |
benparkes | 0:e79700919e2e | 8 | //Status LED |
benparkes | 0:e79700919e2e | 9 | DigitalOut led(LED1); |
benparkes | 0:e79700919e2e | 10 | |
benparkes | 0:e79700919e2e | 11 | //Motor PWM (speed) |
benparkes | 0:e79700919e2e | 12 | PwmOut PWMA(PA_8); |
benparkes | 0:e79700919e2e | 13 | PwmOut PWMB(PB_4); |
benparkes | 0:e79700919e2e | 14 | |
benparkes | 0:e79700919e2e | 15 | //Motor Direction |
benparkes | 0:e79700919e2e | 16 | DigitalOut DIRA(PA_9); |
benparkes | 0:e79700919e2e | 17 | DigitalOut DIRB(PB_10); |
benparkes | 0:e79700919e2e | 18 | |
benparkes | 0:e79700919e2e | 19 | //Hall-Effect Sensor Inputs |
benparkes | 0:e79700919e2e | 20 | InterruptIn HEA1(PB_2); |
benparkes | 1:f4e3365155e1 | 21 | InterruptIn HEA2(PB_1); |
benparkes | 0:e79700919e2e | 22 | InterruptIn HEB1(PB_15); |
benparkes | 1:f4e3365155e1 | 23 | InterruptIn HEB2(PB_14); |
benparkes | 0:e79700919e2e | 24 | |
benparkes | 0:e79700919e2e | 25 | //On board switch |
benparkes | 0:e79700919e2e | 26 | DigitalIn SW1(USER_BUTTON); |
benparkes | 0:e79700919e2e | 27 | |
benparkes | 0:e79700919e2e | 28 | //Use the serial object so we can use higher speeds |
benparkes | 0:e79700919e2e | 29 | Serial terminal(USBTX, USBRX); |
benparkes | 0:e79700919e2e | 30 | |
benparkes | 0:e79700919e2e | 31 | //Timer used for measuring speeds |
benparkes | 0:e79700919e2e | 32 | Timer timer; |
benparkes | 0:e79700919e2e | 33 | |
benparkes | 0:e79700919e2e | 34 | //Enumerated types |
benparkes | 0:e79700919e2e | 35 | enum DIRECTION {FORWARD=0, REVERSE}; |
benparkes | 1:f4e3365155e1 | 36 | enum PULSE {NOPULSE=0, PULSE}; |
benparkes | 0:e79700919e2e | 37 | enum SWITCHSTATE {PRESSED=0, RELEASED}; |
benparkes | 0:e79700919e2e | 38 | |
benparkes | 0:e79700919e2e | 39 | //Debug GPIO |
benparkes | 0:e79700919e2e | 40 | DigitalOut probe(D10); |
benparkes | 0:e79700919e2e | 41 | |
benparkes | 0:e79700919e2e | 42 | //Duty cycles |
benparkes | 1:f4e3365155e1 | 43 | float dutyA = 0.000f; //100% |
benparkes | 1:f4e3365155e1 | 44 | float dutyB = 0.000f; //100% |
benparkes | 0:e79700919e2e | 45 | |
benparkes | 0:e79700919e2e | 46 | //distance measurement |
benparkes | 0:e79700919e2e | 47 | float distanceA ; |
benparkes | 0:e79700919e2e | 48 | float distanceB ; |
benparkes | 0:e79700919e2e | 49 | float speedA ; |
benparkes | 0:e79700919e2e | 50 | float speedB ; |
benparkes | 1:f4e3365155e1 | 51 | |
benparkes | 1:f4e3365155e1 | 52 | //for interrupt speed and distance calcs |
benparkes | 1:f4e3365155e1 | 53 | int tA1[2]; |
benparkes | 1:f4e3365155e1 | 54 | int tA2[2]; |
benparkes | 1:f4e3365155e1 | 55 | int tB1[2]; |
benparkes | 1:f4e3365155e1 | 56 | int tB2[2]; |
benparkes | 1:f4e3365155e1 | 57 | int pulse_orderA = 1; |
benparkes | 1:f4e3365155e1 | 58 | int pulse_orderB = 1; |
benparkes | 1:f4e3365155e1 | 59 | |
benparkes | 1:f4e3365155e1 | 60 | //interupt handler |
benparkes | 1:f4e3365155e1 | 61 | int HEPulse(int let,int num, int order) //tell us which hall effect HEA1= hall effect, (let, A=1, B=2), (num, 1/2), order (index possition to be filled alternates) |
benparkes | 1:f4e3365155e1 | 62 | { |
benparkes | 1:f4e3365155e1 | 63 | float fA1; |
benparkes | 1:f4e3365155e1 | 64 | float fA2; |
benparkes | 1:f4e3365155e1 | 65 | float fB1; |
benparkes | 1:f4e3365155e1 | 66 | float fB2; |
benparkes | 1:f4e3365155e1 | 67 | int time; |
benparkes | 1:f4e3365155e1 | 68 | time = timer.read_us(); //use to check for interrupt debounce |
benparkes | 1:f4e3365155e1 | 69 | |
benparkes | 1:f4e3365155e1 | 70 | if((tA1[0]-time<5)||(tA2[0]-time<5)||(tA1[1]-time<5)||(tA2[1]-time<5)) { |
benparkes | 1:f4e3365155e1 | 71 | return 1; |
benparkes | 1:f4e3365155e1 | 72 | } // if less than 5us from last interupt assume debouce and ignore |
benparkes | 1:f4e3365155e1 | 73 | //find right thing to do for current hall effect |
benparkes | 1:f4e3365155e1 | 74 | switch(order) { //check whether to fill index possition 0/1 |
benparkes | 1:f4e3365155e1 | 75 | case(1) : |
benparkes | 1:f4e3365155e1 | 76 | switch(let) { //check hall effect A/B |
benparkes | 1:f4e3365155e1 | 77 | case(1): |
benparkes | 1:f4e3365155e1 | 78 | |
benparkes | 1:f4e3365155e1 | 79 | switch(num) { //check hall effect 1/2 |
benparkes | 1:f4e3365155e1 | 80 | case (1): |
benparkes | 1:f4e3365155e1 | 81 | tA1[0] = timer.read_us(); |
benparkes | 1:f4e3365155e1 | 82 | distanceA += (wheelc/6); //increment distance |
benparkes | 1:f4e3365155e1 | 83 | pulse_orderA = 2; //toggle index to be filled |
benparkes | 1:f4e3365155e1 | 84 | break; |
benparkes | 1:f4e3365155e1 | 85 | |
benparkes | 1:f4e3365155e1 | 86 | case(2) : |
benparkes | 1:f4e3365155e1 | 87 | tA2[0] = timer.read_us(); |
benparkes | 1:f4e3365155e1 | 88 | pulse_orderA = 2; |
benparkes | 1:f4e3365155e1 | 89 | break; |
benparkes | 1:f4e3365155e1 | 90 | } |
benparkes | 1:f4e3365155e1 | 91 | break; |
benparkes | 1:f4e3365155e1 | 92 | |
benparkes | 1:f4e3365155e1 | 93 | |
benparkes | 1:f4e3365155e1 | 94 | case(2): //check hall effect A/B |
benparkes | 1:f4e3365155e1 | 95 | |
benparkes | 1:f4e3365155e1 | 96 | switch(num) { |
benparkes | 1:f4e3365155e1 | 97 | case (1): |
benparkes | 1:f4e3365155e1 | 98 | tB1[0] = timer.read_us(); |
benparkes | 1:f4e3365155e1 | 99 | distanceB += (wheelc/6); |
benparkes | 1:f4e3365155e1 | 100 | pulse_orderB = 2; |
benparkes | 1:f4e3365155e1 | 101 | break; |
benparkes | 0:e79700919e2e | 102 | |
benparkes | 1:f4e3365155e1 | 103 | case(2) : |
benparkes | 1:f4e3365155e1 | 104 | tB2[0] = timer.read_us(); |
benparkes | 1:f4e3365155e1 | 105 | pulse_orderB = 2; |
benparkes | 1:f4e3365155e1 | 106 | break; |
benparkes | 1:f4e3365155e1 | 107 | } |
benparkes | 1:f4e3365155e1 | 108 | break; |
benparkes | 1:f4e3365155e1 | 109 | |
benparkes | 1:f4e3365155e1 | 110 | } |
benparkes | 1:f4e3365155e1 | 111 | case(2) : |
benparkes | 1:f4e3365155e1 | 112 | switch(let) { |
benparkes | 1:f4e3365155e1 | 113 | case(1): |
benparkes | 1:f4e3365155e1 | 114 | |
benparkes | 1:f4e3365155e1 | 115 | switch(num) { |
benparkes | 1:f4e3365155e1 | 116 | case (1): |
benparkes | 1:f4e3365155e1 | 117 | tA1[1] = timer.read_us(); |
benparkes | 1:f4e3365155e1 | 118 | distanceA += (wheelc/6); |
benparkes | 1:f4e3365155e1 | 119 | fA1 = 1.0f/(( fabsf(tA1[1]-tA1[0]) ) * (float)3.0E-6); |
benparkes | 1:f4e3365155e1 | 120 | pulse_orderA = 1; |
benparkes | 1:f4e3365155e1 | 121 | break; |
benparkes | 1:f4e3365155e1 | 122 | |
benparkes | 1:f4e3365155e1 | 123 | case(2) : |
benparkes | 1:f4e3365155e1 | 124 | tA2[1] = timer.read_us(); |
benparkes | 1:f4e3365155e1 | 125 | fA2 = 1.0f/(( fabsf(tA2[1]-tA2[0]) ) * (float)3.0E-6); |
benparkes | 1:f4e3365155e1 | 126 | pulse_orderA = 1; |
benparkes | 1:f4e3365155e1 | 127 | break; |
benparkes | 1:f4e3365155e1 | 128 | } |
benparkes | 1:f4e3365155e1 | 129 | break; |
benparkes | 1:f4e3365155e1 | 130 | |
benparkes | 0:e79700919e2e | 131 | |
benparkes | 1:f4e3365155e1 | 132 | case(2): |
benparkes | 1:f4e3365155e1 | 133 | |
benparkes | 1:f4e3365155e1 | 134 | switch(num) { |
benparkes | 1:f4e3365155e1 | 135 | case (1): |
benparkes | 1:f4e3365155e1 | 136 | tB1[1] = timer.read_us(); |
benparkes | 1:f4e3365155e1 | 137 | distanceB += (wheelc/6); |
benparkes | 1:f4e3365155e1 | 138 | fB1 = 1.0f/(( fabsf(tB1[1]-tB1[0]) ) * (float)3.0E-6); |
benparkes | 1:f4e3365155e1 | 139 | pulse_orderB = 1; |
benparkes | 1:f4e3365155e1 | 140 | break; |
benparkes | 1:f4e3365155e1 | 141 | |
benparkes | 1:f4e3365155e1 | 142 | case(2) : |
benparkes | 1:f4e3365155e1 | 143 | tB2[1] = timer.read_us(); |
benparkes | 1:f4e3365155e1 | 144 | fB2 = 1.0f/((fabsf( tB2[1]-tB2[0]) ) * (float)3.0E-6); |
benparkes | 1:f4e3365155e1 | 145 | pulse_orderB = 1; |
benparkes | 1:f4e3365155e1 | 146 | break; |
benparkes | 1:f4e3365155e1 | 147 | } |
benparkes | 1:f4e3365155e1 | 148 | break; |
benparkes | 1:f4e3365155e1 | 149 | |
benparkes | 1:f4e3365155e1 | 150 | } |
benparkes | 1:f4e3365155e1 | 151 | |
benparkes | 1:f4e3365155e1 | 152 | float fA = (fA1 + fA2)*0.5f; //calculate average frequency of hall effect A |
benparkes | 1:f4e3365155e1 | 153 | float fB = (fB1 + fB2)*0.5f; //calculate average frequency of hall effect B |
benparkes | 1:f4e3365155e1 | 154 | speedA = fA/20.8f; //output speeds of motors by frequency/gear box ratio |
benparkes | 1:f4e3365155e1 | 155 | speedB = fB/20.8f; |
benparkes | 1:f4e3365155e1 | 156 | } |
benparkes | 1:f4e3365155e1 | 157 | return 1; |
benparkes | 1:f4e3365155e1 | 158 | } |
benparkes | 1:f4e3365155e1 | 159 | |
benparkes | 1:f4e3365155e1 | 160 | void ResetDistanceTimeSpeed() //reset vaviables for new straight or turn |
benparkes | 0:e79700919e2e | 161 | { |
benparkes | 0:e79700919e2e | 162 | distanceA=0; |
benparkes | 0:e79700919e2e | 163 | distanceB=0; |
benparkes | 0:e79700919e2e | 164 | speedA=0; |
benparkes | 0:e79700919e2e | 165 | speedB=0; |
benparkes | 0:e79700919e2e | 166 | timer.reset(); |
benparkes | 0:e79700919e2e | 167 | timer.start(); |
benparkes | 0:e79700919e2e | 168 | } |
benparkes | 0:e79700919e2e | 169 | |
benparkes | 1:f4e3365155e1 | 170 | void stopmotors() //stop motors dead |
benparkes | 0:e79700919e2e | 171 | { |
benparkes | 0:e79700919e2e | 172 | PWMA.write(0.0f); //0% duty cycle |
benparkes | 0:e79700919e2e | 173 | PWMB.write(0.0f); //0% duty cycle |
benparkes | 0:e79700919e2e | 174 | } |
benparkes | 0:e79700919e2e | 175 | |
benparkes | 1:f4e3365155e1 | 176 | void HuntSpeeds(float target_speedA, float target_speedB) //alter speeds to desired speed by hunting for corresponding duty (input desired speeds) |
benparkes | 0:e79700919e2e | 177 | { |
benparkes | 1:f4e3365155e1 | 178 | |
benparkes | 1:f4e3365155e1 | 179 | float deltaA = target_speedA -speedA; //find difference between actual speed and desired speed |
benparkes | 1:f4e3365155e1 | 180 | dutyA = dutyA + deltaA*0.1f; //modify duty dependant upon size of error |
benparkes | 1:f4e3365155e1 | 181 | PWMA.write(dutyA); //write new duty to motor |
benparkes | 1:f4e3365155e1 | 182 | |
benparkes | 1:f4e3365155e1 | 183 | float deltaB = target_speedB -speedB; //repeat for B motor |
benparkes | 1:f4e3365155e1 | 184 | dutyB = dutyB + deltaB*0.1f; |
benparkes | 1:f4e3365155e1 | 185 | PWMB.write(dutyB); |
benparkes | 1:f4e3365155e1 | 186 | } |
benparkes | 1:f4e3365155e1 | 187 | |
benparkes | 1:f4e3365155e1 | 188 | |
benparkes | 1:f4e3365155e1 | 189 | int forward(float distance, float speed) //forward motion, input distance and speed (rev/s) |
benparkes | 1:f4e3365155e1 | 190 | { |
benparkes | 0:e79700919e2e | 191 | // Set motor direction forward |
benparkes | 0:e79700919e2e | 192 | DIRA = FORWARD; |
benparkes | 0:e79700919e2e | 193 | DIRB = FORWARD; |
benparkes | 0:e79700919e2e | 194 | |
benparkes | 1:f4e3365155e1 | 195 | //reset distance |
benparkes | 0:e79700919e2e | 196 | ResetDistanceTimeSpeed(); |
benparkes | 1:f4e3365155e1 | 197 | |
benparkes | 1:f4e3365155e1 | 198 | // Set initial motor to be altered by speed code |
benparkes | 1:f4e3365155e1 | 199 | PWMA.write(0.1f*speed); //Set duty cycle (%) |
benparkes | 1:f4e3365155e1 | 200 | PWMB.write(0.1f*speed); //Set duty cycle (%) |
benparkes | 0:e79700919e2e | 201 | |
benparkes | 0:e79700919e2e | 202 | |
benparkes | 1:f4e3365155e1 | 203 | //wait for run to complete byy checking if distance has been covered yet |
benparkes | 0:e79700919e2e | 204 | while (((distanceA+distanceB)/2) < distance) { |
benparkes | 1:f4e3365155e1 | 205 | //maintain desired speed |
benparkes | 1:f4e3365155e1 | 206 | HuntSpeeds(speed, speed); |
benparkes | 0:e79700919e2e | 207 | } |
benparkes | 0:e79700919e2e | 208 | return 1; |
benparkes | 0:e79700919e2e | 209 | } |
benparkes | 0:e79700919e2e | 210 | |
benparkes | 1:f4e3365155e1 | 211 | int turn(float degrees, float speed, int direction,float turn_radius) // (Degrees of Turn, Speed, (Anti/Clock)wise, turn radius (m)) |
benparkes | 1:f4e3365155e1 | 212 | |
benparkes | 1:f4e3365155e1 | 213 | { |
benparkes | 1:f4e3365155e1 | 214 | // Calculate Turn Distance |
benparkes | 1:f4e3365155e1 | 215 | float C1 = (pi * 2 * (float)turn_radius)*(degrees/360); // outside arc (piD)/fraction turn |
benparkes | 1:f4e3365155e1 | 216 | float C2 = (pi * 2 * ((float)turn_radius-(float)wheel_spacing))*(degrees/360); //inside arc (piD)/fraction turn |
benparkes | 1:f4e3365155e1 | 217 | //Set Initial Motor Direction |
benparkes | 1:f4e3365155e1 | 218 | DIRA = FORWARD; |
benparkes | 1:f4e3365155e1 | 219 | DIRB = FORWARD; |
benparkes | 0:e79700919e2e | 220 | |
benparkes | 1:f4e3365155e1 | 221 | // Test for direction to Enter Victory Spin |
benparkes | 1:f4e3365155e1 | 222 | if(direction==REVERSE) { |
benparkes | 1:f4e3365155e1 | 223 | DIRA = REVERSE; |
benparkes | 1:f4e3365155e1 | 224 | DIRB = FORWARD;//victory spin opposite wheels |
benparkes | 1:f4e3365155e1 | 225 | } |
benparkes | 1:f4e3365155e1 | 226 | // Reset Distance Travelled |
benparkes | 1:f4e3365155e1 | 227 | ResetDistanceTimeSpeed(); |
benparkes | 1:f4e3365155e1 | 228 | |
benparkes | 1:f4e3365155e1 | 229 | // Wait for Turn to Complete by checking whether outer wheel completed spin yet |
benparkes | 1:f4e3365155e1 | 230 | while (distanceA < C1) { |
benparkes | 1:f4e3365155e1 | 231 | if(direction==FORWARD) { |
benparkes | 1:f4e3365155e1 | 232 | HuntSpeeds(speed, speed*(float(C2/C1))); //maitain speeds proportional to difference in turn length for each wheel |
benparkes | 1:f4e3365155e1 | 233 | } |
benparkes | 1:f4e3365155e1 | 234 | |
benparkes | 1:f4e3365155e1 | 235 | if(direction==REVERSE) { |
benparkes | 1:f4e3365155e1 | 236 | HuntSpeeds(speed,speed); //set speeds same for reverse spin |
benparkes | 1:f4e3365155e1 | 237 | } |
benparkes | 0:e79700919e2e | 238 | } |
benparkes | 1:f4e3365155e1 | 239 | return 1; |
benparkes | 1:f4e3365155e1 | 240 | } |
benparkes | 1:f4e3365155e1 | 241 | //interupt handlers |
benparkes | 1:f4e3365155e1 | 242 | void HEA1I(void) |
benparkes | 1:f4e3365155e1 | 243 | { |
benparkes | 1:f4e3365155e1 | 244 | HEPulse(1,1,pulse_orderA); |
benparkes | 1:f4e3365155e1 | 245 | } |
benparkes | 1:f4e3365155e1 | 246 | void HEA2I(void) |
benparkes | 1:f4e3365155e1 | 247 | { |
benparkes | 1:f4e3365155e1 | 248 | HEPulse(1,2,pulse_orderA); |
benparkes | 1:f4e3365155e1 | 249 | } |
benparkes | 1:f4e3365155e1 | 250 | void HEB1I(void) |
benparkes | 1:f4e3365155e1 | 251 | { |
benparkes | 1:f4e3365155e1 | 252 | HEPulse(2,1,pulse_orderB); |
benparkes | 1:f4e3365155e1 | 253 | } |
benparkes | 1:f4e3365155e1 | 254 | void HEB2I(void) |
benparkes | 1:f4e3365155e1 | 255 | { |
benparkes | 1:f4e3365155e1 | 256 | HEPulse(2,2,pulse_orderB); |
benparkes | 1:f4e3365155e1 | 257 | } |
benparkes | 0:e79700919e2e | 258 | |
benparkes | 1:f4e3365155e1 | 259 | int main() |
benparkes | 1:f4e3365155e1 | 260 | { |
benparkes | 1:f4e3365155e1 | 261 | //Configure the terminal to high speed |
benparkes | 1:f4e3365155e1 | 262 | terminal.baud(115200); |
benparkes | 1:f4e3365155e1 | 263 | // initiate interupts to call interupt code |
benparkes | 1:f4e3365155e1 | 264 | HEA1.rise(&HEA1I); |
benparkes | 1:f4e3365155e1 | 265 | HEA2.rise(&HEA2I); |
benparkes | 1:f4e3365155e1 | 266 | HEB1.rise(&HEB1I); |
benparkes | 1:f4e3365155e1 | 267 | HEB2.rise(&HEB2I); |
benparkes | 1:f4e3365155e1 | 268 | //Set initial motor speed to stop |
benparkes | 1:f4e3365155e1 | 269 | stopmotors(); |
benparkes | 1:f4e3365155e1 | 270 | //set motor frequency |
benparkes | 1:f4e3365155e1 | 271 | PWMA.period_ms(10); |
benparkes | 1:f4e3365155e1 | 272 | PWMB.period_ms(10); |
benparkes | 1:f4e3365155e1 | 273 | ResetDistanceTimeSpeed(); |
benparkes | 1:f4e3365155e1 | 274 | while(1) { |
benparkes | 1:f4e3365155e1 | 275 | //wait for switch press |
benparkes | 1:f4e3365155e1 | 276 | while (SW1 == PRESSED) { |
benparkes | 1:f4e3365155e1 | 277 | wait(0.01); |
benparkes | 1:f4e3365155e1 | 278 | while(SW1 == RELEASED) { |
benparkes | 1:f4e3365155e1 | 279 | |
benparkes | 1:f4e3365155e1 | 280 | //navigate course |
benparkes | 1:f4e3365155e1 | 281 | for (int i = 0; i<2; i++) { |
benparkes | 1:f4e3365155e1 | 282 | //forward 1m |
benparkes | 1:f4e3365155e1 | 283 | forward(12,1); //distance, speed in rotations/s |
benparkes | 1:f4e3365155e1 | 284 | //turn 90 |
benparkes | 1:f4e3365155e1 | 285 | turn(90,0.5,0,0.2);//degrees, speed (rev/s), direction (0 clockwise),radius of turn) |
benparkes | 1:f4e3365155e1 | 286 | //forward 1/2m |
benparkes | 1:f4e3365155e1 | 287 | forward(7,1);//distance, speed in rotations/s |
benparkes | 1:f4e3365155e1 | 288 | //turn 90 |
benparkes | 1:f4e3365155e1 | 289 | turn(90,0.5,0,0.2);//degrees, speed (rev/s), direction (0 clockwise),radius of turn) |
benparkes | 1:f4e3365155e1 | 290 | } |
benparkes | 1:f4e3365155e1 | 291 | //repeat twice to end up back in starting possition |
benparkes | 1:f4e3365155e1 | 292 | |
benparkes | 1:f4e3365155e1 | 293 | //victory spin |
benparkes | 1:f4e3365155e1 | 294 | turn(365,0.5,1,0.001);//degrees, speed (rev/s), direction (0 clockwise),radius of turn) |
benparkes | 1:f4e3365155e1 | 295 | |
benparkes | 1:f4e3365155e1 | 296 | stopmotors(); |
benparkes | 1:f4e3365155e1 | 297 | break; |
benparkes | 1:f4e3365155e1 | 298 | } |
benparkes | 1:f4e3365155e1 | 299 | } |
benparkes | 0:e79700919e2e | 300 | } |
benparkes | 0:e79700919e2e | 301 | |
benparkes | 1:f4e3365155e1 | 302 | } |
benparkes | 0:e79700919e2e | 303 |