section B 57340500043 57340500046
Dependencies: Motor PID eeprom mbed
Fork of Tanginamo by
main.cpp@5:4168693bfb80, 2015-12-09 (annotated)
- Committer:
- ParinyaT
- Date:
- Wed Dec 09 00:01:34 2015 +0000
- Revision:
- 5:4168693bfb80
- Parent:
- 4:6e29193d7f95
Fra 221 B14 (43,46)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ParinyaT | 0:451c27e4d55e | 1 | //*****************************************************/ |
Tiz | 1:9f279c68ed0c | 2 | // Include // |
ParinyaT | 0:451c27e4d55e | 3 | #include "mbed.h" |
ParinyaT | 0:451c27e4d55e | 4 | #include "pinconfig.h" |
ParinyaT | 0:451c27e4d55e | 5 | #include "PID.h" |
ParinyaT | 0:451c27e4d55e | 6 | #include "Motor.h" |
ParinyaT | 0:451c27e4d55e | 7 | #include "eeprom.h" |
ParinyaT | 0:451c27e4d55e | 8 | |
ParinyaT | 0:451c27e4d55e | 9 | //*****************************************************/ |
ParinyaT | 5:4168693bfb80 | 10 | // PID parameter // |
ParinyaT | 5:4168693bfb80 | 11 | float Rate = 0.001; |
ParinyaT | 5:4168693bfb80 | 12 | float Kc = 0.4; |
ParinyaT | 5:4168693bfb80 | 13 | float Ti = 0.15; |
ParinyaT | 5:4168693bfb80 | 14 | float Td = 0.0; |
ParinyaT | 5:4168693bfb80 | 15 | float Ki; |
ParinyaT | 5:4168693bfb80 | 16 | float Kd; |
ParinyaT | 0:451c27e4d55e | 17 | //*****************************************************/ |
ParinyaT | 0:451c27e4d55e | 18 | // Global // |
ParinyaT | 0:451c27e4d55e | 19 | //-- pc monitor -- |
ParinyaT | 0:451c27e4d55e | 20 | Serial PC(D1,D0); |
Tiz | 1:9f279c68ed0c | 21 | //-- encoder -- |
ParinyaT | 0:451c27e4d55e | 22 | int Position; |
ParinyaT | 5:4168693bfb80 | 23 | int ENdata; |
ParinyaT | 0:451c27e4d55e | 24 | SPI device(Emosi, Emiso, Esck); |
ParinyaT | 0:451c27e4d55e | 25 | DigitalOut Encoder(EncoderA); |
ParinyaT | 0:451c27e4d55e | 26 | //-- Motor -- |
ParinyaT | 5:4168693bfb80 | 27 | int dir; |
ParinyaT | 0:451c27e4d55e | 28 | Motor LeftUpper(PWM_LU,A_LU,B_LU); |
ParinyaT | 5:4168693bfb80 | 29 | //-- Memory -- |
ParinyaT | 5:4168693bfb80 | 30 | EEPROM memory(PB_4,PA_8,0); |
ParinyaT | 0:451c27e4d55e | 31 | //-- PID -- |
ParinyaT | 0:451c27e4d55e | 32 | int SetPoint; |
ParinyaT | 5:4168693bfb80 | 33 | //-- Packet -- |
ParinyaT | 5:4168693bfb80 | 34 | int Start1,Start2,ID,Lenght,inst,GOAL,Pos; |
ParinyaT | 5:4168693bfb80 | 35 | int8_t Check,Checksum; |
ParinyaT | 0:451c27e4d55e | 36 | //*****************************************************/ |
ParinyaT | 0:451c27e4d55e | 37 | void Read_Encoder() |
ParinyaT | 0:451c27e4d55e | 38 | { |
ParinyaT | 0:451c27e4d55e | 39 | SPI device(Emosi, Emiso, Esck); |
ParinyaT | 0:451c27e4d55e | 40 | device.format(8,0); |
ParinyaT | 0:451c27e4d55e | 41 | device.frequency(200000);//due to rising time,have to decrease clock from 1M - 240k |
Tiz | 1:9f279c68ed0c | 42 | |
ParinyaT | 0:451c27e4d55e | 43 | Encoder = 0; |
ParinyaT | 0:451c27e4d55e | 44 | wait_us(50); |
ParinyaT | 0:451c27e4d55e | 45 | device.write(0x41); |
ParinyaT | 0:451c27e4d55e | 46 | wait_us(50); |
ParinyaT | 0:451c27e4d55e | 47 | device.write(0x09); |
ParinyaT | 0:451c27e4d55e | 48 | wait_us(50); |
ParinyaT | 5:4168693bfb80 | 49 | ENdata = device.write(0x00); |
ParinyaT | 0:451c27e4d55e | 50 | wait_us(50); |
ParinyaT | 0:451c27e4d55e | 51 | Encoder = 1; |
Tiz | 1:9f279c68ed0c | 52 | |
ParinyaT | 0:451c27e4d55e | 53 | } |
ParinyaT | 0:451c27e4d55e | 54 | //*****************************************************/ |
ParinyaT | 0:451c27e4d55e | 55 | void Get_EnValue(int Val) |
ParinyaT | 0:451c27e4d55e | 56 | { |
ParinyaT | 0:451c27e4d55e | 57 | int i = 0; |
ParinyaT | 0:451c27e4d55e | 58 | static unsigned char codes[] = { |
Tiz | 1:9f279c68ed0c | 59 | 127, 63, 62, 58, 56, 184, 152, 24, 8, 72, 73, 77, 79, 15, 47, 175, |
Tiz | 1:9f279c68ed0c | 60 | 191, 159, 31, 29, 28, 92, 76, 12, 4, 36, 164, 166, 167, 135, 151, 215, |
Tiz | 1:9f279c68ed0c | 61 | 223, 207, 143, 142, 14, 46, 38, 6, 2, 18, 82, 83, 211, 195, 203, 235, |
Tiz | 1:9f279c68ed0c | 62 | 239, 231, 199, 71, 7, 23, 19, 3, 1, 9, 41, 169, 233, 225, 229, 245, |
Tiz | 1:9f279c68ed0c | 63 | 247, 243, 227, 163, 131, 139, 137, 129, 128, 132, 148, 212, 244, 240, 242, 250, |
Tiz | 1:9f279c68ed0c | 64 | 251, 249, 241, 209, 193, 197, 196, 192, 64, 66, 74, 106, 122, 120, 121, 125, |
Tiz | 1:9f279c68ed0c | 65 | 253, 252, 248, 232, 224, 226, 98, 96, 32, 33, 37, 53, 61, 60, 188, 190, |
Tiz | 1:9f279c68ed0c | 66 | 254, 126, 124, 116, 112, 113, 49, 48, 16, 144, 146, 154, 158, 30, 94, 95 |
Tiz | 1:9f279c68ed0c | 67 | }; |
Tiz | 1:9f279c68ed0c | 68 | |
Tiz | 1:9f279c68ed0c | 69 | while(i<=127) { |
Tiz | 1:9f279c68ed0c | 70 | if(Val == codes[i]) { |
ParinyaT | 0:451c27e4d55e | 71 | Position = i; |
ParinyaT | 0:451c27e4d55e | 72 | break; |
Tiz | 1:9f279c68ed0c | 73 | } else i++; |
Tiz | 1:9f279c68ed0c | 74 | } |
Tiz | 1:9f279c68ed0c | 75 | } |
Tiz | 1:9f279c68ed0c | 76 | //****************************************************************************************** |
Tiz | 1:9f279c68ed0c | 77 | void eewrite() |
Tiz | 1:9f279c68ed0c | 78 | { |
ParinyaT | 5:4168693bfb80 | 79 | memory.write(0x11,Kc); |
ParinyaT | 5:4168693bfb80 | 80 | wait_ms(10); |
ParinyaT | 5:4168693bfb80 | 81 | memory.write(0x22,Ki); |
ParinyaT | 5:4168693bfb80 | 82 | wait_ms(10); |
ParinyaT | 5:4168693bfb80 | 83 | memory.write(0x33,Kd); |
ParinyaT | 5:4168693bfb80 | 84 | |
Tiz | 1:9f279c68ed0c | 85 | wait_ms(10); |
Tiz | 1:9f279c68ed0c | 86 | } |
Tiz | 1:9f279c68ed0c | 87 | //****************************************************************************************** |
Tiz | 1:9f279c68ed0c | 88 | void eeread() |
Tiz | 1:9f279c68ed0c | 89 | { |
ParinyaT | 5:4168693bfb80 | 90 | memory.read(0x11,Kc); |
ParinyaT | 5:4168693bfb80 | 91 | wait_ms(10); |
ParinyaT | 5:4168693bfb80 | 92 | memory.read(0x22,Ki); |
ParinyaT | 5:4168693bfb80 | 93 | wait_ms(10); |
ParinyaT | 5:4168693bfb80 | 94 | memory.read(0x33,Kd); |
Tiz | 1:9f279c68ed0c | 95 | |
Tiz | 1:9f279c68ed0c | 96 | wait_ms(10); |
Tiz | 1:9f279c68ed0c | 97 | } |
Tiz | 1:9f279c68ed0c | 98 | //****************************************************************************************** |
Tiz | 1:9f279c68ed0c | 99 | void StartWriteRead(int mod) |
Tiz | 1:9f279c68ed0c | 100 | { |
ParinyaT | 5:4168693bfb80 | 101 | |
ParinyaT | 5:4168693bfb80 | 102 | if(mod==1) { |
ParinyaT | 5:4168693bfb80 | 103 | eewrite(); |
ParinyaT | 5:4168693bfb80 | 104 | wait_ms(10); |
ParinyaT | 5:4168693bfb80 | 105 | } else if(mod==0) { |
ParinyaT | 5:4168693bfb80 | 106 | eeread(); |
ParinyaT | 5:4168693bfb80 | 107 | wait_ms(10); |
ParinyaT | 5:4168693bfb80 | 108 | } |
ParinyaT | 5:4168693bfb80 | 109 | |
ParinyaT | 0:451c27e4d55e | 110 | } |
ParinyaT | 0:451c27e4d55e | 111 | //*****************************************************/ |
ParinyaT | 0:451c27e4d55e | 112 | int main() |
ParinyaT | 0:451c27e4d55e | 113 | { |
Tiz | 1:9f279c68ed0c | 114 | |
Tiz | 1:9f279c68ed0c | 115 | uint8_t state_menu=0; |
Tiz | 1:9f279c68ed0c | 116 | uint8_t state_show=0; |
Tiz | 1:9f279c68ed0c | 117 | uint8_t state_exit =0; |
Tiz | 1:9f279c68ed0c | 118 | uint8_t data; |
Tiz | 1:9f279c68ed0c | 119 | |
Tiz | 1:9f279c68ed0c | 120 | // myled = 0; |
Tiz | 1:9f279c68ed0c | 121 | PC.printf("Wellcome !\n"); |
Tiz | 1:9f279c68ed0c | 122 | while(1) { |
Tiz | 1:9f279c68ed0c | 123 | if(state_show == 0) { |
Tiz | 1:9f279c68ed0c | 124 | PC.printf("Menu\n"); |
ParinyaT | 5:4168693bfb80 | 125 | PC.printf("1.Set PID Parameter \n"); |
ParinyaT | 5:4168693bfb80 | 126 | PC.printf("2.Set Position \n"); |
ParinyaT | 5:4168693bfb80 | 127 | PC.printf("3.PID Test \n"); |
Tiz | 1:9f279c68ed0c | 128 | state_show =1; |
Tiz | 1:9f279c68ed0c | 129 | } |
Tiz | 1:9f279c68ed0c | 130 | if(PC.readable()) { |
Tiz | 1:9f279c68ed0c | 131 | data = PC.getc(); |
Tiz | 1:9f279c68ed0c | 132 | PC.printf("\n"); |
Tiz | 1:9f279c68ed0c | 133 | state_show =0; |
Tiz | 1:9f279c68ed0c | 134 | state_exit =0; |
Tiz | 1:9f279c68ed0c | 135 | |
Tiz | 1:9f279c68ed0c | 136 | switch(data) { |
Tiz | 1:9f279c68ed0c | 137 | case '1': |
Tiz | 1:9f279c68ed0c | 138 | do { |
ParinyaT | 5:4168693bfb80 | 139 | |
Tiz | 1:9f279c68ed0c | 140 | if(state_menu == 0) { |
ParinyaT | 5:4168693bfb80 | 141 | PC.printf("Set PID Parameter\n"); |
ParinyaT | 5:4168693bfb80 | 142 | PC.printf("Kp : %f\n", Kc); |
ParinyaT | 5:4168693bfb80 | 143 | PC.printf("Ki : %f\n", Kc*Ti); |
ParinyaT | 5:4168693bfb80 | 144 | PC.printf("Kd : %f\n", Kc*Td); |
ParinyaT | 5:4168693bfb80 | 145 | PC.printf("1.New setting\n"); |
ParinyaT | 5:4168693bfb80 | 146 | PC.printf("2.Load setting\n"); |
ParinyaT | 5:4168693bfb80 | 147 | PC.printf("3.Exit\n"); |
Tiz | 1:9f279c68ed0c | 148 | state_menu = 1; |
Tiz | 1:9f279c68ed0c | 149 | } |
Tiz | 1:9f279c68ed0c | 150 | if(PC.readable()) { |
Tiz | 1:9f279c68ed0c | 151 | data = PC.getc(); |
Tiz | 1:9f279c68ed0c | 152 | PC.printf("\n"); |
Tiz | 1:9f279c68ed0c | 153 | state_menu=0; |
Tiz | 1:9f279c68ed0c | 154 | |
Tiz | 1:9f279c68ed0c | 155 | switch(data) { |
Tiz | 1:9f279c68ed0c | 156 | |
ParinyaT | 5:4168693bfb80 | 157 | case '1': |
ParinyaT | 5:4168693bfb80 | 158 | PC.printf("Set Kp : "); |
ParinyaT | 5:4168693bfb80 | 159 | PC.scanf("%f", &Kc); |
ParinyaT | 5:4168693bfb80 | 160 | PC.printf("\nSet Ki : "); |
ParinyaT | 5:4168693bfb80 | 161 | PC.scanf("%f", &Ki); |
ParinyaT | 5:4168693bfb80 | 162 | PC.printf("\nSet Kd : "); |
ParinyaT | 5:4168693bfb80 | 163 | PC.scanf("%f", &Kd); |
ParinyaT | 5:4168693bfb80 | 164 | |
ParinyaT | 5:4168693bfb80 | 165 | Ti = Ki/Kc; |
ParinyaT | 5:4168693bfb80 | 166 | Td = Kd/Kc; |
ParinyaT | 5:4168693bfb80 | 167 | |
ParinyaT | 5:4168693bfb80 | 168 | eewrite(); |
ParinyaT | 5:4168693bfb80 | 169 | |
Tiz | 1:9f279c68ed0c | 170 | break; |
Tiz | 1:9f279c68ed0c | 171 | |
ParinyaT | 5:4168693bfb80 | 172 | case '2': |
ParinyaT | 5:4168693bfb80 | 173 | eeread(); |
ParinyaT | 5:4168693bfb80 | 174 | |
ParinyaT | 5:4168693bfb80 | 175 | /*PC.printf("Set Kp : %f\n",Kc); |
ParinyaT | 5:4168693bfb80 | 176 | PC.printf("Set Ki : %f\n",Ki); |
ParinyaT | 5:4168693bfb80 | 177 | PC.printf("Set Kd : %f\n",Kd);*/ |
ParinyaT | 5:4168693bfb80 | 178 | |
ParinyaT | 5:4168693bfb80 | 179 | Ti = Ki/Kc; |
ParinyaT | 5:4168693bfb80 | 180 | Td = Kd/Kc; |
ParinyaT | 5:4168693bfb80 | 181 | |
Tiz | 1:9f279c68ed0c | 182 | break; |
Tiz | 1:9f279c68ed0c | 183 | |
ParinyaT | 5:4168693bfb80 | 184 | case '3': |
ParinyaT | 5:4168693bfb80 | 185 | state_exit = 1; |
Tiz | 1:9f279c68ed0c | 186 | break; |
Tiz | 1:9f279c68ed0c | 187 | |
ParinyaT | 5:4168693bfb80 | 188 | //default: |
ParinyaT | 5:4168693bfb80 | 189 | //PC.printf("plz select 1,2,3\n"); |
ParinyaT | 5:4168693bfb80 | 190 | //PC.printf("\n\n"); |
ParinyaT | 5:4168693bfb80 | 191 | //break; |
ParinyaT | 5:4168693bfb80 | 192 | |
Tiz | 1:9f279c68ed0c | 193 | } |
Tiz | 1:9f279c68ed0c | 194 | } |
Tiz | 1:9f279c68ed0c | 195 | } while(state_exit ==0); |
Tiz | 1:9f279c68ed0c | 196 | PC.printf("\n\n"); |
Tiz | 1:9f279c68ed0c | 197 | break; |
Tiz | 1:9f279c68ed0c | 198 | |
ParinyaT | 5:4168693bfb80 | 199 | case '3': |
Tiz | 1:9f279c68ed0c | 200 | |
Tiz | 1:9f279c68ed0c | 201 | do { |
Tiz | 1:9f279c68ed0c | 202 | if(state_menu == 0) { |
ParinyaT | 5:4168693bfb80 | 203 | PC.printf("Mode POP\n"); |
ParinyaT | 5:4168693bfb80 | 204 | PC.printf("press x to exit\n\n"); |
ParinyaT | 5:4168693bfb80 | 205 | PID LU_PID(Kc, Ti, Td, Rate);//Kp,Ki,Kd,Rate |
Tiz | 1:9f279c68ed0c | 206 | //***start mode |
ParinyaT | 5:4168693bfb80 | 207 | wait (2); |
ParinyaT | 5:4168693bfb80 | 208 | while(1){ |
ParinyaT | 5:4168693bfb80 | 209 | |
Tiz | 1:9f279c68ed0c | 210 | LeftUpper.period(0.00005); |
Tiz | 1:9f279c68ed0c | 211 | LU_PID.setInputLimits(0,127); |
ParinyaT | 5:4168693bfb80 | 212 | LU_PID.setOutputLimits(0.2,1); |
Tiz | 1:9f279c68ed0c | 213 | LU_PID.setMode(AUTO_MODE); |
Tiz | 1:9f279c68ed0c | 214 | |
Tiz | 1:9f279c68ed0c | 215 | //get the target position |
ParinyaT | 5:4168693bfb80 | 216 | //SetPoint = 64; |
Tiz | 1:9f279c68ed0c | 217 | LU_PID.setSetPoint(SetPoint); |
Tiz | 1:9f279c68ed0c | 218 | |
Tiz | 1:9f279c68ed0c | 219 | Read_Encoder(); |
ParinyaT | 5:4168693bfb80 | 220 | //PC.printf("%d\n",ENdata); |
ParinyaT | 5:4168693bfb80 | 221 | Get_EnValue(ENdata); |
ParinyaT | 5:4168693bfb80 | 222 | //PC.printf("%d\n********************\n",Position); |
Tiz | 1:9f279c68ed0c | 223 | |
ParinyaT | 5:4168693bfb80 | 224 | while(abs(Position-SetPoint)>1) { |
Tiz | 1:9f279c68ed0c | 225 | LU_PID.setProcessValue(Position); |
Tiz | 1:9f279c68ed0c | 226 | |
ParinyaT | 5:4168693bfb80 | 227 | if( Position - SetPoint > 0 ) { |
ParinyaT | 5:4168693bfb80 | 228 | dir = 1; |
ParinyaT | 5:4168693bfb80 | 229 | }if(Position - SetPoint < 0 ) { |
ParinyaT | 5:4168693bfb80 | 230 | dir = -1; |
ParinyaT | 5:4168693bfb80 | 231 | } |
ParinyaT | 5:4168693bfb80 | 232 | |
ParinyaT | 5:4168693bfb80 | 233 | |
ParinyaT | 5:4168693bfb80 | 234 | LeftUpper.speed(LU_PID.compute() * dir); |
ParinyaT | 5:4168693bfb80 | 235 | wait_ms(17); |
Tiz | 1:9f279c68ed0c | 236 | Read_Encoder(); |
ParinyaT | 5:4168693bfb80 | 237 | Get_EnValue(ENdata); |
ParinyaT | 5:4168693bfb80 | 238 | //PC.printf("%d\n********************\n",Position); |
ParinyaT | 5:4168693bfb80 | 239 | LeftUpper.brake(0); |
ParinyaT | 5:4168693bfb80 | 240 | |
ParinyaT | 5:4168693bfb80 | 241 | }LeftUpper.brake(1); |
ParinyaT | 5:4168693bfb80 | 242 | if(PC.readable()) { |
ParinyaT | 5:4168693bfb80 | 243 | data = PC.getc(); |
ParinyaT | 5:4168693bfb80 | 244 | if (data == 'x') { |
ParinyaT | 5:4168693bfb80 | 245 | state_exit = 1; |
ParinyaT | 5:4168693bfb80 | 246 | break; |
ParinyaT | 5:4168693bfb80 | 247 | }else state_menu = 0; |
Tiz | 1:9f279c68ed0c | 248 | } |
ParinyaT | 5:4168693bfb80 | 249 | |
Tiz | 1:9f279c68ed0c | 250 | } |
ParinyaT | 5:4168693bfb80 | 251 | |
ParinyaT | 5:4168693bfb80 | 252 | } |
Tiz | 1:9f279c68ed0c | 253 | |
ParinyaT | 5:4168693bfb80 | 254 | } while(state_exit ==0); |
ParinyaT | 5:4168693bfb80 | 255 | PC.printf("\n\n"); |
ParinyaT | 5:4168693bfb80 | 256 | break; |
Tiz | 1:9f279c68ed0c | 257 | |
ParinyaT | 5:4168693bfb80 | 258 | case '2': |
ParinyaT | 5:4168693bfb80 | 259 | do { |
Tiz | 4:6e29193d7f95 | 260 | if(state_menu == 0) { |
Tiz | 4:6e29193d7f95 | 261 | PC.printf("Mode SetPoint\n"); |
ParinyaT | 5:4168693bfb80 | 262 | PC.printf("Waiting for command\n"); |
Tiz | 4:6e29193d7f95 | 263 | state_menu = 1; |
Tiz | 4:6e29193d7f95 | 264 | } |
ParinyaT | 5:4168693bfb80 | 265 | |
ParinyaT | 5:4168693bfb80 | 266 | PC.scanf("%x %x %x %x %x %x %x %x",&Start1,&Start2,&ID,&Lenght,&inst,&GOAL,&Pos,&Checksum); |
ParinyaT | 5:4168693bfb80 | 267 | PC.printf("%2x %2x %2x %2x %2x %2x %2x %2x\n",Start1,Start2,ID,Lenght,inst,GOAL,Pos,Checksum); |
ParinyaT | 5:4168693bfb80 | 268 | Check = ~(ID+Lenght+inst+GOAL+Pos); |
ParinyaT | 5:4168693bfb80 | 269 | |
ParinyaT | 5:4168693bfb80 | 270 | if(inst == 03){ |
ParinyaT | 5:4168693bfb80 | 271 | if(GOAL == 01){ |
ParinyaT | 5:4168693bfb80 | 272 | if(Checksum == Check) { |
ParinyaT | 5:4168693bfb80 | 273 | SetPoint=Pos; |
ParinyaT | 5:4168693bfb80 | 274 | printf("Position was set to %d\n",Pos); |
ParinyaT | 5:4168693bfb80 | 275 | }else printf("Worng Command\n"); |
Tiz | 4:6e29193d7f95 | 276 | } |
Tiz | 4:6e29193d7f95 | 277 | } |
ParinyaT | 5:4168693bfb80 | 278 | state_menu = 0; |
ParinyaT | 5:4168693bfb80 | 279 | break; |
Tiz | 1:9f279c68ed0c | 280 | |
Tiz | 1:9f279c68ed0c | 281 | |
Tiz | 4:6e29193d7f95 | 282 | |
Tiz | 4:6e29193d7f95 | 283 | } while(state_exit ==0); |
Tiz | 4:6e29193d7f95 | 284 | PC.printf("\n\n"); |
Tiz | 4:6e29193d7f95 | 285 | break; |
Tiz | 1:9f279c68ed0c | 286 | case 0x00: |
Tiz | 1:9f279c68ed0c | 287 | |
Tiz | 1:9f279c68ed0c | 288 | break; |
Tiz | 1:9f279c68ed0c | 289 | |
Tiz | 1:9f279c68ed0c | 290 | default: |
Tiz | 4:6e29193d7f95 | 291 | PC.printf("plz select 1 or 2 or 3 only\n"); |
Tiz | 1:9f279c68ed0c | 292 | PC.printf("\n\n"); |
Tiz | 1:9f279c68ed0c | 293 | break; |
Tiz | 1:9f279c68ed0c | 294 | } |
Tiz | 1:9f279c68ed0c | 295 | } |
Tiz | 1:9f279c68ed0c | 296 | |
Tiz | 1:9f279c68ed0c | 297 | } |
Tiz | 1:9f279c68ed0c | 298 | |
Tiz | 1:9f279c68ed0c | 299 | |
Tiz | 1:9f279c68ed0c | 300 | } |
Tiz | 1:9f279c68ed0c | 301 |