darurat
Dependencies: ESC Motor NewTextLCD PID PS_PAD base_rekam_darurat mbed millis
Fork of Base_Hybrid_V2 by
main.cpp@2:2f7bed7fb055, 2016-02-16 (annotated)
- Committer:
- Najib_irvani
- Date:
- Tue Feb 16 18:33:25 2016 +0000
- Revision:
- 2:2f7bed7fb055
- Parent:
- 1:c9f11055fb12
- Child:
- 3:d3708c3ed288
program sementara hybrid sambil menunggu board baru
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rizqicahyo | 0:ac7353383a8e | 1 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 2 | /** GARUDAGO-ITB (KRAI2016) **/ |
rizqicahyo | 0:ac7353383a8e | 3 | /** #ROADTOBANGKOK! **/ |
rizqicahyo | 0:ac7353383a8e | 4 | /** **/ |
rizqicahyo | 0:ac7353383a8e | 5 | /** MAIN PROGRAM ROBOT HYBRID SEMI OTOMATIS **/ |
rizqicahyo | 0:ac7353383a8e | 6 | /** **/ |
rizqicahyo | 0:ac7353383a8e | 7 | /** **/ |
rizqicahyo | 0:ac7353383a8e | 8 | /** Created by : **/ |
rizqicahyo | 0:ac7353383a8e | 9 | /** Rizqi Cahyo Yuwono **/ |
rizqicahyo | 0:ac7353383a8e | 10 | /** EL'14 - 13214090 **/ |
rizqicahyo | 0:ac7353383a8e | 11 | /** **/ |
rizqicahyo | 0:ac7353383a8e | 12 | /** Last Update : 19 Desember 2015, 06.10 WIB **/ |
rizqicahyo | 0:ac7353383a8e | 13 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 14 | |
rizqicahyo | 0:ac7353383a8e | 15 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 16 | /** FILE HEADER **/ |
rizqicahyo | 0:ac7353383a8e | 17 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 18 | #include "mbed.h" |
rizqicahyo | 0:ac7353383a8e | 19 | #include "Motor.h" |
rizqicahyo | 0:ac7353383a8e | 20 | #include "NewTextLCD.h" |
rizqicahyo | 0:ac7353383a8e | 21 | #include "PS_PAD.h" |
rizqicahyo | 0:ac7353383a8e | 22 | #include "PID.h" |
rizqicahyo | 1:c9f11055fb12 | 23 | #include "millis.h" |
Najib_irvani | 2:2f7bed7fb055 | 24 | #include "esc.h" |
Najib_irvani | 2:2f7bed7fb055 | 25 | #include "Servo.h" |
rizqicahyo | 0:ac7353383a8e | 26 | |
rizqicahyo | 0:ac7353383a8e | 27 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 28 | /** DEKLARASI INPUT OUTPUT **/ |
rizqicahyo | 0:ac7353383a8e | 29 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 30 | // serial pc |
rizqicahyo | 0:ac7353383a8e | 31 | Serial pc(USBTX,USBRX); |
rizqicahyo | 0:ac7353383a8e | 32 | |
rizqicahyo | 0:ac7353383a8e | 33 | // LCD 20x4 |
Najib_irvani | 2:2f7bed7fb055 | 34 | //TextLCD lcd(PC_5, PB_1, PA_7, PC_4, PA_5, PA_6, TextLCD::LCD20x4); //(rs,e,d4,d5,d6,d7) |
rizqicahyo | 0:ac7353383a8e | 35 | |
rizqicahyo | 0:ac7353383a8e | 36 | // joystick PS2 |
rizqicahyo | 0:ac7353383a8e | 37 | PS_PAD ps2(PB_15,PB_14,PB_13, PB_12); //(mosi, miso, sck, ss) |
rizqicahyo | 0:ac7353383a8e | 38 | |
Najib_irvani | 2:2f7bed7fb055 | 39 | |
Najib_irvani | 2:2f7bed7fb055 | 40 | // tambahan power |
Najib_irvani | 2:2f7bed7fb055 | 41 | // inisialisasi pwm awal servo |
Najib_irvani | 2:2f7bed7fb055 | 42 | float pwm = 0.00; |
Najib_irvani | 2:2f7bed7fb055 | 43 | |
Najib_irvani | 2:2f7bed7fb055 | 44 | // inisialisasi sudut awal |
Najib_irvani | 2:2f7bed7fb055 | 45 | int sudut = 0; |
Najib_irvani | 2:2f7bed7fb055 | 46 | |
Najib_irvani | 2:2f7bed7fb055 | 47 | //membatasi nilai brushless pada edf |
Najib_irvani | 2:2f7bed7fb055 | 48 | float min=0; |
Najib_irvani | 2:2f7bed7fb055 | 49 | float max=0.50; |
Najib_irvani | 2:2f7bed7fb055 | 50 | |
rizqicahyo | 0:ac7353383a8e | 51 | // PID sensor garis |
Najib_irvani | 2:2f7bed7fb055 | 52 | //PID PID(0.992,0.000,0.81,0.001); //(P,I,D, time sampling) |
rizqicahyo | 0:ac7353383a8e | 53 | |
rizqicahyo | 0:ac7353383a8e | 54 | // Motor(pwm, fwd, rev) |
Najib_irvani | 2:2f7bed7fb055 | 55 | Motor motor2(PC_6, PC_8, PC_9); //gripper |
Najib_irvani | 2:2f7bed7fb055 | 56 | Motor motor1(PA_15, PA_14, PA_13); //motor3 |
Najib_irvani | 2:2f7bed7fb055 | 57 | //Motor gripper(PB_5, PB_4, PB_3); |
Najib_irvani | 2:2f7bed7fb055 | 58 | //Motor motor2(PA_3, PC_15, PC_14); //kanan |
Najib_irvani | 2:2f7bed7fb055 | 59 | //Motor motor1(PA_1, PH_0, PH_1); //kiri |
rizqicahyo | 0:ac7353383a8e | 60 | |
Najib_irvani | 2:2f7bed7fb055 | 61 | /* |
rizqicahyo | 0:ac7353383a8e | 62 | // Sensor |
rizqicahyo | 0:ac7353383a8e | 63 | DigitalIn S1(PC_0); |
rizqicahyo | 0:ac7353383a8e | 64 | DigitalIn S2(PC_1); |
rizqicahyo | 0:ac7353383a8e | 65 | DigitalIn S3(PC_2); |
rizqicahyo | 0:ac7353383a8e | 66 | DigitalIn S4(PC_3); |
rizqicahyo | 0:ac7353383a8e | 67 | DigitalIn S5(PA_0); |
rizqicahyo | 0:ac7353383a8e | 68 | DigitalIn S6(PA_1); |
rizqicahyo | 0:ac7353383a8e | 69 | DigitalIn S7(PA_4); |
rizqicahyo | 0:ac7353383a8e | 70 | DigitalIn S8(PB_0); |
rizqicahyo | 0:ac7353383a8e | 71 | DigitalIn S9(PB_2); |
rizqicahyo | 0:ac7353383a8e | 72 | DigitalIn S10(PB_10); |
rizqicahyo | 0:ac7353383a8e | 73 | DigitalIn S11(PA_10); |
rizqicahyo | 0:ac7353383a8e | 74 | DigitalIn S12(PA_11); |
rizqicahyo | 0:ac7353383a8e | 75 | DigitalIn S13(PA_12); |
rizqicahyo | 0:ac7353383a8e | 76 | DigitalOut calibrate(PA_15); |
Najib_irvani | 2:2f7bed7fb055 | 77 | */ |
rizqicahyo | 0:ac7353383a8e | 78 | |
rizqicahyo | 0:ac7353383a8e | 79 | DigitalIn button(USER_BUTTON); |
rizqicahyo | 0:ac7353383a8e | 80 | |
Najib_irvani | 2:2f7bed7fb055 | 81 | |
Najib_irvani | 2:2f7bed7fb055 | 82 | //bool sensor[13]; |
rizqicahyo | 0:ac7353383a8e | 83 | |
rizqicahyo | 0:ac7353383a8e | 84 | //DigitalIn limit_switch1(A0); |
rizqicahyo | 0:ac7353383a8e | 85 | //DigitalIn limit_switch2(A1); |
rizqicahyo | 0:ac7353383a8e | 86 | |
rizqicahyo | 0:ac7353383a8e | 87 | |
rizqicahyo | 0:ac7353383a8e | 88 | // Multitasker |
Najib_irvani | 2:2f7bed7fb055 | 89 | //Ticker timer; |
rizqicahyo | 0:ac7353383a8e | 90 | |
rizqicahyo | 0:ac7353383a8e | 91 | |
rizqicahyo | 0:ac7353383a8e | 92 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 93 | /** DEKLARASI VARIABEL GLOBAL **/ |
rizqicahyo | 0:ac7353383a8e | 94 | /*********************************************************************************************/ |
Najib_irvani | 2:2f7bed7fb055 | 95 | float gMax_speed=0.5; //nilai maksimum kecepatan motor |
rizqicahyo | 0:ac7353383a8e | 96 | float gMin_speed=-0.05; //nilai minimum kecepatan motor |
Najib_irvani | 2:2f7bed7fb055 | 97 | float gTuning = 0.34; |
rizqicahyo | 0:ac7353383a8e | 98 | |
rizqicahyo | 0:ac7353383a8e | 99 | unsigned char gMode=0; //variabel mode driving (manual = 0 otomatis = 1) |
rizqicahyo | 0:ac7353383a8e | 100 | unsigned char gCase=0; //variabel keadaan proses |
rizqicahyo | 0:ac7353383a8e | 101 | |
rizqicahyo | 0:ac7353383a8e | 102 | unsigned char i; // variabel iterasi |
rizqicahyo | 1:c9f11055fb12 | 103 | int over=0; |
Najib_irvani | 2:2f7bed7fb055 | 104 | int lapangan = 1; |
rizqicahyo | 0:ac7353383a8e | 105 | |
rizqicahyo | 0:ac7353383a8e | 106 | |
rizqicahyo | 0:ac7353383a8e | 107 | |
rizqicahyo | 0:ac7353383a8e | 108 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 109 | /** DEKLARASI PROSEDUR DAN FUNGSI **/ |
rizqicahyo | 0:ac7353383a8e | 110 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 111 | |
rizqicahyo | 0:ac7353383a8e | 112 | |
rizqicahyo | 0:ac7353383a8e | 113 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 114 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 115 | /** PROGRAM UTAMA **/ |
rizqicahyo | 0:ac7353383a8e | 116 | /*********************************************************************************************/ |
rizqicahyo | 0:ac7353383a8e | 117 | /*********************************************************************************************/ |
Najib_irvani | 2:2f7bed7fb055 | 118 | |
Najib_irvani | 2:2f7bed7fb055 | 119 | void init_servo(int i){ |
Najib_irvani | 2:2f7bed7fb055 | 120 | if (i){ |
Najib_irvani | 2:2f7bed7fb055 | 121 | if (sudut>90){ |
Najib_irvani | 2:2f7bed7fb055 | 122 | sudut=90; |
Najib_irvani | 2:2f7bed7fb055 | 123 | } |
Najib_irvani | 2:2f7bed7fb055 | 124 | if (sudut<0){ |
Najib_irvani | 2:2f7bed7fb055 | 125 | sudut=0; |
Najib_irvani | 2:2f7bed7fb055 | 126 | } |
Najib_irvani | 2:2f7bed7fb055 | 127 | } else { |
Najib_irvani | 2:2f7bed7fb055 | 128 | |
Najib_irvani | 2:2f7bed7fb055 | 129 | if (sudut>0){ |
Najib_irvani | 2:2f7bed7fb055 | 130 | sudut=0; |
Najib_irvani | 2:2f7bed7fb055 | 131 | } |
Najib_irvani | 2:2f7bed7fb055 | 132 | if (sudut<-90){ |
Najib_irvani | 2:2f7bed7fb055 | 133 | sudut=-90; |
Najib_irvani | 2:2f7bed7fb055 | 134 | } |
Najib_irvani | 2:2f7bed7fb055 | 135 | } |
Najib_irvani | 2:2f7bed7fb055 | 136 | } |
Najib_irvani | 2:2f7bed7fb055 | 137 | |
Najib_irvani | 2:2f7bed7fb055 | 138 | void init_pwm (){ |
Najib_irvani | 2:2f7bed7fb055 | 139 | if (pwm>max){ |
Najib_irvani | 2:2f7bed7fb055 | 140 | pwm = max; |
Najib_irvani | 2:2f7bed7fb055 | 141 | } |
Najib_irvani | 2:2f7bed7fb055 | 142 | |
Najib_irvani | 2:2f7bed7fb055 | 143 | if (pwm<min){ |
Najib_irvani | 2:2f7bed7fb055 | 144 | pwm = min; |
Najib_irvani | 2:2f7bed7fb055 | 145 | } |
Najib_irvani | 2:2f7bed7fb055 | 146 | } |
Najib_irvani | 2:2f7bed7fb055 | 147 | |
rizqicahyo | 0:ac7353383a8e | 148 | int main(void){ |
rizqicahyo | 0:ac7353383a8e | 149 | //inisialisasi joystick |
rizqicahyo | 0:ac7353383a8e | 150 | ps2.init(); |
rizqicahyo | 0:ac7353383a8e | 151 | |
Najib_irvani | 2:2f7bed7fb055 | 152 | //tambahan power |
Najib_irvani | 2:2f7bed7fb055 | 153 | ESC edf(PB_9,20); //p wm esc pin PC_7 |
Najib_irvani | 2:2f7bed7fb055 | 154 | Servo myservo(PB_8); //pwm servo pin PA_8 |
Najib_irvani | 2:2f7bed7fb055 | 155 | //set inisialisasi servo pada posisi 0 |
Najib_irvani | 2:2f7bed7fb055 | 156 | myservo.position(sudut); |
Najib_irvani | 2:2f7bed7fb055 | 157 | //set edf pada posisi bukan kalibrasi, yaitu set edf 0 |
Najib_irvani | 2:2f7bed7fb055 | 158 | edf.setThrottle(pwm); |
Najib_irvani | 2:2f7bed7fb055 | 159 | edf.pulse(); |
rizqicahyo | 0:ac7353383a8e | 160 | |
rizqicahyo | 0:ac7353383a8e | 161 | pc.baud(115200); |
Najib_irvani | 2:2f7bed7fb055 | 162 | float speed; |
rizqicahyo | 0:ac7353383a8e | 163 | |
rizqicahyo | 0:ac7353383a8e | 164 | while(1) |
rizqicahyo | 0:ac7353383a8e | 165 | { |
Najib_irvani | 2:2f7bed7fb055 | 166 | ps2.poll(); |
Najib_irvani | 2:2f7bed7fb055 | 167 | |
Najib_irvani | 2:2f7bed7fb055 | 168 | if((ps2.read(PS_PAD::PAD_TOP)==1) && (ps2.read(PS_PAD::PAD_BOTTOM)==0)){ |
Najib_irvani | 2:2f7bed7fb055 | 169 | //MOTOR DEPAN |
Najib_irvani | 2:2f7bed7fb055 | 170 | speed = gMax_speed; |
Najib_irvani | 2:2f7bed7fb055 | 171 | |
Najib_irvani | 2:2f7bed7fb055 | 172 | motor1.speed(speed); |
Najib_irvani | 2:2f7bed7fb055 | 173 | motor2.speed(speed); |
Najib_irvani | 2:2f7bed7fb055 | 174 | pc.printf("maju \n"); |
Najib_irvani | 2:2f7bed7fb055 | 175 | } |
Najib_irvani | 2:2f7bed7fb055 | 176 | else if((ps2.read(PS_PAD::PAD_BOTTOM)==1) && (ps2.read(PS_PAD::PAD_TOP)==0)){ |
Najib_irvani | 2:2f7bed7fb055 | 177 | //MOTOR BELAKANG |
Najib_irvani | 2:2f7bed7fb055 | 178 | speed = gMax_speed; |
Najib_irvani | 2:2f7bed7fb055 | 179 | |
Najib_irvani | 2:2f7bed7fb055 | 180 | motor1.speed(-speed); |
Najib_irvani | 2:2f7bed7fb055 | 181 | motor2.speed(-speed); |
Najib_irvani | 2:2f7bed7fb055 | 182 | pc.printf("mundur \n"); |
Najib_irvani | 2:2f7bed7fb055 | 183 | } |
Najib_irvani | 2:2f7bed7fb055 | 184 | else if((ps2.read(PS_PAD::PAD_L1)==1) && (ps2.read(PS_PAD::PAD_R1)==0)){ |
Najib_irvani | 2:2f7bed7fb055 | 185 | //pivot kiri |
Najib_irvani | 2:2f7bed7fb055 | 186 | speed = gMax_speed; |
Najib_irvani | 2:2f7bed7fb055 | 187 | |
Najib_irvani | 2:2f7bed7fb055 | 188 | motor1.speed(-speed*0.8); |
Najib_irvani | 2:2f7bed7fb055 | 189 | motor2.speed(speed*0.8); |
Najib_irvani | 2:2f7bed7fb055 | 190 | pc.printf("kiri \n"); |
Najib_irvani | 2:2f7bed7fb055 | 191 | } |
Najib_irvani | 2:2f7bed7fb055 | 192 | else if((ps2.read(PS_PAD::PAD_R1)==1) && (ps2.read(PS_PAD::PAD_L1)==0)){ |
Najib_irvani | 2:2f7bed7fb055 | 193 | //pivot kanan |
Najib_irvani | 2:2f7bed7fb055 | 194 | speed = gMax_speed; |
Najib_irvani | 2:2f7bed7fb055 | 195 | |
Najib_irvani | 2:2f7bed7fb055 | 196 | motor1.speed(speed*0.8); |
Najib_irvani | 2:2f7bed7fb055 | 197 | motor2.speed(-speed*0.8); |
Najib_irvani | 2:2f7bed7fb055 | 198 | pc.printf("kanan \n"); |
Najib_irvani | 2:2f7bed7fb055 | 199 | } |
Najib_irvani | 2:2f7bed7fb055 | 200 | else |
rizqicahyo | 1:c9f11055fb12 | 201 | { |
Najib_irvani | 2:2f7bed7fb055 | 202 | motor1.brake(1); |
Najib_irvani | 2:2f7bed7fb055 | 203 | motor2.brake(1); |
Najib_irvani | 2:2f7bed7fb055 | 204 | } |
Najib_irvani | 2:2f7bed7fb055 | 205 | |
Najib_irvani | 2:2f7bed7fb055 | 206 | if(ps2.read(PS_PAD::ANALOG_LX)<=-100){ |
Najib_irvani | 2:2f7bed7fb055 | 207 | //SLIDER KIRI |
Najib_irvani | 2:2f7bed7fb055 | 208 | pc.printf("slide kiri \n"); |
Najib_irvani | 2:2f7bed7fb055 | 209 | } |
Najib_irvani | 2:2f7bed7fb055 | 210 | else if(ps2.read(PS_PAD::ANALOG_LX)>=100){ |
Najib_irvani | 2:2f7bed7fb055 | 211 | //SLIDER KANAN |
Najib_irvani | 2:2f7bed7fb055 | 212 | pc.printf("slide kanan \n"); |
rizqicahyo | 1:c9f11055fb12 | 213 | } |
Najib_irvani | 2:2f7bed7fb055 | 214 | else |
Najib_irvani | 2:2f7bed7fb055 | 215 | { |
Najib_irvani | 2:2f7bed7fb055 | 216 | pc.printf("slide diam \n"); |
Najib_irvani | 2:2f7bed7fb055 | 217 | } |
Najib_irvani | 2:2f7bed7fb055 | 218 | |
Najib_irvani | 2:2f7bed7fb055 | 219 | /*if(ps2.read(PS_PAD::ANALOG_LY)<=-100){ |
Najib_irvani | 2:2f7bed7fb055 | 220 | //POWER WINDOW ATAS |
Najib_irvani | 2:2f7bed7fb055 | 221 | gripper.speed(0.75); |
Najib_irvani | 2:2f7bed7fb055 | 222 | pc.printf("up \n"); |
Najib_irvani | 2:2f7bed7fb055 | 223 | } |
Najib_irvani | 2:2f7bed7fb055 | 224 | else if(ps2.read(PS_PAD::ANALOG_LY)>=100){ |
Najib_irvani | 2:2f7bed7fb055 | 225 | //POWER WINDOW BAWAH |
Najib_irvani | 2:2f7bed7fb055 | 226 | gripper.speed(-0.2); |
Najib_irvani | 2:2f7bed7fb055 | 227 | pc.printf("down \n"); |
Najib_irvani | 2:2f7bed7fb055 | 228 | } |
Najib_irvani | 2:2f7bed7fb055 | 229 | else |
Najib_irvani | 2:2f7bed7fb055 | 230 | { |
Najib_irvani | 2:2f7bed7fb055 | 231 | gripper.brake(1); |
Najib_irvani | 2:2f7bed7fb055 | 232 | pc.printf("power diam \n"); |
Najib_irvani | 2:2f7bed7fb055 | 233 | }*/ |
Najib_irvani | 2:2f7bed7fb055 | 234 | |
Najib_irvani | 2:2f7bed7fb055 | 235 | if(ps2.read(PS_PAD::ANALOG_RY)<=-100){ |
Najib_irvani | 2:2f7bed7fb055 | 236 | //PWM ++ |
Najib_irvani | 2:2f7bed7fb055 | 237 | pwm += 0.01; |
Najib_irvani | 2:2f7bed7fb055 | 238 | pc.printf("gaspol \n"); |
Najib_irvani | 2:2f7bed7fb055 | 239 | } |
Najib_irvani | 2:2f7bed7fb055 | 240 | |
Najib_irvani | 2:2f7bed7fb055 | 241 | if(ps2.read(PS_PAD::ANALOG_RY)>=100){ |
Najib_irvani | 2:2f7bed7fb055 | 242 | //PWM-- |
Najib_irvani | 2:2f7bed7fb055 | 243 | pwm -= 0.01; |
Najib_irvani | 2:2f7bed7fb055 | 244 | pc.printf("rem ndeng \n"); |
Najib_irvani | 2:2f7bed7fb055 | 245 | } |
Najib_irvani | 2:2f7bed7fb055 | 246 | |
Najib_irvani | 2:2f7bed7fb055 | 247 | if(ps2.read(PS_PAD::ANALOG_RX)<=-100){ |
Najib_irvani | 2:2f7bed7fb055 | 248 | //SERVO -- |
Najib_irvani | 2:2f7bed7fb055 | 249 | sudut -= 3; |
Najib_irvani | 2:2f7bed7fb055 | 250 | pc.printf("servo min \n"); |
Najib_irvani | 2:2f7bed7fb055 | 251 | } |
Najib_irvani | 2:2f7bed7fb055 | 252 | |
Najib_irvani | 2:2f7bed7fb055 | 253 | if(ps2.read(PS_PAD::ANALOG_RX)>=100){ |
Najib_irvani | 2:2f7bed7fb055 | 254 | //SERVO ++ |
Najib_irvani | 2:2f7bed7fb055 | 255 | sudut += 3; |
Najib_irvani | 2:2f7bed7fb055 | 256 | pc.printf("servo max \n"); |
Najib_irvani | 2:2f7bed7fb055 | 257 | } |
Najib_irvani | 2:2f7bed7fb055 | 258 | |
Najib_irvani | 2:2f7bed7fb055 | 259 | init_servo(lapangan); |
Najib_irvani | 2:2f7bed7fb055 | 260 | init_pwm(); |
Najib_irvani | 2:2f7bed7fb055 | 261 | myservo.position(sudut); |
Najib_irvani | 2:2f7bed7fb055 | 262 | wait_ms(25); |
Najib_irvani | 2:2f7bed7fb055 | 263 | edf.setThrottle(pwm); |
Najib_irvani | 2:2f7bed7fb055 | 264 | edf.pulse(); |
Najib_irvani | 2:2f7bed7fb055 | 265 | wait_ms(25); |
rizqicahyo | 0:ac7353383a8e | 266 | } |
rizqicahyo | 0:ac7353383a8e | 267 | } |