Project bike
/
mpu9250bam2
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Dependencies: mbed
Diff: main.cpp
- Revision:
- 7:61c1f10bf484
- Parent:
- 6:1de63d5df56a
--- a/main.cpp Mon Dec 11 23:02:51 2017 +0000
+++ b/main.cpp Tue Dec 12 02:36:58 2017 +0000
@@ -750,7 +750,7 @@
else if(posC > 10+n && posC < 20+n ) { C = 0x49; }
else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
else if(posC > 30+n && posC < 40+n ) { C = 0x49; }
- else if(posC > 40+n && posC < 50+n ) { C = 0x7C; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x79; }
else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
}
if (text == '6'){
@@ -842,67 +842,305 @@
else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
}
}
+void Number(char text,float posA,float posB,float posC,int i)
+{
+ int n = i*50;
+ if (i ==1 || i ==2)
+ {n=(i*50)+15;}
+ if (text == '0'){
+ if (posA > 0+n && posA < 9+n) { A = 0x7F; }
+ else if(posA > 9+n && posA < 18+n ) { A = 0x41; }
+ else if(posA > 18+n && posA < 27+n ) { A = 0x41; }
+ else if(posA > 27+n && posA < 36+n ) { A = 0x41; }
+ else if(posA > 36+n && posA < 45+n ) { A = 0x7F; }
+ else if(posA > 45+n && posA < 50+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 9+n) { B = 0x7F; }
+ else if(posB > 9+n && posB < 18+n ) { B = 0x41; }
+ else if(posB > 18+n && posB < 27+n ) { B = 0x41; }
+ else if(posB > 27+n && posB < 36+n ) { B = 0x41; }
+ else if(posB > 36+n && posB < 45+n ) { B = 0x7F; }
+ else if(posB > 45+n && posB < 50+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 9+n) { C = 0x7F; }
+ else if(posC > 9+n && posC < 18+n ) { C = 0x41; }
+ else if(posC > 18+n && posC < 27+n ) { C = 0x41; }
+ else if(posC > 27+n && posC < 36+n ) { C = 0x41; }
+ else if(posC > 36+n && posC < 45+n ) { C = 0x7F; }
+ else if(posC > 45+n && posC < 50+n ) { C = 0x00; }
+ }
+ if (text == '1'){
+ if (posA > 0+n && posA < 9+n) { A = 0x01; }
+ else if(posA > 9+n && posA < 18+n ) { A = 0x01; }
+ else if(posA > 18+n && posA < 27+n ) { A = 0x7F; }
+ else if(posA > 27+n && posA < 36+n ) { A = 0x21; }
+ else if(posA > 36+n && posA < 45+n ) { A = 0x21; }
+ else if(posA > 45+n && posA < 50+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 9+n) { B = 0x01; }
+ else if(posB > 9+n && posB < 18+n ) { B = 0x01; }
+ else if(posB > 18+n && posB < 27+n ) { B = 0x7F; }
+ else if(posB > 27+n && posB < 36+n ) { B = 0x21; }
+ else if(posB > 36+n && posB < 45+n ) { B = 0x21; }
+ else if(posB > 45+n && posB < 50+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 9+n) { C = 0x01; }
+ else if(posC > 9+n && posC < 18+n ) { C = 0x01; }
+ else if(posC > 18+n && posC < 27+n ) { C = 0x7F; }
+ else if(posC > 27+n && posC < 36+n ) { C = 0x21; }
+ else if(posC > 36+n && posC < 45+n ) { C = 0x21; }
+ else if(posC > 45+n && posC < 50+n ) { C = 0x00; }
+ }
+ if (text == '2'){
+ if (posA > 0+n && posA < 9+n) { A = 0x21; }
+ else if(posA > 9+n && posA < 18+n ) { A = 0x51; }
+ else if(posA > 18+n && posA < 27+n ) { A = 0x49; }
+ else if(posA > 27+n && posA < 36+n ) { A = 0x45; }
+ else if(posA > 36+n && posA < 45+n ) { A = 0x23; }
+ else if(posA > 45+n && posA < 50+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 9+n) { B = 0x21; }
+ else if(posB > 9+n && posB < 18+n ) { B = 0x51; }
+ else if(posB > 18+n && posB < 27+n ) { B = 0x49; }
+ else if(posB > 27+n && posB < 36+n ) { B = 0x45; }
+ else if(posB > 36+n && posB < 45+n ) { B = 0x23; }
+ else if(posB > 45+n && posB < 50+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 9+n) { C = 0x21; }
+ else if(posC > 9+n && posC < 18+n ) { C = 0x51; }
+ else if(posC > 18+n && posC < 27+n ) { C = 0x49; }
+ else if(posC > 27+n && posC < 36+n ) { C = 0x45; }
+ else if(posC > 36+n && posC < 45+n ) { C = 0x23; }
+ else if(posC > 45+n && posC < 50+n ) { C = 0x00; }
+ }
+ if (text == '3'){
+ if (posA > 0+n && posA < 9+n) { A = 0x36; }
+ else if(posA > 9+n && posA < 18+n ) { A = 0x49; }
+ else if(posA > 18+n && posA < 27+n ) { A = 0x49; }
+ else if(posA > 27+n && posA < 36+n ) { A = 0x41; }
+ else if(posA > 36+n && posA < 45+n ) { A = 0x22; }
+ else if(posA > 45+n && posA < 50+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 9+n) { B = 0x36; }
+ else if(posB > 9+n && posB < 18+n ) { B = 0x49; }
+ else if(posB > 18+n && posB < 27+n ) { B = 0x49; }
+ else if(posB > 27+n && posB < 36+n ) { B = 0x41; }
+ else if(posB > 36+n && posB < 45+n ) { B = 0x22; }
+ else if(posB > 45+n && posB < 50+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 9+n) { C = 0x36; }
+ else if(posC > 9+n && posC < 18+n ) { C = 0x49; }
+ else if(posC > 18+n && posC < 27+n ) { C = 0x49; }
+ else if(posC > 27+n && posC < 36+n ) { C = 0x41; }
+ else if(posC > 36+n && posC < 45+n ) { C = 0x22; }
+ else if(posC > 45+n && posC < 50+n ) { C = 0x00; }
+ }
+ if (text == '4'){
+ if (posA > 0+n && posA < 9+n) { A = 0x04; }
+ else if(posA > 9+n && posA < 18+n ) { A = 0x1F; }
+ else if(posA > 18+n && posA < 27+n ) { A = 0x04; }
+ else if(posA > 27+n && posA < 36+n ) { A = 0x04; }
+ else if(posA > 36+n && posA < 45+n ) { A = 0x7C; }
+ else if(posA > 45+n && posA < 50+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 9+n) { B = 0x04; }
+ else if(posB > 9+n && posB < 18+n ) { B = 0x1F; }
+ else if(posB > 18+n && posB < 27+n ) { B = 0x04; }
+ else if(posB > 27+n && posB < 36+n ) { B = 0x04; }
+ else if(posB > 36+n && posB < 45+n ) { B = 0x7C; }
+ else if(posB > 45+n && posB < 50+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 9+n) { C = 0x04; }
+ else if(posC > 9+n && posC < 18+n ) { C = 0x1F; }
+ else if(posC > 18+n && posC < 27+n ) { C = 0x04; }
+ else if(posC > 27+n && posC < 36+n ) { C = 0x04; }
+ else if(posC > 36+n && posC < 45+n ) { C = 0x7C; }
+ else if(posC > 45+n && posC < 50+n ) { C = 0x00; }
+ }
+ if (text == '5'){
+ if (posA > 0+n && posA < 9+n) { A = 0x46; }
+ else if(posA > 9+n && posA < 18+n ) { A = 0x49; }
+ else if(posA > 18+n && posA < 27+n ) { A = 0x49; }
+ else if(posA > 27+n && posA < 36+n ) { A = 0x49; }
+ else if(posA > 36+n && posA < 45+n ) { A = 0x79; }
+ else if(posA > 45+n && posA < 50+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 9+n) { B = 0x46; }
+ else if(posB > 9+n && posB < 18+n ) { B = 0x49; }
+ else if(posB > 18+n && posB < 27+n ) { B = 0x49; }
+ else if(posB > 27+n && posB < 36+n ) { B = 0x49; }
+ else if(posB > 36+n && posB < 45+n ) { B = 0x79; }
+ else if(posB > 45+n && posB < 50+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 9+n) { C = 0x46; }
+ else if(posC > 9+n && posC < 18+n ) { C = 0x49; }
+ else if(posC > 18+n && posC < 27+n ) { C = 0x49; }
+ else if(posC > 27+n && posC < 36+n ) { C = 0x49; }
+ else if(posC > 36+n && posC < 45+n ) { C = 0x79; }
+ else if(posC > 45+n && posC < 50+n ) { C = 0x00; }
+ }
+ if (text == '6'){
+ if (posA > 0+n && posA < 9+n) { A = 0x26; }
+ else if(posA > 9+n && posA < 18+n ) { A = 0x49; }
+ else if(posA > 18+n && posA < 27+n ) { A = 0x49; }
+ else if(posA > 27+n && posA < 36+n ) { A = 0x49; }
+ else if(posA > 36+n && posA < 45+n ) { A = 0x3E; }
+ else if(posA > 45+n && posA < 50+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 9+n) { B = 0x26; }
+ else if(posB > 9+n && posB < 18+n ) { B = 0x49; }
+ else if(posB > 18+n && posB < 27+n ) { B = 0x49; }
+ else if(posB > 27+n && posB < 36+n ) { B = 0x49; }
+ else if(posB > 36+n && posB < 45+n ) { B = 0x3E; }
+ else if(posB > 45+n && posB < 50+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 9+n) { C = 0x26; }
+ else if(posC > 9+n && posC < 18+n ) { C = 0x49; }
+ else if(posC > 18+n && posC < 27+n ) { C = 0x49; }
+ else if(posC > 27+n && posC < 36+n ) { C = 0x49; }
+ else if(posC > 36+n && posC < 45+n ) { C = 0x3E; }
+ else if(posC > 45+n && posC < 50+n ) { C = 0x00; }
+ }
+ if (text == '7'){
+ if (posA > 0+n && posA < 9+n) { A = 0x60; }
+ else if(posA > 9+n && posA < 18+n ) { A = 0x50; }
+ else if(posA > 18+n && posA < 27+n ) { A = 0x47; }
+ else if(posA > 27+n && posA < 36+n ) { A = 0x40; }
+ else if(posA > 36+n && posA < 45+n ) { A = 0x40; }
+ else if(posA > 45+n && posA < 50+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 9+n) { B = 0x60; }
+ else if(posB > 9+n && posB < 18+n ) { B = 0x50; }
+ else if(posB > 18+n && posB < 27+n ) { B = 0x47; }
+ else if(posB > 27+n && posB < 36+n ) { B = 0x40; }
+ else if(posB > 36+n && posB < 45+n ) { B = 0x40; }
+ else if(posB > 45+n && posB < 50+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 9+n) { C = 0x60; }
+ else if(posC > 9+n && posC < 18+n ) { C = 0x50; }
+ else if(posC > 18+n && posC < 27+n ) { C = 0x47; }
+ else if(posC > 27+n && posC < 36+n ) { C = 0x40; }
+ else if(posC > 36+n && posC < 45+n ) { C = 0x40; }
+ else if(posC > 45+n && posC < 50+n ) { C = 0x00; }
+ }
+ if (text == '8'){
+ if (posA > 0+n && posA < 9+n) { A = 0x36; }
+ else if(posA > 9+n && posA < 18+n ) { A = 0x49; }
+ else if(posA > 18+n && posA < 27+n ) { A = 0x49; }
+ else if(posA > 27+n && posA < 36+n ) { A = 0x49; }
+ else if(posA > 36+n && posA < 45+n ) { A = 0x36; }
+ else if(posA > 45+n && posA < 50+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 9+n) { B = 0x36; }
+ else if(posB > 9+n && posB < 18+n ) { B = 0x49; }
+ else if(posB > 18+n && posB < 27+n ) { B = 0x49; }
+ else if(posB > 27+n && posB < 36+n ) { B = 0x49; }
+ else if(posB > 36+n && posB < 45+n ) { B = 0x36; }
+ else if(posB > 45+n && posB < 50+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 9+n) { C = 0x36; }
+ else if(posC > 9+n && posC < 18+n ) { C = 0x49; }
+ else if(posC > 18+n && posC < 27+n ) { C = 0x49; }
+ else if(posC > 27+n && posC < 36+n ) { C = 0x49; }
+ else if(posC > 36+n && posC < 45+n ) { C = 0x36; }
+ else if(posC > 45+n && posC < 50+n ) { C = 0x00; }
+ }
+ if (text == '9'){
+ if (posA > 0+n && posA < 9+n) { A = 0x3E; }
+ else if(posA > 9+n && posA < 18+n ) { A = 0x49; }
+ else if(posA > 18+n && posA < 27+n ) { A = 0x49; }
+ else if(posA > 27+n && posA < 36+n ) { A = 0x49; }
+ else if(posA > 36+n && posA < 45+n ) { A = 0x32; }
+ else if(posA > 45+n && posA < 50+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 9+n) { B = 0x3E; }
+ else if(posB > 9+n && posB < 18+n ) { B = 0x49; }
+ else if(posB > 18+n && posB < 27+n ) { B = 0x49; }
+ else if(posB > 27+n && posB < 36+n ) { B = 0x49; }
+ else if(posB > 36+n && posB < 45+n ) { B = 0x32; }
+ else if(posB > 45+n && posB < 50+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 9+n) { C = 0x3E; }
+ else if(posC > 9+n && posC < 18+n ) { C = 0x49; }
+ else if(posC > 18+n && posC < 27+n ) { C = 0x49; }
+ else if(posC > 27+n && posC < 36+n ) { C = 0x49; }
+ else if(posC > 36+n && posC < 45+n ) { C = 0x32; }
+ else if(posC > 45+n && posC < 50+n ) { C = 0x00; }
+ }
+}
-void Velocity(int v ,float posA,float posB,float posC){
+void Velocity(float v ,float posA,float posB,float posC){
char value[3] ;
- sprintf(value ,"%.2f",(v*10));
- Text(value[0],posA,posB,posC,0);
- Text(value[1],posA,posB,posC,1);
- if (posA > 110 && posA < 120) { A = 0x01; }
- if (posB > 110 && posB < 120) { B = 0x01; }
- if (posC > 110 && posC < 120) { C = 0x01; }
- Text(value[2],posA,posB,posC,2);
- if (posA > 180 && posA < 190) { A = 0x7F; }
- else if(posA > 190 && posA < 200 ) { A = 0x04; }
- else if(posA > 210 && posA < 220 ) { A = 0x0A; }
- else if(posA > 220 && posA < 230 ) { A = 0x11; }
- else if(posA > 230 && posA < 240 ) { A = 0x0F; }
- else if(posA > 240 && posA < 250 ) { A = 0x08; }
- else if(posA > 250 && posA < 260 ) { A = 0x04; }
- else if(posA > 260 && posA < 270 ) { A = 0x08; }
- else if(posA > 270 && posA < 280 ) { A = 0x0F; }
- else if(posA > 280 && posA < 290 ) { A = 0x03; }
- else if(posA > 290 && posA < 300 ) { A = 0x0C; }
- else if(posA > 300 && posA < 310 ) { A = 0x30; }
- else if(posA > 310 && posA < 320 ) { A = 0x7F; }
- else if(posA > 320 && posA < 330 ) { A = 0x08; }
- else if(posA > 330 && posA < 340 ) { A = 0x0F; }
- else { A = 0x00; }
+ float w = v*10;
+ sprintf(value ,"%f",w);
+ if (v<10){value[2] = value[1];value[1]=value[0];value[0] = 0;}
+ if (posA > 180 && posA < 190) { A = 0x0F; }
+ else if(posA > 190 && posA < 200 ) { A = 0x08; }
+ else if(posA > 200 && posA < 210 ) { A = 0x7F; }
+ else if(posA > 210 && posA < 220 ) { A = 0x03; }
+ else if(posA > 220 && posA < 230 ) { A = 0x0C; }
+ else if(posA > 230 && posA < 240 ) { A = 0x03; }
+ else if(posA > 240 && posA < 250 ) { A = 0x0F; }
+ else if(posA > 250 && posA < 260 ) { A = 0x08; }
+ else if(posA > 260 && posA < 270 ) { A = 0x04; }
+ else if(posA > 270 && posA < 280 ) { A = 0x08; }
+ else if(posA > 280 && posA < 290 ) { A = 0x0F; }
+ else if(posA > 290 && posA < 300 ) { A = 0x11; }
+ else if(posA > 300 && posA < 310 ) { A = 0x0A; }
+ else if(posA > 310 && posA < 320 ) { A = 0x04; }
+ else if(posA > 320 && posA < 330 ) { A = 0x7F; }
+ else if(posA > 330 && posA < 340 ) { A = 0x00; }
+
- if (posB > 180 && posB < 190) { B = 0x7F; }
- else if(posB > 190 && posB < 200 ) { B = 0x04; }
- else if(posB > 210 && posB < 220 ) { B = 0x0A; }
- else if(posB > 220 && posB < 230 ) { B = 0x11; }
- else if(posB > 230 && posB < 240 ) { B = 0x0F; }
- else if(posB > 240 && posB < 250 ) { B = 0x08; }
- else if(posB > 250 && posB < 260 ) { B = 0x04; }
- else if(posB > 260 && posB < 270 ) { B = 0x08; }
- else if(posB > 270 && posB < 280 ) { B = 0x0F; }
- else if(posB > 280 && posB < 290 ) { B = 0x03; }
- else if(posB > 290 && posB < 300 ) { B = 0x0C; }
- else if(posB > 300 && posB < 310 ) { B = 0x30; }
- else if(posB > 310 && posB < 320 ) { B = 0x7F; }
- else if(posB > 320 && posB < 330 ) { B = 0x08; }
- else if(posB > 330 && posB < 340 ) { B = 0x0F; }
- else { B = 0x00; }
+
+ if (posB > 180 && posB < 190) { B = 0x0F; }
+ else if(posB > 190 && posB < 200 ) { B = 0x08; }
+ else if(posB > 200 && posB < 210 ) { B = 0x7F; }
+ else if(posB > 210 && posB < 220 ) { B = 0x03; }
+ else if(posB > 220 && posB < 230 ) { B = 0x0C; }
+ else if(posB > 230 && posB < 240 ) { B = 0x03; }
+ else if(posB > 240 && posB < 250 ) { B = 0x0F; }
+ else if(posB > 250 && posB < 260 ) { B = 0x08; }
+ else if(posB > 260 && posB < 270 ) { B = 0x04; }
+ else if(posB > 270 && posB < 280 ) { B = 0x08; }
+ else if(posB > 280 && posB < 290 ) { B = 0x0F; }
+ else if(posB > 290 && posB < 300 ) { B = 0x11; }
+ else if(posB > 300 && posB < 310 ) { B = 0x0A; }
+ else if(posB > 310 && posB < 320 ) { B = 0x04; }
+ else if(posB > 320 && posB < 330 ) { B = 0x7F; }
+ else if(posB > 330 && posB < 340 ) { B = 0x7F; }
+ else if(posB > 340 && posB < 350 ) { B = 0x00; }
- if (posC > 180 && posC < 190) { C = 0x7F; }
- else if(posC > 190 && posC < 200 ) { C = 0x04; }
- else if(posC > 210 && posC < 220 ) { C = 0x0A; }
- else if(posC > 220 && posC < 230 ) { C = 0x11; }
- else if(posC > 230 && posC < 240 ) { C = 0x0F; }
- else if(posC > 240 && posC < 250 ) { C = 0x08; }
- else if(posC > 250 && posC < 260 ) { C = 0x04; }
- else if(posC > 260 && posC < 270 ) { C = 0x08; }
- else if(posC > 270 && posC < 280 ) { C = 0x0F; }
- else if(posC > 280 && posC < 290 ) { C = 0x03; }
- else if(posC > 290 && posC < 300 ) { C = 0x0C; }
- else if(posC > 300 && posC < 310 ) { C = 0x30; }
- else if(posC > 310 && posC < 320 ) { C = 0x7F; }
- else if(posC > 320 && posC < 330 ) { C = 0x08; }
- else if(posC > 330 && posC < 340 ) { C = 0x0F; }
- else { C = 0x00; }
- }
+ if (posC > 180 && posC < 190) { C = 0x0F; }
+ else if(posC > 190 && posC < 200 ) { C = 0x08; }
+ else if(posC > 200 && posC < 210 ) { C = 0x7F; }
+ else if(posC > 210 && posC < 220 ) { C = 0x03; }
+ else if(posC > 220 && posC < 230 ) { C = 0x0C; }
+ else if(posC > 230 && posC < 240 ) { C = 0x03; }
+ else if(posC > 240 && posC < 250 ) { C = 0x0F; }
+ else if(posC > 250 && posC < 260 ) { C = 0x08; }
+ else if(posC > 260 && posC < 270 ) { C = 0x04; }
+ else if(posC > 270 && posC < 280 ) { C = 0x08; }
+ else if(posC > 280 && posC < 290 ) { C = 0x0F; }
+ else if(posC > 290 && posC < 300 ) { C = 0x11; }
+ else if(posC > 300 && posC < 310 ) { C = 0x0A; }
+ else if(posC > 310 && posC < 320 ) { C = 0x04; }
+ else if(posC > 320 && posC < 330 ) { C = 0x7F; }
+ else if(posC > 330 && posC < 340 ) { C = 0x00; }
+
+ if (posA > 50 && posA < 60) { A = 0x01; }
+ else if (posA > 60 && posA < 65) { A = 0x00; }
+ if (posB > 50 && posB < 60) { B = 0x01; }
+ else if (posB > 60 && posB < 65) { B = 0x00; }
+ if (posC > 50 && posC < 60) { C = 0x01; }
+ else if (posC > 60 && posC < 65) { C = 0x00; }
+ Number(value[2],posA,posB,posC,0);
+ Number(value[1],posA,posB,posC,1);
+ Number(value[0],posA,posB,posC,2);
+}
+
+
+
float posA = 0,posB,posC;
@@ -1008,21 +1246,16 @@
delt_t = t.read_us() - count;
if (delt_t > 1) { // update LCD once per half-second independent of read rate
- x = 1.2;
+ x = 1;
posA += (gz*delt_t*x/1000000);
posA = fmod(posA,360);
posB = fmod(posA + 240,360);
posC = fmod(posA + 120,360);
count = t.read_us();
- //Text('O',posA,posB,posC,0);
-// Text('B',posA,posB,posC,1);
-// Text('I',posA,posB,posC,2);
-// Text('F',posA,posB,posC,3);
-// Text(' ',posA,posB,posC,4);
-// Text(' ',posA,posB,posC,5);
if (mode == 1)
{
+
Velocity(v,posA,posB,posC);
}
else if (mode == 2)
@@ -1039,7 +1272,7 @@
delt_t2 = t.read_us() - count2;
if (delt_t2 >= 1000000)
{
- v = (gz*x*PI*0.35*3600)/(180*1000*100);
+ v =(gz*x*PI*0.35*3600)/(180*1000);
pc.printf("%0.1f",v);
count2 = t.read_us();
}