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The servo version of SCRIBE
Dependencies: BLE_nRF8001 BNO055 HC_SR04_Ultrasonic_Library mbed-rtos mbed
Fork of SCRIBE_stepper by
stepper.cpp@14:82248fb06e53, 2016-05-12 (annotated)
- Committer:
- manz
- Date:
- Thu May 12 06:17:49 2016 +0000
- Revision:
- 14:82248fb06e53
- Parent:
- 7:1bb3b5b66fe8
latest version;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
manz | 7:1bb3b5b66fe8 | 1 | // stepper.cpp of SCRIBE stepper -> updated for pololu motors |
manz | 7:1bb3b5b66fe8 | 2 | #include "mbed.h"; |
manz | 7:1bb3b5b66fe8 | 3 | |
manz | 7:1bb3b5b66fe8 | 4 | DigitalOut yellow_l(p5); |
manz | 7:1bb3b5b66fe8 | 5 | DigitalOut orange_l(p6); |
manz | 7:1bb3b5b66fe8 | 6 | DigitalOut brown_l(p7); |
manz | 7:1bb3b5b66fe8 | 7 | DigitalOut black_l(p8); |
manz | 7:1bb3b5b66fe8 | 8 | |
manz | 7:1bb3b5b66fe8 | 9 | DigitalOut yellow_r(p17); |
manz | 7:1bb3b5b66fe8 | 10 | DigitalOut orange_r(p18); |
manz | 7:1bb3b5b66fe8 | 11 | DigitalOut brown_r(p19); |
manz | 7:1bb3b5b66fe8 | 12 | DigitalOut black_r(p20); |
manz | 7:1bb3b5b66fe8 | 13 | |
manz | 7:1bb3b5b66fe8 | 14 | int wait_t = 60; |
manz | 7:1bb3b5b66fe8 | 15 | int case_stepf = 0; |
manz | 7:1bb3b5b66fe8 | 16 | int case_right = 0; |
manz | 7:1bb3b5b66fe8 | 17 | int case_left = 0; |
manz | 7:1bb3b5b66fe8 | 18 | int case_rone = 0; |
manz | 7:1bb3b5b66fe8 | 19 | |
manz | 7:1bb3b5b66fe8 | 20 | |
manz | 7:1bb3b5b66fe8 | 21 | //StepperMotorUni motor( p17, p18, p19, p20); |
manz | 7:1bb3b5b66fe8 | 22 | int step_f(){ |
manz | 7:1bb3b5b66fe8 | 23 | switch(case_stepf){ |
manz | 7:1bb3b5b66fe8 | 24 | case 0: |
manz | 7:1bb3b5b66fe8 | 25 | //step 0101 |
manz | 7:1bb3b5b66fe8 | 26 | black_l = 0; |
manz | 7:1bb3b5b66fe8 | 27 | orange_l = 0; |
manz | 7:1bb3b5b66fe8 | 28 | brown_l = 1; |
manz | 7:1bb3b5b66fe8 | 29 | yellow_l = 1; |
manz | 7:1bb3b5b66fe8 | 30 | black_r = 1; |
manz | 7:1bb3b5b66fe8 | 31 | orange_r = 0; |
manz | 7:1bb3b5b66fe8 | 32 | brown_r = 0; |
manz | 7:1bb3b5b66fe8 | 33 | yellow_r = 1; |
manz | 7:1bb3b5b66fe8 | 34 | |
manz | 7:1bb3b5b66fe8 | 35 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 36 | case_stepf=1; |
manz | 7:1bb3b5b66fe8 | 37 | break; |
manz | 7:1bb3b5b66fe8 | 38 | |
manz | 7:1bb3b5b66fe8 | 39 | case 1: |
manz | 7:1bb3b5b66fe8 | 40 | //step 1100 |
manz | 7:1bb3b5b66fe8 | 41 | black_l = 0; |
manz | 7:1bb3b5b66fe8 | 42 | orange_l = 1; |
manz | 7:1bb3b5b66fe8 | 43 | brown_l = 1; |
manz | 7:1bb3b5b66fe8 | 44 | yellow_l = 0; |
manz | 7:1bb3b5b66fe8 | 45 | black_r = 1; |
manz | 7:1bb3b5b66fe8 | 46 | orange_r = 1; |
manz | 7:1bb3b5b66fe8 | 47 | brown_r = 0; |
manz | 7:1bb3b5b66fe8 | 48 | yellow_r = 0; |
manz | 7:1bb3b5b66fe8 | 49 | |
manz | 7:1bb3b5b66fe8 | 50 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 51 | case_stepf=2; |
manz | 7:1bb3b5b66fe8 | 52 | break; |
manz | 7:1bb3b5b66fe8 | 53 | |
manz | 7:1bb3b5b66fe8 | 54 | case 2: |
manz | 7:1bb3b5b66fe8 | 55 | //step 1010 |
manz | 7:1bb3b5b66fe8 | 56 | black_l = 1; |
manz | 7:1bb3b5b66fe8 | 57 | orange_l = 1; |
manz | 7:1bb3b5b66fe8 | 58 | brown_l = 0; |
manz | 7:1bb3b5b66fe8 | 59 | yellow_l = 0; |
manz | 7:1bb3b5b66fe8 | 60 | black_r = 0; |
manz | 7:1bb3b5b66fe8 | 61 | orange_r = 1; |
manz | 7:1bb3b5b66fe8 | 62 | brown_r = 1; |
manz | 7:1bb3b5b66fe8 | 63 | yellow_r = 0; |
manz | 7:1bb3b5b66fe8 | 64 | |
manz | 7:1bb3b5b66fe8 | 65 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 66 | case_stepf = 3; |
manz | 7:1bb3b5b66fe8 | 67 | break; |
manz | 7:1bb3b5b66fe8 | 68 | |
manz | 7:1bb3b5b66fe8 | 69 | case 3: |
manz | 7:1bb3b5b66fe8 | 70 | //step 0011 |
manz | 7:1bb3b5b66fe8 | 71 | black_l = 1; |
manz | 7:1bb3b5b66fe8 | 72 | orange_l = 0; |
manz | 7:1bb3b5b66fe8 | 73 | brown_l = 0; |
manz | 7:1bb3b5b66fe8 | 74 | yellow_l = 1; |
manz | 7:1bb3b5b66fe8 | 75 | black_r = 0; |
manz | 7:1bb3b5b66fe8 | 76 | orange_r = 0; |
manz | 7:1bb3b5b66fe8 | 77 | brown_r = 1; |
manz | 7:1bb3b5b66fe8 | 78 | yellow_r = 1; |
manz | 7:1bb3b5b66fe8 | 79 | |
manz | 7:1bb3b5b66fe8 | 80 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 81 | case_stepf = 0; |
manz | 7:1bb3b5b66fe8 | 82 | break; |
manz | 7:1bb3b5b66fe8 | 83 | } |
manz | 7:1bb3b5b66fe8 | 84 | return 1; |
manz | 7:1bb3b5b66fe8 | 85 | } |
manz | 7:1bb3b5b66fe8 | 86 | |
manz | 7:1bb3b5b66fe8 | 87 | |
manz | 7:1bb3b5b66fe8 | 88 | int step_b(){ |
manz | 7:1bb3b5b66fe8 | 89 | //step 0101 |
manz | 7:1bb3b5b66fe8 | 90 | black_r = 0; |
manz | 7:1bb3b5b66fe8 | 91 | orange_r = 0; |
manz | 7:1bb3b5b66fe8 | 92 | brown_r = 1; |
manz | 7:1bb3b5b66fe8 | 93 | yellow_r = 1; |
manz | 7:1bb3b5b66fe8 | 94 | black_l = 1; |
manz | 7:1bb3b5b66fe8 | 95 | orange_l = 0; |
manz | 7:1bb3b5b66fe8 | 96 | brown_l = 0; |
manz | 7:1bb3b5b66fe8 | 97 | yellow_l = 1; |
manz | 7:1bb3b5b66fe8 | 98 | |
manz | 7:1bb3b5b66fe8 | 99 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 100 | |
manz | 7:1bb3b5b66fe8 | 101 | //step 1100 |
manz | 7:1bb3b5b66fe8 | 102 | black_r = 0; |
manz | 7:1bb3b5b66fe8 | 103 | orange_r = 1; |
manz | 7:1bb3b5b66fe8 | 104 | brown_r = 1; |
manz | 7:1bb3b5b66fe8 | 105 | yellow_r = 0; |
manz | 7:1bb3b5b66fe8 | 106 | black_l = 1; |
manz | 7:1bb3b5b66fe8 | 107 | orange_l = 1; |
manz | 7:1bb3b5b66fe8 | 108 | brown_l = 0; |
manz | 7:1bb3b5b66fe8 | 109 | yellow_l = 0; |
manz | 7:1bb3b5b66fe8 | 110 | |
manz | 7:1bb3b5b66fe8 | 111 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 112 | |
manz | 7:1bb3b5b66fe8 | 113 | //step 1010 |
manz | 7:1bb3b5b66fe8 | 114 | black_r = 1; |
manz | 7:1bb3b5b66fe8 | 115 | orange_r = 1; |
manz | 7:1bb3b5b66fe8 | 116 | brown_r = 0; |
manz | 7:1bb3b5b66fe8 | 117 | yellow_r = 0; |
manz | 7:1bb3b5b66fe8 | 118 | black_l = 0; |
manz | 7:1bb3b5b66fe8 | 119 | orange_l = 1; |
manz | 7:1bb3b5b66fe8 | 120 | brown_l = 1; |
manz | 7:1bb3b5b66fe8 | 121 | yellow_l = 0; |
manz | 7:1bb3b5b66fe8 | 122 | |
manz | 7:1bb3b5b66fe8 | 123 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 124 | |
manz | 7:1bb3b5b66fe8 | 125 | //step 0011 |
manz | 7:1bb3b5b66fe8 | 126 | black_r = 1; |
manz | 7:1bb3b5b66fe8 | 127 | orange_r = 0; |
manz | 7:1bb3b5b66fe8 | 128 | brown_r = 0; |
manz | 7:1bb3b5b66fe8 | 129 | yellow_r = 1; |
manz | 7:1bb3b5b66fe8 | 130 | black_l = 0; |
manz | 7:1bb3b5b66fe8 | 131 | orange_l = 0; |
manz | 7:1bb3b5b66fe8 | 132 | brown_l = 1; |
manz | 7:1bb3b5b66fe8 | 133 | yellow_l = 1; |
manz | 7:1bb3b5b66fe8 | 134 | |
manz | 7:1bb3b5b66fe8 | 135 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 136 | |
manz | 7:1bb3b5b66fe8 | 137 | return 1; |
manz | 7:1bb3b5b66fe8 | 138 | } |
manz | 7:1bb3b5b66fe8 | 139 | |
manz | 7:1bb3b5b66fe8 | 140 | int step_left(){ |
manz | 7:1bb3b5b66fe8 | 141 | switch(case_right){ |
manz | 7:1bb3b5b66fe8 | 142 | case 0: |
manz | 7:1bb3b5b66fe8 | 143 | //step 0101 |
manz | 7:1bb3b5b66fe8 | 144 | black_r = 0; |
manz | 7:1bb3b5b66fe8 | 145 | orange_r = 0; |
manz | 7:1bb3b5b66fe8 | 146 | brown_r = 1; |
manz | 7:1bb3b5b66fe8 | 147 | yellow_r = 1; |
manz | 7:1bb3b5b66fe8 | 148 | black_l = 0; |
manz | 7:1bb3b5b66fe8 | 149 | orange_l = 0; |
manz | 7:1bb3b5b66fe8 | 150 | brown_l = 1; |
manz | 7:1bb3b5b66fe8 | 151 | yellow_l = 1; |
manz | 7:1bb3b5b66fe8 | 152 | |
manz | 7:1bb3b5b66fe8 | 153 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 154 | case_right = 1; |
manz | 7:1bb3b5b66fe8 | 155 | break; |
manz | 7:1bb3b5b66fe8 | 156 | |
manz | 7:1bb3b5b66fe8 | 157 | case 1: |
manz | 7:1bb3b5b66fe8 | 158 | //step 1100 |
manz | 7:1bb3b5b66fe8 | 159 | black_r = 0; |
manz | 7:1bb3b5b66fe8 | 160 | orange_r = 1; |
manz | 7:1bb3b5b66fe8 | 161 | brown_r = 1; |
manz | 7:1bb3b5b66fe8 | 162 | yellow_r = 0; |
manz | 7:1bb3b5b66fe8 | 163 | black_l = 0; |
manz | 7:1bb3b5b66fe8 | 164 | orange_l = 1; |
manz | 7:1bb3b5b66fe8 | 165 | brown_l = 1; |
manz | 7:1bb3b5b66fe8 | 166 | yellow_l = 0; |
manz | 7:1bb3b5b66fe8 | 167 | |
manz | 7:1bb3b5b66fe8 | 168 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 169 | case_right = 2; |
manz | 7:1bb3b5b66fe8 | 170 | break; |
manz | 7:1bb3b5b66fe8 | 171 | |
manz | 7:1bb3b5b66fe8 | 172 | |
manz | 7:1bb3b5b66fe8 | 173 | case 2: |
manz | 7:1bb3b5b66fe8 | 174 | //step 1010 |
manz | 7:1bb3b5b66fe8 | 175 | black_r = 1; |
manz | 7:1bb3b5b66fe8 | 176 | orange_r = 1; |
manz | 7:1bb3b5b66fe8 | 177 | brown_r = 0; |
manz | 7:1bb3b5b66fe8 | 178 | yellow_r = 0; |
manz | 7:1bb3b5b66fe8 | 179 | black_l = 1; |
manz | 7:1bb3b5b66fe8 | 180 | orange_l = 1; |
manz | 7:1bb3b5b66fe8 | 181 | brown_l = 0; |
manz | 7:1bb3b5b66fe8 | 182 | yellow_l = 0; |
manz | 7:1bb3b5b66fe8 | 183 | |
manz | 7:1bb3b5b66fe8 | 184 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 185 | case_right = 3; |
manz | 7:1bb3b5b66fe8 | 186 | break; |
manz | 7:1bb3b5b66fe8 | 187 | |
manz | 7:1bb3b5b66fe8 | 188 | |
manz | 7:1bb3b5b66fe8 | 189 | case 3: |
manz | 7:1bb3b5b66fe8 | 190 | //step 0011 |
manz | 7:1bb3b5b66fe8 | 191 | black_r = 1; |
manz | 7:1bb3b5b66fe8 | 192 | orange_r = 0; |
manz | 7:1bb3b5b66fe8 | 193 | brown_r = 0; |
manz | 7:1bb3b5b66fe8 | 194 | yellow_r = 1; |
manz | 7:1bb3b5b66fe8 | 195 | black_l = 1; |
manz | 7:1bb3b5b66fe8 | 196 | orange_l = 0; |
manz | 7:1bb3b5b66fe8 | 197 | brown_l = 0; |
manz | 7:1bb3b5b66fe8 | 198 | yellow_l = 1; |
manz | 7:1bb3b5b66fe8 | 199 | |
manz | 7:1bb3b5b66fe8 | 200 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 201 | case_right = 0; |
manz | 7:1bb3b5b66fe8 | 202 | break; |
manz | 7:1bb3b5b66fe8 | 203 | } |
manz | 7:1bb3b5b66fe8 | 204 | return 1; |
manz | 7:1bb3b5b66fe8 | 205 | } |
manz | 7:1bb3b5b66fe8 | 206 | |
manz | 7:1bb3b5b66fe8 | 207 | |
manz | 7:1bb3b5b66fe8 | 208 | int step_right(){ |
manz | 7:1bb3b5b66fe8 | 209 | switch(case_left){ |
manz | 7:1bb3b5b66fe8 | 210 | case 0: |
manz | 7:1bb3b5b66fe8 | 211 | //step 0011 |
manz | 7:1bb3b5b66fe8 | 212 | black_l = 1; |
manz | 7:1bb3b5b66fe8 | 213 | orange_l = 0; |
manz | 7:1bb3b5b66fe8 | 214 | brown_l = 0; |
manz | 7:1bb3b5b66fe8 | 215 | yellow_l = 1; |
manz | 7:1bb3b5b66fe8 | 216 | black_r = 1; |
manz | 7:1bb3b5b66fe8 | 217 | orange_r = 0; |
manz | 7:1bb3b5b66fe8 | 218 | brown_r = 0; |
manz | 7:1bb3b5b66fe8 | 219 | yellow_r = 1; |
manz | 7:1bb3b5b66fe8 | 220 | |
manz | 7:1bb3b5b66fe8 | 221 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 222 | case_left = 1; |
manz | 7:1bb3b5b66fe8 | 223 | break; |
manz | 7:1bb3b5b66fe8 | 224 | |
manz | 7:1bb3b5b66fe8 | 225 | case 1: |
manz | 7:1bb3b5b66fe8 | 226 | black_l = 1; |
manz | 7:1bb3b5b66fe8 | 227 | orange_l = 1; |
manz | 7:1bb3b5b66fe8 | 228 | brown_l = 0; |
manz | 7:1bb3b5b66fe8 | 229 | yellow_l = 0; |
manz | 7:1bb3b5b66fe8 | 230 | black_r = 1; |
manz | 7:1bb3b5b66fe8 | 231 | orange_r = 1; |
manz | 7:1bb3b5b66fe8 | 232 | brown_r = 0; |
manz | 7:1bb3b5b66fe8 | 233 | yellow_r = 0; |
manz | 7:1bb3b5b66fe8 | 234 | |
manz | 7:1bb3b5b66fe8 | 235 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 236 | case_left = 2; |
manz | 7:1bb3b5b66fe8 | 237 | break; |
manz | 7:1bb3b5b66fe8 | 238 | |
manz | 7:1bb3b5b66fe8 | 239 | case 2: |
manz | 7:1bb3b5b66fe8 | 240 | black_l = 0; |
manz | 7:1bb3b5b66fe8 | 241 | orange_l = 1; |
manz | 7:1bb3b5b66fe8 | 242 | brown_l = 1; |
manz | 7:1bb3b5b66fe8 | 243 | yellow_l = 0; |
manz | 7:1bb3b5b66fe8 | 244 | black_r = 0; |
manz | 7:1bb3b5b66fe8 | 245 | orange_r = 1; |
manz | 7:1bb3b5b66fe8 | 246 | brown_r = 1; |
manz | 7:1bb3b5b66fe8 | 247 | yellow_r = 0; |
manz | 7:1bb3b5b66fe8 | 248 | |
manz | 7:1bb3b5b66fe8 | 249 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 250 | case_left = 3; |
manz | 7:1bb3b5b66fe8 | 251 | break; |
manz | 7:1bb3b5b66fe8 | 252 | |
manz | 7:1bb3b5b66fe8 | 253 | case 3: |
manz | 7:1bb3b5b66fe8 | 254 | black_l = 0; |
manz | 7:1bb3b5b66fe8 | 255 | orange_l = 0; |
manz | 7:1bb3b5b66fe8 | 256 | brown_l = 1; |
manz | 7:1bb3b5b66fe8 | 257 | yellow_l = 1; |
manz | 7:1bb3b5b66fe8 | 258 | black_r = 0; |
manz | 7:1bb3b5b66fe8 | 259 | orange_r = 0; |
manz | 7:1bb3b5b66fe8 | 260 | brown_r = 1; |
manz | 7:1bb3b5b66fe8 | 261 | yellow_r = 1; |
manz | 7:1bb3b5b66fe8 | 262 | |
manz | 7:1bb3b5b66fe8 | 263 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 264 | |
manz | 7:1bb3b5b66fe8 | 265 | case_left = 0; |
manz | 7:1bb3b5b66fe8 | 266 | break; |
manz | 7:1bb3b5b66fe8 | 267 | } |
manz | 7:1bb3b5b66fe8 | 268 | return 1; |
manz | 7:1bb3b5b66fe8 | 269 | } |
manz | 7:1bb3b5b66fe8 | 270 | |
manz | 7:1bb3b5b66fe8 | 271 | int step_rone(){ |
manz | 7:1bb3b5b66fe8 | 272 | switch(case_rone){ |
manz | 7:1bb3b5b66fe8 | 273 | case 0: |
manz | 7:1bb3b5b66fe8 | 274 | //step 0101 |
manz | 7:1bb3b5b66fe8 | 275 | black_r = 0; |
manz | 7:1bb3b5b66fe8 | 276 | orange_r = 0; |
manz | 7:1bb3b5b66fe8 | 277 | brown_r = 1; |
manz | 7:1bb3b5b66fe8 | 278 | yellow_r = 1; |
manz | 7:1bb3b5b66fe8 | 279 | |
manz | 7:1bb3b5b66fe8 | 280 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 281 | case_right = 1; |
manz | 7:1bb3b5b66fe8 | 282 | break; |
manz | 7:1bb3b5b66fe8 | 283 | |
manz | 7:1bb3b5b66fe8 | 284 | case 1: |
manz | 7:1bb3b5b66fe8 | 285 | //step 1100 |
manz | 7:1bb3b5b66fe8 | 286 | black_r = 0; |
manz | 7:1bb3b5b66fe8 | 287 | orange_r = 1; |
manz | 7:1bb3b5b66fe8 | 288 | brown_r = 1; |
manz | 7:1bb3b5b66fe8 | 289 | yellow_r = 0; |
manz | 7:1bb3b5b66fe8 | 290 | |
manz | 7:1bb3b5b66fe8 | 291 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 292 | case_right = 2; |
manz | 7:1bb3b5b66fe8 | 293 | break; |
manz | 7:1bb3b5b66fe8 | 294 | |
manz | 7:1bb3b5b66fe8 | 295 | |
manz | 7:1bb3b5b66fe8 | 296 | case 2: |
manz | 7:1bb3b5b66fe8 | 297 | //step 1010 |
manz | 7:1bb3b5b66fe8 | 298 | black_r = 1; |
manz | 7:1bb3b5b66fe8 | 299 | orange_r = 1; |
manz | 7:1bb3b5b66fe8 | 300 | brown_r = 0; |
manz | 7:1bb3b5b66fe8 | 301 | yellow_r = 0; |
manz | 7:1bb3b5b66fe8 | 302 | |
manz | 7:1bb3b5b66fe8 | 303 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 304 | case_right = 3; |
manz | 7:1bb3b5b66fe8 | 305 | break; |
manz | 7:1bb3b5b66fe8 | 306 | |
manz | 7:1bb3b5b66fe8 | 307 | |
manz | 7:1bb3b5b66fe8 | 308 | case 3: |
manz | 7:1bb3b5b66fe8 | 309 | //step 0011 |
manz | 7:1bb3b5b66fe8 | 310 | black_r = 1; |
manz | 7:1bb3b5b66fe8 | 311 | orange_r = 0; |
manz | 7:1bb3b5b66fe8 | 312 | brown_r = 0; |
manz | 7:1bb3b5b66fe8 | 313 | yellow_r = 1; |
manz | 7:1bb3b5b66fe8 | 314 | |
manz | 7:1bb3b5b66fe8 | 315 | wait_ms(wait_t); |
manz | 7:1bb3b5b66fe8 | 316 | case_right = 0; |
manz | 7:1bb3b5b66fe8 | 317 | break; |
manz | 7:1bb3b5b66fe8 | 318 | } |
manz | 7:1bb3b5b66fe8 | 319 | return 1; |
manz | 7:1bb3b5b66fe8 | 320 | } |