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Dependencies: Servo ServoArm mbed
Fork of PES_Official by
Sources/main.cpp@16:f157e5ccd7d3, 2017-05-15 (annotated)
- Committer:
- beacon
- Date:
- Mon May 15 17:35:24 2017 +0000
- Revision:
- 16:f157e5ccd7d3
- Parent:
- 15:915f8839fe48
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
beacon | 0:d267b248eff4 | 1 | #include "mbed.h" |
beacon | 0:d267b248eff4 | 2 | #include "Robot.h" |
beacon | 4:67d7177c213f | 3 | #include "Declarations.h" |
beacon | 0:d267b248eff4 | 4 | |
beacon | 0:d267b248eff4 | 5 | #include <cstdlib> |
beacon | 0:d267b248eff4 | 6 | |
beacon | 4:67d7177c213f | 7 | //DistanceSensors related bottom: |
beacon | 0:d267b248eff4 | 8 | Serial pc(SERIAL_TX, SERIAL_RX); |
beacon | 0:d267b248eff4 | 9 | |
beacon | 0:d267b248eff4 | 10 | AnalogIn sensorVoltage(PB_1); |
beacon | 0:d267b248eff4 | 11 | DigitalOut enable(PC_1); |
beacon | 0:d267b248eff4 | 12 | DigitalOut bit0(PH_1); |
beacon | 0:d267b248eff4 | 13 | DigitalOut bit1(PC_2); |
beacon | 0:d267b248eff4 | 14 | DigitalOut bit2(PC_3); |
beacon | 1:388c915756f5 | 15 | |
beacon | 4:67d7177c213f | 16 | //DistanceSensors top: |
beacon | 4:67d7177c213f | 17 | AnalogIn frontS(A1); |
beacon | 4:67d7177c213f | 18 | AnalogIn leftS(A2); |
beacon | 4:67d7177c213f | 19 | AnalogIn rightS(A3); |
beacon | 4:67d7177c213f | 20 | |
beacon | 1:388c915756f5 | 21 | //Leds related: |
beacon | 1:388c915756f5 | 22 | DigitalOut leds[6] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 }; |
beacon | 0:d267b248eff4 | 23 | |
beacon | 1:388c915756f5 | 24 | //motor related: |
beacon | 1:388c915756f5 | 25 | PwmOut left(PA_8); |
beacon | 1:388c915756f5 | 26 | PwmOut right(PA_9); |
beacon | 0:d267b248eff4 | 27 | |
beacon | 1:388c915756f5 | 28 | DigitalOut powerSignal(PB_2); |
beacon | 10:f76476943a6c | 29 | DigitalIn errorMotor(PB_14); |
beacon | 1:388c915756f5 | 30 | DigitalIn overtemperatur(PB_15); |
beacon | 1:388c915756f5 | 31 | |
beacon | 4:67d7177c213f | 32 | //Arm: |
beacon | 10:f76476943a6c | 33 | ServoArm servoArm(PA_6); |
beacon | 10:f76476943a6c | 34 | |
beacon | 10:f76476943a6c | 35 | //Greifer: |
beacon | 12:c0bcb95885dd | 36 | Servo servoGreifer(PC_7); |
beacon | 4:67d7177c213f | 37 | |
EpicG10 | 14:b61fbd13a7c9 | 38 | //Leiste: |
EpicG10 | 15:915f8839fe48 | 39 | Servo servoLeiste(PB_6); |
EpicG10 | 14:b61fbd13a7c9 | 40 | |
beacon | 1:388c915756f5 | 41 | //Farbsensor: |
beacon | 1:388c915756f5 | 42 | AnalogIn FarbVoltage(A0); |
beacon | 12:c0bcb95885dd | 43 | DigitalOut led(D2); |
beacon | 1:388c915756f5 | 44 | |
EpicG10 | 15:915f8839fe48 | 45 | Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS, &servoArm, &servoGreifer, &servoLeiste ); //Implement the Farbsensor into the Robot init function!! |
beacon | 10:f76476943a6c | 46 | |
beacon | 11:292bdbd85a9c | 47 | void initializeDistanceSensors() |
beacon | 11:292bdbd85a9c | 48 | { |
beacon | 10:f76476943a6c | 49 | for( int ii = 0; ii<9; ++ii) { |
beacon | 10:f76476943a6c | 50 | sam.sensors[ii].init(&sensorVoltage, &frontS, &leftS, &rightS, &bit0, &bit1, &bit2, ii); |
beacon | 10:f76476943a6c | 51 | |
beacon | 11:292bdbd85a9c | 52 | enable = 1; |
beacon | 10:f76476943a6c | 53 | } |
beacon | 10:f76476943a6c | 54 | } |
beacon | 1:388c915756f5 | 55 | |
beacon | 0:d267b248eff4 | 56 | |
beacon | 10:f76476943a6c | 57 | /* */ |
beacon | 11:292bdbd85a9c | 58 | int main() |
beacon | 11:292bdbd85a9c | 59 | { |
beacon | 4:67d7177c213f | 60 | initializeDistanceSensors(); //Initialises IR-Sensors. |
beacon | 11:292bdbd85a9c | 61 | //int counter = 0; //Counts how many times the robot has turned, before driving |
beacon | 4:67d7177c213f | 62 | int timer = 0; //Is used, to reset the robot. Returns time in [0.1s] |
beacon | 4:67d7177c213f | 63 | //int lastFun = -1; //Is used, to check if the same action in Robot::search() was made multiple times. |
beacon | 11:292bdbd85a9c | 64 | //int found = 0; //0:= no block available, 1 := a lego is ready to be picked up |
beacon | 11:292bdbd85a9c | 65 | //int done = 0; |
beacon | 16:f157e5ccd7d3 | 66 | int color; |
beacon | 16:f157e5ccd7d3 | 67 | |
beacon | 16:f157e5ccd7d3 | 68 | enum states { search = 0, LeisteDown, push, backOff, forward, downward, down, upward, colorS, readyDrop, backward, LeisteUp }; |
beacon | 11:292bdbd85a9c | 69 | |
EpicG10 | 13:6c1f8e35b242 | 70 | int state = search; |
beacon | 16:f157e5ccd7d3 | 71 | |
beacon | 11:292bdbd85a9c | 72 | while( 1 ) { |
beacon | 10:f76476943a6c | 73 | |
beacon | 11:292bdbd85a9c | 74 | if ( timer > TIMEOUT ) { |
beacon | 4:67d7177c213f | 75 | NVIC_SystemReset(); //Resets Sam. |
beacon | 4:67d7177c213f | 76 | } |
beacon | 11:292bdbd85a9c | 77 | |
beacon | 11:292bdbd85a9c | 78 | switch( state ) { |
beacon | 11:292bdbd85a9c | 79 | case search: |
beacon | 16:f157e5ccd7d3 | 80 | if( sam.search(&timer) ){ |
beacon | 16:f157e5ccd7d3 | 81 | //sam.Greifer.nullPos(); |
beacon | 16:f157e5ccd7d3 | 82 | state = LeisteDown; |
beacon | 16:f157e5ccd7d3 | 83 | timer = 0; |
EpicG10 | 15:915f8839fe48 | 84 | } |
EpicG10 | 15:915f8839fe48 | 85 | break; |
EpicG10 | 15:915f8839fe48 | 86 | |
EpicG10 | 15:915f8839fe48 | 87 | case LeisteDown: |
beacon | 16:f157e5ccd7d3 | 88 | if( sam.Leiste.upToDown() ){ |
beacon | 16:f157e5ccd7d3 | 89 | //sam.Greifer.leave(); |
beacon | 16:f157e5ccd7d3 | 90 | state = push; |
beacon | 16:f157e5ccd7d3 | 91 | timer = 0; |
beacon | 16:f157e5ccd7d3 | 92 | } |
beacon | 16:f157e5ccd7d3 | 93 | break; |
beacon | 16:f157e5ccd7d3 | 94 | |
beacon | 16:f157e5ccd7d3 | 95 | case push:{ |
beacon | 16:f157e5ccd7d3 | 96 | static int i = 0; |
beacon | 16:f157e5ccd7d3 | 97 | if( i > 5 ){ |
beacon | 16:f157e5ccd7d3 | 98 | sam.stop(); |
beacon | 16:f157e5ccd7d3 | 99 | i = 0; |
beacon | 16:f157e5ccd7d3 | 100 | state = backOff; |
beacon | 16:f157e5ccd7d3 | 101 | timer = 0; |
beacon | 16:f157e5ccd7d3 | 102 | } |
beacon | 16:f157e5ccd7d3 | 103 | else{ |
beacon | 16:f157e5ccd7d3 | 104 | sam.driveSlowly(); |
beacon | 16:f157e5ccd7d3 | 105 | i++; |
beacon | 11:292bdbd85a9c | 106 | } |
beacon | 16:f157e5ccd7d3 | 107 | break; |
beacon | 16:f157e5ccd7d3 | 108 | } |
beacon | 16:f157e5ccd7d3 | 109 | |
beacon | 16:f157e5ccd7d3 | 110 | case backOff:{ |
beacon | 16:f157e5ccd7d3 | 111 | static int i = 0; |
beacon | 16:f157e5ccd7d3 | 112 | if( i > 5 ){ |
beacon | 16:f157e5ccd7d3 | 113 | sam.stop(); |
beacon | 16:f157e5ccd7d3 | 114 | i = 0; |
beacon | 16:f157e5ccd7d3 | 115 | state = forward; |
beacon | 16:f157e5ccd7d3 | 116 | timer = 0; |
beacon | 16:f157e5ccd7d3 | 117 | } |
beacon | 16:f157e5ccd7d3 | 118 | else{ |
beacon | 16:f157e5ccd7d3 | 119 | sam.driveBackSlowly(); |
beacon | 16:f157e5ccd7d3 | 120 | i++; |
beacon | 16:f157e5ccd7d3 | 121 | } |
beacon | 16:f157e5ccd7d3 | 122 | break; |
beacon | 16:f157e5ccd7d3 | 123 | } |
beacon | 11:292bdbd85a9c | 124 | |
beacon | 11:292bdbd85a9c | 125 | |
beacon | 11:292bdbd85a9c | 126 | case forward: |
beacon | 11:292bdbd85a9c | 127 | if( sam.Arm.backToCollect() ){ |
beacon | 11:292bdbd85a9c | 128 | state = downward; |
beacon | 11:292bdbd85a9c | 129 | timer = 0; |
beacon | 11:292bdbd85a9c | 130 | } |
beacon | 11:292bdbd85a9c | 131 | break; |
beacon | 11:292bdbd85a9c | 132 | |
beacon | 11:292bdbd85a9c | 133 | case downward: |
beacon | 11:292bdbd85a9c | 134 | if( sam.Arm.collectToDown() ){ |
beacon | 11:292bdbd85a9c | 135 | state = down; |
beacon | 11:292bdbd85a9c | 136 | timer = 0; |
beacon | 11:292bdbd85a9c | 137 | } |
beacon | 11:292bdbd85a9c | 138 | break; |
beacon | 11:292bdbd85a9c | 139 | |
beacon | 11:292bdbd85a9c | 140 | case down: |
beacon | 11:292bdbd85a9c | 141 | if( sam.Greifer.take() ) { |
beacon | 11:292bdbd85a9c | 142 | state = upward; |
beacon | 11:292bdbd85a9c | 143 | timer = 0; |
beacon | 11:292bdbd85a9c | 144 | } |
beacon | 11:292bdbd85a9c | 145 | break; |
beacon | 11:292bdbd85a9c | 146 | |
beacon | 11:292bdbd85a9c | 147 | case upward: |
beacon | 11:292bdbd85a9c | 148 | if( sam.Arm.downToCollect() ){ |
beacon | 16:f157e5ccd7d3 | 149 | state = colorS; |
beacon | 11:292bdbd85a9c | 150 | timer = 0; |
beacon | 11:292bdbd85a9c | 151 | } |
beacon | 11:292bdbd85a9c | 152 | break; |
beacon | 11:292bdbd85a9c | 153 | |
beacon | 16:f157e5ccd7d3 | 154 | case colorS: |
beacon | 12:c0bcb95885dd | 155 | led = 1; |
beacon | 16:f157e5ccd7d3 | 156 | color = sam.FarbVoltage.read(); |
beacon | 11:292bdbd85a9c | 157 | |
beacon | 12:c0bcb95885dd | 158 | if( color == -1 ){ |
beacon | 11:292bdbd85a9c | 159 | //Do nothing |
beacon | 11:292bdbd85a9c | 160 | } |
beacon | 11:292bdbd85a9c | 161 | |
beacon | 12:c0bcb95885dd | 162 | |
beacon | 11:292bdbd85a9c | 163 | else if( color == 0 || color == GREEN ){ |
beacon | 16:f157e5ccd7d3 | 164 | state = backward; |
beacon | 12:c0bcb95885dd | 165 | led = 0; |
beacon | 11:292bdbd85a9c | 166 | timer = 0; |
beacon | 11:292bdbd85a9c | 167 | } |
beacon | 11:292bdbd85a9c | 168 | |
beacon | 11:292bdbd85a9c | 169 | else if( color == RED ){ |
beacon | 11:292bdbd85a9c | 170 | state = readyDrop; |
beacon | 12:c0bcb95885dd | 171 | led = 0; |
beacon | 11:292bdbd85a9c | 172 | timer = 0; |
beacon | 11:292bdbd85a9c | 173 | } |
beacon | 11:292bdbd85a9c | 174 | |
beacon | 11:292bdbd85a9c | 175 | else{ |
beacon | 11:292bdbd85a9c | 176 | //Shit... |
beacon | 11:292bdbd85a9c | 177 | } |
beacon | 11:292bdbd85a9c | 178 | break; |
beacon | 16:f157e5ccd7d3 | 179 | |
beacon | 11:292bdbd85a9c | 180 | case readyDrop: |
beacon | 11:292bdbd85a9c | 181 | if( sam.Greifer.leave() ){ |
beacon | 16:f157e5ccd7d3 | 182 | if( color == GREEN || color == 0 ){ |
beacon | 16:f157e5ccd7d3 | 183 | state = LeisteUp; |
beacon | 16:f157e5ccd7d3 | 184 | } |
beacon | 16:f157e5ccd7d3 | 185 | else{ |
beacon | 16:f157e5ccd7d3 | 186 | state = backward; |
beacon | 16:f157e5ccd7d3 | 187 | } |
beacon | 11:292bdbd85a9c | 188 | timer = 0; |
beacon | 11:292bdbd85a9c | 189 | } |
beacon | 11:292bdbd85a9c | 190 | |
beacon | 11:292bdbd85a9c | 191 | break; |
beacon | 11:292bdbd85a9c | 192 | |
beacon | 11:292bdbd85a9c | 193 | case backward: |
beacon | 11:292bdbd85a9c | 194 | if( sam.Arm.collectToBack() ){ |
beacon | 16:f157e5ccd7d3 | 195 | //sam.Greifer.nullPos(); |
EpicG10 | 15:915f8839fe48 | 196 | state = LeisteUp; |
beacon | 11:292bdbd85a9c | 197 | timer = 0; |
beacon | 16:f157e5ccd7d3 | 198 | if( color == GREEN || color == 0 ){ |
beacon | 16:f157e5ccd7d3 | 199 | state = readyDrop; |
beacon | 16:f157e5ccd7d3 | 200 | sam.Greifer.leave(); |
beacon | 16:f157e5ccd7d3 | 201 | } |
beacon | 16:f157e5ccd7d3 | 202 | else{ |
beacon | 16:f157e5ccd7d3 | 203 | state = LeisteUp; |
beacon | 16:f157e5ccd7d3 | 204 | } |
beacon | 11:292bdbd85a9c | 205 | } |
beacon | 11:292bdbd85a9c | 206 | break; |
EpicG10 | 15:915f8839fe48 | 207 | |
EpicG10 | 15:915f8839fe48 | 208 | case LeisteUp: |
beacon | 16:f157e5ccd7d3 | 209 | if( sam.Leiste.downToUp() ){ |
EpicG10 | 15:915f8839fe48 | 210 | state = search; |
EpicG10 | 15:915f8839fe48 | 211 | timer = 0; |
EpicG10 | 15:915f8839fe48 | 212 | } |
EpicG10 | 15:915f8839fe48 | 213 | break; |
beacon | 4:67d7177c213f | 214 | } |
beacon | 1:388c915756f5 | 215 | |
beacon | 16:f157e5ccd7d3 | 216 | /* |
beacon | 16:f157e5ccd7d3 | 217 | sam.leds[1] = sam.sensors[RIGHT] < NEAR; |
beacon | 16:f157e5ccd7d3 | 218 | sam.leds[5] = sam.sensors[LEFT] < NEAR; |
beacon | 16:f157e5ccd7d3 | 219 | sam.leds[4] = sam.sensors[FWD] < NEAR; |
beacon | 16:f157e5ccd7d3 | 220 | */ |
beacon | 11:292bdbd85a9c | 221 | timer++; |
beacon | 11:292bdbd85a9c | 222 | wait(0.1f); |
beacon | 11:292bdbd85a9c | 223 | } |
beacon | 11:292bdbd85a9c | 224 | |
beacon | 11:292bdbd85a9c | 225 | return 0; |
beacon | 11:292bdbd85a9c | 226 | } |
beacon | 11:292bdbd85a9c | 227 | |
beacon | 11:292bdbd85a9c | 228 | |
beacon | 11:292bdbd85a9c | 229 | /* |
beacon | 11:292bdbd85a9c | 230 | if (sam.search(&counter, &timer)) { |
beacon | 11:292bdbd85a9c | 231 | |
beacon | 11:292bdbd85a9c | 232 | while(!done) { |
beacon | 11:292bdbd85a9c | 233 | sam.Arm.collectToDown(&done); |
beacon | 11:292bdbd85a9c | 234 | wait(0.1f); |
beacon | 11:292bdbd85a9c | 235 | } |
beacon | 11:292bdbd85a9c | 236 | done = 0; |
beacon | 11:292bdbd85a9c | 237 | |
beacon | 11:292bdbd85a9c | 238 | sam.Greifer.take(); |
beacon | 11:292bdbd85a9c | 239 | |
beacon | 11:292bdbd85a9c | 240 | while(!done) { |
beacon | 11:292bdbd85a9c | 241 | sam.Arm.downToCollect(&done); |
beacon | 11:292bdbd85a9c | 242 | sam.leds[1] = 1; |
beacon | 11:292bdbd85a9c | 243 | wait(0.1f); |
beacon | 11:292bdbd85a9c | 244 | } |
beacon | 11:292bdbd85a9c | 245 | done = 0; |
beacon | 11:292bdbd85a9c | 246 | |
beacon | 11:292bdbd85a9c | 247 | sam.Greifer.leave(); |
beacon | 11:292bdbd85a9c | 248 | |
beacon | 11:292bdbd85a9c | 249 | found = 0; |
beacon | 11:292bdbd85a9c | 250 | } |
beacon | 11:292bdbd85a9c | 251 | |
beacon | 11:292bdbd85a9c | 252 | |
beacon | 1:388c915756f5 | 253 | wait( 0.1f ); |
beacon | 0:d267b248eff4 | 254 | } |
beacon | 0:d267b248eff4 | 255 | return 0; |
beacon | 4:67d7177c213f | 256 | } |
beacon | 11:292bdbd85a9c | 257 | */ |
beacon | 4:67d7177c213f | 258 | |
beacon | 4:67d7177c213f | 259 | /* * / |
beacon | 4:67d7177c213f | 260 | int main(){ |
beacon | 11:292bdbd85a9c | 261 | |
beacon | 4:67d7177c213f | 262 | initializeDistanceSensors(); |
beacon | 4:67d7177c213f | 263 | sam.stop(); |
beacon | 16:f157e5ccd7d3 | 264 | |
beacon | 16:f157e5ccd7d3 | 265 | //DigitalOut userLed(LD2); |
beacon | 11:292bdbd85a9c | 266 | |
beacon | 4:67d7177c213f | 267 | while ( 1 ){ |
beacon | 16:f157e5ccd7d3 | 268 | sam.sensors[FWD_L] < NEAR ? sam.leds[4] = 1 : sam.leds[4] = 0; |
beacon | 16:f157e5ccd7d3 | 269 | sam.sensors[RIGHT_L] < NEAR ? sam.leds[RIGHT_L] = 1 : sam.leds[RIGHT_L] = 0; |
beacon | 16:f157e5ccd7d3 | 270 | sam.sensors[LEFT_L] < NEAR ? sam.leds[LEFT_L] = 1 : sam.leds[LEFT_L] = 0; |
beacon | 16:f157e5ccd7d3 | 271 | //sam.sensors[FWD_L] < NEAR ? sam.leds[2] = 1 : sam.leds[4] = 0; |
beacon | 16:f157e5ccd7d3 | 272 | //sam.sensors[RIGHT_L] < NEAR ? sam.leds[3] = 1 : sam.leds[4] = 0; |
beacon | 16:f157e5ccd7d3 | 273 | //sam.sensors[LEFT_L] < NEAR ? userLED = 1 : sam.leds[4] = 0; |
beacon | 16:f157e5ccd7d3 | 274 | |
beacon | 16:f157e5ccd7d3 | 275 | wait (0.2f); |
beacon | 16:f157e5ccd7d3 | 276 | } |
beacon | 11:292bdbd85a9c | 277 | |
beacon | 4:67d7177c213f | 278 | return 0; |
beacon | 4:67d7177c213f | 279 | } |
beacon | 4:67d7177c213f | 280 | /* */ |
beacon | 4:67d7177c213f | 281 | |
beacon | 4:67d7177c213f | 282 | /* * / |
beacon | 4:67d7177c213f | 283 | int main(){ |
beacon | 4:67d7177c213f | 284 | for(float p=0; p<1.0; p += 0.1) { |
beacon | 4:67d7177c213f | 285 | // arm = p; |
beacon | 4:67d7177c213f | 286 | wait(0.2); |
beacon | 4:67d7177c213f | 287 | } |
beacon | 4:67d7177c213f | 288 | } |
beacon | 6:ba26dd3251b3 | 289 | /* */ |
beacon | 6:ba26dd3251b3 | 290 | |
beacon | 10:f76476943a6c | 291 | /* * / |
beacon | 6:ba26dd3251b3 | 292 | int main(){ |
beacon | 6:ba26dd3251b3 | 293 | sam.stop(); |
beacon | 6:ba26dd3251b3 | 294 | int done = 0; //1:= finished process; 0:= not finished |
beacon | 6:ba26dd3251b3 | 295 | int fun = 0; //just to test. |
beacon | 11:292bdbd85a9c | 296 | int start = 0; |
beacon | 11:292bdbd85a9c | 297 | |
beacon | 11:292bdbd85a9c | 298 | |
beacon | 6:ba26dd3251b3 | 299 | while(1){ |
beacon | 6:ba26dd3251b3 | 300 | if(fun == 0){ |
beacon | 6:ba26dd3251b3 | 301 | done = 0; |
beacon | 6:ba26dd3251b3 | 302 | sam.Arm.collecttoback(&done); |
beacon | 11:292bdbd85a9c | 303 | done == 0 ? fun = 0 : fun = 1; |
beacon | 6:ba26dd3251b3 | 304 | } |
beacon | 6:ba26dd3251b3 | 305 | else if(fun == 1){ |
beacon | 6:ba26dd3251b3 | 306 | done = 0; |
beacon | 6:ba26dd3251b3 | 307 | sam.Arm.backtocollect(&done); |
beacon | 6:ba26dd3251b3 | 308 | done == 0 ? fun = 1 : fun = 2; |
beacon | 6:ba26dd3251b3 | 309 | } |
beacon | 6:ba26dd3251b3 | 310 | else if(fun == 2){ |
beacon | 6:ba26dd3251b3 | 311 | done = 0; |
beacon | 6:ba26dd3251b3 | 312 | sam.Arm.collecttodown(&done); |
beacon | 6:ba26dd3251b3 | 313 | done == 0 ? fun = 2 : fun = 3; |
beacon | 6:ba26dd3251b3 | 314 | } |
beacon | 6:ba26dd3251b3 | 315 | else if(fun == 3){ |
beacon | 6:ba26dd3251b3 | 316 | done = 0; |
beacon | 6:ba26dd3251b3 | 317 | sam.Arm.downtocollect(&done); |
beacon | 6:ba26dd3251b3 | 318 | done == 0 ? fun = 3 : fun = 0; |
beacon | 6:ba26dd3251b3 | 319 | } |
beacon | 6:ba26dd3251b3 | 320 | wait(0.1); |
beacon | 6:ba26dd3251b3 | 321 | } |
beacon | 10:f76476943a6c | 322 | } |
beacon | 10:f76476943a6c | 323 | |
beacon | 10:f76476943a6c | 324 | */ |