Helvijs Kiselis / Mbed 2 deprecated Micromouse

Algorithmus

Dependencies:   mbed

main.cpp@7:22392ed60534, 2018-04-27 (annotated)

Committer:
Helvis
Date:
Fri Apr 27 13:07:13 2018 +0000
Revision:
7:22392ed60534
Parent:
6:4868f789c223
Child:
8:8131269dc46e
v0.9.5b

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Helvis 4:932eb2d29206 1 /**
Helvis 1:2b5f79285a3e 2 * Micromouse PES2
Helvis 1:2b5f79285a3e 3 *
Helvis 1:2b5f79285a3e 4 * Suchfahrtalg. + Schnellfahrtalg.
Helvis 1:2b5f79285a3e 5 *
Helvis 1:2b5f79285a3e 6 */
Helvis 1:2b5f79285a3e 7
Helvis 1:2b5f79285a3e 8 /* todo:
Helvis 1:2b5f79285a3e 9
Helvis 1:2b5f79285a3e 10 - Regler gerade Fahrt
Helvis 1:2b5f79285a3e 11 - gespeicherten Weg fahren
Helvis 4:932eb2d29206 12
Helvis 4:932eb2d29206 13 Optimieren:
Helvis 1:2b5f79285a3e 14 - Beschleunigung
Helvis 7:22392ed60534 15 - Zentrieren
Helvis 1:2b5f79285a3e 16 - über längere Strecke schneller fahren
Helvis 4:932eb2d29206 17 - Abbiegen
Helvis 1:2b5f79285a3e 18
Helvis 1:2b5f79285a3e 19 */
Helvis 0:8491169be8fc 20 #include <mbed.h>
Helvis 0:8491169be8fc 21 #include "EncoderCounter.h"
Helvis 0:8491169be8fc 22 #include "Controller.h"
Helvis 0:8491169be8fc 23 #include "IRSensor.h"
Helvis 0:8491169be8fc 24 #include "Motion.h"
Helvis 0:8491169be8fc 25
Helvis 0:8491169be8fc 26 //User Button
Helvis 0:8491169be8fc 27 InterruptIn button(USER_BUTTON);
Helvis 0:8491169be8fc 28
Helvis 0:8491169be8fc 29 //Sensors:
Helvis 0:8491169be8fc 30
Helvis 0:8491169be8fc 31 AnalogIn lineSensor(PA_4);
Helvis 0:8491169be8fc 32 AnalogIn distance2(PC_3);
Helvis 0:8491169be8fc 33 AnalogIn distance4(PB_1);
Helvis 0:8491169be8fc 34 AnalogIn distance1(PC_2);
Helvis 0:8491169be8fc 35 AnalogIn distance3(PC_5);
Helvis 0:8491169be8fc 36
Helvis 0:8491169be8fc 37 IRSensor irSensorL (distance2);
Helvis 0:8491169be8fc 38 IRSensor irSensorC (distance4);
Helvis 0:8491169be8fc 39 IRSensor irSensorR (distance1);
Helvis 0:8491169be8fc 40 IRSensor irSensorB (distance3);
Helvis 0:8491169be8fc 41
Helvis 0:8491169be8fc 42 //Motors:
Helvis 0:8491169be8fc 43 DigitalOut myled(LED1);
Helvis 0:8491169be8fc 44
Helvis 0:8491169be8fc 45 DigitalOut enableMotorDriver(PB_2);
Helvis 0:8491169be8fc 46
Helvis 0:8491169be8fc 47 DigitalIn motorDriverFault(PB_14);
Helvis 0:8491169be8fc 48 DigitalIn motorDriverWarning(PB_15);
Helvis 0:8491169be8fc 49
Helvis 0:8491169be8fc 50 PwmOut pwmRight(PA_8);
Helvis 0:8491169be8fc 51 PwmOut pwmLeft(PA_10);
Helvis 0:8491169be8fc 52
Helvis 0:8491169be8fc 53 EncoderCounter counterRight(PB_6, PB_7);
Helvis 0:8491169be8fc 54 EncoderCounter counterLeft(PA_0, PA_1);
Helvis 0:8491169be8fc 55
Helvis 0:8491169be8fc 56
Helvis 0:8491169be8fc 57 Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
Helvis 0:8491169be8fc 58
Helvis 1:2b5f79285a3e 59 Motion motion(controller, counterLeft, counterRight, irSensorL, irSensorC,
Helvis 1:2b5f79285a3e 60 irSensorR, lineSensor, enableMotorDriver);
Helvis 0:8491169be8fc 61
Helvis 0:8491169be8fc 62 //------------------------------------------------------------------------------
Helvis 0:8491169be8fc 63
Helvis 0:8491169be8fc 64 volatile int start = 0;
Helvis 1:2b5f79285a3e 65
Helvis 1:2b5f79285a3e 66 const int MOVE = 1;
Helvis 1:2b5f79285a3e 67 const int LEFT = 2;
Helvis 1:2b5f79285a3e 68 const int RIGHT = 3;
Helvis 1:2b5f79285a3e 69 const int SPEED = 4;
Helvis 1:2b5f79285a3e 70
Helvis 1:2b5f79285a3e 71 //Sensor tresholds [mm]
Helvis 3:076dd7ec7eb4 72 const float thresholdL = 80;
Helvis 3:076dd7ec7eb4 73 const float thresholdR = 80;
Helvis 1:2b5f79285a3e 74 const float thresholdC = 100;
Helvis 0:8491169be8fc 75
Helvis 0:8491169be8fc 76 //------------------------------------------------------------------------------
Helvis 0:8491169be8fc 77
Helvis 0:8491169be8fc 78 //User button toggle
Helvis 0:8491169be8fc 79 void press() {
Helvis 0:8491169be8fc 80 start = !start;
Helvis 0:8491169be8fc 81 }
Helvis 1:2b5f79285a3e 82
Helvis 1:2b5f79285a3e 83 //Return to last junction
Helvis 7:22392ed60534 84 void reverseToJunction(int junc, int& r, int route[]) {
Helvis 1:2b5f79285a3e 85
Helvis 1:2b5f79285a3e 86 while (junc < r ) {
Helvis 1:2b5f79285a3e 87
Helvis 1:2b5f79285a3e 88 //invert rotation
Helvis 1:2b5f79285a3e 89 if (route[r] == LEFT) {
Helvis 1:2b5f79285a3e 90
Helvis 1:2b5f79285a3e 91 route[r] = RIGHT;
Helvis 1:2b5f79285a3e 92
Helvis 1:2b5f79285a3e 93 }else if (route[r] == RIGHT) {
Helvis 1:2b5f79285a3e 94
Helvis 1:2b5f79285a3e 95 route[r] = LEFT;
Helvis 1:2b5f79285a3e 96 }
Helvis 1:2b5f79285a3e 97
Helvis 1:2b5f79285a3e 98 motion.runTask(route[r]);
Helvis 1:2b5f79285a3e 99 route[r] = 0;
Helvis 1:2b5f79285a3e 100 r--;
Helvis 1:2b5f79285a3e 101 }
Helvis 1:2b5f79285a3e 102 }
Helvis 0:8491169be8fc 103
Helvis 0:8491169be8fc 104
Helvis 0:8491169be8fc 105 //------------------------------------------------------------------------------
Helvis 0:8491169be8fc 106
Helvis 0:8491169be8fc 107 int main() {
Helvis 1:2b5f79285a3e 108 //Init
Helvis 0:8491169be8fc 109
Helvis 6:4868f789c223 110 int route[200] = {0};
Helvis 1:2b5f79285a3e 111 int r = 0;
Helvis 1:2b5f79285a3e 112
Helvis 6:4868f789c223 113 int junction[20] = {0};
Helvis 1:2b5f79285a3e 114 int j = 0;
Helvis 0:8491169be8fc 115
Helvis 1:2b5f79285a3e 116 short lWall;
Helvis 1:2b5f79285a3e 117 short cWall;
Helvis 1:2b5f79285a3e 118 short rWall;
Helvis 0:8491169be8fc 119
Helvis 1:2b5f79285a3e 120 short Ziel = 0;
Helvis 1:2b5f79285a3e 121
Helvis 1:2b5f79285a3e 122 //loop
Helvis 0:8491169be8fc 123 while(1) {
Helvis 0:8491169be8fc 124
Helvis 0:8491169be8fc 125 button.fall(&press); //User button einlesen
Helvis 0:8491169be8fc 126
Helvis 1:2b5f79285a3e 127 /**
Helvis 1:2b5f79285a3e 128 *
Helvis 1:2b5f79285a3e 129 * Search run
Helvis 1:2b5f79285a3e 130 *
Helvis 1:2b5f79285a3e 131 */
Helvis 1:2b5f79285a3e 132
Helvis 1:2b5f79285a3e 133 while(start == 1 && Ziel == 0) {
Helvis 0:8491169be8fc 134
Helvis 1:2b5f79285a3e 135 /**
Helvis 1:2b5f79285a3e 136 * Entscheidung und Bewegung
Helvis 1:2b5f79285a3e 137 */
Helvis 1:2b5f79285a3e 138
Helvis 1:2b5f79285a3e 139
Helvis 0:8491169be8fc 140 float distanceL = irSensorL.readL();
Helvis 0:8491169be8fc 141 float distanceC = irSensorC.readC();
Helvis 0:8491169be8fc 142 float distanceR = irSensorR.readR();
Helvis 0:8491169be8fc 143
Helvis 1:2b5f79285a3e 144 //Wall check
Helvis 1:2b5f79285a3e 145 if (distanceL < thresholdL) lWall = 1;
Helvis 1:2b5f79285a3e 146 else lWall = 0;
Helvis 1:2b5f79285a3e 147 if (distanceC < thresholdC) cWall = 1;
Helvis 1:2b5f79285a3e 148 else cWall = 0;
Helvis 1:2b5f79285a3e 149 if (distanceR < thresholdR) rWall = 1;
Helvis 1:2b5f79285a3e 150 else rWall = 0;
Helvis 0:8491169be8fc 151
Helvis 1:2b5f79285a3e 152 //Junction Check
Helvis 1:2b5f79285a3e 153 if ((lWall + cWall + rWall) < 2) {
Helvis 0:8491169be8fc 154
Helvis 1:2b5f79285a3e 155 if (junction[j] > 0) {j++;}
Helvis 1:2b5f79285a3e 156 junction[j] = r;
Helvis 4:932eb2d29206 157 printf("Kreuzung Schritt: %d\n", r);
Helvis 0:8491169be8fc 158 }
Helvis 1:2b5f79285a3e 159 //No wall left
Helvis 1:2b5f79285a3e 160 if (lWall == 0) {
Helvis 0:8491169be8fc 161
Helvis 1:2b5f79285a3e 162 if (route[r] == LEFT) {
Helvis 1:2b5f79285a3e 163
Helvis 1:2b5f79285a3e 164 route[r] = MOVE;
Helvis 4:932eb2d29206 165 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 1:2b5f79285a3e 166 r++;
Helvis 1:2b5f79285a3e 167
Helvis 1:2b5f79285a3e 168 motion.rotateL();
Helvis 1:2b5f79285a3e 169 motion.scanMove();
Helvis 1:2b5f79285a3e 170 motion.stop();
Helvis 1:2b5f79285a3e 171
Helvis 1:2b5f79285a3e 172 }else if (route[r] == MOVE) {
Helvis 1:2b5f79285a3e 173
Helvis 1:2b5f79285a3e 174 route[r] = RIGHT;
Helvis 4:932eb2d29206 175 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 1:2b5f79285a3e 176 r++;
Helvis 1:2b5f79285a3e 177 route[r] = MOVE;
Helvis 4:932eb2d29206 178 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 1:2b5f79285a3e 179 r++;
Helvis 1:2b5f79285a3e 180
Helvis 1:2b5f79285a3e 181 motion.rotateL();
Helvis 1:2b5f79285a3e 182 motion.scanMove();
Helvis 1:2b5f79285a3e 183 motion.stop();
Helvis 1:2b5f79285a3e 184
Helvis 1:2b5f79285a3e 185 }else if (route[r] == RIGHT) {
Helvis 1:2b5f79285a3e 186 // Kreuzung führt zu Sackgassen -> löschen
Helvis 1:2b5f79285a3e 187 junction[j] = 0;
Helvis 4:932eb2d29206 188 //if (j > 0) {j--;}
Helvis 4:932eb2d29206 189 printf("Kreuzung %d Schritt %d geloscht\n", j, r);
Helvis 4:932eb2d29206 190 j--;
Helvis 7:22392ed60534 191 //reverseToJunction(junction[j], r, route);
Helvis 7:22392ed60534 192
Helvis 7:22392ed60534 193 while (junction[r] < r ) {
Helvis 7:22392ed60534 194
Helvis 7:22392ed60534 195 //invert rotation
Helvis 7:22392ed60534 196 if (route[r] == LEFT) {
Helvis 7:22392ed60534 197
Helvis 7:22392ed60534 198 route[r] = RIGHT;
Helvis 7:22392ed60534 199
Helvis 7:22392ed60534 200 }else if (route[r] == RIGHT) {
Helvis 7:22392ed60534 201
Helvis 7:22392ed60534 202 route[r] = LEFT;
Helvis 7:22392ed60534 203 }
Helvis 7:22392ed60534 204
Helvis 7:22392ed60534 205 motion.runTask(route[r]);
Helvis 7:22392ed60534 206 route[r] = 0;
Helvis 7:22392ed60534 207 r--;
Helvis 7:22392ed60534 208 }
Helvis 1:2b5f79285a3e 209 }else{
Helvis 1:2b5f79285a3e 210
Helvis 1:2b5f79285a3e 211 route[r] = LEFT;
Helvis 4:932eb2d29206 212 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 1:2b5f79285a3e 213 r++;
Helvis 1:2b5f79285a3e 214 route[r] = MOVE;
Helvis 4:932eb2d29206 215 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 1:2b5f79285a3e 216 r++;
Helvis 1:2b5f79285a3e 217
Helvis 4:932eb2d29206 218
Helvis 1:2b5f79285a3e 219 motion.rotateL();
Helvis 1:2b5f79285a3e 220 motion.scanMove();
Helvis 1:2b5f79285a3e 221 motion.stop();
Helvis 1:2b5f79285a3e 222 }
Helvis 1:2b5f79285a3e 223 //No wall center
Helvis 1:2b5f79285a3e 224 }else if (cWall == 0) {
Helvis 0:8491169be8fc 225
Helvis 1:2b5f79285a3e 226 if (route[r] == LEFT) {
Helvis 1:2b5f79285a3e 227
Helvis 1:2b5f79285a3e 228 route[r] = RIGHT;
Helvis 4:932eb2d29206 229 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 1:2b5f79285a3e 230 r++;
Helvis 7:22392ed60534 231 route[r] = MOVE;
Helvis 4:932eb2d29206 232 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 7:22392ed60534 233 r++;
Helvis 0:8491169be8fc 234
Helvis 1:2b5f79285a3e 235 motion.scanMove();
Helvis 6:4868f789c223 236 motion.stop();
Helvis 1:2b5f79285a3e 237
Helvis 1:2b5f79285a3e 238 }else if (route[r] == MOVE) {
Helvis 1:2b5f79285a3e 239
Helvis 1:2b5f79285a3e 240 junction[j] = 0;
Helvis 4:932eb2d29206 241 //if (j > 0) {j--;}
Helvis 4:932eb2d29206 242 printf("Kreuzung %d Schritt %d geloscht\n", j, r);
Helvis 4:932eb2d29206 243 j--;
Helvis 7:22392ed60534 244 //reverseToJunction(junction[j], r, route);
Helvis 7:22392ed60534 245
Helvis 7:22392ed60534 246 while (junction[r] < r ) {
Helvis 7:22392ed60534 247
Helvis 7:22392ed60534 248 //invert rotation
Helvis 7:22392ed60534 249 if (route[r] == LEFT) {
Helvis 7:22392ed60534 250
Helvis 7:22392ed60534 251 route[r] = RIGHT;
Helvis 7:22392ed60534 252
Helvis 7:22392ed60534 253 }else if (route[r] == RIGHT) {
Helvis 7:22392ed60534 254
Helvis 7:22392ed60534 255 route[r] = LEFT;
Helvis 7:22392ed60534 256 }
Helvis 7:22392ed60534 257
Helvis 7:22392ed60534 258 motion.runTask(route[r]);
Helvis 7:22392ed60534 259 route[r] = 0;
Helvis 7:22392ed60534 260 r--;
Helvis 7:22392ed60534 261 }
Helvis 1:2b5f79285a3e 262
Helvis 1:2b5f79285a3e 263 }else{
Helvis 1:2b5f79285a3e 264
Helvis 1:2b5f79285a3e 265 route[r] = MOVE;
Helvis 4:932eb2d29206 266 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 1:2b5f79285a3e 267 r++;
Helvis 1:2b5f79285a3e 268
Helvis 1:2b5f79285a3e 269 motion.scanMove();
Helvis 1:2b5f79285a3e 270 }
Helvis 1:2b5f79285a3e 271 //No wall right
Helvis 1:2b5f79285a3e 272 }else if (rWall == 0) {
Helvis 1:2b5f79285a3e 273
Helvis 1:2b5f79285a3e 274 route[r] = RIGHT;
Helvis 4:932eb2d29206 275 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 1:2b5f79285a3e 276 r++;
Helvis 1:2b5f79285a3e 277 route[r] = MOVE;
Helvis 4:932eb2d29206 278 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 1:2b5f79285a3e 279 r++;
Helvis 1:2b5f79285a3e 280
Helvis 1:2b5f79285a3e 281 motion.rotateR();
Helvis 1:2b5f79285a3e 282 motion.scanMove();
Helvis 1:2b5f79285a3e 283 motion.stop();
Helvis 1:2b5f79285a3e 284
Helvis 1:2b5f79285a3e 285 //Dead end routine
Helvis 1:2b5f79285a3e 286 }else if ((lWall + cWall + rWall) == 3) {
Helvis 1:2b5f79285a3e 287
Helvis 1:2b5f79285a3e 288 motion.rotate180();
Helvis 4:932eb2d29206 289 printf("Sackgasse Schritt: %d\n", r);
Helvis 1:2b5f79285a3e 290 r--;
Helvis 1:2b5f79285a3e 291 //Return to last junction
Helvis 4:932eb2d29206 292 while (junction[j] <= r ) {
Helvis 1:2b5f79285a3e 293
Helvis 7:22392ed60534 294 if (junction[j] == r) {
Helvis 6:4868f789c223 295
Helvis 6:4868f789c223 296 switch (route[r]) {
Helvis 6:4868f789c223 297 case MOVE:
Helvis 6:4868f789c223 298 motion.runTask(route[r]);
Helvis 6:4868f789c223 299 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 6:4868f789c223 300 r--;
Helvis 6:4868f789c223 301 case LEFT:
Helvis 6:4868f789c223 302 r--;
Helvis 6:4868f789c223 303 break;
Helvis 6:4868f789c223 304 case RIGHT:
Helvis 6:4868f789c223 305 r--;
Helvis 6:4868f789c223 306 break;
Helvis 6:4868f789c223 307 }
Helvis 4:932eb2d29206 308
Helvis 4:932eb2d29206 309 }else{
Helvis 1:2b5f79285a3e 310 //invert rotation
Helvis 4:932eb2d29206 311 if (route[r] == LEFT) {
Helvis 4:932eb2d29206 312
Helvis 4:932eb2d29206 313 route[r] = RIGHT;
Helvis 4:932eb2d29206 314
Helvis 4:932eb2d29206 315 }else if (route[r] == RIGHT) {
Helvis 4:932eb2d29206 316
Helvis 4:932eb2d29206 317 route[r] = LEFT;
Helvis 6:4868f789c223 318 }
Helvis 6:4868f789c223 319 //Run tasks in declining order
Helvis 6:4868f789c223 320 motion.runTask(route[r]);
Helvis 6:4868f789c223 321 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
Helvis 6:4868f789c223 322 route[r] = 0;
Helvis 6:4868f789c223 323 r--;
Helvis 4:932eb2d29206 324 }
Helvis 1:2b5f79285a3e 325 }
Helvis 4:932eb2d29206 326 r++;
Helvis 0:8491169be8fc 327 }
Helvis 1:2b5f79285a3e 328
Helvis 1:2b5f79285a3e 329 if (motion.finish() == 1) {
Helvis 2:f898adf2d817 330
Helvis 2:f898adf2d817 331 /*while(r > 0) {
Helvis 2:f898adf2d817 332 //Zum Start zurückfahren
Helvis 2:f898adf2d817 333 if (route[r] == LEFT) {
Helvis 2:f898adf2d817 334
Helvis 2:f898adf2d817 335 route[r] = RIGHT;
Helvis 2:f898adf2d817 336
Helvis 2:f898adf2d817 337 }else if (route[r] == RIGHT) {
Helvis 2:f898adf2d817 338
Helvis 2:f898adf2d817 339 route[r] = LEFT;
Helvis 2:f898adf2d817 340 }
Helvis 2:f898adf2d817 341
Helvis 2:f898adf2d817 342 motion.runTask(route[r]);
Helvis 2:f898adf2d817 343 r--;
Helvis 7:22392ed60534 344 }
Helvis 7:22392ed60534 345
Helvis 7:22392ed60534 346 motion.runTask(route[r])
Helvis 7:22392ed60534 347 */
Helvis 2:f898adf2d817 348
Helvis 1:2b5f79285a3e 349 Ziel = 1;
Helvis 1:2b5f79285a3e 350 r = 0;
Helvis 1:2b5f79285a3e 351 start = 0;
Helvis 7:22392ed60534 352 controller.counterReset();
Helvis 1:2b5f79285a3e 353 }else{
Helvis 1:2b5f79285a3e 354 Ziel = 0;
Helvis 0:8491169be8fc 355 }
Helvis 0:8491169be8fc 356
Helvis 0:8491169be8fc 357
Helvis 1:2b5f79285a3e 358 }
Helvis 0:8491169be8fc 359
Helvis 1:2b5f79285a3e 360 /**
Helvis 1:2b5f79285a3e 361 *
Helvis 1:2b5f79285a3e 362 * Speed run
Helvis 1:2b5f79285a3e 363 *
Helvis 1:2b5f79285a3e 364 */
Helvis 1:2b5f79285a3e 365
Helvis 1:2b5f79285a3e 366 while ( start == 1 && Ziel == 1 ) {
Helvis 0:8491169be8fc 367
Helvis 2:f898adf2d817 368 /*if (route[r] == route[r+1] && route[r] == route[r+2]) {
Helvis 1:2b5f79285a3e 369 //Auf längere Strecke schneller fahren
Helvis 1:2b5f79285a3e 370 route[r+1] = SPEED;
Helvis 2:f898adf2d817 371 }*/
Helvis 7:22392ed60534 372
Helvis 7:22392ed60534 373 float distanceL = irSensorL.readL();
Helvis 7:22392ed60534 374 float distanceC = irSensorC.readC();
Helvis 7:22392ed60534 375 float distanceR = irSensorR.readR();
Helvis 7:22392ed60534 376
Helvis 1:2b5f79285a3e 377 motion.runTask(route[r]);
Helvis 1:2b5f79285a3e 378 r++;
Helvis 0:8491169be8fc 379
Helvis 1:2b5f79285a3e 380 if (route[r] == 0) {
Helvis 1:2b5f79285a3e 381 //Weg fertig
Helvis 4:932eb2d29206 382 motion.stop();
Helvis 1:2b5f79285a3e 383 start = 0;
Helvis 1:2b5f79285a3e 384 }
Helvis 0:8491169be8fc 385 }
Helvis 0:8491169be8fc 386
Helvis 1:2b5f79285a3e 387
Helvis 1:2b5f79285a3e 388
Helvis 1:2b5f79285a3e 389
Helvis 0:8491169be8fc 390 }
Helvis 0:8491169be8fc 391 }
Helvis 0:8491169be8fc 392
Helvis 0:8491169be8fc 393
Helvis 0:8491169be8fc 394
Helvis 0:8491169be8fc 395