Nurbol Nurdaulet
/
2sensors_2servo_17_11_11
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main.cpp@0:d33360d14a57, 2011-11-17 (annotated)
- Committer:
- Nurbol
- Date:
- Thu Nov 17 17:03:22 2011 +0000
- Revision:
- 0:d33360d14a57
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nurbol | 0:d33360d14a57 | 1 | // |
| Nurbol | 0:d33360d14a57 | 2 | // COM_test : program to communicate via a COM port to a PC/laptop |
| Nurbol | 0:d33360d14a57 | 3 | // ======== |
| Nurbol | 0:d33360d14a57 | 4 | // |
| Nurbol | 0:d33360d14a57 | 5 | // Description |
| Nurbol | 0:d33360d14a57 | 6 | // Program to receive ASCII format commands through a virtual COM port and |
| Nurbol | 0:d33360d14a57 | 7 | // after executing the command return some data (optional, depending on |
| Nurbol | 0:d33360d14a57 | 8 | // the command) and a status value. |
| Nurbol | 0:d33360d14a57 | 9 | // The program understands two possible commands : |
| Nurbol | 0:d33360d14a57 | 10 | // "s i j" : move servo 'i (0 to 5) to postion 'j' (0 to 90) |
| Nurbol | 0:d33360d14a57 | 11 | // "r" : read the 'i' parameter of the last "s" command |
| Nurbol | 0:d33360d14a57 | 12 | // |
| Nurbol | 0:d33360d14a57 | 13 | // Version : 1.0 |
| Nurbol | 0:d33360d14a57 | 14 | // Author : Jim Herd |
| Nurbol | 0:d33360d14a57 | 15 | // Date : 5th Oct 2011 |
| Nurbol | 0:d33360d14a57 | 16 | // |
| Nurbol | 0:d33360d14a57 | 17 | #include "mbed.h" |
| Nurbol | 0:d33360d14a57 | 18 | #include "MCP23017.h" |
| Nurbol | 0:d33360d14a57 | 19 | #include "WattBob_TextLCD.h" |
| Nurbol | 0:d33360d14a57 | 20 | #include "cmd_io.h" |
| Nurbol | 0:d33360d14a57 | 21 | #include "globals.h" |
| Nurbol | 0:d33360d14a57 | 22 | |
| Nurbol | 0:d33360d14a57 | 23 | |
| Nurbol | 0:d33360d14a57 | 24 | |
| Nurbol | 0:d33360d14a57 | 25 | Ticker timer1p; |
| Nurbol | 0:d33360d14a57 | 26 | Ticker timer2p; |
| Nurbol | 0:d33360d14a57 | 27 | Ticker timercounter1p; |
| Nurbol | 0:d33360d14a57 | 28 | Ticker timercounter2p; |
| Nurbol | 0:d33360d14a57 | 29 | |
| Nurbol | 0:d33360d14a57 | 30 | |
| Nurbol | 0:d33360d14a57 | 31 | AnalogIn sensor1(p15); |
| Nurbol | 0:d33360d14a57 | 32 | AnalogIn sensor2(p16); |
| Nurbol | 0:d33360d14a57 | 33 | AnalogOut valueLED1(p18); |
| Nurbol | 0:d33360d14a57 | 34 | DigitalOut valueLED2(p25); |
| Nurbol | 0:d33360d14a57 | 35 | |
| Nurbol | 0:d33360d14a57 | 36 | |
| Nurbol | 0:d33360d14a57 | 37 | DigitalOut led1(LED1); |
| Nurbol | 0:d33360d14a57 | 38 | DigitalOut led2(LED2); |
| Nurbol | 0:d33360d14a57 | 39 | DigitalOut led3(LED3); |
| Nurbol | 0:d33360d14a57 | 40 | DigitalOut led4(LED4); |
| Nurbol | 0:d33360d14a57 | 41 | |
| Nurbol | 0:d33360d14a57 | 42 | DigitalOut clk(p24); |
| Nurbol | 0:d33360d14a57 | 43 | |
| Nurbol | 0:d33360d14a57 | 44 | AnalogIn counter1p(p19); |
| Nurbol | 0:d33360d14a57 | 45 | AnalogIn counter2p(p20); |
| Nurbol | 0:d33360d14a57 | 46 | |
| Nurbol | 0:d33360d14a57 | 47 | |
| Nurbol | 0:d33360d14a57 | 48 | //****************************************************************************** |
| Nurbol | 0:d33360d14a57 | 49 | // declare functions |
| Nurbol | 0:d33360d14a57 | 50 | // |
| Nurbol | 0:d33360d14a57 | 51 | void sensor1p (void); |
| Nurbol | 0:d33360d14a57 | 52 | void sensor2p (void); |
| Nurbol | 0:d33360d14a57 | 53 | void counter1 (void); |
| Nurbol | 0:d33360d14a57 | 54 | void counter2 (void); |
| Nurbol | 0:d33360d14a57 | 55 | |
| Nurbol | 0:d33360d14a57 | 56 | // |
| Nurbol | 0:d33360d14a57 | 57 | // |
| Nurbol | 0:d33360d14a57 | 58 | // 2. five servo outputs |
| Nurbol | 0:d33360d14a57 | 59 | // |
| Nurbol | 0:d33360d14a57 | 60 | |
| Nurbol | 0:d33360d14a57 | 61 | PwmOut servo_0(p26); |
| Nurbol | 0:d33360d14a57 | 62 | //PwmOut servo_1(p25); |
| Nurbol | 0:d33360d14a57 | 63 | //PwmOut servo_2(p24); |
| Nurbol | 0:d33360d14a57 | 64 | //PwmOut servo_3(p23); |
| Nurbol | 0:d33360d14a57 | 65 | PwmOut servo_4(p22); |
| Nurbol | 0:d33360d14a57 | 66 | //PwmOut servo_5(p21); |
| Nurbol | 0:d33360d14a57 | 67 | |
| Nurbol | 0:d33360d14a57 | 68 | // |
| Nurbol | 0:d33360d14a57 | 69 | // 3. objects necessary to use the 2*16 character MBED display |
| Nurbol | 0:d33360d14a57 | 70 | // |
| Nurbol | 0:d33360d14a57 | 71 | MCP23017 *par_port; |
| Nurbol | 0:d33360d14a57 | 72 | WattBob_TextLCD *lcd; |
| Nurbol | 0:d33360d14a57 | 73 | // |
| Nurbol | 0:d33360d14a57 | 74 | // 4. Virtual COM port over USB link to laptop/PC |
| Nurbol | 0:d33360d14a57 | 75 | // |
| Nurbol | 0:d33360d14a57 | 76 | Serial pc(USBTX, USBRX); |
| Nurbol | 0:d33360d14a57 | 77 | |
| Nurbol | 0:d33360d14a57 | 78 | //****************************************************************************** |
| Nurbol | 0:d33360d14a57 | 79 | // Defined GLOBAL variables and structures |
| Nurbol | 0:d33360d14a57 | 80 | // |
| Nurbol | 0:d33360d14a57 | 81 | CMD_STRUCT ext_cmd; // structure to hold command data |
| Nurbol | 0:d33360d14a57 | 82 | STAT_STRUCT ext_stat; // structure to hold status reply |
| Nurbol | 0:d33360d14a57 | 83 | |
| Nurbol | 0:d33360d14a57 | 84 | uint32_t last_servo; // store for last servo number |
| Nurbol | 0:d33360d14a57 | 85 | |
| Nurbol | 0:d33360d14a57 | 86 | //************************************************************************ |
| Nurbol | 0:d33360d14a57 | 87 | //************************************************************************ |
| Nurbol | 0:d33360d14a57 | 88 | // init_sys : initialise the system |
| Nurbol | 0:d33360d14a57 | 89 | // ======== |
| Nurbol | 0:d33360d14a57 | 90 | // |
| Nurbol | 0:d33360d14a57 | 91 | // 1. Configure 2*16 character display |
| Nurbol | 0:d33360d14a57 | 92 | // 2. Print "COM test" string |
| Nurbol | 0:d33360d14a57 | 93 | // 3. initialise relevant global variables |
| Nurbol | 0:d33360d14a57 | 94 | // 4. set COM port baud rate to 19200 bits per second |
| Nurbol | 0:d33360d14a57 | 95 | // |
| Nurbol | 0:d33360d14a57 | 96 | void init_sys(void) { |
| Nurbol | 0:d33360d14a57 | 97 | |
| Nurbol | 0:d33360d14a57 | 98 | par_port = new MCP23017(p9, p10, 0x40); |
| Nurbol | 0:d33360d14a57 | 99 | lcd = new WattBob_TextLCD(par_port); |
| Nurbol | 0:d33360d14a57 | 100 | |
| Nurbol | 0:d33360d14a57 | 101 | par_port->write_bit(1,BL_BIT); // turn LCD backlight ON |
| Nurbol | 0:d33360d14a57 | 102 | lcd->cls(); |
| Nurbol | 0:d33360d14a57 | 103 | lcd->locate(0,0); |
| Nurbol | 0:d33360d14a57 | 104 | lcd->printf("COM "); |
| Nurbol | 0:d33360d14a57 | 105 | |
| Nurbol | 0:d33360d14a57 | 106 | servo_0.period(0.020); // servo requires a 20ms period, common for all 5 servo objects |
| Nurbol | 0:d33360d14a57 | 107 | last_servo = SERVO_UNKNOWN; |
| Nurbol | 0:d33360d14a57 | 108 | pc.baud(19200); |
| Nurbol | 0:d33360d14a57 | 109 | |
| Nurbol | 0:d33360d14a57 | 110 | return; |
| Nurbol | 0:d33360d14a57 | 111 | } // end init_sys |
| Nurbol | 0:d33360d14a57 | 112 | |
| Nurbol | 0:d33360d14a57 | 113 | //************************************************************************ |
| Nurbol | 0:d33360d14a57 | 114 | // process_cmd : decode and execute command |
| Nurbol | 0:d33360d14a57 | 115 | // =========== |
| Nurbol | 0:d33360d14a57 | 116 | uint32_t process_cmd(CMD_STRUCT *command) |
| Nurbol | 0:d33360d14a57 | 117 | { |
| Nurbol | 0:d33360d14a57 | 118 | int32_t pulse_width; |
| Nurbol | 0:d33360d14a57 | 119 | |
| Nurbol | 0:d33360d14a57 | 120 | switch (command->cmd_code) { |
| Nurbol | 0:d33360d14a57 | 121 | // |
| Nurbol | 0:d33360d14a57 | 122 | // move a servo |
| Nurbol | 0:d33360d14a57 | 123 | // |
| Nurbol | 0:d33360d14a57 | 124 | case SERVO_CMD : |
| Nurbol | 0:d33360d14a57 | 125 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:d33360d14a57 | 126 | // |
| Nurbol | 0:d33360d14a57 | 127 | // check that parameters are OK |
| Nurbol | 0:d33360d14a57 | 128 | // |
| Nurbol | 0:d33360d14a57 | 129 | if (command->nos_params != 2) { // check for 2 parameters |
| Nurbol | 0:d33360d14a57 | 130 | command->result_status = CMD_BAD_NUMBER_OF_PARAMETERS; |
| Nurbol | 0:d33360d14a57 | 131 | break; |
| Nurbol | 0:d33360d14a57 | 132 | } |
| Nurbol | 0:d33360d14a57 | 133 | if (command->param[0] > MAX_SERVO_NUMBER ) { // check servo number |
| Nurbol | 0:d33360d14a57 | 134 | command->result_status = CMD_BAD_SERVO_NUMBER; |
| Nurbol | 0:d33360d14a57 | 135 | break; |
| Nurbol | 0:d33360d14a57 | 136 | } |
| Nurbol | 0:d33360d14a57 | 137 | if ((command->param[1] < MIN_SERVO_ANGLE) || |
| Nurbol | 0:d33360d14a57 | 138 | (command->param[1] > MAX_SERVO_ANGLE) ) { |
| Nurbol | 0:d33360d14a57 | 139 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:d33360d14a57 | 140 | break; |
| Nurbol | 0:d33360d14a57 | 141 | } |
| Nurbol | 0:d33360d14a57 | 142 | if ((command->param[0] == 4) && (command->param[1] == 0)) { |
| Nurbol | 0:d33360d14a57 | 143 | pulse_width = 0; // convert angle to pulse width |
| Nurbol | 0:d33360d14a57 | 144 | } |
| Nurbol | 0:d33360d14a57 | 145 | else{ |
| Nurbol | 0:d33360d14a57 | 146 | pulse_width = 1000 + (command->param[1] * 1000) / MAX_SERVO_ANGLE; // convert angle to pulse width |
| Nurbol | 0:d33360d14a57 | 147 | } |
| Nurbol | 0:d33360d14a57 | 148 | |
| Nurbol | 0:d33360d14a57 | 149 | |
| Nurbol | 0:d33360d14a57 | 150 | |
| Nurbol | 0:d33360d14a57 | 151 | // |
| Nurbol | 0:d33360d14a57 | 152 | // implement servo move to all 5 servos |
| Nurbol | 0:d33360d14a57 | 153 | // |
| Nurbol | 0:d33360d14a57 | 154 | switch (command->param[0]) { |
| Nurbol | 0:d33360d14a57 | 155 | case 0 : servo_0.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:d33360d14a57 | 156 | // case 1 : servo_1.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:d33360d14a57 | 157 | // case 2 : servo_2.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:d33360d14a57 | 158 | // case 3 : servo_3.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:d33360d14a57 | 159 | case 4 : servo_4.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:d33360d14a57 | 160 | // case 5 : servo_5.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:d33360d14a57 | 161 | |
| Nurbol | 0:d33360d14a57 | 162 | } |
| Nurbol | 0:d33360d14a57 | 163 | last_servo = command->param[0]; |
| Nurbol | 0:d33360d14a57 | 164 | break; |
| Nurbol | 0:d33360d14a57 | 165 | // |
| Nurbol | 0:d33360d14a57 | 166 | // return last servo number |
| Nurbol | 0:d33360d14a57 | 167 | // |
| Nurbol | 0:d33360d14a57 | 168 | case READ_CMD : |
| Nurbol | 0:d33360d14a57 | 169 | command->nos_data = 1; // no data to be returned |
| Nurbol | 0:d33360d14a57 | 170 | command->result_data[0] = valueLED1; |
| Nurbol | 0:d33360d14a57 | 171 | command->result_data[1] = valueLED2; |
| Nurbol | 0:d33360d14a57 | 172 | break; |
| Nurbol | 0:d33360d14a57 | 173 | // |
| Nurbol | 0:d33360d14a57 | 174 | // catch any problems |
| Nurbol | 0:d33360d14a57 | 175 | // |
| Nurbol | 0:d33360d14a57 | 176 | default: |
| Nurbol | 0:d33360d14a57 | 177 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:d33360d14a57 | 178 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:d33360d14a57 | 179 | break; |
| Nurbol | 0:d33360d14a57 | 180 | } |
| Nurbol | 0:d33360d14a57 | 181 | return OK; |
| Nurbol | 0:d33360d14a57 | 182 | } |
| Nurbol | 0:d33360d14a57 | 183 | |
| Nurbol | 0:d33360d14a57 | 184 | //************************************************************************ |
| Nurbol | 0:d33360d14a57 | 185 | |
| Nurbol | 0:d33360d14a57 | 186 | //function |
| Nurbol | 0:d33360d14a57 | 187 | void sensor1p (void){ |
| Nurbol | 0:d33360d14a57 | 188 | |
| Nurbol | 0:d33360d14a57 | 189 | |
| Nurbol | 0:d33360d14a57 | 190 | clk = !clk; |
| Nurbol | 0:d33360d14a57 | 191 | wait(0.01); |
| Nurbol | 0:d33360d14a57 | 192 | sensor1.read(); |
| Nurbol | 0:d33360d14a57 | 193 | if(sensor1 > 0.5) { |
| Nurbol | 0:d33360d14a57 | 194 | led1 = 1; |
| Nurbol | 0:d33360d14a57 | 195 | valueLED1 = 1; |
| Nurbol | 0:d33360d14a57 | 196 | } |
| Nurbol | 0:d33360d14a57 | 197 | else if(sensor1 < 0.5){ |
| Nurbol | 0:d33360d14a57 | 198 | led1 = 0; |
| Nurbol | 0:d33360d14a57 | 199 | valueLED1 = 0; |
| Nurbol | 0:d33360d14a57 | 200 | } |
| Nurbol | 0:d33360d14a57 | 201 | } |
| Nurbol | 0:d33360d14a57 | 202 | |
| Nurbol | 0:d33360d14a57 | 203 | |
| Nurbol | 0:d33360d14a57 | 204 | void sensor2p (){ |
| Nurbol | 0:d33360d14a57 | 205 | |
| Nurbol | 0:d33360d14a57 | 206 | sensor2.read(); |
| Nurbol | 0:d33360d14a57 | 207 | if(sensor2 > 0.5) { |
| Nurbol | 0:d33360d14a57 | 208 | led2 = 1; |
| Nurbol | 0:d33360d14a57 | 209 | valueLED2 = 1; |
| Nurbol | 0:d33360d14a57 | 210 | } |
| Nurbol | 0:d33360d14a57 | 211 | else if(sensor2 < 0.5){ |
| Nurbol | 0:d33360d14a57 | 212 | led2 = 0; |
| Nurbol | 0:d33360d14a57 | 213 | valueLED2 = 0; |
| Nurbol | 0:d33360d14a57 | 214 | } |
| Nurbol | 0:d33360d14a57 | 215 | } |
| Nurbol | 0:d33360d14a57 | 216 | |
| Nurbol | 0:d33360d14a57 | 217 | void counter1 (){ |
| Nurbol | 0:d33360d14a57 | 218 | if(counter1p > 0.5){ |
| Nurbol | 0:d33360d14a57 | 219 | led3 = 1; |
| Nurbol | 0:d33360d14a57 | 220 | } |
| Nurbol | 0:d33360d14a57 | 221 | else{ |
| Nurbol | 0:d33360d14a57 | 222 | led3 = 0; |
| Nurbol | 0:d33360d14a57 | 223 | } |
| Nurbol | 0:d33360d14a57 | 224 | } |
| Nurbol | 0:d33360d14a57 | 225 | |
| Nurbol | 0:d33360d14a57 | 226 | void counter2(){ |
| Nurbol | 0:d33360d14a57 | 227 | if(counter2p > 0.5){ |
| Nurbol | 0:d33360d14a57 | 228 | led4 = 1; |
| Nurbol | 0:d33360d14a57 | 229 | process_cmd(&ext_cmd); |
| Nurbol | 0:d33360d14a57 | 230 | } |
| Nurbol | 0:d33360d14a57 | 231 | else{ |
| Nurbol | 0:d33360d14a57 | 232 | led4 = 0; |
| Nurbol | 0:d33360d14a57 | 233 | } |
| Nurbol | 0:d33360d14a57 | 234 | } |
| Nurbol | 0:d33360d14a57 | 235 | |
| Nurbol | 0:d33360d14a57 | 236 | |
| Nurbol | 0:d33360d14a57 | 237 | |
| Nurbol | 0:d33360d14a57 | 238 | |
| Nurbol | 0:d33360d14a57 | 239 | //************************************************************************ |
| Nurbol | 0:d33360d14a57 | 240 | // |
| Nurbol | 0:d33360d14a57 | 241 | int main() { |
| Nurbol | 0:d33360d14a57 | 242 | |
| Nurbol | 0:d33360d14a57 | 243 | valueLED1=0; |
| Nurbol | 0:d33360d14a57 | 244 | valueLED2=0; |
| Nurbol | 0:d33360d14a57 | 245 | clk=0; |
| Nurbol | 0:d33360d14a57 | 246 | init_sys(); |
| Nurbol | 0:d33360d14a57 | 247 | |
| Nurbol | 0:d33360d14a57 | 248 | |
| Nurbol | 0:d33360d14a57 | 249 | |
| Nurbol | 0:d33360d14a57 | 250 | |
| Nurbol | 0:d33360d14a57 | 251 | |
| Nurbol | 0:d33360d14a57 | 252 | FOREVER { |
| Nurbol | 0:d33360d14a57 | 253 | |
| Nurbol | 0:d33360d14a57 | 254 | timer2p.attach(&sensor2p, 0.1); |
| Nurbol | 0:d33360d14a57 | 255 | timer1p.attach(&sensor1p, 0.1); |
| Nurbol | 0:d33360d14a57 | 256 | |
| Nurbol | 0:d33360d14a57 | 257 | |
| Nurbol | 0:d33360d14a57 | 258 | clk = !clk; |
| Nurbol | 0:d33360d14a57 | 259 | wait(0.1); |
| Nurbol | 0:d33360d14a57 | 260 | |
| Nurbol | 0:d33360d14a57 | 261 | timercounter2p.attach(&counter2, 0.1); |
| Nurbol | 0:d33360d14a57 | 262 | timercounter1p.attach(&counter1, 0.1); |
| Nurbol | 0:d33360d14a57 | 263 | |
| Nurbol | 0:d33360d14a57 | 264 | |
| Nurbol | 0:d33360d14a57 | 265 | |
| Nurbol | 0:d33360d14a57 | 266 | |
| Nurbol | 0:d33360d14a57 | 267 | |
| Nurbol | 0:d33360d14a57 | 268 | |
| Nurbol | 0:d33360d14a57 | 269 | |
| Nurbol | 0:d33360d14a57 | 270 | get_cmd(&ext_cmd); |
| Nurbol | 0:d33360d14a57 | 271 | // |
| Nurbol | 0:d33360d14a57 | 272 | // Check status of read command activity and return an error status if there was a problem |
| Nurbol | 0:d33360d14a57 | 273 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:d33360d14a57 | 274 | // |
| Nurbol | 0:d33360d14a57 | 275 | if (ext_cmd.result_status != OK){ |
| Nurbol | 0:d33360d14a57 | 276 | send_status(ext_cmd.result_status); |
| Nurbol | 0:d33360d14a57 | 277 | continue; |
| Nurbol | 0:d33360d14a57 | 278 | } |
| Nurbol | 0:d33360d14a57 | 279 | // |
| Nurbol | 0:d33360d14a57 | 280 | // Parse command and return an error staus if there is a problem |
| Nurbol | 0:d33360d14a57 | 281 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:d33360d14a57 | 282 | // |
| Nurbol | 0:d33360d14a57 | 283 | parse_cmd(&ext_cmd); |
| Nurbol | 0:d33360d14a57 | 284 | lcd->locate(1,0); lcd->printf(ext_cmd.cmd_str); |
| Nurbol | 0:d33360d14a57 | 285 | if ((ext_cmd.result_status != OK) && (ext_cmd.cmd_code != TEXT_CMD)){ |
| Nurbol | 0:d33360d14a57 | 286 | lcd->locate(1,0); lcd->printf("parse : error"); |
| Nurbol | 0:d33360d14a57 | 287 | send_status(ext_cmd.result_status); |
| Nurbol | 0:d33360d14a57 | 288 | continue; |
| Nurbol | 0:d33360d14a57 | 289 | } |
| Nurbol | 0:d33360d14a57 | 290 | // |
| Nurbol | 0:d33360d14a57 | 291 | // Execute command and return an error staus if there is a problem |
| Nurbol | 0:d33360d14a57 | 292 | // |
| Nurbol | 0:d33360d14a57 | 293 | process_cmd(&ext_cmd); |
| Nurbol | 0:d33360d14a57 | 294 | reply_to_cmd(&ext_cmd); |
| Nurbol | 0:d33360d14a57 | 295 | |
| Nurbol | 0:d33360d14a57 | 296 | |
| Nurbol | 0:d33360d14a57 | 297 | |
| Nurbol | 0:d33360d14a57 | 298 | } |
| Nurbol | 0:d33360d14a57 | 299 | |
| Nurbol | 0:d33360d14a57 | 300 | } |
| Nurbol | 0:d33360d14a57 | 301 | |
| Nurbol | 0:d33360d14a57 | 302 | |
| Nurbol | 0:d33360d14a57 | 303 | |
| Nurbol | 0:d33360d14a57 | 304 | |
| Nurbol | 0:d33360d14a57 | 305 | |
| Nurbol | 0:d33360d14a57 | 306 | |
| Nurbol | 0:d33360d14a57 | 307 | |
| Nurbol | 0:d33360d14a57 | 308 | |
| Nurbol | 0:d33360d14a57 | 309 |