Ryan Vasquez / Mbed 2 deprecated GearboxFW

This is firmware for the smart gearbox! Features: Forward Reverse

Dependencies:   mbed

main.cpp@0:39bb015c8ac2, 2015-10-29 (annotated)

Committer:
rvasquez6089
Date:
Thu Oct 29 04:25:23 2015 +0000
Revision:
0:39bb015c8ac2
Child:
1:12e11042b2e9
REV 1.; Indicates battery life with flashes, spins in counter clockwise direction with 1.5A current limit.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rvasquez6089 0:39bb015c8ac2 1 #include "mbed.h"
rvasquez6089 0:39bb015c8ac2 2 PwmOut MOT_C(PA_9);
rvasquez6089 0:39bb015c8ac2 3 DigitalOut MOT_B(PA_8);
rvasquez6089 0:39bb015c8ac2 4 PwmOut MOT_D(PA_10);
rvasquez6089 0:39bb015c8ac2 5 DigitalOut MOT_A(PA_7);
rvasquez6089 0:39bb015c8ac2 6 InterruptIn event(USER_BUTTON);
rvasquez6089 0:39bb015c8ac2 7 DigitalOut Orange(PB_0);
rvasquez6089 0:39bb015c8ac2 8 DigitalOut myled(LED1);
rvasquez6089 0:39bb015c8ac2 9 Ticker Motor;
rvasquez6089 0:39bb015c8ac2 10 int go_to_sleep = 0;
rvasquez6089 0:39bb015c8ac2 11 DigitalOut CSENSE_EN(PC_9);
rvasquez6089 0:39bb015c8ac2 12 AnalogIn CSENSE(PC_0);
rvasquez6089 0:39bb015c8ac2 13 AnalogIn VBAT(PC_1);
rvasquez6089 0:39bb015c8ac2 14 DigitalOut SEL1(PA_11);
rvasquez6089 0:39bb015c8ac2 15 DigitalOut SEL2(PA_12);
rvasquez6089 0:39bb015c8ac2 16 void run_300();
rvasquez6089 0:39bb015c8ac2 17 Timeout go_sleep;
rvasquez6089 0:39bb015c8ac2 18
rvasquez6089 0:39bb015c8ac2 19
rvasquez6089 0:39bb015c8ac2 20 bool battery_status()
rvasquez6089 0:39bb015c8ac2 21 {
rvasquez6089 0:39bb015c8ac2 22 double battery_level = 0.0;
rvasquez6089 0:39bb015c8ac2 23 const int on = 50;
rvasquez6089 0:39bb015c8ac2 24 const int off = 100;
rvasquez6089 0:39bb015c8ac2 25 bool low_bat = 0;
rvasquez6089 0:39bb015c8ac2 26 for(int i = 0; i < 1000; i++)
rvasquez6089 0:39bb015c8ac2 27 {
rvasquez6089 0:39bb015c8ac2 28 battery_level = battery_level + VBAT.read();
rvasquez6089 0:39bb015c8ac2 29 }
rvasquez6089 0:39bb015c8ac2 30 battery_level = battery_level/1000.0;
rvasquez6089 0:39bb015c8ac2 31 battery_level = battery_level*3.3*2.0;
rvasquez6089 0:39bb015c8ac2 32 if(battery_level >= 3.825)
rvasquez6089 0:39bb015c8ac2 33 {
rvasquez6089 0:39bb015c8ac2 34 wait_ms(250);
rvasquez6089 0:39bb015c8ac2 35 Orange = 1;
rvasquez6089 0:39bb015c8ac2 36 wait_ms(on);
rvasquez6089 0:39bb015c8ac2 37 Orange = 0;
rvasquez6089 0:39bb015c8ac2 38 wait_ms(off);
rvasquez6089 0:39bb015c8ac2 39 Orange = 1;
rvasquez6089 0:39bb015c8ac2 40 wait_ms(on);
rvasquez6089 0:39bb015c8ac2 41 Orange = 0;
rvasquez6089 0:39bb015c8ac2 42 wait_ms(off);
rvasquez6089 0:39bb015c8ac2 43 Orange = 1;
rvasquez6089 0:39bb015c8ac2 44 wait_ms(on);
rvasquez6089 0:39bb015c8ac2 45 Orange = 0;
rvasquez6089 0:39bb015c8ac2 46 wait_ms(off);
rvasquez6089 0:39bb015c8ac2 47 Orange = 1;
rvasquez6089 0:39bb015c8ac2 48 wait_ms(on);
rvasquez6089 0:39bb015c8ac2 49 Orange = 0;
rvasquez6089 0:39bb015c8ac2 50 wait_ms(off);
rvasquez6089 0:39bb015c8ac2 51 low_bat = 0;
rvasquez6089 0:39bb015c8ac2 52 }
rvasquez6089 0:39bb015c8ac2 53 if(battery_level >= 3.45 && battery_level < 3.825)
rvasquez6089 0:39bb015c8ac2 54 {
rvasquez6089 0:39bb015c8ac2 55 wait_ms(250);
rvasquez6089 0:39bb015c8ac2 56 Orange = 1;
rvasquez6089 0:39bb015c8ac2 57 wait_ms(on);
rvasquez6089 0:39bb015c8ac2 58 Orange = 0;
rvasquez6089 0:39bb015c8ac2 59 wait_ms(off);
rvasquez6089 0:39bb015c8ac2 60 Orange = 1;
rvasquez6089 0:39bb015c8ac2 61 wait_ms(on);
rvasquez6089 0:39bb015c8ac2 62 Orange = 0;
rvasquez6089 0:39bb015c8ac2 63 wait_ms(off);
rvasquez6089 0:39bb015c8ac2 64 Orange = 1;
rvasquez6089 0:39bb015c8ac2 65 wait_ms(on);
rvasquez6089 0:39bb015c8ac2 66 Orange = 0;
rvasquez6089 0:39bb015c8ac2 67 wait_ms(off);
rvasquez6089 0:39bb015c8ac2 68 low_bat = 0;
rvasquez6089 0:39bb015c8ac2 69 }
rvasquez6089 0:39bb015c8ac2 70 if(battery_level >= 3.075 && battery_level < 3.45)
rvasquez6089 0:39bb015c8ac2 71 {
rvasquez6089 0:39bb015c8ac2 72 wait_ms(250);
rvasquez6089 0:39bb015c8ac2 73 Orange = 1;
rvasquez6089 0:39bb015c8ac2 74 wait_ms(on);
rvasquez6089 0:39bb015c8ac2 75 Orange = 0;
rvasquez6089 0:39bb015c8ac2 76 wait_ms(off);
rvasquez6089 0:39bb015c8ac2 77 Orange = 1;
rvasquez6089 0:39bb015c8ac2 78 wait_ms(on);
rvasquez6089 0:39bb015c8ac2 79 Orange = 0;
rvasquez6089 0:39bb015c8ac2 80 wait_ms(off);
rvasquez6089 0:39bb015c8ac2 81 low_bat = 0;
rvasquez6089 0:39bb015c8ac2 82 }
rvasquez6089 0:39bb015c8ac2 83 if(battery_level < 3.075 && battery_level >= 2.9)
rvasquez6089 0:39bb015c8ac2 84 {
rvasquez6089 0:39bb015c8ac2 85 wait_ms(250);
rvasquez6089 0:39bb015c8ac2 86 Orange = 1;
rvasquez6089 0:39bb015c8ac2 87 wait_ms(on);
rvasquez6089 0:39bb015c8ac2 88 Orange = 0;
rvasquez6089 0:39bb015c8ac2 89 wait_ms(off);
rvasquez6089 0:39bb015c8ac2 90 low_bat = 0;
rvasquez6089 0:39bb015c8ac2 91 }
rvasquez6089 0:39bb015c8ac2 92 if(battery_level < 2.9)
rvasquez6089 0:39bb015c8ac2 93 {
rvasquez6089 0:39bb015c8ac2 94 wait_ms(250);
rvasquez6089 0:39bb015c8ac2 95 Orange = 1;
rvasquez6089 0:39bb015c8ac2 96 wait_ms(75);
rvasquez6089 0:39bb015c8ac2 97 Orange = 0;
rvasquez6089 0:39bb015c8ac2 98 wait_ms(150);
rvasquez6089 0:39bb015c8ac2 99 low_bat = 1;
rvasquez6089 0:39bb015c8ac2 100 }
rvasquez6089 0:39bb015c8ac2 101 return low_bat;
rvasquez6089 0:39bb015c8ac2 102 }
rvasquez6089 0:39bb015c8ac2 103
rvasquez6089 0:39bb015c8ac2 104 void pressed()
rvasquez6089 0:39bb015c8ac2 105 {
rvasquez6089 0:39bb015c8ac2 106 printf("Button pressed\n");
rvasquez6089 0:39bb015c8ac2 107 //battery_status();
rvasquez6089 0:39bb015c8ac2 108 go_to_sleep = !go_to_sleep;
rvasquez6089 0:39bb015c8ac2 109 if(go_to_sleep == 1)
rvasquez6089 0:39bb015c8ac2 110 {
rvasquez6089 0:39bb015c8ac2 111 //battery_status();
rvasquez6089 0:39bb015c8ac2 112 go_sleep.detach();
rvasquez6089 0:39bb015c8ac2 113 //Orange = 0.0f;
rvasquez6089 0:39bb015c8ac2 114 }
rvasquez6089 0:39bb015c8ac2 115 if(go_to_sleep == 0)
rvasquez6089 0:39bb015c8ac2 116 {
rvasquez6089 0:39bb015c8ac2 117 if(!(battery_status()))
rvasquez6089 0:39bb015c8ac2 118 {
rvasquez6089 0:39bb015c8ac2 119 go_sleep.attach(&pressed, 10.0);
rvasquez6089 0:39bb015c8ac2 120 }
rvasquez6089 0:39bb015c8ac2 121 }
rvasquez6089 0:39bb015c8ac2 122 }
rvasquez6089 0:39bb015c8ac2 123
rvasquez6089 0:39bb015c8ac2 124 void run_300_F()
rvasquez6089 0:39bb015c8ac2 125 {
rvasquez6089 0:39bb015c8ac2 126
rvasquez6089 0:39bb015c8ac2 127 float current;
rvasquez6089 0:39bb015c8ac2 128 int output;
rvasquez6089 0:39bb015c8ac2 129 MOT_D = 0.0;
rvasquez6089 0:39bb015c8ac2 130 MOT_A = 0;
rvasquez6089 0:39bb015c8ac2 131 MOT_B = 1;
rvasquez6089 0:39bb015c8ac2 132 current = 0.0;
rvasquez6089 0:39bb015c8ac2 133 for(int i = 0; i < 10; i++)
rvasquez6089 0:39bb015c8ac2 134 {
rvasquez6089 0:39bb015c8ac2 135 current = current + CSENSE.read();
rvasquez6089 0:39bb015c8ac2 136 //wait_us(10);
rvasquez6089 0:39bb015c8ac2 137 }
rvasquez6089 0:39bb015c8ac2 138 current = current/10;
rvasquez6089 0:39bb015c8ac2 139 current = ((current*3.3f)/100.0f)/(0.015f);
rvasquez6089 0:39bb015c8ac2 140 current = current*1000.0f;
rvasquez6089 0:39bb015c8ac2 141 output = static_cast<int>(current);
rvasquez6089 0:39bb015c8ac2 142 //pc.printf("Motor Current = %d mA\r\n",output );
rvasquez6089 0:39bb015c8ac2 143
rvasquez6089 0:39bb015c8ac2 144 //wait(0.001);
rvasquez6089 0:39bb015c8ac2 145 if(output >= 300)
rvasquez6089 0:39bb015c8ac2 146 {
rvasquez6089 0:39bb015c8ac2 147 MOT_C = MOT_C - (0.01f*(((output-300)/1)));
rvasquez6089 0:39bb015c8ac2 148 }
rvasquez6089 0:39bb015c8ac2 149 if(output < 300)
rvasquez6089 0:39bb015c8ac2 150 {
rvasquez6089 0:39bb015c8ac2 151 MOT_C = 0.9f;
rvasquez6089 0:39bb015c8ac2 152 }
rvasquez6089 0:39bb015c8ac2 153 }
rvasquez6089 0:39bb015c8ac2 154
rvasquez6089 0:39bb015c8ac2 155 void run_1200_F()
rvasquez6089 0:39bb015c8ac2 156 {
rvasquez6089 0:39bb015c8ac2 157
rvasquez6089 0:39bb015c8ac2 158 float current;
rvasquez6089 0:39bb015c8ac2 159 int output;
rvasquez6089 0:39bb015c8ac2 160
rvasquez6089 0:39bb015c8ac2 161
rvasquez6089 0:39bb015c8ac2 162 MOT_D = 0.0;
rvasquez6089 0:39bb015c8ac2 163 MOT_A = 0;
rvasquez6089 0:39bb015c8ac2 164 MOT_B = 1;
rvasquez6089 0:39bb015c8ac2 165 current = 0.0;
rvasquez6089 0:39bb015c8ac2 166 for(int i = 0; i < 10; i++)
rvasquez6089 0:39bb015c8ac2 167 {
rvasquez6089 0:39bb015c8ac2 168 current = current + CSENSE.read();
rvasquez6089 0:39bb015c8ac2 169 //wait_us(10);
rvasquez6089 0:39bb015c8ac2 170 }
rvasquez6089 0:39bb015c8ac2 171 current = current/10;
rvasquez6089 0:39bb015c8ac2 172 current = ((current*3.3f)/100.0f)/(0.015f);
rvasquez6089 0:39bb015c8ac2 173 current = current*1000.0f;
rvasquez6089 0:39bb015c8ac2 174 output = static_cast<int>(current);
rvasquez6089 0:39bb015c8ac2 175 //pc.printf("Motor Current = %d mA\r\n",output );
rvasquez6089 0:39bb015c8ac2 176
rvasquez6089 0:39bb015c8ac2 177 //wait(0.001);
rvasquez6089 0:39bb015c8ac2 178 if(output >= 1200)
rvasquez6089 0:39bb015c8ac2 179 {
rvasquez6089 0:39bb015c8ac2 180 MOT_C = MOT_C - (0.01f*(((output-1200)/1)));
rvasquez6089 0:39bb015c8ac2 181 }
rvasquez6089 0:39bb015c8ac2 182 if(output < 1200)
rvasquez6089 0:39bb015c8ac2 183 {
rvasquez6089 0:39bb015c8ac2 184 MOT_C = 1.0f;
rvasquez6089 0:39bb015c8ac2 185 }
rvasquez6089 0:39bb015c8ac2 186 }
rvasquez6089 0:39bb015c8ac2 187
rvasquez6089 0:39bb015c8ac2 188 void run_1500_F()
rvasquez6089 0:39bb015c8ac2 189 {
rvasquez6089 0:39bb015c8ac2 190
rvasquez6089 0:39bb015c8ac2 191 float current;
rvasquez6089 0:39bb015c8ac2 192 int output;
rvasquez6089 0:39bb015c8ac2 193
rvasquez6089 0:39bb015c8ac2 194
rvasquez6089 0:39bb015c8ac2 195 MOT_D = 0.0;
rvasquez6089 0:39bb015c8ac2 196 MOT_A = 0;
rvasquez6089 0:39bb015c8ac2 197 MOT_B = 1;
rvasquez6089 0:39bb015c8ac2 198 current = 0.0;
rvasquez6089 0:39bb015c8ac2 199 for(int i = 0; i < 10; i++)
rvasquez6089 0:39bb015c8ac2 200 {
rvasquez6089 0:39bb015c8ac2 201 current = current + CSENSE.read();
rvasquez6089 0:39bb015c8ac2 202 //wait_us(10);
rvasquez6089 0:39bb015c8ac2 203 }
rvasquez6089 0:39bb015c8ac2 204 current = current/10;
rvasquez6089 0:39bb015c8ac2 205 current = ((current*3.3f)/100.0f)/(0.015f);
rvasquez6089 0:39bb015c8ac2 206 current = current*1000.0f;
rvasquez6089 0:39bb015c8ac2 207 output = static_cast<int>(current);
rvasquez6089 0:39bb015c8ac2 208 //pc.printf("Motor Current = %d mA\r\n",output );
rvasquez6089 0:39bb015c8ac2 209
rvasquez6089 0:39bb015c8ac2 210 //wait(0.001);
rvasquez6089 0:39bb015c8ac2 211 if(output >= 1500)
rvasquez6089 0:39bb015c8ac2 212 {
rvasquez6089 0:39bb015c8ac2 213 MOT_C = MOT_C - (0.01f*(((output-1500)/1)));
rvasquez6089 0:39bb015c8ac2 214 }
rvasquez6089 0:39bb015c8ac2 215 if(output < 1500)
rvasquez6089 0:39bb015c8ac2 216 {
rvasquez6089 0:39bb015c8ac2 217 MOT_C = 1.0f;
rvasquez6089 0:39bb015c8ac2 218 }
rvasquez6089 0:39bb015c8ac2 219 }
rvasquez6089 0:39bb015c8ac2 220
rvasquez6089 0:39bb015c8ac2 221
rvasquez6089 0:39bb015c8ac2 222 void run_300_R()
rvasquez6089 0:39bb015c8ac2 223 {
rvasquez6089 0:39bb015c8ac2 224
rvasquez6089 0:39bb015c8ac2 225 float current;
rvasquez6089 0:39bb015c8ac2 226 int output;
rvasquez6089 0:39bb015c8ac2 227 MOT_B = 0.0;
rvasquez6089 0:39bb015c8ac2 228 MOT_C = 0;
rvasquez6089 0:39bb015c8ac2 229 MOT_A = 1;
rvasquez6089 0:39bb015c8ac2 230 current = 0.0;
rvasquez6089 0:39bb015c8ac2 231 for(int i = 0; i < 10; i++)
rvasquez6089 0:39bb015c8ac2 232 {
rvasquez6089 0:39bb015c8ac2 233 current = current + CSENSE.read();
rvasquez6089 0:39bb015c8ac2 234 //wait_us(10);
rvasquez6089 0:39bb015c8ac2 235 }
rvasquez6089 0:39bb015c8ac2 236 current = current/10;
rvasquez6089 0:39bb015c8ac2 237 current = ((current*3.3f)/100.0f)/(0.015f);
rvasquez6089 0:39bb015c8ac2 238 current = current*1000.0f;
rvasquez6089 0:39bb015c8ac2 239 output = static_cast<int>(current);
rvasquez6089 0:39bb015c8ac2 240 //pc.printf("Motor Current = %d mA\r\n",output );
rvasquez6089 0:39bb015c8ac2 241
rvasquez6089 0:39bb015c8ac2 242 //wait(0.001);
rvasquez6089 0:39bb015c8ac2 243 if(output >= 300)
rvasquez6089 0:39bb015c8ac2 244 {
rvasquez6089 0:39bb015c8ac2 245 MOT_D = MOT_D - (0.01f*(((output-300)/1)));
rvasquez6089 0:39bb015c8ac2 246 }
rvasquez6089 0:39bb015c8ac2 247 if(output < 300)
rvasquez6089 0:39bb015c8ac2 248 {
rvasquez6089 0:39bb015c8ac2 249 MOT_D = 0.9f;
rvasquez6089 0:39bb015c8ac2 250 }
rvasquez6089 0:39bb015c8ac2 251 }
rvasquez6089 0:39bb015c8ac2 252
rvasquez6089 0:39bb015c8ac2 253 void run_1500_R()
rvasquez6089 0:39bb015c8ac2 254 {
rvasquez6089 0:39bb015c8ac2 255
rvasquez6089 0:39bb015c8ac2 256 float current;
rvasquez6089 0:39bb015c8ac2 257 int output;
rvasquez6089 0:39bb015c8ac2 258 MOT_B = 0.0;
rvasquez6089 0:39bb015c8ac2 259 MOT_C = 0;
rvasquez6089 0:39bb015c8ac2 260 MOT_A = 1;
rvasquez6089 0:39bb015c8ac2 261 current = 0.0;
rvasquez6089 0:39bb015c8ac2 262 for(int i = 0; i < 10; i++)
rvasquez6089 0:39bb015c8ac2 263 {
rvasquez6089 0:39bb015c8ac2 264 current = current + CSENSE.read();
rvasquez6089 0:39bb015c8ac2 265 //wait_us(10);
rvasquez6089 0:39bb015c8ac2 266 }
rvasquez6089 0:39bb015c8ac2 267 current = current/10;
rvasquez6089 0:39bb015c8ac2 268 current = ((current*3.3f)/100.0f)/(0.015f);
rvasquez6089 0:39bb015c8ac2 269 current = current*1000.0f;
rvasquez6089 0:39bb015c8ac2 270 output = static_cast<int>(current);
rvasquez6089 0:39bb015c8ac2 271 //pc.printf("Motor Current = %d mA\r\n",output );
rvasquez6089 0:39bb015c8ac2 272
rvasquez6089 0:39bb015c8ac2 273 //wait(0.001);
rvasquez6089 0:39bb015c8ac2 274 if(output >= 1500)
rvasquez6089 0:39bb015c8ac2 275 {
rvasquez6089 0:39bb015c8ac2 276 MOT_D = MOT_D - (0.01f*(((output-1500)/1)));
rvasquez6089 0:39bb015c8ac2 277 }
rvasquez6089 0:39bb015c8ac2 278 if(output < 1500)
rvasquez6089 0:39bb015c8ac2 279 {
rvasquez6089 0:39bb015c8ac2 280 MOT_D = 1.0f;
rvasquez6089 0:39bb015c8ac2 281 }
rvasquez6089 0:39bb015c8ac2 282 }
rvasquez6089 0:39bb015c8ac2 283
rvasquez6089 0:39bb015c8ac2 284
rvasquez6089 0:39bb015c8ac2 285 int main()
rvasquez6089 0:39bb015c8ac2 286 {
rvasquez6089 0:39bb015c8ac2 287 int i = 0;
rvasquez6089 0:39bb015c8ac2 288 MOT_A = 0;
rvasquez6089 0:39bb015c8ac2 289 MOT_B = 0;
rvasquez6089 0:39bb015c8ac2 290 MOT_C = 0.0f;
rvasquez6089 0:39bb015c8ac2 291 MOT_D = 0.0f;
rvasquez6089 0:39bb015c8ac2 292 //Orange = 0.0f;
rvasquez6089 0:39bb015c8ac2 293 event.fall(&pressed);
rvasquez6089 0:39bb015c8ac2 294 battery_status();
rvasquez6089 0:39bb015c8ac2 295 MOT_C.period(0.00005);
rvasquez6089 0:39bb015c8ac2 296 MOT_D.period(0.00005);
rvasquez6089 0:39bb015c8ac2 297 //Orange.period(0.005);
rvasquez6089 0:39bb015c8ac2 298 go_to_sleep = 1;
rvasquez6089 0:39bb015c8ac2 299 while (1) {
rvasquez6089 0:39bb015c8ac2 300 if (go_to_sleep) {
rvasquez6089 0:39bb015c8ac2 301
rvasquez6089 0:39bb015c8ac2 302 myled = 0;
rvasquez6089 0:39bb015c8ac2 303 //printf("%d: Entering sleep (press user button to resume)\n", i);
rvasquez6089 0:39bb015c8ac2 304 Motor.detach();
rvasquez6089 0:39bb015c8ac2 305 SEL1 = 0;
rvasquez6089 0:39bb015c8ac2 306 SEL2 = 0;
rvasquez6089 0:39bb015c8ac2 307 CSENSE_EN = 0;
rvasquez6089 0:39bb015c8ac2 308 Orange = 0;
rvasquez6089 0:39bb015c8ac2 309 MOT_D = 0.0f;
rvasquez6089 0:39bb015c8ac2 310 MOT_A = 0;
rvasquez6089 0:39bb015c8ac2 311 MOT_C = 0.0f;
rvasquez6089 0:39bb015c8ac2 312 MOT_B = 0;
rvasquez6089 0:39bb015c8ac2 313 //Orange = 0.0f;
rvasquez6089 0:39bb015c8ac2 314 sleep();
rvasquez6089 0:39bb015c8ac2 315 //deepsleep();
rvasquez6089 0:39bb015c8ac2 316 wait(0.1);
rvasquez6089 0:39bb015c8ac2 317 SEL1=1;
rvasquez6089 0:39bb015c8ac2 318 SEL2=1;
rvasquez6089 0:39bb015c8ac2 319 CSENSE_EN = 1;
rvasquez6089 0:39bb015c8ac2 320 } else {
rvasquez6089 0:39bb015c8ac2 321 //printf("%d: Running\n", i);
rvasquez6089 0:39bb015c8ac2 322 myled = 1;
rvasquez6089 0:39bb015c8ac2 323 Orange = 1;
rvasquez6089 0:39bb015c8ac2 324 run_1500_R();
rvasquez6089 0:39bb015c8ac2 325
rvasquez6089 0:39bb015c8ac2 326 }
rvasquez6089 0:39bb015c8ac2 327 i++;
rvasquez6089 0:39bb015c8ac2 328 }
rvasquez6089 0:39bb015c8ac2 329 }