taeyeob yeo / Mbed OS AB2lab5

Alphabot2-AR line tracking

Dependencies:   WS2812 RemoteIR Motor PixelArray Adafruit_GFX Ultrasonica

main.cpp@98:93fc1433590b, 2019-06-13 (annotated)

Committer:
taeyeobyeo
Date:
Thu Jun 13 04:53:54 2019 +0000
Revision:
98:93fc1433590b
Parent:
97:908593afa823 
dsf

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taeyeobyeo 97:908593afa823 1 #include "mbed.h"
taeyeobyeo 97:908593afa823 2
taeyeobyeo 97:908593afa823 3 #include "RemoteIR.h"
taeyeobyeo 97:908593afa823 4 #include "ReceiverIR.h"
taeyeobyeo 97:908593afa823 5
taeyeobyeo 97:908593afa823 6 #include "Ultrasonic.h"
taeyeobyeo 97:908593afa823 7
taeyeobyeo 97:908593afa823 8 #include "Motor.h"
taeyeobyeo 97:908593afa823 9
taeyeobyeo 97:908593afa823 10 #include "Adafruit_SSD1306.h"
taeyeobyeo 97:908593afa823 11 #include "Adafruit_GFX.h"
taeyeobyeo 97:908593afa823 12 #include "glcdfont.h"
taeyeobyeo 97:908593afa823 13 #define SSD1306_DISPLAYON 0xAF
taeyeobyeo 97:908593afa823 14
taeyeobyeo 97:908593afa823 15 #include "WS2812.h"
taeyeobyeo 97:908593afa823 16 #include "PixelArray.h"
taeyeobyeo 97:908593afa823 17
taeyeobyeo 97:908593afa823 18 #define WS2812_BUF 150
taeyeobyeo 97:908593afa823 19 #define NUM_COLORS 6
taeyeobyeo 97:908593afa823 20 #define NUM_LEDS_PER_COLOR 10
taeyeobyeo 97:908593afa823 21
taeyeobyeo 97:908593afa823 22 PixelArray px(WS2812_BUF);
taeyeobyeo 97:908593afa823 23 WS2812 ws(D7, WS2812_BUF, 0, 5, 5, 0);
taeyeobyeo 97:908593afa823 24
taeyeobyeo 97:908593afa823 25 void wsInit(){
taeyeobyeo 97:908593afa823 26 ws.useII(WS2812::PER_PIXEL);
taeyeobyeo 97:908593afa823 27 int colorbuf[NUM_COLORS] = {0x2f0000,0x2f2f00,0x002f00,0x002f2f
taeyeobyeo 97:908593afa823 28 ,0x00002f,0x2f002f
taeyeobyeo 97:908593afa823 29 };
taeyeobyeo 97:908593afa823 30 px.Set(1, 0xFFFFFF);
taeyeobyeo 97:908593afa823 31 px.SetI(1, 0xFFFFFF);
taeyeobyeo 97:908593afa823 32 }
taeyeobyeo 97:908593afa823 33
taeyeobyeo 97:908593afa823 34 Ultrasonic ultra(D3,D2);
taeyeobyeo 97:908593afa823 35 Ticker ticker;
taeyeobyeo 97:908593afa823 36
taeyeobyeo 97:908593afa823 37 SPI spi(D11, D12, D13);
taeyeobyeo 97:908593afa823 38 DigitalOut spi_cs(D10,1);
taeyeobyeo 97:908593afa823 39
taeyeobyeo 97:908593afa823 40 RawSerial pc(USBTX, USBRX, 115200);
taeyeobyeo 97:908593afa823 41
taeyeobyeo 97:908593afa823 42 Motor right(D5, A3 ,A2);
taeyeobyeo 97:908593afa823 43 Motor left(D6, A0 ,A1);
taeyeobyeo 97:908593afa823 44
taeyeobyeo 97:908593afa823 45 RemoteIR::Format format = RemoteIR::NEC;
taeyeobyeo 97:908593afa823 46 ReceiverIR irrecv(D4);
taeyeobyeo 97:908593afa823 47
taeyeobyeo 97:908593afa823 48 Timer timer;
taeyeobyeo 97:908593afa823 49
taeyeobyeo 97:908593afa823 50 I2C i2c(D14, D15);
taeyeobyeo 97:908593afa823 51 Adafruit_SSD1306_I2c oled(i2c, D9, 0x78, 64, 128);
taeyeobyeo 97:908593afa823 52
taeyeobyeo 97:908593afa823 53 uint8_t buf[8];
taeyeobyeo 97:908593afa823 54
taeyeobyeo 97:908593afa823 55 bool white = false, black = false;
taeyeobyeo 97:908593afa823 56
taeyeobyeo 97:908593afa823 57 int ir[5];
taeyeobyeo 97:908593afa823 58 int MINIR[5] = {1023,1023,1023,1023,1023};
taeyeobyeo 97:908593afa823 59 int MAXIR[5] = {0,0,0,0,0};
taeyeobyeo 97:908593afa823 60 int lastIR = 0;
taeyeobyeo 97:908593afa823 61
taeyeobyeo 97:908593afa823 62 bool run = false;
mbed_official 82:abf1b1785bd7 63
taeyeobyeo 97:908593afa823 64 void readLine(){
taeyeobyeo 97:908593afa823 65 int ch = 0;
taeyeobyeo 97:908593afa823 66 int value = 0;
taeyeobyeo 97:908593afa823 67 // pc.printf("\r\nSPI Value:\r\n");
taeyeobyeo 97:908593afa823 68 do{
taeyeobyeo 97:908593afa823 69 value = 0;
taeyeobyeo 97:908593afa823 70 spi_cs = 0;
taeyeobyeo 97:908593afa823 71 wait_us(2);
taeyeobyeo 97:908593afa823 72 value = spi.write(ch<<12);
taeyeobyeo 97:908593afa823 73 spi_cs = 1;
taeyeobyeo 97:908593afa823 74 wait_us(18);
taeyeobyeo 97:908593afa823 75 switch(ch){
taeyeobyeo 97:908593afa823 76 case 6:
taeyeobyeo 97:908593afa823 77 // pc.printf("ch %2d: %.2fmV\r\n",ch, (float)(value >> 6)*3.22580645); break;
taeyeobyeo 97:908593afa823 78 case 7: case 8: case 9: case 10: case 11:
taeyeobyeo 97:908593afa823 79 case 0: case 12: case 13: case 14: case 15: case 16: break;
taeyeobyeo 97:908593afa823 80 case 1: ir[0] = value >> 6;break;
taeyeobyeo 97:908593afa823 81 case 2: ir[1] = value >> 6;break;
taeyeobyeo 97:908593afa823 82 case 3: ir[2] = value >> 6;break;
taeyeobyeo 97:908593afa823 83 case 4: ir[3] = value >> 6;break;
taeyeobyeo 97:908593afa823 84 case 5: ir[4] = value >> 6;break;
taeyeobyeo 97:908593afa823 85 // default: pc.printf("ch %2d: %d\r\n",ch, value >> 6);
taeyeobyeo 97:908593afa823 86 }
taeyeobyeo 97:908593afa823 87 // if(ch == 6) pc.printf("ch %2d: %.2fmV\r\n",ch, (float)(value >> 6)*3.22580645);
taeyeobyeo 97:908593afa823 88 // else pc.printf("ch %2d: %d\r\n",ch, value >> 6);
taeyeobyeo 97:908593afa823 89 ch++;
taeyeobyeo 97:908593afa823 90 } while (ch < 6);
taeyeobyeo 97:908593afa823 91 }
Jonathan Austin 0:2757d7abb7d9 92
taeyeobyeo 97:908593afa823 93 void calibrate(){
taeyeobyeo 97:908593afa823 94 int vMAXIR[5] = {0,0,0,0,0}, vMINIR[5] = {0,0,0,0,0};
taeyeobyeo 97:908593afa823 95 for(int j =0; j< 10; j++){
taeyeobyeo 97:908593afa823 96 readLine();
taeyeobyeo 97:908593afa823 97 for(int i =0;i<5;i++){
taeyeobyeo 97:908593afa823 98 if(j==0 || vMAXIR[i] < ir[i]) vMAXIR[i] = ir[i];
taeyeobyeo 97:908593afa823 99 if(j==0 || vMINIR[i] > ir[i]) vMINIR[i] = ir[i];
taeyeobyeo 97:908593afa823 100 }
taeyeobyeo 97:908593afa823 101 }
taeyeobyeo 97:908593afa823 102 for (int i =0; i<5; i++){
taeyeobyeo 97:908593afa823 103 if(vMINIR[i] > MAXIR[i]) MAXIR[i] = vMINIR[i];
taeyeobyeo 97:908593afa823 104 if(vMAXIR[i] < MINIR[i]) MINIR[i] = vMAXIR[i];
taeyeobyeo 97:908593afa823 105 }
taeyeobyeo 97:908593afa823 106 }
Jonathan Austin 0:2757d7abb7d9 107
taeyeobyeo 97:908593afa823 108 void readCalibrated(){
taeyeobyeo 97:908593afa823 109 readLine();
taeyeobyeo 97:908593afa823 110 for(int i =0; i<5;i++){
taeyeobyeo 97:908593afa823 111 int calMINIR, calMAXIR;
taeyeobyeo 97:908593afa823 112 int denoMINIRator, x = 0;
taeyeobyeo 97:908593afa823 113 denoMINIRator = MAXIR[i] - MINIR[i];
taeyeobyeo 97:908593afa823 114 if(denoMINIRator != 0) x= (ir[i] - MINIR[i]) * 1000 /denoMINIRator;
taeyeobyeo 97:908593afa823 115 if(x<0) x= 0;
taeyeobyeo 97:908593afa823 116 else if ( x> 1000) x= 1000;
taeyeobyeo 97:908593afa823 117 ir[i] = x;
taeyeobyeo 97:908593afa823 118 }
taeyeobyeo 97:908593afa823 119 }
mbed_official 88:bea4f2daa48c 120
taeyeobyeo 97:908593afa823 121 int readPosition(bool white){
taeyeobyeo 97:908593afa823 122 bool on_line = false;
taeyeobyeo 97:908593afa823 123 int avg = 0, sum = 0;
taeyeobyeo 97:908593afa823 124 readCalibrated();
taeyeobyeo 97:908593afa823 125 for(int i =0;i<5;i++){
taeyeobyeo 97:908593afa823 126 int value = ir[i];
taeyeobyeo 97:908593afa823 127 if(!white){
taeyeobyeo 97:908593afa823 128 value = 1000 - value;
taeyeobyeo 97:908593afa823 129 ir[i] = value;
taeyeobyeo 97:908593afa823 130 }
taeyeobyeo 97:908593afa823 131 if(value > 300){
taeyeobyeo 97:908593afa823 132 on_line = true;
taeyeobyeo 97:908593afa823 133 }
taeyeobyeo 97:908593afa823 134 if(value > 50) {
taeyeobyeo 97:908593afa823 135 avg += value * (i*1000);
taeyeobyeo 97:908593afa823 136 sum += value;
taeyeobyeo 97:908593afa823 137 }
taeyeobyeo 97:908593afa823 138 }
taeyeobyeo 97:908593afa823 139 if(!on_line){
taeyeobyeo 97:908593afa823 140 if(lastIR < 4000/2){
taeyeobyeo 97:908593afa823 141 return 0;
taeyeobyeo 97:908593afa823 142 }
taeyeobyeo 97:908593afa823 143 else return 4000;
taeyeobyeo 97:908593afa823 144 }
taeyeobyeo 97:908593afa823 145 lastIR = avg/sum;
taeyeobyeo 97:908593afa823 146 return lastIR;
taeyeobyeo 97:908593afa823 147 }
taeyeobyeo 97:908593afa823 148
taeyeobyeo 97:908593afa823 149 void tick(){
taeyeobyeo 97:908593afa823 150 ultra.trig();
taeyeobyeo 97:908593afa823 151 // pc.printf("hello");
taeyeobyeo 97:908593afa823 152 }
taeyeobyeo 97:908593afa823 153
taeyeobyeo 97:908593afa823 154 int last_proportional = 0;
taeyeobyeo 97:908593afa823 155 int integral = 0;
taeyeobyeo 97:908593afa823 156 const int maximum = 255;
taeyeobyeo 97:908593afa823 157 const float maxspeed = 0.25;
taeyeobyeo 97:908593afa823 158 const float radiant = 0.6;
taeyeobyeo 97:908593afa823 159 float speed = 0.3;
taeyeobyeo 97:908593afa823 160 float rightvar = 0.013;
taeyeobyeo 97:908593afa823 161
taeyeobyeo 97:908593afa823 162 void printIR(){
taeyeobyeo 97:908593afa823 163 for (int i =0; i< 5; i++){
taeyeobyeo 97:908593afa823 164 pc.printf("%d: %d\r\n", i, ir[i]);
taeyeobyeo 97:908593afa823 165 }
taeyeobyeo 97:908593afa823 166 }
taeyeobyeo 97:908593afa823 167
taeyeobyeo 97:908593afa823 168
mbed_official 82:abf1b1785bd7 169 int main()
mbed_official 82:abf1b1785bd7 170 {
taeyeobyeo 97:908593afa823 171 spi.format(16,0);
taeyeobyeo 97:908593afa823 172 spi.frequency(2000000);
taeyeobyeo 97:908593afa823 173 i2c.frequency(100000);
taeyeobyeo 97:908593afa823 174 oled.begin(SSD1306_SWITCHCAPVCC);
taeyeobyeo 97:908593afa823 175 oled.clearDisplay();
taeyeobyeo 97:908593afa823 176 timer.start();
taeyeobyeo 97:908593afa823 177 oled.printf("Calibration start\r");
taeyeobyeo 97:908593afa823 178 oled.display();
taeyeobyeo 97:908593afa823 179 bool calibration = true;
taeyeobyeo 97:908593afa823 180 int start = 0, end = 0;
taeyeobyeo 97:908593afa823 181
taeyeobyeo 97:908593afa823 182 while(true){
taeyeobyeo 97:908593afa823 183 if(irrecv.getState() == ReceiverIR::Received
taeyeobyeo 97:908593afa823 184 && irrecv.getData(&format, buf, sizeof(buf)*8) != 0){
taeyeobyeo 97:908593afa823 185 switch(buf[3]){
taeyeobyeo 97:908593afa823 186 case 0xBA:
taeyeobyeo 97:908593afa823 187 break; //ch --
taeyeobyeo 97:908593afa823 188 case 0xB9: break; //ch
taeyeobyeo 97:908593afa823 189 case 0xBB:
taeyeobyeo 97:908593afa823 190 rightvar -= 0.05;
taeyeobyeo 97:908593afa823 191 if(rightvar < -2.0) rightvar = -2.0;
taeyeobyeo 97:908593afa823 192 break; //<<
taeyeobyeo 97:908593afa823 193 case 0xBF:
taeyeobyeo 97:908593afa823 194 rightvar += 0.05;
taeyeobyeo 97:908593afa823 195 if(rightvar > 2.0) rightvar = 2.0;
taeyeobyeo 97:908593afa823 196 break; //>>
taeyeobyeo 97:908593afa823 197 case 0xBC: calibration = false; break; //>||
taeyeobyeo 97:908593afa823 198 case 0xF8:
taeyeobyeo 97:908593afa823 199 speed -= 0.1;
taeyeobyeo 97:908593afa823 200 if( speed < -1.0) speed = -1.0;
taeyeobyeo 97:908593afa823 201 break; // -
taeyeobyeo 97:908593afa823 202 case 0xEA:
taeyeobyeo 97:908593afa823 203 speed += 0.1;
taeyeobyeo 97:908593afa823 204 if( speed >1.0) speed = 1.0;
taeyeobyeo 97:908593afa823 205 break; // +
taeyeobyeo 97:908593afa823 206 case 0xF6:
taeyeobyeo 97:908593afa823 207 //left.speed(0.2);
taeyeobyeo 97:908593afa823 208 // right.speed(-0.2);
taeyeobyeo 97:908593afa823 209 oled.clearDisplay();
taeyeobyeo 97:908593afa823 210 oled.printf("Calibrating\r");
taeyeobyeo 97:908593afa823 211 oled.display();
taeyeobyeo 97:908593afa823 212 for (int i =0; i< 100; i++)
taeyeobyeo 97:908593afa823 213 calibrate();
taeyeobyeo 97:908593afa823 214 oled.clearDisplay();
taeyeobyeo 97:908593afa823 215 oled.printf("Calibrated!!\r");
taeyeobyeo 97:908593afa823 216 oled.display();
taeyeobyeo 97:908593afa823 217 for(int i =0; i<5;i++){
taeyeobyeo 97:908593afa823 218 pc.printf("MIN: %d, MAX: %d\r\n", MINIR[i], MAXIR[i]);
taeyeobyeo 97:908593afa823 219 }
taeyeobyeo 97:908593afa823 220 // wait(0.7);
taeyeobyeo 97:908593afa823 221 // left.speed(0.0);
taeyeobyeo 97:908593afa823 222 // right.speed(0.0);
taeyeobyeo 97:908593afa823 223 // pc.printf("\r\ncalibrated\r\n");
taeyeobyeo 97:908593afa823 224 break; //EQ
taeyeobyeo 97:908593afa823 225 case 0xE6: break; //100+
taeyeobyeo 97:908593afa823 226 case 0xF2: break; //200+
taeyeobyeo 97:908593afa823 227 case 0xE9: break; //0
taeyeobyeo 97:908593afa823 228 case 0xF3: break; //1
taeyeobyeo 97:908593afa823 229 case 0xE7:
taeyeobyeo 97:908593afa823 230 left.speed(speed);
taeyeobyeo 97:908593afa823 231 right.speed(speed + rightvar);
taeyeobyeo 97:908593afa823 232 break; //2
taeyeobyeo 97:908593afa823 233 case 0xA1: break; //3
taeyeobyeo 97:908593afa823 234 case 0xF7:
taeyeobyeo 97:908593afa823 235 left.speed(speed/2);
taeyeobyeo 97:908593afa823 236 right.speed(speed + rightvar);
taeyeobyeo 97:908593afa823 237 break; //4
taeyeobyeo 97:908593afa823 238 case 0xE3:
taeyeobyeo 97:908593afa823 239 left.speed(0);
taeyeobyeo 97:908593afa823 240 right.speed(0);
taeyeobyeo 97:908593afa823 241 break; //5
taeyeobyeo 97:908593afa823 242 case 0xA5:
taeyeobyeo 97:908593afa823 243 left.speed(speed);
taeyeobyeo 97:908593afa823 244 right.speed(speed/2 + rightvar);
taeyeobyeo 97:908593afa823 245 break; //6
taeyeobyeo 97:908593afa823 246 case 0xBD: break; //7
taeyeobyeo 97:908593afa823 247 case 0xAD:
taeyeobyeo 97:908593afa823 248 left.speed(-speed);
taeyeobyeo 97:908593afa823 249 right.speed(-(speed + rightvar));
taeyeobyeo 97:908593afa823 250 break; //8
taeyeobyeo 97:908593afa823 251 case 0xB5: break; //9
taeyeobyeo 97:908593afa823 252 default:break;
taeyeobyeo 97:908593afa823 253 }
taeyeobyeo 97:908593afa823 254 }
taeyeobyeo 97:908593afa823 255 if(!calibration) break;
taeyeobyeo 97:908593afa823 256 }
taeyeobyeo 97:908593afa823 257 oled.clearDisplay();
taeyeobyeo 97:908593afa823 258 oled.printf("Start!\r");
taeyeobyeo 97:908593afa823 259 oled.display();
taeyeobyeo 97:908593afa823 260
taeyeobyeo 97:908593afa823 261 // ticker.attach(&tick, 1.0);
mbed_official 82:abf1b1785bd7 262
taeyeobyeo 97:908593afa823 263 start = timer.read_us();
taeyeobyeo 97:908593afa823 264 while (true) {
taeyeobyeo 97:908593afa823 265 ultra.trig();
taeyeobyeo 97:908593afa823 266 if(ultra.getStatus() == 1) {
taeyeobyeo 97:908593afa823 267 int distance = ultra.getDistance();
taeyeobyeo 97:908593afa823 268 if(distance >18 && distance <25){
taeyeobyeo 97:908593afa823 269 left.speed(-0.4);
taeyeobyeo 97:908593afa823 270 right.speed(0.4);
taeyeobyeo 97:908593afa823 271 wait(0.15);
taeyeobyeo 97:908593afa823 272 left.speed(0.0);
taeyeobyeo 97:908593afa823 273 right.speed(0.0);
taeyeobyeo 97:908593afa823 274 integral = 0;
taeyeobyeo 97:908593afa823 275 last_proportional = 0;
taeyeobyeo 97:908593afa823 276 }
taeyeobyeo 97:908593afa823 277 ultra.clearStatus();
taeyeobyeo 97:908593afa823 278 }
taeyeobyeo 97:908593afa823 279 int position = readPosition(false); //ir1, ir2, ir3, ir4, ir5에 값이 들어감
taeyeobyeo 97:908593afa823 280 int proportional = (int)position - 2000;
taeyeobyeo 97:908593afa823 281 int derivative = proportional - last_proportional;
taeyeobyeo 97:908593afa823 282 integral += proportional;
taeyeobyeo 97:908593afa823 283 last_proportional = proportional;
taeyeobyeo 97:908593afa823 284 int power_difference = proportional/20 + integral/10000 + derivative*10;
taeyeobyeo 97:908593afa823 285
taeyeobyeo 97:908593afa823 286 if (power_difference > maximum)
taeyeobyeo 97:908593afa823 287 power_difference = maximum;
taeyeobyeo 97:908593afa823 288 if (power_difference < -maximum)
taeyeobyeo 97:908593afa823 289 power_difference = -maximum;
taeyeobyeo 97:908593afa823 290 // pc.printf("position: %d proportion: %d last_proportional: %d pd: %d\r\n", position, proportional, last_proportional, power_difference);
taeyeobyeo 97:908593afa823 291 if (power_difference < 0)
taeyeobyeo 97:908593afa823 292 {
taeyeobyeo 97:908593afa823 293 left.speed((maxspeed + (float)power_difference / maximum * maxspeed));
taeyeobyeo 97:908593afa823 294 right.speed(maxspeed);
taeyeobyeo 97:908593afa823 295 // pc.printf("%f\r\n",maxspeed + (float)power_difference * maxspeed *radiant / maximum);
mbed_official 88:bea4f2daa48c 296 }
taeyeobyeo 97:908593afa823 297 else
taeyeobyeo 97:908593afa823 298 {
taeyeobyeo 97:908593afa823 299 left.speed(maxspeed);
taeyeobyeo 97:908593afa823 300 right.speed((maxspeed - (float)power_difference / maximum * maxspeed));
taeyeobyeo 97:908593afa823 301 // pc.printf("%f\r\n",maxspeed - (float)power_difference * maxspeed *radiant / maximum);
taeyeobyeo 97:908593afa823 302 }
taeyeobyeo 97:908593afa823 303
taeyeobyeo 97:908593afa823 304 if (ir[1] > 800 && ir[2] > 800 && ir[3] > 800)
taeyeobyeo 97:908593afa823 305 {
taeyeobyeo 97:908593afa823 306 left.speed(0.0);
taeyeobyeo 97:908593afa823 307 right.speed(0.0);
taeyeobyeo 97:908593afa823 308 end = timer.read_us();
taeyeobyeo 97:908593afa823 309 oled.clearDisplay();
taeyeobyeo 97:908593afa823 310 oled.printf("lap: %d ms\r", (end - start)/1000);
taeyeobyeo 97:908593afa823 311 oled.display();
taeyeobyeo 97:908593afa823 312 wsInit();
taeyeobyeo 97:908593afa823 313 ws.write_offsets(px.getBuf(),WS2812_BUF,WS2812_BUF,WS2812_BUF);
taeyeobyeo 97:908593afa823 314 // pc.printf("%d\r\n", end - start);
taeyeobyeo 97:908593afa823 315 wait(15.0);
taeyeobyeo 97:908593afa823 316 }
taeyeobyeo 97:908593afa823 317 wait(0.05);
taeyeobyeo 97:908593afa823 318 // left.speed(0.0);
taeyeobyeo 97:908593afa823 319 // right.speed(0.0);
taeyeobyeo 97:908593afa823 320 //// pc.printf("\r\n");
taeyeobyeo 97:908593afa823 321 //// printIR();
taeyeobyeo 97:908593afa823 322 // pc.printf("pd: %d\r\n",power_difference);
taeyeobyeo 97:908593afa823 323 // pc.printf("p: %d\r\n",last_proportional/20);
taeyeobyeo 97:908593afa823 324 // pc.printf("p: %d\r\n",proportional/20);
taeyeobyeo 97:908593afa823 325 // pc.printf("i: %d\r\n",integral/10000);
taeyeobyeo 97:908593afa823 326 // pc.printf("d: %d\r\n",derivative/20);
taeyeobyeo 97:908593afa823 327 // pc.getc();
Jonathan Austin 0:2757d7abb7d9 328 }
taeyeobyeo 97:908593afa823 329 }