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Control YOZAKURA arm vir USB
Dependencies: Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed
main.cpp@5:a6d9a1dec391, 2015-04-21 (annotated)
- Committer:
- yusuke_kyo
- Date:
- Tue Apr 21 16:08:58 2015 +0000
- Revision:
- 5:a6d9a1dec391
- Parent:
- 4:dd8c3543adc7
- Child:
- 6:fc49395cd7e5
Dyna_SetGoal, Dyna_GetPosition;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yusuke_kyo | 0:6a1be4584c5b | 1 | /*YOZAKURAのアームコード |
yusuke_kyo | 2:3a4f83edb424 | 2 | シリアル通信で送るデータ S_Data={linearD[4],pitchD[4],yawD[4],ThermoD1[16],ThermoD2[16],CO2[4]} 計48bytes |
yusuke_kyo | 2:3a4f83edb424 | 3 | シリアル通信で受け取るデータ R_Data={mode[2bit],linear_ref[2bit],pitch_ref[2bit],yaw_ref[2bit]} 計1byte |
yusuke_kyo | 0:6a1be4584c5b | 4 | */ |
yusuke_kyo | 0:6a1be4584c5b | 5 | |
yusuke_kyo | 0:6a1be4584c5b | 6 | #include "mbed.h" |
yusuke_kyo | 0:6a1be4584c5b | 7 | |
yusuke_kyo | 0:6a1be4584c5b | 8 | Serial pc(USBTX, USBRX); // tx, rx |
yusuke_kyo | 0:6a1be4584c5b | 9 | DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4); |
yusuke_kyo | 0:6a1be4584c5b | 10 | |
yusuke_kyo | 0:6a1be4584c5b | 11 | /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 12 | #include "AX12.h" |
yusuke_kyo | 0:6a1be4584c5b | 13 | #include "MX28.h" |
yusuke_kyo | 0:6a1be4584c5b | 14 | |
yusuke_kyo | 1:37af6a93195e | 15 | DigitalOut low(p19); DigitalOut RelaySwitch(p17); |
yusuke_kyo | 1:37af6a93195e | 16 | |
yusuke_kyo | 5:a6d9a1dec391 | 17 | AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel |
yusuke_kyo | 5:a6d9a1dec391 | 18 | MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel |
yusuke_kyo | 5:a6d9a1dec391 | 19 | MX28 yaw (p13, p14, 2, 1000000); //ヨーDynamixel |
yusuke_kyo | 0:6a1be4584c5b | 20 | |
yusuke_kyo | 0:6a1be4584c5b | 21 | int linear_goal, pitch_goal, yaw_goal; |
yusuke_kyo | 0:6a1be4584c5b | 22 | |
yusuke_kyo | 0:6a1be4584c5b | 23 | //最小値,最大値,角速度,初期値を指定[unit:degree] |
yusuke_kyo | 0:6a1be4584c5b | 24 | //MX:MultiTurnモードでは-2520°~2520°(SetGoalの書き換え不要) |
yusuke_kyo | 0:6a1be4584c5b | 25 | int linear_min = 100; int linear_MAX = 720; float linear_Speed=0.1; int linear_Init = linear_MAX; |
yusuke_kyo | 0:6a1be4584c5b | 26 | int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX; |
yusuke_kyo | 0:6a1be4584c5b | 27 | int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード |
yusuke_kyo | 0:6a1be4584c5b | 28 | |
yusuke_kyo | 0:6a1be4584c5b | 29 | void Dyna_init() { |
yusuke_kyo | 1:37af6a93195e | 30 | low = 0; RelaySwitch = 1; |
yusuke_kyo | 4:dd8c3543adc7 | 31 | linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX); |
yusuke_kyo | 0:6a1be4584c5b | 32 | linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init); |
yusuke_kyo | 5:a6d9a1dec391 | 33 | pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX); |
yusuke_kyo | 0:6a1be4584c5b | 34 | pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init); |
yusuke_kyo | 5:a6d9a1dec391 | 35 | yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX); |
yusuke_kyo | 0:6a1be4584c5b | 36 | yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init); |
yusuke_kyo | 0:6a1be4584c5b | 37 | wait(1); |
yusuke_kyo | 0:6a1be4584c5b | 38 | } |
yusuke_kyo | 0:6a1be4584c5b | 39 | |
yusuke_kyo | 5:a6d9a1dec391 | 40 | void Dyna_GetData(char* data) { |
yusuke_kyo | 4:dd8c3543adc7 | 41 | float lP, lV, pP, pC, yP, yC; |
yusuke_kyo | 4:dd8c3543adc7 | 42 | |
yusuke_kyo | 4:dd8c3543adc7 | 43 | lP = linear.GetPosition(); lV = linear.GetVolts(); |
yusuke_kyo | 4:dd8c3543adc7 | 44 | pP = pitch.GetPosition(); pC = pitch.GetCurrent(); |
yusuke_kyo | 4:dd8c3543adc7 | 45 | yP = yaw.GetPosition(); yC = yaw.GetCurrent(); |
yusuke_kyo | 4:dd8c3543adc7 | 46 | |
yusuke_kyo | 4:dd8c3543adc7 | 47 | linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定 |
yusuke_kyo | 4:dd8c3543adc7 | 48 | |
yusuke_kyo | 4:dd8c3543adc7 | 49 | sprintf(data,"%f %f %f %f %f %f ",lP,lV,pP,pC,yP,yC); |
yusuke_kyo | 4:dd8c3543adc7 | 50 | } |
yusuke_kyo | 4:dd8c3543adc7 | 51 | |
yusuke_kyo | 5:a6d9a1dec391 | 52 | void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) { |
yusuke_kyo | 5:a6d9a1dec391 | 53 | switch(linear_mode){ |
yusuke_kyo | 4:dd8c3543adc7 | 54 | case 0: break; |
yusuke_kyo | 4:dd8c3543adc7 | 55 | case 1: linear.SetTorqueLimit(1); linear_goal++; break; |
yusuke_kyo | 4:dd8c3543adc7 | 56 | case 2: linear.SetTorqueLimit(1); linear_goal--; break; |
yusuke_kyo | 5:a6d9a1dec391 | 57 | } |
yusuke_kyo | 4:dd8c3543adc7 | 58 | linear.SetGoal(linear_goal); |
yusuke_kyo | 4:dd8c3543adc7 | 59 | |
yusuke_kyo | 5:a6d9a1dec391 | 60 | switch(pitch_mode){ |
yusuke_kyo | 4:dd8c3543adc7 | 61 | case 0: break; |
yusuke_kyo | 4:dd8c3543adc7 | 62 | case 1: pitch_goal++; break; |
yusuke_kyo | 4:dd8c3543adc7 | 63 | case 2: pitch_goal--; break; |
yusuke_kyo | 4:dd8c3543adc7 | 64 | } |
yusuke_kyo | 4:dd8c3543adc7 | 65 | pitch.SetGoal(pitch_goal); |
yusuke_kyo | 4:dd8c3543adc7 | 66 | |
yusuke_kyo | 5:a6d9a1dec391 | 67 | switch(yaw_mode){ |
yusuke_kyo | 4:dd8c3543adc7 | 68 | case 0: break; |
yusuke_kyo | 4:dd8c3543adc7 | 69 | case 1: yaw_goal++; break; |
yusuke_kyo | 4:dd8c3543adc7 | 70 | case 2: yaw_goal--; break; |
yusuke_kyo | 4:dd8c3543adc7 | 71 | } |
yusuke_kyo | 4:dd8c3543adc7 | 72 | yaw.SetGoal(yaw_goal); |
yusuke_kyo | 4:dd8c3543adc7 | 73 | } |
yusuke_kyo | 4:dd8c3543adc7 | 74 | |
yusuke_kyo | 0:6a1be4584c5b | 75 | void Dyna_home_position() { |
yusuke_kyo | 4:dd8c3543adc7 | 76 | float lp; |
yusuke_kyo | 0:6a1be4584c5b | 77 | linear.SetGoal(linear_Init); |
yusuke_kyo | 4:dd8c3543adc7 | 78 | lp=linear.GetPosition(); |
yusuke_kyo | 4:dd8c3543adc7 | 79 | if(lp > linear_MAX - 30) { //ある程度縮んだら |
yusuke_kyo | 4:dd8c3543adc7 | 80 | pitch.SetGoal(pitch_Init); |
yusuke_kyo | 4:dd8c3543adc7 | 81 | yaw.SetGoal(yaw_Init); |
yusuke_kyo | 4:dd8c3543adc7 | 82 | } |
yusuke_kyo | 0:6a1be4584c5b | 83 | } |
yusuke_kyo | 0:6a1be4584c5b | 84 | |
yusuke_kyo | 0:6a1be4584c5b | 85 | void Dyna_reset() { |
yusuke_kyo | 1:37af6a93195e | 86 | RelaySwitch = 0; |
yusuke_kyo | 1:37af6a93195e | 87 | wait_ms(10); |
yusuke_kyo | 1:37af6a93195e | 88 | RelaySwitch = 1; |
yusuke_kyo | 0:6a1be4584c5b | 89 | } |
yusuke_kyo | 0:6a1be4584c5b | 90 | |
yusuke_kyo | 0:6a1be4584c5b | 91 | void Dyna_end() { |
yusuke_kyo | 1:37af6a93195e | 92 | RelaySwitch = 0; |
yusuke_kyo | 0:6a1be4584c5b | 93 | } |
yusuke_kyo | 0:6a1be4584c5b | 94 | /*--Dynamixel:end-----------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 95 | |
yusuke_kyo | 0:6a1be4584c5b | 96 | |
yusuke_kyo | 0:6a1be4584c5b | 97 | /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 98 | /*MEMS非接触温度センサ:形D6T-44L-06 4×4素子タイプ*/ |
yusuke_kyo | 0:6a1be4584c5b | 99 | /*データシート:http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/ |
yusuke_kyo | 0:6a1be4584c5b | 100 | #include "MEMS.h" |
yusuke_kyo | 0:6a1be4584c5b | 101 | |
yusuke_kyo | 0:6a1be4584c5b | 102 | MEMS MEMS1(p9, p10); // sda, scl |
yusuke_kyo | 0:6a1be4584c5b | 103 | MEMS MEMS2(p28, p27); // sda, scl |
yusuke_kyo | 4:dd8c3543adc7 | 104 | |
yusuke_kyo | 5:a6d9a1dec391 | 105 | #define THERMO_DEBUG 0 |
yusuke_kyo | 5:a6d9a1dec391 | 106 | |
yusuke_kyo | 4:dd8c3543adc7 | 107 | void GetThermo(char* data) { |
yusuke_kyo | 4:dd8c3543adc7 | 108 | float ThD1[16], ThD2[16]; |
yusuke_kyo | 4:dd8c3543adc7 | 109 | char con[10]; |
yusuke_kyo | 4:dd8c3543adc7 | 110 | |
yusuke_kyo | 4:dd8c3543adc7 | 111 | MEMS1.temp(ThD1); |
yusuke_kyo | 4:dd8c3543adc7 | 112 | MEMS2.temp(ThD2); |
yusuke_kyo | 4:dd8c3543adc7 | 113 | |
yusuke_kyo | 4:dd8c3543adc7 | 114 | for(int i=0;i<16;i++){ |
yusuke_kyo | 4:dd8c3543adc7 | 115 | sprintf(con,"%3.1f ",ThD1[i]); |
yusuke_kyo | 4:dd8c3543adc7 | 116 | strcat(data,con); |
yusuke_kyo | 4:dd8c3543adc7 | 117 | } |
yusuke_kyo | 5:a6d9a1dec391 | 118 | |
yusuke_kyo | 5:a6d9a1dec391 | 119 | if(THERMO_DEBUG) { |
yusuke_kyo | 5:a6d9a1dec391 | 120 | for(int i=0;i<16;i++){ |
yusuke_kyo | 5:a6d9a1dec391 | 121 | if(i%4==0) printf("\n"); |
yusuke_kyo | 5:a6d9a1dec391 | 122 | printf("%3.1f ",ThD1[i]); |
yusuke_kyo | 5:a6d9a1dec391 | 123 | } |
yusuke_kyo | 5:a6d9a1dec391 | 124 | } |
yusuke_kyo | 5:a6d9a1dec391 | 125 | |
yusuke_kyo | 4:dd8c3543adc7 | 126 | for(int i=0;i<16;i++){ |
yusuke_kyo | 4:dd8c3543adc7 | 127 | sprintf(con,"%3.1f ",ThD2[i]); |
yusuke_kyo | 4:dd8c3543adc7 | 128 | strcat(data,con); |
yusuke_kyo | 4:dd8c3543adc7 | 129 | } |
yusuke_kyo | 5:a6d9a1dec391 | 130 | |
yusuke_kyo | 5:a6d9a1dec391 | 131 | if(THERMO_DEBUG) { |
yusuke_kyo | 5:a6d9a1dec391 | 132 | for(int i=0;i<16;i++){ |
yusuke_kyo | 5:a6d9a1dec391 | 133 | if(i%4==0) printf("\n"); |
yusuke_kyo | 5:a6d9a1dec391 | 134 | printf("%3.1f ",ThD2[i]); |
yusuke_kyo | 5:a6d9a1dec391 | 135 | } |
yusuke_kyo | 5:a6d9a1dec391 | 136 | } |
yusuke_kyo | 4:dd8c3543adc7 | 137 | } |
yusuke_kyo | 0:6a1be4584c5b | 138 | /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 139 | |
yusuke_kyo | 0:6a1be4584c5b | 140 | |
yusuke_kyo | 0:6a1be4584c5b | 141 | /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 142 | /*CO2センサモジュール:A051020-AQ6B-01*/ |
yusuke_kyo | 0:6a1be4584c5b | 143 | /*データシート:http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/ |
yusuke_kyo | 4:dd8c3543adc7 | 144 | /*参考 外気:396.0[ppm](2013年) 呼気:13,200[ppm] ※このセンサで測れるのは3000[ppm]まで*/ |
yusuke_kyo | 0:6a1be4584c5b | 145 | #include "mbed.h" |
yusuke_kyo | 0:6a1be4584c5b | 146 | |
yusuke_kyo | 0:6a1be4584c5b | 147 | AnalogIn ain(p20); |
yusuke_kyo | 0:6a1be4584c5b | 148 | |
yusuke_kyo | 5:a6d9a1dec391 | 149 | #define CO2_DEBUG 0 |
yusuke_kyo | 5:a6d9a1dec391 | 150 | |
yusuke_kyo | 4:dd8c3543adc7 | 151 | float GetCO2() { |
yusuke_kyo | 0:6a1be4584c5b | 152 | float v; //生データ:電圧 |
yusuke_kyo | 0:6a1be4584c5b | 153 | float sensor_v,CO2; |
yusuke_kyo | 0:6a1be4584c5b | 154 | |
yusuke_kyo | 0:6a1be4584c5b | 155 | v = ain.read()*3.3; |
yusuke_kyo | 0:6a1be4584c5b | 156 | sensor_v = v * 5.0/3.3; //電圧レベルを合わせる |
yusuke_kyo | 0:6a1be4584c5b | 157 | CO2 = sensor_v * 1000 + 400; //データシートより |
yusuke_kyo | 5:a6d9a1dec391 | 158 | |
yusuke_kyo | 5:a6d9a1dec391 | 159 | if(CO2_DEBUG) printf("\n%4.1f",CO2); |
yusuke_kyo | 0:6a1be4584c5b | 160 | |
yusuke_kyo | 0:6a1be4584c5b | 161 | return(CO2); |
yusuke_kyo | 0:6a1be4584c5b | 162 | } |
yusuke_kyo | 0:6a1be4584c5b | 163 | /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 164 | |
yusuke_kyo | 0:6a1be4584c5b | 165 | |
yusuke_kyo | 0:6a1be4584c5b | 166 | /*--------------- |
yusuke_kyo | 0:6a1be4584c5b | 167 | MAIN ROOP |
yusuke_kyo | 0:6a1be4584c5b | 168 | ----------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 169 | int main() { |
yusuke_kyo | 4:dd8c3543adc7 | 170 | char Dyna_data[100]; |
yusuke_kyo | 0:6a1be4584c5b | 171 | char Thermo_data[100]; |
yusuke_kyo | 0:6a1be4584c5b | 172 | float CO2_data; |
yusuke_kyo | 0:6a1be4584c5b | 173 | |
yusuke_kyo | 0:6a1be4584c5b | 174 | Dyna_init(); |
yusuke_kyo | 0:6a1be4584c5b | 175 | |
yusuke_kyo | 3:6dbba9951f9e | 176 | char S_data[200]; |
yusuke_kyo | 3:6dbba9951f9e | 177 | int R_data; |
yusuke_kyo | 0:6a1be4584c5b | 178 | int Joy_mode, linear_mode, pitch_mode, yaw_mode; |
yusuke_kyo | 0:6a1be4584c5b | 179 | |
yusuke_kyo | 0:6a1be4584c5b | 180 | while(1) { |
yusuke_kyo | 0:6a1be4584c5b | 181 | |
yusuke_kyo | 0:6a1be4584c5b | 182 | // sock.receiveFrom(echo_server, R_data, sizeof(R_data)); //オペステからデータを取得 |
yusuke_kyo | 1:37af6a93195e | 183 | R_data=pc.getc(); |
yusuke_kyo | 0:6a1be4584c5b | 184 | wait_ms(1); |
yusuke_kyo | 3:6dbba9951f9e | 185 | Joy_mode = R_data & 0x03; //ジョイスティックのモード判定 |
yusuke_kyo | 0:6a1be4584c5b | 186 | |
yusuke_kyo | 0:6a1be4584c5b | 187 | switch(Joy_mode){ |
yusuke_kyo | 0:6a1be4584c5b | 188 | case 0: //通常モード |
yusuke_kyo | 0:6a1be4584c5b | 189 | /*--Dynamixel:begin---------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 190 | //Dynamixelへの命令を判定 |
yusuke_kyo | 3:6dbba9951f9e | 191 | linear_mode = R_data & 0x0c; linear_mode = linear_mode >> 2; |
yusuke_kyo | 5:a6d9a1dec391 | 192 | pitch_mode = R_data & 0x30; pitch_mode = pitch_mode >> 4; |
yusuke_kyo | 5:a6d9a1dec391 | 193 | yaw_mode = R_data & 0xc0; yaw_mode = yaw_mode >> 6; |
yusuke_kyo | 0:6a1be4584c5b | 194 | |
yusuke_kyo | 4:dd8c3543adc7 | 195 | //現在の角度・電圧・電流を取得 |
yusuke_kyo | 4:dd8c3543adc7 | 196 | myled1=1; |
yusuke_kyo | 5:a6d9a1dec391 | 197 | Dyna_GetData(Dyna_data); |
yusuke_kyo | 4:dd8c3543adc7 | 198 | myled1=0; |
yusuke_kyo | 4:dd8c3543adc7 | 199 | |
yusuke_kyo | 0:6a1be4584c5b | 200 | //目標角度を変更 |
yusuke_kyo | 0:6a1be4584c5b | 201 | myled2=1; |
yusuke_kyo | 5:a6d9a1dec391 | 202 | Dyna_SetGoal(linear_mode, pitch_mode, yaw_mode); |
yusuke_kyo | 0:6a1be4584c5b | 203 | myled2=0; |
yusuke_kyo | 0:6a1be4584c5b | 204 | /*--Dynamixel:end------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 205 | |
yusuke_kyo | 0:6a1be4584c5b | 206 | /*--Thermal_Sensor:begin-----------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 207 | //値を取得 |
yusuke_kyo | 5:a6d9a1dec391 | 208 | myled3=1; |
yusuke_kyo | 4:dd8c3543adc7 | 209 | GetThermo(Thermo_data); |
yusuke_kyo | 0:6a1be4584c5b | 210 | /*--Thermal_Sensor:end-------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 211 | |
yusuke_kyo | 0:6a1be4584c5b | 212 | /*--CO2_Sensor:begin---------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 213 | //値を取得 |
yusuke_kyo | 4:dd8c3543adc7 | 214 | CO2_data=GetCO2(); |
yusuke_kyo | 5:a6d9a1dec391 | 215 | myled3=0; |
yusuke_kyo | 0:6a1be4584c5b | 216 | /*--CO2_Sensor:end-----------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 217 | |
yusuke_kyo | 0:6a1be4584c5b | 218 | //値を送信 |
yusuke_kyo | 5:a6d9a1dec391 | 219 | myled4=1; |
yusuke_kyo | 5:a6d9a1dec391 | 220 | sprintf(S_data,"%s%s%f",Dyna_data,Thermo_data,CO2_data); |
yusuke_kyo | 0:6a1be4584c5b | 221 | // sock.sendTo(echo_server, S_data, sizeof(S_data)); |
yusuke_kyo | 5:a6d9a1dec391 | 222 | printf("%s\n",S_data); |
yusuke_kyo | 5:a6d9a1dec391 | 223 | myled4=0; |
yusuke_kyo | 0:6a1be4584c5b | 224 | break; |
yusuke_kyo | 0:6a1be4584c5b | 225 | |
yusuke_kyo | 0:6a1be4584c5b | 226 | case 1: //ホームポジション |
yusuke_kyo | 0:6a1be4584c5b | 227 | Dyna_home_position(); break; |
yusuke_kyo | 0:6a1be4584c5b | 228 | |
yusuke_kyo | 0:6a1be4584c5b | 229 | case 2: //リセット |
yusuke_kyo | 0:6a1be4584c5b | 230 | Dyna_reset(); break; |
yusuke_kyo | 0:6a1be4584c5b | 231 | |
yusuke_kyo | 0:6a1be4584c5b | 232 | case 3: //終了 |
yusuke_kyo | 5:a6d9a1dec391 | 233 | myled1=1; myled2=1; myled3=1; myled4=1; Dyna_end(); return 0; |
yusuke_kyo | 0:6a1be4584c5b | 234 | } |
yusuke_kyo | 0:6a1be4584c5b | 235 | } |
yusuke_kyo | 0:6a1be4584c5b | 236 | } |