Revision 1103
Reverted changes accidentally committed
trunk/code/behaviors/smart_run_around_fsm/main.c | ||
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1 | 1 |
#include <dragonfly_lib.h> |
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//#include "smart_run_around_fsm.h"
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#include "smart_run_around_fsm.h" |
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#include "drive.h" |
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// Martin "deffi" Herrmann Test |
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uint8_t motors_on=0; |
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|
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static void periodic_call () |
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{ |
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if (button1_read ()) |
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{ |
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motors_on=~motors_on; |
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} |
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if (motors_on) |
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{ |
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int s=(wheel ()/2+127)&0xFF; |
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motor1_set (FORWARD, s); |
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motor2_set (FORWARD, s); |
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} |
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else |
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motors_off (); |
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|
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while (button1_read ()); // Wait for button release *after* setting new motor state |
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} |
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static void spirograph () |
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{ |
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uint8_t left=255; |
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uint8_t right_min=160; |
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uint8_t right_max=200; |
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uint8_t delay=100; |
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uint8_t step=2; |
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|
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uint8_t dir=step, right=right_min; |
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orb_set (0,255,0); |
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while (1) |
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{ |
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if (right<right_min) dir=step; |
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if (right>right_max) dir=-step; |
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right+=dir; |
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motor1_set (FORWARD, left); |
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motor2_set (FORWARD, right); |
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delay_ms (delay); |
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} |
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} |
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static void color_circle () |
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{ |
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while(1) |
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{ |
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for (uint8_t part=0; part<6; ++part) |
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{ |
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for (uint8_t up=0; up<255; ++up) |
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{ |
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uint8_t dn=255-up; |
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uint8_t on=255; |
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uint8_t of=0; |
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if (1) |
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{ |
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// Maximum brightness mode |
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switch (part) |
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{ |
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case 0: orb_set (on, up, of); break; |
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case 1: orb_set (dn, on, of); break; |
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case 2: orb_set (of, on, up); break; |
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case 3: orb_set (of, dn, on); break; |
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case 4: orb_set (up, of, on); break; |
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case 5: orb_set (on, of, dn); break; |
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} |
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} |
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else |
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{ |
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// Constant brightness mode (not very constant though) |
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switch (part%3) |
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{ |
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case 0: orb_set (dn, up, of); break; |
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case 1: orb_set (of, dn, up); break; |
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case 2: orb_set (up, of, dn); break; |
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} |
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} |
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delay_ms (2); |
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periodic_call (); |
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} |
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} |
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} |
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} |
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static void startup_sequence() |
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{ |
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orb_set (255, 0, 0); delay_ms (200); |
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orb_set (0, 0, 0); delay_ms (200); |
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orb_set (255, 0, 0); delay_ms (200); |
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orb_set (0, 0, 0); delay_ms (200); |
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orb_set (255, 0, 0); delay_ms (200); |
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orb_set (0, 0, 0); delay_ms (500); |
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} |
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|
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static void right_controller() |
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{ |
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encoders_init (); |
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encoder_rst_dx (0); encoder_rst_dx (1); |
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|
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while (1) |
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{ |
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int el=encoder_get_dx (0); |
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int er=encoder_get_dx (1); |
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int diff=el-er; |
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uint8_t direction=(diff>0)?FORWARD:BACKWARD; |
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if (diff>2) |
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diff+=180; |
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else if (diff<-2) |
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diff-=180; |
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else |
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diff=0; |
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if (diff>255) diff=255; |
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if (diff<-255) diff=-255; |
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motor2_set(direction, abs (diff)); |
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usb_puti (el); usb_puts (" "); |
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usb_puti (er); usb_puts (" "); |
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usb_puti (diff); usb_puts (" "); |
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usb_puts (" \r"); |
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} |
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} |
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static void acl() |
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{ |
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#define redval 255 |
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#define greenval 150 |
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#define interval 1300 |
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#define flash 20 |
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#define pause 200 |
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#define def do { orb1_set(redval,0,0); orb2_set(0,greenval,0); } while (0) |
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#define wht do { orb_set(255,255,255); } while (0) |
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while (1) |
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{ |
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periodic_call (); |
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wht; delay_ms (flash); |
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def; delay_ms (pause-flash); |
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periodic_call (); |
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wht; delay_ms (flash); |
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def; delay_ms (pause-flash); |
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def; delay_ms (interval-2*pause-2*flash); |
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} |
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} |
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static void redlight () |
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{ |
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uint8_t r=255; |
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int8_t d=-1; |
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while (1) |
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{ |
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if (r==0) d=1; |
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if (r==255) d=-1; |
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r+=d; |
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orb_set(r,0,0); |
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delay_ms (5); |
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} |
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} |
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static uint8_t hex_digit(uint8_t x) |
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{ |
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if (x>15) return '?'; |
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return "0123456789ABCDEF"[x]; |
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} |
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static void usb_puth(int i) |
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{ |
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usb_putc(hex_digit((i>>12)&0xF)); |
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usb_putc(hex_digit((i>>8)&0xF)); |
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usb_putc(hex_digit((i>>4)&0xF)); |
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usb_putc(hex_digit(i&0xF)); |
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} |
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static void usb_puth8(uint8_t i) |
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{ |
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usb_putc(hex_digit((i>>4)&0xF)); |
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usb_putc(hex_digit(i&0xF)); |
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} |
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static void bom_beacon () |
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{ |
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//bom_init (BOM15); // Done by dragonfly init |
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//bom_set_leds(1<<4); |
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//bom_set_leds(0xAAAA); |
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bom_set_leds(0xFFFF); |
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bom_on (); |
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redlight (); |
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} |
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static int get_color(int x) |
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{ |
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switch (x) |
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{ |
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case 0: return RED; |
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case 1: return YELLOW; |
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case 2: return GREEN; |
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case 3: return CYAN; |
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case 4: return BLUE; |
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case 5: return MAGENTA; |
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default: return WHITE; |
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} |
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} |
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static void set_color_code(int x) |
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{ |
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if (0<=x && x<6) |
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{ |
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orb1_set_color (get_color (x)); |
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orb2_set_color (ORB_OFF); |
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} |
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else if (6<=x && x<12) |
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{ |
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orb1_set_color (ORB_OFF); |
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orb2_set_color (get_color (x-6)); |
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} |
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else if (12<=x && x<18) |
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{ |
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orb1_set_color (get_color (x-12)); |
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orb2_set_color (get_color (x-12)); |
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} |
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else |
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{ |
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orb1_set_color (ORB_OFF); |
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orb2_set_color (ORB_OFF); |
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} |
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} |
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static void bom_test() |
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{ |
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analog_init (0/*ADC_START*/); |
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//bom_init (BOM15); // Done by dragonfly init |
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bom_off (); |
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uint8_t num=0; |
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#define selected 9 |
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while (1) |
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{ |
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// Each 100 ms, print all values, hex, on one line |
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if (0) |
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{ |
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bom_refresh(BOM_ALL); |
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for (uint8_t i=0; i<16; ++i) |
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{ |
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usb_puti (i); |
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usb_putc (':'); |
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usb_puth8 ((uint8_t)(bom_get(i))); |
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usb_putc (' '); |
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} |
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usb_puts ("\r\n"); |
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delay_ms (100); |
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} |
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if (0) |
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{ |
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// Average 10 #selected values over 1 second, print dec, one per line |
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uint16_t val=0; |
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for (int i=0; i<10; ++i) |
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{ |
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bom_refresh (1<<selected); |
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val+=bom_get(selected); |
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delay_ms (100); |
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} |
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usb_puti(val); |
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usb_puts("\r\n"); |
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} |
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// Read #selected, print dec//, 16 values per line. |
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if (0) |
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{ |
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bom_refresh (1<<selected); |
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usb_puti (selected); |
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usb_puts (": "); |
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usb_puti (bom_get (selected)); |
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// num++; |
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// if (num>15) |
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// { |
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usb_puts ("\r\n"); |
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// num=0; |
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// } |
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// else |
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// usb_putc (' '); |
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delay_ms (100); |
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} |
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// Print maximum of all, one per line |
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if (1) |
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{ |
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bom_refresh (0xFFFF); |
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usb_puti (bom_get_max ()); |
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set_color_code(bom_get_max ()); |
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usb_puts ("\r\n"); |
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delay_ms (100); |
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} |
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} |
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} |
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void rtc_callback () |
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{ |
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static uint8_t x=0; |
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|
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motor1_set(x?FORWARD:BACKWARD, 180); |
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motor2_set(x?BACKWARD:FORWARD, 180); |
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|
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x=!x; |
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} |
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static void rtc_test () |
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{ |
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rtc_init (HALF_SECOND, rtc_callback); |
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while (1); |
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} |
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|
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void drive_controller_test () |
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{ |
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|
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// Drive straight ahead |
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drive_controller dc; |
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drive_controller_set_parameters_shift (&dc, 0, -16); |
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drive_controller_init (&dc); |
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|
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while (1) |
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{ |
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// Use the wheel for velocity control |
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drive_controller_set_target_velocity (&dc, wheel ()/2+127); |
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|
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// Do the control |
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drive_controller_control (&dc); |
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|
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delay_ms (1); |
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} |
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} |
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|
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void encoder_timing_test () |
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{ |
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//bom_init(BOM15); |
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//bom_set_leds(0xAAAA); |
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//bom_on (); |
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|
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DDRF |= 1<<1; |
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//encoders_init (); |
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368 |
while (1) |
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{ |
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PORTF|=0x02; |
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PORTF&=0xFD; |
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PORTF|=0x02; |
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PORTF&=0xFD; |
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PORTF|=0x02; |
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PORTF&=0xFD; |
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PORTF|=0x02; |
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PORTF&=0xFD; |
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PORTF|=0x02; |
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PORTF&=0xFD; |
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PORTF|=0x02; |
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PORTF&=0xFD; |
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//bom_set_leds(0x0001); |
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//bom_set_leds(0x0003); |
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384 |
} |
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} |
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388 |
static void duty_cycle_test () |
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{ |
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DDRF=0xFF; |
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391 |
while (1) |
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{ |
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if (button1_read ()) |
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{ |
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// Button 1 => 1/20 (5%) |
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396 |
PORTF=0x02; delay_ms (1); |
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PORTF=0x00; delay_ms (19); |
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} |
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399 |
else if (button2_read ()) |
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{ |
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// Button 2 => 3/20 (15%) |
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PORTF=0x02; delay_ms (3); |
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PORTF=0x00; delay_ms (17); |
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} |
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else |
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406 |
{ |
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407 |
// No button (or both) => Alternating, avg 2/20 (10%) |
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408 |
PORTF=0x02; delay_ms (1); |
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PORTF=0x00; delay_ms (19); |
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PORTF=0x02; delay_ms (3); |
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PORTF=0x00; delay_ms (17); |
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412 |
} |
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413 |
} |
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414 |
} |
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415 |
|
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416 | 4 |
int main(void) { |
417 |
// dragonfly_init(ALL_ON); |
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418 |
dragonfly_init(0); |
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419 |
|
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420 |
//encoders_init (); |
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421 |
|
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422 |
analog_init(0); |
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423 |
// usb_init(); |
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424 |
|
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425 |
// encoder_timing_test (); |
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426 |
|
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427 |
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428 |
DDRF=0x02; |
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429 |
|
|
430 |
if (button2_read ()) |
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431 |
duty_cycle_test (); |
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432 |
else |
|
433 |
{ |
|
434 |
orb_init (); |
|
435 |
orb_enable (); |
|
436 |
color_circle (); |
|
437 |
} |
|
438 |
|
|
439 |
orb_init (); |
|
440 |
orb_enable (); |
|
441 |
|
|
442 |
// while (1) |
|
443 |
// { |
|
444 |
// |
|
445 |
// orb_set (128,128,0); |
|
446 |
// delay_ms (1000); |
|
447 |
// |
|
448 |
// |
|
449 |
// orb1_set (128,128,0); |
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450 |
// orb2_set (128,128,0); |
|
451 |
// delay_ms (1000); |
|
452 |
// } |
|
453 |
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454 |
// orb1_set (128,0,0); |
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455 |
// orb2_set (255,0,0); |
|
456 |
// while (1); |
|
457 |
|
|
458 |
//analog_init(ADC_START); |
|
459 |
|
|
460 |
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|
461 |
//range_init(); |
|
462 |
|
|
463 |
usb_puts ("Startup\r\n"); |
|
464 |
|
|
465 |
|
|
466 |
//bom_beacon (); |
|
467 |
//bom_test (); |
|
468 |
//rtc_test (); |
|
469 |
|
|
470 |
// Do some lighting and wheel controlled motors on BTN1 |
|
471 |
if (!button2_read ()) |
|
472 |
acl (); |
|
473 |
else |
|
474 |
color_circle (); |
|
475 |
|
|
476 |
|
|
477 |
startup_sequence (); |
|
478 |
drive_controller_test (); |
|
5 |
dragonfly_init(ALL_ON); |
|
6 |
range_init(); |
|
7 |
//orb_enable(); |
|
8 |
usb_puts("Turned on!\n"); |
|
9 |
run_around_init(); |
|
10 |
while(1) { |
|
11 |
run_around_FSM(); |
|
12 |
} |
|
13 |
return 0; |
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479 | 14 |
} |
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