Aaron Birenboim / Mbed 2 deprecated TankDrive Featured

Basic tank-style drive robot control firmware for Freescale FRDM-K64F. Controls motors on a Dual-Full-H-Bridge with EN, like DBH-1x series, from Bluetooth serial commands

Dependencies:   mbed

MotorDrive298.h@4:7620d21baef3, 2015-08-16 (annotated)

Committer:
Mr_What
Date:
Sun Aug 16 22:46:25 2015 +0000
Revision:
4:7620d21baef3
Parent:
3:502f90649834 
seems to be running from app with reduced diagnostics

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Mr_What 1:23d0a615756a 1 /*
Mr_What 1:23d0a615756a 2 Motor driver for Motor controllers using the L298 Dual-full-H-Bridge chip,
Mr_What 1:23d0a615756a 3 or work alikes.
Mr_What 1:23d0a615756a 4 This chip generally has two direction inputs and an enable pin.
Mr_What 1:23d0a615756a 5 Typical use is:
Mr_What 1:23d0a615756a 6
Mr_What 1:23d0a615756a 7 IN1=1, IN2=0, EN=PWM -- reverse at PWM speed
Mr_What 1:23d0a615756a 8 IN1=0, IN2=1, EN=PWM -- forward at PWM speed
Mr_What 1:23d0a615756a 9 IN1=0, IN2=0, EN=1 -- electrical brake
Mr_What 1:23d0a615756a 10 IN1=X, IN2=X, EN=0 -- coast
Mr_What 1:23d0a615756a 11
Mr_What 1:23d0a615756a 12 This controller has two inputs for each H-Bridge, and an enable pin.
Mr_What 1:23d0a615756a 13 It also provides a 5v-ish OUTPUT appropriate for running the MCU
Mr_What 1:23d0a615756a 14
Mr_What 1:23d0a615756a 15 It was found that motors seemed to run a bit faster and more efficient
Mr_What 1:23d0a615756a 16 with PWM on the Enable.
Mr_What 1:23d0a615756a 17 Future versions of this driver may allow user to put the PWM
Mr_What 1:23d0a615756a 18 on the direction pin which seems to provide a more constant-velocity
Mr_What 1:23d0a615756a 19 response, where putting PWM on the enable is more like the accelerator
Mr_What 1:23d0a615756a 20 input on a car. (It has a peak velocity, but until it gets gets close
Mr_What 1:23d0a615756a 21 to this peak, the input is more closely related to acceleration)
Mr_What 1:23d0a615756a 22
Mr_What 1:23d0a615756a 23 Driver will apply electrical brake when stopping, but
Mr_What 1:23d0a615756a 24 try to use freewheeling PWM mode when driving.
Mr_What 1:23d0a615756a 25
Mr_What 1:23d0a615756a 26 Aaron Birenboim, http://boim.com 31jul2015
Mr_What 1:23d0a615756a 27 Apache License
Mr_What 1:23d0a615756a 28 */
Mr_What 1:23d0a615756a 29
Mr_What 1:23d0a615756a 30 #define MAXPWM 0.98f
Mr_What 1:23d0a615756a 31
Mr_What 1:23d0a615756a 32 // motor states (I'm afraid of enum which might be 16 bit on 8-bit MCU)
Mr_What 1:23d0a615756a 33 #define MOTOR_STOPPED 0 // 1's -- running bit
Mr_What 1:23d0a615756a 34 #define MOTOR_FWD 1 // 2's -- direction (1==rev)
Mr_What 1:23d0a615756a 35 #define MOTOR_REV 3
Mr_What 1:23d0a615756a 36 #define MOTOR_START_FWD 5 // 4's -- start-up pulse
Mr_What 1:23d0a615756a 37 #define MOTOR_START_REV 7
Mr_What 1:23d0a615756a 38 #define MOTOR_STOPPING 8 // 8 -- electrical braking
Mr_What 1:23d0a615756a 39
Mr_What 1:23d0a615756a 40 #ifndef ABS
Mr_What 1:23d0a615756a 41 #define ABS(x) (((x)<0)?(-(x)):(x))
Mr_What 1:23d0a615756a 42 #endif
Mr_What 1:23d0a615756a 43
Mr_What 1:23d0a615756a 44 typedef char BYTE; // signed char, 8-bit
Mr_What 1:23d0a615756a 45 typedef short SHORT; // signed int, 16-bit
Mr_What 1:23d0a615756a 46 typedef int BOOL;
Mr_What 1:23d0a615756a 47
Mr_What 1:23d0a615756a 48 //#ifdef DBH1
Mr_What 1:23d0a615756a 49 //#typedef PwmOut DIRPIN;
Mr_What 1:23d0a615756a 50 //#else
Mr_What 1:23d0a615756a 51 //#typedef DigitalOut DIRPIN;
Mr_What 1:23d0a615756a 52 //#else
Mr_What 1:23d0a615756a 53
Mr_What 1:23d0a615756a 54 // ----------- Global state classes:
Mr_What 1:23d0a615756a 55 #include "MotorDriveBase.h"
Mr_What 1:23d0a615756a 56 class MotorDrive : public MotorDriveBase
Mr_What 1:23d0a615756a 57 {
Mr_What 1:23d0a615756a 58 protected:
Mr_What 1:23d0a615756a 59 inline float clipPWM(float pwm)
Mr_What 1:23d0a615756a 60 {
Mr_What 1:23d0a615756a 61 if (ABS(pwm) > 1.0f)
Mr_What 1:23d0a615756a 62 pwm = (pwm < 0) ? -1.0f : 1.0f;
Mr_What 1:23d0a615756a 63 return(pwm);
Mr_What 1:23d0a615756a 64 }
Mr_What 1:23d0a615756a 65 inline float getPWM(float pwm)
Mr_What 1:23d0a615756a 66 {
Mr_What 1:23d0a615756a 67 return(ABS(clipPWM(pwm)));
Mr_What 1:23d0a615756a 68 }
Mr_What 1:23d0a615756a 69
Mr_What 1:23d0a615756a 70 void setReverse(BOOL rev) // true==set reverse direction, false==forward
Mr_What 1:23d0a615756a 71 {
Mr_What 1:23d0a615756a 72 if (rev)
Mr_What 1:23d0a615756a 73 {
Mr_What 1:23d0a615756a 74 IN2.write(0); // digitalWrite(Pin.IN2,0);
Mr_What 1:23d0a615756a 75 #ifdef DBH1
Mr_What 1:23d0a615756a 76 IN1.write(MAXPWM); // digitalWrite(Pin.IN1,1);
Mr_What 1:23d0a615756a 77 #else
Mr_What 1:23d0a615756a 78 IN1.write(1); // analogWrite(Pin.IN1,250);
Mr_What 1:23d0a615756a 79 #endif
Mr_What 1:23d0a615756a 80 }
Mr_What 1:23d0a615756a 81 else
Mr_What 1:23d0a615756a 82 {
Mr_What 1:23d0a615756a 83 IN1.write(0); // digitalWrite(Pin.IN1,0);
Mr_What 1:23d0a615756a 84 #ifdef DBH1
Mr_What 1:23d0a615756a 85 IN2.write(MAXPWM); // digitalWrite(Pin.IN2,1);
Mr_What 1:23d0a615756a 86 #else
Mr_What 1:23d0a615756a 87 IN2.write(1); // analogWrite(Pin.IN2,250);
Mr_What 1:23d0a615756a 88 #endif
Mr_What 1:23d0a615756a 89 }
Mr_What 1:23d0a615756a 90 }
Mr_What 1:23d0a615756a 91
Mr_What 1:23d0a615756a 92 public:
Mr_What 1:23d0a615756a 93 // struct {
Mr_What 1:23d0a615756a 94 // it does not seem to hurt to have IN1=IN2=1, but it doesn't seem
Mr_What 1:23d0a615756a 95 // to do anything different/useful, so try to avoid this state.
Mr_What 1:23d0a615756a 96
Mr_What 1:23d0a615756a 97 #ifdef DBH1
Mr_What 1:23d0a615756a 98 PwmOut IN1, IN2; // forward/reverse selectors.
Mr_What 1:23d0a615756a 99 AnalogIn CS;
Mr_What 1:23d0a615756a 100 #else
Mr_What 1:23d0a615756a 101 DigitalOut IN1, IN2; // forward/reverse selectors.
Mr_What 1:23d0a615756a 102 #endif
Mr_What 1:23d0a615756a 103 PwmOut EN; // enable pin
Mr_What 1:23d0a615756a 104 // } Pin;
Mr_What 1:23d0a615756a 105 float _speed; // current speed
Mr_What 1:23d0a615756a 106 float _speedCmd; // commanded speed
Mr_What 1:23d0a615756a 107
Mr_What 1:23d0a615756a 108 int _decel; // time to allow to stop, in ms from full speed
Mr_What 1:23d0a615756a 109 BYTE _mode;
Mr_What 1:23d0a615756a 110 int _doneTime; // time when mode automatically transitions
Mr_What 1:23d0a615756a 111 int _deadTime; // ms until deadman transition to emergency stop
Mr_What 1:23d0a615756a 112 int _startupTime; // ms of full-power pulse to start from dead stop
Mr_What 1:23d0a615756a 113 int _stopTime; // ms to lock-out commands after emergency stop
Mr_What 1:23d0a615756a 114
Mr_What 1:23d0a615756a 115 int _msgCount; // turn off diagnostics after this many messages
Mr_What 1:23d0a615756a 116
Mr_What 1:23d0a615756a 117 MotorDrive (PinName namEN, PinName namIN1, PinName namIN2, PinName namCS) :
Mr_What 1:23d0a615756a 118 IN1(namIN1),
Mr_What 1:23d0a615756a 119 IN2(namIN2),
Mr_What 4:7620d21baef3 120 #ifdef DBH1
Mr_What 4:7620d21baef3 121 CS(namCS),
Mr_What 4:7620d21baef3 122 #endif
Mr_What 1:23d0a615756a 123 EN(namEN)
Mr_What 1:23d0a615756a 124 {
Mr_What 1:23d0a615756a 125 EN.write(0.0f);
Mr_What 1:23d0a615756a 126 IN2.write(0.0f);
Mr_What 1:23d0a615756a 127 IN2.write(0.0f);
Mr_What 1:23d0a615756a 128
Mr_What 1:23d0a615756a 129 IN1.period(0.001f); // these can be audible. They are just the little 98% limits the driver demands
Mr_What 1:23d0a615756a 130 IN2.period(0.001f);
Mr_What 1:23d0a615756a 131 EN.period(1.0f/8000.0f); // may want this higher frequency to make it ultrasonic
Mr_What 1:23d0a615756a 132
Mr_What 1:23d0a615756a 133 _speed = _speedCmd = 0.0f;
Mr_What 1:23d0a615756a 134
Mr_What 1:23d0a615756a 135 _decel = 500;
Mr_What 1:23d0a615756a 136 _deadTime = 250; // emergency stop if no command update in this many ms
Mr_What 1:23d0a615756a 137 _startupTime = 50; // when starting from still, issue full power pulse this long to get motors started
Mr_What 1:23d0a615756a 138 _stopTime = 3000; // Pause at least this long after emergency stop before restarting
Mr_What 1:23d0a615756a 139
Mr_What 1:23d0a615756a 140 _msgCount=9;
Mr_What 1:23d0a615756a 141 emergencyStop();
Mr_What 1:23d0a615756a 142 }
Mr_What 1:23d0a615756a 143
Mr_What 1:23d0a615756a 144
Mr_What 1:23d0a615756a 145 virtual void setCommandTimeout(const int ms) { _deadTime = ms; }
Mr_What 1:23d0a615756a 146 void setDecelRate(const int msFromFullSpeed) { _decel=msFromFullSpeed; }
Mr_What 1:23d0a615756a 147 void setStartPulseDuration(const int ms) { _startupTime=ms; }
Mr_What 1:23d0a615756a 148 void setStopTimeout(const int ms) { _stopTime=ms; }
Mr_What 1:23d0a615756a 149 void showDiagnostics(const int n) { _msgCount=n; }
Mr_What 1:23d0a615756a 150 void showState()
Mr_What 1:23d0a615756a 151 {
Mr_What 1:23d0a615756a 152 //BYTE IN1, IN2; // forward/reverse selectors.
Mr_What 1:23d0a615756a 153 //BYTE EN; // enable pin
Mr_What 1:23d0a615756a 154 //SHORT _speed; // current speed
Mr_What 1:23d0a615756a 155 //SHORT _speedCmd; // commanded speed
Mr_What 4:7620d21baef3 156 DiagSerial.printf("Decel %d ms from ful speed\r\n",_decel);
Mr_What 1:23d0a615756a 157 //BYTE _mode;
Mr_What 1:23d0a615756a 158 //unsigned long _doneTime; // time when mode automatically transitions
Mr_What 4:7620d21baef3 159 DiagSerial.printf("Deadman Timeout %d ms\r\n",_deadTime);
Mr_What 1:23d0a615756a 160 //SHORT _maxPWM; // clip PWM commands to this magnitude
Mr_What 1:23d0a615756a 161 //SHORT _startupTime; // ms of full-power pulse to start from dead stop
Mr_What 1:23d0a615756a 162 //SHORT _stopTime; // ms to lock-out commands after emergency stop
Mr_What 1:23d0a615756a 163
Mr_What 1:23d0a615756a 164 }
Mr_What 1:23d0a615756a 165
Mr_What 1:23d0a615756a 166 virtual void stop()
Mr_What 1:23d0a615756a 167 {
Mr_What 1:23d0a615756a 168 _speedCmd=0;
Mr_What 1:23d0a615756a 169 EN.write(0); // digitalWrite(Pin.EN , 0);
Mr_What 1:23d0a615756a 170 IN1.write(0); // digitalWrite(Pin.IN1, 0);
Mr_What 1:23d0a615756a 171 IN2.write(0); // digitalWrite(Pin.IN2, 0);
Mr_What 1:23d0a615756a 172 EN.write(1); // digitalWrite(Pin.EN , 1);
Mr_What 1:23d0a615756a 173 int stoppingTime = (int)ABS(_speed * _decel);
Mr_What 3:502f90649834 174 if(_msgCount>0){_msgCount--;DiagSerial.printf("%dms to stop.\r\n",stoppingTime);}
Mr_What 1:23d0a615756a 175 _doneTime = millis() + stoppingTime;
Mr_What 1:23d0a615756a 176 //speed=0; don't clobber command in case of direction change
Mr_What 1:23d0a615756a 177 _mode = MOTOR_STOPPING;
Mr_What 1:23d0a615756a 178 }
Mr_What 1:23d0a615756a 179
Mr_What 1:23d0a615756a 180 virtual void emergencyStop()
Mr_What 1:23d0a615756a 181 {
Mr_What 4:7620d21baef3 182 DiagSerial.puts("Emergency ");
Mr_What 1:23d0a615756a 183 _msgCount = 11; // turn on diagnostics for a few commands
Mr_What 1:23d0a615756a 184 stop();
Mr_What 1:23d0a615756a 185 _speedCmd=0;
Mr_What 1:23d0a615756a 186 _doneTime += _stopTime;
Mr_What 1:23d0a615756a 187 }
Mr_What 1:23d0a615756a 188
Mr_What 1:23d0a615756a 189
Mr_What 1:23d0a615756a 190 // Set speed -MAX_PWM for max reverse, MAX_PWM for max forward
Mr_What 1:23d0a615756a 191 virtual void setSpeed(const float spdReq, int t)
Mr_What 1:23d0a615756a 192 {
Mr_What 1:23d0a615756a 193 BYTE prevMode = _mode;
Mr_What 1:23d0a615756a 194 bool rev;
Mr_What 1:23d0a615756a 195 switch(prevMode)
Mr_What 1:23d0a615756a 196 {
Mr_What 1:23d0a615756a 197 case MOTOR_STOPPING :
Mr_What 1:23d0a615756a 198 _speedCmd = spdReq;
Mr_What 1:23d0a615756a 199 if (t < _doneTime)
Mr_What 1:23d0a615756a 200 { // make sure things are stopped
Mr_What 1:23d0a615756a 201 IN1.write(0); // digitalWrite(Pin.IN1,0);
Mr_What 1:23d0a615756a 202 IN2.write(0); // digitalWrite(Pin.IN2,0);
Mr_What 1:23d0a615756a 203 EN.write(1); // digitalWrite(Pin.EN ,1);
Mr_What 1:23d0a615756a 204 return;
Mr_What 1:23d0a615756a 205 }
Mr_What 1:23d0a615756a 206 // done stoping, continue to STOP mode
Mr_What 1:23d0a615756a 207 _speed = 0;
Mr_What 1:23d0a615756a 208 _mode = MOTOR_STOPPED;
Mr_What 3:502f90649834 209 if(_msgCount>0){_msgCount--;DiagSerial.puts("stopped.\r");}
Mr_What 1:23d0a615756a 210 case MOTOR_STOPPED :
Mr_What 1:23d0a615756a 211 if (spdReq == 0) return; // leave in full brake stop
Mr_What 1:23d0a615756a 212 _mode = (spdReq < 0) ? MOTOR_START_REV : MOTOR_START_FWD;
Mr_What 1:23d0a615756a 213 rev = (_mode == MOTOR_START_REV);
Mr_What 1:23d0a615756a 214 IN1.write(rev?1:0); // digitalWrite(rev?Pin.IN1:Pin.IN2,1); // don't worry about PWM
Mr_What 1:23d0a615756a 215 IN2.write(rev?0:1); // digitalWrite(rev?Pin.IN2:Pin.IN1,0); // this is transistional state
Mr_What 1:23d0a615756a 216 EN.write(1); // digitalWrite(Pin.EN,1); // hard kick to get started
Mr_What 1:23d0a615756a 217 _doneTime = t + _startupTime;
Mr_What 1:23d0a615756a 218 _speedCmd = spdReq;
Mr_What 3:502f90649834 219 if(_msgCount>0){_msgCount--;DiagSerial.printf("Start %s\r\n",rev?"REV":"FWD");}
Mr_What 1:23d0a615756a 220 return;
Mr_What 1:23d0a615756a 221 case MOTOR_FWD :
Mr_What 1:23d0a615756a 222 case MOTOR_REV :
Mr_What 1:23d0a615756a 223 if (t > _doneTime) { emergencyStop(); return; } // deadman expired
Mr_What 1:23d0a615756a 224 if ( (spdReq == 0) || // stop or change direction
Mr_What 1:23d0a615756a 225 ((spdReq < 0) && (prevMode == MOTOR_FWD)) ||
Mr_What 1:23d0a615756a 226 ((spdReq > 0) && (prevMode == MOTOR_REV)) )
Mr_What 1:23d0a615756a 227 {
Mr_What 1:23d0a615756a 228 stop();
Mr_What 1:23d0a615756a 229 _speedCmd = clipPWM(spdReq);
Mr_What 1:23d0a615756a 230 return;
Mr_What 1:23d0a615756a 231 }
Mr_What 1:23d0a615756a 232 setReverse(spdReq < 0);
Mr_What 1:23d0a615756a 233 _speed = _speedCmd = spdReq;
Mr_What 1:23d0a615756a 234 EN.write(getPWM(_speed)); // analogWrite(Pin.EN,getPWM(_speed));
Mr_What 1:23d0a615756a 235 _doneTime = t + _deadTime;
Mr_What 1:23d0a615756a 236 //if(_msgCount>0){_msgCount--;Serial.println(_speed);}
Mr_What 1:23d0a615756a 237 return;
Mr_What 1:23d0a615756a 238 case MOTOR_START_REV :
Mr_What 1:23d0a615756a 239 case MOTOR_START_FWD :
Mr_What 1:23d0a615756a 240 if (spdReq == 0)
Mr_What 1:23d0a615756a 241 {
Mr_What 1:23d0a615756a 242 _speed = 100; // give it some time to decel, although just starting
Mr_What 1:23d0a615756a 243 stop();
Mr_What 1:23d0a615756a 244 return;
Mr_What 1:23d0a615756a 245 }
Mr_What 1:23d0a615756a 246 if ( ((spdReq < 0) && (_mode == MOTOR_START_FWD)) ||
Mr_What 1:23d0a615756a 247 ((spdReq > 0) && (_mode == MOTOR_START_REV)) )
Mr_What 1:23d0a615756a 248 { // direction change
Mr_What 1:23d0a615756a 249 _speed = 100; // give it some time to decel, although just starting
Mr_What 1:23d0a615756a 250 stop();
Mr_What 1:23d0a615756a 251 _speedCmd = spdReq; // go to this speed after coast-down period
Mr_What 1:23d0a615756a 252 return;
Mr_What 1:23d0a615756a 253 }
Mr_What 1:23d0a615756a 254 // same direction, but speed request change
Mr_What 1:23d0a615756a 255 _speed = _speedCmd = spdReq;
Mr_What 1:23d0a615756a 256 if (t >= _doneTime)
Mr_What 1:23d0a615756a 257 {
Mr_What 1:23d0a615756a 258 _mode = (_speedCmd > 0) ? MOTOR_FWD : MOTOR_REV;
Mr_What 1:23d0a615756a 259 _doneTime = t + _deadTime;
Mr_What 1:23d0a615756a 260 setReverse(_mode == MOTOR_REV); // make sure direction is correct
Mr_What 1:23d0a615756a 261 EN.write(getPWM(_speedCmd)); // analogWrite(Pin.EN,getPWM(_speedCmd));
Mr_What 4:7620d21baef3 262 if(_msgCount>0){_msgCount--;DiagSerial.printf("Started %.3f\r\n",_speedCmd);}
Mr_What 1:23d0a615756a 263 }
Mr_What 1:23d0a615756a 264 return;
Mr_What 1:23d0a615756a 265 }
Mr_What 1:23d0a615756a 266 }
Mr_What 1:23d0a615756a 267
Mr_What 1:23d0a615756a 268 // update state, but no new command was received
Mr_What 1:23d0a615756a 269 // Check if previous command is complete,
Mr_What 1:23d0a615756a 270 // and an automatic state transition is needed
Mr_What 1:23d0a615756a 271 virtual void update(int t) // current time, from millis()
Mr_What 1:23d0a615756a 272 {
Mr_What 1:23d0a615756a 273 //Serial.print(F("Update ")); Serial.println(t);
Mr_What 1:23d0a615756a 274 if ((_doneTime > 0xfffff000) && (t < 999))
Mr_What 1:23d0a615756a 275 { // time counter must have wrapped around
Mr_What 1:23d0a615756a 276 _doneTime = 0;
Mr_What 1:23d0a615756a 277 CmdSerial.puts("\rClock wrap-around");
Mr_What 1:23d0a615756a 278 }
Mr_What 1:23d0a615756a 279
Mr_What 1:23d0a615756a 280 BYTE prevMode = _mode;
Mr_What 1:23d0a615756a 281 switch(prevMode)
Mr_What 1:23d0a615756a 282 {
Mr_What 1:23d0a615756a 283 case MOTOR_STOPPING :
Mr_What 1:23d0a615756a 284 case MOTOR_STOPPED :
Mr_What 1:23d0a615756a 285 if ((t > _doneTime) && _speedCmd)
Mr_What 1:23d0a615756a 286 { // this was a temp stop in a direction change. Command desired speed.
Mr_What 3:502f90649834 287 if(_msgCount>0){_msgCount--;DiagSerial.printf("Restart %.3f\r\n",_speedCmd);}
Mr_What 1:23d0a615756a 288 setSpeed(_speedCmd,t);
Mr_What 1:23d0a615756a 289 }
Mr_What 1:23d0a615756a 290 //else Serial.println("stopped.");
Mr_What 1:23d0a615756a 291 return;
Mr_What 1:23d0a615756a 292 case MOTOR_FWD :
Mr_What 1:23d0a615756a 293 case MOTOR_REV :
Mr_What 1:23d0a615756a 294 if (t > _doneTime) emergencyStop(); // deadman expired
Mr_What 1:23d0a615756a 295 return;
Mr_What 1:23d0a615756a 296 case MOTOR_START_REV :
Mr_What 1:23d0a615756a 297 case MOTOR_START_FWD :
Mr_What 1:23d0a615756a 298 if (t > _doneTime)
Mr_What 1:23d0a615756a 299 {
Mr_What 3:502f90649834 300 if(_msgCount>0){_msgCount--;DiagSerial.puts("moving\r\n");}
Mr_What 1:23d0a615756a 301 setSpeed(_speedCmd,t);
Mr_What 1:23d0a615756a 302 }
Mr_What 1:23d0a615756a 303 return;
Mr_What 1:23d0a615756a 304 }
Mr_What 1:23d0a615756a 305 }
Mr_What 1:23d0a615756a 306
Mr_What 1:23d0a615756a 307 #ifdef DBH1
Mr_What 1:23d0a615756a 308 int getCurrent()
Mr_What 1:23d0a615756a 309 {
Mr_What 1:23d0a615756a 310 return(CS.read());
Mr_What 1:23d0a615756a 311 }
Mr_What 1:23d0a615756a 312 #endif
Mr_What 1:23d0a615756a 313
Mr_What 1:23d0a615756a 314 };