brayan paiba
/
Nucleo_pwm
Piccolo, cuadrado, diagonal y circulo
main.cpp@0:e0c1f3f89b27, 2017-09-16 (annotated)
- Committer:
- brayanpaiba
- Date:
- Sat Sep 16 14:22:04 2017 +0000
- Revision:
- 0:e0c1f3f89b27
piccolo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
brayanpaiba | 0:e0c1f3f89b27 | 1 | #include "mbed.h" |
brayanpaiba | 0:e0c1f3f89b27 | 2 | |
brayanpaiba | 0:e0c1f3f89b27 | 3 | PwmOut eje_x(PB_3); |
brayanpaiba | 0:e0c1f3f89b27 | 4 | PwmOut eje_y(PB_4); |
brayanpaiba | 0:e0c1f3f89b27 | 5 | PwmOut eje_z(PB_5); |
brayanpaiba | 0:e0c1f3f89b27 | 6 | |
brayanpaiba | 0:e0c1f3f89b27 | 7 | double i=0,rad=0; |
brayanpaiba | 0:e0c1f3f89b27 | 8 | double pulso_us=0,RET_PRU=0,gain=15,b=10; |
brayanpaiba | 0:e0c1f3f89b27 | 9 | double grados=0,retardo_for=0.05,retardo=1,diam=70,var_x=0,var_y=0; |
brayanpaiba | 0:e0c1f3f89b27 | 10 | |
brayanpaiba | 0:e0c1f3f89b27 | 11 | |
brayanpaiba | 0:e0c1f3f89b27 | 12 | |
brayanpaiba | 0:e0c1f3f89b27 | 13 | void REFERENCE(){ |
brayanpaiba | 0:e0c1f3f89b27 | 14 | eje_x.pulsewidth_us(1650); |
brayanpaiba | 0:e0c1f3f89b27 | 15 | eje_y.pulsewidth_us(1635); |
brayanpaiba | 0:e0c1f3f89b27 | 16 | eje_z.pulsewidth_us(750); |
brayanpaiba | 0:e0c1f3f89b27 | 17 | wait_ms(500); |
brayanpaiba | 0:e0c1f3f89b27 | 18 | } |
brayanpaiba | 0:e0c1f3f89b27 | 19 | |
brayanpaiba | 0:e0c1f3f89b27 | 20 | |
brayanpaiba | 0:e0c1f3f89b27 | 21 | void SERVO_X(){ |
brayanpaiba | 0:e0c1f3f89b27 | 22 | pulso_us=((grados*1700)/(180))+790; |
brayanpaiba | 0:e0c1f3f89b27 | 23 | eje_x.pulsewidth_us(pulso_us); |
brayanpaiba | 0:e0c1f3f89b27 | 24 | wait_ms(0); |
brayanpaiba | 0:e0c1f3f89b27 | 25 | } |
brayanpaiba | 0:e0c1f3f89b27 | 26 | |
brayanpaiba | 0:e0c1f3f89b27 | 27 | void SERVO_Y(){ |
brayanpaiba | 0:e0c1f3f89b27 | 28 | pulso_us=((grados*1870)/(180))+700; |
brayanpaiba | 0:e0c1f3f89b27 | 29 | eje_y.pulsewidth_us(pulso_us); |
brayanpaiba | 0:e0c1f3f89b27 | 30 | wait_ms(0); |
brayanpaiba | 0:e0c1f3f89b27 | 31 | } |
brayanpaiba | 0:e0c1f3f89b27 | 32 | |
brayanpaiba | 0:e0c1f3f89b27 | 33 | void SERVO_Z(){ |
brayanpaiba | 0:e0c1f3f89b27 | 34 | pulso_us=((grados*1800)/(180))+650; |
brayanpaiba | 0:e0c1f3f89b27 | 35 | eje_z.pulsewidth_us(pulso_us); |
brayanpaiba | 0:e0c1f3f89b27 | 36 | wait_ms(100); |
brayanpaiba | 0:e0c1f3f89b27 | 37 | } |
brayanpaiba | 0:e0c1f3f89b27 | 38 | |
brayanpaiba | 0:e0c1f3f89b27 | 39 | void PruevaX(){ |
brayanpaiba | 0:e0c1f3f89b27 | 40 | grados=0; |
brayanpaiba | 0:e0c1f3f89b27 | 41 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 42 | wait_ms(RET_PRU); |
brayanpaiba | 0:e0c1f3f89b27 | 43 | for(i=0;i<=90;i=i+10){ |
brayanpaiba | 0:e0c1f3f89b27 | 44 | grados=i; |
brayanpaiba | 0:e0c1f3f89b27 | 45 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 46 | wait_ms(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 47 | } |
brayanpaiba | 0:e0c1f3f89b27 | 48 | wait_ms(RET_PRU); |
brayanpaiba | 0:e0c1f3f89b27 | 49 | grados=180; |
brayanpaiba | 0:e0c1f3f89b27 | 50 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 51 | wait_ms(RET_PRU); |
brayanpaiba | 0:e0c1f3f89b27 | 52 | } |
brayanpaiba | 0:e0c1f3f89b27 | 53 | void PruevaY(){ |
brayanpaiba | 0:e0c1f3f89b27 | 54 | grados=0; |
brayanpaiba | 0:e0c1f3f89b27 | 55 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 56 | wait_ms(RET_PRU); |
brayanpaiba | 0:e0c1f3f89b27 | 57 | for(i=0;i<=90;i=i+10){ |
brayanpaiba | 0:e0c1f3f89b27 | 58 | grados=i; |
brayanpaiba | 0:e0c1f3f89b27 | 59 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 60 | wait_ms(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 61 | } |
brayanpaiba | 0:e0c1f3f89b27 | 62 | wait_ms(RET_PRU); |
brayanpaiba | 0:e0c1f3f89b27 | 63 | grados=180; |
brayanpaiba | 0:e0c1f3f89b27 | 64 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 65 | wait_ms(RET_PRU); |
brayanpaiba | 0:e0c1f3f89b27 | 66 | } |
brayanpaiba | 0:e0c1f3f89b27 | 67 | |
brayanpaiba | 0:e0c1f3f89b27 | 68 | void ESCRIBIR(){ |
brayanpaiba | 0:e0c1f3f89b27 | 69 | grados=120; |
brayanpaiba | 0:e0c1f3f89b27 | 70 | SERVO_Z(); |
brayanpaiba | 0:e0c1f3f89b27 | 71 | } |
brayanpaiba | 0:e0c1f3f89b27 | 72 | |
brayanpaiba | 0:e0c1f3f89b27 | 73 | void ESCRIBIR_0(){ |
brayanpaiba | 0:e0c1f3f89b27 | 74 | grados=30; |
brayanpaiba | 0:e0c1f3f89b27 | 75 | SERVO_Z(); |
brayanpaiba | 0:e0c1f3f89b27 | 76 | } |
brayanpaiba | 0:e0c1f3f89b27 | 77 | |
brayanpaiba | 0:e0c1f3f89b27 | 78 | void LINEA_DIAG(){ |
brayanpaiba | 0:e0c1f3f89b27 | 79 | REFERENCE(); |
brayanpaiba | 0:e0c1f3f89b27 | 80 | wait(2); |
brayanpaiba | 0:e0c1f3f89b27 | 81 | for(i=0;i<=1800;i=i+5){ |
brayanpaiba | 0:e0c1f3f89b27 | 82 | grados=i; |
brayanpaiba | 0:e0c1f3f89b27 | 83 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 84 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 85 | wait_ms(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 86 | ESCRIBIR(); |
brayanpaiba | 0:e0c1f3f89b27 | 87 | } |
brayanpaiba | 0:e0c1f3f89b27 | 88 | ESCRIBIR_0(); |
brayanpaiba | 0:e0c1f3f89b27 | 89 | } |
brayanpaiba | 0:e0c1f3f89b27 | 90 | |
brayanpaiba | 0:e0c1f3f89b27 | 91 | void CUADRADO(){ |
brayanpaiba | 0:e0c1f3f89b27 | 92 | REFERENCE(); |
brayanpaiba | 0:e0c1f3f89b27 | 93 | grados=0; |
brayanpaiba | 0:e0c1f3f89b27 | 94 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 95 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 96 | wait(2); |
brayanpaiba | 0:e0c1f3f89b27 | 97 | for(i=0;i<=180;i=i+5){ |
brayanpaiba | 0:e0c1f3f89b27 | 98 | grados=i; |
brayanpaiba | 0:e0c1f3f89b27 | 99 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 100 | wait_ms(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 101 | ESCRIBIR(); |
brayanpaiba | 0:e0c1f3f89b27 | 102 | } |
brayanpaiba | 0:e0c1f3f89b27 | 103 | for(i=0;i<=180;i=i+5){ |
brayanpaiba | 0:e0c1f3f89b27 | 104 | grados=i; |
brayanpaiba | 0:e0c1f3f89b27 | 105 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 106 | wait_ms(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 107 | ESCRIBIR(); |
brayanpaiba | 0:e0c1f3f89b27 | 108 | } |
brayanpaiba | 0:e0c1f3f89b27 | 109 | for(i=180;i>=0;i=i-5){ |
brayanpaiba | 0:e0c1f3f89b27 | 110 | grados=i; |
brayanpaiba | 0:e0c1f3f89b27 | 111 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 112 | wait_ms(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 113 | ESCRIBIR(); |
brayanpaiba | 0:e0c1f3f89b27 | 114 | } |
brayanpaiba | 0:e0c1f3f89b27 | 115 | for(i=180;i>=0;i=i-5){ |
brayanpaiba | 0:e0c1f3f89b27 | 116 | grados=i; |
brayanpaiba | 0:e0c1f3f89b27 | 117 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 118 | wait_ms(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 119 | ESCRIBIR(); |
brayanpaiba | 0:e0c1f3f89b27 | 120 | } |
brayanpaiba | 0:e0c1f3f89b27 | 121 | for(i=180;i<=0;i=i+10){ |
brayanpaiba | 0:e0c1f3f89b27 | 122 | grados=i; |
brayanpaiba | 0:e0c1f3f89b27 | 123 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 124 | wait_ms(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 125 | ESCRIBIR(); |
brayanpaiba | 0:e0c1f3f89b27 | 126 | } |
brayanpaiba | 0:e0c1f3f89b27 | 127 | ESCRIBIR_0(); |
brayanpaiba | 0:e0c1f3f89b27 | 128 | } |
brayanpaiba | 0:e0c1f3f89b27 | 129 | void CIRCULO(){ |
brayanpaiba | 0:e0c1f3f89b27 | 130 | REFERENCE(); |
brayanpaiba | 0:e0c1f3f89b27 | 131 | wait(2); |
brayanpaiba | 0:e0c1f3f89b27 | 132 | for(i=0;i<360;i=i+10){ |
brayanpaiba | 0:e0c1f3f89b27 | 133 | rad=(i*2*3.1416)/(180); |
brayanpaiba | 0:e0c1f3f89b27 | 134 | grados=(((cos(rad)+1)*180/2)*140/180)+20; |
brayanpaiba | 0:e0c1f3f89b27 | 135 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 136 | grados=(((sin(rad)+1)*180/2)*140/180)+20; |
brayanpaiba | 0:e0c1f3f89b27 | 137 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 138 | wait_ms(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 139 | ESCRIBIR(); |
brayanpaiba | 0:e0c1f3f89b27 | 140 | } |
brayanpaiba | 0:e0c1f3f89b27 | 141 | ESCRIBIR_0(); |
brayanpaiba | 0:e0c1f3f89b27 | 142 | } |
brayanpaiba | 0:e0c1f3f89b27 | 143 | |
brayanpaiba | 0:e0c1f3f89b27 | 144 | void DIBUJO(){ |
brayanpaiba | 0:e0c1f3f89b27 | 145 | REFERENCE(); |
brayanpaiba | 0:e0c1f3f89b27 | 146 | wait(2); |
brayanpaiba | 0:e0c1f3f89b27 | 147 | grados=0+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 148 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 149 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 150 | ESCRIBIR(); |
brayanpaiba | 0:e0c1f3f89b27 | 151 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 152 | |
brayanpaiba | 0:e0c1f3f89b27 | 153 | grados=30+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 154 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 155 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 156 | |
brayanpaiba | 0:e0c1f3f89b27 | 157 | grados=60+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 158 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 159 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 160 | |
brayanpaiba | 0:e0c1f3f89b27 | 161 | grados=90+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 162 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 163 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 164 | |
brayanpaiba | 0:e0c1f3f89b27 | 165 | grados=120+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 166 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 167 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 168 | |
brayanpaiba | 0:e0c1f3f89b27 | 169 | grados=150+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 170 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 171 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 172 | |
brayanpaiba | 0:e0c1f3f89b27 | 173 | grados=150+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 174 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 175 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 176 | |
brayanpaiba | 0:e0c1f3f89b27 | 177 | grados=120+gain-b; |
brayanpaiba | 0:e0c1f3f89b27 | 178 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 179 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 180 | |
brayanpaiba | 0:e0c1f3f89b27 | 181 | grados=90+gain-b; |
brayanpaiba | 0:e0c1f3f89b27 | 182 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 183 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 184 | |
brayanpaiba | 0:e0c1f3f89b27 | 185 | grados=60+gain-b; |
brayanpaiba | 0:e0c1f3f89b27 | 186 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 187 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 188 | |
brayanpaiba | 0:e0c1f3f89b27 | 189 | grados=30+gain-b; |
brayanpaiba | 0:e0c1f3f89b27 | 190 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 191 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 192 | |
brayanpaiba | 0:e0c1f3f89b27 | 193 | grados=0+gain-b; |
brayanpaiba | 0:e0c1f3f89b27 | 194 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 195 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 196 | |
brayanpaiba | 0:e0c1f3f89b27 | 197 | grados=0+gain-b; |
brayanpaiba | 0:e0c1f3f89b27 | 198 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 199 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 200 | |
brayanpaiba | 0:e0c1f3f89b27 | 201 | ESCRIBIR_0(); |
brayanpaiba | 0:e0c1f3f89b27 | 202 | |
brayanpaiba | 0:e0c1f3f89b27 | 203 | grados=150+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 204 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 205 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 206 | |
brayanpaiba | 0:e0c1f3f89b27 | 207 | grados=0+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 208 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 209 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 210 | |
brayanpaiba | 0:e0c1f3f89b27 | 211 | ESCRIBIR(); |
brayanpaiba | 0:e0c1f3f89b27 | 212 | for(i=0;i<45;i++){ |
brayanpaiba | 0:e0c1f3f89b27 | 213 | grados=i+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 214 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 215 | grados=150-i+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 216 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 217 | wait(retardo_for); |
brayanpaiba | 0:e0c1f3f89b27 | 218 | } |
brayanpaiba | 0:e0c1f3f89b27 | 219 | |
brayanpaiba | 0:e0c1f3f89b27 | 220 | ESCRIBIR_0(); |
brayanpaiba | 0:e0c1f3f89b27 | 221 | |
brayanpaiba | 0:e0c1f3f89b27 | 222 | grados=150+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 223 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 224 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 225 | |
brayanpaiba | 0:e0c1f3f89b27 | 226 | grados=0+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 227 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 228 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 229 | |
brayanpaiba | 0:e0c1f3f89b27 | 230 | ESCRIBIR(); |
brayanpaiba | 0:e0c1f3f89b27 | 231 | for(i=0;i<45;i++){ |
brayanpaiba | 0:e0c1f3f89b27 | 232 | grados=150-i+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 233 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 234 | grados=i+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 235 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 236 | wait(retardo_for); |
brayanpaiba | 0:e0c1f3f89b27 | 237 | } |
brayanpaiba | 0:e0c1f3f89b27 | 238 | |
brayanpaiba | 0:e0c1f3f89b27 | 239 | ESCRIBIR_0(); |
brayanpaiba | 0:e0c1f3f89b27 | 240 | |
brayanpaiba | 0:e0c1f3f89b27 | 241 | grados=150+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 242 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 243 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 244 | |
brayanpaiba | 0:e0c1f3f89b27 | 245 | grados=60+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 246 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 247 | wait(retardo); |
brayanpaiba | 0:e0c1f3f89b27 | 248 | |
brayanpaiba | 0:e0c1f3f89b27 | 249 | for(i=180;i<360;i=i+5){ |
brayanpaiba | 0:e0c1f3f89b27 | 250 | rad=(i*3.1416)/(180); |
brayanpaiba | 0:e0c1f3f89b27 | 251 | var_x=((cos(rad)+1)*diam/2)*1.0; |
brayanpaiba | 0:e0c1f3f89b27 | 252 | grados=var_x+30+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 253 | SERVO_X(); |
brayanpaiba | 0:e0c1f3f89b27 | 254 | var_y=((sin(rad)+1)*diam/2)*1.5; |
brayanpaiba | 0:e0c1f3f89b27 | 255 | grados=var_y+120+gain; |
brayanpaiba | 0:e0c1f3f89b27 | 256 | SERVO_Y(); |
brayanpaiba | 0:e0c1f3f89b27 | 257 | ESCRIBIR(); |
brayanpaiba | 0:e0c1f3f89b27 | 258 | } |
brayanpaiba | 0:e0c1f3f89b27 | 259 | ESCRIBIR_0(); |
brayanpaiba | 0:e0c1f3f89b27 | 260 | } |
brayanpaiba | 0:e0c1f3f89b27 | 261 | |
brayanpaiba | 0:e0c1f3f89b27 | 262 | |
brayanpaiba | 0:e0c1f3f89b27 | 263 | int main() { |
brayanpaiba | 0:e0c1f3f89b27 | 264 | eje_x.period_us(20000); |
brayanpaiba | 0:e0c1f3f89b27 | 265 | eje_y.period_us(20000); |
brayanpaiba | 0:e0c1f3f89b27 | 266 | eje_z.period_us(20000); |
brayanpaiba | 0:e0c1f3f89b27 | 267 | REFERENCE(); |
brayanpaiba | 0:e0c1f3f89b27 | 268 | |
brayanpaiba | 0:e0c1f3f89b27 | 269 | while(1) { |
brayanpaiba | 0:e0c1f3f89b27 | 270 | |
brayanpaiba | 0:e0c1f3f89b27 | 271 | DIBUJO(); |
brayanpaiba | 0:e0c1f3f89b27 | 272 | |
brayanpaiba | 0:e0c1f3f89b27 | 273 | |
brayanpaiba | 0:e0c1f3f89b27 | 274 | |
brayanpaiba | 0:e0c1f3f89b27 | 275 | } |
brayanpaiba | 0:e0c1f3f89b27 | 276 | } |