pid tuning for gear ratio=1:47
authorErik Andresen <erik@vontaene.de>
Tue, 30 Aug 2016 20:48:42 +0000 (22:48 +0200)
committerErik Andresen <erik@vontaene.de>
Tue, 30 Aug 2016 20:48:42 +0000 (22:48 +0200)
avr/motor_ctrl/main.c
avr/motor_ctrl/main.hex
scripts/pid_manual.py

index 3dca8cc..6d9f620 100644 (file)
 #define TWI_RESET      TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK                TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 0.039
-#define KI 0.08
+#define KP 0.06
+#define KI 0.10
 #define KD 0.0
 #define PID_T 0.01
-// wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
-#define STEP_PER_M_AVG 4171.4
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47, real wheel diameter: 0.12454m
+#define STEP_PER_M_AVG 5766.1
 #define STEP_PER_M_LEFT (STEP_PER_M_AVG)
 #define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
 #define WHEEL_DIST 0.36923 // Real: 0.252
@@ -149,6 +149,10 @@ static volatile int16_t speed1_wish=0; // step/s
 static volatile int16_t speed2_wish=0;
 static volatile int16_t speed3_wish=0;
 static volatile int16_t speed4_wish=0;
+static volatile int16_t speed1_wish_old=0;
+static volatile int16_t speed2_wish_old=0;
+static volatile int16_t speed3_wish_old=0;
+static volatile int16_t speed4_wish_old=0;
 static volatile uint8_t run_update=0;
 static volatile int16_t speed1=0; // step/s
 static volatile int16_t speed2=0;
@@ -886,10 +890,14 @@ static void update_pid(void) {
        }       
 
        if (motor1_mode == MOTOR_PID) {
+               if (speed1_wish != speed1_wish_old) {
+                       esum1 = 0;
+                       speed1_wish_old = speed1_wish;
+               }
+
                if (speed1_wish == 0) {
                        motor1 = 0;
                        eold1 = 0;
-                       esum1 = 0;
                        error_state &= ~(1<<4);
                } else {
                        int16_t e = speed1_wish - speed1;
@@ -904,10 +912,14 @@ static void update_pid(void) {
                }
        }
        if (motor2_mode == MOTOR_PID) {
+               if (speed2_wish != speed2_wish_old) {
+                       esum2 = 0;
+                       speed2_wish_old = speed2_wish;
+               }
+
                if (speed2_wish == 0) {
                        motor2 = 0;
                        eold2 = 0;
-                       esum2 = 0;
                        error_state &= ~(1<<5);
                } else {
                        int16_t e = speed2_wish - speed2;
@@ -922,10 +934,14 @@ static void update_pid(void) {
                }
        }
        if (motor3_mode == MOTOR_PID) {
+               if (speed3_wish != speed3_wish_old) {
+                       esum3 = 0;
+                       speed3_wish_old = speed3_wish;
+               }
+
                if (speed3_wish == 0) {
                        motor3 = 0;
                        eold3 = 0;
-                       esum3 = 0;
                        error_state &= ~(1<<6);
                } else {
                        int16_t e = speed3_wish - speed3;
@@ -940,10 +956,14 @@ static void update_pid(void) {
                }
        }
        if (motor4_mode == MOTOR_PID) {
+               if (speed4_wish != speed4_wish_old) {
+                       esum4 = 0;
+                       speed4_wish_old = speed4_wish;
+               }
+
                if (speed4_wish == 0) {
                        motor4 = 0;
                        eold4 = 0;
-                       esum4 = 0;
                        error_state &= ~(1<<7);
                } else {
                        int16_t e = speed4_wish - speed4;
index edffdd9..3a80dc0 100644 (file)
 :1001A000A9020C50B9918688083CA6AAAA2ABE00CA\r
 :1001B0000000803F45464765666700202B2D2E30A6\r
 :1001C00031323334353637383968000011241FBED8\r
-:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E8EBB1\r
-:1001E000F8E202C005900D92AA37B107D9F721E0D5\r
-:1001F000AAE7B0E001C01D92A836B207E1F70E945D\r
-:1002000020060C945A140C9400001F920F920FB603\r
+:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E0E5BF\r
+:1001E000F9E202C005900D92AA37B107D9F721E0D4\r
+:1001F000AAE7B0E001C01D92A037B207E1F70E9464\r
+:1002000020060C94A6140C9400001F920F920FB6B7\r
 :100210000F9211242F933F934F935F936F937F938C\r
 :100220008F939F93AF93BF93EF93FF9381B1887F99\r
 :10023000803881F040F4803609F01CC385EC86BF1D\r
-:100240001092E9001CC3883A09F4B7C1883B09F44D\r
-:10025000B4C110C38091E9008A3209F449C108F0A1\r
+:100240001092F1001CC3883A09F4B7C1883B09F445\r
+:10025000B4C110C38091F1008A3209F449C108F099\r
 :1002600047C0803209F402C138F5843009F4C1C0B6\r
 :1002700060F4813009F4FAC008F4A6C0823009F4B1\r
 :10028000ACC0833009F4F2C0EDC2863009F4BDC0C1\r
 :1002900008F4ECC0873009F4E9C0883009F0E2C204\r
-:1002A00083B12091A80090E0922B9093E10080937D\r
-:1002B000E0001092D400CEC2853209F4CAC060F4C6\r
+:1002A00083B12091A80090E0922B9093E900809375\r
+:1002B000E8001092DC00CEC2853209F4CAC060F4B6\r
 :1002C000823209F4D3C008F4ACC0833209F4B6C05A\r
 :1002D000843209F4CBC0C6C2873209F4CBC008F41B\r
 :1002E000C5C0883209F4FFC0893209F401C1BAC21D\r
 :1003300009F098C223B18091A4009091A500A091EA\r
 :10034000A600B091A700BA2FA92F982F8827822B3B\r
 :100350008093A4009093A500A093A600B093A7005B\r
-:100360008093EA009093EB00A093EC00B093ED0033\r
+:100360008093F2009093F300A093F400B093F50013\r
 :1003700071C2813909F40EC178F4863509F4D4C00C\r
 :1003800008F4D2C0873509F4E6C0803909F06AC2A2\r
 :1003900083B1809369005EC2843909F403C150F4CB\r
 :1003A000823909F4FBC0833909F05CC283B18093C0\r
-:1003B000D20050C2853909F4F9C08F3F09F052C20A\r
-:1003C00083B18093E8004EC283B18093E9008091AD\r
-:1003D000E90081508093E9003DC283B12091A800DB\r
-:1003E00090E0922B9093E7008093E6001092D70064\r
-:1003F00031C283B12091A80090E0922B9093E50048\r
-:100400008093E4001092D60025C283B12091A80009\r
-:1004100090E0922B9093E3008093E2001092D5003D\r
-:1004200019C283B12091A80090E0922B9093D10043\r
-:100430008093D00081E08093D7000CC283B12091DB\r
-:10044000A80090E0922B9093CF008093CE0081E0A3\r
-:1004500047C083B12091A80090E0922B9093CD00EB\r
-:100460008093CC0081E08093D500F4C183B1809368\r
+:1003B000DA0050C2853909F4F9C08F3F09F052C202\r
+:1003C00083B18093F0004EC283B18093F10080919D\r
+:1003D000F10081508093F1003DC283B12091A800CB\r
+:1003E00090E0922B9093EF008093EE001092DF004C\r
+:1003F00031C283B12091A80090E0922B9093ED0040\r
+:100400008093EC001092DE0025C283B12091A800F9\r
+:1004100090E0922B9093EB008093EA001092DD0025\r
+:1004200019C283B12091A80090E0922B9093D9003B\r
+:100430008093D80081E08093DF000CC283B12091CB\r
+:10044000A80090E0922B9093D7008093D60081E093\r
+:1004500047C083B12091A80090E0922B9093D500E3\r
+:100460008093D40081E08093DD00F4C183B1809358\r
 :10047000A800F0C183B12091A80090E0922B909346\r
-:10048000CB008093CA0081E08093D400E3C123B104\r
+:10048000D3008093D20081E08093DC00E3C123B1EC\r
 :100490008091A4009091A500A091A600B091A70022\r
 :1004A0006627782F892F9A2F622B6093A400709370\r
-:1004B000A5008093A6009093A70023E33BE542E8C4\r
-:1004C00055E40E9409110E94E90F7093D1006093D6\r
-:1004D000D0007093CF006093CE0081E08093D7006E\r
-:1004E0008093D600B7C183B190E0A0E0B0E00EC029\r
+:1004B000A5008093A6009093A7002DEC30E344EBB9\r
+:1004C00055E40E9455110E9435107093D900609335\r
+:1004D000D8007093D7006093D60081E08093DF004E\r
+:1004E0008093DE00B7C183B190E0A0E0B0E00EC021\r
 :1004F00023B18091A4009091A500A091A600B09195\r
 :10050000A700BA2FA92F982F8827822B8093A400A9\r
 :100510009093A500A093A600B093A7009BC183B1C0\r
 :10055000B093A3007FC123B18091A0009091A1002E\r
 :10056000A091A200B091A300BA2FA92F982F88279D\r
 :10057000822B8093A0009093A100A093A200B0933F\r
-:10058000A3008093EE009093EF00A093F000B0934F\r
-:10059000F1000FC083B1809368005CC183B1809388\r
-:1005A000D30058C183B18093AB0003C083B1809363\r
-:1005B000AA0081E08093F2004DC18091E90090E0B3\r
+:10058000A3008093F6009093F700A093F800B09337\r
+:10059000F9000FC083B1809368005CC183B1809380\r
+:1005A000DB0058C183B18093AB0003C083B180935B\r
+:1005B000AA0081E08093FA004DC18091F10090E0A3\r
 :1005C000FC013297E13AF10508F04BC1E65DFF4FBF\r
-:1005D0000C94D5118AB59BB53CC188B599B539C184\r
-:1005E00083B537C18CB735C113B834C18091DE00F3\r
-:1005F0009091DF000EC08091DC009091DD0009C079\r
-:100600008091DA009091DB0004C08091D800909135\r
-:10061000D90090939F0080939E004DC080919E00D2\r
-:1006200018C18091D0009091D10045C08091D00038\r
-:100630009091D1000EC18091CE009091CF003BC02F\r
-:100640008091CE009091CF0004C18091CC00909118\r
-:10065000CD0031C08091CC009091CD00FAC0809146\r
-:10066000CA009091CB0027C08091CA009091CB0026\r
+:1005D0000C9421128AB59BB53CC188B599B539C137\r
+:1005E00083B537C18CB735C113B834C18091E600EB\r
+:1005F0009091E7000EC08091E4009091E50009C061\r
+:100600008091E2009091E30004C08091E00090911D\r
+:10061000E10090939F0080939E004DC080919E00CA\r
+:1006200018C18091D8009091D90045C08091D80020\r
+:100630009091D9000EC18091D6009091D7003BC017\r
+:100640008091D6009091D70004C18091D400909100\r
+:10065000D50031C08091D4009091D500FAC080912E\r
+:10066000D2009091D30027C08091D2009091D30006\r
 :10067000F0C08091C7009091C8001DC08091C70054\r
 :100680009091C800E6C08091C5009091C60013C04B\r
 :100690008091C5009091C600DCC08091C30090910C\r
 :1008300010C08091B5009091B600A091B700B09122\r
 :10084000B80007C084B78F7083B914BE03C080910D\r
 :10085000A90083B985EC07C08091AC0083B985EC11\r
-:1008600086BF13B885E886BF8091E9008F5F8093CB\r
-:10087000E90005C086B78B7E86BF85EC86BFFF91F9\r
+:1008600086BF13B885E886BF8091F1008F5F8093C3\r
+:10087000F10005C086B78B7E86BF85EC86BFFF91F1\r
 :10088000EF91BF91AF919F918F917F916F915F9108\r
 :100890004F913F912F910F900FBE0F901F90189581\r
 :1008A0001F920F920FB60F9211242F933F934F93E5\r
 :1008B0005F938F939F9399B390FD02C080E001C036\r
 :1008C00083E091FF02C091E0892720919D00281BC1\r
 :1008D00020FF1FC080939D0080916900422F4270CD\r
-:1008E000882349F08091DE009091DF00242F30E0D2\r
-:1008F0002150310908C08091DE009091DF0021E095\r
-:1009000030E0241B3109820F931F9093DF00809306\r
-:10091000DE0099B392959F7090FD02C080E001C007\r
+:1008E000882349F08091E6009091E700242F30E0C2\r
+:1008F0002150310908C08091E6009091E70021E085\r
+:1009000030E0241B3109820F931F9093E7008093FE\r
+:10091000E60099B392959F7090FD02C080E001C0FF\r
 :1009200083E091FF02C091E0892720919C00281B61\r
 :1009300020FF1FC080939C00809168002270882354\r
-:1009400059F08091DC009091DD0041E050E0421BC5\r
-:100950005109840F951F09C08091DC009091DD0042\r
-:1009600030E021503109820F931F9093DD00809376\r
-:10097000DC0099B39695969590FD02C080E001C089\r
+:1009400059F08091E4009091E50041E050E0421BB5\r
+:100950005109840F951F09C08091E4009091E50032\r
+:1009600030E021503109820F931F9093E50080936E\r
+:10097000E40099B39695969590FD02C080E001C081\r
 :1009800083E091FF02C091E0892720919B00281B02\r
-:1009900020FF1FC080939B008091D300227088238A\r
-:1009A00059F08091DA009091DB0041E050E0421B69\r
-:1009B0005109840F951F09C08091DA009091DB00E6\r
-:1009C00030E021503109820F931F9093DB00809318\r
-:1009D000DA0099B3929596959695937090FD02C022\r
+:1009900020FF1FC080939B008091DB002270882382\r
+:1009A00059F08091E2009091E30041E050E0421B59\r
+:1009B0005109840F951F09C08091E2009091E300D6\r
+:1009C00030E021503109820F931F9093E300809310\r
+:1009D000E20099B3929596959695937090FD02C01A\r
 :1009E00080E001C083E0927011F091E089272091AE\r
-:1009F0009A00281B20FF1FC080939A008091D2008C\r
-:100A0000422F4270882349F08091D8009091D900FC\r
-:100A1000242F30E02150310908C08091D8009091F6\r
-:100A2000D90021E030E0241B3109820F931F9093FD\r
-:100A3000D9008093D8008091C9008F5F8093C9004E\r
+:1009F0009A00281B20FF1FC080939A008091DA0084\r
+:100A0000422F4270882349F08091E0009091E100EC\r
+:100A1000242F30E02150310908C08091E0009091EE\r
+:100A2000E10021E030E0241B3109820F931F9093F5\r
+:100A3000E1008093E0008091C9008F5F8093C9003E\r
 :100A40009F918F915F914F913F912F910F900FBE8A\r
 :100A50000F901F9018951F920F920FB60F921124AE\r
-:100A60008F939F93EF93FF935F9B16C0E091F500E8\r
-:100A7000F091F6008CB1808381E0EA35F80730F41C\r
-:100A80003196F093F600E093F50006C087EF90E012\r
-:100A90009093F6008093F500FF91EF919F918F91D5\r
+:100A60008F939F93EF93FF935F9B16C0E091FD00E0\r
+:100A7000F091FE008CB1808381E0E236F80730F41B\r
+:100A80003196F093FE00E093FD0006C08FEF90E0FA\r
+:100A90009093FE008093FD00FF91EF919F918F91C5\r
 :100AA0000F900FBE0F901F9018959C018AB188611E\r
 :100AB0008AB9579A80B5866080BD40E050E084E0F6\r
 :100AC000220F331F441F551F8A95D1F760E079E04C\r
-:100AD0008DE390E00E94B611DA01C9010197A109E6\r
+:100AD0008DE390E00E940212DA01C9010197A10999\r
 :100AE000B109892F9A2FAB2FBB27A7FDBA9580BDDF\r
-:100AF000215029B987EF90E09093F4008093F300A0\r
-:100B00009093F6008093F50008955D9BFECFFC0165\r
+:100AF000215029B98FEF90E09093FC008093FB0088\r
+:100B00009093FE008093FD0008955D9BFECFFC0155\r
 :100B100080818CB90895CF93DF931F92CDB7DEB754\r
 :100B20008983CE0101960E94850580E090E00F90B8\r
 :100B3000DF91CF910895CF93DF93EC01CE01219601\r
 :100B4000FC012081222319F00E948505F7CFDF9157\r
 :100B5000CF9108955F9BFECF8CB190E008950C94E7\r
-:100B6000AA056FEA75E08BE895E00C940812CF9324\r
+:100B6000AA056FEA75E08BE895E00C945412CF93D8\r
 :100B7000DF93FC01E253FF4FA081B181EC01C4532C\r
 :100B8000DF4F28813981A217B307A1F05D9B12C006\r
 :100B90002C912CB920813181AC0145535F4F241732\r
 :100BA000350718F42F5F3F4F03C09C0128593F4F72\r
-:100BB00031832083E091F300F091F4002091F5005F\r
-:100BC0003091F6002E173F07C1F1DC01AC59BF4F41\r
+:100BB00031832083E091FB00F091FC002091FD0047\r
+:100BC0003091FE002E173F07C1F1DC01AC59BF4F39\r
 :100BD000CD91DC911197208128836D917C911197A3\r
 :100BE0009C012B523F4FE9013881EB0128813213E0\r
 :100BF00007C09C012C523F4FE90148814F5F488359\r
 :100C00009C012D593F4F6217730728F4EB01219681\r
-:100C1000CD93DC9302C08D939C93D1E0EA35FD0720\r
-:100C200030F43196F093F400E093F30006C087EFC0\r
-:100C300090E09093F4008093F300DF91CF910895BA\r
+:100C1000CD93DC9302C08D939C93D1E0E236FD0727\r
+:100C200030F43196F093FC00E093FB0006C08FEFA8\r
+:100C300090E09093FC008093FB00DF91CF910895AA\r
 :100C4000CF93DF93CDB7DEB7A0970FB6F894DEBF92\r
 :100C50000FBECDBF88E087BB8CEF84BB8CEB81BB24\r
-:100C600087E088BB80E482BB1092E80080E895E2D0\r
+:100C600087E088BB80E482BB1092F00080E895E2C8\r
 :100C70000E9455050E94B10580E582B986B78B7E3A\r
 :100C800086BF85EC86BF81EA8FBD89E08EBD1BBC27\r
 :100C90001ABC19BC18BC89E685BD13BC83BF1CBE39\r
-:100CA00080E790E00E94851285B78F7885BF84E049\r
+:100CA00080E790E00E94D11285B78F7885BF84E0FD\r
 :100CB00089BF78942224239433243A940FEF10E0D0\r
-:100CC0008091E9008F3F41F48091E800853A21F45A\r
-:100CD000F894E0E0F8E109958091F200882309F4A6\r
-:100CE000E4C0F8948090EA009090EB00A090EC00B3\r
-:100CF000B090ED006091EE007091EF008091F000F7\r
-:100D00009091F1001092F200789427EB3BE04DEBCC\r
-:100D10005EE30E94091120E030E040E05FE30E94C2\r
-:100D20000911A50194010E94160F6B017C01A50118\r
-:100D30009401C501B4010E94160FA70196010E94FB\r
-:100D4000150F23E33BE542E855E40E9409114B01EE\r
-:100D50005C0123E33BE542E855E4C701B6010E948C\r
-:100D600009116B017C018091AA008823C9F180914F\r
+:100CC0008091F1008F3F41F48091F000853A21F44A\r
+:100CD000F894E0E0F8E109958091FA00882309F49E\r
+:100CE000E4C0F8948090F2009090F300A090F4009B\r
+:100CF000B090F5006091F6007091F7008091F800D7\r
+:100D00009091F9001092FA00789427EB3BE04DEBBC\r
+:100D10005EE30E94551120E030E040E05FE30E9476\r
+:100D20005511A50194010E94620F6B017C01A50180\r
+:100D30009401C501B4010E94620FA70196010E94AF\r
+:100D4000610F2DEC30E344EB55E40E9455114B014B\r
+:100D50005C012DEC30E344EB55E4C701B6010E9481\r
+:100D600055116B017C018091AA008823C9F1809103\r
 :100D7000AA0024E630E0281B3109B901882777FD55\r
-:100D80008095982F0E941C109B01AC01C501B401F5\r
-:100D90000E94091120E030E048EC52E40E94810FEB\r
-:100DA0000E94E90F7093D1006093D0008091AA0057\r
+:100D80008095982F0E9468109B01AC01C501B401A9\r
+:100D90000E94551120E030E048EC52E40E94CD0F53\r
+:100DA0000E9435107093D9006093D8008091AA00FA\r
 :100DB00044E650E0481B5109BA01882777FD809529\r
-:100DC000982F0E941C109B01AC01C701B6010E9424\r
-:100DD000091120E030E048EC52E40E94810F0AC083\r
-:100DE000C501B4010E94E90F7093D1006093D00057\r
-:100DF000C701B6010E94E90F7093CD006093CC004B\r
+:100DC000982F0E9468109B01AC01C701B6010E94D8\r
+:100DD000551120E030E048EC52E40E94CD0F0AC0EB\r
+:100DE000C501B4010E9435107093D9006093D800FA\r
+:100DF000C701B6010E9435107093D5006093D400EE\r
 :100E00008091AB008823C1F18091AB00E4E6F0E073\r
 :100E1000E81BF109BF01882777FD8095982F0E9474\r
-:100E20001C109B01AC01C501B4010E94091120E016\r
-:100E300030E048EC52E40E94810F0E94E90F709369\r
-:100E4000CF006093CE008091AB0064E670E0681B39\r
-:100E50007109882777FD8095982F0E941C109B01AF\r
-:100E6000AC01C701B6010E94091120E030E048EC56\r
-:100E700052E40E94810F0AC0C501B4010E94E90F2B\r
-:100E80007093CF006093CE00C701B6010E94E90FB6\r
-:100E90007093CB006093CA00F1E0F093D700F09319\r
-:100EA000D600F093D500F093D4008091C9008C391E\r
-:100EB00008F466C61092C900F8942091DE003091C3\r
-:100EC000DF003A8329834091DC005091DD005C8390\r
-:100ED0004B838091DA009091DB009E838D83E091BB\r
-:100EE000D800F091D900F887EF837894809198002A\r
+:100E200068109B01AC01C501B4010E94551120E07E\r
+:100E300030E048EC52E40E94CD0F0E9435107093D0\r
+:100E4000D7006093D6008091AB0064E670E0681B29\r
+:100E50007109882777FD8095982F0E9468109B0163\r
+:100E6000AC01C701B6010E94551120E030E048EC0A\r
+:100E700052E40E94CD0F0AC0C501B4010E94351092\r
+:100E80007093D7006093D600C701B6010E94351059\r
+:100E90007093D3006093D200F1E0F093DF00F09301\r
+:100EA000DE00F093DD00F093DC008091C9008C3906\r
+:100EB00008F4B2C61092C900F8942091E60030916F\r
+:100EC000E7003A8329834091E4005091E5005C8378\r
+:100ED0004B838091E2009091E3009E838D83E091AB\r
+:100EE000E000F091E100F887EF837894809198001A\r
 :100EF000909199007901E81AF90A809196009091F1\r
 :100F000097006A01C81AD90A8091940090919500BF\r
 :100F10006D807E80681A790A80919200909193008A\r
 :100F20002F01481A590AB701882777FD8095982F15\r
-:100F30000E941C102AE037ED43E25CE30E94810F1F\r
-:100F40000E94E90F6D877E878F87988BB60188276F\r
-:100F500077FD8095982F0E941C102AE037ED43E220\r
-:100F60005CE30E94810F0E94E90F698B7A8B8B8B67\r
-:100F70009C8BB301882777FD8095982F0E941C10C9\r
-:100F80002AE037ED43E25CE30E94810F0E94E90F03\r
+:100F30000E9468102AE037ED43E25CE30E94CD0F87\r
+:100F40000E9435106D877E878F87988BB601882722\r
+:100F500077FD8095982F0E9468102AE037ED43E2D4\r
+:100F60005CE30E94CD0F0E943510698B7A8B8B8BCE\r
+:100F70009C8BB301882777FD8095982F0E9468107D\r
+:100F80002AE037ED43E25CE30E94CD0F0E9435106A\r
 :100F90006D8B7E8B8F8B988FB201882777FD809524\r
-:100FA000982F0E941C102AE037ED43E25CE30E9478\r
-:100FB000810F0E94E90F698F7A8F8B8F9C8FB70109\r
-:100FC0006C0D7D1D882777FD8095982F0E941C1041\r
-:100FD00023E33BE542E056E40E94810F4B015C01B4\r
+:100FA000982F0E9468102AE037ED43E25CE30E942C\r
+:100FB000CD0F0E943510698F7A8F8B8F9C8FB70170\r
+:100FC0006C0D7D1D882777FD8095982F0E946810F5\r
+:100FD0002DEC30E344E356E40E94CD0F4B015C015D\r
 :100FE000B301640D751D882777FD8095982F0E94A9\r
-:100FF0001C1023E33BE542E056E40E94810F2B01E5\r
-:101000003C01A50194010E94150F27EB3BE04DEB3D\r
-:101010005EE30E94810F69877A878B879C87609146\r
+:100FF00068102DEC30E344E356E40E94CD0F2B0142\r
+:101000003C01A50194010E94610F27EB3BE04DEBF1\r
+:101010005EE30E94CD0F69877A878B879C876091FA\r
 :10102000B5007091B6008091B7009091B800298505\r
-:101030003A854B855C850E94160F6B017C012BED78\r
-:101040003FE049EC50E40E94051118164CF42BEDDA\r
-:101050003FE049EC50E4C701B6010E94150F12C0F1\r
-:101060002BED3FE049EC50ECC701B6010E947A0F2E\r
+:101030003A854B855C850E94620F6B017C012BED2C\r
+:101040003FE049EC50E40E94511118164CF42BED8E\r
+:101050003FE049EC50E4C701B6010E94610F12C0A5\r
+:101060002BED3FE049EC50ECC701B6010E94C60FE2\r
 :1010700087FF0AC02BED3FE049EC50E4C701B60101\r
-:101080000E94160F6B017C01A3019201C501B401FE\r
-:101090000E94160F20E030E040E05FE30E9409115B\r
+:101080000E94620F6B017C01A3019201C501B401B2\r
+:101090000E94620F20E030E040E05FE30E945511C3\r
 :1010A0004B015C014090BD005090BE006090BF00BD\r
-:1010B0007090C000C701B6010E947E0FA501940187\r
-:1010C0000E9409119B01AC01C301B2010E94160FDD\r
+:1010B0007090C000C701B6010E94CA0FA50194013B\r
+:1010C0000E9455119B01AC01C301B2010E94620F45\r
 :1010D0006D8F7E8F8F8F98A34090B9005090BA008B\r
-:1010E0006090BB007090BC00C701B6010E946C11FB\r
-:1010F000A50194010E9409119B01AC01C301B20139\r
-:101100000E94160F2B013C012AE037ED43E25CE31D\r
-:10111000C501B4010E94810F4B015C012AE037ED4B\r
-:1011200043E25CE369857A858B859C850E94810F0B\r
+:1010E0006090BB007090BC00C701B6010E94B811AF\r
+:1010F000A50194010E9455119B01AC01C301B201ED\r
+:101100000E94620F2B013C012AE037ED43E25CE3D1\r
+:10111000C501B4010E94CD0F4B015C012AE037EDFF\r
+:1011200043E25CE369857A858B859C850E94CD0FBF\r
 :10113000F894C092B500D092B600E092B700F09259\r
 :10114000B8002D8D3E8D4F8D58A12093BD0030935A\r
 :10115000BE004093BF005093C0004092B90050922F\r
 :1011F00090918F00A0919000B0919100B7FF07C02F\r
 :10120000B095A095909581959F4FAF4FBF4F813C72\r
 :10121000944DA140B105CCF08091C7009091C800D9\r
-:10122000892B99F41092E7001092E6001092D700F3\r
+:10122000892B99F41092EF001092EE001092DF00DB\r
 :101230008091A90080618093A90010928E00109285\r
 :101240008F00109290001092910080918A009091EE\r
 :101250008B00A0918C00B0918D00B7FF07C0B095B6\r
 :10126000A095909581959F4FAF4FBF4F813C944D76\r
 :10127000A140B105CCF08091C5009091C600892BAA\r
-:1012800099F41092E5001092E4001092D60080913B\r
+:1012800099F41092ED001092EC001092DE00809123\r
 :10129000A90080628093A90010928A0010928B00AE\r
 :1012A00010928C0010928D008091860090918700A2\r
 :1012B000A0918800B0918900B7FF07C0B095A095B4\r
 :1012C000909581959F4FAF4FBF4F813C944DA1406A\r
 :1012D000B105CCF08091C3009091C400892B99F4A2\r
-:1012E0001092E3001092E2001092D5008091A900C4\r
+:1012E0001092EB001092EA001092DD008091A900AC\r
 :1012F00080648093A900109286001092870010925B\r
 :101300008800109289008091820090918300A091C2\r
 :101310008400B0918500B7FF07C0B095A095909567\r
 :1013200081959F4FAF4FBF4F813C944DA140B10578\r
 :10133000CCF08091C1009091C200892B99F4109259\r
-:10134000E1001092E0001092D4008091A900806822\r
+:10134000E9001092E8001092DC008091A90080680A\r
 :101350008093A90010928200109283001092840062\r
-:10136000109285008091D700813009F0B4C080913F\r
-:10137000D0009091D100892BB1F41092E700109227\r
-:10138000E600109281001092800010928E00109260\r
-:101390008F0010929000109291008091A9008F7E92\r
-:1013A0008093A90098C0A090D000B090D100809107\r
-:1013B000C7009091C800A81AB90AB501882777FD1F\r
-:1013C0008095982FC0908E00D0908F00E090900074\r
-:1013D000F0909100C60ED71EE81EF91EC0928E0036\r
-:1013E000D0928F00E0929000F09291000E941C1029\r
-:1013F00027E73EEB4FE15DE30E9409112B013C0121\r
-:10140000C701B6010E941C1027E137EB41E55AE302\r
-:101410000E9409119B01AC01C301B2010E94160F89\r
-:101420006B017C018091800090918100B501681B67\r
-:10143000790B882777FD8095982F0E941C1020E05B\r
-:1014400030E0A9010E9409119B01AC01C701B6015E\r
-:101450000E94160F0E94E90F7093E7006093E60068\r
-:10146000B0928100A09280008091E6009091E70008\r
-:101470001816190634F48091D0009091D10097FD90\r
-:101480000DC08091E6009091E70097FF0CC080911D\r
-:10149000D0009091D100181619062CF41092E70094\r
-:1014A0001092E60018C08091E6009091E7008F3F0F\r
-:1014B000910531F02CF01093E7000093E6000BC08B\r
-:1014C0008091E6009091E70081309F4F24F43092A4\r
-:1014D000E7002092E6008091D600813009F0B4C088\r
-:1014E0008091CE009091CF00892BB1F41092E5004D\r
-:1014F0001092E40010927F0010927E0010928A00F9\r
-:1015000010928B0010928C0010928D008091A90097\r
-:101510008F7D8093A90098C0A090CE00B090CF009E\r
-:101520008091C5009091C600A81AB90AB501882714\r
-:1015300077FD8095982FC0908A00D0908B00E09026\r
-:101540008C00F0908D00C60ED71EE81EF91EC092CA\r
-:101550008A00D0928B00E0928C00F0928D000E9465\r
-:101560001C1027E73EEB4FE15DE30E9409112B01C0\r
-:101570003C01C701B6010E941C1027E137EB41E591\r
-:101580005AE30E9409119B01AC01C301B2010E9400\r
-:10159000160F6B017C0180917E0090917F00B50158\r
-:1015A000681B790B882777FD8095982F0E941C1067\r
-:1015B00020E030E0A9010E9409119B01AC01C701A4\r
-:1015C000B6010E94160F0E94E90F7093E500609328\r
-:1015D000E400B0927F00A0927E008091E4009091A0\r
-:1015E000E5001816190634F48091CE009091CF00D2\r
-:1015F00097FD0DC08091E4009091E50097FF0CC02D\r
-:101600008091CE009091CF00181619062CF41092FC\r
-:10161000E5001092E40018C08091E4009091E5008C\r
-:101620008F3F910531F02CF01093E5000093E4001A\r
-:101630000BC08091E4009091E50081309F4F24F42D\r
-:101640003092E5002092E4008091D500813009F0CD\r
-:10165000B4C08091CC009091CD00892BB1F4109250\r
-:10166000E3001092E20010927D0010927C00109234\r
-:101670008600109287001092880010928900809155\r
-:10168000A9008F7B8093A90098C0A090CC00B09057\r
-:10169000CD008091C3009091C400A81AB90AB50189\r
-:1016A000882777FD8095982FC0908600D09087007E\r
-:1016B000E0908800F0908900C60ED71EE81EF91E43\r
-:1016C000C0928600D0928700E0928800F092890054\r
-:1016D0000E941C1027E73EEB4FE15DE30E940911D9\r
-:1016E0002B013C01C701B6010E941C1027E137EB1A\r
-:1016F00041E55AE30E9409119B01AC01C301B2010B\r
-:101700000E94160F6B017C0180917C0090917D00FE\r
-:10171000B501681B790B882777FD8095982F0E946B\r
-:101720001C1020E030E0A9010E9409119B01AC01CE\r
-:10173000C701B6010E94160F0E94E90F7093E300E3\r
-:101740006093E200B0927D00A0927C008091E20064\r
-:101750009091E3001816190634F48091CC00909112\r
-:10176000CD0097FD0DC08091E2009091E30097FFBE\r
-:101770000CC08091CC009091CD00181619062CF465\r
-:101780001092E3001092E20018C08091E200909164\r
-:10179000E3008F3F910531F02CF01093E3000093AC\r
-:1017A000E2000BC08091E2009091E30081309F4FF6\r
-:1017B00024F43092E3002092E2008091D400813042\r
-:1017C00009F0B4C08091CA009091CB00892BB1F48C\r
-:1017D0001092E1001092E00010927B0010927A00CB\r
-:1017E0001092820010928300109284001092850063\r
-:1017F0008091A9008F778093A90098C0A090CA001B\r
-:10180000B090CB008091C1009091C200A81AB90A93\r
-:10181000B501882777FD8095982FC0908200D090E1\r
-:101820008300E0908400F0908500C60ED71EE81E6D\r
-:10183000F91EC0928200D0928300E0928400F09260\r
-:1018400085000E941C1027E73EEB4FE15DE30E94FC\r
-:1018500009112B013C01C701B6010E941C1027E1B0\r
-:1018600037EB41E55AE30E9409119B01AC01C3012A\r
-:10187000B2010E94160F6B017C0180917A00909159\r
-:101880007B00B501681B790B882777FD8095982F21\r
-:101890000E941C1020E030E0A9010E9409119B0168\r
-:1018A000AC01C701B6010E94160F0E94E90F7093A8\r
-:1018B000E1006093E000B0927B00A0927A008091FA\r
-:1018C000E0009091E1001816190634F48091CA00E6\r
-:1018D0009091CB0097FD0DC08091E0009091E100C8\r
-:1018E00097FF0CC08091CA009091CB001816190682\r
-:1018F0002CF41092E1001092E00018C08091E000FA\r
-:101900009091E1008F3F910531F02CF01093E100B0\r
-:101910000093E0000BC08091E0009091E1008130E5\r
-:101920009F4F24F43092E1002092E0008091A900C2\r
-:10193000807F8093A9003091A90080B326B3807482\r
-:1019400090E0A3E095958795AA95E1F72770282B5D\r
-:1019500020952F70232B2093A9008091E600909171\r
-:10196000E700209166003091670028173907C9F118\r
-:101970008091E6009091E700892B19F485B3837F6D\r
-:101980001CC080916900811107C08091E600909190\r
-:10199000E7001816190654F080916900882351F069\r
-:1019A0008091E6009091E70097FF04C085B3877FA0\r
-:1019B000846003C085B38B7F886085BB8091E6001F\r
-:1019C0009091E70090936700809366008091E60015\r
-:1019D0009091E70097FF03C09195819591099BBD78\r
-:1019E0008ABD8091E4009091E500209164003091DF\r
-:1019F000650028173907C9F18091E4009091E5004E\r
-:101A0000892B19F485B38F7C1CC0809168008111EB\r
-:101A100007C08091E4009091E5001816190654F073\r
-:101A200080916800882351F08091E4009091E50056\r
-:101A300097FF04C085B38F7D806103C085B38F7E1F\r
-:101A4000806285BB8091E4009091E50090936500F1\r
-:101A5000809364008091E4009091E50097FF03C0BB\r
-:101A600091958195910999BD88BD8091E2009091F1\r
-:101A7000E300209162003091630028173907C1F11B\r
-:101A80008091E2009091E300892B19F485B38F7364\r
-:101A90001CC08091D300811107C08091E200909119\r
-:101AA000E3001816190654F08091D300882351F0F2\r
-:101AB0008091E2009091E30097FF04C085B38F7797\r
-:101AC000806403C085B38F7B806885BB8091E20012\r
-:101AD0009091E30090936300809362008091E20014\r
-:101AE0009091E30097FF03C091958195910983BD83\r
-:101AF0008091E0009091E1002091600030916100C0\r
-:101B000028173907C1F18091E0009091E100892BFD\r
-:101B100019F482B3837F1CC08091D200811107C069\r
-:101B20008091E0009091E1001816190654F0809120\r
-:101B3000D200882351F08091E0009091E10097FF5E\r
-:101B400004C082B3877F846003C082B38B7F8860C8\r
-:101B500082BB8091E0009091E100909361008093BE\r
-:101B600060008091E0009091E10097FF03C09195A3\r
-:101B7000819591098CBF8091AC008F5F8093AC0000\r
-:101B800085B7806885BF889585B78F7785BF98C8EA\r
-:101B90006F927F929F92AF92BF92CF92DF92EF921D\r
-:101BA000FF920F931F93CF93DF93CDB7DEB72C97A0\r
-:101BB0000FB6F894DEBF0FBECDBF8C017B013A019A\r
-:101BC000FC0117821682838181FF19C1CE01019623\r
-:101BD0005C01F801D380F701D3FC2591D3FE21915C\r
-:101BE0007F01222309F407C1253249F4D3FC259152\r
-:101BF000D3FE21917F01253211F0912C1BC0B80139\r
-:101C0000822F90E00E94531263013601E2CF22231B\r
-:101C100009F4F1C0622F70E08BEB91E02C870E94F9\r
-:101C2000FD112C85892B49F0F701D3FC2591D3FEBA\r
-:101C300021917F0197FEEBCF0CC0233221F4F92DC7\r
-:101C4000F0619F2EF1CF2C3639F4292D2068922E89\r
-:101C5000EBCF222309F4CFC0622F70E084EB91E038\r
-:101C60002C870E94FD112C85892B41F06301F4E043\r
-:101C7000CF0ED11CB8018FE390E012C0233641F0A3\r
-:101C8000233789F0233521F5F92DF1609F2E0BC004\r
-:101C9000630122E0C20ED11CB801F3018081918161\r
-:101CA0000E945312B2CF630122E0C20ED11CF30195\r
-:101CB00060807180F30190FC859190FE81913F01DD\r
-:101CC000882309F4A2CFB80190E00E945312F2CF0A\r
-:101CD000243611F0293639F5630197FE09C0F4E086\r
-:101CE000CF0ED11CF30160817181828193810AC082\r
-:101CF000F2E0CF0ED11CF30160817181882777FD5E\r
-:101D00008095982FF92DFF7E9F2E97FF09C0909503\r
-:101D10008095709561957F4F8F4F9F4FF0649F2EF8\r
-:101D20002AE030E038C02037A1F040F42835D1F067\r
-:101D30002F3609F060C028E030E019C0253719F0CF\r
-:101D4000283751F058C0292D2F7E922E2AE030E0FE\r
-:101D50000EC0892D8061982E992D9462992E20E1D4\r
-:101D600030E005C0E92DE4609E2E20E132E0630101\r
-:101D700097FE09C0F4E0CF0ED11CF30160817181A0\r
-:101D80008281938108C0F2E0CF0ED11CF301608103\r
-:101D9000718180E090E0A5010E94B212782E7A183D\r
-:101DA00096FE05C0B8018DE290E00E94531294FEA9\r
-:101DB00016C0FE01E70DF11D8081803381F0B8016E\r
-:101DC00080E390E00E94531292FE09C0292D2072F8\r
-:101DD000822F90E0B801885A9F4F0E9453127A9444\r
-:101DE000F501E70DF11D8081B80190E00E945312CA\r
-:101DF0007110F5CF0ACFF8018681978102C08FEF6D\r
-:101E00009FEF2C960FB6F894DEBF0FBECDBFDF91CB\r
-:101E1000CF911F910F91FF90EF90DF90CF90BF90E7\r
-:101E2000AF909F907F906F9008955058BB27AA273E\r
-:101E30000ED0A0C169D130F06ED120F031F49F3FB7\r
-:101E400011F41EF45EC10EF4E095E7FB54C1E92FD6\r
-:101E5000B3D180F3BA17620773078407950718F0A8\r
-:101E600071F49EF5CBC10EF4E0950B2EBA2FA02D88\r
-:101E70000B01B90190010C01CA01A0011124FF2737\r
-:101E8000591B99F0593F50F4503E68F11A16F04032\r
-:101E9000A22F232F342F4427585FF3CF4695379531\r
-:101EA0002795A795F0405395C9F77EF41F16BA0BF6\r
-:101EB000620B730B840BBAF09150A1F0FF0FBB1FA4\r
-:101EC000661F771F881FC2F70EC0BA0F621F731FED\r
-:101ED000841F48F4879577956795B795F7959E3F4A\r
-:101EE00008F0B3CF9395880F08F09927EE0F9795D8\r
-:101EF00087950895DCD008F481E0089514D1E39526\r
-:101F00004AC10CD037C107D140F0FED030F021F4E7\r
-:101F10005F3F19F0F0C0511172C1F3C04DD198F379\r
-:101F20009923C9F35523B1F3951B550BBB27AA275A\r
-:101F300062177307840738F09F5F5F4F220F331FCC\r
-:101F4000441FAA1FA9F333D00E2E3AF0E0E830D098\r
-:101F500091505040E695001CCAF729D0FE2F27D09B\r
-:101F6000660F771F881FBB1F261737074807AB0769\r
-:101F7000B0E809F0BB0B802DBF01FF2793585F4FDE\r
-:101F80002AF09E3F510568F0B6C039C15F3FECF3BF\r
-:101F9000983EDCF3869577956795B795F7959F5FA3\r
-:101FA000C9F7880F911D9695879597F90895E1E0F7\r
-:101FB000660F771F881FBB1F621773078407BA0756\r
-:101FC00020F0621B730B840BBA0BEE1F88F7E095B1\r
-:101FD000089504D06894B11112C10895F5D088F025\r
-:101FE0009F5790F0B92F9927B751A0F0D1F0660F05\r
-:101FF000771F881F991F1AF0BA95C9F712C0B13020\r
-:1020000081F0FCD0B1E00895F9C0672F782F8827C0\r
-:10201000B85F39F0B93FCCF3869577956795B3955E\r
-:10202000D9F73EF490958095709561957F4F8F4FCD\r
-:102030009F4F0895E89409C097FB3EF490958095D2\r
-:10204000709561957F4F8F4F9F4F9923A9F0F92F7E\r
-:1020500096E9BB279395F695879577956795B795FC\r
-:10206000F111F8CFFAF4BB0F11F460FF1BC06F5FE2\r
-:102070007F4F8F4F9F4F16C0882311F096E911C0F4\r
-:10208000772321F09EE8872F762F05C0662371F015\r
-:1020900096E8862F70E060E02AF09A95660F771F29\r
-:1020A000881FDAF7880F9695879597F90895990F05\r
-:1020B0000008550FAA0BE0E8FEEF16161706E80712\r
-:1020C000F907C0F012161306E407F50798F0621B33\r
-:1020D000730B840B950B39F40A2661F0232B242B08\r
-:1020E000252B21F408950A2609F4A140A6958FEF27\r
-:1020F000811D811D089597F99F6780E870E060E079\r
-:1021000008959FEF80EC089500240A941616170690\r
-:1021100018060906089500240A94121613061406D8\r
-:1021200005060895EECF50D0E8F3E894E0E0BB2731\r
-:102130009F57F0F02AED3FE049EC06C0EE0FBB0FD1\r
-:10214000661F771F881F28F0B23A6207730784075B\r
-:1021500028F0B25A620B730B840BE3959A9572F7D1\r
-:10216000803830F49A95BB0F661F771F881FD2F70F\r
-:102170009048BAC0092E0394000C11F4882352F041\r
-:10218000BB0F40F4BF2B11F460FF04C06F5F7F4FA3\r
-:102190008F4F9F4F0895EF93E0FF06C0A2EA2AED0C\r
-:1021A0003FE049EC5FEB53DEE5DF0F90039401FC69\r
-:1021B0009058E6E9F1E0A4C057FD9058440F551F30\r
-:1021C00059F05F3F71F04795880F97FB991F61F0B9\r
-:1021D0009F3F79F087950895121613061406551F30\r
-:1021E000F2CF4695F1DF08C0161617061806991F9C\r
-:1021F000F1CF86957105610508940895E894BB2791\r
-:1022000066277727CB0197F9089551DF08F48FEF00\r
-:1022100008950BD0AFCF78DF28F07DDF18F095233D\r
-:1022200009F069CF6ECF1124EACFC6DFA0F3959FE6\r
-:10223000D1F3950F50E0551F629FF001729FBB27AD\r
-:10224000F00DB11D639FAA27F00DB11DAA1F649F59\r
-:102250006627B00DA11D661F829F2227B00DA11D0C\r
-:10226000621F739FB00DA11D621F839FA00D611D92\r
-:10227000221F749F3327A00D611D231F849F600DB3\r
-:10228000211D822F762F6A2F11249F5750408AF0EC\r
-:10229000E1F088234AF0EE0FFF1FBB1F661F771F78\r
-:1022A000881F91505040A9F79E3F510570F023CFF1\r
-:1022B000A6CF5F3FECF3983EDCF386957795679564\r
-:1022C000B795F795E7959F5FC1F7FE2B880F911D96\r
-:1022D0009695879597F908959F9325DF0F9007FCB2\r
-:1022E000EE5F59CF9F3F31F0915020F4879577955D\r
-:1022F0006795B795880F911D9695879597F90895DD\r
-:102300009F938F937F936F93FF93EF939B01AC0108\r
-:1023100080DFEF91FF9105D02F913F914F915F9119\r
-:1023200078CFDF93CF931F930F93FF92EF92DF92BB\r
-:102330007B018C01689405C0DA2EEF0176DFFE0187\r
-:10234000E894A5912591359145915591AEF3EF0112\r
-:102350007EDDFE019701A801DA9479F7DF90EF9016\r
-:10236000FF900F911F91CF91DF910895052E97FB5C\r
-:102370001EF400940E94CD1157FD07D00E94DB117E\r
-:1023800007FC03D04EF40C94CD1150954095309538\r
-:1023900021953F4F4F4F5F4F0895909580957095D1\r
-:1023A00061957F4F8F4F9F4F0895EE0FFF1F059050\r
-:1023B000F491E02D0994A1E21A2EAA1BBB1BFD018A\r
-:1023C0000DC0AA1FBB1FEE1FFF1FA217B307E40714\r
-:1023D000F50720F0A21BB30BE40BF50B661F771F6C\r
-:1023E000881F991F1A9469F760957095809590954C\r
-:1023F0009B01AC01BD01CF010895FC0105900616BB\r
-:1024000021F00020D9F7C00108953197CF01089538\r
-:102410000F931F93CF93DF93EC018B01009731F45F\r
-:102420006115710519F480E090E038C06EE070E04D\r
-:1024300081E090E00E941013FC010097A1F380E876\r
-:1024400083830115110571F01387028781E8838367\r
-:1024500080915E0190915F01892B21F4F0935F01DF\r
-:10246000E0935E012097C9F0D187C08783818260A5\r
-:1024700083838091600190916101892B71F4F093C5\r
-:102480006101E09360018091620190916301892B69\r
-:1024900021F4F0936301E0936201CF01DF91CF91CA\r
-:1024A0001F910F9108950F931F93CF93DF93182FD0\r
-:1024B000092FEB018B8181FD03C08FEF9FEF20C0BF\r
-:1024C00082FF10C04E815F812C813D8142175307EE\r
-:1024D0007CF4E881F9819F012F5F3F4F3983288386\r
-:1024E000108306C0E885F985812F0995892B29F786\r
-:1024F0002E813F812F5F3F4F3F832E83812F902F6F\r
-:10250000DF91CF911F910F9108950F931F93CF9358\r
-:10251000DF93E0916001F0916101238121FF1BC0F5\r
-:10252000EC0100E010E0899160916001709161011F\r
-:10253000DB011896ED91FC911997882331F00995EC\r
-:10254000892B89F30FEF1FEFEECF8AE00995892BD6\r
-:1025500011F4C80102C08FEF9FEFDF91CF911F915F\r
-:102560000F910895FA01AA27283051F1203181F105\r
-:10257000E8946F936E7F6E5F7F4F8F4F9F4FAF4F8B\r
-:10258000B1E03ED0B4E03CD0670F781F891F9A1F9E\r
-:10259000A11D680F791F8A1F911DA11D6A0F711D52\r
-:1025A000811D911DA11D20D009F468943F912AE05E\r
-:1025B000269F11243019305D3193DEF6CF01089546\r
-:1025C000462F4770405D4193B3E00FD0C9F7F6CF77\r
-:1025D000462F4F70405D4A3318F0495D31FD40523F\r
-:1025E000419302D0A9F7EACFB4E0A69597958795D5\r
-:1025F00077956795BA95C9F70097610571050895B4\r
-:102600009B01AC010A2E069457954795379527955F\r
-:10261000BA95C9F7620F731F841F951FA01D0895F7\r
-:102620000F931F93CF93DF93869F8001879F100D99\r
-:10263000969F100D1124C8010E942C13EC010097E5\r
-:1026400029F0A80160E070E00E945314CE01DF91F0\r
-:10265000CF911F910F910895CF93DF938230910511\r
-:1026600010F482E090E0E0916601F091670120E0D3\r
-:1026700030E0A0E0B0E0309739F140815181481757\r
-:102680005907B8F04817590771F482819381109760\r
-:1026900029F013969C938E9312972CC09093670108\r
-:1026A0008093660127C02115310531F04217530789\r
-:1026B00018F0A901DB0101C0EF019A01BD01DF01A2\r
-:1026C0000280F381E02DD7CF21153105F9F0281BC9\r
-:1026D000390B2430310580F48A819B8161157105A5\r
-:1026E00021F0FB019383828304C090936701809360\r
-:1026F0006601FE01329644C0FE01E20FF31F819392\r
-:10270000919322503109398328833AC02091640182\r
-:1027100030916501232B41F420916C0030916D00C4\r
-:10272000309365012093640120916A0030916B0021\r
-:102730002115310541F42DB73EB740916E005091FF\r
-:102740006F00241B350BE0916401F0916501E217E5\r
-:10275000F307A0F42E1B3F0B2817390778F0AC01C4\r
-:102760004E5F5F4F2417350748F04E0F5F1F5093A1\r
-:102770006501409364018193919302C0E0E0F0E031\r
-:10278000CF01DF91CF910895CF93DF93009709F4A4\r
-:1027900087C0FC01329713821282C0916601D091EA\r
-:1027A0006701209781F420813181280F391F8091A2\r
-:1027B0006401909165018217930779F5F0936501A3\r
-:1027C000E09364016DC0DE0120E030E0AE17BF078A\r
-:1027D00050F412964D915C9113979D01411551054E\r
-:1027E00009F1DA01F3CFB383A28340815181840FD1\r
-:1027F000951F8A179B0771F48D919C911197840FF7\r
-:10280000951F02969183808312968D919C911397C8\r
-:10281000938382832115310529F4F0936701E093B6\r
-:1028200066013EC0D9011396FC93EE9312974D9129\r
-:102830005D91A40FB51FEA17FB0779F480819181A0\r
-:10284000840F951F0296D90111969C938E938281D5\r
-:10285000938113969C938E931297E0E0F0E08A8127\r
-:102860009B81009719F0FE01EC01F9CFCE01029691\r
-:1028700028813981820F931F209164013091650175\r
-:102880002817390769F4309729F4109267011092DC\r
-:10289000660102C013821282D0936501C093640165\r
-:1028A000DF91CF910895DC0101C06D9341505040FC\r
-:0828B000E0F70895F894FFCF52\r
-:1028B8000080008000800080010100006801200085\r
-:0A28C8000D0A53746172740D0000D4\r
+:10136000109285008091DF00813009F0C7C0209184\r
+:10137000D8003091D9008091D0009091D1002817E9\r
+:10138000390781F010928E0010928F001092900019\r
+:10139000109291008091D8009091D9009093D10043\r
+:1013A0008093D0008091D8009091D900892B71F45E\r
+:1013B0001092EF001092EE001092810010928000C7\r
+:1013C0008091A9008F7E8093A90098C0A090D8003A\r
+:1013D000B090D9008091C7009091C800A81AB90AAE\r
+:1013E000B501882777FD8095982FC0908E00D0900A\r
+:1013F0008F00E0909000F0909100C60ED71EE81E7E\r
+:10140000F91EC0928E00D0928F00E0929000F09270\r
+:1014100091000E9468102FE832EC45E75DE30E94DE\r
+:1014200055112B013C01C701B6010E9468102FE63F\r
+:1014300032E143E85AE30E9455119B01AC01C3011C\r
+:10144000B2010E94620F6B017C018091800090913B\r
+:101450008100B501681B790B882777FD8095982F4F\r
+:101460000E94681020E030E0A9010E9455119B0104\r
+:10147000AC01C701B6010E94620F0E943510709343\r
+:10148000EF006093EE00B0928100A0928000809106\r
+:10149000EE009091EF001816190634F48091D800F0\r
+:1014A0009091D90097FD0DC08091EE009091EF00D2\r
+:1014B00097FF0CC08091D8009091D900181619069A\r
+:1014C0002CF41092EF001092EE0018C08091EE0004\r
+:1014D0009091EF008F3F910531F02CF01093EF00C9\r
+:1014E0000093EE000BC08091EE009091EF008130F0\r
+:1014F0009F4F24F43092EF002092EE008091DE00A6\r
+:10150000813009F0C7C02091D6003091D70080917A\r
+:10151000CE009091CF002817390781F010928A00F1\r
+:1015200010928B0010928C0010928D008091D6004A\r
+:101530009091D7009093CF008093CE008091D600F9\r
+:101540009091D700892B71F41092ED001092EC006D\r
+:1015500010927F0010927E008091A9008F7D809371\r
+:10156000A90098C0A090D600B090D7008091C50087\r
+:101570009091C600A81AB90AB501882777FD809511\r
+:10158000982FC0908A00D0908B00E0908C00F09053\r
+:101590008D00C60ED71EE81EF91EC0928A00D0929A\r
+:1015A0008B00E0928C00F0928D000E9468102FE872\r
+:1015B00032EC45E75DE30E9455112B013C01C70168\r
+:1015C000B6010E9468102FE632E143E85AE30E9418\r
+:1015D00055119B01AC01C301B2010E94620F6B0166\r
+:1015E0007C0180917E0090917F00B501681B790B92\r
+:1015F000882777FD8095982F0E94681020E030E0C2\r
+:10160000A9010E9455119B01AC01C701B6010E94BE\r
+:10161000620F0E9435107093ED006093EC00B09261\r
+:101620007F00A0927E008091EC009091ED00181652\r
+:10163000190634F48091D6009091D70097FD0DC023\r
+:101640008091EC009091ED0097FF0CC08091D60046\r
+:101650009091D700181619062CF41092ED001092F4\r
+:10166000EC0018C08091EC009091ED008F3F910547\r
+:1016700031F02CF01093ED000093EC000BC0809142\r
+:10168000EC009091ED0081309F4F24F43092ED00FA\r
+:101690002092EC008091DD00813009F0C7C02091DC\r
+:1016A000D4003091D5008091CC009091CD002817C6\r
+:1016B000390781F0109286001092870010928800FE\r
+:1016C000109289008091D4009091D5009093CD0024\r
+:1016D0008093CC008091D4009091D500892B71F437\r
+:1016E0001092EB001092EA0010927D0010927C00A4\r
+:1016F0008091A9008F7B8093A90098C0A090D4000E\r
+:10170000B090D5008091C3009091C400A81AB90A86\r
+:10171000B501882777FD8095982FC0908600D090DE\r
+:101720008700E0908800F0908900C60ED71EE81E62\r
+:10173000F91EC0928600D0928700E0928800F09255\r
+:1017400089000E9468102FE832EC45E75DE30E94B3\r
+:1017500055112B013C01C701B6010E9468102FE60C\r
+:1017600032E143E85AE30E9455119B01AC01C301E9\r
+:10177000B2010E94620F6B017C0180917C0090910C\r
+:101780007D00B501681B790B882777FD8095982F20\r
+:101790000E94681020E030E0A9010E9455119B01D1\r
+:1017A000AC01C701B6010E94620F0E943510709310\r
+:1017B000EB006093EA00B0927D00A0927C008091E3\r
+:1017C000EA009091EB001816190634F48091D400C9\r
+:1017D0009091D50097FD0DC08091EA009091EB00AB\r
+:1017E00097FF0CC08091D4009091D500181619066F\r
+:1017F0002CF41092EB001092EA0018C08091EA00DD\r
+:101800009091EB008F3F910531F02CF01093EB009D\r
+:101810000093EA000BC08091EA009091EB008130C8\r
+:101820009F4F24F43092EB002092EA008091DC007C\r
+:10183000813009F0C7C02091D2003091D30080914F\r
+:10184000CA009091CB002817390781F010928200CE\r
+:101850001092830010928400109285008091D20033\r
+:101860009091D3009093CB008093CA008091D200D6\r
+:101870009091D300892B71F41092E9001092E80046\r
+:1018800010927B0010927A008091A9008F7780934C\r
+:10189000A90098C0A090D200B090D3008091C10060\r
+:1018A0009091C200A81AB90AB501882777FD8095E2\r
+:1018B000982FC0908200D0908300E0908400F09038\r
+:1018C0008500C60ED71EE81EF91EC0928200D09277\r
+:1018D0008300E0928400F09285000E9468102FE857\r
+:1018E00032EC45E75DE30E9455112B013C01C70135\r
+:1018F000B6010E9468102FE632E143E85AE30E94E5\r
+:1019000055119B01AC01C301B2010E94620F6B0132\r
+:101910007C0180917A0090917B00B501681B790B66\r
+:10192000882777FD8095982F0E94681020E030E08E\r
+:10193000A9010E9455119B01AC01C701B6010E948B\r
+:10194000620F0E9435107093E9006093E800B09236\r
+:101950007B00A0927A008091E8009091E90018162F\r
+:10196000190634F48091D2009091D30097FD0DC0F8\r
+:101970008091E8009091E90097FF0CC08091D2001F\r
+:101980009091D300181619062CF41092E9001092C9\r
+:10199000E80018C08091E8009091E9008F3F910520\r
+:1019A00031F02CF01093E9000093E8000BC0809117\r
+:1019B000E8009091E90081309F4F24F43092E900D3\r
+:1019C0002092E8008091A900807F8093A900309147\r
+:1019D000A90080B326B3807490E0A3E09595879525\r
+:1019E000AA95E1F72770282B20952F70232B2093A1\r
+:1019F000A9008091EE009091EF0020916600309157\r
+:101A0000670028173907C9F18091EE009091EF0027\r
+:101A1000892B19F485B3837F1CC0809169008111E3\r
+:101A200007C08091EE009091EF001816190654F04F\r
+:101A300080916900882351F08091EE009091EF0031\r
+:101A400097FF04C085B3877F846003C085B38B7F15\r
+:101A5000886085BB8091EE009091EF0090936700C5\r
+:101A6000809366008091EE009091EF0097FF03C095\r
+:101A70009195819591099BBD8ABD8091EC009091D3\r
+:101A8000ED00209164003091650028173907C9F1F5\r
+:101A90008091EC009091ED00892B19F485B38F7C37\r
+:101AA0001CC080916800811107C08091EC0090916A\r
+:101AB000ED001816190654F080916800882351F043\r
+:101AC0008091EC009091ED0097FF04C085B38F7D6D\r
+:101AD000806103C085B38F7E806285BB8091EC00FE\r
+:101AE0009091ED0090936500809364008091EC00EC\r
+:101AF0009091ED0097FF03C091958195910999BD53\r
+:101B000088BD8091EA009091EB00209162003091B5\r
+:101B1000630028173907C1F18091EA009091EB002A\r
+:101B2000892B19F485B38F731CC08091DB00811160\r
+:101B300007C08091EA009091EB001816190654F046\r
+:101B40008091DB00882351F08091EA009091EB00B6\r
+:101B500097FF04C085B38F77806403C085B38F7B04\r
+:101B6000806885BB8091EA009091EB0090936300C0\r
+:101B7000809362008091EA009091EB0097FF03C090\r
+:101B800091958195910983BD8091E8009091E9003C\r
+:101B9000209160003091610028173907C1F18091D0\r
+:101BA000E8009091E900892B19F482B3837F1CC06F\r
+:101BB0008091DA00811107C08091E8009091E900DE\r
+:101BC0001816190654F08091DA00882351F080919C\r
+:101BD000E8009091E90097FF04C082B3877F84609A\r
+:101BE00003C082B38B7F886082BB8091E8009091B4\r
+:101BF000E90090936100809360008091E8009091EB\r
+:101C0000E90097FF03C09195819591098CBF809160\r
+:101C1000AC008F5F8093AC0085B7806885BF8895E6\r
+:101C200085B78F7785BF4CC86F927F929F92AF9296\r
+:101C3000BF92CF92DF92EF92FF920F931F93CF93B9\r
+:101C4000DF93CDB7DEB72C970FB6F894DEBF0FBE8B\r
+:101C5000CDBF8C017B013A01FC0117821682838182\r
+:101C600081FF19C1CE0101965C01F801D380F70113\r
+:101C7000D3FC2591D3FE21917F01222309F407C1D2\r
+:101C8000253249F4D3FC2591D3FE21917F012532E1\r
+:101C900011F0912C1BC0B801822F90E00E949F127E\r
+:101CA00063013601E2CF222309F4F1C0622F70E014\r
+:101CB0008BEB91E02C870E9449122C85892B49F0EF\r
+:101CC000F701D3FC2591D3FE21917F0197FEEBCF45\r
+:101CD0000CC0233221F4F92DF0619F2EF1CF2C3668\r
+:101CE00039F4292D2068922EEBCF222309F4CFC09E\r
+:101CF000622F70E084EB91E02C870E9449122C85C2\r
+:101D0000892B41F06301F4E0CF0ED11CB8018FE3C1\r
+:101D100090E012C0233641F0233789F0233521F5B6\r
+:101D2000F92DF1609F2E0BC0630122E0C20ED11C81\r
+:101D3000B801F301808191810E949F12B2CF6301AB\r
+:101D400022E0C20ED11CF30160807180F30190FC8F\r
+:101D5000859190FE81913F01882309F4A2CFB801BB\r
+:101D600090E00E949F12F2CF243611F0293639F507\r
+:101D7000630197FE09C0F4E0CF0ED11CF30160812E\r
+:101D80007181828193810AC0F2E0CF0ED11CF301F0\r
+:101D900060817181882777FD8095982FF92DFF7ECE\r
+:101DA0009F2E97FF09C090958095709561957F4F04\r
+:101DB0008F4F9F4FF0649F2E2AE030E038C02037CD\r
+:101DC000A1F040F42835D1F02F3609F060C028E0AA\r
+:101DD00030E019C0253719F0283751F058C0292DA7\r
+:101DE0002F7E922E2AE030E00EC0892D8061982E41\r
+:101DF000992D9462992E20E130E005C0E92DE46030\r
+:101E00009E2E20E132E0630197FE09C0F4E0CF0E80\r
+:101E1000D11CF301608171818281938108C0F2E05D\r
+:101E2000CF0ED11CF3016081718180E090E0A501AB\r
+:101E30000E94FE12782E7A1896FE05C0B8018DE237\r
+:101E400090E00E949F1294FE16C0FE01E70DF11D66\r
+:101E50008081803381F0B80180E390E00E949F127E\r
+:101E600092FE09C0292D2072822F90E0B801885A75\r
+:101E70009F4F0E949F127A94F501E70DF11D80811A\r
+:101E8000B80190E00E949F127110F5CF0ACFF801BF\r
+:101E90008681978102C08FEF9FEF2C960FB6F89442\r
+:101EA000DEBF0FBECDBFDF91CF911F910F91FF908D\r
+:101EB000EF90DF90CF90BF90AF909F907F906F900A\r
+:101EC00008955058BB27AA270ED0A0C169D130F081\r
+:101ED0006ED120F031F49F3F11F41EF45EC10EF478\r
+:101EE000E095E7FB54C1E92FB3D180F3BA1762073D\r
+:101EF00073078407950718F071F49EF5CBC10EF4B3\r
+:101F0000E0950B2EBA2FA02D0B01B90190010C0109\r
+:101F1000CA01A0011124FF27591B99F0593F50F421\r
+:101F2000503E68F11A16F040A22F232F342F442779\r
+:101F3000585FF3CF469537952795A795F040539571\r
+:101F4000C9F77EF41F16BA0B620B730B840BBAF041\r
+:101F50009150A1F0FF0FBB1F661F771F881FC2F7AC\r
+:101F60000EC0BA0F621F731F841F48F487957795C0\r
+:101F70006795B795F7959E3F08F0B3CF9395880F77\r
+:101F800008F09927EE0F979587950895DCD008F40F\r
+:101F900081E0089514D1E3954AC10CD037C107D12F\r
+:101FA00040F0FED030F021F45F3F19F0F0C0511145\r
+:101FB00072C1F3C04DD198F39923C9F35523B1F3FE\r
+:101FC000951B550BBB27AA2762177307840738F0A8\r
+:101FD0009F5F5F4F220F331F441FAA1FA9F333D007\r
+:101FE0000E2E3AF0E0E830D091505040E695001CBB\r
+:101FF000CAF729D0FE2F27D0660F771F881FBB1F77\r
+:10200000261737074807AB07B0E809F0BB0B802D50\r
+:10201000BF01FF2793585F4F2AF09E3F510568F09C\r
+:10202000B6C039C15F3FECF3983EDCF386957795F7\r
+:102030006795B795F7959F5FC9F7880F911D96959E\r
+:10204000879597F90895E1E0660F771F881FBB1FFA\r
+:10205000621773078407BA0720F0621B730B840BA7\r
+:10206000BA0BEE1F88F7E095089504D06894B1117B\r
+:1020700012C10895F5D088F09F5790F0B92F992795\r
+:10208000B751A0F0D1F0660F771F881F991F1AF083\r
+:10209000BA95C9F712C0B13081F0FCD0B1E0089513\r
+:1020A000F9C0672F782F8827B85F39F0B93FCCF394\r
+:1020B000869577956795B395D9F73EF49095809579\r
+:1020C000709561957F4F8F4F9F4F0895E89409C099\r
+:1020D00097FB3EF490958095709561957F4F8F4F5B\r
+:1020E0009F4F9923A9F0F92F96E9BB279395F69571\r
+:1020F000879577956795B795F111F8CFFAF4BB0FEF\r
+:1021000011F460FF1BC06F5F7F4F8F4F9F4F16C052\r
+:10211000882311F096E911C0772321F09EE8872FDC\r
+:10212000762F05C0662371F096E8862F70E060E098\r
+:102130002AF09A95660F771F881FDAF7880F969511\r
+:10214000879597F90895990F0008550FAA0BE0E8B5\r
+:10215000FEEF16161706E807F907C0F01216130669\r
+:10216000E407F50798F0621B730B840B950B39F4A9\r
+:102170000A2661F0232B242B252B21F408950A260F\r
+:1021800009F4A140A6958FEF811D811D089597F94F\r
+:102190009F6780E870E060E008959FEF80EC08950D\r
+:1021A00000240A9416161706180609060895002436\r
+:1021B0000A9412161306140605060895EECF50D0A1\r
+:1021C000E8F3E894E0E0BB279F57F0F02AED3FE00A\r
+:1021D00049EC06C0EE0FBB0F661F771F881F28F063\r
+:1021E000B23A62077307840728F0B25A620B730B86\r
+:1021F000840BE3959A9572F7803830F49A95BB0F6B\r
+:10220000661F771F881FD2F79048BAC0092E039423\r
+:10221000000C11F4882352F0BB0F40F4BF2B11F4D3\r
+:1022200060FF04C06F5F7F4F8F4F9F4F0895EF9304\r
+:10223000E0FF06C0A2EA2AED3FE049EC5FEB53DE87\r
+:10224000E5DF0F90039401FC9058E6E9F1E0A4C0AB\r
+:1022500057FD9058440F551F59F05F3F71F0479557\r
+:10226000880F97FB991F61F09F3F79F0879508953C\r
+:10227000121613061406551FF2CF4695F1DF08C05B\r
+:10228000161617061806991FF1CF86957105610578\r
+:1022900008940895E894BB2766277727CB0197F920\r
+:1022A000089551DF08F48FEF08950BD0AFCF78DF9A\r
+:1022B00028F07DDF18F0952309F069CF6ECF112447\r
+:1022C000EACFC6DFA0F3959FD1F3950F50E0551FDD\r
+:1022D000629FF001729FBB27F00DB11D639FAA277B\r
+:1022E000F00DB11DAA1F649F6627B00DA11D661FCA\r
+:1022F000829F2227B00DA11D621F739FB00DA11DEB\r
+:10230000621F839FA00D611D221F749F3327A00DA4\r
+:10231000611D231F849F600D211D822F762F6A2F40\r
+:1023200011249F5750408AF0E1F088234AF0EE0FC5\r
+:10233000FF1FBB1F661F771F881F91505040A9F7D2\r
+:102340009E3F510570F023CFA6CF5F3FECF3983E40\r
+:10235000DCF3869577956795B795F795E7959F5F39\r
+:10236000C1F7FE2B880F911D9695879597F90895D3\r
+:102370009F9325DF0F9007FCEE5F59CF9F3F31F011\r
+:10238000915020F4879577956795B795880F911DA3\r
+:102390009695879597F908959F938F937F936F9361\r
+:1023A000FF93EF939B01AC0180DFEF91FF9105D08C\r
+:1023B0002F913F914F915F9178CFDF93CF931F93F0\r
+:1023C0000F93FF92EF92DF927B018C01689405C01E\r
+:1023D000DA2EEF0176DFFE01E894A5912591359183\r
+:1023E00045915591AEF3EF017EDDFE019701A80105\r
+:1023F000DA9479F7DF90EF90FF900F911F91CF91D2\r
+:10240000DF910895052E97FB1EF400940E94191287\r
+:1024100057FD07D00E94271207FC03D04EF40C94FE\r
+:10242000191250954095309521953F4F4F4F5F4F72\r
+:10243000089590958095709561957F4F8F4F9F4F30\r
+:102440000895EE0FFF1F0590F491E02D0994A1E28D\r
+:102450001A2EAA1BBB1BFD010DC0AA1FBB1FEE1F1E\r
+:10246000FF1FA217B307E407F50720F0A21BB30B69\r
+:10247000E40BF50B661F771F881F991F1A9469F7E5\r
+:1024800060957095809590959B01AC01BD01CF0141\r
+:102490000895FC010590061621F00020D9F7C0012F\r
+:1024A00008953197CF0108950F931F93CF93DF9332\r
+:1024B000EC018B01009731F46115710519F480E08E\r
+:1024C00090E038C06EE070E081E090E00E945C1324\r
+:1024D000FC010097A1F380E883830115110571F0D9\r
+:1024E0001387028781E88383809166019091670159\r
+:1024F000892B21F4F0936701E09366012097C9F0DE\r
+:10250000D187C087838182608383809168019091A5\r
+:102510006901892B71F4F0936901E093680180915E\r
+:102520006A0190916B01892B21F4F0936B01E09388\r
+:102530006A01CF01DF91CF911F910F9108950F9301\r
+:102540001F93CF93DF93182F092FEB018B8181FD10\r
+:1025500003C08FEF9FEF20C082FF10C04E815F81CC\r
+:102560002C813D81421753077CF4E881F9819F015A\r
+:102570002F5F3F4F39832883108306C0E885F98594\r
+:10258000812F0995892B29F72E813F812F5F3F4F9E\r
+:102590003F832E83812F902FDF91CF911F910F9139\r
+:1025A00008950F931F93CF93DF93E0916801F0910B\r
+:1025B0006901238121FF1BC0EC0100E010E089913B\r
+:1025C0006091680170916901DB011896ED91FC91B1\r
+:1025D0001997882331F00995892B89F30FEF1FEFA5\r
+:1025E000EECF8AE00995892B11F4C80102C08FEF64\r
+:1025F0009FEFDF91CF911F910F910895FA01AA27C4\r
+:10260000283051F1203181F1E8946F936E7F6E5F35\r
+:102610007F4F8F4F9F4FAF4FB1E03ED0B4E03CD0E3\r
+:10262000670F781F891F9A1FA11D680F791F8A1FC6\r
+:10263000911DA11D6A0F711D811D911DA11D20D02D\r
+:1026400009F468943F912AE0269F11243019305DE7\r
+:102650003193DEF6CF010895462F4770405D4193D8\r
+:10266000B3E00FD0C9F7F6CF462F4F70405D4A3325\r
+:1026700018F0495D31FD4052419302D0A9F7EACFED\r
+:10268000B4E0A6959795879577956795BA95C9F71C\r
+:1026900000976105710508959B01AC010A2E06940F\r
+:1026A0005795479537952795BA95C9F7620F731FC8\r
+:1026B000841F951FA01D08950F931F93CF93DF9341\r
+:1026C000869F8001879F100D969F100D1124C801D1\r
+:1026D0000E947813EC01009729F0A80160E070E0F7\r
+:1026E0000E949F14CE01DF91CF911F910F91089509\r
+:1026F000CF93DF938230910510F482E090E0E09177\r
+:102700006E01F0916F0120E030E0A0E0B0E0309782\r
+:1027100039F14081518148175907B8F048175907D6\r
+:1027200071F482819381109729F013969C938E9374\r
+:1027300012972CC090936F0180936E0127C02115D2\r
+:10274000310531F04217530718F0A901DB0101C030\r
+:10275000EF019A01BD01DF010280F381E02DD7CFA7\r
+:1027600021153105F9F0281B390B2430310580F48F\r
+:102770008A819B816115710521F0FB01938382831E\r
+:1027800004C090936F0180936E01FE01329644C0A5\r
+:10279000FE01E20FF31F8193919322503109398397\r
+:1027A00028833AC020916C0130916D01232B41F4B4\r
+:1027B00020916C0030916D0030936D0120936C017D\r
+:1027C00020916A0030916B002115310541F42DB73D\r
+:1027D0003EB740916E0050916F00241B350BE09185\r
+:1027E0006C01F0916D01E217F307A0F42E1B3F0B73\r
+:1027F0002817390778F0AC014E5F5F4F2417350773\r
+:1028000048F04E0F5F1F50936D0140936C01819310\r
+:10281000919302C0E0E0F0E0CF01DF91CF91089505\r
+:10282000CF93DF93009709F487C0FC01329713829E\r
+:102830001282C0916E01D0916F01209781F42081A6\r
+:102840003181280F391F80916C0190916D018217A1\r
+:10285000930779F5F0936D01E0936C016DC0DE0193\r
+:1028600020E030E0AE17BF0750F412964D915C9116\r
+:1028700013979D014115510509F1DA01F3CFB38397\r
+:10288000A28340815181840F951F8A179B0771F4A1\r
+:102890008D919C911197840F951F0296918380834F\r
+:1028A00012968D919C911397938382832115310504\r
+:1028B00029F4F0936F01E0936E013EC0D9011396A5\r
+:1028C000FC93EE9312974D915D91A40FB51FEA17FB\r
+:1028D000FB0779F480819181840F951F0296D901BD\r
+:1028E00011969C938E938281938113969C938E93E1\r
+:1028F0001297E0E0F0E08A819B81009719F0FE01D9\r
+:10290000EC01F9CFCE01029628813981820F931F05\r
+:1029100020916C0130916D012817390769F43097C7\r
+:1029200029F410926F0110926E0102C0138212827C\r
+:10293000D0936D01C0936C01DF91CF910895DC01BC\r
+:1029400001C06D9341505040E0F70895F894FFCFD7\r
+:1029500000800080008000800101000070012000E4\r
+:0A2960000D0A53746172740D00003B\r
 :00000001FF\r
index 77a7bce..9b6b60a 100755 (executable)
@@ -6,11 +6,11 @@ import struct
 from time import sleep
 from i2c import i2c_write_reg, i2c_read_reg
 
-KP=0.034
-KI=0.02
+KP=0.05
+KI=0.0
 KD=0.0
 PID_T=0.01
-STEP_PER_M_AVG=4171.4
+STEP_PER_M_AVG=5766.1
 eold1 = 0.0
 eold2 = 0.0
 eold3 = 0.0
@@ -80,8 +80,6 @@ if __name__ == "__main__":
                        elif (motor3 > 255): motor3 = 255
                        elif (motor3 < -255): motor3 = -255
 
-                       print "Wish=", speed3_wish, "Speed=", speed3, "e=", e, "esum=", esum3, "pwm=", motor3, "error=", error
-
                if speed4_wish == 0: 
                        motor4 = 0.0
                        eold4 = 0.0
@@ -97,6 +95,8 @@ if __name__ == "__main__":
                        elif (motor4 > 255): motor4 = 255
                        elif (motor4 < -255): motor4 = -255
 
+                       print "Wish=", speed4_wish, "Speed=", speed4, "e=", e, "esum=", esum4, "pwm=", motor4, "error=", error
+
                set_pwm(motor1, motor2, motor3, motor4)
 
                sleep(PID_T)