started on multi steppers
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@ -1,98 +1,6 @@
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#include <Arduino.h>
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#include <Arduino_FreeRTOS.h>
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// Pin used for the joystick
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#define JOYSTICK_PIN 63
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// Motor pins
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static const uint8_t STEP_PIN = 54;
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static const uint8_t DIR_PIN = 55;
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static const uint8_t EN_PIN = 38;
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// Critical range for detecting joystick movement
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static const int JOY_CRITICAL_POINT = 20;
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// Tracking joystick directions
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bool leftMovement = false;
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bool rightMovement = false;
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// Motor control
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bool motorEnabled = false;
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// Task handle for motor control
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TaskHandle_t motorControlTask;
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// ISR for Timer1 compare match: toggles the step pin if the motor is enabled
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ISR(TIMER1_COMPA_vect) {
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if (motorEnabled) {
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digitalWrite(STEP_PIN, !digitalRead(STEP_PIN));
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}
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}
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// Reads and maps joystick input, updates movement flags, and notifies the motor task if needed
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void updateInput() {
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int joystickValueRaw = analogRead(JOYSTICK_PIN);
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int joystickValue = map(joystickValueRaw, 0, 1023, 0, 100);
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leftMovement = (joystickValue > (100 - JOY_CRITICAL_POINT));
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rightMovement = (joystickValue < JOY_CRITICAL_POINT);
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if (leftMovement || rightMovement) {
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xTaskNotifyGive(motorControlTask); // Wake up the motor control task
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}
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}
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// Task to regularly poll the joystick
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void JoystickHandler(void *params) {
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while (true) {
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updateInput();
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vTaskDelay(100 / portTICK_PERIOD_MS); // Poll every 100ms
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}
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}
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// Task to handle motor control logic
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void MotorController(void *params) {
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// Configure motor pins
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pinMode(STEP_PIN, OUTPUT);
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pinMode(DIR_PIN, OUTPUT);
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pinMode(EN_PIN, OUTPUT);
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motorControlTask = xTaskGetCurrentTaskHandle();
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while (true) {
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updateInput();
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bool joystickActive = leftMovement || rightMovement;
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digitalWrite(EN_PIN, !joystickActive);
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digitalWrite(DIR_PIN, rightMovement);
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if (!joystickActive) {
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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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continue;
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}
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motorEnabled = joystickActive;
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if (!leftMovement && !rightMovement) {
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motorEnabled = false;
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}
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vTaskDelay(20 / portTICK_PERIOD_MS);
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}
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}
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// Configures Timer1 for compare match interrupts
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void setupMotor() {
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// Set Timer1 to CTC mode with no prescaler
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TCCR1A = 0;
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TCCR1B = (1 << WGM12) | (1 << CS10);
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// Compare match value (adjust for desired step rate)
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OCR1A = 499;
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// Enable Timer1 compare match interrupt
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TIMSK1 |= (1 << OCIE1A);
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}
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#include "MotorControlPart.h"
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void setup() {
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Serial.begin(115200);
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@ -100,8 +8,7 @@ void setup() {
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setupMotor();
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// Create tasks
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xTaskCreate(JoystickHandler, "Joystick", 200, NULL, 10, NULL);
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xTaskCreate(MotorController, "Motor", 200, NULL, 100, NULL);
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xTaskCreate(MotorControlTask, "Motor", 200, NULL, 10, NULL);
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}
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void loop() {
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@ -0,0 +1,109 @@
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#include <Arduino.h>
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#include <Arduino_FreeRTOS.h>
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// Pin used for the joystick
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#define JOYSTICK_PIN 63
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// [X, Y, Head]
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#define NUM_MOTORS 3
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static const uint8_t STEP_PINS[NUM_MOTORS] = {54, 60, 36};
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static const uint8_t DIR_PINS[NUM_MOTORS] = {55, 61, 34};
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static const uint8_t EN_PINS[NUM_MOTORS] = {38, 56, 30};
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bool motorsEnabled[NUM_MOTORS] = {false, false, false};
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uint8_t selectedIndex = 1;
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// Critical range for detecting joystick movement
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static const int JOY_CRITICAL_POINT = 25;
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bool leftMovement = false;
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bool rightMovement = false;
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// Timers for stepping the motors
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ISR(TIMER1_COMPA_vect) {
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if (motorsEnabled[0]) {
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digitalWrite(STEP_PINS[0], !digitalRead(STEP_PINS[0]));
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}
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}
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ISR(TIMER3_COMPA_vect) {
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if (motorsEnabled[1]) {
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digitalWrite(STEP_PINS[1], !digitalRead(STEP_PINS[1]));
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}
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}
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ISR(TIMER4_COMPA_vect) {
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if (motorsEnabled[2]) {
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digitalWrite(STEP_PINS[2], !digitalRead(STEP_PINS[2]));
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}
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}
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void updateInput() {
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int joystickValueRaw = analogRead(JOYSTICK_PIN);
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int joystickValue = map(joystickValueRaw, 0, 1023, 0, 100);
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bool leftMovement = (joystickValue > (100 - JOY_CRITICAL_POINT));
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bool rightMovement = (joystickValue < JOY_CRITICAL_POINT);
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motorsEnabled[selectedIndex] = leftMovement || rightMovement;
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digitalWrite(EN_PINS[selectedIndex], !motorsEnabled[selectedIndex]); // Inverted for some reason
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digitalWrite(DIR_PINS[selectedIndex], leftMovement);
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// // Debug
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// Serial.print("Raw: "); Serial.print(joystickValueRaw);
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// Serial.print(" | Mapped: "); Serial.print(joystickValue);
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// Serial.print(" | Left: "); Serial.print(leftMovement);
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// Serial.print(" | Right: "); Serial.print(rightMovement);
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// Serial.print(" | Motor: "); Serial.println(motorsEnabled[selectedIndex] ? "ON" : "OFF");
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}
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void MotorControlTask(void *params) {
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while (true) {
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updateInput();
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// Check if there is serial data available
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while (Serial.available() > 0) {
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String input = Serial.readStringUntil('\n'); // Read input until newline
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input.trim(); // Remove any whitespace
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// Check if the input matches the expected format ":0", ":1", or ":2"
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if (input.length() == 2 && input[0] == ':') {
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char indexChar = input[1];
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if (indexChar >= '0' && indexChar <= '2') {
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selectedIndex = indexChar - '0'; // Convert character to integer
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Serial.print("Selected index set to: ");
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Serial.println(selectedIndex);
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} else {
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Serial.println("Invalid index! Use :0, :1, or :2");
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}
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}
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}
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vTaskDelay(pdMS_TO_TICKS(50)); // Poll every 50ms
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}
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}
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// Configures Timer1 for compare match interrupts
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void setupMotor() {
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for (size_t i = 0; i < NUM_MOTORS; i++)
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{
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pinMode(STEP_PINS[i], OUTPUT);
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pinMode(DIR_PINS[i], OUTPUT);
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pinMode(EN_PINS[i], OUTPUT);
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}
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cli();
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// Timer 1 (16-bit)
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TCCR1A = 0;
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TCCR1B = (1 << WGM12) | (1 << CS10); // CTC mode, no prescaler
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OCR1A = 499; // Compare match value
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TIMSK1 |= (1 << OCIE1A); // Enable Timer1 Compare A Match Interrupt
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// Timer 3 (16-bit)
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TCCR3A = 0;
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TCCR3B = (1 << WGM32) | (1 << CS30); // CTC mode, no prescaler
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OCR3A = 499; // Compare match value
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TIMSK3 |= (1 << OCIE3A); // Enable Timer3 Compare A Match Interrupt
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sei();
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// Timer 4 (16-bit)
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TCCR4A = 0;
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TCCR4B = (1 << WGM42) | (1 << CS40); // CTC mode, no prescaler
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OCR4A = 499; // Compare match value
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TIMSK4 |= (1 << OCIE4A); // Enable Timer1 Compare A Match Interrupt
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}
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