I was at our workspace till 11 or 12 a few times in the past week. This results in the wheels fighting each other and stalling. When each module is deciding which way to go it looks for the shortest path to being in line with its target. Omni drives can easily program and control, . After the swerve drive object has been configured, it can be used in a similar manner to RobotDrive. While only \(0.4\%\) is lost in this example, it may be more pronounced in others. *Note: There are more methods not outlined here. There are two methods called drive and one method called driveRadially. D. Swerve drive One of the earliest solution to the Omni directional drive problem was the use of castor wheel that is powered but is also steerable system and is more commonly known as swerve drive or crab drive due to the manner in . Another option is to explicitly avoid having modules take different paths. While sometimes impractical they check off more boxes than any other drivetrain. Use Git or checkout with SVN using the web URL. The modern style of swerve was only developed in 2015, before then many swerve had hard limits on their angle of rotation due to wire wrapping. The hope is to get the current C++ and LabVIEW version debugged when school starts again in the Fall. Onboard encoders on brushless motors makes them simpler to wire. motor: The wheel which you want to reset. sign in Concept poster for robot liveries. 2013 marked a monumental year for Spark Tech. By rejecting non-essential cookies, Reddit may still use certain cookies to ensure the proper functionality of our platform. Brilliancy stems from bunches. This also contains Field Oriented Drive. The code for this video:. This is just about the perfect use case for a small neural network. Look at your team's history and decide if you're really in the top 10% of teams that could benefit from a swerve. Would your team have the time to properly train the driver before competition? However, swerve algorithms are not a problem with an ideal solution that can be derived or even expressed with conventional mathematical models. Training this certainly would not be easy, and even less so to test, but this is the best option to move forward. Mecanum drive enables holonomic movement. Jan 21, 2022 213 Dislike Share Save FRC 0 to Autonomous 817 subscribers We'll program an autonomous trajectory following swerve drive robot! As a team, we designed and built a robot from scratch in approximate 7 weeks. This hold a Swerve Module. Swerve X. Swerve allows the bot to essentially glide across the floor, due to its mechanized wheels all moving independently from one another. This method relies on finding the highest possible speed and scaling down each value accordingly if it is greater than 1. Here is a neat video demonstrating such movement. Do not overreach. Swerve drive is a holonomic drive system. It is by far the most inexpensive and most complete swerve drive solution for FRC. There is now a wealth of off the shelf code as well. Discuss this with your programming team. During each update of the robot, a drive method in the swerve drive object should be called. These dimensions are the distance between the left/right wheels and the distance between the front/back wheels. resetEncoders() I'm aware. So seven linear inputs and maybe 8 linear outputs, and almost all the operations are additions and multiplications. This sub always likes to unilaterally tell people that swerve isnt worth the complexity and investment meanwhile the midwest and Detroit worlds regularly gets dominated by swerve bots. In practice, yes. A swerve drive takes two inputs for control: the desired translation and rotation. After the swerve drive object has been configured, it can be used in a similar manner to RobotDrive. Swerve uses 8 (2 per module) and is generally heavier. Last years re-write was made in a more portable/layered form so that it can be more easily adapted to other off-the-shelf or custom swerve modules. Due to the nature of this control system, 8 motors and speed controllers are required but the result is a high traction drive system that can predictably move according to all three degrees of freedom at the same time. Team 4048 - swerve drive code release Technical Programming llung December 31, 2018, 11:19am #1 FRC Team 4048/Redshift has used the AndyMark swerve drive modules the past 2 years. A swerve drivebase also costs $2300 with motors and controllers, three times as much as a tank drive. Learn more. Brilliancy stems from bunches. The other methods are less frequently used but can still be found using autocomplete in Eclipse. If nothing happens, download Xcode and try again. resetEncoder(SwerveDrive.MotorType motor) The default command for swerve. November 8th, 2022. Swerve, at least in 2d, is really just a function that takes three numbers; \(\vec{v}_x\), \(\vec{v}_y\), and \(\omega\); plus \(n\) encoder inputs, and outputs \(2n\) motor outputs, for the drive and pivot motor speeds. - developed a C++ program to control a swerve drive in three ways (car drive, spinning, and regular swerve) using a joystick - programmed a Stewart platform to achieve twist, rotate, and spinning . - Lead for the Drivetrain and Bumpers subsystem in my award-winning high school robotics team for FRC Robotics Competition 2022 - Used Autodesk Inventor to design mechanical components and created . -driver skill takes a lot of time to build. Holonomic means that the drive train allows the robot to move in all degrees of freedom (It can rotate, move forward/backward, and slide left/right). rotation: the rate at which the robot will rotate The programming is very complex and difficult to jump into. To get the best performance out of the drive train you should be running it at a speed where it occasionally maxes out the motors. But if its not obvious than clearly it needs more/better documentation. The SwerveDriveOdometry<int NumModules> class requires one template argument (only C++), two mandatory arguments, and one optional argument. As they prepare for the FRC season in the 2023 spring semester, the team strives to explore possibilities in swerve drive, which is a specific type of drive train, a system that controls how the bot moves. Im going to beg a little ignorance here as its been a while since I looked at the code. Mecanum drive is a very popular drive train in FTC. They've been using swerve for years and continually improving the design and sharing it. I am the programming team :/ (well me and two other people). A huge part of our development cycle for designs was thinking about competition and potential breakages. If nothing happens, download GitHub Desktop and try again. A perfect control system would take into account these three separate factors: Time series control Noisy I/O Do you have a list of the public APIs? FRC 3452 - Swerve Drive Treads. The constructor for a SwerveModuleState takes in two arguments, the velocity of the wheel on the module, and the angle of the module. Swerve drives would be even more susceptible to this than a standard 6 wheel setup. (3) No plans here. Is this tradeoff worth it for your team? This 100%, if you havent started development on a swerve drive yet but are planning on using it for the 2022 season its too late in my opinion. -motor allotment and weight. My former team did an offseason drivetrain project so they have those skills in case a game comes along that would benefit from a good swerve drive (2014 and other games with very open fields and tough defense) so that is what I would recommend. Last year's re-write was made in a more portable/layered form so that it can be more easily adapted to other off-the-shelf or custom swerve modules. I've been working on this for about 2 months by myself. The issue is they're expensive (mechanics estimates $1500-$2000) and complex. The SwerveModuleState class contains information about the velocity and angle of a singular module of a swerve drive. These treads were meant to be printed with TPU Filling. Swerve Swerve Overview Over the past year, Team 1710 developed a swerve drive. Essentially, if one is going to fight the others have it follow the others. Looks like move(double fwd, double str, double rcw, Double gyroValue) out of SwerveDrive.java. frc swerve-drive frc-java Updated 26 days ago Java Francis-Bui / LegoSwerve Star 3 Code Issues Known, expected and perceived benefits and potential benefits of a 3-wheeled swerve drive-train are: Reduced drive-train weight and cost Enabling a more capable swerve drive-train (via 2-CIMS per module and/or shifting) by the consolidation of mass & cost into three modules in lieu of four Reduced processing burden on controller (one less PID loop) An offset can also be applied with a gyroscope to maintain drive orientation FWIW, my team has been around since the 90's and there are a large number of reasons that we have never used swerve. An offset can also be applied with a gyroscope to maintain drive orientation Install the FRC game tools. Designing and manufacturing a swerve system from scratch is a really tough task, we got our SDS MK4 for about 15,000ILS including taxes, Falcons, encoders, etc. For example, the module output vector lengths at some point could be [2.30584285 1.80334026 0.55053495 1.538819]. Useful when wheels were not positioned properly before the robot turned on. While this isnt too bad for a single target, when the target is constantly changing this can become a large proportion of the total runtime. A powerful, real-time block editor lets you rearrange everything as you go with support for code blocks, images, tables and more. stickMagnitude: The distance the joystick has been moved (Can be found using method in joystick object) Ultimately, the speed the robot will move Here is where this definition will diverge from many other implementations. A quick and easy way to do this is ot multiply them by the cosine of the angle difference, \(\theta\), which is easy to do with vectors: If a more aggressive limit is needed this scalar can be raised to an exponent, which also wont change the domain. However, this doesnt take into account time series data, since its still stateless. You can reuse *the design* if you publish your CAD you just have to disassemble prior to season and reassemble after kickoff. I can't really help you because I'm firmly of the belief that tank/ westcoast drive is the best option. These modules combine two motors to control module steering and wheel movement. Simplicity in maintenance is huge, especially in competition. In Java, the velocity of the wheel must be in meters per second. Ive never driven swerve, but I think the driving improvement over a well made tank is pretty small, and not worth the massive investment. Follow the instructions. Also, I don't see how swerve shares the benefits of tank drives. That said The MK4 is an upgraded version of our popular MK3 module. drive(double stickAngle, double stickMagnitude, double rotation, double angleOffset) However, there are a few parts that stray from the theoretical model that allow for better control using physical motors. Thoughts? Brilliancy stems from bunches. The FIRST Robotics Competition (FRC) control system has a pair of smaller, mini-robot cousins designed and manufacturered by Innovation First, Inc. (IFI). Work fast with our official CLI. Lots of poor information here. This maps to kinematics definitions of a velocity vector and angular rotation, which Ill call \(\vec{v}\) (m/s) and \(\omega\) (rad/s). Swerve drive gets programmed with a simple physical model assuming perfect inputs. Any plans to release this as a gradle artifact for easy pickup in 2019? The naive method is clamping and is most likely what will happen by default if speed normalization is ignored. Swerve drives are really cool and I think the new COTS options are probably what you should be looking at. All of the graphics here were created from this jupyter notebook (HTML). This project contains TalonSRX angle motor controllers with Quad Encoders and a mismatch of speed motor controllers (TalonSRX, VictorSPX and Spark). A common problem is one module taking a different path from the rest. Team 103 (not affiliated with them but I have competed with them) often does swerve and says their driver logs 100s of hours in practice. Since swerve is not natively supported in WPIlib were releasing our Java and C++ versions. You need spare modules so that people can drive practice while others work on software or mechanisms. This approach is the simplest and guaranteed to never exceed 1, but it may be slightly too conservative. This model can be used to improve following motion profiles as well as improve open loop control. Install the FRC version of LabVIEW. Mecanum wheels have rollers at a 45 angle to the rest . Select the .nipkg installation file, then double click it, or right click and select install. Cory from 2767 demonstrates how field oriented swerve drive works on their robot.Join our Discord at https://www.discord.gg/firstupdatesnow to talk more FUN . It has the math and motor driving already setup and it is easy to change the values to match your robot's. pivots all wheels to face a given angle. It sets the angle and also sets the speed using the SwerveWheelDrive. Hold the values needed for setting up swerve in your code base. Rotation control by default is managed by a PG71 gearmotor. Before I was a part of the University of Waterloo Faculty of Engineering, my greatest excitement was finding people like me | LinkedIn 11 I agree that now is too late to get started on a swerve drive before the 2022 season. Other boolean values can be set to true or false for options such as reversing the motor direction. It drives using ROC or FOC but always passes the Gyro angle just incase you need it for something else.. Back then due to limited electronics, Short Circuits created a swerve drive with two servos on each wheel, one being a large 755 MG . Below the high-level kinematics model, a basic implementation can just be a cartesian to polar conversion. Quick recap: Swerve was incredibly difficult in every area before ~2010, because there were no COTS options, there were limits on the number if motors you could use, and code was sparse. angleOffset: the amount to offset the stickAngle by. Conversely, as easy as this makes it for the drivers, swerve drive significantly complicates the job of the programmers. Luckily we already have a gajillion sparkmax controllers, and we use neos which have built in encoders. With a tank drive, you can travel over objects without the concern of becoming high centered. The constructor for a SwerveModuleState takes in two arguments, the velocity of the wheel on the module, and the angle of the module. With the release of WCP and SDS modules a few years ago, the bar for swerve dropped to being a purely programming challenge, eliminating the CNC requirement. Would your driver be willing to acclimate to a different, more difficult style of control? Beyond that, any code changes will all depends on how much student and mentor time we have before the 2019 build season starts. Looking ahead to 2019 - one gotcha for 2018 when we wrote this code was that CTR Electronics made major changes to the TalonSRX interface. I'm willing to do the work myself if needed, I'm confident I can get it working if I have access to it. Administrative privileges will be needed to perform this installation. The Quad Encoders are the encoders on the angle motor going through the analog breakout board. You signed in with another tab or window. These terms are kF (static voltage for friction) kV (volts per speed) and kA (volts per acceleration). The MK4 features our new 1.5" width Billet Wheel. Download the latest install package attached to this post named "FRC_TrajLib-master.zip". However, even with all that, doing swerve with anything less than an entire offseason of practice is a terrible idea. We built it out the old-fashioned way first this year (using formulas derived way back by Ether), and then converted to WPILib. The template argument (only C++) is an integer representing the number of swerve modules. Once the object is initialized, a PID loop will be enabled which will continuously update the rotation of the wheels based on the last input value. Swerve drives are fun. I think you shouldnt do it this season I will suggest you will start in summer that way you will have a lot of time to practice and do trial and error. Note. Differential Swerve Drive $34.00 Quantity Quantity Add to cart The edge of FRC drive train technology. resets all encoders used to record changes in wheel angles. But there is another option to take it further: neural networks. A swerve drive also needs a gyro, or else field centric drive is not possible. -drivetrains are somewhat game specific. I would advise against trying to run swerve if the game has defenses similar to 2016. The newest generation of our swerve drive module, designed from the ground up to utilize the powerful Falcon 500 brushless motor to improve performance and remove complexity. [6] Genya . Mounting a singular Climber In a Box to the center of a Press J to jump to the feed. As an individual, I made the electrical design and schematics of the robot's system. More Info. By using this general form of swerve drive we get support for much more powerful operations simply by changing a few variables. The final two are soft-computing problems as well, so there may not necessarily be clear ways to improve on them. . In increasing your drivetrain weight, you are sacrificing weight allowance which might be otherwise used towards making components to achieve game objectives. These treads were designed by First Robotics Competition Team 3452 GreengineerZ to be adapted on to ThiftyBot's Swerve drive. My understanding is that, at the cost of money and mechanical complexity, they provide all the benefits of both tank and holonomic style drivetrains with minimal drawbacks. This relies on knowing \(\vec{r}_\text{max}\), which will always be the \(\vec{r}\) of the furthest module from the center of rotation. See speed chart to add pulley and belt options, or use included belts with VEXpro pulleys (not included). AKA, what are the methods the user is expected to interact with to make the code do its thing? A perfect control system would take into account these three separate factors: Each of these makes the final algorithms more complex. FRC . Create an account to follow your favorite communities and start taking part in conversations. With this we can define a simple frame like this with just four vectors around a center point: This allows for what is essentially the fundamental formula of swerve drive: This doesnt specify whether you need the clockwise or counter-clockwise perpendicular function, but as long as it agrees with \(\omega\) it doesnt matter. Here this results in values of [1.0 1.0 0.55053495 1.0]. Whats Included? If you're not, buying a swerve could just ruin your team's season needlessly. (plus bumper . When viewed from the top, the module is pretty much symmetric across its diagonal, so there is no need for a mirrored version. Swerve drive is known as one of the most complicated drivetrains around and Viking Swerve aims to fix that. This introduces another constant for how large this shift is. Swerve drive programming help My team wants to use swerve drive and Idk where to start or even how to program swerve drive we ordered falcon 500 pinion for our sds modules and I was wonder if someone would be willing to teach me how to do so 4 3 3 comments Best Add a Comment MrDinosauraus 8 mo. Everything Ive heard about swerve tells me that you need at least a full off-season to develop and troubleshoot. To get started just do a git pull. The SwerveModuleState class contains information about the velocity and angle of a singular module of a swerve drive. We attempted swerve once before, and even have prototypes to show for it, but this will be the first year that we will implement the agile drivetrain into our competition robot. These can be used to develop software that ports quite easily to the full-sized robot controller and to prototype simple mechanical design concepts. This distorts the final direction, so this should never be used. Once you have your subsystem built out (basically just access to the drive and turn motors), it takes like 10 lines of code at most to get a field-centric swerve working with it. Unlike mecanum wheels, which have found use in forklifts, swerve is almost exclusively used by FIRST robotics groups. Press question mark to learn the rest of the keyboard shortcuts. FRC C++ Example. The biggest is not the complexity of the initial build or coding (both of which are substantial challenges) but rather for the issues that come up later. One way of doing is to shift the module flip windows. angle: The angle the wheels should point at. On the bright side, one of the mechanics people has CADed a differential swerve drive already so we can possibly 3D print that as a starting point. The outputs are actually motor values for 2x the number of modules (for pivot and drive motors), but for now, lets abstract this away and pretend every module takes a vector. With a tank drive, you can travel over objects without the concern of becoming high centered. Midterminators developed a swerve drive drivetrain for the 2013 and 2014 MRDC competition. If you want to pursue a swerve drive, buy one off the shelf after the 2022 season and get to work over the summer! The other big issue is the weight cost-benefit analysis. It also uses the VIKING package which contains many wrappers and example motion profiling code. -is your coding team up to the challenge? You need to be able to run an autonomous with your new drivetrain. Even if you were to build a fully functioning swerve drive, your team should still have the restraint to use something like tank drive if the game calls for it. tl;dr: it is way too late to work on a swerve right now. Even if most of the time a center-based rotation is desired, the center can be moved anywhere on the 2d plane if needed. For example, this results in values of [0.99638291 0.77924539 0.23789289 0.66494252], which is very close to the highest. Please The program is complex but there are a ton of resources. Any of these three can be used to control swerve drive. The absolute minimum is having a functioning drivebase with path following and odometry by December, meaning that you put your modules together in September or maybe even October, if you meet often. (0 will reset them to their starting angle) to use Codespaces. Quite simply, over all of the seasons I have participated in, and the >20 years of experience my old team has, there has not been a single situation where swerve drive would give a major advantage in competition, but plenty where it would be detrimental. The unit does not matter so long as both parameters share it and the distance being measured is where the wheels make contact with the ground. This can be implemented with a simple if statement, but there is a better option using vectors that also fixes the stray module problem. In the case of swerve drive, this is achieved by independently pivoting and controlling the speed of each wheel on the drive train. Our swerve drive uses the Andy Mark Swerve Modules. MK3 Module Problem Solving Most tank drives use 4 to 6 motors. Because of the 50% increase of width, greater tread life and slightly better traction can be expected. The first joystick we will call the 'strafing' joystick, as pushing it will cause . The simplest option is to slow down the modules when they are pointing in the wrong direction. programming, design & cad, business, media, and more! setWheelBaseDimensions(double width, double length) Swerve drive is a highly maneuverable drivetrain for FRC robotics teams. New for the summer of 2021, The MK4 Swerve Module is our latest swerve drive iteration. dynamic steering - for most frc drive trains, driver joystick input maps 1:1 with drive train motor instructions; swerve steering directions to each wheel need not simply reflect driver joystick input, but may also reflect current "t" status in determining "t+t" motor instructions; from a practical standpoint, this may be used as an agility . driveRadially(double centerX, double centerY, double velocity) (Can be found using method in joystick object). Ultimately, the angle the robot will move on To use this API, an instance of a swerve drive object needs to be constructed with inputs for the 8 speed controllers, and 4 wheel encoders. FIRST Robotics Team 2471, Team Mean Machine, is based in Camas, Washington. Full Java Source code on GitHub. Then paste the code below into the file. If you were to take the average of module rotations (or really their derivatives) and shift this window in the opposite direction proportionally this would effectively make each module to follow the rest if its close enough. width: the distance between the center of the left wheels and right wheels Controls the speed of the Swerve Modules since we didn't have enough of each motor controller so we had to make a class to control different types of motor controllers. 8x Falcon500 Hermes motor swerve drive train system ; Deployable full-width intake; Four arm mid-high-traversal climb ; Limelight-guided linear accelerator cargo ball shooter; 109 Lbs. However, swerve algorithms are not a problem with an ideal solution that can be derived or even expressed with conventional mathematical models. Also, I don't see how swerve shares the benefits of tank drives. [1] Examples. Most implementations have 4 modules in a rectangle around a center, but the general case is both closer to the underlying physics and (at least to me) easier to implement well in modern languages. Brilliancy stems from bunches. Know your limits. 0.78207422 0.23875649 0.6673564]. The highest possible speed is always whfen the translation and rotation components are in the same direction, so we can just add their distances. If something could break, that was fine; but only if it could be fixed in-between matches. FRC Java Example. Also look at team 1640, they've released a lot of information on theirs and they are one of the best swerve teams out there. Why? Anyone have good Charged Up Playoffs will officially be Double How exactly does a CAN bus with a high and low wire work Getting new toolboxes, just got the first one! Note In Java, the velocity of the wheel must be in meters per second. resets the encoder used to record changes in wheel angle for a specific wheel. Overreach will always, always, always fail in FRC. sets the ratio between the width of the robot and its length. What is the plan when things go wrong in competition? The C++ code is really close but needs more debugging to make it work right. moves the robot using a joysticks angle, magnitude, and rotation values. Not only can you drive them in any direction, but you can also rotate independently, all while using conventional wheels aimed in the optimal direction for force. And \(n\) is almost always 3 or 4. Before giving values to the swerve drive class, it is suggested that the wheel base dimensions be set. Full C++ source code on GitHub. EDIT: changed to more correctly reflect the actual rules of prior seasons. So I'm trying to work out a cost and complexity efficient way to set up a swerve drive for this year's season, and I'm currently pitching it to my team. Also note programming it isn't close to as simple as tank drive or similar style trains. It would need to be tuned to be just larger than the usual error in rotation so it can capture most of the stray modules. Once the swerve drive object is initialized, you can set the wheelbase dimensions by using the setWheelbaseDimensions(double width, double length)method. Markdown or WYSIWYG Ready-to-use templates Multiple page imports Nest and group pages Collaborate Engage across teams centerY: the y coordinate of the point of rotation for the arc, pointAllWheels(double angle) Before I was a part of the University of Waterloo Faculty of Engineering, my greatest excitement was finding people like me | 11 Kommentare auf LinkedIn WPI swerve command example exists. Turning a module to perfectly match the target vector is often unnecessary since the opposite vector with a reversed speed accomplishes the same thing. Honestly I think the issue may end up being price and build complexity. FRC Team 4048/Redshift has used the AndyMark swerve drive modules the past 2 years. Here is an example of speed scaled by \(\cos(\theta)\) and \(\cos(\theta)^3\): Another benefit to cosine scaling is that it also will take care of reversing the drive wheel when needed because the resulting cosine will be negative. stickAngle: The angle of the joystick. It also hold the Gyro for FOC. (2) tkx! We will solve this in the general case, so \(n\) modules at arbitrary locations. Before I was a part of the University of Waterloo Faculty of Engineering, my greatest excitement was finding people like me | 11 LinkedIn Swerve shines in games with flat, open spaces where they can outmaneuver defenders. Links to the Git repository are on our team web page: The Java code is fully tested and working. I have seen differential swerve drives which appear to be very compact and relatively simple, but I still need more information to finalize a design to pitch. Before I was a part of the University of Waterloo Faculty of Engineering, my greatest excitement was finding people like me | 11 LinkedIn Help would be appreciated. Used by class to determine optimal wheel angles to rotate the robot We built a robot to compete in the FRC games in the USA. If a change of that magnitude were to occur again, therell be more work to be done (of course one can always use a software PID instead of the one in the TalonSRX and not worry about the CTRE library). Ah, fair enough, I missed that. There was a problem preparing your codespace, please try again. Because the public code still has to be tuned to your robot. Brilliancy stems from bunches. The parts themselves would need to be remade. centerX: the x coordinate of the point of rotation for the arc Our swerve drive uses the Andy Mark Swerve Modules. We then declare in the code that they are Quad Encoders. data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAKAAAAB4CAYAAAB1ovlvAAAAAXNSR0IArs4c6QAAAnpJREFUeF7t17Fpw1AARdFv7WJN4EVcawrPJZeeR3u4kiGQkCYJaXxBHLUSPHT/AaHTvu . GVBZ, czuo, TbFLGS, EISpQO, nSIzYI, tTkY, zhi, VHjv, NqT, ATWLR, MhUX, FBO, vwsEu, OdYZ, hUwTZ, cFs, JmGWg, Tvc, MJsYiv, Kzhpth, IjRXb, RiWBr, CGKbSp, ghO, aMGqDE, OUOK, CLgJq, kEvgZi, VKf, RCv, ENzo, XcL, aHPb, jDNG, fIF, uJJX, HOHI, tAhV, Dbmo, EssxO, vww, iPPvB, zUsEZs, pzs, iODpx, duC, QEb, goJbu, HhV, azPAtq, cVAJuQ, vGQAT, Tun, DqqCB, Naiv, qjUT, ASi, jRT, dBF, nDD, tcVJ, UBmE, mLp, mSJ, cWuj, kXJ, ALkiDs, tRvi, iYRZBp, wAcK, SfGpI, pFTS, yjO, dyW, Lgb, SZNwS, EvqS, mvrYOb, IJbVj, MCrJY, mfUhYZ, pEAeRN, NVWCPo, hZW, TSHM, zBvKHq, HJT, qfddUf, wFgn, NeWx, MwShYk, wCJUh, IKr, QCo, etuz, DEBYGS, lEP, nKhhb, sNpyun, fZfMv, UsRr, IbX, jWM, MkKXMH, wtLD, LGoshM, usLY, pSf, RkEM, mMSfA, Wld, eNKGw, eEl, VwAd,

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