void TestBGrabber()
{
//ROLLERS
if (m_operator->GetRawAxis(TRIGGERS) > 0.4) {
m_roller->Set(0.5);
}
else if (m_operator->GetRawAxis(TRIGGERS) < -0.4)
m_roller->Set(0.5);
else {
m_roller->Set(0.0);
}
//BALL CATCH (#Sweg)
if (m_operator->GetRawButton(BUTTON_A)) {
m_catch->Set(true);
}
else if (m_operator->GetRawButton(BUTTON_B)) {
m_catch->Set(false);
}
//bArm OPEN / CLOSE
if (m_operator->GetRawButton(BUTTON_X)) {
m_bArm->Set(true);
}
else if (m_operator->GetRawButton(BUTTON_Y)) {
m_bArm->Set(false);
}
}
void stopDriving()
{
leftFront.Set(0);
leftBack.Set(0);
rightFront.Set(0);
rightBack.Set(0);
}
//Grab first two and turn to go right
void AutonomousType10() {
SmartDashboard::PutString("STATUS:", "STARTING AUTO 10");
robotDrive.MecanumDrive_Cartesian(0, -0.2, 0);
if (WaitF(1.2))
return;
robotDrive.MecanumDrive_Cartesian(0, 0, 0);
chainLift.SetSpeed(0.5);
while (IsAutonomous() && maxUp.Get() && midPoint.Get()) {
}
chainLift.SetSpeed(0);
robotDrive.MecanumDrive_Cartesian(0, 0.4, 0);
if (WaitF(1.6))
return;
robotDrive.MecanumDrive_Polar(0, 0, 0.3);
if (WaitF(2.6))
return;
robotDrive.MecanumDrive_Cartesian(0, -0.4, 0);
if (WaitF(1))
return;
robotDrive.MecanumDrive_Polar(0, 0, -0.3);
if (WaitF(2.6))
return;
robotDrive.MecanumDrive_Cartesian(0, -0.4, 0);
if (WaitF(1.6))
return;
robotDrive.MecanumDrive_Cartesian(0, 0, 0);
SmartDashboard::PutString("STATUS:", "AUTO 10 COMPLETE");
}
//Choose which auto to use
void AutonomousInit() {
chainLift.SetSpeed(0);
canGrabber.SetSpeed(0);
robotDrive.MecanumDrive_Cartesian(0, 0, 0);
SmartDashboard::PutString("STATUS:", "STARTING AUTO");
robotDrive.SetSafetyEnabled(false);
chainLift.SetSafetyEnabled(false);
SmartDashboard::PutBoolean("Auto switch A: ", autoSwitch1.Get());
SmartDashboard::PutBoolean("Auto switch B: ", autoSwitch2.Get());
//Select auto type
if (autoSwitch1.Get()) {
if (autoSwitch2.Get())
AutonomousType4();
else
//1 on 2 grab n back
AutonomousType8();
} else {
if (autoSwitch2.Get())
//1 off, 2 on: grab n turn
AutonomousType10();
else {
SmartAutoPicker();
}
//Do Nothing
}
}
void AutonomousType4() {
SmartDashboard::PutString("STATUS:", "STARTING AUTO 4");
//Lift, turn, drive
chainLift.SetSpeed(0.5);
while (midPoint.Get() && maxUp.Get()) {
}
chainLift.SetSpeed(0);
robotDrive.MecanumDrive_Polar(0, 0, 0.3);
if (WaitF(2.5))
return;
robotDrive.MecanumDrive_Polar(0.25, 0, 0);
if (WaitF(5.6))
return;
robotDrive.MecanumDrive_Polar(0, 0, 0.3);
if (WaitF(2))
return;
robotDrive.MecanumDrive_Polar(0, 0, 0);
//chainLift.SetSpeed(-0.4);
//while (maxDown.Get() && IsAutonomous()) {
//}
chainLift.SetSpeed(0);
robotDrive.MecanumDrive_Polar(0, 0, 0);
SmartDashboard::PutString("STATUS:", "AUTO 4 COMPLETE");
}
void TeleopPeriodic()
{
rightDrive = rightStick->GetY();
leftDrive = leftStick->GetY();
rightDrive = .6*rightDrive;
leftDrive = .6*leftDrive;
robotDrive->TankDrive(rightDrive, leftDrive);
ax = accel-> GetX();
ay = accel-> GetY();
az = accel-> GetZ();
SmartDashboard::PutData("Auto Modes", chooser);
SmartDashboard::PutNumber("ax",ax);
SmartDashboard::PutNumber("ay",ay);
SmartDashboard::PutNumber("az",az);
bool triggerRight = rightStick->GetRawButton(1);
bool triggerLeft = leftStick->GetRawButton(1);
SmartDashboard::PutBoolean("trigger", triggerRight);
SmartDashboard::PutBoolean("trigger", triggerLeft);
if(triggerRight || triggerLeft){
pickup->Set(.3);
}
else{
pickup->Set(0);
}
}
void driveBackward() //Creates a function to drive backward (sets it)
{
leftFront.Set(-0.75);
leftBack.Set(-0.75);
rightFront.Set(-0.75);
rightBack.Set(-0.75);
}
void driveForward() //Creates a function to drive forward (sets it)
{
leftFront.Set(0.75);
leftBack.Set(0.75);
rightFront.Set(0.75);
rightBack.Set(0.75);
}
/**** Yo yo yo the right side motors are inverted, so a positive left motor (probably) moves forward and a positive right motor (probably) moves backward ****/
void stopDriving() // Stops drive motors
{
leftFront.Set(0);
leftBack.Set(0);
rightFront.Set(0);
rightBack.Set(0);
}
void driveForward() //Drives forward
{
leftFront.Set(justIncaseMyPolarityDunGoofed*(1 - (autonomousSlowDriveSpeedMultiplier))); // Probably needs to be positive
leftBack.Set(justIncaseMyPolarityDunGoofed*(1 - (autonomousSlowDriveSpeedMultiplier))); // Probably needs to be positive
rightFront.Set(justIncaseMyPolarityDunGoofed*(-1 + (autonomousSlowDriveSpeedMultiplier))); // Probably needs to be negative
rightBack.Set(justIncaseMyPolarityDunGoofed*(-1 + (autonomousSlowDriveSpeedMultiplier))); // Probably needs to be negative
}
void TestRamMotion()
{
if (m_driver->GetRawButton(BUTTON_LB))
m_ramMotor->Set(.8);
else if (m_driver->GetRawButton(BUTTON_RB))
m_ramMotor->Set(-.2);
else
m_ramMotor->Set(0);
}
void autonomousCatapultRelease()
{
if ((leftLimitSwitch.Get()== 0 || rightLimitSwitch.Get()== 0) && winchMotor.Get() == 0)
{
stopDriving(); // Stops the drive so the robot doesn't flip on itself or something
winchMotor.Set(0); // Redundant line for extra safety that can be removed after testing (The winch should already be off)
dogSolenoid.Set(DoubleSolenoid::kReverse); // Brings the pneumatic piston backward to disengage the dog gear
Wait(0.2); // Giving the pistons time to disengage properly
ratchetSolenoid.Set(DoubleSolenoid::kReverse); // Brings the pneumatic piston backward to disengage the ratchet
Wait(5); // Waits 5 seconds after shooting before starting to load the catapult
}
}
//Grab first yellow, back up to auto zone, DON'T DROP
void AutonomousType12() {
SmartDashboard::PutString("STATUS:", "STARTING AUTO 12");
chainLift.SetSpeed(0.5);
while (IsAutonomous() && IsEnabled() && maxUp.Get() && midPoint.Get()) {
}
chainLift.SetSpeed(0);
robotDrive.MecanumDrive_Cartesian(0, 0.4, 0);
if (WaitF(3))
return;
robotDrive.MecanumDrive_Cartesian(0, 0, 0);
SmartDashboard::PutString("STATUS:", "AUTO 12 COMPLETE");
}
//Steal cans
void AutonomousType13() {
SmartDashboard::PutString("STATUS:", "STARTING AUTO 13");
robotDrive.MecanumDrive_Cartesian(0, 0.2, 0);
if (WaitF(1.2))
return;
robotDrive.MecanumDrive_Cartesian(0, 0, 0);
canGrabber.SetSpeed(1);
if (WaitF(4))
return;
canGrabber.SetSpeed(0);
LinearAcceleration(1, 0, 1, 0);
SmartDashboard::PutString("STATUS:", "AUTO 13 COMPLETE");
}
virtual void TeleopPeriodic() {
rightDrive->SetSpeed(-(Driver->GetRawAxis(2)));
leftDrive->SetSpeed((Driver->GetRawAxis(5)));
shooterFWD->SetSpeed(-(Operator->GetRawAxis(2)));
shooterRear->SetSpeed(-(Operator->GetRawAxis(2)));
//shoioter angle
if(Operator->GetRawButton(5))
{
cout<<"Relay 1 forward"<<endl;
shooterAngle->Set(Relay::kForward);
}
if(Operator->GetRawButton(6))
{
cout<<"Relay 1 Reverse"<<endl;
shooterAngle->Set(Relay::kReverse);
}
//Fire button
if(Operator->GetRawButton(1))
{
cout<<"Relay 1 forward"<<endl;
shooterFire->Set(Relay::kForward);
}
if(Operator->GetRawButton(2))
{
cout<<"Relay 1 Reverse"<<endl;
shooterFire->Set(Relay::kReverse);
}
if(CompressorSwitch->Get() == 0){
CompressorRelay->Set(Relay::kForward);
}else{
CompressorRelay->Set(Relay::kOff);
}
//if(canPDP == 0){
// cout << "NULL" << endl;
//}else{
//canPDP->GetVoltage(Voltage) ;
//cout << "0" << endl;
//}
}
void RobotDemo::spinnerRight(float speed) {
float sec = 0.0;
float currentMotorPower = 0.0;
if(speed<0.05 && speed>-0.05){
stopSpinnersRight();
}
else if(speed>0){
while(currentMotorPower<speed){
spinnerR1->Set(currentMotorPower);
spinnerR2->Set(currentMotorPower);
sec += 0.1;
currentMotorPower = ramp(sec);
}
spinnerR1->Set(speed); //may need to
spinnerR2->Set(speed); //reverse these
}
else{
while(currentMotorPower<abs(speed)){
spinnerR1->Set(-currentMotorPower);
spinnerR2->Set(-currentMotorPower);
sec += 0.3;
currentMotorPower = ramp(sec);
}
spinnerR1->Set(speed); //may need to
spinnerR2->Set(speed); //reverse these
}
}
void AutonomousType3() { //Grab a bin/trash bin, and move forward
SmartDashboard::PutString("STATUS:", "STARTING AUTO 3");
chainLift.SetSpeed(0.5);
while (midPoint.Get() && maxUp.Get()) {
}
chainLift.SetSpeed(0);
robotDrive.MecanumDrive_Cartesian(0, -0.75, 0);
if (WaitF(1.75))
return;
robotDrive.MecanumDrive_Cartesian(0, 0, 0);
chainLift.SetSpeed(-0.5);
while (maxDown.Get()) {
}
chainLift.SetSpeed(0);
SmartDashboard::PutString("STATUS:", "AUTO 3 COMPLETE");
}
/**
* Runs the motors with arcade steering.
*/
void OperatorControl()
{
myRobot.SetSafetyEnabled(true);
while (IsOperatorControl() && IsEnabled())
{
myRobot.ArcadeDrive(joystick); // drive with arcade style (use right stick)
if(joystick.GetRawButton(1)) {
crochets.Set(-0.6);
}
else if(joystick.GetRawButton(2)) {
crochets.Set(0.6);
}
Wait(0.005); // wait for a motor update time
}
}
void Reset() {
m_talonCounter->Reset();
m_victorCounter->Reset();
m_jaguarCounter->Reset();
m_talon->Set(0.0f);
m_victor->Set(0.0f);
m_jaguar->Set(0.0f);
}
void AutonomousType2() { //Pick tote and bin, move to auto zone
SmartDashboard::PutString("STATUS:", "STARTING AUTO 2");
chainLift.SetSpeed(0.5);
while (midPoint.Get() && maxUp.Get()) {
}
chainLift.SetSpeed(0);
robotDrive.MecanumDrive_Polar(0.3, 0, 0);
if (WaitF(1.6))
return;
robotDrive.MecanumDrive_Polar(0, 0, 0);
chainLift.SetSpeed(-0.2);
if (WaitF(0.8))
return;
chainLift.SetSpeed(0);
robotDrive.MecanumDrive_Polar(-0.3, 0, 0);
if (WaitF(1.6))
return;
robotDrive.MecanumDrive_Polar(0, 0, 0);
chainLift.SetSpeed(-0.3);
while (maxDown.Get()) {
}
chainLift.SetSpeed(0);
robotDrive.MecanumDrive_Polar(0.2, 0, 0);
if (WaitF(2))
return;
robotDrive.MecanumDrive_Polar(0, 0, 0);
chainLift.SetSpeed(0.4);
while (midPoint.Get() && maxUp.Get()) {
}
chainLift.SetSpeed(0);
//turn 90 deg
robotDrive.MecanumDrive_Polar(0, 0, -0.3);
if (WaitF(4))
return;
robotDrive.MecanumDrive_Polar(0.5, 0, 0);
if (WaitF(2.5))
return;
robotDrive.MecanumDrive_Polar(0, 0, 0);
chainLift.SetSpeed(-0.4);
while (maxDown.Get() && IsAutonomous()) {
}
chainLift.SetSpeed(0);
SmartDashboard::PutString("STATUS:", "AUTO 2 COMPLETE");
}
/**
* Runs the motor from the output of a Joystick.
*/
void OperatorControl() {
while (IsOperatorControl() && IsEnabled()) {
// Set the motor controller's output.
// This takes a number from -1 (100% speed in reverse) to +1 (100% speed forwards).
m_motor.Set(m_stick.GetY());
Wait(kUpdatePeriod); // Wait 5ms for the next update.
}
}
void turnLeftMore() //Creates a function to turn the robot a larger set amount left and then stops movement.
{
leftFront.Set(justIncaseMyPolarityDunGoofed*(-1 + (autonomousFastDriveSpeedMultiplier))); // Probably needs to be negative
leftBack.Set(justIncaseMyPolarityDunGoofed*(-1 + (autonomousFastDriveSpeedMultiplier))); // Probably needs to be negative
rightFront.Set(justIncaseMyPolarityDunGoofed*(-1 + (autonomousFastDriveSpeedMultiplier))); // Probably needs to be negative
rightBack.Set(justIncaseMyPolarityDunGoofed*(-1 + (autonomousFastDriveSpeedMultiplier))); // Probably needs to be negative
Wait(1);
leftFront.Set(0);
leftBack.Set(0);
rightFront.Set(0);
rightBack.Set(0);
}
void turnRight() //Creates a function to turn the robot a set amount right and then stops movement
{
leftFront.Set(justIncaseMyPolarityDunGoofed*(1 - (autonomousSlowDriveSpeedMultiplier))); // Probably needs to be positive
leftBack.Set(justIncaseMyPolarityDunGoofed*(1 - (autonomousSlowDriveSpeedMultiplier))); // Probably needs to be positive
rightFront.Set(justIncaseMyPolarityDunGoofed*(1 - (autonomousSlowDriveSpeedMultiplier))); // Probably needs to be positive
rightBack.Set(justIncaseMyPolarityDunGoofed*(1 - (autonomousSlowDriveSpeedMultiplier))); // Probably needs to be positive
Wait(0.75);
leftFront.Set(0);
leftBack.Set(0);
rightFront.Set(0);
rightBack.Set(0);
}
inline void grabberChuteTaskFunc(uint32_t joystickPtr, uint32_t grabTalonPtr, uint32_t grabOuterLimitPtr, uint32_t grabInnerLimitPtr, uint32_t pdpPtr, uint32_t isGrabbingPtr...) {//uint is a pointer and not an integer
SmartDashboard::PutBoolean("Breakpoint 0", true);
Wait(.5);
Joystick *joystick = (Joystick *) joystickPtr;//initializes objects from pointers
Talon *grabTalon = (Talon *) grabTalonPtr;
Switch *grabInnerLimit = (Switch *) grabInnerLimitPtr;
Switch *grabOuterLimit = (Switch *) grabOuterLimitPtr;
PowerDistributionPanel *pdp = (PowerDistributionPanel *) pdpPtr;
bool *isGrabbing = (bool *) isGrabbingPtr;
Timer timer;
timer.Start();
SmartDashboard::PutBoolean("Breakpoint 1", true);
Wait(.5);
*isGrabbing = true;//tells robot.cpp that thread is running
SmartDashboard::PutBoolean("Breakpoint 2", true);
Wait(.5);
while (grabOuterLimit->Get() && joystick->GetRawButton(Constants::pickupCancelButton) == false) {//starts to spin motor to pass startup current
//grabTalon->Set(1);//move in
}
SmartDashboard::PutBoolean("Breakpoint 3", true);
Wait(.5);
timer.Reset();
while (timer.Get() < Constants::grabChuteTime && grabInnerLimit->Get() && joystick->GetRawButton(Constants::pickupCancelButton) == false) {//while it hasn't reached the current cutoff, hit a limit switch, or been cancelled
//grabTalon->Set(1);
SmartDashboard::PutNumber("Current",pdp->GetCurrent(Constants::grabPdpChannel));//displays current on SmartDashboard
Wait(.5);
}
SmartDashboard::PutBoolean("Breakpoint 4", true);
Wait(.5);
grabTalon->Set(0);//stop moving
timer.Stop();
*isGrabbing = false;//tells that thread is over
}
void turnRight() //Creates a function to turn the robot a set amount right and then stops movement
{
leftFront.Set(0.5);
leftBack.Set(0.5);
rightFront.Set(-0.5);
rightBack.Set(-0.5);
Wait(1.5);
leftFront.Set(0);
leftBack.Set(0);
rightFront.Set(0);
rightBack.Set(0);
}
void TeleopPeriodic()
{
double throttle;
bool BuddyBoxEnabled = BuddyBoxEnableChooser->GetSelected();
bool SlaveInControl = MasterInterLink->GetCh5();
SmartDashboard::PutBoolean( "Slave In Control", BuddyBoxEnabled ? SlaveInControl : false );
bool SlaveControlsSpeed = SlaveSpeedControlChooser->GetSelected();
if( BuddyBoxEnabled && SlaveInControl ) ActiveInterLink = SlaveInterLink;
else ActiveInterLink = MasterInterLink;
if( SlaveInControl && SlaveControlsSpeed ) throttle = SlaveInterLink->getCh6();
else throttle = MasterInterLink->getCh6();
double aile = ActiveInterLink->getAile();
double elev = ActiveInterLink->getElev();
double rudd = ActiveInterLink->getRudd();
SmartDashboard::PutNumber( "Rudder", rudd );
SmartDashboard::PutNumber( "Throttle", throttle );
throScale = throttle + 1;
double driveAngle = atan2( -aile*aileScale, elev*elevScale );
SmartDashboard::PutNumber( "Drive Angle", driveAngle );
double driveSpeed = sqrt( aile*aile + elev*elev );
SmartDashboard::PutNumber( "Drive Speed", driveSpeed );
frontLeft->Set( (float)(
throScale * frontLeftSpeed * ( driveSpeed * sin( frontLeftAngle-driveAngle ) + ruddScale * rudd )
) );
backLeft->Set( (float)(
throScale * backLeftSpeed * ( driveSpeed * sin( backLeftAngle-driveAngle ) + ruddScale * rudd )
) );
frontRight->Set( (float)(
throScale * frontRightSpeed * ( driveSpeed * sin( frontRightAngle-driveAngle ) + ruddScale * rudd )
) );
backRight->Set( (float)(
throScale * backRightSpeed * ( driveSpeed * sin( backRightAngle-driveAngle ) + ruddScale * rudd )
) );
}
void loadCatapult()
{
if (buttonOne.Get()==1 && buttonTwo.Get()==1 && dogSolenoid.Get()==DoubleSolenoid::kReverse)
{
dogSolenoid.Set(DoubleSolenoid::kForward);
Wait(0.5);
ratchetSolenoid.Set(DoubleSolenoid::kForward);
Wait(0.5);
catapultMotor.Set(1);
}
}
inline void grabberPositionTaskFunc(uint32_t joystickPtr, uint32_t grabTalonPtr, uint32_t grabInnerLimitPtr, uint32_t pdpPtr, uint32_t backOutPtr, uint32_t grabPowerPtr, uint32_t isGrabbingPtr...) {//uint is a pointer and not an integer
Joystick *joystick = (Joystick *) joystickPtr;//initializes objects from pointers
Talon *grabTalon = (Talon *) grabTalonPtr;
Switch *grabInnerLimit = (Switch *) grabInnerLimitPtr;
PowerDistributionPanel *pdp = (PowerDistributionPanel *) pdpPtr;
bool *isGrabbing = (bool *) isGrabbingPtr;
bool *backOut = (bool *) backOutPtr;
double *grabPower = (double *) grabPowerPtr;
Timer timer;
timer.Start();
*isGrabbing = true;//tells robot.cpp that thread is running
while (grabInnerLimit->Get() && timer.Get() < Constants::grabDelay) {//starts to spin motor to pass startup current
grabTalon->Set(1);//move in
}
while (pdp->GetCurrent(Constants::grabPdpChannel) < *grabPower && grabInnerLimit->Get() && joystick->GetRawButton(Constants::pickupCancelButton) == false) {//while it hasn't reached the current cutoff, hit a limit switch, or been cancelled
grabTalon->Set(1);
SmartDashboard::PutNumber("Current",pdp->GetCurrent(Constants::grabPdpChannel));//displays current on SmartDashboard
}
if (*backOut) {
grabTalon->Set(0);//stop moving
timer.Reset();
while (timer.Get() < Constants::liftBackoutTime && joystick->GetRawButton(Constants::pickupCancelButton) == false) {
grabTalon->Set(-.75);
}
}
grabTalon->Set(0);//stop moving
timer.Stop();
*isGrabbing = false;//tells that thread is over
}
RobotDemo():
logitech(1), // Joystick Port [Laptop USB]
leftFront(1), leftBack(3), rightFront(2), rightBack(4), // Tank Drive Ports [PWMOUT]
retrievalMotor(6), winchMotor(5), // Retrieval and Catapult Winch Motor Ports [PWMOUT]
compressor(5,2), // Compressor connection ports [Relay, Digital IO]
leftArmSolenoid(5,6), // Left Arm Solenoid ports [Solenoid Breakout, Solenoid Breakout]
rightArmSolenoid(7,8), // Arm Solenoid ports [Solenoid Breakout, Solenoid Breakout]
dogSolenoid(1,2), // Dog Solenoid ports [Solenoid Breakout, Solenoid Breakout]
ratchetSolenoid(3,4), // Ratchet Solenoid ports [Solenoid Breakout, Solenoid Breakout]
leftLimitSwitch(8), rightLimitSwitch(9), // Catapult Limit Switch ports [Digital IO]
/****** AUTONOMOUS ******/
leftPositionSwitch(6), // Left Autonomous Switch [Digital IO]
rightPositionSwitch(7), // Right Autonomous Switch [Digital IO]
ringLight(1, Relay::kBothDirections), // Ringlight [Relay]
camera(AxisCamera::GetInstance("10.28.53.11")) //IP address of the camera
{
//Expirations can be put here. WindRiver gets mad if you remove these braces.
camera.WriteResolution(AxisCamera::kResolution_320x240); // sets the camera's resolution
rightFront.SetExpiration(0.1);
rightBack.SetExpiration(0.1);
leftFront.SetExpiration(0.1);
leftBack.SetExpiration(0.1);
winchMotor.SetExpiration(0.1);
retrievalMotor.SetExpiration(0.1);
}
void CupidShuffle() {
SmartDashboard::PutString("STATUS:", "TIME 2 GET DOWWWWWWN");
//Tempo of song
static double tempo = 0.41666666667;
//Repeat # of times
for (int j = 0; j < 10 && IsAutonomous() && IsEnabled(); j++) {
//to the left to the left to the left to the left
for (int k = 0; k < 4; k++) {
robotDrive.MecanumDrive_Cartesian(-0.2, 0, 0);
Wait(tempo);
robotDrive.MecanumDrive_Cartesian(0, 0, 0);
Wait(tempo);
}
//to the right to the right to the right
for (int k = 0; k < 4; k++) {
robotDrive.MecanumDrive_Cartesian(0.2, 0, 0);
Wait(tempo);
robotDrive.MecanumDrive_Cartesian(0, 0, 0);
Wait(tempo);
}
//kick kick kick kick
for (int k = 0; k < 4; k++) {
chainLift.SetSpeed(0.3);
Wait(tempo);
chainLift.SetSpeed(-0.3);
Wait(tempo);
}
chainLift.SetSpeed(0);
//walk it by uself (turn 90)
robotDrive.MecanumDrive_Polar(0, 0, 0.3);
Wait(tempo * 8);
}
SmartDashboard::PutString("STATUS:", "GIT GUD");
}
