影视网站建设方案,网站开发沟通,wordpress屏蔽ip,石家庄网络推广建站这次的项目在软件上没多少调整#xff0c;但本人希望分享一下硬件上的经验。
小车使用两轮差速底盘#xff0c;驱动轮在小车中间#xff0c;前后都要万向轮。这种形式可以实现0转弯半径#xff0c;但受万向轮及用于加高的铜柱的规格限制#xff0c;两个万向轮难以调到相同…这次的项目在软件上没多少调整但本人希望分享一下硬件上的经验。
小车使用两轮差速底盘驱动轮在小车中间前后都要万向轮。这种形式可以实现0转弯半径但受万向轮及用于加高的铜柱的规格限制两个万向轮难以调到相同高度。考虑铜柱规格本人万向轮调到比后面的万向轮略高这样在向前加速时也更稳定。底盘的底板和盖板均使用4mm亚克力板强度足够。由于重量较轻在机械臂未指向正前方时可能出现一边车轮抓地效果不好的情况建议先调整机械臂再行进。 底盘采用闭环控制由于对实时性要求高不适合用同一块主控运行网页因此使用另一块主控提供网页并通过串口转发指令此外还开启热点以便在户外连接。由于要给两块主控和两个编码器供电对12v电池降压有较大压降AMS1117不能满足需要就改用性能更高的LM7805降压模块。由于专门的编码器电机驱动尚无标准化设计性价比较低本人使用杜邦线连接编码器电机的接口电机驱动使用经典的L298N。由于搭载机械臂增大了负载底盘的PID参数调到P20、I2实测相应速度和稳定性良好。 机械臂使用PCA9685进行驱动舵机为MG996R由于希望达到6v电压以充分发挥舵机性能本人尝试了6v电池和使用LM7806对7.4v电池降压的方案均不能正常运行。之后使用LM7805对7.4v电池降压输出到主控并由主控输出5v电压到PCA9685也不能正常运行。最后改用充电宝给主控供电并由主控输出5v电压到PCA9685可以正常运行。出现这种情况可能是因为PCA9685对电压稳定性要求较高。由于MG996R舵机的线不够长有3个舵机使用了舵机延长线。为了方便操作控制机械臂的主控也连接到底盘上的主控发出的热点。本人测试过把这两部分程序合并但不能正常加载网页就分两块主控。 相应程序
控制电机的ESP32
from machine import *
import time
from motos import *
import _thread底盘参数计算最终结果保留3位有效数字
(speed为编码器脉冲计数)
轮直径0.065
轮周长0.2041
每圈脉冲数110
底盘周长0.6908
底盘直径/每rad长0.22
每次脉冲长度0.001855
线速度speed*10*0.001855speed*0.0186
角速度(speed1-speed2)*10*0.001855/0.22(speed1-speed2)*0.0843
考虑丢步情况大约只有63%的脉冲能被统计因此公式改为
线速度speed/0.63*0.0186speed*0.0295
角速度(speed1-speed2)/0.63*0.0843(speed1-speed2)*0.134
每旋转1度一边轮静止另一边旋转所需脉冲数0.22*2*3.14/360/0.00186*0.631.30
每行驶1米所需脉冲数1/0.001855*0.63340# 编码器初始化
pin17 Pin(17, Pin.IN)
pin5 Pin(5, Pin.IN)
encoder1 encoder1(pin5, pin17, 0) # 参数(编码器A相引脚编码器B相引脚定时器序号)
pin19 Pin(19, Pin.IN)
pin18 Pin(18, Pin.IN)
encoder2 encoder2(pin18, pin19, 2)# 电机初始化
motor1PWM(Pin(15),freq1000,duty0)
motor2PWM(Pin(2),freq1000,duty0)
motor3PWM(Pin(4),freq1000,duty0)
motor4PWM(Pin(16),freq1000,duty0)duty10
duty20
linear_velocity0
angular_velocity0
target10
target20
offset10
offset20distance0
angle0
target_distance0
target_angle0
flag0
def set_target(duty1,duty2):global linear_velocityglobal angular_velocityglobal target1global target2global target_distanceglobal target_angleglobal flagwhile True:try:targetint(input(input)) #控制底盘旋转一定角度并前进一定距离实测不能正常运行已弃用if target//1000600: #前3位组成的数大于600时控制行驶距离和旋转角度target_distancetarget%1000 #后三位为距离*100target_angletarget//1000-800 #前三位为旋转角度800角度为正时右转target_angleround(target_angle*1.3)target_distanceround(target_distance*0.34)print(target_angle,target_distance)flag1target0elif target0: #前3位组成的数小于600时控制线速度和角速度linear_velocitytarget%1000-400 #前三位为角速度*100400角速度为正时右转后三位为线速度*100400angular_velocitytarget//1000-400 #换算时数字放大1000倍除法运算后结果不用缩小target_speedlinear_velocity/2.95 #计算每周期目标脉冲数target_offsetangular_velocity/26.8 #计算每周期目标脉冲数差并换算为每边车轮速度与平均速度的差target1round(target_speedtarget_offset) #左轮目标每周期脉冲数target2round(target_speed-target_offset) #右轮目标每周期脉冲数target0except:pass
_thread.start_new_thread(set_target, (duty1, duty2))while True:speed1 encoder1.read() #编码器读数speed2 encoder2.read()Offset1offset1 #记录上一次偏差Offset2offset2offset1target1-speed1 offset2target2-speed2adujstment1offset1*20-Offset1*18 #PID控制P20I2adujstment2offset2*20-Offset2*18duty1adujstment1duty2adujstment2 #控制底盘旋转一定角度并前进一定距离实测不能正常运行已弃用if flag1: #指定角度转向print(flag,angle)if 0target_angle-angle10 or 0target_angle-angle-10:target10target20flag2angle0target_angle0if target_angle0: #右转target120target20anglespeed1if target_angle0: #左转target10target220anglespeed2if flag2: #指定距离直行print(flag,distance)if target_distance-distance400:target1100target2100elif target_distance-distance100:target125target225elif target_distance-distance40:target110target210elif target_distance-distance15:target10target20flag0distance0target_distance0distancespeed1if target10: #由于实测发现电机反向时不能正常测速这部分改为开环控制duty110*target1if target20:duty210*target2 if duty1-1023:duty1-1023if duty11023:duty11023if duty2-1023:duty2-1023if duty21023:duty21023if duty10:motor1.duty(duty1)motor2.duty(0)if duty10:motor1.duty(0) motor2.duty(-duty1)if duty20:motor3.duty(duty2)motor4.duty(0)if duty20:motor3.duty(0) motor4.duty(-duty2) time.sleep(0.1)
发出热点的ESP32C3
#导入Pin模块
from machine import Pin
import time
from machine import PWM
import network
import socket#定义LED控制对象
led1Pin(6,Pin.OUT,Pin.PULL_DOWN)duty0
speed0
turn0
angular400
linear400#WIFI连接
def wifi_connect():ap network.WLAN(network.AP_IF) # 指定用ap模式ap.active(True) # 启用wifi前需要先激活接口ap.config(essidESP32_Motor_Control) # 设置热点名称ap.config(authmode0) # 设置认证模式return True#网页数据
def web_page():global a1global a2global a3global a4html html
headmeta nameviewport contentwidthdevice-width, initial-scale1style.button{display: inline-block; background-color: #8080f0; border: none; border-radius: 4px; color: white; padding: 8px 15px; text-decoration: none; font-size: 20px; margin: 2px; cursor: pointer;}a:link {text-decoration:none;}a:visited {text-decoration:none;}a:hover {text-decoration:none;}a:active {text-decoration:none;} html {font-family: Arial;display: inline-block;margin: 0px auto;text-align: center;}h2 { font-size: 1.5rem; }p { font-size: 1.5rem; }.units { font-size: 1rem; }.dht-labels{font-size: 1rem;vertical-align:middle;padding-bottom: 7px;}/style
/head
bodyh2ESP32 Motor Control/h2 pa href/?d1linear: strong str(speed) /strong/a/ppa href/?w10button classbutton-3.00/button/aa href/?w11button classbutton-2.75/button/aa href/?w12button classbutton-2.50/button/aa href/?w13button classbutton-2.25/button/aa href/?w14button classbutton-2.00/button/aa href/?w15button classbutton-1.75/button/aa href/?w16button classbutton-1.50/button/aa href/?w17button classbutton-1.25/button/aa href/?w18button classbutton-1.00/button/aa href/?w19button classbutton-0.75/button/aa href/?w1abutton classbutton-0.50/button/aa href/?w1bbutton classbutton-0.25/button/aa href/?w1cbutton classbutton0.00/button/aa href/?w1dbutton classbutton0.25/button/aa href/?w1ebutton classbutton0.50/button/aa href/?w1fbutton classbutton0.75/button/aa href/?w1gbutton classbutton1.00/button/aa href/?w1hbutton classbutton1.25/button/aa href/?w1ibutton classbutton1.50/button/aa href/?w1jbutton classbutton1.75/button/aa href/?w1kbutton classbutton2.00/button/aa href/?w1lbutton classbutton2.25/button/aa href/?w1mbutton classbutton2.50/button/aa href/?w1nbutton classbutton2.75/button/aa href/?w1obutton classbutton3.00/button/a/ppa href/?d2angular: strong str(turn) /strong/a/ppa href/?w20button classbutton-3.00/button/aa href/?w21button classbutton-2.75/button/aa href/?w22button classbutton-2.50/button/aa href/?w23button classbutton-2.25/button/aa href/?w24button classbutton-2.00/button/aa href/?w25button classbutton-1.75/button/aa href/?w26button classbutton-1.50/button/aa href/?w27button classbutton-1.25/button/aa href/?w28button classbutton-1.00/button/aa href/?w29button classbutton-0.75/button/aa href/?w2abutton classbutton-0.50/button/aa href/?w2bbutton classbutton-0.25/button/aa href/?w2cbutton classbutton0.00/button/aa href/?w2dbutton classbutton0.25/button/aa href/?w2ebutton classbutton0.50/button/aa href/?w2fbutton classbutton0.75/button/aa href/?w2gbutton classbutton1.00/button/aa href/?w2hbutton classbutton1.25/button/aa href/?w2ibutton classbutton1.50/button/aa href/?w2jbutton classbutton1.75/button/aa href/?w2kbutton classbutton2.00/button/aa href/?w2lbutton classbutton2.25/button/aa href/?w2mbutton classbutton2.50/button/aa href/?w2nbutton classbutton2.75/button/aa href/?w2obutton classbutton3.00/button/a/p
/body
/htmlreturn html#程序入口
if __name____main__:wifi_connect()#SOCK_STREAM表示的是TCP协议SOCK_DGRAM表示的是UDP协议my_socketsocket.socket(socket.AF_INET, socket.SOCK_STREAM) #创建socket连接# 将socket对象绑定ip地址和端口号my_socket.bind((, 80))# 相当于电话的开机 括号里的参数表示可以同时接收5个请求my_socket.listen(5)while True:try: # 进入监听状态等待别人链接过来有两个返回值#一个是对方的socket对象一个是对方的ip以及端口client, addr my_socket.accept()# recv表示接收括号里是最大接收字节request client.recv(1024)request str(request)w10 request.find(/?w10)w11 request.find(/?w11)w12 request.find(/?w12)w13 request.find(/?w13)w14 request.find(/?w14)w15 request.find(/?w15)w16 request.find(/?w16)w17 request.find(/?w17)w18 request.find(/?w18)w19 request.find(/?w19)w1a request.find(/?w1a)w1b request.find(/?w1b)w1c request.find(/?w1c)w1d request.find(/?w1d)w1e request.find(/?w1e)w1f request.find(/?w1f)w1g request.find(/?w1g)w1h request.find(/?w1h)w1i request.find(/?w1i)w1j request.find(/?w1j)w1k request.find(/?w1k)w1l request.find(/?w1l)w1m request.find(/?w1m)w1n request.find(/?w1n)w1o request.find(/?w1o)w20 request.find(/?w20)w21 request.find(/?w21)w22 request.find(/?w22)w23 request.find(/?w23)w24 request.find(/?w24)w25 request.find(/?w25)w26 request.find(/?w26)w27 request.find(/?w27)w28 request.find(/?w28)w29 request.find(/?w29)w2a request.find(/?w2a)w2b request.find(/?w2b)w2c request.find(/?w2c)w2d request.find(/?w2d)w2e request.find(/?w2e)w2f request.find(/?w2f)w2g request.find(/?w2g)w2h request.find(/?w2h)w2i request.find(/?w2i)w2j request.find(/?w2j)w2k request.find(/?w2k)w2l request.find(/?w2l)w2m request.find(/?w2m)w2n request.find(/?w2n)w2o request.find(/?w2o)d1 request.find(/?d1)d2 request.find(/?d2)if d1 6:speed0.00linear400print(str(angular)str(linear))if d2 6:turn0.00angular400print(str(angular)str(linear)) if w10 6:speed-3.00linear100print(str(angular)str(linear))if w11 6:speed-2.75linear125print(str(angular)str(linear)) if w12 6:speed-2.50linear150print(str(angular)str(linear))if w13 6:speed-2.25linear175print(str(angular)str(linear))if w14 6:speed-2.00linear200print(str(angular)str(linear))if w15 6:speed-1.75linear225print(str(angular)str(linear)) if w16 6:speed-1.50linear250print(str(angular)str(linear))if w17 6:speed-1.25linear275print(str(angular)str(linear))if w18 6:speed-1.00linear300print(str(angular)str(linear))if w19 6:speed-0.75linear325print(str(angular)str(linear)) if w1a 6:speed-0.50linear350print(str(angular)str(linear))if w1b 6:speed-0.25linear375print(str(angular)str(linear))if w1c 6:speed0.00linear400print(str(angular)str(linear))if w1d 6:speed0.25linear425print(str(angular)str(linear)) if w1e 6:speed0.50linear450print(str(angular)str(linear))if w1f 6:speed0.75linear475print(str(angular)str(linear))if w1g 6:speed1.00linear500print(str(angular)str(linear))if w1h 6:speed1.25linear525print(str(angular)str(linear)) if w1i 6:speed1.50linear550print(str(angular)str(linear))if w1j 6:speed1.75linear575print(str(angular)str(linear))if w1k 6:speed2.00linear600print(str(angular)str(linear))if w1l 6:speed2.25linear625print(str(angular)str(linear)) if w1m 6:speed2.50linear650print(str(angular)str(linear))if w1n 6:speed2.75linear675print(str(angular)str(linear))if w1o 6:speed3.00linear700print(str(angular)str(linear))if w20 6:turn-3.00angular100print(str(angular)str(linear))if w21 6:turn-2.75angular125print(str(angular)str(linear)) if w22 6:turn-2.50angular150print(str(angular)str(linear))if w23 6:turn-2.25angular175print(str(angular)str(linear))if w24 6:turn-2.00angular200print(str(angular)str(linear))if w25 6:turn-1.75angular225print(str(angular)str(linear)) if w26 6:turn-1.50angular250print(str(angular)str(linear))if w27 6:turn-1.25angular275print(str(angular)str(linear))if w28 6:turn-1.00angular300print(str(angular)str(linear))if w29 6:turn-0.75angular325print(str(angular)str(linear)) if w2a 6:turn-0.50angular350print(str(angular)str(linear))if w2b 6:turn-0.25angular375print(str(angular)str(linear))if w2c 6:turn0.00angular400print(str(angular)str(linear))if w2d 6:turn0.25angular425print(str(angular)str(linear)) if w2e 6:turn0.50angular450print(str(angular)str(linear))if w2f 6:turn0.75angular475print(str(angular)str(linear))if w2g 6:turn1.00angular500print(str(angular)str(linear))if w2h 6:turn1.25angular525print(str(angular)str(linear)) if w2i 6:turn1.50angular550print(str(angular)str(linear))if w2j 6:turn1.75angular575print(str(angular)str(linear))if w2k 6:turn2.00angular600print(str(angular)str(linear))if w2l 6:turn2.25angular625print(str(angular)str(linear)) if w2m 6:turn2.50angular650print(str(angular)str(linear))if w2n 6:turn2.75angular675print(str(angular)str(linear))if w2o 6:turn3.00angular700print(str(angular)str(linear)) response web_page()client.send(HTTP/1.1 200 OK\n)client.send(Content-Type: text/html\n)client.send(Connection: close\n\n)client.sendall(response)client.close()except:pass
控制机械臂的ESP32C3
#导入Pin模块
from machine import Pin
import time
from machine import SoftI2C
from servo import Servos
import network
import socket#定义LED控制对象
led1Pin(4,Pin.OUT,Pin.PULL_DOWN)
i2cSoftI2C(sdaPin(9),sclPin(8),freq10000)
servosServos(i2c,address0x40)#连接的WIFI账号和密码
ssid ESP32_Motor_Control
passwordNone
#舵机默认角度
servos.position(0,90)
servos.position(1,90)
servos.position(2,90)
servos.position(3,90)
servos.position(4,90)#WIFI连接
def wifi_connect():wlannetwork.WLAN(network.STA_IF) #STA模式wlan.active(True) #激活if not wlan.isconnected():print(conneting to network...)wlan.connect(ssid,password) #输入 WIFI 账号密码while not wlan.isconnected():led1.value(1)time.sleep_ms(300)led1.value(0)time.sleep_ms(300)led1.value(0)return Falseelse:led1.value(0)print(network information:, wlan.ifconfig())return Truea090
a190
a290
a390
a490
#网页数据
def web_page():global a0global a1global a2global a3global a4html html
headmeta nameviewport contentwidthdevice-width, initial-scale1style.button{display: inline-block; background-color: #971080; border: none; border-radius: 4px; color: white; padding: 8px 15px; text-decoration: none; font-size: 20px; margin: 2px; cursor: pointer;}a:link {text-decoration:none;}a:visited {text-decoration:none;}a:hover {text-decoration:none;}a:active {text-decoration:none;} html {font-family: Arial;display: inline-block;margin: 0px auto;text-align: center;}h2 { font-size: 1.5rem; }p { font-size: 1.5rem; }.units { font-size: 1rem; }.dht-labels{font-size: 1rem;vertical-align:middle;padding-bottom: 7px;}/style
/head
bodyh2ESP32 Servo Control/h2pa href/?d0Servo0: strong str(a0) /strong/a/ppa href/?b00button classbutton0/button/aa href/?b01button classbutton10/button/aa href/?b02button classbutton20/button/aa href/?b03button classbutton30/button/aa href/?b04button classbutton40/button/aa href/?b05button classbutton50/button/aa href/?b06button classbutton60/button/aa href/?b07button classbutton70/button/aa href/?b08button classbutton80/button/aa href/?b09button classbutton90/button/aa href/?b0abutton classbutton100/button/aa href/?b0bbutton classbutton110/button/aa href/?b0cbutton classbutton120/button/aa href/?b0dbutton classbutton130/button/aa href/?b0ebutton classbutton140/button/aa href/?b0fbutton classbutton150/button/aa href/?b0gbutton classbutton160/button/aa href/?b0hbutton classbutton170/button/aa href/?b0ibutton classbutton180/button/a/ppa href/?d1Servo1: strong str(a1) /strong/a/ppa href/?b10button classbutton0/button/aa href/?b11button classbutton10/button/aa href/?b12button classbutton20/button/aa href/?b13button classbutton30/button/aa href/?b14button classbutton40/button/aa href/?b15button classbutton50/button/aa href/?b16button classbutton60/button/aa href/?b17button classbutton70/button/aa href/?b18button classbutton80/button/aa href/?b19button classbutton90/button/aa href/?b1abutton classbutton100/button/aa href/?b1bbutton classbutton110/button/aa href/?b1cbutton classbutton120/button/aa href/?b1dbutton classbutton130/button/aa href/?b1ebutton classbutton140/button/aa href/?b1fbutton classbutton150/button/aa href/?b1gbutton classbutton160/button/aa href/?b1hbutton classbutton170/button/aa href/?b1ibutton classbutton180/button/a/ppa href/?d2Servo2: strong str(a2) /strong/a/ppa href/?b10button classbutton0/button/aa href/?b21button classbutton10/button/aa href/?b22button classbutton20/button/aa href/?b23button classbutton30/button/aa href/?b24button classbutton40/button/aa href/?b25button classbutton50/button/aa href/?b26button classbutton60/button/aa href/?b27button classbutton70/button/aa href/?b28button classbutton80/button/aa href/?b29button classbutton90/button/aa href/?b2abutton classbutton100/button/aa href/?b2bbutton classbutton110/button/aa href/?b2cbutton classbutton120/button/aa href/?b2dbutton classbutton130/button/aa href/?b2ebutton classbutton140/button/aa href/?b2fbutton classbutton150/button/aa href/?b2gbutton classbutton160/button/aa href/?b2hbutton classbutton170/button/aa href/?b2ibutton classbutton180/button/a/ppa href/?d3Servo3: strong str(a3) /strong/a/ppa href/?b30button classbutton0/button/aa href/?b31button classbutton10/button/aa href/?b32button classbutton20/button/aa href/?b33button classbutton30/button/aa href/?b34button classbutton40/button/aa href/?b35button classbutton50/button/aa href/?b36button classbutton60/button/aa href/?b37button classbutton70/button/aa href/?b38button classbutton80/button/aa href/?b39button classbutton90/button/aa href/?b3abutton classbutton100/button/aa href/?b3bbutton classbutton110/button/aa href/?b3cbutton classbutton120/button/aa href/?b3dbutton classbutton130/button/aa href/?b3ebutton classbutton140/button/aa href/?b3fbutton classbutton150/button/aa href/?b3gbutton classbutton160/button/aa href/?b3hbutton classbutton170/button/aa href/?b3ibutton classbutton180/button/a/ppa href/?d4Servo4: strong str(a4) /strong/a/ppa href/?b30button classbutton0/button/aa href/?b41button classbutton10/button/aa href/?b42button classbutton20/button/aa href/?b43button classbutton30/button/aa href/?b44button classbutton40/button/aa href/?b45button classbutton50/button/aa href/?b46button classbutton60/button/aa href/?b47button classbutton70/button/aa href/?b48button classbutton80/button/aa href/?b49button classbutton90/button/aa href/?b4abutton classbutton100/button/aa href/?b4bbutton classbutton110/button/aa href/?b4cbutton classbutton120/button/aa href/?b4dbutton classbutton130/button/aa href/?b4ebutton classbutton140/button/aa href/?b4fbutton classbutton150/button/aa href/?b4gbutton classbutton160/button/aa href/?b4hbutton classbutton170/button/aa href/?b4ibutton classbutton180/button/a/p
/body
/htmlreturn html#程序入口
if __name____main__:wifi_connect()#SOCK_STREAM表示的是TCP协议SOCK_DGRAM表示的是UDP协议my_socketsocket.socket(socket.AF_INET, socket.SOCK_STREAM) #创建socket连接# 将socket对象绑定ip地址和端口号my_socket.bind((, 80))# 相当于电话的开机 括号里的参数表示可以同时接收5个请求my_socket.listen(5)while True:try: # 进入监听状态等待别人链接过来有两个返回值#一个是对方的socket对象一个是对方的ip以及端口client, addr my_socket.accept()print(Got a connection from %s % str(addr))# recv表示接收括号里是最大接收字节request client.recv(1024)request str(request)print(Content %s % request)b00 request.find(/?b00)b01 request.find(/?b01)b02 request.find(/?b02)b03 request.find(/?b03)b04 request.find(/?b04)b05 request.find(/?b05)b06 request.find(/?b06)b07 request.find(/?b07)b08 request.find(/?b08)b09 request.find(/?b09)b0a request.find(/?b0a)b0b request.find(/?b0b)b0c request.find(/?b0c)b0d request.find(/?b0d)b0e request.find(/?b0e)b0f request.find(/?b0f)b0g request.find(/?b0g)b0h request.find(/?b0h)b0i request.find(/?b0i)b10 request.find(/?b10)b11 request.find(/?b11)b12 request.find(/?b12)b13 request.find(/?b13)b14 request.find(/?b14)b15 request.find(/?b15)b16 request.find(/?b16)b17 request.find(/?b17)b18 request.find(/?b18)b19 request.find(/?b19)b1a request.find(/?b1a)b1b request.find(/?b1b)b1c request.find(/?b1c)b1d request.find(/?b1d)b1e request.find(/?b1e)b1f request.find(/?b1f)b1g request.find(/?b1g)b1h request.find(/?b1h)b1i request.find(/?b1i)b20 request.find(/?b10)b21 request.find(/?b21)b22 request.find(/?b22)b23 request.find(/?b23)b24 request.find(/?b24)b25 request.find(/?b25)b26 request.find(/?b26)b27 request.find(/?b27)b28 request.find(/?b28)b29 request.find(/?b29)b2a request.find(/?b2a)b2b request.find(/?b2b)b2c request.find(/?b2c)b2d request.find(/?b2d)b2e request.find(/?b2e)b2f request.find(/?b2f)b2g request.find(/?b2g)b2h request.find(/?b2h)b2i request.find(/?b2i)b30 request.find(/?b30)b31 request.find(/?b31)b32 request.find(/?b32)b33 request.find(/?b33)b34 request.find(/?b34)b35 request.find(/?b35)b36 request.find(/?b36)b37 request.find(/?b37)b38 request.find(/?b38)b39 request.find(/?b39)b3a request.find(/?b3a)b3b request.find(/?b3b)b3c request.find(/?b3c)b3d request.find(/?b3d)b3e request.find(/?b3e)b3f request.find(/?b3f)b3g request.find(/?b3g)b3h request.find(/?b3h)b3i request.find(/?b3i)b40 request.find(/?b40)b41 request.find(/?b41)b42 request.find(/?b42)b43 request.find(/?b43)b44 request.find(/?b44)b45 request.find(/?b45)b46 request.find(/?b46)b47 request.find(/?b47)b48 request.find(/?b48)b49 request.find(/?b49)b4a request.find(/?b4a)b4b request.find(/?b4b)b4c request.find(/?b4c)b4d request.find(/?b4d)b4e request.find(/?b4e)b4f request.find(/?b4f)b4g request.find(/?b4g)b4h request.find(/?b4h)b4i request.find(/?b4i)if b00 6:servos.position(0,0)a00if b11 6:servos.position(0,10)a010if b02 6:servos.position(0,20)a020if b03 6:servos.position(0,30)a030if b04 6:servos.position(0,40)a040if b05 6:servos.position(0,50)a050if b06 6:servos.position(0,60)a060if b07 6:servos.position(0,70)a070if b08 6:servos.position(0,80)a080if b09 6:servos.position(0,90)a090if b0a 6:servos.position(0,100)a0100if b0b 6:servos.position(0,110)a0110if b0c 6:servos.position(0,120)a0120if b0d 6:servos.position(0,130)a0130if b0e 6:servos.position(0,140)a0140if b0f 6:servos.position(0,150)a0150if b0g 6:servos.position(0,160)a0160if b0h 6:servos.position(0,170)a0170if b0i 6:servos.position(0,180)a0180if b10 6:servos.position(1,0)a10if b11 6:servos.position(1,10)a110if b12 6:servos.position(1,20)a120if b13 6:servos.position(1,30)a130if b14 6:servos.position(1,40)a140if b15 6:servos.position(1,50)a150if b16 6:servos.position(1,60)a160if b17 6:servos.position(1,70)a170if b18 6:servos.position(1,80)a180if b19 6:servos.position(1,90)a190if b1a 6:servos.position(1,100)a1100if b1b 6:servos.position(1,110)a1110if b1c 6:servos.position(1,120)a1120if b1d 6:servos.position(1,130)a1130if b1e 6:servos.position(1,140)a1140if b1f 6:servos.position(1,150)a1150if b1g 6:servos.position(1,160)a1160if b1h 6:servos.position(1,170)a1170if b1i 6:servos.position(1,180)a1180if b20 6:servos.position(2,0)a20if b21 6:servos.position(2,10)a210if b22 6:servos.position(2,20)a220if b23 6:servos.position(2,30)a230if b24 6:servos.position(2,40)a240if b25 6:servos.position(2,50)a250if b26 6:servos.position(2,60)a260if b27 6:servos.position(2,70)a270if b28 6:servos.position(2,80)a280if b29 6:servos.position(2,90)a290if b2a 6:servos.position(2,100)a2100if b2b 6:servos.position(2,110)a2110if b2c 6:servos.position(2,120)a2120if b2d 6:servos.position(2,130)a2130if b2e 6:servos.position(2,140)a2140if b2f 6:servos.position(2,150)a2150if b2g 6:servos.position(2,160)a2160if b2h 6:servos.position(2,170)a2170if b2i 6:servos.position(2,180)a2180if b30 6:servos.position(3,0)a30if b31 6:servos.position(3,10)a310if b32 6:servos.position(3,20)a320if b33 6:servos.position(3,30)a330if b34 6:servos.position(3,40)a340if b35 6:servos.position(3,50)a350if b36 6:servos.position(3,60)a360if b37 6:servos.position(3,70)a370if b38 6:servos.position(3,80)a380if b39 6:servos.position(3,90)a390if b3a 6:servos.position(3,100)a3100if b3b 6:servos.position(3,110)a3110if b3c 6:servos.position(3,120)a3120if b3d 6:servos.position(3,130)a3130if b3e 6:servos.position(3,140)a3140if b3f 6:servos.position(3,150)a3150if b3g 6:servos.position(3,160)a3160if b3h 6:servos.position(3,170)a3170if b3i 6:servos.position(3,180)a3180if b40 6:servos.position(4,0)a40if b41 6:servos.position(4,10)a410if b42 6:servos.position(4,20)a420if b43 6:servos.position(4,30)a430if b44 6:servos.position(4,40)a440if b45 6:servos.position(4,50)a450if b46 6:servos.position(4,60)a460if b47 6:servos.position(4,70)a470if b48 6:servos.position(4,80)a480if b49 6:servos.position(4,90)a490if b4a 6:servos.position(4,100)a4100if b4b 6:servos.position(4,110)a4110if b4c 6:servos.position(4,120)a4120if b4d 6:servos.position(4,130)a4130if b4e 6:servos.position(4,140)a4140if b4f 6:servos.position(4,150)a4150if b4g 6:servos.position(4,160)a4160if b4h 6:servos.position(4,170)a4170if b4i 6:servos.position(4,180)a4180 response web_page()client.send(HTTP/1.1 200 OK\n)client.send(Content-Type: text/html\n)client.send(Connection: close\n\n)client.sendall(response)client.close()except:pass
