From 25b49b2b3bc726878adbd9602369372859c134c1 Mon Sep 17 00:00:00 2001 From: liam Date: Fri, 19 Apr 2024 23:16:52 -0400 Subject: [PATCH] Make fixes for NovelOdometry and DistanceMovement, fix points list and add turnPoints logic to PathFinder --- .../auto/OdometryMovementTest.java | 7 +- .../centerstage/auto/VirtualFieldAuto.java | 22 +- .../novel/OdometryCoefficientSet.java | 2 +- .../novel/hardware/NovelOdometry.java | 64 +- .../robobase/reconstructor/PathFinder.java | 45 +- .../virtualfield/DistanceMovement.java | 80 +- .../robobase/virtualfield/VirtualField.java | 18 +- TeamCode/src/main/resources/points.txt | 964 +-- TeamCode/src/main/resources/turnPoints.txt | 7060 +++++++++++++++++ 9 files changed, 7236 insertions(+), 1026 deletions(-) create mode 100644 TeamCode/src/main/resources/turnPoints.txt diff --git a/TeamCode/src/main/java/centerstage/auto/OdometryMovementTest.java b/TeamCode/src/main/java/centerstage/auto/OdometryMovementTest.java index 1791729..b7b730d 100644 --- a/TeamCode/src/main/java/centerstage/auto/OdometryMovementTest.java +++ b/TeamCode/src/main/java/centerstage/auto/OdometryMovementTest.java @@ -17,14 +17,13 @@ public class OdometryMovementTest extends AutonomousOpMode { private NovelMecanumDriver driver; private DistanceMovement movement; private OdometryUpdater updater; - @Override public void initialize() { this.c = new CenterStageRobotConfiguration(this.hardwareMap); this.driver = this.c.createDriver(Constants.Coefficients.PRODUCTION_COEFFICIENTS); this.odometry = this.c.createOdometry(); c.imu.resetYaw(); - this.movement = new DistanceMovement(driver, odometry, c.imu); + this.movement = new DistanceMovement(driver, odometry, c.imu, 0, 5); this.updater = new OdometryUpdater(odometry); } @@ -37,8 +36,6 @@ public void run() { this.c.br.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); this.c.bl.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); - movement.transform(-29, 3); - - this.driver.stop(); + movement.move(0, 15, 180); } } \ No newline at end of file diff --git a/TeamCode/src/main/java/centerstage/auto/VirtualFieldAuto.java b/TeamCode/src/main/java/centerstage/auto/VirtualFieldAuto.java index cf66c5e..8656265 100644 --- a/TeamCode/src/main/java/centerstage/auto/VirtualFieldAuto.java +++ b/TeamCode/src/main/java/centerstage/auto/VirtualFieldAuto.java @@ -91,16 +91,16 @@ private Vector3D getSpikePlacementPosition() { private Vector3D getParkPosition() { if (alliance == Alliance.RED && startSide == StartSide.APRIL_TAG_SIDE) { - return new Vector3D(133, 134, 0); + return new Vector3D(131, 132, 0); } if (alliance == Alliance.RED && startSide == StartSide.BACKDROP_SIDE) { - return new Vector3D(133, 134, 0); + return new Vector3D(131, 132, 0); } if (alliance == Alliance.BLUE && startSide == StartSide.APRIL_TAG_SIDE) { - return new Vector3D(9, 134, 0); + return new Vector3D(12, 132, 0); } if (alliance == Alliance.BLUE && startSide == StartSide.BACKDROP_SIDE) { - return new Vector3D(9, 134, 0); + return new Vector3D(12, 132, 0); } return Vector3D.ZERO; } @@ -109,17 +109,17 @@ private Vector3D getParkPosition() { public void run() { updater.start(); - try { - SpikePosition spikePosition = getSpikePosition(); +// try { +// SpikePosition spikePosition = getSpikePosition(); - virtualField.pathTo(getSpikePlacementPosition()); +// virtualField.pathTo(getSpikePlacementPosition()); - placeSpike(spikePosition); +// placeSpike(spikePosition); virtualField.pathTo(getParkPosition()); - } catch (InterruptedException e) { - throw new RuntimeException(e); - } +// } catch (InterruptedException e) { +// throw new RuntimeException(e); +// } } private void placeSpike(SpikePosition position) throws InterruptedException { diff --git a/TeamCode/src/main/java/com/pocolifo/robobase/novel/OdometryCoefficientSet.java b/TeamCode/src/main/java/com/pocolifo/robobase/novel/OdometryCoefficientSet.java index b53c650..8b4e154 100644 --- a/TeamCode/src/main/java/com/pocolifo/robobase/novel/OdometryCoefficientSet.java +++ b/TeamCode/src/main/java/com/pocolifo/robobase/novel/OdometryCoefficientSet.java @@ -12,6 +12,6 @@ public OdometryCoefficientSet(double rightCoefficient, double leftCoefficient, d } public OdometryCoefficientSet() { - this(1, 1, 1); + this(-1, -1, -1); } } diff --git a/TeamCode/src/main/java/com/pocolifo/robobase/novel/hardware/NovelOdometry.java b/TeamCode/src/main/java/com/pocolifo/robobase/novel/hardware/NovelOdometry.java index 8088060..99bd2b9 100644 --- a/TeamCode/src/main/java/com/pocolifo/robobase/novel/hardware/NovelOdometry.java +++ b/TeamCode/src/main/java/com/pocolifo/robobase/novel/hardware/NovelOdometry.java @@ -26,42 +26,28 @@ public NovelOdometry(OdometryCoefficientSet coefficients, NovelEncoder rightEnco // Adapted from https://gm0.org/en/latest/docs/software/concepts/odometry.html public void update() { - // Update to fetch current wheel positions - double newLeftWheelPos = leftEncoder.getCurrentInches(); - double newRightWheelPos = rightEncoder.getCurrentInches(); - double newPerpendicularWheelPos = perpendicularEncoder.getCurrentInches(); - - // Calculate deltas for each wheel position - double deltaLeftWheelPos = coefficients.leftCoefficient * (newLeftWheelPos - leftWheelPos); - double deltaRightWheelPos = coefficients.rightCoefficient * (newRightWheelPos - rightWheelPos); - double deltaPerpendicularWheelPos = coefficients.perpendicularCoefficient * (newPerpendicularWheelPos - perpendicularWheelPos); - - // Calculate the change in orientation (phi) - double averageMovementLeftRight = (deltaLeftWheelPos - deltaRightWheelPos) / 2; -// System.out.println("Average Movement Left Right: " + averageMovementLeftRight); - double phi = averageMovementLeftRight / (Constants.Odometry.ODOMETRY_LATERAL_WHEEL_DISTANCE); -// System.out.println("phi: " + phi); - - // Calculate the average forward movement - double deltaMiddlePos = (deltaLeftWheelPos + deltaRightWheelPos) / 2.0; -// System.out.println("deltaMiddlePos: " + deltaMiddlePos); - - // Correct deltaPerpendicularPos to eliminate the rotational component -// System.out.println("deltaPerpendicularWheelPos: " + deltaPerpendicularWheelPos); - double deltaPerpendicularPos = deltaPerpendicularWheelPos - averageMovementLeftRight; -// System.out.println("deltaPerpendicularPos: " + deltaPerpendicularPos); - - // Assuming currentOrientation is the robot's orientation at the start of this calculation - double initialOrientation = relativePose.getHeading(AngleUnit.RADIANS); // Assuming this is the orientation at the start - double newOrientation = initialOrientation + phi; - - //double heading = (phi + this.relativePose.getHeading(AngleUnit.RADIANS) + this.relativePose.getHeading(AngleUnit.RADIANS)) / 2; - - double currentOrientation = (initialOrientation + newOrientation) / 2.0; - // Calculate global movement deltas - double deltaX = deltaMiddlePos * Math.sin(currentOrientation) - deltaPerpendicularPos * Math.cos(currentOrientation); - double deltaY = deltaMiddlePos * Math.cos(currentOrientation) + deltaPerpendicularPos * Math.sin(currentOrientation); - + // Get new wheel positions + double newLeftWheelPos = this.leftEncoder.getCurrentInches(); + double newRightWheelPos = this.rightEncoder.getCurrentInches(); + double newPerpendicularWheelPos = this.perpendicularEncoder.getCurrentInches(); + + // Get changes in odometer wheel positions since last update + double deltaLeftWheelPos = this.coefficients.leftCoefficient * (newLeftWheelPos - this.leftWheelPos); + double deltaRightWheelPos = this.coefficients.rightCoefficient * (newRightWheelPos - this.rightWheelPos); // Manual adjustment for inverted odometry wheel + double deltaPerpendicularWheelPos = this.coefficients.perpendicularCoefficient * (newPerpendicularWheelPos - this.perpendicularWheelPos); + + double phi = (deltaLeftWheelPos - deltaRightWheelPos) / Constants.Odometry.ODOMETRY_LATERAL_WHEEL_DISTANCE; + double deltaMiddlePos = (deltaLeftWheelPos + deltaRightWheelPos) / 2d; + double deltaPerpendicularPos = deltaPerpendicularWheelPos - Constants.Odometry.ODOMETRY_ROTATIONAL_WHEEL_OFFSET * phi; + + // Heading of movement is assumed average between last known and current rotation + // CURRENT ROTATION LAST SAVED ROTATION + // double currentRotation = phi + this.relativePose.getHeading(AngleUnit.RADIANS); + // double lastRotation = this.relativePose.getHeading(AngleUnit.RADIANS); + // double averageRotationOverObservationPeriod = (currentRotation + lastRotation) / 2; + double heading = phi + this.relativePose.getHeading(AngleUnit.RADIANS); + double deltaX = -(deltaMiddlePos * Math.sin(-heading) + deltaPerpendicularPos * Math.cos(-heading)); + double deltaY = deltaMiddlePos * Math.cos(-heading) - deltaPerpendicularPos * Math.sin(-heading); this.relativePose = this.relativePose.add(new Pose(deltaX, deltaY, phi, AngleUnit.RADIANS)); @@ -81,4 +67,10 @@ public void resetRelativePose() { this.rightWheelPos = this.rightEncoder.getCurrentInches(); this.perpendicularWheelPos = this.perpendicularEncoder.getCurrentInches(); } + + public Pose getAbsolutePose(double startRotation) { + double absoluteX = this.relativePose.getX() * Math.cos(startRotation) + this.relativePose.getY() * Math.sin(startRotation); + double absoluteY = (this.relativePose.getY() * Math.cos(startRotation) + this.relativePose.getX() * Math.sin(startRotation)); + return new Pose(absoluteX, absoluteY, this.relativePose.getHeading(AngleUnit.RADIANS), AngleUnit.RADIANS); + } } diff --git a/TeamCode/src/main/java/com/pocolifo/robobase/reconstructor/PathFinder.java b/TeamCode/src/main/java/com/pocolifo/robobase/reconstructor/PathFinder.java index 23121c9..c5fb5f8 100644 --- a/TeamCode/src/main/java/com/pocolifo/robobase/reconstructor/PathFinder.java +++ b/TeamCode/src/main/java/com/pocolifo/robobase/reconstructor/PathFinder.java @@ -8,13 +8,16 @@ public class PathFinder { private final Set points; + private final Set turnPoints; - public PathFinder(String filePath) throws IOException { + public PathFinder(String pointsFilePath, String turnPointsFilePath) throws IOException { this.points = new HashSet<>(); - readVector3DsFromFile(filePath); + this.turnPoints = new HashSet<>(); + readVector3DsFromFile(pointsFilePath, points); + readVector3DsFromFile(turnPointsFilePath, turnPoints); } - private void readVector3DsFromFile(String filePath) throws IOException { + private void readVector3DsFromFile(String filePath, Set pointsSet) throws IOException { URL resource = this.getClass().getResource("/" + filePath); if (resource == null) { throw new FileNotFoundException("File " + filePath + " is not found in /" + filePath); @@ -27,12 +30,12 @@ private void readVector3DsFromFile(String filePath) throws IOException { String[] parts = line.split(" "); int x = Integer.parseInt(parts[0]); int y = Integer.parseInt(parts[1]); - points.add(new Vector3D(x, y, 0)); + pointsSet.add(new Vector3D(x, y, 0)); } } } - public List findPath(Vector3D start, Vector3D goal) { + public Path findPath(Vector3D start, Vector3D goal) { start = new Vector3D(start.getX(), start.getY(), 0); goal = new Vector3D(goal.getX(), goal.getY(), 0); if (!points.contains(start)) { @@ -54,7 +57,8 @@ public List findPath(Vector3D start, Vector3D goal) { Vector3D current = openSet.poll().point; if (current.equals(goal)) { List totalPath = reconstructPath(cameFrom, current); - return filterPath(totalPath); + Vector3D turnPoint = getSafeTurnPoint(totalPath); + return new Path(filterPath(totalPath), turnPoint); } for (Vector3D neighbor : getNeighbors(current)) { @@ -70,7 +74,16 @@ public List findPath(Vector3D start, Vector3D goal) { } } - return Collections.emptyList(); // Path not found + return new Path(Collections.emptyList(), null); // Path not found + } + + private Vector3D getSafeTurnPoint(List path) { + for (Vector3D point : path) { + if (turnPoints.contains(point)) { + return point; + } + } + return null; } private List filterPath(List path) { @@ -171,4 +184,22 @@ public int hashCode() { return Objects.hash(point); } } + + public class Path { + private List points; + private Vector3D turnPoint; + + public Path(List points, Vector3D turnPoint) { + this.points = points; + this.turnPoint = turnPoint; + } + + public List getPoints() { + return points; + } + + public Vector3D getTurnPoint() { + return turnPoint; + } + } } \ No newline at end of file diff --git a/TeamCode/src/main/java/com/pocolifo/robobase/virtualfield/DistanceMovement.java b/TeamCode/src/main/java/com/pocolifo/robobase/virtualfield/DistanceMovement.java index 0b4ad46..ab44797 100644 --- a/TeamCode/src/main/java/com/pocolifo/robobase/virtualfield/DistanceMovement.java +++ b/TeamCode/src/main/java/com/pocolifo/robobase/virtualfield/DistanceMovement.java @@ -5,6 +5,7 @@ import com.pocolifo.robobase.reconstructor.Pose; import com.qualcomm.robotcore.hardware.IMU; +import org.apache.commons.math3.geometry.Vector; import org.apache.commons.math3.geometry.euclidean.threed.Vector3D; import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; @@ -15,24 +16,28 @@ * @see NovelMecanumDriver */ public class DistanceMovement { - private static final double PRECISION_IN = 4; - private static final double PERCISION_DEG = 1; - private static final double SPEED = 5; + private static final double PRECISION_IN = 0.1; + private static final double PERCISION_DEG = 0.2; private final NovelMecanumDriver movementController; private final NovelOdometry odometry; private final IMU imu; private double positionalDifference = -1; private double rotationaldifference = -1; + private double startRotation; + private Vector3D velocity; + private double speed; - public DistanceMovement(NovelMecanumDriver movementController, NovelOdometry odometry, IMU imu) { + public DistanceMovement(NovelMecanumDriver movementController, NovelOdometry odometry, IMU imu, double startRotation, double speed) { this.movementController = movementController; this.odometry = odometry; this.imu = imu; + this.startRotation = startRotation; + this.speed = speed; } private void updatePositionalAndRotationalDifference(Vector3D target, Vector3D position) { positionalDifference = Math.sqrt(Math.pow(position.getX() - target.getX(), 2) + Math.pow(position.getY() - target.getY(), 2)); - rotationaldifference = getRotationMovement(position.getZ(), target.getZ()); + rotationaldifference = Math.abs(DistanceMovement.getRotationMovement(position.getZ(), target.getZ())); } private void moveBy(Vector3D movement) { @@ -43,7 +48,7 @@ private void moveBy(Vector3D movement) { while (positionalDifference > PRECISION_IN || rotationaldifference > PERCISION_DEG) { position = getPosition(); updatePositionalAndRotationalDifference(target, position); - Vector3D velocity = getNewVelocity(position, target, SPEED); + Vector3D velocity = getNewVelocity(position, target, speed); movementController.setVelocity(velocity); } @@ -81,9 +86,12 @@ private Vector3D poseToVector3D(Pose pose) { return new Vector3D(pose.getX(), pose.getY(), pose.getHeading(AngleUnit.DEGREES)); } - private Vector3D getPosition() { - Vector3D odometryPosition = poseToVector3D(odometry.getRelativePose()); - double imuRotation = imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES); + public Vector3D getPosition() { + Vector3D odometryPosition = poseToVector3D(odometry.getAbsolutePose(startRotation)); + double imuRotation = -imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES); + if (imuRotation < 0) { + imuRotation += 360; + } return new Vector3D(odometryPosition.getX(), odometryPosition.getY(), imuRotation); } @@ -97,31 +105,43 @@ private static double getRotationMovement(double current, double target) { return delta; } - private static Vector3D getNewVelocity(Vector3D position, Vector3D target, double speed) { - double horizontalMovement = target.getX() - position.getX(); - double verticalMovement = target.getY() - position.getY(); + private Vector3D getNewVelocity(Vector3D position, Vector3D target, double speed) { + + double horizontalMovement = target.getX() - position.getX(); + double verticalMovement = target.getY() - position.getY(); + double rotationTarget = getRotationMovement(position.getZ(), target.getZ()); + + double currentRotationRadians = Math.toRadians(position.getZ()) + this.startRotation; - double rotationTarget = (target.getZ() - target.getZ()) % 360; - if (rotationTarget < -180) { - rotationTarget += 360; - } else if (rotationTarget > 180) { - rotationTarget -= 360; - } + double horizontal = (horizontalMovement * Math.cos(currentRotationRadians) + verticalMovement * -Math.sin(currentRotationRadians)); + double vertical = (verticalMovement * -Math.cos(-currentRotationRadians) + horizontalMovement * Math.sin(-currentRotationRadians)); - // Convert current rotation from degrees to radians for trigonometric functions - double currentRotationRadians = Math.toRadians(position.getZ()); + Vector3D absoluteVelocity = new Vector3D(vertical, horizontal, rotationTarget / 4); // Lower rotation so it does not block x/y movement completely when normalized + this.velocity = absoluteVelocity; - // Calculate the absolute movements based on the current rotation - double absoluteHorizontalMovement = horizontalMovement * Math.cos(currentRotationRadians) - verticalMovement * Math.sin(currentRotationRadians); - double absoluteVerticalMovement = horizontalMovement * Math.sin(currentRotationRadians) + verticalMovement * Math.cos(currentRotationRadians); + if (absoluteVelocity.equals(Vector3D.ZERO)) { + return Vector3D.ZERO; + } - // Create a new vector for the absolute velocity and normalize it - Vector3D absoluteVelocity = new Vector3D(absoluteVerticalMovement, absoluteHorizontalMovement * -1, rotationTarget); + // Slow speed down when close to target + if (rotationaldifference + positionalDifference < speed / 5) { + speed = 3; + } - if (absoluteVelocity.equals(Vector3D.ZERO)) { - return absoluteVelocity; - } + absoluteVelocity = absoluteVelocity.normalize().scalarMultiply(speed); + + return absoluteVelocity; + } - return absoluteVelocity.normalize().scalarMultiply(speed); - } + public double getRotationaldifference() { + return rotationaldifference; + } + + public double getPositionalDifference() { + return positionalDifference; + } + + public Vector3D getVelocity() { + return velocity; + } } \ No newline at end of file diff --git a/TeamCode/src/main/java/com/pocolifo/robobase/virtualfield/VirtualField.java b/TeamCode/src/main/java/com/pocolifo/robobase/virtualfield/VirtualField.java index 57c1a3d..9a0b124 100644 --- a/TeamCode/src/main/java/com/pocolifo/robobase/virtualfield/VirtualField.java +++ b/TeamCode/src/main/java/com/pocolifo/robobase/virtualfield/VirtualField.java @@ -19,13 +19,14 @@ * @see PathFinder */ public class VirtualField { + private static final double SPEED = 10; private final DistanceMovement movement; private final NovelOdometry odometry; private final Vector3D positionOffset; - private final PathFinder pathFinder = new PathFinder("points.txt"); + private final PathFinder pathFinder = new PathFinder("points.txt", "turnPoints.txt"); public VirtualField(NovelMecanumDriver driver, NovelOdometry odometry, CenterStageRobotConfiguration c, Vector3D startPosition) throws IOException { - this.movement = new DistanceMovement(driver, odometry, c.imu); + this.movement = new DistanceMovement(driver, odometry, c.imu, startPosition.getZ(), SPEED); this.odometry = odometry; positionOffset = startPosition; } @@ -35,8 +36,7 @@ public VirtualField(NovelMecanumDriver driver, NovelOdometry odometry, CenterSta * @return the current absolute field position with rotation as Z in degrees */ public Vector3D getFieldPosition() { - odometry.update(); - return Pose.toVector3D(odometry.getRelativePose()).add(positionOffset); + return Pose.toVector3D(odometry.getAbsolutePose(Math.toRadians(positionOffset.getZ()))).add(positionOffset); } private void resetRotation() { @@ -57,13 +57,15 @@ public void rotateTo(double degrees) { * @param position the target position */ public void pathTo(Vector3D position) { - rotateTo(position.getZ()); +// resetRotation(); - List path = pathFinder.findPath(round(getFieldPosition()), round(new Vector3D(position.getX(), position.getY(), 0))) ; + PathFinder.Path path = pathFinder.findPath(round(getFieldPosition()), round(new Vector3D(position.getX(), position.getY(), 0))) ; - for (Vector3D point : path) { + for (Vector3D point : path.getPoints()) { + if (point.equals(path.getTurnPoint())) { + rotateTo(position.getZ()); + } Vector3D diff = point.subtract(getFieldPosition()); - System.out.println(diff); movement.transform(diff.getX(), diff.getY()); } } diff --git a/TeamCode/src/main/resources/points.txt b/TeamCode/src/main/resources/points.txt index 3470081..266bd49 100644 --- a/TeamCode/src/main/resources/points.txt +++ b/TeamCode/src/main/resources/points.txt @@ -25,37 +25,9 @@ 11 35 11 36 11 37 -11 38 -11 39 -11 40 -11 41 -11 42 -11 43 -11 44 -11 52 -11 53 -11 54 -11 55 -11 56 -11 57 -11 58 11 59 11 60 11 61 -11 62 -11 63 -11 64 -11 65 -11 66 -11 67 -11 68 -11 76 -11 77 -11 78 -11 79 -11 80 -11 81 -11 82 11 83 11 84 11 85 @@ -255,37 +227,9 @@ 13 35 13 36 13 37 -13 38 -13 39 -13 40 -13 41 -13 42 -13 43 -13 44 -13 52 -13 53 -13 54 -13 55 -13 56 -13 57 -13 58 13 59 13 60 13 61 -13 62 -13 63 -13 64 -13 65 -13 66 -13 67 -13 68 -13 76 -13 77 -13 78 -13 79 -13 80 -13 81 -13 82 13 83 13 84 13 85 @@ -324,13 +268,6 @@ 13 118 13 119 13 120 -13 121 -13 122 -13 123 -13 124 -13 125 -13 126 -13 127 14 11 14 12 14 13 @@ -357,27 +294,7 @@ 14 34 14 35 14 36 -14 37 -14 38 -14 39 -14 40 -14 41 -14 55 -14 56 -14 57 -14 58 -14 59 14 60 -14 61 -14 62 -14 63 -14 64 -14 65 -14 79 -14 80 -14 81 -14 82 -14 83 14 84 14 85 14 86 @@ -414,11 +331,6 @@ 14 117 14 118 14 119 -14 120 -14 121 -14 122 -14 123 -14 124 15 11 15 12 15 13 @@ -445,23 +357,7 @@ 15 34 15 35 15 36 -15 37 -15 38 -15 39 -15 40 -15 56 -15 57 -15 58 -15 59 15 60 -15 61 -15 62 -15 63 -15 64 -15 80 -15 81 -15 82 -15 83 15 84 15 85 15 86 @@ -498,10 +394,6 @@ 15 117 15 118 15 119 -15 120 -15 121 -15 122 -15 123 16 11 16 12 16 13 @@ -528,19 +420,7 @@ 16 34 16 35 16 36 -16 37 -16 38 -16 39 -16 57 -16 58 -16 59 16 60 -16 61 -16 62 -16 63 -16 81 -16 82 -16 83 16 84 16 85 16 86 @@ -577,9 +457,6 @@ 16 117 16 118 16 119 -16 120 -16 121 -16 122 17 11 17 12 17 13 @@ -606,15 +483,7 @@ 17 34 17 35 17 36 -17 37 -17 38 -17 58 -17 59 17 60 -17 61 -17 62 -17 82 -17 83 17 84 17 85 17 86 @@ -651,8 +520,6 @@ 17 117 17 118 17 119 -17 120 -17 121 18 11 18 12 18 13 @@ -679,11 +546,7 @@ 18 34 18 35 18 36 -18 37 -18 59 18 60 -18 61 -18 83 18 84 18 85 18 86 @@ -720,7 +583,6 @@ 18 117 18 118 18 119 -18 120 19 11 19 12 19 13 @@ -747,11 +609,7 @@ 19 34 19 35 19 36 -19 37 -19 59 19 60 -19 61 -19 83 19 84 19 85 19 86 @@ -788,7 +646,6 @@ 19 117 19 118 19 119 -19 120 20 11 20 12 20 13 @@ -815,11 +672,7 @@ 20 34 20 35 20 36 -20 37 -20 59 20 60 -20 61 -20 83 20 84 20 85 20 86 @@ -856,7 +709,6 @@ 20 117 20 118 20 119 -20 120 21 11 21 12 21 13 @@ -1324,11 +1176,7 @@ 28 34 28 35 28 36 -28 37 -28 59 28 60 -28 61 -28 83 28 84 28 85 28 86 @@ -1391,11 +1239,7 @@ 29 34 29 35 29 36 -29 37 -29 59 29 60 -29 61 -29 83 29 84 29 85 29 86 @@ -1458,11 +1302,7 @@ 30 34 30 35 30 36 -30 37 -30 59 30 60 -30 61 -30 83 30 84 30 85 30 86 @@ -1525,15 +1365,7 @@ 31 34 31 35 31 36 -31 37 -31 38 -31 58 -31 59 31 60 -31 61 -31 62 -31 82 -31 83 31 84 31 85 31 86 @@ -1596,19 +1428,7 @@ 32 34 32 35 32 36 -32 37 -32 38 -32 39 -32 57 -32 58 -32 59 32 60 -32 61 -32 62 -32 63 -32 81 -32 82 -32 83 32 84 32 85 32 86 @@ -1671,23 +1491,7 @@ 33 34 33 35 33 36 -33 37 -33 38 -33 39 -33 40 -33 56 -33 57 -33 58 -33 59 33 60 -33 61 -33 62 -33 63 -33 64 -33 80 -33 81 -33 82 -33 83 33 84 33 85 33 86 @@ -1750,27 +1554,7 @@ 34 34 34 35 34 36 -34 37 -34 38 -34 39 -34 40 -34 41 -34 55 -34 56 -34 57 -34 58 -34 59 34 60 -34 61 -34 62 -34 63 -34 64 -34 65 -34 79 -34 80 -34 81 -34 82 -34 83 34 84 34 85 34 86 @@ -1834,37 +1618,9 @@ 35 35 35 36 35 37 -35 38 -35 39 -35 40 -35 41 -35 42 -35 43 -35 44 -35 52 -35 53 -35 54 -35 55 -35 56 -35 57 -35 58 35 59 35 60 35 61 -35 62 -35 63 -35 64 -35 65 -35 66 -35 67 -35 68 -35 76 -35 77 -35 78 -35 79 -35 80 -35 81 -35 82 35 83 35 84 35 85 @@ -1960,6 +1716,13 @@ 36 66 36 67 36 68 +36 69 +36 70 +36 71 +36 72 +36 73 +36 74 +36 75 36 76 36 77 36 78 @@ -2031,31 +1794,9 @@ 37 35 37 36 37 37 -37 38 -37 39 -37 40 -37 41 -37 42 -37 43 -37 44 -37 52 -37 53 -37 54 -37 55 -37 56 -37 57 -37 58 37 59 37 60 37 61 -37 62 -37 63 -37 64 -37 65 -37 79 -37 80 -37 81 -37 82 37 83 37 84 37 85 @@ -2119,25 +1860,7 @@ 38 34 38 35 38 36 -38 37 -38 38 -38 39 -38 40 -38 41 -38 55 -38 56 -38 57 -38 58 -38 59 38 60 -38 61 -38 62 -38 63 -38 64 -38 80 -38 81 -38 82 -38 83 38 84 38 85 38 86 @@ -2200,21 +1923,7 @@ 39 34 39 35 39 36 -39 37 -39 38 -39 39 -39 40 -39 56 -39 57 -39 58 -39 59 39 60 -39 61 -39 62 -39 63 -39 81 -39 82 -39 83 39 84 39 85 39 86 @@ -2277,17 +1986,7 @@ 40 34 40 35 40 36 -40 37 -40 38 -40 39 -40 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