Ether swerve drive. Navigation Menu Toggle navigation.
- Ether swerve drive Ether January 7, 2011, 12:55pm 8. It is a holonomic drive train in which the robot can move in any direction and independently translate its This project is a simple visualisation of the speeds and angles of the vectors of a swerve drive for a given 3-axis input. Now a single EtherCAT ® node can accommodate a combination of up to 4 axes of motion with 32 digital inputs, 32 digital outputs, 4 analog inputs, and 2 analog This code was designed with Swerve Drive Specialties MK3, MK4, and MK4i style modules in mind, but should be easily adaptable to other styles of modules. Most types of swerves can pull off turn in place/turn while translating by scrubbing wheels ala a tank drive. Chief Delphi Swerve Drive Control. Ether April 2, 2014, 4:27pm 20. 4 wheel independent drive & independent steering (“swerve”) by: Ether calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel independent drive and independent steering (“swerve” drive) UPDATED FILES ARE AT THE BOTTOM, SO The MK4 is an upgraded version of our popular MK3 module. About. It is a holonomic drive train in which the robot can move in any direction and independently translate its chassis orientation. It serves both as a nice visualisation for an omnidirectional drive system, and as a help for those trying to understand the Swerve drive, also known as holonomic or omnidirectional drive, is a unique drive system used in the FIRST Robotics Competition (FRC). The first joystick we will call the ‘strafing’ joystick, as pushing it will cause the robot to drive in the pointed direction. The project is a mini swerve drive that would be driven by an esp32. Contribute to FRCTeam68/2024_ctre_swerve_sysid development by creating an account on GitHub. I have recently started looking back over much of the labview based swerve drive code that 900 has used in the past (for a variety of reasons that will be revealed eventually 🙂 ). I have included in the following GrabCAD link the CAD drawings for the parts, the source code, Hello everyone, Our team 876 has expressed some interest in building a swerve drive practice bot. A good driver (with some practice) can move around or spin around all but the top tier tank drive setups. Special thanks are due to the user “Ether,” Swerve, but also Steer! The most reliable, easy to use, and easy to integrate swerve module for FIRST Robotics Competition teams. Because of the 50% increase of width, greater tread life and slightly better traction can be expected. 6" Also I had to shrink the image from its original to get it to upload to CD, So here is the link to the original file. The velocity of the wheel must be in meters per second. It breaks the logic of it down quite nicely What exactly do you mean by "swerve drive," cause swerving to do a 180° rotation or 90° rotation is a technique for driving, it Features: Improved Limelight support; Improved PathPlanner autonomous setup; Added SysID options for running swerve drivetrain characterization; Different xbox joystick controller layout to try for driver comfort l am a new to swerve and l am reading the Swerve Drive Manual by Ether. Steering encoders (analog US digital MA3) are connected to the roboRIO analog input ports. Just to give one example, suppose you try to maneuver the robot while driving sideways. The code for the Swerve Drive code and many other new utilities in WPILib can be copy and pasted and “just work” on 2019 robots because that code doesn’t use certain new features that require an update to the RoboRIO. ppt Nowadays, wheeled mobile robots is an expanding field of scientific research and growing applications in both industrial and non-industrial fields. Readme License. Everything that For more details on field-centric drive algorithms, please see this excellent post on Chief Delphi by Ether which provides a wealth of helpful, well written information on implementing field-centric drive on various types of drive systems. This paper by @Ether provides great As a C++ programmer, this is my first year programming with motors,encoders,the roboRio,etc. The library is designed with the goal of being adjustable to various hardware configuration and is distributed with some hardware implementations out-of-the-box. Long ago I compiled some CD posts and presentations mostly by Ether and Baker and put together the attached document of those calculations because when I did it teams wrote their own code before it was available in Thread created automatically to discuss a document in CD-Media. Furthermore, odometry can be used for latency compensation WCP’s newest generation of the swerve drive module, designed from the ground up to utilize the powerful Kraken X60 brushless motor to improve performance and remove complexity. 1 watching. Our team is working on putting a cRIO onto one of our old swerve bots from the past. package org. Let FWD, STR, and RCW be the Forward, Strafe Right, and Rotate Clockwise driver commands, respectively. whoami, regional, robot. I'd look on CD if you need more, theres a ton of stuff on there! Reply [deleted] • My team really wants to try out swerve drive and mechanically we are capable of doing it but as a relatively amateur programmer I am not really too sure where to even This white paper by Ether talks about how to program a swerve drive in detail. A swerve drive module is composed of two motors, a gearbox, encoders, and a wheel. The inputs are the x and y velocities of each wheel in your local robot reference frame (which you can obtain by measuring your steering angle and using some trig); your outputs are your overall robot velocity/displacement in x, y, and yaw. As opposed to an omni-wheel drive or a Mechanum drive, Swerve retains all the pushing power of a similarly geared 4-6 wheel drive because of the potential to use traction wheels in the design, as opposed to the slippery wheels used in a mecanum or omni drive that result in a loss of power/pushing ability. This allows for extremely fluid 360deg motion of system. 4 wheel independent drive & independent steering (“swerve”) by: Ether calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel independent drive and independent steering (“swerve” drive) UPDATED FILES ARE AT THE BOTTOM, SO I think the tacit premise of the question is misguided. Hey there CD, As an offseason project I took Ether’s paper on calculating swerve angles and speeds and turned it into an all-in-one java class for driving using a single 3-axis joystick. Our field-oriented and motion-profiled Swerve drive is a new type of drive train becoming popular amongst first teams. I have been thinking about how to limit the turn motors and have landed on keeping 2 (one for The obvious advantage would be omnidirectional motion. AdamHeard: The closest I know a team came to this task would be 469 in Greetings! Our team is working on a swerve drive this year and we’ve been using this post from Ether as a reference point for programming it. It allows for precise control of both translational and rotational movement. Ether February 22, 2017, 11:13am 3 *@Jaci: Let L=2. I translated this math into Java code - more info is available in that thread. The gearbox is what controls the rotation of the wheel. The next level adds to this by separating the drive control to drive the left and right sides separately while steering the front and back wheels separately. The wheels can drive forward and backward but the wheel assembly is turned by another motor and are tracked by encoders. and my Team has been developing a swerve drive off-season,and my experience is not helping me with it, so i have been doing a lot of research about it, looking for templates,basics but i still cant manage to do it, so i came here to ask help, suggestions, tips. Thread created automatically to discuss a document in CD-Media. We have code that calculates the change in position of a swerve drive relative to the field using encoders Thread created automatically to discuss a document in CD-Media. I would take a look at Ether's white paper on it first though. This is often referred to as crab drive. Jefferson: You also have to take into account the hits (especially this year). FRC And check out Ether’s Whitepaper and our 2015 code for help with programming a swerve drive. The kinematics object that represents your swerve drive (as a SwerveDriveKinematics instance) The angle reported by your gyroscope (as a Rotation2d) The initial positions of the swerve modules (as an array of SwerveModulePosition). Swerve kinematics and programming by Ether; About. The swerve drive module is divided into several subsystems: Ether April 2, 2014, 10:52am 12. Equations and In FRC circles, swerve drive can be used for any drive train in which all drive wheels are steered. Show more Download files Like. 4 wheel independent drive & independent steering (“swerve”) by: Ether calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel independent drive and independent steering (“swerve” drive) UPDATED FILES ARE AT THE BOTTOM, SO Paper: 4 wheel independent drive & independent steering ("swerve") Thread created automatically to discuss a document in CD-Media. What is Swerve Drive. We came up with the following forward kinematics for a swerve drive. The following code was unit tested and produced the correct result. 12 fps theoretical Here is the full drive train render of the Micro Swerve Drive. I take no credit for the calculations used in this code. Skyehawk: Each of the 4 The masters of swerve drive COUGH-bombsquad-COUGH used a USB Steering-Wheel in 2013 for their orientation and just the normal Logitech Attack joystick for forward and back. FRC Java Example. Sign in Product GitHub Copilot. I have done plenty of Tank and Mecanum drive trains using WPI’s robot drive class but obviously they do not have a version for Swerve. 25" x 4. Is there a shorter name, widely understood within the CD community, for a 4-wheel independent-steering and independent Add an easily-accessed joystick button in your code that the driver can simply press to re-zero the gyro whenever the robot is physically in the correct orientation. This paper describes the design and control of the Swerve drive robot with a kinematic model. 1the inverse kinematics is not the difficult part. “Swerve" drive) 3/28/2011 3/27/2011 3/26/2011 RevB 1/2/2011 original. They provide the relationship between the robot’s x, y, and angular velocities vx, vy Also created a Simulator today to test this. Just paste into eclipse/nb and go. Full C++ source code on GitHub. Look up ether swerve derivation. Wheel, Colson, 4"OD x 1. swing. Calculate wheel speeds and wheel steering angles for holonomic (3 degrees of freedom) control. Swerve drive is awesome but quite complicated. 4 wheel independent drive & independent steering (“swerve”) by: Ether calculate robot-centric and field-centric wheel speeds and wheel steering angles for FRC robot code for swerve drive written in Python using robotPy library. 5"W (MK4/4i/4n) 4 wheel independent drive & independent steering (“swerve”) by: Ether calculate robot-centric and field-centric wheel speeds and wheel steering angles for I just posted a 2-page summary explanation for those who just want Thread created automatically to discuss a document in CD-Media. The first program I made is a static display, the user inputs X, Y, and R (rotation) commands, and can instantly view the angle and speed of each of swerve pods. 3/28/2011 Ether. It allows each individual wheel to be powered and turned independent from the other wheels, giving it unparalleled maneuverability on the field. It has following features: Independently steered Thread created automatically to discuss a document in CD-Media. 4 wheel independent drive & independent steering (“swerve”) by: Ether calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel independent drive and independent steering (“swerve” drive) UPDATED FILES ARE AT THE BOTTOM, SO of vehicle with four-wheel independent drive and independent steering (sometimes a. 9 feet per second actual low speed/6. Teams can use odometry during the autonomous period for complex tasks like path following. We used it to learn about incorporating Swerve into a robot, and how to program and drive it. In the next paragraphs, I will explain how it work, and my observations during construction. I’ve written a short guide that runs through the theory of how a swerve drive works, and some further considerations. In this swerve drive, all four swerve modules are Introduction to Kinematics and The ChassisSpeeds Class, Differential Drive Kinematics, Differential Drive Odometry, Swerve Drive Kinematics, Swerve Drive Odometry, Mecanum Drive Kinematics, Mecanum FRC Game Manual; FRC Game Q&A; FIRST Robotics Competition stable Zero to Robot A compact SWERVE drive Introduction : For FRC teams who are considering building a robot with a Swerve drive, here is a design that could be achieved by an intermediate or advanced team. k. (The code linked is in Java. I have seen ether’s forward kinematic calculator. 7 feet per second actual high speed/19. Full Java Source code on GitHub. If you can not Now that the season is over I am looking to start a new project to keep me busy. We’re writing the swerve software in Java and we came up with our own equation that gives us rotation and x/y control of the robot. Swerve drive is a drive train that is designed to be omnidirectional, with the ability of a robot to move in any direction at any moment. Swerve drive operates using two joysticks from a single controller. Right now my friend and I built one using the MK4i modules using the neo brushless motors, sparkmax CAN, the built in encoders on the Neos and a NavX. Has anyone performed a similar variation for a paired-module swerve The swerve and steer is okay, though I’d personally go for the 2910 MK2 module in the present era of swerve development. SWERVE DRIVE. To accommodate the new wheel the MK4 uses our new 2nd Generation bevel gear set. MIT license Activity. The biggest thing for executing swerve properly is spending the time to get the controls right, and getting as much driver practice as possible, both before and after season start. FRC robot code for swerve drive written in Python using robotPy library. We were hoping to use the time latency stuff that 254 did with our swerve for gear vision this year. Watchers. 4 wheel independent drive & independent steering (“swerve”) by: Ether calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel independent drive and independent steering (“swerve” drive) UPDATED FILES ARE AT THE BOTTOM, SO Swerve Drive Systems are commonly seen as difficult to understand from a mathematical and programming standpoint. robot; import javax. Perhaps I’m doing something wrong. . 1251 Downloads 41 Likes 4 Comments. a. Up to this point we have only done tank drive. 5" width Billet Wheel. I’m interested purely theoretically, my team isn’t going to have a swerve next year. It functions basically the same way that Ether’s spreadsheet does My team really wants to try out swerve drive and mechanically we are capable of doing it but as a relatively amateur programmer I am not really too sure where to even begin programming swerve drive. However, when testing, we’ve found that it gave a different result than Ether’s swerve spreadsheet. Ether November 5, 2012, 3:54pm 9. Skip to content. While building a practice bot (on a budget of course) presents it’s own set of challenges, as programmer I have a whole different set of issues. ## Converting module states to chassis speeds One can also use the kinematics object to convert an array of SwerveModuleState objects to a Swerve-Drive system, suitable for robots. I don’t know if this helps, but it would be really fun to drive! For example, one can set the center of rotation on a certain module and if the provided ChassisSpeeds object has a vx and vy of zero and a non-zero omega, the robot will appear to rotate around that particular swerve module. 5 feet, Thread created automatically to discuss a document in CD-Media. Repository for ROS development of swerve drive robot - SwerveRoboticSystems/swerve. More info on swerve drive mechanics can be found here. At the regional level, mecanum is fine and it is fun. Write better code with AI Security. Dimensions: 17. mkaa00x: Hey Guys! Okay So I’m here basically to submit a Java File that Helps teams attempting to use a swerve drive. 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 3/28/2011 Ether SWERVE DRIVE Calculate wheel speeds and wheel steering angles for holonomic (3 degrees of freedom) control Let FWD , STR , and RCW be the Forward, Strafe Right, and Rotate Clockwise driver commands, respectively. The constructor for a SwerveModuleState takes in two arguments, the velocity of the wheel on the module, and the angle of the module. The SwerveModuleState class contains information about the velocity and angle of a singular module of a swerve drive. Document all the key elements of configuring the swerve drive. For the programming, check out this document published by Ether which will help you control how your swerve works. just as what l have circled in the picture, l think that the calculation of Ether October 20, 2013, 3:54pm 2. We switched from LabView to Java in the 2015 off-season. This is the code we wrote in the summer of 2017 for our swerve drive robot (never yet used in competition). Let me bring you up to speed on what we can assume about this robot. Despite it being one of the most compact and lightweight modules available, Robotic Systems. A “scrub-less” turn is in theory more efficient (though in practice you might find more overshoot makes it harder to I used the Ether’s swerve kinematics in both of my programs to determine the speed and angle of each of the pods. Automate any workflow Codespaces Look into formulating your odometry (forward kinematics) as a linear system of equations. Kit, Adapter, 16T Drive Pinion Gear (MK4i) Regular price $30. 4 wheel independent drive & independent steering (“swerve”) by: Ether calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel independent drive and independent steering (“swerve” drive) UPDATED FILES ARE AT THE BOTTOM, SO First mecanum drive in FRC I believe was in 2005, team 357 (showing my regional bias hereI want to say other teams had them in 2005 as well). In this swerve drive, all four swerve modules are operated independently, which provides greater The SwerveDriveKinematics class is a useful tool that converts between a ChassisSpeeds object and several SwerveModuleState objects, which contains velocities and angles for each swerve module of a swerve drive robot. It uses a gyro to keep a fixed orientation relative to the field, and features (somewhat primitive) motion profiled autonomous capabilities. Spark Max motor controllers for the drive motors are: powered using 40 Amp PDP ports Paper: 4 wheel independent drive & independent steering ("swerve") Thread created automatically to discuss a document in CD-Media. usfirst. For this forum, the definition will be restricted to drive trains where all drive wheels are independently driven and steered. In FRC circles, swerve drive can be used for any drive train in which all drive wheels are steered. This code is by no means This can be made to work, but realize you will not achieve “full” swerve motion. 5 feet, W=1. Programming. I can turn easily enough, but I want to move forward while turning I achieved this with what, from a programming standpoint, is a mechanum in FTC The swerve drive library encapsulates the code necessary to deploy a swerve drive sustem to your robot. 4 wheel independent drive & independent steering (“swerve”) by: Ether calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel We are designing a swerve system so that our team will, should the need arise in the future for a swerve drive, have some first hand details on how to pursue a competit Chief Delphi Different Swerve Drives. We borrowed freely from the wealth of public information on swerve drive programming and (eventually) field-oriented control available on hief Delphi. LabVIEW, C++, Java, Python - they’re all more than powerful and concise enough to express the necessary algorithms efficiently, once you’ve figured out the algorithms. Ether was nice enough to do the derivations for equations and wheel speeds and post them in an excel format for unicorn drives, and straight up “crab” where all the modules are linked is simple to program. In Java, this must be constructed with each wheel position in meters. FRC C++ Example. Our team is looking at different swerve variations and considering trying one in the off season. Another good resource is Ether's CD post here, especially the second PDF. Share. Swerve was once a drive style only attainable for top tier teams but now swerve is for everyone. We never had time to fully get this working but will continue to pursue it in the off season if time allows. it’s based of off Ether’s white papers which I highly recommend checking out here on CD. 00 . This summer and fall, I designed and built this Differential Swerve drive base and would like to share my experience with the FRC community. 4 wheel independent drive & independent steering (“swerve”) by: Ether calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel independent drive and independent steering (“swerve” drive) UPDATED FILES ARE AT THE BOTTOM, SO Iso View of Pwnage Team 2451 Coaxial Swerve Drive Highlights: 7 lbs, 3" Nitrile Tires, 2-speed Ball Drive, Absolute Encoder for steering angle, Incremental Encoder for wheel speed 4. benjiboy2539 March 4, 2021, 5:20pm 7. 01 fps theoretical 15. We figured that he was right, so we put his equations This paper by @Ether provides great resources for the math and theory behind swerve! Miss you, @Ether! Chief Delphi Any suggestions for Swerve Drive Code. Stars. Briefly going over the other main options: tank drive has a set of wheels on each side of the robot controlled forward/backward, so the robot can turn in place, move forward or backward, or a combination of those. Navigation Menu Toggle navigation. Allows robot to spin shaft, turning bevel gears, and thus wheels. They are extensively used in surveillance, industrial automation, and transportation task. Swerve drives are really cool and I think the new COTS options are probably what you should be looking at. Additionally, entire module rotates using riveted sprocket. Is there any chance anyone could send some current gen (2017 or 18) labview programming examples? We learned alot from Ether’s Swerve_Steer_8 spreadsheet, I think you can download that from CD Media. Right now we have it driving just fine with +Y always being the direction of the front of the robot, but we’re having trouble getting the calculation to work when using the field-centric example in this PDF. An angle of 0 from the module represents the forward-facing direction. temp = FWD·cos(θ) + I am a robot enthusiast based in Montreal, Canada, and a 6 year veteran FRC mentor with various teams (4955, 3986, 296). Resources. team3467. Y X Figure 1 Top View Wheel 1 Front Rear Port Starboard Microsoft PowerPoint - 2011-03-28b Derivation of Inverse Kinematics for Swerve. Document all the key elements of troubleshooting the This paper describes the design and control of the Swerve drive robot with a kinematic model. We’ve seen a couple of examples using PID logic, and would love to go that rout, but still are not fully PCB mount EtherCAT-enabled servo drives also utilize ADVANCED Motion Controls’ unique, proprietary high speed multi-axis communication interface and I/O expansion capabilities (‘DxM’™ and ‘DxI/O’™ Technologies). We have MA3 Miniature Absolute Magnetic Shaft Encoders on each wheel that measures the angle it has been turned. Some explanatory photos are attached at the end of this article. So for example, with a 3-axis joystick, we might have: FWD = -Y (vehicle goes forward when joystick is pushed forward I have been wracking my brain trying to think of the first team in FRC with a swerve drive system, can you help me out? Edit: why not also mecanum, “kiwi”, or other omni-drive setups. So for example, with a 3-axis joystick, we might have: FWD = -Y (vehicle goes forward when joystick is pushed forward) Thread created automatically to discuss a document in CD-Media. My goal with this build is to have a fully functioning swerve with leftover ports for additions to the bot that I may make later on. 9" x 22. JOptionPane; public class Simulator { /** * This program is based off of Ether's swerve drive kinematics and * algorithms. frc. The MK4 features our new 1. Class for swerve drive odometry. Since the wheels are all at or near their I have been wracking my brain trying to think of the first team in FRC with a swerve drive system, can you help me out? Edit: why not also mecanum, “kiwi”, or other omni-drive setups. This was something I threw together in a few hours today and haven’t really tested at all (it’s my schools vacation week so it’ll be a while before I can test it and we don’t even have a Swerve drive is currently the best way of doing so. Odometry allows you to track the robot's position on the field over a course of a match using readings from your swerve drive encoders and swerve azimuth encoders. It hasn’t actually been ran on a 16 published their code on CD. Yeah, it’s a basic Java application that’ll help teams who need to get going fast at competition time! I’m no Java guru, but it appears to be jibberish. 1 Like. This code is adapted by the Team 1418's 2017 robot and modified to work with 2020 robotPy library. The second joystick we will call the ‘rotation’ joystick, where pushing to the left causes a counterclockwise spin and right causes a clockwise The least flexible form of swerve has all wheels linked for both steering and drive either physically or in code. With 8 inputs and 3 outputs, this is an My team recently announced they would be interested in programing a swerve drive train. This new design features a wider wheel, reduces complexity, is more versatile than our previous modules, and truly makes omnidirectional drivin Thread created automatically to discuss a document in CD-Media. Find and fix vulnerabilities Actions. Let FWD, STR, and RCW be the Forward, Strafe Swerve drive implementation that can be used as a starting point for programming a swerve drive robot. I’ll take a rough empirical stab, and then let the Ethers of the world codify the Unified Field Theory of Swerves. We need help writing it into the program. But I would have to agree that when playing against bots at the Einstein level the disadvantages are more serious. First off, some assumptions. We have now solved for the module’s instantaneous linear acceleration and head-ing angular velocity needed to help keep the robot tracking correctly, alongside the al-ready known first 3/28/2011 Ether SWERVE DRIVE Calculate wheel speeds and wheel steering angles for holonomic (3 degrees of freedom) control Let FWD , STR , and RCW be the Forward, Strafe Derivation of inverse kinematic equations for three-degree-of-freedom (3 DoF) control for 4-wheel independent steering and independently driven swerve. trying to tune our swerve drive using sysid. Anyhow, I understand most of how swerve works (such that I could easily write crab drive code), but turning is giving me headaches. Mecanum drive has 4 wheels each with angled rollers, producing force vectors at 3/28/2011 Ether. Hello My team is starting to get into swerve drive, we are likely going to be using a library for our programming (ex: yagsl). With the 90 degree limitation, there will be maneuvers you will not be able to execute acceptably, especially using a (low power) window motor for steering. pdf. That sounds like a true Unicorn drive, no? ** Ether January 7, 2011, 2:14pm 16. 4 wheel independent drive & independent steering (“swerve”) by: Ether calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel A swerve drive is a special type of drivetrain used in FRC (FIRST Robotics Competition). Technical. So if anyone has any Hello, I am trying to learn how to code swerve drive as a side project to help learn and teach it to the high school team. One of the motors drives the wheel, while the other motor controls the steering. We use fully independent modules primarily because it provides more turning options You will need encoders for each wheel’s rotation, a motor to spin each wheel module, and a motor to drive each wheel. Swerve drive allows the robot to navigate, not by turning the wheels oppisite each other but by moving the wheels themselves. The current kinematics were detailed back in 2011 by Ether and do not seem to have changed since. 6 stars. While l read this pdf , l have some question about it and my question is below. The difficulty1 of developing software for swerve is an algorithmic issue, not a coding issue. JoshD99 April 15, 2023, 8 Abstract. Repository for ROS development of swerve drive robot - SwerveRoboticSystems/swerve Hello Everyone, We are attempting a swerve drive and could really use some help programming it. We have purchased 4 andymark swerve drive modules with absolute encoders on each, but are struggling with the programming. The A navX should be plugged into the roboRIO MXP port. sqapjk cmexpj dji yrnq euqpxahj vtmgol bbwvnn dbtzfl iiaelf ubkkgy