Pilot Otomatis untuk Kapal Layar (Sistem Kemudi Otomatis)

Kode

• Sketsa autopilot (untuk Uno)
• Sketsa WatchDog (untuk Nano)

Sketsa autopilot (untuk Uno)Arduino

/* Sketsa ini berfungsi sebagai Autopilot untuk kapal layar kecil, oleh Marco Zonca, 2019 Arduino UNO sebagai CPU, Arduino Nano sebagai pengawas, GPS BT-220 nmea, motor stepper + pengontrol, rf433Mhz RC, 6 tombol, buzzer, i2c display, 2 leds, i2c 24c04 eeprom, Mux 4051 untuk sensor, lipo 2s 7.4v 2600mA, regulator tegangan 7805, Thermistor;*/#include #include #include # include String inputString ="";String nm_time ="00:00:00";String nm_validity ="V";String nm_latitude ="ddmm.mmmm'N";String nm_longitude ="dddmm.mmmm'E ";String nm_knots ="0.0kn";float nmf_knots =0.0;String nm_truecourse ="360";float nmf_truecourse =360;String nm_date ="dd/mm/tttt";String nm_routetofollow ="000";float nm_knots =0; unsigned long beforeStearingMillis =0;unsigned long currentStearingMillis =0;unsigned long prevCheckSensorsMillis =0;unsigned long currCheckSensorsMillis =0;int CheckSensorsInterval =10000;bool stringComplete =false;bool isfirstfix =true;bool ispause =true;bool isStearing =false;bool isSetup =false;int s=0;int y=0;int z=0;int d=0;int rfRemoteControlValue =0;int HWButtonValue =0;int SetupParameter =0;float calcmove =0;float cm =0;float Stearing =0;float prevStearing =0;float t =0;int EEdisk =0x50;int EEid1 =0x29;int EEid2 =0x00;unsigned int EEaddress =0;unsigned int EEbytes =12;byte EEdata[12];byte EEbytedata;int EEerr =0;float SensorVBatt=0;float SensorVRes=0;float SensorTemp=0;float SensormAmp=0;// parameter berikut adalah default tetapi dibaca/tulis dalam eeprom// eeprom diinisialisasi jika pada alamat 0 dan 1 isi alamat berbeda len ketik catatan// 0-255 byte pada 0x50 EEdisk, 256-512 byte pada 0x51 (tidak digunakan) ---------- -------------------------------------------------- ---// 0 1B byte 01001001 (0x29 sebagai id proyek autopilot1)// 1 1B byte 00000000 (0x00 " " id2)int StearingInterval =2000; // milis antara mencoba dan mundur 2 2B int StearingInterval 1000-5000 langkah 100int StearingMinToMove =2; // kompas_derajat 4 2B int StearingMinToMove 0-20 langkah 1int StearingMaxMove =40; // kompas_derajat 6 2B int StearingMaxMove 10-45 langkah 1float StearingCoeffMove =1,5; // digunakan sebagai (derajat_kompas * koefisien) 8 4B float StearingCoeffMove 0.1-4 langkah 0.1// 12 gratis//byte bStearingInterval[sizeof(int)];byte bStearingMinToMove[sizeof(int)];byte bStearingMaxMove[sizeof(int)];byte bStearingCoeffMove[sizeof(float)];int prev_StearingInterval=0;int prev_StearingMinToMove=0;int prev_StearingMaxMove=0;float prev_StearingCoeffMove=0;const int ledpausePin =2;const int watchDogPin =7Bit Mux;Sconst int watchDogPin // 00=Vin 01=Vbatt 10=Tempconst int MuxSelBit1Pin =6; // const int motorsABenablePin =13;const int MuxIOPin =14;const int TombolPin =15;const int rfRemoteControlPin =16;const int speakerPin =17;const int RCtombol kiri =201;const int RCkanan tombol =202;const int RC310tombol kiri const int RCright10button =204;const int HWtombol kiri =101;const int HWtombol kanan =102;const int HWpausebutton =103;const int HWsetupbutton =104;const int HWleft10button =105;const int HWright10button =200Pert tombolRevolution =106 // 200 untuk model 23LM, 54 langkah =1/4 revolusiLiquidCrystal_I2C lcd (0x27, 2, 1, 0, 4, 5, 6, 7, 3, POSITIF);Motor stepper(motorStepsPerRevolution, 9, 10, 11, 12 );void setup() { Serial.begin(4800); lcd.begin(16,2); Kawat.mulai(); motor.setSpeed(60); inputString.reserve(200); pinMode(motorsABenablePin, OUTPUT); pinMode(MuxSelBit0Pin, OUTPUT); pinMode(MuxSelBit1Pin, OUTPUT); digitalWrite(motorsABenablePin, RENDAH); digitalWrite(MuxSelBit0Pin, RENDAH); digitalWrite(MuxSelBit1Pin, RENDAH); pinMode(ledpausePin, OUTPUT); pinMode(watchDogPin, OUTPUT); digitalWrite(ledpausePin, RENDAH); digitalWrite(watchDogPin, RENDAH); // baca+periksa EEPROM (memformat jika baru (atau tidak teridentifikasi)) lcd.clear(); lcd.setCursor(0,0); lcd.print("Memeriksa memori..."); lcd.setCursor(0,1); for (s =0; s =CheckSensorsInterval) { readMuxSensors(); if ((SensorVBatt <=7.0) || (SensorTemp>
=50)) { lcd.clear(); lcd.setCursor(0,0); lcd.print("Sensor alarm! "); lcd.setCursor(1,1); lcd.print("V="); lcd.print(SensorVBatt); lcd.print(""); lcd.print(int(SensorTemp)); lcd.write(0xDF); lcd.print("C"); NewTone (pin speaker, 10); penundaan (1000); tidak adaNadaBaru(); } prevCheckSensorsMillis =currCheckSensorsMillis; } // KONTROL PENGEMUDIAN ---------------- currentStearingMillis =milis(); if (currentStearingMillis - sebelumnyaStearingMillis>=StearingInterval) { if (isStearing ==false &&ispause ==false) { // coba (pindahkan stearing) calcmove =nmf_routetofollow - nmf_truecourse; if (calcmove <(-180)) { calcmove =calcmove + 360; } else { if (calcmove> (+180)) { calcmove =calcmove - 360; } } if (abs(calcmove)>=StearingMinToMove) { if (abs(calcmove)>=StearingMaxMove) { if (calcmove <0) { cm =(StearingMaxMove * -1); calcmove =cm; } else { cm =(StearingMaxMove * 1); calcmove =cm; } } Stearing =(calcmove * StearingCoeffMove); gomotor(int((Memutar * 216) / 360)); // 54 langkah =1/4 putaran prevStearing =Stearing; isStearing =benar; } } else { // kembali (pindahkan stearing ke posisi "nol") if (isStearing ==true) { Stearing =(prevStearing * -1); gomotor(int((Memutar * 216) / 360)); // 54 langkah =1/4 putaran Stearing =0; prevStearing =0; isStearing =salah; } } sebelumnyaStearingMillis =saat iniStearingMillis; } // TOMBOL RF RC ------------------ rfRemoteControlValue =checkRfRC(); if (rfRemoteControlValue) { switch (rfRemoteControlValue) { case RCleftbutton:// Tombol RC kiri goleft(); merusak; case RCrightbutton:// Tombol RC kanan goright(); merusak; case RCleft10button:// Tombol RC kiri-10 goleft10(); merusak; case RCright10button:// Kanan+10 tombol RC goright10(); merusak; } } // TOMBOL ------------------------ HWButtonValue =checkHWButtons(); if (HWButtonValue) { switch (HWButtonValue) { case HWleftbutton:// Kiri(-1) Tombol HW if (isSetup ==false) { goleft(); } else { setupMinus(); } merusak; case HWrightbutton:// Kanan(+1) Tombol HW if (isSetup ==false) { goright(); } else { setupPlus(); } merusak; case HWpausebutton:// Jeda tombol HW gopause(); merusak; case HWsetupbutton:// Atur tombol HW gosetup(); merusak; case HWleft10button:// Kiri(-10) tombol HW goleft10(); merusak; case HWright10button:// Kanan(+10) Tombol HW goright10(); merusak; } } // GPS NMEA ------------------ if (stringComplete ==true) { // menerima kalimat nmea oleh serial port RX bool ret; ret =nmeaExtractData(); inputString =""; stringLengkap =salah; if (ret ==true) { RefreshDisplay(); } } // MAKANAN PENGAWAS ---------------- if (digitalRead(watchDogPin) ==LOW) { digitalWrite(watchDogPin, HIGH); } else { digitalWrite(watchDogPin, RENDAH); }}// membaca sensor pada multiplexervoid readMuxSensors() { float Vo =0; mengapung n =0; mengapung n1 =0; mengambang v1ad =0; mengambang v2ad =0; float corr =0; mengapung R1 =10.000; float logR2 =0; mengapung R2 =0; mengapung T =0; float c1 =1,009249522e-03; float c2 =2.378405444e-04; float c3 =2.019202697e-07; digitalWrite(MuxSelBit0Pin, RENDAH); // 00=Vbatt digitalWrite(MuxSelBit1Pin, RENDAH); n =analogRead(MuxIOPin); v1ad=n; n1=(((10.00 * n) / 1023.00)); SensorVBatt=(n1 + ((n1 * 0.0) /100)); // koreksi sewenang-wenang (tidak aktif =0,0%) digitalWrite(MuxSelBit0Pin, LOW); // 01=Vres digitalWrite(MuxSelBit1Pin, HIGH); n =analogRead(MuxIOPin); v2ad=n; n1=(((10.00 * n) / 1023.00)); SensorVRes=(n1 + ((n1 * 0.0) /100)); // koreksi sewenang-wenang (tidak aktif =0,0%) digitalWrite(MuxSelBit0Pin, HIGH); // 10=NTC Temp digitalWrite(MuxSelBit1Pin, LOW); Vo =analogRead(MuxIOPin); R2 =R1 * (1023.0 / Vo - 1.0); logR2 =log(R2); T =(1.0 / (c1 + c2 * logR2 + c3 * logR2 * logR2 * logR2)); SensorTemp =T - 273,15; // Celcius n =(v1ad - v2ad); n1 =(n / 0,22) * 1000.00; SensormAmp =(((10.00 * n1) / 1023.00));}// ekstrak data dari nmea inputStringbool nmeaExtractData() { bool ret =false; //benar jika nmea kalimat =$GNRMC dan CHKSUM valid jika ((inputString.substring(0,6) =="$GNRMC") &&(inputString.substring(inputString.length()-4,inputString.length()- 2) ==nmea0183_checksum(inputString))) { y=0; for (s =1; s <11; s ++) { y=inputString.indexOf(",",y); switch (s) { kasus 1://waktu z=inputString.indexOf(",",y+1); if (z>(y+1)) { nm_time=inputString.substring(y+1,y+2+1)+":"+inputString.substring(y+1+2,y+4+1)+" :"+inputString.substring(y+1+4,y+6+1); } y=z; merusak; kasus 2://validitas z=inputString.indexOf(",",y+1); if (z>(y+1)) { nm_validity=inputString.substring(y+1,y+1+1); } y=z; merusak; kasus 3://lintang z=inputString.indexOf(",",y+1); if (z>(y+1)) { nm_latitude=inputString.substring(y+1,y+2+1)+""+inputString.substring(y+1+2,y+10+1)+"' "; } y=z; merusak; kasus 4://utara/selatan z=inputString.indexOf(",",y+1); if (z>(y+1)) { nm_latitude=nm_latitude + inputString.substring(y+1,y+1+1); } y=z; merusak; case 5://bujur z=inputString.indexOf(",",y+1); if (z>(y+1)) { nm_longitude=inputString.substring(y+1,y+3+1)+""+inputString.substring(y+1+3,y+11+1)+"' "; } y=z; merusak; kasus 6://timur/barat z=inputString.indexOf(",",y+1); if (z>(y+1)) { nm_longitude=nm_longitude + inputString.substring(y+1,y+1+1); } y=z; merusak; kasus 7://kecepatan knot z=inputString.indexOf(",",y+1); if (z>(y+1)) { nmf_knots=inputString.substring(y+1,z).toFloat(); t=roundOneDec(nmf_knots); nm_knots=String(t,1)+"kn"; } y=z; merusak; kasus 8://kursus benar z=inputString.indexOf(",",y+1); if (z>(y+1)) { nmf_truecourse=inputString.substring(y+1,z).toFloat(); d=nmf_truecourse; nm_truecourse=d; } y=z; merusak; kasus 9://tanggal z=inputString.indexOf(",",y+1); if (z>(y+1)) { nm_date=inputString.substring(y+1,y+2+1)+"/"+inputString.substring(y+1+2,y+4+1)+" /20"+inputString.substring(y+1+4,y+6+1); } y=z; merusak; kasus 10:// pernyataan break; default:// pernyataan break; } } if ((isfirstfix ==true) || (ispause ==true)) { nm_routetofollow=nm_truecourse; nmf_routetofollow=nmf_truecourse; isfirstfix=salah; } ret=benar; } return ret;}// kenaikan(+) nilai parameter selama setupvoid setupPlus() { switch (SetupParameter) { case 2://interval StearingInterval =(StearingInterval + 100); if (StearingInterval> 5000) { StearingInterval =5000; } merusak; kasus 3://mnt. untuk memindahkan StearingMinToMove =(StearingMinToMove + 1); if (StearingMinToMove> 20) { StearingMinToMove =20; } merusak; kasus 4://maks. pindah StearingMaxMove =(StearingMaxMove + 1); if (StearingMaxMove> 45) { StearingMaxMove =45; } merusak; kasus 5://koefisien StearingCoeffMove =(StearingCoeffMove + 0.1); if (StearingCoeffMove> 4) { StearingCoeffMove =4; } merusak; } penundaan (200); RefreshDisplay();}// penurunan(-) nilai parameter selama setupvoid setupMinus() { switch (SetupParameter) { case 2://interval StearingInterval =(StearingInterval - 100); if (StearingInterval <1000) { StearingInterval =1000; } merusak; kasus 3://mnt. untuk memindahkan StearingMinToMove =(StearingMinToMove - 1); if (StearingMinToMove <0) { StearingMinToMove =0; } merusak; kasus 4://maks. pindah StearingMaxMove =(StearingMaxMove - 1); if (StearingMaxMove <10) { StearingMaxMove =10; } merusak; kasus 5://koefisien StearingCoeffMove =(StearingCoeffMove - 0,1); if (StearingCoeffMove <0,1) { StearingCoeffMove =0,1; } merusak; } penundaan (200); RefreshDisplay();}// kontrol motor (+)=maju (-)=mundursvoid gomotor(int langkahToMove) { digitalWrite(motorsABenablePin, HIGH); motor.step(stepsToMove); digitalWrite(motorsABenablePin, LOW);}// refresh data di displayvoid RefreshDisplay() { if (isSetup ==false) { //---------normal lcd.clear(); lcd.setCursor(0,0); lcd.print("R"+nm_routetofollow); lcd.write(0xDF); lcd.print("H"+nm_truecourse); lcd.write(0xDF); if (jeda ==benar) { lcd.print("STOP"); } else { if (Memutar> 0) { lcd.print(" +"); } if (Stearing ==0) { lcd.print(" "); } if (Stearing <0) { lcd.print(" "); } lcd.print(int(Stearing)); } lcd.setCursor(0,1); lcd.print(nm_time+" "+nm_knots); } if (isSetup ==true) { //-----------setup lcd.clear(); lcd.setCursor(0,0); lcd.print("setup:"); switch (SetupParameter) { case 1://display sensors readMuxSensors(); lcd.print("V="); lcd.print(SensorVBatt); lcd.setCursor(1,1); lcd.print("mA="); lcd.print(int(SensormAmp)); lcd.print(""); lcd.print(int(SensorTemp)); lcd.write(0xDF); lcd.print("C"); merusak; case 2://interval lcd.print("interval"); lcd.setCursor(7,1); lcd.print(StearingInterval); lcd.print(" mSec"); merusak; case 3://min. to move lcd.print("minimum"); lcd.setCursor(7,1); lcd.print(StearingMinToMove); lcd.write(0xDF); merusak; case 4://max. move lcd.print("max"); lcd.setCursor(7,1); lcd.print(StearingMaxMove); lcd.write(0xDF); merusak; case 5://coefficient lcd.print("coeffic."); lcd.setCursor(7,1); lcd.print(StearingCoeffMove); lcd.print(" x "); lcd.write(0xDF); merusak; } }}/* SerialEvent occurs whenever a new data comes in the hardware serial RX. This routine is run between each time loop() runs, so using delay inside loop can delay response. Multiple bytes of data may be available.*/void serialEvent() { while (Serial.available()) { char inChar =(char)Serial.read(); inputString +=inChar; // if the incoming character is a newline, set a flag so the main loop can // do something about it if (inChar =='\n') { stringComplete =true; } } }//calculate checksum of nmea sentenceString nmea0183_checksum(String nmea_data) { int crc =0; String chSumString =""; di aku; // ignore the first $ sign, checksum in sentence for (i =1; i <(nmea_data.length()-5); i ++) { // remove the - 5 if no "*" + cksum + cr + lf are present crc ^=nmea_data[i]; } chSumString =String(crc,HEX); if (chSumString.length()==1) { chSumString="0"+chSumString.substring(0,1); } chSumString.toUpperCase(); return chSumString;}//check RC which button is pressedint checkRfRC() { int n =0; int res =0; n =analogRead(rfRemoteControlPin); if ((n>350) and (n<460)) { // button A res =RCleftbutton; } if ((n> 90) and (n<190)) { // button B res =RCrightbutton; } if ((n>540) and (n<640)) { // button C res =RCleft10button; } if ((n>225) and (n<325)) { // button D res =RCright10button; } return res; }//check HW which button is pressedint checkHWButtons() { int n =0; int res =0; n =analogRead(ButtonsPin); //Serial.println(n); if ((n>465) and (n<565)) { // button left res =HWleftbutton; } if ((n>290) and (n<390)) { // button right res =HWrightbutton; } if ((n>130) and (n<220)) { // button pause res =HWpausebutton; } if ((n>625) and (n<725)) { // button setup res =HWsetupbutton; } if ((n>975) and (n<1075)) { // button left-10 res =HWleft10button; } if ((n>800) and (n<900)) { // button right+10 res =HWright10button; } return res; }void gosetup() { // setup button if (isSetup ==false) { SetupParameter =1; isSetup =true; } else { if (SetupParameter <5) { SetupParameter ++; } else { if (prev_StearingInterval !=StearingInterval || prev_StearingMinToMove !=StearingMinToMove || prev_StearingMaxMove !=StearingMaxMove || prev_StearingCoeffMove !=StearingCoeffMove) { lcd.clear(); lcd.setCursor(0,0); lcd.print("updating... "); penundaan (1000); goupdateEEPROM(); if (EEerr) { lcd.print("E="); lcd.print(EEerr); penundaan (1000); } prev_StearingInterval =StearingInterval; prev_StearingMinToMove =StearingMinToMove; prev_StearingMaxMove =StearingMaxMove; prev_StearingCoeffMove =StearingCoeffMove; } isSetup =false; } } NewTone (speakerPin,2000); penundaan (200); noNewTone(); RefreshDisplay();}void goupdateEEPROM() { EEaddress =0; //id1 EEdata[0] =EEid1; EEbytedata =EEid1; writeEEPROM (EEdisk, EEaddress, EEbytedata); EEaddress =1; //id2 EEdata[1] =EEid2; EEbytedata =EEid2; writeEEPROM (EEdisk, EEaddress, EEbytedata); memcpy(bStearingInterval, &StearingInterval, sizeof(int)); memcpy(bStearingMinToMove, &StearingMinToMove, sizeof(int)); memcpy(bStearingMaxMove, &StearingMaxMove, sizeof(int)); memcpy(bStearingCoeffMove, &StearingCoeffMove, sizeof(float)); memcpy(EEdata+2,bStearingInterval,sizeof(int)); memcpy(EEdata+4,bStearingMinToMove,sizeof(int)); memcpy(EEdata+6,bStearingMaxMove,sizeof(int)); memcpy(EEdata+8,bStearingCoeffMove,sizeof(float)); for (s =2; s  360) { nmf_routetofollow =1; } d=nmf_routetofollow; nmf_routetofollow=d; nm_routetofollow=d; NewTone (speakerPin,800); penundaan (200); noNewTone(); } else { NewTone (speakerPin,1000); penundaan (50); noNewTone(); } RefreshDisplay();}void goright10() { // right 10x button/RC if (ispause ==false) { for (s =1; s <11; s ++) { nmf_routetofollow ++; if (nmf_routetofollow> 360) { nmf_routetofollow =1; } } d=nmf_routetofollow; nmf_routetofollow=d; nm_routetofollow=d; NewTone (speakerPin,800); penundaan (200); noNewTone(); } else { NewTone (speakerPin,1000); penundaan (50); noNewTone(); } RefreshDisplay();}void gopause() { // pause button/RC if (ispause ==true) { ispause=false; digitalWrite(ledpausePin, HIGH); NewTone (speakerPin,50); penundaan (200); NewTone (speakerPin,200); delay(800); noNewTone(); } else { ispause=true; digitalWrite(ledpausePin, LOW); NewTone (speakerPin,200); penundaan (200); NewTone (speakerPin,50); delay(800); noNewTone(); } RefreshDisplay();}// reading eeprombyte readEEPROM (int diskaddress, unsigned int memaddress) { byte rdata =0x00; Wire.beginTransmission (diskaddress); Wire.write (memaddress); if (Wire.endTransmission () ==0) { Wire.requestFrom (diskaddress,1); if (Wire.available()) { rdata =Wire.read(); } else { EEerr =1; //"READ no data available" } } else { EEerr =2; //"READ eTX error" } Wire.endTransmission (true); return rdata;}// writing eepromvoid writeEEPROM (int diskaddress, unsigned int memaddress, byte bytedata) { Wire.beginTransmission (diskaddress); Wire.write (memaddress); Wire.write (bytedata); if (Wire.endTransmission () !=0) { EEerr =3; //"WRITING eTX error" } Wire.endTransmission (true); penundaan (5); }// round zero decimalfloat roundZeroDec(float f) { float y, d; y =f*1; d =y - (int)y; y =(float)(int)(f*1)/1; if (d>=0.5) { y +=1; } else { if (d <-0.5) { y -=1; } } return y;}// round one decimalfloat roundOneDec(float f) { float y, d; y =f*10; d =y - (int)y; y =(float)(int)(f*10)/10; if (d>=0.5) { y +=0.1; } else { if (d <-0.5) { y -=0.1; } } return y;}// round two decimalfloat roundTwoDec(float f) { float y, d; y =f*100; d =y - (int)y; y =(float)(int)(f*100)/100; if (d>=0.5) { y +=0.01; } else { if (d <-0.5) { y -=0.01; } } return y;}

WatchDog sketch (for Nano)Arduino

/* * This sketch is a Watchdog to keep CLIENT under control, on Arduino NANO 3.0 by Marco Zonca * CLIENT must feed Whatcdog sooner then feedingInterval otherwise will be forced to restart * */const int feedingPin =14;const int ledPin =15;const int restartPin =16;const int buzzerPin =17;const long ledInterval =1000;const long feedingInterval =2500;const long timeForClientStart =16000;int ledState =LOW;int previousFeedingState =LOW;int feedingState =LOW;unsigned long previousLedMillis =0;unsigned long previousFeedingMillis =0;void setup() { digitalWrite(restartPin, HIGH); // LOW will force CLIENT to restart pinMode(ledPin, OUTPUT); pinMode(buzzerPin, OUTPUT); pinMode(restartPin, OUTPUT); pinMode(feedingPin, INPUT); delay(timeForClientStart); // let time to CLIENT to start...}void loop() { unsigned long currentMillis =millis(); // BLINK LED ------------------- if (currentMillis - previousLedMillis>=ledInterval) { previousLedMillis =currentMillis; if (ledState ==LOW) { ledState =HIGH; } else { ledState =LOW; } digitalWrite(ledPin, ledState); } // CHECK THE FEEDING ------------------- feedingState =digitalRead(feedingPin); // CLIENT must set pin HIGH -> LOW frequently to prove it's alive if (feedingState ==HIGH) { if (previousFeedingState ==LOW) { previousFeedingMillis =currentMillis; } previousFeedingState =HIGH; } else { previousFeedingState =LOW; } if (currentMillis - previousFeedingMillis> feedingInterval) { // CLIENT is sleeping ledState =HIGH; digitalWrite(ledPin, ledState); tone(buzzerPin,1500); penundaan (500); digitalWrite(restartPin, LOW); //restart CLIENT tone(buzzerPin,1500); penundaan (500); digitalWrite(restartPin, HIGH); tone(buzzerPin,1500); delay(timeForClientStart); // let CLIENT time to restart... noTone(buzzerPin); currentMillis =millis(); previousFeedingState =LOW; previousFeedingMillis =currentMillis; previousLedMillis =currentMillis; }}

Suku cadang dan penutup khusus

23lm-stepper-plate-v2_PlvJaff9Hl.step 23lm-stepper-pulley-56_UhsbaWbiBt.step

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