Tracker ver 3.0 Manual

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<body>

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5

Tracker ver 3.0 Manual.

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Author: Jim Frye

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Date: October 20, 2009

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<td width="50%" align="center">Table of Contents</td>

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<td width="50%" align="center">Links</td>

</tr>

<tr>

<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#trackerlay">Tracker</a>

17

18

<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#trackerfeat">Mounting the Tracker Sensor</a></li>

19

<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#testing">Testing the Tracker Sensor</a></li>

20

</ul>

21

</li>

22

<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#usingtrack">Using the Tracker</a>

23

24

<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#theory">The Theory</a></li>

25

<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#course">Making a Course</a></li>

26

<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#moreinfo">Additional Information</a></li>

27

</ul>

28

</li>

29

<!--<li><a href="#trouble">Troubleshooting</a>

30

31

<li class="toc"><a href="#gentroub">General Troubleshooting</a></li>

32

</ul>

33

</li>-->

34

<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#program">Programming Examples</a>

35

36

<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#bs2_01">Basic Stamp 2: Simple</a></li>

37

<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#bs2_02">Basic Stamp 2: Advanced</a></li>

</ul>

</li>

</ul>

</td>

<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/WebHome/tra01v7.pdf" target="_blank">Tracker Schematic (pdf)</a></li>

</ul>

</td>

</tr>

</tbody></table>

<a name="trackerlay">Tracker.</a>

51

52

<a name="trackerfeat">Mounting the Tracker Sensor</a>

53

The sensor can be mounted the the underside of a robot chassis toward the front of the vehicle. Position the sensor close to the floor with the

54

red LEDs facing up. The sensor will operate in an extremely wide range from about 0.5" from the floor to almost touching the surface. The

55

sensor appears to be immune to normal ambient lighting, although it may be necessary to shield the sensor from extremes.

56

57

58

<a name="testing">Testing the Tracker Sensor</a>

59

The sensor can easily be tested by following this simple step-by-step procedure.

60

<ol>

61

<li>Prepare a test bed using a sheet of white paper and a short section of black electrical tape.</li>

62

<li>Apply a regulated 5vdc to the red wire and ground to the black wire.</li>

63

<li>Hold the sensor about 0.25" above the white paper and notice the red LEDs turn on. If not, quickly remove power and double-check your

64

wiring.</li>

65

<li>Move the sensor over the electrical tape positioning each of the three IR sensor pairs over the tape one at a time. You will notice the LED

66

that's positioned over the tape go out and come back on as it's moved back to the white section of the paper.</li>

67

<li>You can connect the outputs to a microcontroller to test them, or just connect the outputs to a volt meter. Each output will go high when

68

positioned over white, and low when positioned over black.</li>

69

</ol>

70

71

<a name="usingtrack">Using the Tracker</a>

72

<a name="theory">The Theory</a>

73

The theory behind line tracking is actually pretty simple. An infrared LED is paired with an infrared detector. The LED is illuminated and

74

directed to the surface where the line is to be detected. The detector is biased on and fed into a comparator to clean up the signal.

75

In order to keep the electronics as simple as possible a 74HC14 Schmidt-trigger hex inverter will replace the comparator circuitry. The very high

76

input impedance, built in hysteresis and low parts count makes the CMOS version an excellent alternative.

77

<a name="course">Making a Course</a>

78

Here is a list of the verified materials that can be used to make a line tracking course. I am sure with experimentation, other materials can be

79

used with equally successful results.

80

<ul>

81

<li>Black electrical tape on white or light colored floor tile</li>

82

<li>Black electrical tape on white 3mm Sintra PVC. A 4x8' sheet can be cut into 32 12" square panels. Each panel can have a straight or

83

turning pattern, so the course can be changed. A radius of 6" can easily be made. This combination makes a great, durable, portable, and

84

re-configurable line tracking course.</li>

85

<li>Black Sharpie marker on end rolls of newsprint or butcher paper. With this material the course can be made as long as needed. Use this for

86

line tracking dragsters.</li>

87

</ul>

88

<a name="moreinfo">Additional Information</a>

89

The programming is very simple. The outputs go low when the LED/IR Detector pair is positioned over a black surface, and high when positioned

90

over a white surface. Check for detection of a line. If the center surface sees the line, go forward. If the left sensor sees the line, turn left.

91

If the right sensor sees the line, turn right. You will want the robot to remember which sensor saw the line last and continue to make corrections

92

in order to negotiate turns where the line will be out of the sensors' view for a limited amount of time. I have included some sample files for the

93

Basic Stamp. There is even some code that can handle a search for the line if it loses it completely. Experiment with the code and have fun.

94

95

<!--<hr width="95%" color="#808080">

96

<a name="trouble">Troubleshooting</a>

97

<a name="gentroub">General Troubleshooting</a>

98

[Copied from Bot Board page:] The green power (PWR) LED should glow if the regulator is getting the proper power. You must make sure to connect

99

the battery or wall pack with the proper polarity. This means the red wire is positive (+) and the black wire is ground (-). If

100

you connect the battery or wall pack with the polarity reversed, the regulator and the microcontroller can be instantaneously and permanently

101

damaged! Check your wiring carefully before applying power.

102

The maximum voltage for VL is 9.6vdc. If you use a higher voltage the regulator may overheat and you could get burned!

103

Orient the microcontroller with its Pin 1 oriented toward the arrow by the Reset button. If the microcontroller is installed backwards it will

104

not be damaged by the Bot Board, but it will not be recognized by the IDE.-->

105

106

<a name="program">Programming Examples</a>

107

<a name="bs2_01">Basic Stamp 2: Simple Line Following</a>

108

109

'program: ltrack1.bas

110

'This program does simple line following.

111

symbol error_level = b0

112

symbol left_sensor = pin5

113

symbol center_sensor = pin6

114

symbol right_sensor = pin7

115

low 0 'Left Servo

116

low 1 'Right Servo

117

start: 'Line seen, correct direction

118

if left_sensor = 0 then a

119

if right_sensor = 0 then b

120

if center_sensor = 0 then c

121

'Line not seen, do last action

122

if error_level = 1 then a

123

if error_level = 2 then b

124

if error_level = 3 then c

125

goto start

126

a: error_level = 1

127

pulsout 0,150 'Left wheel stop

128

pulsout 1,200 'Right wheel forward

pause 10

goto start

b: error_level = 2

pulsout 0,200 'Left wheel forward

133

pulsout 1,150 'Right wheel stop

pause 10

goto start

c: error_level = 3

pulsout 0,200 'Left wheel forward

138

pulsout 1,200 'Right wheel forward

pause 10

goto start

</div>

<a name="bs2_02">Basic Stamp 2: Advanced Line Following</a>

143

144

'program: ltrack2.bas

145

'This program does advanced line

146

'following. If it loses the line it will

'do a search for it.

symbol x = b0

symbol y = b1

symbol correct = b2

symbol lost = b3

symbol left = pin5

symbol center = pin6

symbol right = pin7

low 0 'Left Servo

low 1 'Right Servo

lost = 1

correct = 1

'Line seen, correct position

160

start:

161

if right = 0 then on_trac_right

162

start1:

163

if left = 0 then on_trac_left

164

start2:

165

if center = 0 then on_trac_center

166

'Line not seen, do last action

167

lost = lost + 1

168

if lost = 40 then find_line

169

if correct = 1 then off_trac_center

170

if correct = 2 then off_trac_left

171

if correct = 3 then off_trac_right

goto start

on_trac_center:

correct = 1

lost = 0

gosub forward

goto start

on_trac_left:

correct = 2

lost = 0

gosub left_turn

goto start1

on_trac_right:

correct = 3

lost = 0

gosub right_turn

goto start2

off_trac_center:

correct = 1

gosub forward

goto start

off_trac_left:

correct = 2

gosub left_turn

goto start

off_trac_right:

correct = 3

gosub right_turn

goto start

find_line:

for x=1 to 50

gosub look

gosub left_spin

next

for x=1 to 100

gosub look

gosub right_spin

next

for x=1 to 50

gosub look

gosub left_spin

next

for x=1 to 50

gosub look

gosub forward

next

goto find_line

look:

if right = 0 then start

220

if left = 0 then start

221

if center = 0 then start

222

return

223

forward:

224

pulsout 0,200 'Left wheel forward

225

pulsout 1,200 'Right wheel forward

pause 10

return

left_turn:

pulsout 0,150 'Left wheel stop

230

pulsout 1,200 'Right wheel forward

pause 10

return

right_turn:

pulsout 0,200 'Left wheel forward

235

pulsout 1,150 'Right wheel stop

pause 10

return

left_spin:

pulsout 0,100 'Left wheel reverse

240

pulsout 1,200 'Right wheel forward

pause 10

return

right_spin:

pulsout 0,200 'Left wheel forward

245

pulsout 1,100 'Right wheel reverse

pause 10

Return

</div>

</div>

</body>

Wiki source code of Tracker ver 3.0 Manual

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1	{{html wiki="false" clean="true"}}
2	<body>
3
4	<div id="container">
5	<p align="center"><span class="headlg">Tracker ver 3.0 Manual.</span>
6	</p><p align="center">Author: Jim Frye<br>
7	Date: <!--webbot bot="Timestamp" s-type="EDITED" s-format="%B %d, %Y" startspan -->October 20, 2009<!--webbot bot="Timestamp" i-CheckSum="31103" endspan --></p>
8	<table border="0" width="100%">
9	<tbody><tr>
10	<td width="50%" align="center"><span class="headmd">Table of Contents</span></td>
11	<td width="50%" align="center"><span class="headmd">Links</span></td>
12	</tr>
13	<tr>
14	<td width="50%">
15	<ul class="toc">
16	<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#trackerlay">Tracker</a>
17	<ul class="toc">
18	<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#trackerfeat">Mounting the Tracker Sensor</a></li>
19	<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#testing">Testing the Tracker Sensor</a></li>
20	</ul>
21	</li>
22	<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#usingtrack">Using the Tracker</a>
23	<ul class="toc">
24	<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#theory">The Theory</a></li>
25	<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#course">Making a Course</a></li>
26	<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#moreinfo">Additional Information</a></li>
27	</ul>
28	</li>
29	<!--<li><a href="#trouble">Troubleshooting</a>
30	<ul class="toc">
31	<li class="toc"><a href="#gentroub">General Troubleshooting</a></li>
32	</ul>
33	</li>-->
34	<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#program">Programming Examples</a>
35	<ul class="toc">
36	<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#bs2_01">Basic Stamp 2: Simple</a></li>
37	<li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/#bs2_02">Basic Stamp 2: Advanced</a></li>
38	</ul>
39	</li>
40	</ul>
41	</td>
42	<td width="50%" valign="top">
43	<ul class="toc">
44	<li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/WebHome/tra01v7.pdf" target="_blank">Tracker Schematic (pdf)</a></li>
45	</ul>
46	</td>
47	</tr>
48	</tbody></table>
49	<hr width="95%" color="#808080">
50	<p align="center"><span class="headmd"><a name="trackerlay">Tracker.</a></span></p>
51	<p><img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/WebHome/trackm01.gif" width="477" height="800"></p>
52	<p><span class="headsm"><a name="trackerfeat">Mounting the Tracker Sensor</a></span></p>
53	<p>The sensor can be mounted the the underside of a robot chassis toward the front of the vehicle. Position the sensor close to the floor with the
54	red LEDs facing up. The sensor will operate in an extremely wide range from about 0.5" from the floor to almost touching the surface. The
55	sensor appears to be immune to normal ambient lighting, although it may be necessary to shield the sensor from extremes.</p>
56	<p><img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/WebHome/trackm02.jpg" width="400" height="300"></p>
57	<hr width="95%" color="#808080">
58	<p><span class="headsm"><a name="testing">Testing the Tracker Sensor</a></span></p>
59	The sensor can easily be tested by following this simple step-by-step procedure.
60	<ol>
61	<li>Prepare a test bed using a sheet of white paper and a short section of black electrical tape.</li>
62	<li>Apply a regulated 5vdc to the red wire and ground to the black wire.</li>
63	<li>Hold the sensor about 0.25" above the white paper and notice the red LEDs turn on. If not, quickly remove power and double-check your
64	wiring.</li>
65	<li>Move the sensor over the electrical tape positioning each of the three IR sensor pairs over the tape one at a time. You will notice the LED
66	that's positioned over the tape go out and come back on as it's moved back to the white section of the paper.</li>
67	<li>You can connect the outputs to a microcontroller to test them, or just connect the outputs to a volt meter. Each output will go high when
68	positioned over white, and low when positioned over black.</li>
69	</ol>
70	<hr width="95%" color="#808080">
71	<p align="center"><span class="headmd"><a name="usingtrack">Using the Tracker</a></span></p>
72	<p><span class="headsm"><a name="theory">The Theory</a></span></p>
73	<p>The theory behind line tracking is actually pretty simple. An infrared LED is paired with an infrared detector. The LED is illuminated and
74	directed to the surface where the line is to be detected. The detector is biased on and fed into a comparator to clean up the signal.</p>
75	<p>In order to keep the electronics as simple as possible a 74HC14 Schmidt-trigger hex inverter will replace the comparator circuitry. The very high
76	input impedance, built in hysteresis and low parts count makes the CMOS version an excellent alternative.</p>
77	<p><span class="headsm"><a name="course">Making a Course</a></span></p>
78	<p>Here is a list of the verified materials that can be used to make a line tracking course. I am sure with experimentation, other materials can be
79	used with equally successful results.</p>
80	<ul>
81	<li>Black electrical tape on white or light colored floor tile</li>
82	<li>Black electrical tape on white 3mm Sintra PVC. A 4x8' sheet can be cut into 32 12" square panels. Each panel can have a straight or
83	turning pattern, so the course can be changed. A radius of 6" can easily be made. This combination makes a great, durable, portable, and
84	re-configurable line tracking course.</li>
85	<li>Black Sharpie marker on end rolls of newsprint or butcher paper. With this material the course can be made as long as needed. Use this for
86	line tracking dragsters.</li>
87	</ul>
88	<p><span class="headsm"><a name="moreinfo">Additional Information</a></span></p>
89	<p>The programming is very simple. The outputs go low when the LED/IR Detector pair is positioned over a black surface, and high when positioned
90	over a white surface. Check for detection of a line. If the center surface sees the line, go forward. If the left sensor sees the line, turn left.
91	If the right sensor sees the line, turn right. You will want the robot to remember which sensor saw the line last and continue to make corrections
92	in order to negotiate turns where the line will be out of the sensors' view for a limited amount of time. I have included some sample files for the
93	Basic Stamp. There is even some code that can handle a search for the line if it loses it completely. Experiment with the code and have fun.</p>
94	<p><img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-sensors/tracker-v3.0/WebHome/trackm03.jpg" width="400" height="300"></p>
95	<!--<hr width="95%" color="#808080">
96	<p align="center"><span class="headmd"><a name="trouble">Troubleshooting</a></span></p>
97	<p><span class="headsm"><a name="gentroub">General Troubleshooting</a></span></p>
98	<p>[Copied from Bot Board page:] The green power (PWR) LED should glow if the regulator is getting the proper power. You must make sure to connect
99	the battery or wall pack with the proper polarity. This means the red wire is positive (+) and the black wire is ground (-). <font color="#FF0000">If
100	you connect the battery or wall pack with the polarity reversed, the regulator and the microcontroller can be instantaneously and permanently
101	damaged!</font> Check your wiring carefully before applying power.</p>
102	<p>The maximum voltage for VL is 9.6vdc. If you use a higher voltage the regulator may overheat and you could get burned!</p>
103	<p>Orient the microcontroller with its Pin 1 oriented toward the arrow by the Reset button. If the microcontroller is installed backwards it will
104	not be damaged by the Bot Board, but it will not be recognized by the IDE.</p>-->
105	<hr width="95%" color="#808080">
106	<p align="center"><span class="headmd"><a name="program">Programming Examples</a></span></p>
107	<p><span class="headsm"><a name="bs2_01">Basic Stamp 2: Simple Line Following</a></span></p>
108	<div class="code">
109	<p>'program: ltrack1.bas<br>
110	'This program does simple line following.
111	</p><p>symbol error_level = b0<br>
112	symbol left_sensor = pin5<br>
113	symbol center_sensor = pin6<br>
114	symbol right_sensor = pin7<br>
115	low 0 'Left Servo<br>
116	low 1 'Right Servo</p>
117	<p>start: 'Line seen, correct direction<br>
118	if left_sensor = 0 then a<br>
119	if right_sensor = 0 then b<br>
120	if center_sensor = 0 then c<br>
121	'Line not seen, do last action<br>
122	if error_level = 1 then a<br>
123	if error_level = 2 then b<br>
124	if error_level = 3 then c<br>
125	goto start</p>
126	<p>a: error_level = 1<br>
127	pulsout 0,150 'Left wheel stop<br>
128	pulsout 1,200 'Right wheel forward<br>
129	pause 10<br>
130	goto start</p>
131	<p>b: error_level = 2<br>
132	pulsout 0,200 'Left wheel forward<br>
133	pulsout 1,150 'Right wheel stop<br>
134	pause 10<br>
135	goto start</p>
136	<p>c: error_level = 3<br>
137	pulsout 0,200 'Left wheel forward<br>
138	pulsout 1,200 'Right wheel forward<br>
139	pause 10<br>
140	goto start</p>
141	</div>
142	<p><span class="headsm"><a name="bs2_02">Basic Stamp 2: Advanced Line Following</a></span></p>
143	<div class="code">
144	<p>'program: ltrack2.bas<br>
145	'This program does advanced line<br>
146	'following. If it loses the line it will<br>
147	'do a search for it.</p>
148	<p>symbol x = b0<br>
149	symbol y = b1<br>
150	symbol correct = b2<br>
151	symbol lost = b3<br>
152	symbol left = pin5<br>
153	symbol center = pin6<br>
154	symbol right = pin7<br>
155	low 0 'Left Servo<br>
156	low 1 'Right Servo<br>
157	lost = 1<br>
158	correct = 1</p>
159	<p>'Line seen, correct position<br>
160	start:<br>
161	if right = 0 then on_trac_right<br>
162	start1:<br>
163	if left = 0 then on_trac_left<br>
164	start2:<br>
165	if center = 0 then on_trac_center</p>
166	<p>'Line not seen, do last action<br>
167	lost = lost + 1<br>
168	if lost = 40 then find_line<br>
169	if correct = 1 then off_trac_center<br>
170	if correct = 2 then off_trac_left<br>
171	if correct = 3 then off_trac_right<br>
172	goto start</p>
173	<p>on_trac_center:<br>
174	correct = 1<br>
175	lost = 0<br>
176	gosub forward<br>
177	goto start<br>
178	on_trac_left:<br>
179	correct = 2<br>
180	lost = 0<br>
181	gosub left_turn<br>
182	goto start1<br>
183	on_trac_right:<br>
184	correct = 3<br>
185	lost = 0<br>
186	gosub right_turn<br>
187	goto start2</p>
188	<p>off_trac_center:<br>
189	correct = 1<br>
190	gosub forward<br>
191	goto start<br>
192	off_trac_left:<br>
193	correct = 2<br>
194	gosub left_turn<br>
195	goto start<br>
196	off_trac_right:<br>
197	correct = 3<br>
198	gosub right_turn<br>
199	goto start</p>
200	<p>find_line:<br>
201	for x=1 to 50<br>
202	gosub look<br>
203	gosub left_spin<br>
204	next<br>
205	for x=1 to 100<br>
206	gosub look<br>
207	gosub right_spin<br>
208	next<br>
209	for x=1 to 50<br>
210	gosub look<br>
211	gosub left_spin<br>
212	next<br>
213	for x=1 to 50<br>
214	gosub look<br>
215	gosub forward<br>
216	next<br>
217	goto find_line</p>
218	<p>look:<br>
219	if right = 0 then start<br>
220	if left = 0 then start<br>
221	if center = 0 then start<br>
222	return</p>
223	<p>forward:<br>
224	pulsout 0,200 'Left wheel forward<br>
225	pulsout 1,200 'Right wheel forward<br>
226	pause 10<br>
227	return</p>
228	<p>left_turn:<br>
229	pulsout 0,150 'Left wheel stop<br>
230	pulsout 1,200 'Right wheel forward<br>
231	pause 10<br>
232	return</p>
233	<p>right_turn:<br>
234	pulsout 0,200 'Left wheel forward<br>
235	pulsout 1,150 'Right wheel stop<br>
236	pause 10<br>
237	return</p>
238	<p>left_spin:<br>
239	pulsout 0,100 'Left wheel reverse<br>
240	pulsout 1,200 'Right wheel forward<br>
241	pause 10<br>
242	return</p>
243	<p>right_spin:<br>
244	pulsout 0,200 'Left wheel forward<br>
245	pulsout 1,100 'Right wheel reverse<br>
246	pause 10<br>
247	Return</p>
248	</div>
249	</div>
250	</body>
251	{{/html}}