论坛首页 › 2025 DigiKey AI应用创意挑战赛 › 《DigiKey AI应用创意挑战赛项目》-基于树莓派5 的4舵轮智能移动机器人

eefocus_4176750 发表于 2026-1-14 18:07:21

《DigiKey AI应用创意挑战赛项目》-基于树莓派5 的4舵轮智能移动机器人

本帖最后由 eefocus_4176750 于 2026-1-23 10:54 编辑

一.项目名称
    基于树莓派5的4舵轮移动机器人
二.项目背景

三.代码设计框架


四.机械设计图纸
初始宇树关节电机4舵轮设计图纸





宇树舵轮初步安装示意图

因为宇树电机有个关节运行旋转迟钝 ，方案改成8个42步进电机
上面4个走位置模式
下面4个走速度模式
修改后机械图纸如下

五.GD32设计原理图
因为宇树GO-M8010是4M的通讯速率，一条线最多拖3个关节电机，我觉的有点麻烦不如一个口一路485，所以设计4口高速485的开发板
1.主板引脚分配


2.高速485

4.PCB板

5.原理图示意


宇树关节电机测试代码

#include <unistd.h>
#include "serialPort/SerialPort.h"
#include "unitreeMotor/unitreeMotor.h"


int main() {

SerialPortserial("/dev/ttyUSB0");
MotorCmd    cmd;
MotorData   data;

while(true)
{
      cmd.motorType = MotorType::GO_M8010_6;
      data.motorType = MotorType::GO_M8010_6;
      cmd.mode = queryMotorMode(MotorType::GO_M8010_6,MotorMode::FOC);
      cmd.id   = 0;

      cmd.q    = 60*queryGearRatio(MotorType::GO_M8010_6);
      cmd.dq   = 0.01*queryGearRatio(MotorType::GO_M8010_6);
      cmd.kp   = 0.01;
      cmd.kd   = 0.01;
      cmd.tau= 0.0;
      serial.sendRecv(&cmd,&data);

      std::cout <<std::endl;
      std::cout <<"motor.q: "    << data.q    <<std::endl;
      std::cout <<"motor.temp: "   << data.temp   <<std::endl;
      std::cout <<"motor.W: "      << data.dq      <<std::endl;
      std::cout <<"motor.merror: " << data.merror <<std::endl;
      std::cout <<std::endl;

            usleep(200);
}

}
张大头步进电机树莓派测试代码
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <sys/select.h>
#include <pthread.h>
#include <signal.h>
#include "Emmv5.h"


#define SERIAL_PORT "/dev/ttyUSB0"
#define BAUD_RATE B115200
#define BUFFER_SIZE 1024
#define TIMEOUT_SEC 1

// 全局变量
int serial_fd = -1;
volatile int running = 1;

// 串口配置结构体
struct termios tty_config;

// 信号处理函数
void signal_handler(int sig) {
    printf("\n接收到信号 %d，正在关闭串口...\n", sig);
    running = 0;
    if (serial_fd != -1) {
      close(serial_fd);
    }
    exit(0);
}

/**
* 配置串口参数
*/
int configure_serial_port(int fd) {
    struct termios tty;
   
    // 获取当前串口配置
    if(tcgetattr(fd, &tty) != 0) {
      perror("tcgetattr error");
      return -1;
    }

    // 设置波特率
    cfsetispeed(&tty, BAUD_RATE);
    cfsetospeed(&tty, BAUD_RATE);

    // 配置数据位、停止位、校验位
    tty.c_cflag &= ~PARENB;// 无奇偶校验
    tty.c_cflag &= ~CSTOPB;// 1个停止位
    tty.c_cflag &= ~CSIZE;   // 清除数据位掩码
    tty.c_cflag |= CS8;      // 8个数据位
    tty.c_cflag &= ~CRTSCTS; // 无硬件流控制
    tty.c_cflag |= CREAD | CLOCAL; // 使能接收器，本地连接

    // 配置读取选项
    tty.c_lflag &= ~ICANON;// 非规范模式
    tty.c_lflag &= ~ECHO;    // 不显示字符
    tty.c_lflag &= ~ECHOE;   // 不显示退格
    tty.c_lflag &= ~ISIG;    // 不处理信号

    // 配置阻塞读取
    tty.c_iflag &= ~(IXON | IXOFF | IXANY); // 关闭软件流控制
    tty.c_oflag &= ~OPOST; // 关闭输出处理

    // 设置最小字符数和超时时间
    tty.c_cc = 0;// 非阻塞读取
    tty.c_cc = 10; // 1秒超时

    // 应用配置
    if (tcsetattr(fd, TCSANOW, &tty) != 0) {
      perror("tcsetattr error");
      return -1;
    }

    return 0;
}

/**
* 打开串口连接
*/
int open_serial_port(const char* port_name) {
    int fd = open(port_name, O_RDWR | O_NOCTTY | O_SYNC);
    if (fd < 0) {
      printf("无法打开串口 %s: %s\n", port_name, strerror(errno));
      return -1;
    }

    if (configure_serial_port(fd) < 0) {
      printf("配置串口失败\n");
      close(fd);
      return -1;
    }

    printf("成功连接到串口 %s\n", port_name);
    return fd;
}

/**
* 关闭串口连接
*/
void close_serial_port() {
    if (serial_fd != -1) {
      close(serial_fd);
      serial_fd = -1;
      printf("串口已关闭\n");
    }
}

/**
* 发送数据到串口
*/
int send_data(const char* data, size_t length) {
    if (serial_fd == -1) {
      printf("串口未连接\n");
      return -1;
    }

    ssize_t bytes_written = write(serial_fd, data, length);
    if (bytes_written < 0) {
      perror("write failed");
      return -1;
    }

    printf("发送数据: %.*s (%zd 字节)\n", (int)length, data, bytes_written);
    return bytes_written;
}

/**
* 从串口接收数据
*/
int receive_data(char* buffer, size_t buffer_size) {
    if (serial_fd == -1) {
      printf("串口未连接\n");
      return -1;
    }

    ssize_t bytes_read = read(serial_fd, buffer, buffer_size - 1);
    if (bytes_read < 0) {
      perror("read failed");
      return -1;
    }

    if (bytes_read > 0) {
      buffer = '\0'; // 添加字符串结束符
      printf("[接收] %s", buffer);
      return bytes_read;
    }

    return 0; // 没有数据可读
}

/**
* 接收线程函数 - 用于连续接收数据
*/
void* receive_thread_func(void* arg) {
    char buffer;
    fd_set read_fds;
    struct timeval timeout;
   
    while (running) {
      FD_ZERO(&read_fds);
      FD_SET(serial_fd, &read_fds);
      
      // 设置超时为1秒
      timeout.tv_sec = 1;
      timeout.tv_usec = 0;
      
      int activity = select(serial_fd + 1, &read_fds, NULL, NULL, &timeout);
      
      if (activity < 0) {
            if (errno != EINTR) {
                perror("select error");
            }
            continue;
      }
      
      if (FD_ISSET(serial_fd, &read_fds)) {
            ssize_t bytes_read = read(serial_fd, buffer, sizeof(buffer) - 1);
            if (bytes_read > 0) {
                buffer = '\0';
                printf("\r[接收] %s\n> ", buffer);
                fflush(stdout);
            } else if (bytes_read < 0) {
                perror("read error");
                break;
            }
      }
    }
   
    return NULL;
}

/**
* 显示帮助信息
*/
void show_help() {
    printf("\nTTY USB串口通信程序\n");
    printf("=====================\n");
    printf("命令:\n");
    printf("help   - 显示此帮助信息\n");
    printf("send   - 发送数据\n");
    printf("recv   - 接收数据\n");
    printf("continuous - 进入连续接收模式\n");
    printf("quit   - 退出程序\n\n");
}

/**
* @brief    将当前位置清零
* @param    addr：电机地址
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Reset_CurPos_To_Zero(uint8_t addr)
{
uint8_t cmd = {0};

// 装载命令
cmd =addr;                     // 地址
cmd =0x0A;                     // 功能码
cmd =0x6D;                     // 辅助码
cmd =0x6B;                     // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 4);
}

/**
* @brief    解除堵转保护
* @param    addr：电机地址
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Reset_Clog_Pro(uint8_t addr)
{
uint8_t cmd = {0};

// 装载命令
cmd =addr;                     // 地址
cmd =0x0E;                     // 功能码
cmd =0x52;                     // 辅助码
cmd =0x6B;                     // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 4);
}

/**
* @brief    读取系统参数
* @param    addr：电机地址
* @param    s   ：系统参数类型
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Read_Sys_Params(uint8_t addr, SysParams_t s)
{
uint8_t i = 0;
uint8_t cmd = {0};

// 装载命令
cmd = addr; ++i;                   // 地址

switch(s)                           // 功能码
{
    case S_VER: cmd = 0x1F; ++i; break;
    case S_RL   : cmd = 0x20; ++i; break;
    case S_PID: cmd = 0x21; ++i; break;
    case S_VBUS : cmd = 0x24; ++i; break;
    case S_CPHA : cmd = 0x27; ++i; break;
    case S_ENCL : cmd = 0x31; ++i; break;
    case S_TPOS : cmd = 0x33; ++i; break;
    case S_VEL: cmd = 0x35; ++i; break;
    case S_CPOS : cmd = 0x36; ++i; break;
    case S_PERR : cmd = 0x37; ++i; break;
    case S_FLAG : cmd = 0x3A; ++i; break;
    case S_ORG: cmd = 0x3B; ++i; break;
    case S_Conf : cmd = 0x42; ++i; cmd = 0x6C; ++i; break;
    case S_State: cmd = 0x43; ++i; cmd = 0x7A; ++i; break;
    default: break;
}

cmd = 0x6B; ++i;                   // 校验字节

// 发送命令
send_data((uint8_t *)cmd, i);
}

/**
* @brief    修改开环/闭环控制模式
* @param    addr   ：电机地址
* @param    svF      ：是否存储标志，false为不存储，true为存储
* @param    ctrl_mode：控制模式（对应屏幕上的P_Pul菜单），0是关闭脉冲输入引脚，1是开环模式，2是闭环模式，3是让En端口复用为多圈限位开关输入引脚，Dir端口复用为到位输出高电平功能
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Modify_Ctrl_Mode(uint8_t addr, bool svF, uint8_t ctrl_mode)
{
uint8_t cmd = {0};

// 装载命令
cmd =addr;                     // 地址
cmd =0x46;                     // 功能码
cmd =0x69;                     // 辅助码
cmd =svF;                        // 是否存储标志，false为不存储，true为存储
cmd =ctrl_mode;                  // 控制模式（对应屏幕上的P_Pul菜单），0是关闭脉冲输入引脚，1是开环模式，2是闭环模式，3是让En端口复用为多圈限位开关输入引脚，Dir端口复用为到位输出高电平功能
cmd =0x6B;                     // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 6);
}

/**
* @brief    使能信号控制
* @param    addr：电机地址
* @param    state ：使能状态   ，true为使能电机，false为关闭电机
* @param    snF   ：多机同步标志 ，false为不启用，true为启用
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_En_Control(uint8_t addr, bool state, bool snF)
{
uint8_t cmd = {0};

// 装载命令
cmd =addr;                     // 地址
cmd =0xF3;                     // 功能码
cmd =0xAB;                     // 辅助码
cmd =(uint8_t)state;             // 使能状态
cmd =snF;                        // 多机同步运动标志
cmd =0x6B;                     // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 6);
}

/**
* @brief    速度模式
* @param    addr：电机地址
* @param    dir ：方向       ，0为CW，其余值为CCW
* @param    vel ：速度       ，范围0 - 5000RPM
* @param    acc ：加速度   ，范围0 - 255，注意：0是直接启动
* @param    snF ：多机同步标志，false为不启用，true为启用
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Vel_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc, bool snF)
{
uint8_t cmd = {0};

// 装载命令
cmd =addr;                     // 地址
cmd =0xF6;                     // 功能码
cmd =dir;                        // 方向
cmd =(uint8_t)(vel >> 8);      // 速度(RPM)高8位字节
cmd =(uint8_t)(vel >> 0);      // 速度(RPM)低8位字节
cmd =acc;                        // 加速度，注意：0是直接启动
cmd =snF;                        // 多机同步运动标志
cmd =0x6B;                     // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 8);
}

/**
* @brief    位置模式
* @param    addr：电机地址
* @param    dir ：方向      ，0为CW，其余值为CCW
* @param    vel ：速度(RPM)   ，范围0 - 5000RPM
* @param    acc ：加速度      ，范围0 - 255，注意：0是直接启动
* @param    clk ：脉冲数      ，范围0- (2^32 - 1)个
* @param    raF ：相位/绝对标志，false为相对运动，true为绝对值运动
* @param    snF ：多机同步标志 ，false为不启用，true为启用
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Pos_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc, uint32_t clk, bool raF, bool snF)
{
uint8_t cmd = {0};

// 装载命令
cmd=addr;                      // 地址
cmd=0xFD;                      // 功能码
cmd=dir;                     // 方向
cmd=(uint8_t)(vel >> 8);       // 速度(RPM)高8位字节
cmd=(uint8_t)(vel >> 0);       // 速度(RPM)低8位字节
cmd=acc;                     // 加速度，注意：0是直接启动
cmd=(uint8_t)(clk >> 24);      // 脉冲数(bit24 - bit31)
cmd=(uint8_t)(clk >> 16);      // 脉冲数(bit16 - bit23)
cmd=(uint8_t)(clk >> 8);       // 脉冲数(bit8- bit15)
cmd=(uint8_t)(clk >> 0);       // 脉冲数(bit0- bit7 )
cmd =raF;                     // 相位/绝对标志，false为相对运动，true为绝对值运动
cmd =snF;                     // 多机同步运动标志，false为不启用，true为启用
cmd =0x6B;                      // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 13);
}
/**
* @brief    角度模式
* @param    addr：电机地址
* @param    dir ：方向      ，0为CW，其余值为CCW
* @param    vel ：速度(RPM)   ，范围0 - 5000RPM
* @param    acc ：加速度      ，范围0 - 255，注意：0是直接启动
* @param    angle ：角度 , 0~360
* @param    raF ：相位/绝对标志，false为相对运动，true为绝对值运动
* @param    snF ：多机同步标志 ，false为不启用，true为启用
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_angle_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc, uint8_t angle ,bool raF, bool snF)
{
   
uint32_t clk= 0 ;

clk = angle*3200/360 ;

   Emm_V5_Pos_Control(addr,dir,vel, acc, clk,raF,snF);
}

/**
* @brief    立即停止（所有控制模式都通用）
* @param    addr：电机地址
* @param    snF   ：多机同步标志，false为不启用，true为启用
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Stop_Now(uint8_t addr, bool snF)
{
uint8_t cmd = {0};

// 装载命令
cmd =addr;                     // 地址
cmd =0xFE;                     // 功能码
cmd =0x98;                     // 辅助码
cmd =snF;                        // 多机同步运动标志
cmd =0x6B;                     // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 5);
}

/**
* @brief    多机同步运动
* @param    addr：电机地址
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Synchronous_motion(uint8_t addr)
{
uint8_t cmd = {0};

// 装载命令
cmd =addr;                     // 地址
cmd =0xFF;                     // 功能码
cmd =0x66;                     // 辅助码
cmd =0x6B;                     // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 4);
}

/**
* @brief    设置单圈回零的零点位置
* @param    addr：电机地址
* @param    svF   ：是否存储标志，false为不存储，true为存储
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Origin_Set_O(uint8_t addr, bool svF)
{
   uint8_t cmd = {0};

// 装载命令
cmd =addr;                     // 地址
cmd =0x93;                     // 功能码
cmd =0x88;                     // 辅助码
cmd =svF;                        // 是否存储标志，false为不存储，true为存储
cmd =0x6B;                     // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 5);
}

/**
* @brief    修改回零参数
* @param    addr：电机地址
* @param    svF   ：是否存储标志，false为不存储，true为存储
* @param    o_mode ：回零模式，0为单圈就近回零，1为单圈方向回零，2为多圈无限位碰撞回零，3为多圈有限位开关回零
* @param    o_dir：回零方向，0为CW，其余值为CCW
* @param    o_vel：回零速度，单位：RPM（转/分钟）
* @param    o_tm   ：回零超时时间，单位：毫秒
* @param    sl_vel ：无限位碰撞回零检测转速，单位：RPM（转/分钟）
* @param    sl_ma：无限位碰撞回零检测电流，单位：Ma（毫安）
* @param    sl_ms：无限位碰撞回零检测时间，单位：Ms（毫秒）
* @param    potF   ：上电自动触发回零，false为不使能，true为使能
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Origin_Modify_Params(uint8_t addr, bool svF, uint8_t o_mode, uint8_t o_dir, uint16_t o_vel, uint32_t o_tm, uint16_t sl_vel, uint16_t sl_ma, uint16_t sl_ms, bool potF)
{
uint8_t cmd = {0};

// 装载命令
cmd =addr;                     // 地址
cmd =0x4C;                     // 功能码
cmd =0xAE;                     // 辅助码
cmd =svF;                        // 是否存储标志，false为不存储，true为存储
cmd =o_mode;                     // 回零模式，0为单圈就近回零，1为单圈方向回零，2为多圈无限位碰撞回零，3为多圈有限位开关回零
cmd =o_dir;                      // 回零方向
cmd=(uint8_t)(o_vel >> 8);   // 回零速度(RPM)高8位字节
cmd=(uint8_t)(o_vel >> 0);   // 回零速度(RPM)低8位字节
cmd=(uint8_t)(o_tm >> 24);   // 回零超时时间(bit24 - bit31)
cmd=(uint8_t)(o_tm >> 16);   // 回零超时时间(bit16 - bit23)
cmd =(uint8_t)(o_tm >> 8);      // 回零超时时间(bit8- bit15)
cmd =(uint8_t)(o_tm >> 0);      // 回零超时时间(bit0- bit7 )
cmd =(uint8_t)(sl_vel >> 8);    // 无限位碰撞回零检测转速(RPM)高8位字节
cmd =(uint8_t)(sl_vel >> 0);    // 无限位碰撞回零检测转速(RPM)低8位字节
cmd =(uint8_t)(sl_ma >> 8);   // 无限位碰撞回零检测电流(Ma)高8位字节
cmd =(uint8_t)(sl_ma >> 0);   // 无限位碰撞回零检测电流(Ma)低8位字节
cmd =(uint8_t)(sl_ms >> 8);   // 无限位碰撞回零检测时间(Ms)高8位字节
cmd =(uint8_t)(sl_ms >> 0);   // 无限位碰撞回零检测时间(Ms)低8位字节
cmd =potF;                      // 上电自动触发回零，false为不使能，true为使能
cmd =0x6B;                      // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 20);
}

/**
* @brief    触发回零
* @param    addr   ：电机地址
* @param    o_mode ：回零模式，0为单圈就近回零，1为单圈方向回零，2为多圈无限位碰撞回零，3为多圈有限位开关回零
* @param    snF   ：多机同步标志，false为不启用，true为启用
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Origin_Trigger_Return(uint8_t addr, uint8_t o_mode, bool snF)
{
uint8_t cmd = {0};

// 装载命令
cmd =addr;                     // 地址
cmd =0x9A;                     // 功能码
cmd =o_mode;                     // 回零模式，0为单圈就近回零，1为单圈方向回零，2为多圈无限位碰撞回零，3为多圈有限位开关回零
cmd =snF;                        // 多机同步运动标志，false为不启用，true为启用
cmd =0x6B;                     // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 5);
}

/**
* @brief    强制中断并退出回零
* @param    addr：电机地址
* @retval   地址 + 功能码 + 命令状态 + 校验字节
*/
void Emm_V5_Origin_Interrupt(uint8_t addr)
{
uint8_t cmd = {0};

// 装载命令
cmd =addr;                     // 地址
cmd =0x9C;                     // 功能码
cmd =0x48;                     // 辅助码
cmd =0x6B;                     // 校验字节

// 发送命令
send_data((uint8_t *)cmd, 5);
}


/**
* 主函数
*/
int main() {
    char input_buffer;
    char command;
    pthread_t receive_thread;
    int continuous_mode = 0;
   
    // 注册信号处理器
    signal(SIGINT, signal_handler);
    signal(SIGTERM, signal_handler);
   
    printf("TTY USB串口通信程序 (C语言版本)\n");
    printf("==================================\n");
   
    // 打开串口
    serial_fd = open_serial_port(SERIAL_PORT);
    if (serial_fd < 0) {
      printf("无法打开串口 %s，程序退出\n", SERIAL_PORT);
      return 1;
    }
   
    show_help();
   
    while (running)
    {
      Emm_V5_Vel_Control(0x01,0x00,0x10,0x00,0x00);
      usleep(10000);
      Emm_V5_angle_Control(0x02,0x00,0x10,0x00,0xB4,0x01,0x00);
      usleep(10000);
    }
   
    // 停止连续接收模式
    if (continuous_mode)
    {
      running = 0;
      pthread_join(receive_thread, NULL);
    }
   
    // 关闭串口
    close_serial_port();
   
    printf("程序结束\n");
    return 0;
}
步进电机控制演示视频data:image/png;base64,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**Vlpyec4GNwsjL86zsptJWZVHZrMUzg1x3klvV6VQuUWcKEfub3U3VPdp0xn/8OFkid+cCFBMlalpM53xD79TBfyaygaEeIdKUYGotblVKEP7DVdFWMGJgIGK9qKTtVn+HKYhCN4dYX4TmS5CC7Z5a33bmKyBIErawHLtZQRJXaNwLxM/9gu6KMByNsg7NPJf+rJ/f4NoaLOB9fqrCHJ11XdqDwNDzafdohpR+1Woc2hpvScfqUlw1+qTN3FyXnuI1Ket5RJZWlQM+/r/ViLjJ690be3TlvMxnbYlF3lzZnXQBV7Dw+06p9AUSMn+NrDZcE2K3t6omI9gqLeJ5I9fS13pM+GnTFScskrhOpKXhbbyoioUCpNV2eg3NuJkobj++Ul31WQKdVOrHRQVecpxs3odsx6xOUOIZq1yUnaF6QxtFZvKZJVdRJ3/C7WZymRy8lShFHnWZjJOqd3kFWnlbnLX0kckq7rqv2vzaVt8s/hKufjV4YBxLTwc6gFbfG9RKK0qtvW4o2XSouPuiy++rU/7XqMeam03dDNUZkBLjVJeUq94VN8pMk/xmOOpaM18O9JS02aqOt/+tNqgzfKZfwnS8DzWylThxJZIxbiWmIxfck9aFR+stoTbnp0sEqdvppuozTfLGxH7ib+WSwuPfzeMmIqWzzcrBMDEPeyhpOmdSpup3qEiD2Vtu/OpQFb3MG7HzFlzx83Z8UcN9j7jZkPb0O2/7V8QHPidt/9odvjaK2VS8ZOVinH58Dk7cyVoTebBzSt9ZgV6BEUuX7/AjJiCJVMjZUmb+m8rwBpeJIQELpi6Yqu/m9xL2XvcznQxknd+m6+fv63nDJett2qVQzSigprN3lMmE2b9GhAQMjV081RXeShybWbQRgTsLUSEeRciFoZ4LY6JL2i1Fozc6z4g+BJXxru5f5UXO2hyaPQMtZeylAu+XpOvBWtxiZwGBUOTCQEpb2WS1ylHomcHBE2YFTJtxeZpuMk4DQuTNfeE0gYRUnt6QetVUSO/2/2kur78bDg+4UKtXvKX6d2WpouwyjubloW4TA/yO5yFKNfgtHjU1R4/hTajD4+Euk0PnBzOuVAilRScdGmee2PI17m0Ki+qQiE3WT0bvR2WHy+S1v2516H1+kQtlpKAoiBP4dMe9v2quCNLFwaN9fZ38FsSmlSMCG8F4rPvRBXVVrEpTFa3S94f1aLN7SxKisxTmExOnkYRSkFbq8nyS+0nP+L7PS8RSdnNLeGL3WYG+R3OVtVDAq+W8pU3Kf1tPCzdfG2WnC3Cqn8Lm2Y1YdJgxeLNIbP3lKAVSVEObr5WxMfHzKK5L6U1WrxQqCp273G77okFZRX1tckRag5teU60txsUDHXWKHr7KgBV5skfcwUH7ZknYd56xYlG7aVqe8lBaU+rDdqMe2+wpzG++FBGPrmLSW8FWDAMrFZfbJCmrFQfz+EOuoabASwL+QYjze9QMQwdN6eKRDfXT1QMqZtVls78LORidaNSmyn3HiENRWfQjEfZhp9KzqkSIDJMwi/NfXBwKbGUVFkR2+HT7j1mydY/Mp7L32uSIQ3c/Iyk1bOcVSM5QxZ7yS/pz6qEUplMzH/zNCXahpgrIlcjgj7zi+mxyYV1Ygype/30x7mj8KEwa0gg52zW6xoRgqJiPrcyN/PMbPmCdqWi0y2++f7ojWK+RB7qSQweikqb5a/rhGxMzikXoVJhZealWM9RqqlKXTk0dfP7+X5BrQSVIbzSzJ1zFDmU50T+olS+gPQdKi2XqNIiZ8igfevmte1cWkFNPdIoQ0WVhQ93zVOT4eHzD5c3orkcW6UPsBmUiXvEI7Tp3TvNt+9UGLV8MXII2XI1700DJpMhwtry7PRj3vhUN4V4GFiF7LibX8oTIzKZuK7sbmLMBDsVXkUSWsoLf4eKrFBITW6ZDdedt+uxojjqdwWVZpKAIidPWl4GrMD1yVmFtWJU1og28Aofp2wKcNWcMNJasUnrYUu7Wmtzu4uSNPPyxpT0gSUlryOU/NnUbrK8NrabPMPILnD1uceFdVJMhol4b7LTj07SPX9hab//Faa+T1Mj8UKgoeOOuxobOL171zz4UVaP5uaF+EV3xTZ2mHymurGx+ujcVmsSSdoNMvK6a1Q7KwB15skec6LpIMl8c8OiyYq69pK3vTjndqTVBm0my2J3+70d2tzdTCN93j4yQ5gDPWNS67CXh1ssAwQ+3Y4AFKUeFpnFiOgsYS7HrnW3WFO9OqPZgQrQSptb7tnZ+dC7vM51aM/OzqheXW5pDyisjpvAMg+IOXC3XFB0dopt89vGUI7dkAAUpV41HcyBY/1HeUyfGJnwVFBxIlC11dJfl0moAAwavaU2K7eGgrMuOi4Sf12VhZgpCFjabTx//KfV9lbq0wEU98MlvSUARalXRcNyOVIsRBF+WebP4b7t3XK4Q11DqAAttBnUCAgAASAABIAAEPjwBNTHzR8+N3rVW4TMAAEgAASAABD4IARAm6FHAgSAABAAAkBAvwj0+qfh3z9IpwASBQJAAAgAASAABLQSAG3Wr76S1kKCH4EAEAACQOCjIgDaDNoMBIAAEAACQEC/CIA261d5fFQdQzAWCAABIAAEtBLo9UlvmG8GeQYCQAAIAAEgoEcEen3W30CraMOPQAAIAAEgAASAwAch0Ovrr7/6IAlDokAACAABIAAEgIBWAr2+/Aq0WY/8GFoLCX4EAkAACACBj4oA7D0CwgwEgAAQAAJAQL8ItNBmEyfntYe2Rs37yuSj6qGAsUAACAABIAAE9IeApjb3mXrylezdO9nrvdOsOnR+iP4YBjkBAkAACAABINBNCWhqs4H14kP5grqChCk2cAJuNy1RyDYQAAJAAAh0dwKa2gxjZSAABIAAEAACQOBDEwBt1q/5/+7e14P8AwEgAASAwPsTAG0GbQYCQAAIAAEgoF8EQJv1qzzev7cFMQABIAAEgEB3JwDaDNoMBIAAEAACQEC/CIA261d5dPe+HuQfCAABIAAE3p8AaHNP1+bezqGbj/7oweqKl+K6Mq0PvYry/Z89iAEIAAEgQEZAXZtN/aMLZO8Uf5r4pwKse0bz1zfgfG0jYRb28oi9KRmLzvn9E0e2T4D/l8adExtlEdi7Hs7ncZ+s9aLaKKbfwqsSNDPM0YIyqs7JbVem1VnmdGF5aYXM/HdkupSonsjZxTadZRfEAwSAQHcm0FKbkReHA+i2Tl+PHDvoW7wpMXENzUC4CSF9m8eX1j6JAum9LXTlvp4GtuuS+VKJODP8u2YBGBiUUFDbgMiaGjFJbXlO8vH19haKoRvz8/A70sa6C2HjDRVxDgk6XCNNWTnGgM6gmbivfIwSLRX+D/okxlyuppSh5PFYDw2IjX9UxpVgaAM39/75pT728gjpDNoQ+3+PdPradrzbkSLpX67NlqM5JdKiY6P/4h6A3C5jp8BUUVMj75cfbCmqYNv10sCSHZqYVSJAJPUVGYnbHC3bPdRue1oUGe7aS11YXs1PkIZI97acYOHmy2JzHmKgzRpkurYmQNJAQK8ItNLmrN1Teqs3IsaOQWmI4NySfs0/Wk9LapCkrvmU+MXi2/9k1lz/cc0twZOYycqwuJSiWVvYfrY+87xXHr/1VsZLW28ql3P80rt3sopz3orWX12b6VZfjJls5TY7KgNFHv7k5OZr+Z0j3i2gDmVpHnmzSlaflRgzcybbaXbokgMnF0y01Hy2LW32FUh6kjbTGQYMd3sP1382F42WutVWvTRxDbpRh1anb10eMmk551o1xr2xzkTZ/dIkqSUVxQ1tTYsyw21Mq5Nu+/DarDDE0H7LTRS0mbRqdVJxQ/xAoLsQ0KnNdJsZlyQNF0PVtNmGfVkquhjaX9HCmvpueF53bqnjv8Nu8guPjiLGi7iUIunB1oqxl4XJhj8R5N6CkUyFNou5mWm5omex0+XRamgzDs549A+piDRt3efNnmF5hGShDKxXnquTFccvULu/dQG0XZst7TbfelEtEjfU5t5KPHglt0pYX/LghLct4RUwcgiOuvCstB6RCCoykva5OxCdgD7T48qUcwLE0L+Rd2wuS9GskIWi0Zmf+W7am/TgSXEVV4RgmFRQmb7CudkDoa1V0uEI/afLqn13it9KUDGv5G5WBdYGn7aRB+cFWpewyBF3NjC/WJJSixZsdm/Rv2lNlUGRFrnJDEPW7OVx97Mr6sUSftGjC+HTcK+JvEYxB3is56S/qhKhGCquqynLOBIyUJeWG1iFRKdm5Vbw6qUYIqrOunbY17HZz0+WDery0oZdYT5VeZHZZWAVsv1WTuFbkVSGiXmldxJ3uSirkyIhbdrM/Hx5qhAr2j5JWQrDFp2qxXJj/Y10ASHPvJYShJuBABDQPwK6tZnlebq2ISXiE7rFZ2P9Ro5xMKDbz70mqYwLUni5jdwPZvOvz7FkGthEXRYW7/JRtIkttJn5WfgtCfrn8lEWhDZX/T71+9Ov+PcXO1q0Q5u1h2J+seKmCHuxzoVaz9quzdaTzwqkjw65+Czbn4+JMzmefpEnipDCI7P60Bk0RsDel4gwNyksZL77wl1x+WJp4S8uDLzJGzZ2mLMv+3QFUn6W7TaJMX4Sw9nja3O8d0IRim7B2PEcET/jrAnzZs8b5x/osyhohGJCgbwJ7s10GTF+EtP/UEarwZYBa+mpCoyfnbg8JNh7SfSe9GqZbm1mDl6XIZXeDGB5LEytrrq33XJkVIoUubHGiZgXIMkJVVoUJpuztz5v4D6OWxQwe5TfssjLZRL+neDRePGZzd5TilXdOTRr5kx771kTgtaEzHNXOmNIdcVw9LY7KPbnsYhJswK9Qw9cfiMTPdyOT4V0tLxI7MUfYPLyIrcLzyGacXi52/SASSsOXChFxHnHnYc3W6RNmxkGI9eniNGH27wUBIwmHyvAqg/P6iELQfSvNWwuDsgbEPjQBHRrs9WYw2UNqWs+HTJ7T2kjVsCxNXMMShPn7Vd03i1tY1/yb6z5lzGDZuKy9L44/+AMuYApHNeKcbOx9b/cwg7miAX3olUzx+Kq065DXYLT+MW/BA5o+7hZeyjLkT+9ROvOTxpC/Wi1T5vF8u4Iy/sMX3wtcgBd3kERy934zMGr00Xos7UuxFDGyHXvI1R8NXKcUsO0+kipQ+FtPe+cl478a7FOW4NuYbrhoUTaPPev5meW5w1Tn8yXf28sPjqnD93S9qeXyNsz7ub+2wowrOyU0/CQ4zw0e88UyiEaRVoUJjO/irgt5F+fS/hUGDRmeGI9cnuDq3z9wbCl8QIs90TQl+2ZsMeVT+UQtjCOeihF7i3EnTQdKi8tqNUeVLLyorJLM4eMvu4HnqINV1Y2d320FSWDZuK84LZY+ueOb+WTCxbm0dkI/7L/COrswVUgAAR6AAHd2mzB3PlCeHuDsf8vBbk3k18V7pzsuuhuw70t7vKW1HTa1jzR1UhFEyNvO8QvD9uplm41NaIIgsgam5rQsluxriMV41rcO1112nUIo5/P0VxBxlLn4Oa1YIrxCplPW3soS5u9BQjvXLM2m/pvyuZl72fjvQRVIXVEm70S6sTXVw+is9zjuGK5j53lEc9FS06MMVNGa8b+sRhTeRFodK3aTB2KrK1XJkE+htPWoLM8T/PQ4uOOSm1T02bGP20n2XhMG6nxmcq0szVQafMQRm+mi4mlFW1IW7SZIi0Kk+UwGxtlCIJIiQ8qa5K9PMzG+wHWI8Iv5jU0CssexR3Y5OVsTywYJIdAozNaKt+8c1xU4UehyIYCr9byoiZPVl5UdrXIIc2MvbsEq/wtULXEUltRyvu4X4bdrJc+lq+yNHYKvimpT1lFOXFDnXO4CgSAQHch0Otvf/ubMq/yd6iQlmvB6PKpTeG9nXNOlmXGTHPcX5D/c8TKDNGF5fY0OqO3609PsCYZqmxkscYmLGf9BMJxLUUz10/xZriH7s+XvD63/N/E5HGzNtNMnINS+fknYk+p1mm3QZtbhWJ+EXazAc1erZqjNZ2xswjFh4NK0+TRdkSbPeO5wquRAzW0uVaLNv9GePjl2nyouNU6bZZHPEUosrZePfPavxvYbW61gEihRie/U/Ye1LWZZmLR29TSSONj0RtfoEf4tJVrsw2s2uLTpkiLwmQ8VOmZGRNwt/944u+hNs2vD/Wxnjpl/dHTjyobMO7tvd9/0bzsQDuHFsrXd05iNZqz3tWCRqfIhiIqreWlPRXl0JmsvKjsapFDmik7pgiripuvS5sZBhahp2uRRzsmGTHDEwWi5PCxSg8NdSbhKhAAAt2aQC/af/1daYB2bWb0D06uzUpLLs/Z4GZh5MV5VnYzKavyyGyWwskmzjvp7apsZN0iTpQj97e6G6r7tOmMf/hwssRvTgQQ64zkq7rwETCNzviH36kCfk1lA0K8Q9UWbW4VytB+w1URVnAiYKCiEe80bVaSadZmClet4mZL6z35SE2Cu4aDmjoUWVuvSp30i4Hl2ssIkrpG5VGXj7S+iUwXobmb3Ik1aGraTOHTZhh5cl6gvNMLlWW06ApX91owirQoTFaEKtjm3SzGStlrYan1iM0ZQjRrlRP1SoJW4+ZmbabIBkV5tchGi/+SlReVXS202dBp1335YkcXlVfAwHr9VQS5uuq7VtJrPe5ombTouPvii2/r075XTQRQOhJIeLYwBP4LBICA3hJogzbLV6BIkIbnsVamCie2RCrO2TDBgmYyfsk9aVV8sNoSbnt2skicvplu0mItmP3EX8ulhce/G0ZMRau0mWbiHvZQ0vROpc1U71CRh7K23flUIKt7GLdj5qy54+bs+KMG64xxs6rYVD5tBm1EwN5CRJh3IWJh33muOAAAIABJREFUiNfimPgCtbVgeHM5IPgSV8a7uX+VFztocmj0DMWrXFShyNp6VerkX0zl08MNLxJCAhdMXbHV3w2fBR/x/Z6XiKTs5pbwxW4zg/wOZyPKtWDkPm0GzcR1fmodWnl309IQz6UHUiox7o0o/J038tTpDBp5WlSghs/ZmStBazIPbl7pMyvQIyhy+foFZor3tYZ9vyruyNKFQWO9/R38loQmFSPCW4HymWOqbLRQPrVxc0fLiyo58vIitwvPYeObeyeXL1nkFRJ97LkQe/PHFCs1u8xm7ymTCbN+DQgImRq6eaqrcm02ndF73K57YkFZRX1tcgQ4tKlrAlwFAj2FQBu0GXecYk9jfPHFovLJXUx6K8CCYWC1+mKDNGWlek/fYujmJ0jDzQCWhXyDkeZ3qBiGjptTRaKb6ycqhtTNKktnfhZysbpRqc2Ue4+QhpJvxDHKNvxUck6VAJFhEn5p7oODS1us7+2AT1ulB2raTGcYOYRsTM4pF6FSYWXmpVjPUc3NqLxamLr5/Xy/oFaCyhBeaebOOaMUIyHyUORtPZVCKPLG/GJ6bHJhnRhD6l4//XGuMi27wNXnHhfWSTEZJuK9yU4/OkldBkiixfceyS4TIlJhZcbZ7WOU/m3qum5Enha5yQxDFnvJL+nPqoRSmUzMf/M0JdoGnyA3YAWuT84qrBWjska0gVf4OGVTgKvmugFVoTR/odLmjpYXudVU5UVmF55DWUn245d1CCqpK7gbN2/CSM0kLL75/uiNYr5EXpRPYpRFKb/H2GHymerGxuqjc6k2mdGMrRkO/A4EgEA3JNAGbe6GVmltmNquzVqDw49AoOMEWvQe2vlMWYyIzhLmcuyUawjaGbzj2YaEgAAQ+EAEWmlzyz07ScZYHyi7HWplunTPzg7lsAdABhMoCXRIm5kDx/qP8pg+MTLhqaDiRKBqexaoY0AACPR4Ai21WbmvFZx1QdnUdqeuCRiiBwQ6pM0slyPFQhThl2X+HO5LvTMrVEggAAR6FgF1bdaDJqxnwe3xPTswEAgAASAABP4KAqDN0CMBAkAACAABIKBfBHr9X/P7zfqVs7+iJwJxAgEgAASAABDQfwK9/v7fqr1HQJuBABAAAkAACACBD08AtPnDl4H+9+Agh0AACAABINCVBHr9L4ybYQEaEAACQAAIAAF9ItDrf/8f+LRh6AwEgAAQAAJAQI8IgDbrUWF0pcME0gICQAAIAAG9JdDrf/4G42aQZyAABIAAEAACekQAtFmPCkNve3CQMSAABIAAEOhKArD3CGgzEAACQAAIAAH9IgDarF/l0ZX9MkgLCAABIAAE9JMAaDNoMxAAAkAACAAB/SIA2qxf5aGfPTjIFRAAAkAACHQlAdBm0GYgAASAABAAAvpFALRZv8qjK/tlkBYQAAJAAAjoJwHQZtBmIAAEgAAQAAL6RQC0Wb/KQz97cJArIAAEgAAQ6EoCoM2gzUAACAABIAAE9IsAaLN+lUdX9ssgLSAABIAAENBPAqDNoM1AAAgAASAABPSLAGizfpWHfvbgIFdAAAgAASDQlQR6GfzXe59D9Ykj2yfA/0vjrsw3pAUEgAAQAAJAoKcS6ARtthzNKZEWHRtt2n0Z2VhF3Xojwx7v8u6tHEYbWLJDE7NKBIikviIjcZujJZOmuGTm5rP74u2iWhGKNtSW3j27y5mlvKQMS9zZ+r/GdsMDdsReeZxXJai7vWmwem+G5NInE1bH3i1+K0bE/Nf3z+4cx7Igjbx1cvALEAACQAAIdEsCoM10q+Gr0sq5leVitFmbTVyDbtSh1elbl4dMWs65Vo1xb6wzMcE7HybjZ+yP37BqmTs7eMbGhIf8xprzywa1peyHegclFb8tuntg29qp7Fl2zmP7qUKRXDKwWvJLJVaTzpk5zf+7H3adKUEE97aad+M+UPftvUHOgQAQAAJdSYDQZku7zbdeVIvEDbW5txIPXsmtEtaXPDjhbUuM0owcgqMuPCutRySCioykfe4OlorRW5/pcWWydxp/GnnH5rIUV8lC0ejMz3w37U168KS4iitCMEwqqExf4ax7RNjb9odViZkveRIUQwTVxRmpHA+r5jGrgfXiQ3n8uoKEKTbNP+oaZTIH+R/PqslcN2XxwTeISpuNPDgv0LqERY4GcvlkfrEkpRYt2OxOWK0Wp7XvuXo0Zz9Lt17ajDlYUHlnu5V569IlvTRo2Q0hmrXKiSAzIOB8FVq0w7t1NlrHCb8AASAABIBA9yVAaLP15LMC6aNDLj7L9udj4kyOp1/kiSKk8MisPnQGjRGw9yUizE0KC5nvvnBXXL5YWviLCwO3edjYYc6+7NMVSPlZttskxvhJDGePr81xaaQIRbdg7HiOiJ9x1oR5s+eN8w/0WRQ04ltdEEfM252PSF/f3BK20HV64NSDTyRoZphjs6L3mXrylezdO1n53mlWavJJFa2hbdjp8vL4hc6GZgEHmrWZOXhdhlR6M4DlsTC1uuredsuRUSlS5MYaJ1yqlRGa2plN33WpqiE7lt1fNQIm+WJgGZHIR0qfPc2t4gv4NTl3Twd72itiI7/EHLw2Q4rcDVL2PwxsN6UiSHL46DZaB7cBASAABIBA9ySgps3ilIhP6CzvM3zxtcgBdJbn6Vpx6ppP6czBq9NF6LO1LsRwzch17yNUfDVynFKotM43U4fCtZl3zmuIUudIJE2NKfObVXdFWN4WD2JQ3i/kslBTm2kmTs7rOFuj5n2lcD7rjNNk/NyUmsK4kM+NGTQNbba0/ekl8vaMu7n/tgIMKzvlNDzkOA/N3jPFiIiT+dmKNKGsqamp8e293Q7DdVvRd/aZaqz8wq4IN5+pNlNCN9/lYjUX/XDRpbhk5HHoOSp6EPvD4KFMmqmdif+RPzHkeosugk4z4QYgAASAABDoZgSId6jk42aFNnsl1Imvrx5EZ7nHccVp6z43ZnnEc9GSE2PMlApkxv6xGKuMC+pLmKpVm6lDdUCb8QhLT36nzIYWbW4feuYX8y+8rkqeYY2P8rVq8xBGb6aLiaUVbUgLbWYYMl2tJs3zWXnk8msp78/dtjoG/czPw29LkXsLlM723uP3PEJFZ5fY0+gUlxg0up3d+iu5gsYmGYbKZMK6eqSxPi7IWq3LoiyU9tkOoYAAEAACQECfCbTSZs94rvBq5EANba7Vos2/qWnzoeJW67RZHvEUoTqizZ6na9Hi46ouwntrs8Pca9ImGSZFEPyDypqaGmWo8NbGb4yVPm3l2mwDK20+bVwO+0+PK8GqOWxiNE+mmgOWpUqw52tVc+rDVyVJ0dsbXQ3pDIpLRGxm9t+McTezHcXY8kQqyVji0OzGJ0sOfgcCQAAIAIHuTKClNqv6EapxM7V3mkGjW1rvyUdqEtw1HNTUoXRps4mT89pDmt5pC5OoDAmSFTmOUCYt2qwllMqc1l8sBjp4ySfIFR+3NfE16IujC5mjRvWmM4w8OS9Q3umFxFqwzxdd4WpfC8bo5/drEcb9ebaaNmvLhpEXJwdruLKSmLHuM+lILsY7GWBDozMoLqlXrH7OG5JqZG/OLftC/c0rGC4DASAABIBADySgW5sZtBEBewsRYd6FiIUhXotj4gvU1oLhRAYEX+LKeDf3r/JiB00OjZ4xEZ+ZpgqlQ5uVq7peq6/qMrBacrJCVp9zPmzhAp/FW3enV8k055u1hlKXN6rvGj5tBs3EdX5qHVp5d9PSEM+lB1IqMe6NKFN8GtvQNiQiZjM7INBleqBveOzZIglSEjdhRLP2a8+GqeeKByKs6tbaH2aMnBqx50m9JP/omGF4KIpL9JGDXWc4f78q7PCNFwIZ7/ERV+W6MCpbemA1bcYLhgMBIAAEPgICbdFmOsPIIWRjck65CJUKKzMvxXqO0nyNx9TN7+f7BbUSVIbwSjN3zhmlWCZGHkqHNsvfhsoXtH4b6p8uq/bdLn4rwSS84ttPyzFNbSYL1aZSbKHNdAa+90h2mRCRCiszzm4fo/Rv93aKiE19/qpWjMqQ+pqi2+d/8nHUmAAmy4bhyIDVSdmlAgQR1+akHZ3q2LyYnPSS6cxdr6TC2vKn6Rd3Rs4drOGZALkCAkAACACBnkqA0ObuZ16/hVdbvEPVJg2GMSUQAAJAAAgAAX0nANqs7yXU/bpN0EkCAkAACACB9yMA2gzaDASAABAAAkBAvwh0W21+vy4JDEaBABAAAkAACOgtAdBm/eor6W1FgYwBASAABIBAlxEAbQZtBgJAAAgAASCgXwRAm/WrPLqsUwYJAQEgAASAgN4S6PV///33983cJ45snwD/L7tkv6quTAumtIEAEAACQAAIfAgCvf7vf95Xm7WedfG+ek/CoivTar8JxqPtV5669PxNnQRtqHudcWHPBOUB2DQ6o79T6I5reRUiFBFzc+/EBboTZ0SSWNr+1MEBAASAABAAAj2EAGhz5xVk73HRaeU5cTFRU+YE+61PyKxvrEtZ/ZXCnWD+/b5itDqdM3Pa1JF+K2MyeGhFgkcbDpcE5QYCQAAIAIGPjwDh07a023zrRbVI3FCbeyvx4JXcKmF9yYMT3sphn5FDcNSFZ6X1iERQkZG0z92B2LOzz/S4Mtk7jT+NvGNziYMfyELR6MzPfDftTXrwpLiKK0IwTCqoTF+hOqOJRCyp0zJkzV4edz+7ol4s4Rc9uhA+bQy+byiVXQZWIdtv5RS+FUllmJhXeidxl4vSXkU9kO++mcdvvXUoeS1h9jFT7WbKcj5egVb/PgHfaNPI52g++nrPVGKfTvme20jBFg/VzTBKBgJAAAgAASCgIkCsBZOf3yx9dMjFZ9n+fEycyfH0izxRhBQemdWHzqAxAva+RIS5SWEh890X7orLVzvrYtjYYc6+7NMVSPlZtht+ppOzx9fm+InIFKHo+H7a4mecNWHe7Hnj/AN9FgWN0HEEMoNGkZY5e+vzBu7juEUBs0f5LYu8XCbh3wkebUGjU9llOHrbHRTNOLzcbXrApBUHLpQi4rz**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**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**8lQoHmQIBIAAEgIBBAqDNoM1AAAgAASAABIyLAGizcZWHwc4UnAAEgAAQAALvPQHQZtBmIAAEgAAQAALGRaDLB//vVfeIfO/7L+AgEAACQAAIAIE3SaDLP/4C2mxc3aU3WfyQFxAAAkAACBghAdBmEGYgAASAABAAAsZFoMvfYdwMb28DASAABIAAEDAmAl3+/leIaRtXd8kIoytgEhAAAkAACLxJAqDNIMxAAAgAASAABIyLQJe//R+Mm42rSN5k1wzyAgJAAAgAASMkANoMwgwEgAAQAAJAwLgIwNojxlUeRth9A5OAABAAAkDgDRMAbQZtBgJAAAgAASBgXARAm42rPN5w1wyyAwJAAAgAASMk0OWvf/2bEZoFJgEBIAAEgAAQ6LQEQJth3AwEgAAQAAJAwLgIgDYbV3l02k4iOA4EgAAQAAJaAqDNoM1AAAgAASAABIyLAGizcZWHttMEX4AAEAACQKDTEuhiCnPBjGl9805bEcFxIAAEgAAQ0BIAbYZxMxAAAkAACAAB4yIA2mxc5aHtNMEXIAAEgAAQ6LQEQJtBm4FAewiYDJgQEvvrXD+bN/AoxMRm5ub0P2Km2r2BvCALIAAEjImArjZbBm0sVr5U/9ckPBz8nrQI3YNP1atIt7DHex0t31ZHzNE9vkjAv7vcp43NOvfL6CwFaThyYo79G6g3Hznz/IKDvjB/W4jegXxNh2y6hlIWx+svL/q8jApUeyv2O2N8x24H+lTvACh6442q1DqDMfrajDyMD2Y7uHw1cHivbwj/LdwjchB+Unj35rGFnV+ySJG9nm1BAjJxWJEqVMhluZHDrLT68XFoUnG9FFE2qTB5fWVB6oFVjlZc4ij3s8hrClXD6UUjTdXX7BMaX6e4sHioCZvDsvBcfAcl9Yj4H3o3ph+upoyp8OvYfRu8M/F2BV+OoVJ+4Y1T8/wc8QuyOaw+jl8OdPnKYaTH3hJFm7X5w2HzN114WCFEUERSW5Z/Om6+pcZfrY/t+2LuEpImaVIJjnzv0MaEXa1HWXn42/LibmH6YmBiHbH/Kb9RoWpqUikaax9cS4oIGE7ybC6p9tZg6yFxZYqS/UPeWvelvQa/hfMZ9JKhvNpY4nqnMeSld+bb/LP9FfttWqt3dzAZ37HbgT4VU15voSZTlQK98Xrc4M8/nUArbc77aVxX3VzNnUPTEdHJuR82/2gXkCKVpy37hPzF6pv/5dZd/nFZpuhuzFhNWkJK0bz1vEAHv+m+iw9kvlAK0lcR8kYcevlSWXXS15pQa11tZtt8PnSsjceUlTkocmuHi4e/9TBnolvAnMq6X3RGjbIxLzlm0iSey5SIubsOzRxt3bLyWdv/XCxvozZbBm14hIgLT0eGf+fsN9130U8xa6b3bCbQwRvJhOPp6OX+r3Zex9RxfUargZrJwP9dRtCrW6cO9AocwotceeGZXJq/XN/l9toJd6ZhYgb1krK8WlZFw7mozzeYV8cu+9pTdaxiv3YzOnZBeuM7djswpaLPq61VomM+tjkVk/FtvoiR+PKum9GF1fwOFR7TRvS1mW0/8axceiZCR5vteecUkjMRPdQaY+m/+kHDyXnOXy7KED7ZN5gcchFSimSF2anHylYWq/9AkOyZA7nqEbCMn5teKLm/cwJ+2RbaTAA1H/J9GqJIX/FZc3AVvyBdKhO7xScblKWJM3XOb10w7dBmU6cNmaji5FzqAa6p7ZQFCTfyqxplcmHJ7dORAcSIH6fB/dR/7faUm3dLa/gSBMMUouqsha5WLDZztJP75azk/OdCKaZCZfyirN9CPQeRI36CMGVbT2gzkjJ/EHnDcCKTG7F8Tb/KzCls5en75Y2IXFSVk/Kzp5O2m0JnIafbhIQKzQMNMm6hEuyfZqu9IU3s5ux5JGwoThpnry7TZsI0h2jzYrE59Aw5rD5uHuuSLxVWCxUYIhNVFmVEelmz2E4Tz4iwisMuvTX5Wvqvfog2nI74uJ19Ha1HXUfH5qEv4ieTPn4466IczV3kjMd+TGzCN6blFVYJGhUYIqnNuxTv70w+iSD0Ull271YhX47IBUXXj04fNVB7Tdw1qr4Ui82hLxQ6lzkttNl8sMvPeUJR3rrxTrrVQzdr4rsBUPTkGcqL29NrVVzW0xoJiqGyhrqKnL3hBHbmik3rMgPeVu5oipuhlPvMPChALkUP18Xy0dzLEn6yVx/8rqS5v5iMN3g7UNpJn4ohL+tB6zIf1kpk0vrCzOTd5wtrxI1lNw/6OpAxSPryYiJDV9kY6jy98UwZUXKAH18HgS7/Z0ibbb2P1UsvRH3Etvp0eODAoU4mbMdpl+TVCaHqKLeZ5+584eWp1lwT+5XnxKVbyTkyetrM/TQyU47+sWAwLlS4ytb8Nv67Y0+FN+Y4W7VDm6lTcT9fmCHBHq5wa46oU6Fphzaz+obsrsSeX/wft1+retmPt+GBlH8nYXbwlMGB86PPVciF18KGqLO24vzwAJHdj1u2yJc3fURQiN/s0AHEo4GuXLcBI8dwg/bktBoBs9icbi4hk4K/GzomaNi01fH3JWjJgWF4m0J+KNt6fW3uO/eoEHvw83gzNofFCd7+GBEXpiwKn+E5a2tCkUzx5IgbR301WgtZfYf3dfXnHatCKk/wPMZwRo7huHp91a9ZhruNP/RU+fKlsnJ7gP7zcppD9HkxMLRwnfT7c1T+7Hz8xqmhM0ZNnjN1+RJn/GkI97N5l0XY081jyH5G15HbbqOi5LlDdFtkLbS2fGFopwhRxP7YHzVmcohvxK5zz5WSW5uJZytqvVRVZR2aP2emV/jGfffF2PPfx9k0g6IsL6ZCoXVZR5stho/enS8Q5K4NdDbkLyMoBvJs+vLqPWVbOVZzbc/kSZMcfSePCl0WPt1THSFjqtj09ZABb1sKTv8cy4ANjxR3Yvy6sjk97Eb3HTiQxbbq879caUGsLTFUoLu/mIw3dDvo26C+W+lT0edlN/aESHF7j5vf/NgiTJYb5x0YfbAEebJ3cjc2h8VUXs1NhL4x9OQZ6rzBFkA/F00DBb//OQR01wWjHjfbDI2vkKYt+6TPlG3lKqw4zqG3c2i67FFsEC4DbGuHnY+FV5b925zDsnCbd0NWtHsiXqXUj4fV42Zzu397LNpdIBNlb9Q+OZbVHHP/1i0sXVh6JKRn28fN1KmsB+54jDacGqOjZ1Sw2qPNbO7HYzYcK2qU1j1I2rXa3Vk7MOL+J+qqWHh5GhkP4LC4kcmNyNXV7sSzXqJ1E5z0obGEutVuWcX/FXZWiN5bPLy5n0GZSkebrXrYjQ2IzxOhpTH+diw29+ulWRL0/nI3UsPM3LffRmUXo0cQbTqzhYwRLQsX1xVxG1ZO/0/r5+7Uh+jyYmLYPfBIibLx0jIPzcOR5gbIxGbxSRH2cEcgUfGsrGMKkPozAWSfo/k0qqKnPsrQTrUYsLKtzFfeUiDZs/Coj45eEgVn6rI1Gw/xuGkf9lOVF1OhMLisNuNkZND3v5eJKi7NHk0dyNFzmR4UE3mWWpspa2/feYkirPBg6Bc0ExHa6zIDXj1f2vSnuXNIuuL50ZDu5s7fXZLKb260tLAZtrdCfGlpr5Y3F4vNaeP9ReTLeDu0urLGVKZUVKBwbZbhgx9b3+NC2aXonmx8OCTDHxoylxd1rWZuARjq/Cu4TGcJ/P4qBAxrsxV3y0Px1dXmQUeKCzNSnz7ZMtZ99nVp9npPvDHCe6ySi9Eu6na/38Z82eP4QfgNTIybm1QogiBKVVMTWpG5032gWm/U4+Zj7n04H/rtKxTlzHMNa54Lpq7xdDHtGspU1vbbixHByWZttgxamy/Ij+URvQQtnXZpM5HKwrHf5NWbzxbyZTVXYqYTAXNbzwS+SqVEEERBflBlk/JxPE8tGPi4mbJ1U7fj1NFOqy8DN++7XlT6QiSsry5+1oBgBavc26LNTU1KlVLZ1NSkklbfiVvo9088F1uvRD5adnCoNvbbm/djKaaJc9DppZoSU7OiaXq0PA1+ocuLgaFV3w15CHJ9hm3zMFQnX6fA3wVoMVHB8IqHPjsaSrhs0BLqExjaqZbiwek+/SQfJQMzeodYlryYEqwmYYZ2siRV+8tQKEwuE3mphMJGpTgnYoT2wQS1O20AxUCew6TNbLsBkWceSVXiitsJu9b6uDpqOyLqTNvpsn7/RhevjhcG3dSeYON2sFqWvvLf1lHJQhSVZoU7OE4+L3kSTww92R25vwgzOnY7MKWiAtWszT5JDbLLS3ux8WKS4U/0mMtL677eF4bKxmGo86/gsp4B8OdrIWBYm/EnJeLsLVMPVeTGBDjHFhf9ErU4R3J6gSOLzenqvuMu1qRENUKFqZqwglWjyMC1As1dNc6X4xkRWyR/dnLBl+TD42ZtZlm4hqYJiw7uPKydp90GbW6Vivv5ogwp+v/bOxOwJq61j/vc+92lAbHtvVW73H731ghYtwQIiKJYEUHKIogKatyaC4K4oqC4+4m7tNriEq0VbQsWUYuK4sKmoFhRQWWTsgmyGAIhIcnMBPyemUxCSDITFCsR3vvk8abMnDnv+zuT+Z/znjPnzVuLz+wSUCxm7SlFy47N66o2K6/GtLFcda0Wq/ja14ZUvorTsyYTUd9J5L9D7ZQvOFGpEdlUJqMjdVd1mY7flipGy658O3umP8d9puuOG0K0k9qMpO6cbeM6ZdgYB7UwEBY26NHmn5VzEPQWWo87XPb61mlT1UU8O/QztBoaeR9BMgKUiwRJ/u03+j/nxD9FK76Zxnnf/6cytHRP114y7jv5u/uo8PgCPfPNWgL87ryEOlWjaB1iKLs+JF7cVH3PX45HHFWj0LlM1IVmxcak12PCu3wXjcg5vYZRgKIhT6/NuF/9bKdP23Ts1N2aFkyQsf+rT9rXgrD03dg0LutoswZeer8ojrIHrc9uKTriFnr12Q3+jqzGy2sDtjxquRyOx/8N/r70Ga+85V7t50BXSl9d7drsGScQX4kYoKHNeD9b/y+l/Uehw4SOPM09T1yHznidimhsgENdJ2BYm1nvByU15KYmVeVvdrMy8+I/rExLzK05OpfDYFrhA+XCE96uKqFyC4+pQm5tdzfVjGkzWf/w4edKn8XwlFNlGtrMZP3D72RxU31NC0K+Q9UZbdYpZTpm8xUJVhzDG6B8XrxmbcYfPakIQnRH2J9FZErQ4p3eet82plIjsp1MrNdfQpCUdcrwMvnH9wIviLD8zXiHBv/Lu9xfniEdtNnEdtMVBLmy5gvNiUaNmLbWTUAXPqUdG+EzFLb7ipD6eHe9MXlzJ+f1hylj2noOUdGgY/iu/8/liqak1a66MW2cj8WMbQXIs9NrA88LW+7sGqobXdeRc5oHiond5qtyNGOLcj6CpbkWTEuAabS53+TvclBp8hpl6AhvC33tRdcoNC6rzXhvQviJEmnzoxPu6skUek/1g6Ijb+jeUN9mtiMjs8Vo7honVVeYydJ3Y9O5rPaLvOe7qs2sfv4/VzTfScqqT1zpNGjNjee/ZWaIyvb64JEGw78vfb9KwjDanwMlf7pS+kCptVlNWD1upm8v9flaX+jI09zzXXBZywD4z9dCoA/jT39XXUj/fDPLbOoPxTKk5VG0jYUyiC2TSwktMZ+0NEteGxeksYR7DDdJIs2MZJoTMe32ddpjvvypSl5y/IthZLgbn29WCoC5+6o7srYXam2me4eKupSt/Z4HIkXjndjds+fMnzhv96/1WFfGzab2obt+PrAoKOALb/9x3LD1lyvl0vurlePyEfP2FMjQ+pxDkat95gR4BEas2LTIkhQJKjVqJ7yzGGt5HB8csGj6yu3+bvizo+/EPZlSpPDcTl8/f3vPWS7b0xtUQzRSVyzn7qtUiHN/4vGCp4dGTnfFS1FrM4sxkre/BBEXng8PCfZaEhVXrLMWjDrq3j/ookAhTDuwxosbODV0xyyNl7JUC76eUq8F0zpETYOGoflkXvJzhexp8tEdc3mBk+cEz1gZOYNwmaBhZb4uSyxvkSANpxbprooa9cU39+uaq86EERMulE9PVXOYuy3LlGA1N7YuD3aZGeh3JBdRrdOmEQ/iEHrnaKjbzICpYfzz5XJZ8QmXkaprMlkMfe1F1yjULmua0ddhxfFSeeNv+x101yfq8ZQCFA15uvnmr9bEHl0WEjjB29/Bb2loYhkiTg8gZt/JW9TCX/fGpnFZ0y+8P6pHm1+uKU1s1ifJ2lobLvqxWfh0e1Nbm+QKl1iLYPj3pdd4AinNz4F0XA95Fl0pPXXRaDOLQddeGreclhk0TwDqe17pEZ3xWrXAf/6xBDqhzUQcBnsQ5UsMZfDJXUyezrNimdisvdAiT16tOZ4jAnQtaTyOFb7BSLs2s0wdI1MkkrRNXyqH1O0qy2R/FHyhrlWlzbR7j1CWYrIYg8fah51Myq8VIQpM1lRRcPvQMnIpqepX9BLzzX3HL93+a/Yj/L0mBdIiKMpOXDvHWT2SM+Vwl/6Y+bBWLFcopE3PHiTvsCPXyFCrEdmK7E9mRieVNEoxpPHpg6/njyWGwpwhAfwzuU/rJQiKSpsENQU5p+fiC9rVvz2rz746dr2sSYaXuh9FlKLTZvx1neAtSflVElQursm5GO05Fpdz4mPIQgs3v+9vFTfIUAUirM**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查看完整版本: 《DigiKey AI应用创意挑战赛项目》-基于树莓派5 的4舵轮智能移动机器人