风洞稳定小球系统----- 基于Arduino实现的PID距离PWM控制
Posted Mnster_Lu
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Arduino真的是好用，
已经上瘾。
这次做的是风洞稳定小球系统
一、元件模块
Arduino正面
Arduino引脚接线
驱动板，反正是freescale小破车上用的那款
电源。
风洞
风扇型号
二、Arduino代码
一言不合就上代码
#include <PID_v1.h>
int inputPin=4; // define ultrasonic signal receiver pin ECHO to D4
int outputPin=5; // define ultrasonic signal transmitter pin TRIG to D5
int pwm = 6; //pwm输出D6
int dis=0;
double Setpoint, Input, Output;
PID myPID(&Input, &Output, &Setpoint,0.7,5.3,0.8, DIRECT);
void setup()
{
Serial.begin(9600);
pinMode(inputPin, INPUT);
pinMode(outputPin, OUTPUT);
pinMode(pwm, OUTPUT);
Setpoint=160;
Input=150;
myPID.SetMode(AUTOMATIC);
}
void loop()
{
dis=distanceM();
Input=255-map(dis,0,45,20,200);
myPID.Compute();
analogWrite(pwm, Output);
Serial.print(" ");
Serial.print(Input);
Serial.print(" ");
Serial.println(Output);
}
int distanceM()
{
digitalWrite(outputPin, LOW);
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); // Pulse for 10μs to trigger ultrasonic detection
delayMicroseconds(10);
digitalWrite(outputPin, LOW);
int distance = pulseIn(inputPin, HIGH); // Read receiver pulse time
distance= distance/58; // Transform pulse time to distance
Serial.print(distance); //Ourput distance
delay(50);
return distance;
}
之前已经说过连接了
再发一遍
传感器SRF05超声波
VCC ------------5V
GND ------------GND
PIN ECHO -----D4
PIN TRIG ----- D5
代码里使用了一个自带库PID_v1.h
myPID(&Input, &Output, &Setpoint,0.7,5.3,0.8, DIRECT);
输入，输出，稳定收敛位置点，Kp，Ki，Kd，直接方式。
Input=255-map(dis,0,45,20,200);
这里是一个映射，因为我的传感器放在了风洞的上端
这样距离顶端越近数值就越小，所以需要改个符号。
让它的数值和高度成正比。
而PWM正好是0-255的数值，所以这样改。
PWM的输出脚是D6，
频率是1kHz，虽然频率低了但是还够用。
三、参数调试
接下来用串口数据来看
分别是距离，input，output。
我把数据拿下来用matlab来plot
红色代表高度，还是比较稳定的
黄色就是PWM的值。
因为之前测试传感器非常稳定，
所以数据输入我并没有用Kalman filter来处理。
还有，数据在这里
46 51.00 255.00 45 55.00 255.00 46 51.00 255.00 48 43.00 255.00 46 51.00 255.00 46 51.00 255.00 46 51.00 255.00 46 51.00 255.00 45 55.00 255.00 45 55.00 255.00 44 59.00 255.00 43 63.00 255.00 42 67.00 255.00 40 75.00 255.00 38 83.00 80.50 36 91.00 80.50 35 95.00 142.50 33 103.00 142.50 31 111.00 38.50 31 111.00 38.50 27 127.00 14.50 26 131.00 14.50 24 139.00 76.50 24 139.00 76.50 21 151.00 58.50 20 155.00 58.50 19 159.00 126.50 18 163.00 126.50 17 167.00 114.50 17 167.00 114.50 15 175.00 102.50 15 175.00 102.50 12 187.00 0.00 11 191.00 0.00 10 195.00 50.50 8 203.00 50.50 7 207.00 0.00 5 215.00 0.00 4 219.00 0.00 3 223.00 0.00 3 223.00 0.00 2 227.00 0.00 2 227.00 0.00 2 227.00 0.00 2 227.00 0.00 2 227.00 0.00 3 223.00 15.50 2 227.00 15.50 4 219.00 21.50 4 219.00 21.50 3 223.00 0.00 3 223.00 0.00 4 219.00 21.50 5 215.00 21.50 6 211.00 113.50 7 207.00 113.50 8 203.00 125.50 9 199.00 125.50 9 199.00 51.50 10 195.00 51.50 10 195.00 57.50 10 195.00 57.50 9 199.00 0.00 10 195.00 0.00 9 199.00 0.00 9 199.00 0.00 9 199.00 0.00 9 199.00 0.00 9 199.00 0.00 10 195.00 0.00 10 195.00 57.50 10 195.00 57.50 10 195.00 0.00 11 191.00 0.00 12 187.00 149.50 13 183.00 149.50 15 175.00 252.50 15 175.00 252.50 16 171.00 107.50 16 171.00 107.50 16 171.00 36.50 15 175.00 36.50 15 175.00 0.00 15 175.00 0.00 13 183.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 11 191.00 0.00 11 191.00 63.50 11 191.00 63.50 12 187.00 69.50 12 187.00 69.50 13 183.00 75.50 13 183.00 75.50 14 179.00 82.50 14 179.00 82.50 15 175.00 93.50 15 175.00 93.50 15 175.00 18.50 13 183.00 18.50 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 12 187.00 0.00 12 187.00 69.50 13 183.00 69.50 15 175.00 252.50 15 175.00 252.50 16 171.00 107.50 16 171.00 107.50 17 167.00 126.50 16 171.00 126.50 16 171.00 0.00 15 175.00 0.00 15 175.00 0.00 13 183.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 9 199.00 0.00 9 199.00 0.00 10 195.00 0.00 11 191.00 143.50 10 195.00 143.50 10 195.00 0.00 11 191.00 0.00 11 191.00 63.50 11 191.00 63.50 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 12 187.00 0.00 13 183.00 155.50 14 179.00 155.50 15 175.00 172.50 15 175.00 172.50 16 171.00 107.50 16 171.00 107.50 16 171.00 36.50 15 175.00 36.50 15 175.00 0.00 15 175.00 0.00 13 183.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 12 187.00 69.50 12 187.00 69.50 15 175.00 252.50 15 175.00 252.50 16 171.00 107.50 16 171.00 107.50 16 171.00 36.50 16 171.00 36.50 16 171.00 45.50 15 175.00 45.50 15 175.00 0.00 15 175.00 0.00 15 175.00 49.50 15 175.00 49.50 15 175.00 54.50 15 175.00 54.50 15 175.00 59.50 15 175.00 59.50 15 175.00 64.50 15 175.00 64.50 15 175.00 69.50 15 175.00 69.50 16 171.00 164.50 16 171.00 164.50 15 175.00 3.50 15 175.00 3.50 15 175.00 88.50 15 175.00 88.50 14 179.00 3.50 13 183.00 3.50 12 187.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 36.50 11 191.00 36.50 11 191.00 25.50 11 191.00 25.50 11 191.00 14.50 11 191.00 14.50 12 187.00 93.50 12 187.00 93.50 13 183.00 96.50 15 175.00 96.50 15 175.00 193.50 15 175.00 193.50 15 175.00 38.50 15 175.00 38.50 14 179.00 0.00 13 183.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 11 191.00 0.00 12 187.00 149.50 12 187.00 149.50 15 175.00 252.50 15 175.00 252.50 16 171.00 107.50 16 171.00 107.50 16 171.00 36.50 16 171.00 36.50 15 175.00 0.00 15 175.00 0.00 15 175.00 40.50 14 179.00 40.50 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 5.50 12 187.00 5.50 12 187.00 0.00 13 183.00 0.00 14 179.00 171.50 15 175.00 171.50 15 175.00 102.50 15 175.00 102.50 16 171.00 117.50 16 171.00 117.50 16 171.00 46.50 15 175.00 46.50 15 175.00 0.00 15 175.00 0.00 15 175.00 50.50 13 183.00 50.50 12 187.00 0.00 12 187.00 0.00 12 187.00 18.50 11 191.00 18.50 11 191.00 0.00 11 191.00 0.00 12 187.00 80.50 12 187.00 80.50 12 187.00 0.00 13 183.00 0.00 13 183.00 76.50 15 175.00 76.50 15 175.00 173.50 15 175.00 173.50 15 175.00 18.50 15 175.00 18.50 15 175.00 23.50 15 175.00 23.50 15 175.00 28.50 15 175.00 28.50 14 179.00 0.00 14 179.00 0.00 15 175.00 114.50 14 179.00 114.50 15 175.00 39.50 15 175.00 39.50 15 175.00 44.50 15 175.00 44.50 15 175.00 49.50 15 175.00 49.50 15 175.00 54.50 15 175.00 54.50 15 175.00 59.50 15 175.00 59.50 16 171.00 154.50 16 171.00 154.50 16 171.00 83.50 16 171.00 83.50 16 171.00 92.50 16 171.00 92.50 16 171.00 101.50 15 175.00 101.50 15 175.00 20.50 12 187.00 20.50 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 9 199.00 0.00 9 199.00 0.00 8 203.00 0.00 7 207.00 0.00 8 203.00 0.00 6 211.00 0.00 6 211.00 0.00 7 207.00 39.50 8 203.00 39.50 7 207.00 0.00 7 207.00 0.00 8 203.00 45.50 8 203.00 45.50 9 199.00 51.50 10 195.00 51.50 10 195.00 57.50 11 191.00 57.50 12 187.00 149.50 13 183.00 149.50 15 175.00 252.50 15 175.00 252.50 15 175.00 17.50 15 175.00 17.50 15 175.00 22.50 15 175.00 22.50 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 12 187.00 0.00 12 187.00 69.50 12 187.00 69.50 14 179.00 162.50 15 175.00 162.50 15 175.00 93.50 15 175.00 93.50 16 171.00 108.50 15 175.00 108.50 15 175.00 0.00 15 175.00 0.00 14 179.00 0.00 13 183.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 11 191.00 0.00 11 191.00 63.50 10 195.00 63.50 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 12 187.00 0.00 12 187.00 69.50 13 183.00 69.50 15 175.00 252.50 15 175.00 252.50 16 171.00 107.50 16 171.00 107.50 16 171.00 36.50 16 171.00 36.50 16 171.00 45.50 15 175.00 45.50 15 175.00 0.00 15 175.00 0.00 15 175.00 49.50 13 183.00 49.50 13 183.00 0.00 14 179.00 0.00 15 175.00 211.50 15 175.00 211.50 15 175.00 56.50 15 175.00 56.50 14 179.00 0.00 15 175.00 0.00 14 179.00 52.50 13 183.00 52.50 12 187.00 0.00 12 187.00 0.00 13 183.00 116.50 12 187.00 116.50 13 183.00 33.50 13 183.00 33.50 13 183.00 30.50 13 183.00 30.50 12 187.00 0.00 12 187.00 0.00 13 183.00 100.50 13 183.00 100.50 13 183.00 17.50 14 179.00 17.50 14 179.00 104.50 15 175.00 104.50 15 175.00 115.50 15 175.00 115.50 15 175.00 40.50 15 175.00 40.50 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 11 191.00 63.50 11 191.00 63.50 12 187.00 69.50 12 187.00 69.50 13 183.00 75.50 15 175.00 75.50 15 175.00 172.50 15 175.00 172.50 15 175.00 17.50 15 175.00 17.50 15 175.00 22.50 15 175.00 22.50 14 179.00 0.00 13 183.00 0.00 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 13 183.00 78.50 13 183.00 78.50 14 179.00 85.50 15 175.00 85.50 15 175.00 96.50 15 175.00 96.50 15 175.00 21.50 15 175.00 21.50 15 175.00 26.50 15 175.00 26.50 15 175.00 31.50 13 183.00 31.50 13 183.00 0.00 13 183.00 0.00 13 183.00 13.50 13 183.00 13.50 13 183.00 10.50 15 175.00 10.50 15 175.00 187.50 15 175.00 187.50 15 175.00 32.50 16 171.00 32.50 16 171.00 127.50 17 167.00 127.50 17 167.00 146.50 17 167.00 146.50 16 171.00 0.00 16 171.00 0.00 15 175.00 0.00 15 175.00 0.00 14 179.00 0.00 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 37.50 12 187.00 37.50 12 187.00 30.50 12 187.00 30.50 12 187.00 23.50 12 187.00 23.50 13 183.00 106.50 15 175.00 106.50 15 175.00 203.50 15 175.00 203.50 15 175.00 48.50 16 171.00 48.50 15 175.00 53.50 15 175.00 53.50 15 175.00 58.50 15 175.00 58.50 15 175.00 63.50 13 183.00 63.50 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 28.50 12 187.00 28.50 12 187.00 21.50 12 187.00 21.50 12 187.00 14.50 12 187.00 14.50 13 183.00 97.50 15 175.00 97.50 15 175.00 194.50 15 175.00 194.50 16 171.00 129.50 16 171.00 129.50 16 171.00 58.50 16 171.00 58.50 15 175.00 0.00 15 175.00 0.00 14 179.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 12.50 11 191.00 12.50 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 11 191.00 63.50 11 191.00 63.50 12 187.00 69.50 12 187.00 69.50 14 179.00 162.50 15 175.00 162.50 15 175.00 93.50 15 175.00 93.50 15 175.00 18.50 15 175.00 18.50 15 175.00 23.50 12 187.00 23.50 12 187.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 12 187.00 69.50 12 187.00 69.50 13 183.00 75.50 14 179.00 75.50 15 175.00 172.50 15 175.00 172.50 15 175.00 17.50 15 175.00 17.50 15 175.00 22.50 15 175.00 22.50 15 175.00 27.50 15 175.00 27.50 15 175.00 32.50 15 175.00 32.50 15 175.00 37.50 15 175.00 37.50 15 175.00 42.50 15 175.00 42.50 16 171.00 137.50 16 171.00 137.50 17 167.00 156.50 18 163.00 156.50 18 163.00 179.50 18 163.00 179.50 18 163.00 116.50 17 167.00 116.50 16 171.00 0.00 15 175.00 0.00 13 183.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 9 199.00 0.00 9 199.00 0.00 7 207.00 0.00 7 207.00 0.00 7 207.00 0.00 7 207.00 0.00 6 211.00 0.00 6 211.00 0.00 7 207.00 39.50 7 207.00 39.50 7 207.00 0.00 8 203.00 0.00 8 203.00 45.50 9 199.00 45.50 9 199.00 51.50 10 195.00 51.50 11 191.00 143.50 11 191.00 143.50 12 187.00 69.50 12 187.00 69.50 12 187.00 0.00 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 13 183.00 75.50 14 179.00 75.50 15 175.00 172.50 15 175.00 172.50 15 175.00 17.50 15 175.00 17.50 15 175.00 22.50 15 175.00 22.50 15 175.00 27.50 15 175.00 27.50 15 175.00 32.50 15 175.00 32.50 15 175.00 37.50 15 175.00 37.50 15 175.00 42.50 16 171.00 42.50 17 167.00 227.50 17 167.00 227.50 18 163.00 170.50 18 163.00 170.50 18 163.00 107.50 17 167.00 107.50 18 163.00 124.50 17 167.00 124.50 16 171.00 0.00 15 175.00 0.00 14 179.00 0.00 12 187.00 0.00 11 191.00 0.00 10 195.00 0.00 9 199.00 0.00 8 203.00 0.00 8 203.00 0.00 7 207.00 0.00 7 207.00 0.00 6 211.00 0.00 6 211.00 0.00 7 207.00 0.00 7 207.00 39.50 7 207.00 39.50 8 203.00 45.50 8 203.00 45.50 8 203.00 0.00 9 199.00 0.00 10 195.00 137.50 10 195.00 137.50 10 195.00 0.00 11 191.00 0.00 11 191.00 63.50 11 191.00 63.50 12 187.00 69.50 12 187.00 69.50 13 183.00 75.50 13 183.00 75.50 14 179.00 82.50 14 179.00 82.50 14 179.00 3.50 13 183.00 3.50 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 13 183.00 75.50 15 175.00 75.50 15 175.00 172.50 15 175.00 172.50 16 171.00 107.50 17 167.00 107.50 17 167.00 126.50 16 171.00 126.50 16 171.00 0.00 15 175.00 0.00 15 175.00 0.00 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 11 191.00 0.00 10 195.00 0.00 11 191.00 0.00 10 195.00 0.00 11 191.00 0.00 11 191.00 63.50 12 187.00 63.50 12 187.00 69.50 15 175.00 69.50 15 175.00 252.50 15 175.00 252.50 15 175.00 17.50 16 171.00 17.50 16 171.00 112.50 15 175.00 112.50 15 175.00 0.00 15 175.00 0.00 15 175.00 36.50 15 175.00 36.50 13 183.00 0.00 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 1.50 12 187.00 1.50 12 187.00 0.00 13 183.00 0.00 14 179.00 167.50 15 175.00 167.50 15 175.00 98.50 16 171.00 98.50 16 171.00 113.50 16 171.00 113.50 16 171.00 42.50 16 171.00 42.50 15 175.00 0.00 15 175.00 0.00 15 175.00 46.50 14 179.00 46.50 13 183.00 0.00 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 11.50 12 187.00 11.50 12 187.00 4.50 13 183.00 4.50 14 179.00 177.50 15 175.00 177.50 15 175.00 108.50 15 175.00 108.50 16 171.00 123.50 16 171.00 123.50 16 171.00 52.50 15 175.00 52.50 15 175.00 0.00 15 175.00 0.00 14 179.00 0.00 13 183.00 0.00 12 187.00 0.00 11 191.00 0.00 12 187.00 20.50 11 191.00 20.50 12 187.00 13.50 11 191.00 13.50 12 187.00 6.50 12 187.00 6.50 13 183.00 89.50 15 175.00 89.50 15 175.00 186.50 15 175.00 186.50 16 171.00 121.50 16 171.00 121.50 16 171.00 50.50 15 175.00 50.50 15 175.00 0.00 15 175.00 0.00 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 12 187.00 69.50 13 183.00 69.50 14 179.00 162.50 15 175.00 162.50 15 175.00 93.50 16 171.00 93.50 16 171.00 108.50 16 171.00 108.50 16 171.00 37.50 16 171.00 37.50 15 175.00 0.00 15 175.00 0.00 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 12 187.00 0.00 12 187.00 69.50 13 183.00 69.50 15 175.00 252.50 15 175.00 252.50 16 171.00 107.50 16 171.00 107.50 16 171.00 36.50 16 171.00 36.50 16 171.00 45.50 16 171.00 45.50 15 175.00 0.00 15 175.00 0.00 15 175.00 49.50 15 175.00 49.50 15 175.00 54.50 15 175.00 54.50 14 179.00 0.00 15 175.00 0.00 14 179.00 50.50 14 179.00 50.50 15 175.00 141.50 15 175.00 141.50 15 175.00 66.50 16 171.00 66.50 15 175.00 71.50 15 175.00 71.50 15 175.00 76.50 15 175.00 76.50 15 175.00 81.50 15 175.00 81.50 15 175.00 86.50 13 183.00 86.50 12 187.00 0.00 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 9 199.00 0.00 9 199.00 0.00 8 203.00 0.00 8 203.00 0.00 8 203.00 0.00 8 203.00 0.00 8 203.00 0.00 8 203.00 0.00 9 199.00 51.50 9 199.00 51.50 10 195.00 57.50 10 195.00 57.50 10 195.00 0.00 10 195.00 0.00 11 191.00 63.50 12 187.00 63.50 12 187.00 69.50 13 183.00 69.50 15 175.00 252.50 15 175.00 252.50 15 175.00 17.50 15 175.00 17.50 15 175.00 22.50 15 175.00 22.50 15 175.00 27.50 15 175.00 27.50 15 175.00 32.50 14 179.00 32.50 14 179.00 0.00 14 179.00 0.00 14 179.00 28.50 15 175.00 28.50 15 175.00 119.50 15 175.00 119.50 16 171.00 134.50 16 171.00 134.50 17 167.00 153.50 17 167.00 153.50 16 171.00 0.00 16 171.00 0.00 15 175.00 0.00 15 175.00 0.00 14 179.00 0.00 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 44.50 11 191.00 44.50 11 191.00 0.00 12 187.00 0.00 12 187.00 106.50 12 187.00 106.50 12 187.00 19.50 13 183.00 19.50 13 183.00 102.50 14 179.00 102.50 14 179.00 109.50 15 175.00 109.50 14 179.00 30.50 13 183.00 30.50 12 187.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 11 191.00 0.00 11 191.00 63.50 11 191.00 63.50 12 187.00 69.50 15 175.00 69.50 15 175.00 252.50 15 175.00 252.50 15 175.00 17.50 16 171.00 17.50 15 175.00 22.50 16 171.00 22.50 15 175.00 27.50 15 175.00 27.50 15 175.00 32.50 15 175.00 32.50 15 175.00 37.50 15 175.00 37.50 15 175.00 42.50 15 175.00 42.50 16 171.00 137.50 16 171.00 137.50 17 167.00 156.50 17 167.00 156.50 18 163.00 179.50 18 163.00 179.50 17 167.00 26.50 16 171.00 26.50 15 175.00 0.00 15 175.00 0.00 13 183.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 25.50 10 195.00 25.50 9 199.00 0.00 10 195.00 0.00 10 195.00 71.50 9 199.00 71.50 10 195.00 0.00 10 195.00 0.00 11 191.00 63.50 11 191.00 63.50 11 191.00 0.00 12 187.00 0.00 12 187.00 69.50 13 183.00 69.50 15 175.00 252.50 15 175.00 252.50 15 175.00 17.50 15 175.00 17.50 15 175.00 22.50 15 175.00 22.50 15 175.00 27.50 15 175.00 27.50 15 175.00 32.50 15 175.00 32.50 15 175.00 37.50 15 175.00 37.50 15 175.00 42.50 15 175.00 42.50 15 175.00 47.50 15 175.00 47.50 16 171.00 142.50 17 167.00 142.50 18 163.00 251.50 18 163.00 251.50 18 163.00 108.50 18 163.00 108.50 17 167.00 35.50 16 171.00 35.50 15 175.00 0.00 15 175.00 0.00 15 175.00 113.50 12 187.00 113.50 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 9 199.00 0.00 10 195.00 42.50 8 203.00 42.50 8 203.00 0.00 7 207.00 0.00 7 207.00 0.00 7 207.00 0.00 7 207.00 0.00 7 207.00 0.00 7 207.00 0.00 7 207.00 0.00 8 203.00 45.50 9 199.00 45.50 9 199.00 51.50 9 199.00 51.50 9 199.00 0.00 10 195.00 0.00 11 191.00 143.50 11 191.00 143.50 12 187.00 69.50 13 183.00 69.50 15 175.00 252.50 15 175.00 252.50 15 175.00 17.50 14 179.00 17.50 13 183.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 9 199.00 0.00 10 195.00 0.00 10 195.00 57.50 10 195.00 57.50 11 191.00 63.50 11 191.00 63.50 12 187.00 69.50 12 187.00 69.50 13 183.00 75.50 14 179.00 75.50 15 175.00 172.50 15 175.00 172.50 15 175.00 17.50 14 179.00 17.50 12 187.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 9 199.00 0.00 10 195.00 0.00 10 195.00 57.50 10 195.00 57.50 11 191.00 63.50 11 191.00 63.50 12 187.00 69.50 12 187.00 69.50 13 183.00 75.50 15 175.00 75.50 14 179.00 82.50 14 179.00 82.50 15 175.00 93.50 15 175.00 93.50 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 9 199.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 0.00 11 191.00 0.00 11 191.00 63.50 12 187.00 63.50 14 179.00 242.50 15 175.00 242.50 16 171.00 183.50 16 171.00 183.50 17 167.00 122.50 16 171.00 122.50 16 171.00 0.00 15 175.00 0.00 15 175.00 0.00 13 183.00 0.00 12 187.00 0.00 11 191.00 0.00 10 195.00 0.00 9 199.00 0.00 9 199.00 0.00 9 199.00 0.00 9 199.00 0.00 9 199.00 0.00 9 199.00 0.00 9 199.00 0.00 10 195.00 57.50 10 195.00 57.50 10 195.00 0.00 11 191.00 0.00 11 191.00 63.50 11 191.00 63.50 12 187.00 69.50 14 179.00 69.50 15 175.00 252.50 15 175.00 252.50 15 175.00 17.50 15 175.00 17.50 15 175.00 22.50 15 175.00 22.50 15 175.00 27.50 15 175.00 27.50 15 175.00 32.50 15 175.00 32.50 14 179.00 0.00 15 175.00 0.00 15 175.00 118.50 15 175.00 118.50 15 175.00 43.50 15 175.00 43.50 15 175.00 48.50 15 175.00 48.50 15 175.00 53.50 15 175.00 53.50 15 175.00 58.50 16 171.00 58.50 16 171.00 153.50 16 171.00 153.50 16 171.00 82.50 16 171.00 82.50 16 171.00 91.50 16 171.00 91.50 15 175.00 10.50 15 175.00 10.50 14 179.00 5.50 13 183.00 5.50 12 187.00 0.00 11 191.00 0.00 11 191.00 0.00 11 191.00 0.00 10 195.00 0.00 10 195.00 0.00 10 195.00 13.50 11 191.00 13.50 10 195.00 0.00 11 191.00 0.00 11 191.00 73.50 11 191.00 73.50 12 187.00 72.50 13 183.00 72.50 15 175.00 255.00 15 175.00 255.00 15 175.00 20.50 15 175.00 20.50 15 175.00 25.50 15 175.00 25.50 14 179.00 0.00 13 183.00 0.00 13 183.00 0.00 12 187.00 0.00 12 187.00 0.00 12 187.00 0.00 13 183.00 81.50 14 179.00 81.50 15 175.00 178.50 15 175.00 178.50 15 175.00 23.50 15 175.00 23.50 15 175.00 28.50 15 175.00 28.50 15 175.00 33.50 15 175.00 33.50 15 175.00 38.50 13 183.00 38.50 13 183.00 0.00 14 179.00 0.00 15 175.00 200.50 15 175.00 200.50 15 175.00 45.50
最后，高能预警。
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------------------------------------------------------------------------------------------------!!!!!--------------------------------------------------------------------------------------------
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被风扇砍了一刀，
综上，没有烂尾，万岁！
完结撒花。
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