Automatic Chicken Coop Door (Porte Automatique Poulailler)

1#include <math.h>
2#include <Dusk2Dawn.h>                        //
3  This library seems to take the least memory and does what is needed
4#include
5  <Arduino.h>
6#include <Wire.h>
7#include <RTClib.h>                           //
8  Library for the RTC (real Time Clock). The project uses a DS1307 to which a Dallas
9  DS18B20 / 1-Wire Digital Thermometer TO-92 was added
10                                              //
11  IMPORTANT NOTE: as this project uses both 3.3V (RTC) and 5V (the others) I2C modules.
12  Be sure to add a bi-direction level shifter or you are likely to blow-up your Arduino.
13  I did that twice before getting the message... :-(
14#include <RCSwitch.h>                         //
15  Library for the 433Mhz remote control
16#include <U8x8lib.h>                          //
17  This library seems to take the least memory and does what is needed
18
19#include
20  <OneWire.h>                          // These two libraries are used to measure
21  the temperature with the DS18B20 soldered onto the RTC
22#include <DallasTemperature.h>
23
24/*
25  ----------------------  Some basic settings you will need/want to change to suit
26  your needs  ----------------------------------  */
27
28#define myLatitude        43.649572
29           // My chicken coop location
30#define myLongtitude      3.562498
31#define
32  myTimezone        0.0                 // In case you need to adjust your timezone.
33  See the library documentation for details
34
35int myDoorDuration       = 34;
36                // Time to open or close the door. The time duration in seconds
37  we need to provide power to the linear actuator 
38int closingPause         = 3;
39                 // Number of minutes the Door Closing will pause when an obstacle
40  is detected inside the door while closing
41
42int sunRiseOffset        = 0;                 //
43  Number of minutes the coop door will open earlier / later than the calculated time
44int
45  sunSetOffset         = 30;                 // Number of minutes the coop door will
46  close earlier / later than the calculated time
47
48int enableFlash1         =
49  1;                 // Setting to enable Flash1 or not. 1=ON, 0=OFF. Obstacle detector
50  and Flash LED above the door (that closes at night) pointing outwards
51int enableFlash2
52         = 1;                 // Setting to enable Flash2 or not. 1=ON, 0=OFF. Obstacle
53  detector and Flash LED above the door to the garden pointing outwards (door does
54  not close automatically at night), pointing outwards
55int flash1duration       =
56  3;                 // Duration of the flash light in seconds above the door (that
57  closes at night) pointing outwards 
58int flash2duration       = 3;                 //
59  Duration of the flash light in seconds above the door to the garden pointing outwards
60  (door does not close automatically at night), pointing outwards
61
62int screenOnTime
63         = 10;                // Duration in seconds the screen stays on. Required
64  as there is a conflict between the 'screen on' state of the OLED with the used library
65  and RCSwitch. When the screen is on, the remote control signals are not captured....
66int
67  enableRemote         = 1;                 // Setting to use remote control or not.
68  1=ON, 0=OFF
69
70unsigned long remoteDoorOpen   = 1396644;     // These 4 rows
71  contain the codes from the 433Mhz remote-control. You will need to use the RCSwitch
72  > ReceiveDemo_Simple from the IDE examples to detect yours and update these codes
73  
74unsigned long remoteDoorClose  = 1396648;
75unsigned long remoteDoorStop   =
76  1396641;
77unsigned long remoteLightFlash = 1396642;
78
79
80#define ONE_WIRE_BUS
81  A3                       // Analog pin for the data wire for temperature measuments
82
83/*
84  ----------------------  These settings are only needed to be changed if you also
85  change the electric wiring  ------------------  */
86
87const int openRelay      =
88  3;                 // This project uses a linear actuator and only requires +/-
89  12V for actioning which is managed by 2 relays
90const int closeRelay     = 4;
91const
92  int obstacleDoor   = 5;                 // IR Obstacle detector inside the door
93
94const
95  int DoorOpenLed    = 6;                 // Lights up when the door is open
96const
97  int DoorClosedLed  = 7;                 // Lights up when the door is closed
98const
99  int pushOpen       = 8;                 // Open the door
100const int pushClose
101      = 9;                 // Close the door
102
103const int obstacleFlash1 = 10;
104                // IR obstacle detector above the door (that closes at night) pointing
105  outwards 
106const int obstacleFlash2 = 11;                // IR obstacle detector
107  above the door to the garden pointing outwards (door does not close automatically
108  at night), pointing outwards
109
110const int flash1Relay    = 12;                //
111  Actioning the flash-light door (outside obstacle)
112const int flash2Relay    =
113  13;                // Actioning the flash-light exterior (exterior obstacle)
114
115int
116       screenSwitch   = A2;                // Analog pin for the momentary push
117  button to switch-on the OLED
118
119
120
121/* ----------------------  End of settings
122  -----------------------------------------------------------------------------------------
123  */
124
125
126RTC_DS1307 rtc;                           // if you are getting a
127  "165" output on the OLED instead of the propoer time & date, you probably need
128  to use a 3.3V pin instead of a 5V pin for your RTC module (and therefore a I2C level
129  shifter)
130RCSwitch mySwitch = RCSwitch();
131U8X8_SSD1306_128X64_NONAME_HW_I2C
132  u8x8(/* reset=*/ U8X8_PIN_NONE);
133
134Dusk2Dawn myLocation(myLatitude, myLongtitude,
135  myTimezone);
136
137OneWire oneWire(ONE_WIRE_BUS);            // Setup a oneWire
138  instance to communicate with any OneWire devices (not just Maxim/Dallas temperature
139  ICs)
140DallasTemperature sensors(&oneWire);      // Pass our oneWire reference
141  to Dallas Temperature chip.
142
143int year, month, day, hour, minute, second, x,
144  mySunrise, mySunset, mySRHR, mySRMN, mySDHR, mySDMN, myDoor, myDoorObstacle, closingDuration,
145  pausedAfter, myNow, myCounter, myTemp;
146int doorDetection   = HIGH;    // no obstacle
147int
148  flash1Detection = HIGH;    // no obstacle
149int flash2Detection = HIGH;    // no
150  obstacle
151
152int myDoorStatus  = 0;
153int myPause       = 0;
154long startDoorMovement;
155long
156  stopDoorMovement;
157
158/*
159  // myDoorStatus = 0 => default value at startup.
160  Status will show "Initiate". Press the open or close button at startup (depending
161  the actual door status) to change and capture the correct status
162  // myDoorStatus
163  = 1 => Door open
164  // myDoorStatus = 2 => Door opening
165  // myDoorStatus =
166  3 => Door closed
167 */
168                              // Most activity is managed
169  thru functions in order to keep the core code clean and easily update/add functionality
170void
171  openDoor();
172void closeDoor();
173void stopDoor(); 
174void flash1();
175void
176  flash2();
177void checkRemote();
178void getTime();
179void getRiseAndSet();
180
181//
182  A number of messages to print on the OLED.
183void screenON();
184void printMain();
185void
186  printDate();
187void printTime();
188void printSunrise();
189void printSunset();
190
191void
192  printInitiate();
193void printOpening();
194void printOpen();
195void printClosing();
196void
197  printClosed();
198void printPaused();
199void printFlash1();
200void printFlash2();
201void
202  printTemp();
203void printCounter();
204void resetCounter();
205
206/* ----------------------
207  Program Setup  ------------------  */
208void setup() {
209  Serial.begin(9600);
210
211
212  if (! rtc.begin()) {
213    Serial.println("Couldn't find RTC");
214    while
215  (1);
216  }
217  
218  Wire.begin();  
219  mySwitch.enableReceive(0);                   //
220  Receiver on interrupt 0 => that is pin #2 It can also be (1), that would be pin
221  #3
222
223  u8x8.initDisplay();
224  u8x8.clearDisplay();
225  u8x8.setPowerSave(0);
226
227  u8x8.setFont(u8x8_font_victoriamedium8_r);   // This font allows for 7 rows on
228  the OLED 28X64
229  
230  //rtc.adjust(DateTime(F(__DATE__), F(__TIME__))); // Note
231  that if you are having a (charged) battery on your RTC you need to run this command
232  only once. If you let it run each time the code boots, it will reset the date/time
233  to the original loaded when it was connected thru USB when you reboot the board.
234
235
236
237  sensors.begin();                            // IC Default 9 bit. If you have troubles
238  consider upping it 12. Ups the delay giving the IC more time to process the temperature
239  measurement
240
241                                              // Before you connect
242  the relay board check the Voltage required to make the relays function correctly.
243  In my case I need to supply it with 12V on the JD-VCC pin and GND (read: don't use
244  GND from the Arduino board in this case).
245  pinMode(openRelay,      OUTPUT);
246            // set pin as output for relay 1
247  pinMode(closeRelay,     OUTPUT);
248            // set pin as output for relay 2
249  pinMode(DoorOpenLed,    OUTPUT);
250            // set pin as output for DoorOpenLed
251  pinMode(DoorClosedLed,  OUTPUT);
252            // set pin as output for DoorClosedLed
253  pinMode(flash1Relay,    OUTPUT);
254            // set pin as output for relay 3
255  pinMode(flash2Relay,    OUTPUT);
256            // set pin as output for relay 4
257
258  pinMode(obstacleDoor,   INPUT);
259             // set pin as input for the door obstacle infrared detector
260  pinMode(obstacleFlash1,
261  INPUT);             // set pin as input for the IR obstacle detector above the door
262  (that closes at night) pointing outwards
263  pinMode(obstacleFlash2, INPUT);             //
264  set pin as input for the IR obstacle detector above the door to the garden pointing
265  outwards (door does not close at night), pointing outwards
266  pinMode(pushOpen,
267       INPUT);             // set pin as intput for pushbutton to manually open
268  the coop door
269  pinMode(pushClose,      INPUT);             // set pin as intput
270  for pushbutton to manually close the coop door
271
272  digitalWrite(DoorOpenLed,
273   LOW);           // Keep both LED's off at startup
274  digitalWrite(DoorClosedLed,
275  LOW);
276  digitalWrite(openRelay,     HIGH);          // keep the motor off at
277  start-up by keeping both HIGH 
278  digitalWrite(closeRelay,    HIGH);
279  digitalWrite(flash1Relay,
280   HIGH);          // keep the flash-lights off at start-up by keeping both HIGH
281
282  digitalWrite(flash2Relay,   HIGH);
283
284  
285  printInitiate();                            //
286  Write the "Initiate message to the OLED
287  screenON();                                 //
288  Update all other info on the OLED and swith it on for the duration set in the settings
289  above
290
291 }
292
293/* ----------------------  Main Program Section  ------------------
294  */
295void loop() {
296
297  getTime();
298  if (analogRead(screenSwitch) >700)
299  {screenON();}                            // Check if we need to switch the screen
300  on for a moment. 433Mhz RC does not work during 'screenOn time' due to a conflict
301  in libraries.
302  
303  if(myNow==0){getRiseAndSet(); printSunrise(); printSunset();
304  printDate();}  // At the start of a new day (at zero hours) we update the Sunrise
305  & Sunset data
306    
307  // Below the logic deciding the opening & closing of
308  the door
309  // myDoorStatus = 1 => Door open
310  // myDoorStatus = 2 => Door
311  opening
312  // myDoorStatus = 3 => Door closed
313
314  if((myNow == mySunrise)
315    && (myDoorStatus != 1)) {openDoor(); }
316  if((myNow == myPause)      && (myDoorStatus
317  == 2)) {digitalWrite(DoorOpenLed, HIGH); closeDoor();}
318  if((myNow == mySunset)
319     && (myDoorStatus != 3)) {closeDoor();}
320
321  if((digitalRead(pushClose)
322  == HIGH) && (myDoorStatus != 3)) {closeDoor();}  
323  if((digitalRead(pushOpen)
324  == HIGH) && (myDoorStatus != 1)) {openDoor();} 
325
326  // Below the logic for
327  the intrudor alerts
328  if((enableFlash1==1) && (digitalRead(obstacleFlash1) ==
329  LOW) && (myNow > mySunset))  {flash1();}
330  if((enableFlash1==1) && (digitalRead(obstacleFlash1)
331  == LOW) && (myNow < mySunrise)) {flash1();}
332  if((enableFlash2==1) && (digitalRead(obstacleFlash2)
333  == LOW) && (myNow > mySunset))  {flash2();}
334  if((enableFlash2==1) && (digitalRead(obstacleFlash2)
335  == LOW) && (myNow < mySunrise)) {flash2();}  
336
337  if((myNow < myPause) && (myPause!=0)){
338
339    digitalWrite(DoorClosedLed, !digitalRead(DoorClosedLed));               // Alternating
340  the 'open' and 'closed' LED's to show the door is paused
341    digitalWrite(DoorOpenLed,
342  !digitalRead(DoorOpenLed));
343    }
344
345  checkRemote();                                                            //
346  Catching the remote control signal every second
347  stopDoor();
348  
349  delay(1000);
350                                                              // Create a 1 second
351  delay in order to avoid 'panic mode'
352}// loop end
353
354
355/* ----------------------
356  Program Funtions  ------------------  */
357
358
359/* ----------------------
360  Door Funtions     ------------------  */
361void openDoor()
362{
363    digitalWrite(openRelay,
364  LOW);                        // turn relay 1 ON
365    digitalWrite(closeRelay,
366  HIGH);                       // turn relay 2 OFF
367    printOpening();
368    myCounter=myDoorDuration;
369
370    // loop to make the LED blink while the door is opening
371    for (int i =
372  0; i <= myDoorDuration*2; i++) {       
373      if ( (i % 2) == 0) { myCounter=myCounter-1;
374  u8x8.setCursor(8, 7); u8x8.print("  "); u8x8.setCursor(8, 7);u8x8.print(myCounter);u8x8.setCursor(11,
375  7);u8x8.print("sec."); }
376      digitalWrite(DoorOpenLed, !digitalRead(DoorOpenLed));
377
378      getTime();
379      //printTime();
380      //checkRemote();
381      delay(500);
382  
383    }
384    myDoorStatus = 1; // Status=1 ==> Door is open
385    digitalWrite(DoorClosedLed,
386  LOW);
387    digitalWrite(DoorOpenLed, HIGH);
388    resetCounter;
389    printOpen();
390}//openDoor()
391
392
393void
394  closeDoor()
395{
396    //startDoorMovement = millis();
397    digitalWrite(openRelay,
398  HIGH);                      // turn relay 1 OFF
399    digitalWrite(closeRelay,
400  LOW);                       // turn relay 2 ON
401    myDoorStatus = 2;  // Status=2
402  ==> Door is closing
403    printClosing();    
404    if (myPause!=0) {closingDuration=myDoorDuration-pausedAfter;
405  myPause=0;} else {closingDuration=myDoorDuration;}
406    myCounter=closingDuration;
407
408    for (int i = 0; i <= closingDuration*2; i++) {
409      if ( (i & 0x01) == 0)
410  { myCounter=myCounter-1; u8x8.setCursor(8, 7); u8x8.print("  "); u8x8.setCursor(8,
411  7);u8x8.print(myCounter);u8x8.setCursor(11, 7);u8x8.print("sec.");}
412      printCounter;
413     
414      digitalWrite(DoorClosedLed, !digitalRead(DoorClosedLed));
415      doorDetection
416  = digitalRead(obstacleDoor);
417      getTime();
418      //printTime();
419      //checkRemote();
420
421      if(doorDetection == LOW){ getTime(); 
422                                myPause=myNow+closingPause;
423  
424                                pausedAfter=round((i/2)+0.5); // adding 0.5
425  will ensure we round the number up or down correctly as 'round' always rounds down.
426
427                                printPaused(); 
428                                digitalWrite(DoorClosedLed,
429  HIGH);
430                                digitalWrite(DoorOpenLed, LOW);
431                                stopDoor();
432
433                                return;
434                                }
435
436      delay(500);
437    }
438    myDoorStatus = 3; // Status=3 ==> Door is closed
439
440    digitalWrite(DoorOpenLed, LOW);
441    digitalWrite(DoorClosedLed, HIGH);
442
443    resetCounter;
444    printClosed();
445
446}//closeDoor()
447
448
449void stopDoor()
450{
451
452    digitalWrite(openRelay,  HIGH);                     // turn relay 1 OFF
453
454    digitalWrite(closeRelay, HIGH);                     // turn relay 2 OFF
455
456    resetCounter();
457}//stopDoor()
458
459
460
461/* ----------------------  Flash
462  light Funtions  ------------------  */
463
464void flash1()
465{
466  printFlash1();
467
468  digitalWrite(flash1Relay,   LOW);
469  delay(flash1duration*1000);
470  digitalWrite(flash1Relay,
471   HIGH);
472  if(myDoorStatus==1){printOpen();}
473  if(myDoorStatus==3){printClosed();}
474}
475
476
477void
478  flash2()
479{
480  printFlash2();
481  digitalWrite(flash2Relay,   LOW);
482  delay(flash1duration*1000);
483
484  digitalWrite(flash2Relay,   HIGH);
485  if(myDoorStatus==1){printOpen();}
486
487  if(myDoorStatus==3){printClosed();}
488}
489
490
491/* ----------------------
492  Remote Control Funtion  ------------------  */
493
494void checkRemote()
495{
496
497  if (enableRemote==1){
498    /*  Serial.print("Received ");
499      Serial.print(
500  mySwitch.getReceivedValue() );
501      Serial.print(" / ");
502      Serial.print(
503  mySwitch.getReceivedBitlength() );
504      Serial.print("bit ");
505      Serial.print("Protocol:
506  ");
507      Serial.println( mySwitch.getReceivedProtocol() ); */
508      
509
510      u8x8.setCursor(8, 7); u8x8.print("       "); u8x8.setCursor(8, 7);u8x8.print("remote");
511
512      if ((mySwitch.getReceivedValue()==remoteDoorOpen)   && (myDoorStatus != 1))
513   {openDoor();  }
514      if ((mySwitch.getReceivedValue()==remoteDoorClose)  &&
515  (myDoorStatus != 3))   {closeDoor(); }
516      if ( mySwitch.getReceivedValue()==remoteDoorStop)
517                             {stopDoor();  }
518      if ( mySwitch.getReceivedValue()==remoteLightFlash)
519                           {flash1(); flash2(); }
520      mySwitch.resetAvailable();
521                                                
522  }  
523} //checkRemote
524
525
526/*
527  ----------------------  Time related Funtions  ------------------  */
528void getTime()
529{
530
531  DateTime now = rtc.now(); 
532  year   = now.year();
533  month  = now.month();
534
535  day    = now.day();
536  hour   = now.hour();
537  minute = now.minute();
538
539  second = now.second();
540  myNow  = (hour*60)+minute;            // Create a
541  "minutes after midnight" integer in order to easily compare with the sunRise &
542  sunSet from Dusk2Dawn
543}//getTime
544
545void getRiseAndSet()
546{
547  getTime();
548                            // Get my local Sunrise and Sunset time for today
549
550  mySunrise  = myLocation.sunrise(year, month, day, true);
551  mySunset   = myLocation.sunset(year,
552  month, day, true);
553  
554  char time[6];                         // Calculate
555  the local Sunrise + Sunset hours and minutes (as the function provides minutes after
556  midnight) so we can print them on the OLED
557  Dusk2Dawn::min2str(time, mySunrise);
558
559  mySunrise = mySunrise + sunRiseOffset;
560  mySRHR = int(mySunrise/60);
561  mySRMN
562  = int(mySunrise - (mySRHR*60));
563
564  Dusk2Dawn::min2str(time, mySunset);
565
566  mySunset = mySunset + sunSetOffset;
567  mySDHR = int(mySunset/60);
568  mySDMN
569  = int(mySunset - (mySDHR*60));  
570}//getRiseAndSet
571
572
573/* ----------------------
574  OLED screen messages Funtions  ------------------  */
575
576// If ever you want
577  to translate or modify the text shown on the OLED, this is the place to be ;-)
578
579void
580  screenON()
581{
582  u8x8.setPowerSave(0);               // Switch-on the OLED (Remote
583  control messages are received, but not executed until the screen switches-off...
584
585  printMain();
586  getRiseAndSet();                    // Get sunRise & sunSet
587  for today
588  printSunrise(); 
589  printSunset();
590  printDate();
591  printTemp();
592
593
594  for (int i = 0; i <= screenOnTime; i++) {
595    getTime();
596    printTime();
597  
598    delay(1000);                      // Sow the time pogressing whilst the
599  OLED is on. 
600    }
601  u8x8.setPowerSave(1);               // Switch-off the
602  OLED
603}// screenON
604
605void printMain()
606{
607  u8x8.setCursor(0,0); u8x8.print("Date:");
608
609  u8x8.setCursor(0,1); u8x8.print("Time:");
610  u8x8.setCursor(0,3); u8x8.print("Sunrise
611  | Sunset");
612  u8x8.setCursor(8,4); u8x8.print("|");
613  u8x8.setCursor(0,6);
614  u8x8.print("---- Status: ---");  
615}//printMain
616
617
618void printInitiate(){u8x8.setCursor(0,
619  7); u8x8.print("       "); u8x8.setCursor(0, 7);u8x8.print("Initiate");}  //initiate
620  the status. Press the open or close button (depending actual door status) to change
621  and capture the correct status
622void printOpening() {u8x8.setCursor(0, 7); u8x8.print("
623       "); u8x8.setCursor(0, 7);u8x8.print("Opening ");}  //open
624void printOpen()
625    {u8x8.setCursor(0, 7); u8x8.print("       "); u8x8.setCursor(0, 7);u8x8.print("Open
626    ");}  //opening
627void printClosing() {u8x8.setCursor(0, 7); u8x8.print("
628       "); u8x8.setCursor(0, 7);u8x8.print("Closing ");}  //closing
629void printClosed()
630  {u8x8.setCursor(0, 7); u8x8.print("       "); u8x8.setCursor(0, 7);u8x8.print("Closed
631  ");}  //closed
632void printPaused()  {u8x8.setCursor(0, 7); u8x8.print("       ");
633  u8x8.setCursor(0, 7);u8x8.print("Paused  ");}  //paused
634void printFlash1()
635  {u8x8.setCursor(0, 7); u8x8.print("       "); u8x8.setCursor(0, 7);u8x8.print("Flash
636  1 ");}  //printFlash1
637void printFlash2()  {u8x8.setCursor(0, 7); u8x8.print("
638       "); u8x8.setCursor(0, 7);u8x8.print("Flash 2 ");}  //printFlash2
639void
640  printCounter() {u8x8.setCursor(8, 7); u8x8.print("  ");      u8x8.setCursor(8,
641  7);u8x8.print(myCounter);u8x8.setCursor(11, 7);u8x8.print("sec."); }//printCounter
642void
643  resetCounter() {u8x8.setCursor(8, 7); u8x8.print("        ");}//resetCounter
644
645void
646  printDate()
647{ 
648  u8x8.setCursor(5,0); 
649  if (day<=9)  {u8x8.print("0");}
650  u8x8.print(day);  u8x8.print("-"); 
651  if (month<=9){u8x8.print("0");} u8x8.print(month);u8x8.print("-");
652
653  u8x8.print(year);
654}// printDate()
655
656void printTime()
657{  
658  //u8x8.setPowerSave(1);
659
660  u8x8.setCursor(5,1); 
661  if (hour<=9)  {u8x8.print("0");} u8x8.print(hour);
662  u8x8.print(":");
663  if (minute<=9){u8x8.print("0");} u8x8.print(minute);u8x8.print(":");
664
665  if (second<=9){u8x8.print("0");} u8x8.print(second);
666} // printTime();
667
668void
669  printSunrise()
670{
671  u8x8.setCursor(1, 4); if (mySRHR<=9){u8x8.print("0");}
672  u8x8.print(mySRHR);
673  u8x8.setCursor(3,4); u8x8.print(":");
674  u8x8.setCursor(4,4);
675  if (mySRMN<=9){u8x8.print("0");} u8x8.print(mySRMN);  
676}//printSunrise
677
678void
679  printSunset()
680{
681  u8x8.setCursor(10, 4); if (mySDHR<=9){u8x8.print("0");}
682  u8x8.print(mySDHR);
683  u8x8.setCursor(12,4); u8x8.print(":");
684  u8x8.setCursor(13,4);
685  if (mySDMN<=9){u8x8.print("0");}u8x8.print(mySDMN);  
686}//printSunset
687
688void
689  printTemp()
690{
691  sensors.requestTemperatures();                                   //
692  Send the command to get temperatures
693  myTemp = round(sensors.getTempCByIndex(0)+0.5);
694                 // If you want to show Fahrenheit, you need to change the C to
695  F
696  //Serial.print(myTemp);                                           // Why
697  "byIndex"? You can have more than one IC on the same bus. 0 refers to the first
698  IC on the wire
699  u8x8.setCursor(13, 7); u8x8.print("  ");      u8x8.setCursor(13,
700  7);u8x8.print(myTemp);u8x8.setCursor(15, 7);u8x8.print("C");
701}//printTemp
702
703
704/*
705*/
706