RC control with Robonova - a newbie question

[mochung]

Hello all,

I would like to ask if anyone can give me a guide in setting up a RC control with Robonova rather than PC linkup or IR control?

I have some threads mentioning RC control with RN-1 but it seems the code couldnt work on my setup. So here are my questions and I hope some experts can help me out.

1. I saw the RC control code from Tacoman(listed below). If I use the "overall template program.bas" then where do I insert the following code?

'================================================
rc_handle:

RCX = RCIN(3)
RCY = RCIN(4)

'RC Walk

IF RCX >= 125 THEN ' RIGHT TURN
GOSUB right_turn
GOSUB standard_pose
ENDIF

IF RCX <= 75 AND RCX > 10 THEN 'LEFT TURN
GOSUB left_turn
GOSUB standard_pose
ENDIF

IF RCY >= 125 THEN ' BACKWARD
GOSUB backward_walk
GOSUB standard_pose
ENDIF

IF RCY <= 75 AND RCY > 10 THEN ' FORWARD
GOSUB forward_walk
GOSUB standard_pose
ENDIF

RETURN
'================================================

2. If I have a 6channel futaba RX and a 9ch Futaba TX then can I use PPM more or PCM mode instead FM like what the manual has stated?

3. What will be the setting between the AD ports to the RX port? Like RC1 = RCIN (2) or something else?

I hope you can share your experiences to newbie like me.

Best Regards,

Mo

[Morbeious]

2. If I have a 6channel futaba RX and a 9ch Futaba TX then can I use PPM more or PCM mode instead FM like what the manual has stated?

I'm still working out the same issues on your 1st and 3rd question. But your 2nd question I can answer.. If your using a PCM reciever and transmitter yes you can use PCM mode, your not held to FM, nor are you held to 75mhz, its just preferred for R/C Ground devices. If you decide to use 72Mhz PCM, CAUTION!! for peek sakes make sure NO Heli's or Air Plan R/C devices are flying the area on the same channel.

For the record I'm using PCM 6channel, and 9ch TX all i need is to figure out the wiring and the code lol.

[Guest]

Go to the Hitec Robotics website. www.hitecrobotics.com.
In the download section, there is a template you can use to set up RC control. This replaces the remocon settings and key routines.

[mochung]

Hi All, I have been to Hitec germany and USA website and found the RC control code. However, I still couldnt get the code work with my Futaba 6ch ppm rx and Futaba 9CH TX. I just compiling a new code and here is the detail. Can any one help me out in checking if this code does work or not? To me it didnt work at all.

'== Robot walk ================================

DIM RC4 AS BYTE
DIM RC2 AS BYTE


PTP SETON
PTP ALLON

'== motor diretion setting ======================
DIR G6A,1,0,0,1,0,0
DIR G6B,1,1,1,1,1,1
DIR G6C,0,0,0,0,0,0
DIR G6D,0,1,1,0,1,0

'== motor start position read ===================
GETMOTORSET G6A,1,1,1,1,1,0
GETMOTORSET G6B,1,1,1,0,0,0
GETMOTORSET G6C,1,1,1,0,0,0
GETMOTORSET G6D,1,1,1,1,1,0

SPEED 5

'== motor power on =============================
MOTOR G24

GOSUB standard_pose

'================================================
MAIN:

RC4 = RCIN(3)
RC2 = RCIN(1)

'RC Walk

IF RC4 >= 125 THEN ' RIGHT TURN
GOSUB right_turn
GOSUB standard_pose
ENDIF

IF RC4 <= 75 AND RC4 > 10 THEN 'LEFT TURN
GOSUB left_turn
GOSUB standard_pose
ENDIF

IF RC2 >= 125 THEN ' BACKWARD
GOSUB backward_walk
GOSUB standard_pose
ENDIF

IF RC2 <= 75 AND RC2 > 10 THEN ' FORWARD
GOSUB forward_walk
GOSUB standard_pose
ENDIF

RETURN

'================================================
forward_walk:

SPEED 5
MOVE24 85, 71, 152, 91, 112, 60, 100, 40, 80, , , , 100, 40, 80, , , , 112, 76, 145, 93, 92, 60,

fwd_walk_main:

SPEED 14
'left up
MOVE24 90, 107, 105, 105, 114, 60, 90, 40, 80, , , , 100, 40, 80, , , , 114, 76, 145, 93, 90, 60,
'---------------------------------------
'left down
MOVE24 90, 56, 143, 122, 114, 60, 80, 40, 80, , , , 105, 40, 80, , , , 113, 80, 145, 90, 90, 60,
MOVE24 90, 46, 163, 112, 114, 60, 80, 40, 80, , , , 105, 40, 80, , , , 112, 80, 145, 90, 90, 60,

SPEED 10
'left center
MOVE24 100, 66, 141, 113, 100, 100, 90, 40, 80, , , , 100, 40, 80, , , , 100, 83, 156, 80, 100, 100,
MOVE24 113, 78, 142, 105, 90, 60, 100, 40, 80, , , , 100, 40, 80, , , , 90, 102, 136, 85, 114, 60,

SPEED 14
'right up

MOVE24 113, 76, 145, 93, 90, 60, 100, 40, 80, , , , 90, 40, 80, , , , 90, 107, 105, 105, 114, 60,

'right down
MOVE24 113, 80, 145, 90, 90, 60, 105, 40, 80, , , , 80, 40, 80, , , , 90, 56, 143, 122, 114, 60,

SPEED 10
'right center
MOVE24 100, 83, 156, 80, 100, 100, 100, 40, 80, , , , 90, 40, 80, , , , 100, 66, 141, 113, 100, 100,
MOVE24 90, 102, 136, 85, 114, 60, 100, 40, 80, , , , 100, 40, 80, , , , 113, 78, 142, 105, 90, 60,

RC4 = RCIN(3)
RC2 = RCIN(1)

IF RC4 >= 75 AND RC4 <= 125 THEN

IF RC2 <= 75 THEN
GOTO fwd_walk_main
ENDIF


SPEED 5
MOVE24 85, 71, 152, 91, 112, 60, 100, 40, 80, , , , 100, 40, 80, , , , 112, 76, 145, 93, 92, 60,


RETURN
'================================================
'================================================
left_turn:
SPEED 6
MOVE G6D, 85, 71, 152, 91, 112, 60
MOVE G6A, 112, 76, 145, 93, 92, 60
MOVE G6C, 100, 40, 80, , , ,
MOVE G6B, 100, 40, 80, , , ,
WAIT

SPEED 9
MOVE G6A, 113, 75, 145, 97, 93, 60
MOVE G6D, 90, 50, 157, 115, 112, 60
MOVE G6B, 105, 40, 70, , , ,
MOVE G6C, 90, 40, 70, , , ,
WAIT

MOVE G6A, 108, 78, 145, 98, 93, 60
MOVE G6D, 95, 43, 169, 110, 110, 60
MOVE G6B, 105, 40, 70, , , ,
MOVE G6C, 80, 40, 70, , , ,
WAIT
RETURN
'================================================
'================================================
right_turn:
SPEED 6
MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D, 112, 76, 145, 93, 92, 60
MOVE G6B, 100, 40, 80, , , ,
MOVE G6C, 100, 40, 80, , , ,
WAIT

SPEED 9
MOVE G6D, 113, 75, 145, 97, 93, 60
MOVE G6A, 90, 50, 157, 115, 112, 60
MOVE G6C, 105, 40, 70, , , ,
MOVE G6B, 90, 40, 70, , , ,
WAIT

MOVE G6D, 108, 78, 145, 98, 93, 60
MOVE G6A, 95, 43, 169, 110, 110, 60
MOVE G6C, 105, 40, 70, , , ,
MOVE G6B, 80, 40, 70, , , ,
WAIT
RETURN
'================================================
'================================================

backward_walk:

SPEED 5
GOSUB backward_walk1

SPEED 13
GOSUB backward_walk2

SPEED 7
GOSUB backward_walk3
GOSUB backward_walk4
GOSUB backward_walk5

SPEED 13
GOSUB backward_walk6

SPEED 7
GOSUB backward_walk7
GOSUB backward_walk8
GOSUB backward_walk9

SPEED 13
GOSUB backward_walk2

SPEED 5
GOSUB backward_walk1

RETURN
'================================================

backward_walk1:
MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D,112, 76, 145, 93, 92, 60
MOVE G6B,100, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk2:
MOVE G6A, 90, 107, 105, 105, 114, 60
MOVE G6D,113, 78, 145, 93, 90, 60
MOVE G6B, 90, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk9:
MOVE G6A, 90, 56, 143, 122, 114, 60
MOVE G6D,113, 80, 145, 90, 90, 60
MOVE G6B, 80, 40, 80, , , ,
MOVE G6C,105, 40, 80, , , ,
WAIT
RETURN

backward_walk8:
MOVE G6A,100, 62, 146, 108, 100, 100
MOVE G6D,100, 88, 140, 86, 100, 100
MOVE G6B, 90, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk7:
MOVE G6A,113, 76, 142, 105, 90, 60
MOVE G6D,90, 96, 136, 85, 114, 60
MOVE G6B,100, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk6:
MOVE G6D,90, 107, 105, 105, 114, 60
MOVE G6A,113, 78, 145, 93, 90, 60
MOVE G6C,90, 40, 80, , , ,
MOVE G6B,100, 40, 80, , , ,
WAIT
RETURN

backward_walk5:
MOVE G6D,90, 56, 143, 122, 114, 60
MOVE G6A,113, 80, 145, 90, 90, 60
MOVE G6C,80, 40, 80, , , ,
MOVE G6B,105, 40, 80, , , ,
WAIT
RETURN

backward_walk4:
MOVE G6D,100, 62, 146, 108, 100, 100
MOVE G6A,100, 88, 140, 86, 100, 100
MOVE G6C,90, 40, 80, , ,,
MOVE G6B,100, 40, 80, , , ,
WAIT
RETURN

backward_walk3:
MOVE G6D,113, 76, 142, 105, 90, 60
MOVE G6A, 90, 96, 136, 85, 114, 60
MOVE G6C,100, 40, 80, , , ,
MOVE G6B,100, 40, 80, , , ,
WAIT
RETURN
'================================================
'================================================
standard_pose:

MOVE G6A,100, 76, 145, 93, 100, 100
MOVE G6D,100, 76, 145, 93, 100, 100
MOVE G6B,100, 30, 80, 100, 100, 100
MOVE G6C,100, 30, 80, 100, 100, 100
WAIT

RETURN
'================================================

I also want to ask in the code IF RC4 >= 75 AND RC4 <= 125 THEN

IF RC2 <= 75 THEN
GOTO fwd_walk_main
ENDIF

What does the no. 75 or 125 mean?

Best,

Mo

[Morbeious]

Is it not recongizing the imput from the the tx? or is the tx activating the wrong commands? how is the receiver plugged into the 3024?

[mochung]

Hello I dont know if my TX run the wrong command or cant read signal from the controller. It just simply doesnt work BUT there is some ocassional beep sound like the one you hear when you start up RN-1. So I am not sure if I get it work already or nothing at all. So here is the pix for my RX setup.



I also dont under why we need to use speific no. in the code like this one
IF RC4 >= 125 THEN ' RIGHT TURN

What does 125 stand for? Why cant I use 0, 10 or whatever?

Best,

Mo

[bauermech]

What does 125 stand for?? Why cant I use 0, 10 or whatever?

By dimensioning the RC2 as a BYTE (DIM RC2 AS BYTE), you’re reserving a number range between 0 and 255 to use for the AD port. As I understand it, When you begin to move the gimbal on your transmitter, It sends the corresponding value through the receiver, into RCIN(0), and assigns it to the variable RCX for processing.
Yhe beauty of all this is if you split up the ranges up even further, you can set up routines that correspond to your control stick's positions. For example: If you push slightly up on the transmitter's gimbal, your robot will begin to walk. Pushing it further up, will make it walk faster - up even further, he will begin to run. You can take it further yet by writing code to handle the blending of forward plus right or left. This is all done in code however. Not automatically. I personally haven’t tried it yet. I'm back to custom software control via bluetooth. Anyway, I hope this helped.

[Morbeious]

Eh, I modified your code below the changes are in red, also removed a few things, when I downloaded the code to my RN-1 it worked well. Try moving both of your sticks on your controller foward, wait a few sec it RN-1 should walk foward. If not check you AD nodes this code works on 3 and 4.

Note: This code isn't complete for all moves or even walking very well, it still needs lots of tweeking to get it just right, which i will be working on over the next few days. Its good for testing TX and RX.


== Robot walk ================================

GOTO AUTO
FILL 255,10000

DIM RCX AS BYTE
DIM RCY AS BYTE

CONST ID = 0 ' 1:0, 2:32, 3:64, 4:96,


PTP SETON
PTP ALLON

'== motor diretion setting ======================
DIR G6A,1,0,0,1,0,0
DIR G6B,1,1,1,1,1,1
DIR G6C,0,0,0,0,0,0
DIR G6D,0,1,1,0,1,0


'== motor start position read ===================
TEMPO 230
MUSIC "CDE"
GETMOTORSET G24,1,1,1,1,1,0,1,1,1,0,0,0,1,1,1,0,0,0,1,1,1,1,1,0
'== motor power on =============================
SPEED 5
MOTOR G24
GOSUB standard_pose
'================================================
'================================================
MAIN:

RCX = RCIN(3)
RCY = RCIN(4)

'RC Walk

IF RCX >= 125 THEN ' RIGHT TURN
GOSUB right_turn
GOSUB standard_pose
ENDIF

IF RCX <= 75 AND RCX > 10 THEN 'LEFT TURN
GOSUB left_turn
GOSUB standard_pose
ENDIF

IF RCY >= 125 THEN ' BACKWARD
GOSUB backward_walk
GOSUB standard_pose
ENDIF

IF RCY <= 75 AND RCY > 10 THEN ' FORWARD
GOSUB forward_walk
GOSUB standard_pose
ENDIF

RETURN

'================================================
forward_walk:

SPEED 5
MOVE24 85, 71, 152, 91, 112, 60, 100, 40, 80, , , , 100, 40, 80, , , , 112, 76, 145, 93, 92, 60,

fwd_walk_main:

SPEED 14
'left up
MOVE24 90, 107, 105, 105, 114, 60, 90, 40, 80, , , , 100, 40, 80, , , , 114, 76, 145, 93, 90, 60,
'---------------------------------------
'left down
MOVE24 90, 56, 143, 122, 114, 60, 80, 40, 80, , , , 105, 40, 80, , , , 113, 80, 145, 90, 90, 60,
MOVE24 90, 46, 163, 112, 114, 60, 80, 40, 80, , , , 105, 40, 80, , , , 112, 80, 145, 90, 90, 60,

SPEED 10
'left center
MOVE24 100, 66, 141, 113, 100, 100, 90, 40, 80, , , , 100, 40, 80, , , , 100, 83, 156, 80, 100, 100,
MOVE24 113, 78, 142, 105, 90, 60, 100, 40, 80, , , , 100, 40, 80, , , , 90, 102, 136, 85, 114, 60,

SPEED 14
'right up

MOVE24 113, 76, 145, 93, 90, 60, 100, 40, 80, , , , 90, 40, 80, , , , 90, 107, 105, 105, 114, 60,

'right down
MOVE24 113, 80, 145, 90, 90, 60, 105, 40, 80, , , , 80, 40, 80, , , , 90, 56, 143, 122, 114, 60,

SPEED 10
'right center
MOVE24 100, 83, 156, 80, 100, 100, 100, 40, 80, , , , 90, 40, 80, , , , 100, 66, 141, 113, 100, 100,
MOVE24 90, 102, 136, 85, 114, 60, 100, 40, 80, , , , 100, 40, 80, , , , 113, 78, 142, 105, 90, 60,

RCX = RCIN(3)
RCY = RCIN(1)

IF RCX >= 75 AND RCX <= 125 THEN

IF RCY <= 75 THEN
GOTO fwd_walk_main
ENDIF


SPEED 5
MOVE24 85, 71, 152, 91, 112, 60, 100, 40, 80, , , , 100, 40, 80, , , , 112, 76, 145, 93, 92, 60,


RETURN
'================================================
'================================================
left_turn:
SPEED 6
MOVE G6D, 85, 71, 152, 91, 112, 60
MOVE G6A, 112, 76, 145, 93, 92, 60
MOVE G6C, 100, 40, 80, , , ,
MOVE G6B, 100, 40, 80, , , ,
WAIT

SPEED 9
MOVE G6A, 113, 75, 145, 97, 93, 60
MOVE G6D, 90, 50, 157, 115, 112, 60
MOVE G6B, 105, 40, 70, , , ,
MOVE G6C, 90, 40, 70, , , ,
WAIT

MOVE G6A, 108, 78, 145, 98, 93, 60
MOVE G6D, 95, 43, 169, 110, 110, 60
MOVE G6B, 105, 40, 70, , , ,
MOVE G6C, 80, 40, 70, , , ,
WAIT
RETURN
'================================================
'================================================
right_turn:
SPEED 6
MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D, 112, 76, 145, 93, 92, 60
MOVE G6B, 100, 40, 80, , , ,
MOVE G6C, 100, 40, 80, , , ,
WAIT

SPEED 9
MOVE G6D, 113, 75, 145, 97, 93, 60
MOVE G6A, 90, 50, 157, 115, 112, 60
MOVE G6C, 105, 40, 70, , , ,
MOVE G6B, 90, 40, 70, , , ,
WAIT

MOVE G6D, 108, 78, 145, 98, 93, 60
MOVE G6A, 95, 43, 169, 110, 110, 60
MOVE G6C, 105, 40, 70, , , ,
MOVE G6B, 80, 40, 70, , , ,
WAIT
RETURN
'================================================
'================================================

backward_walk:

SPEED 5
GOSUB backward_walk1

SPEED 13
GOSUB backward_walk2

SPEED 7
GOSUB backward_walk3
GOSUB backward_walk4
GOSUB backward_walk5

SPEED 13
GOSUB backward_walk6

SPEED 7
GOSUB backward_walk7
GOSUB backward_walk8
GOSUB backward_walk9

SPEED 13
GOSUB backward_walk2

SPEED 5
GOSUB backward_walk1

RETURN
'================================================

backward_walk1:
MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D,112, 76, 145, 93, 92, 60
MOVE G6B,100, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk2:
MOVE G6A, 90, 107, 105, 105, 114, 60
MOVE G6D,113, 78, 145, 93, 90, 60
MOVE G6B, 90, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk9:
MOVE G6A, 90, 56, 143, 122, 114, 60
MOVE G6D,113, 80, 145, 90, 90, 60
MOVE G6B, 80, 40, 80, , , ,
MOVE G6C,105, 40, 80, , , ,
WAIT
RETURN

backward_walk8:
MOVE G6A,100, 62, 146, 108, 100, 100
MOVE G6D,100, 88, 140, 86, 100, 100
MOVE G6B, 90, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk7:
MOVE G6A,113, 76, 142, 105, 90, 60
MOVE G6D,90, 96, 136, 85, 114, 60
MOVE G6B,100, 40, 80, , , ,
MOVE G6C,100, 40, 80, , , ,
WAIT
RETURN

backward_walk6:
MOVE G6D,90, 107, 105, 105, 114, 60
MOVE G6A,113, 78, 145, 93, 90, 60
MOVE G6C,90, 40, 80, , , ,
MOVE G6B,100, 40, 80, , , ,
WAIT
RETURN

backward_walk5:
MOVE G6D,90, 56, 143, 122, 114, 60
MOVE G6A,113, 80, 145, 90, 90, 60
MOVE G6C,80, 40, 80, , , ,
MOVE G6B,105, 40, 80, , , ,
WAIT
RETURN

backward_walk4:
MOVE G6D,100, 62, 146, 108, 100, 100
MOVE G6A,100, 88, 140, 86, 100, 100
MOVE G6C,90, 40, 80, , ,,
MOVE G6B,100, 40, 80, , , ,
WAIT
RETURN

backward_walk3:
MOVE G6D,113, 76, 142, 105, 90, 60
MOVE G6A, 90, 96, 136, 85, 114, 60
MOVE G6C,100, 40, 80, , , ,
MOVE G6B,100, 40, 80, , , ,
WAIT
RETURN
'================================================
'================================================
standard_pose:

MOVE G6A,100, 76, 145, 93, 100, 100
MOVE G6D,100, 76, 145, 93, 100, 100
MOVE G6B,100, 30, 80, 100, 100, 100
MOVE G6C,100, 30, 80, 100, 100, 100
WAIT

RETURN
'================================================

[mochung]

Hello, I tried downloading the revised code into my RN-1 and it worked!! However, i dont know what is causing the delay reaction on the RX. I tried pushing the TX stick forward or sidewide it seems the signal couldnt always get to RN-1. So now I can get RC control work with RN-1 but when I push the sticks RN-1 doesnt always move as well. Its like if I am lucky RN-1 will move as I want. But most of the time there is no movement even I moves the TX sticks. any idea?

Best,

Mo

[Morbeious]

I'm currently working on the delay issues. I have two ideas, on where the delay maybe. It may be in the tx, I'm using a Fatuba 9C Super, which has lots of Gizmos, that maybe interfering. When the code is activated I notice all i need to do is push the stick on the controls and the RN-1 starts to move foward, When pushing the stick in other directions the backward/turn left/turn right code isnt activated. The tx also has throttle curves and signal input setups that may need to be adjusted to support the input speed of the RN-1. It also maybe in both places RoboBasic, and TX as i weed through I will keep ya posted..

[mochung]

Hello there, I do have a Futaba 9C but not super. Mine is a 9CHP TX. I have another TX and that is a 4Ch JR Prop TX. I used it with a 4CH FM RX but guess what. It gave me the same kind of result so I dont think Futaba 9C has a interfering issue. I think the real result is the Robobasic code. Especially the one like this one:

IF RCY <= 75 AND RCY > 10 THEN ' FORWARD

Why <=75 and > 10 but not other fig.

BTW I can get RN-1 walk backward, left and right turn just like forward walk with the code you revised BUT I need lot of luck because I cannot always get RN-1 to perform the movements. So its not only delay issue but also luck.

Looking forward to your great finding!

Best,

Mo

[Morbeious]

Yeah, your correct I tried another tx, its the code. When looking at the code its all in the timing, I beleive your correct with the 75, or it maybe how/when the IF Than statement is called. later tonight I will test a few theories.. and adjust the numbers to see what happens. if you've already tried this let me know the results.

[bauermech]

Hi, don't know if this will help at all...
I used the Hitec 03-MM 3ch. RX. The TX is a 12ch. VEX Robtics unit (comes w/ the startup kit... nothing fancy) I noticed when going forward and Right, everything seemed to work correctly. However, if I was moving forward and moved the gimbal all the way Left before the walk routine was finished, it didn't work. Meaning, the Left turn should have started once the walk had finished running, but it didn't. Walk ended, and the RN stood waiting for the next input. This was solved by, instead of moving the gimbal to the extreme Left, I just moved it over in the slightest incrament. As soon as a routine was over, the next followed right behind w/o error, and the next, etc. ...Is this what you're talking about with delay?
I too believe the ranges are incorrect in the code. Or perhaps my TX just sucks.

[fungo]

This is all very interesting. My question about using an RC RX with the RN-1 is about how to power the receiver. Normally the battery pack connects to the RX and in turn the RX connects to the servos. How do you connect the receiver to the RN-1's motherboard?

[mochung]

Hi Fungo, check out this link and u will know how to power the RX. Basically u dont need a seperate battery to power the RX.

http://pg.photos.yahoo.com/ph/testmochu ... m=1bfd.jpg

Hi All, the delay I have is even at the beginning. I cannot always get RN-1 moved right the way. I have to move the stick just to certain point then I hear a beep sound then RN-1 moves. So it depends on how lucky I can hit the spot. So this happens right at the begining and also at every move after that.

I have tried adjusting those no. and it seems to me that changing the no. in the code does give some sort of improvement. But I still need some of your professional to verify my finding.

Best,

Mo