Hoverboard robot hack. forked from krisstakos/Hoverboard-Firmware-Hack-Gen2.

Hoverboard robot hack. These two wells can move a human.

• Hoverboard robot hack The war in Ukraine has witnessed an extensive use of hacked robots, making a significant impact. It was a breeze to compile the "test" firmware and uploaded to the board. This firmware offers currently these variants (selectable in platformio. will it works? This video shows a beginning stage of a larger project. launch and 4x4. com/krisstakos/Hoverboard-Firmware-Hack-Gen2. h):. An RC receiver with iBUS protocol can be Posted in Parts, Robots Hacks Tagged hoverboard, hoverboard motor, mecanum wheels, rover Hoverboard Turned Heavy Duty Remote Control Rover May 3, 2021 by Tom Nardi 20 Comments Hoverboard Hack Firmware Generation 2. How I hacked the Self Balancing Scooter . Playlist SEGABOT: https://www. Hoverboard Hack, mit, motor controller, Motor hack, offroad hoverboard, robot, robot project, Segway, TBBT. Sign in Product With Field Oriented Control (FOC). html?_nkw=hoverboard+replacement+wheelZybo When “hoverboards” first came out, you may have been as disappointed as we were that they did not even remotely fulfill the promises of Back to the Future II. MM32SPIN05PF‐Layout 2. As I promised I am back with the electronics and software part witho Building a DIY balancing robot using Arduino and ODrive / ODESC. If you find my videos helpful, you can say thank you and help me to make more tutorials with a cup of coffee or by picking up a copy of Practical Robotics in With Field Oriented Control (FOC). Balancing robot-hoverboard + ODESC It loves to hack digital stuff around such as radio protocols, access control systems, hardware and more. Absolutely excellent work! Thank you so much for your efforts and your generosity in sharing it- what a great team effort! In trying to replicate your work – I would like to achieve a 4WD robo RoboDurden / Hoverboard-Firmware-Hack-Gen2. Contribute to Henrado/hoverboard-RC-hack development by creating an account on GitHub. I’ll control robot by mobile via video app, and so robot has camera to let me see what he see, and then I control it by arrows). Very low speed traveling/positioning. Find and fix vulnerabilities With Field Oriented Control (FOC). 📅 Last Modified: Thu, 15 Feb 2024 01:28:04 GMT. CHEAP LAWNMOWER ROBOT USING A HOVERBOARD (Hacked Firmware) - gaucho1978/CHEAP-LAWNMOWER-ROBOT-FROM-HOVERBOARD In this video kids have fun in snow with a remote controlled snowmobile made from a hacked Hoverboard with wheels modified for winter good for ice and snow. However the feedback signals I'm rece @AILIFE4798 has written a complete new autodetect for his MM32 firmware that saves the found pins to EEPROM that his hoverboard firmware reads on startup. md). Sammenlignet med kommuteringsmetoden (som de kommer med) tilbyr denne FOC-kontrollmetoden overlegen ytelse med: redusert støy og vibrasjoner jevnt dreiemoment og forbedret motoreffektivitet. Main steps to upload the firmware: [Isabelle Simova] is building Hoverbot, a flexible robotics platform using Ikea plastic trays, JavaScript running on a Raspberry Pi and parts scavenged from commonly available hoverboards. though, as this hoverboard to track-propelled robot tank If you find my videos helpful, you can say thank you and help me to make more tutorials with a cup of coffee or by picking up a copy of Practical Robotics in Hoverboard Robotics Tutorial Part 3A: Hoverboard Robot Drive with ROS (Robot Operating System) In this video, we apply the skills we learned in the last video and configure and last the control board with new firmware for use with a ROS robot. right now I'm using excel and it's a bit tedious. I stumbled upon the repo of Niklas Fauth’s repo, [who] summarized the reverse-engineering efforts on hoverboards, shared the opensource firmware, [and] instructions on Your System VARIANT: USART CONTROL TYPE: CONTROL MODE: What is your application? RC and autonomous Robot Goodevening Mr. 2x Hoverboards - Any used hoverboard will work for our purposes. With Field Oriented Control (FOC) C 13 7 ESPLoad ESPLoad Public. This brings The same thing happened to me before (after flashing the hack fw) with a different kind of board (1 main esc and 2 slave gyro boards type of hoverboard). 1 with different defines_2-x. two wheel synchronized) Backward (in These two wells can move a human. io/Balancing-robot/Affiliate links:Sequre ODESC ( As my prototype requires 4 wheels, I had a bad surprise when I checked the second hoverboard. Dermed lavere energiforbruk With Field Oriented Control (FOC). I need to configure code to control by: PWM and direction for each wheel separately, or; Control by UART; The main requirement make the robot run these sequences (by Arduino): Forward (in straight-line). CHEAP LAWNMOWER ROBOT USING A HOVERBOARD (Hacked Firmware) - gaucho1978/CHEAP-LAWNMOWER-ROBOT-FROM-HOVERBOARD. So that's a good start :). To separate IBUS on Right and Serial on Left for example we need to add Posted in Parts, Robots Hacks Tagged hoverboard, hoverboard motor, mecanum wheels, rover Post navigation ← Simulating The Game Boy Printer’s Actual Paper Output You can control this lawnmower robot with a rc radiocontrol like a big rover, or let it automatically take care of your garden. The must-have toy of the moment last winter was the “Hoverboard”. Compared to the commutation method, this new FOC Hoverboard firmware hack The firmware hack is done in VS Code by Platfor IO using the code of EFeru/hoverboard-firmware-hack-FOC repository. 2nd hand Hoverboard 30 Euros without charger but working. Making hoverserial start from zero sp This repository implements Field Oriented Control (FOC) for stock hoverboards. Now written from scratch and generally much better. The firmware you can find here allows you to use your Hoverboard Hardware (like the Mainboard, Motors and Battery) for cool projects like driving armchairs, person-tracking transportation robots and every other application you can imagine that requires controlling the This video details my journey so far into interfacing with a hoverboard. h for different board layouts :-) Compiles with Keil version 6 - RoboDurden/Hoverboard-Firmware-Hack-Gen2. First step is to control robot with RC. Then we learn how to wire the board to your Raspberry Pi or [] with different defines_2-x. With Field Oriented Control (FOC). Currently the application demands high torque with low speed. You can do this by connecting a robotic arm to the hoverboard and programming it to perform your desired task, such as carrying and I’m sure anyone who had seen Back To The Future was more than a little disappointed when “hoverboards” started appearing on the scene. Hoverboard Motors:https://www. Nothing more than a fancif Robots are super interesting, but you probably shouldn’t start learning about them with a full-sized industrial SCARA arm or anything. com/thing:5506199/filesBrushless Electric Mot You can control this lawnmower robot with a rc radiocontrol like a big rover, or let it automatically take care of your garden. It is mass produced so very low cost. This repo contains open source firmware for generic Hoverboard Mainboards. You can turn your electric vehicle into a robot to take it to the next level. As shown in the video a TxD signal was given to all Hack an Hoverboard to propel your fat robots! Contribute to OpHaCo/hoverbot development by creating an account on GitHub. I haven't got a good method of plotting yet. Firmware: https://github. Most hoverboard controllers use the STM32F103, so flashing them with your own firmware becomes easy using a ST-link V2 programmer. Implementation in C++ with Boost libraries. Is there some guide on what values can be used for the steering and speed parameters of send()? with different defines_2-x. Cool We could hack it and move your obese robot! Here is how an hoverboard must be ridden In this project we will capture and generate control signals in order to be able Hi, I have been following you for some time. Share your work with the largest hardware and software projects community. - Issues · flo199213/Hoverboard-Firmware-Hack-Gen2 Hoverboard Hack Firmware Generation 2 for the Hoverboard with the two Mainboards instead of the Sensorboards (See Pictures). Two: Reprogram the control chip(s) in the hoverboard-firmware-hack-FOC hoverboard-firmware-hack-FOC Public. Feru, (My application has nothing to do with my problem because I'm using you GD32 Keil code project for the Gen2. x GitHub Wiki Dear sir, Greetings, Can you kindly help me to optimal use your code, please. Sign in Product Actions. Back to overview. This brings great job for your code. AutoDetect Pins - RoboDurden/Hoverboard-Firmware-Hack-Gen2. Contribute to falsafi1986/hoverboard-firmware-hack-robot development by creating an account on GitHub. x GitHub Wiki About Press Copyright Contact us Creators Advertise Developers Terms Privacy Policy & Safety How YouTube works Test new features NFL Sunday Ticket Press Copyright Dismantling a hoverboard to use the wheels, motors and parts for robots. All steering and feedback messages are transmitted by serial port communication. x-MM32 With Field Oriented Control (FOC). 5 inch) fatty tyres. x Public. . Each hoverboard motor comes with hall sensors that tell the ODrive when to power which of the three phases. Default selected method: Sinusoidal 3rd harmonic. but i have idea with this hoverboard, can i copy your code and flashing to singel board instead dual board master and slave? i want to use this board control bldc motor individualy. h for two different board layouts :-) Simply set #define LAYOUT x to your 2. It's fully open-source and customizable so you With Field Oriented Control (FOC). Forked from EFeru/hoverboard-firmware-hack-FOC. Thank you for putting this online compiler together, saved me a ton of time. There are three obvious approaches for this. A simple off-road capable balancing robot I've been fascinated by balancing machines for years, but haven't managed to make one that worked well until now. In this video, I show you how I build a robot base from a broken hoverboard :)3d model: https://www. You can control this lawnmower robot with a rc radiocontrol like a big rover, or let it automatically take care of your garden. One: Using the existing protocol by reverse engineering the protocol between the boards, the rover pretends to be tipping human. Host and manage packages Security. A short video showing the noise performance of the Commutation give your project a unique name for permanent storage on my server: > > > > > > > > > > > The hack starts by machining the hub motors of the hoverboard. This system consists of two gyroscope sensors feeding data to the motor controller, which responds by moving the motors to keep the gyros "flat". They’re bolted together, and used as the hub of a single larger wheel. 1. This brings Navigation Menu Toggle navigation. You could also replace the radiocontrol with bluetooth receiver conneted on the slave board serial line (reference about this on Florian repository) This repo contains open source firmware for generic Hoverboard Mainboards. by the way I use BLDC motors from (old hoverboard), Proposed robot for :-Indoor application (so, no GPS can use). githubusercontent. It allows you to control the hardware of the new version of hoverboards (like the Mainboard, Motors and Battery) with an arduino or some RoboDurden / Hoverboard-Firmware-Hack-Gen2. forked from You can create a release to package software, along with release notes and links to binary files, for other people to use. I rather hope that you @AILIFE4798 will Navigation Menu Toggle navigation. The firmware you can find here allows you to use your Hoverboard Hardware (like the Mainboard, Motors and Battery) for cool projects like driving armchairs, person-tracking transportation robots and every other application you can imagine that requires controlling the This repo contains open source firmware for generic Hoverboard Mainboards. Find and fix vulnerabilities Hoverboard Hack Firmware Generation 2 for the Hoverboard with the two Mainboards instead of the Sensorboards (See Pictures). Unfortunately, I discovered that it is not original. [madcowswe] starts by pointing out that the entire premise of ODrive (an open-source brushless motor driver board) is to make use of inexpensive brushless motors in industrial-type applications. RoboDurden #hoverboard #hacker hacking hoverboard wiiEmbedded microcontroller Arduino prototype projectshoverboard use as your trolly cartWhen the motor is running, the CHEAP LAWNMOWER ROBOT USING A HOVERBOARD (Hacked Firmware) - gaucho1978/CHEAP-LAWNMOWER-ROBOT-FROM-HOVERBOARD 📅 Last Modified: Wed, 14 Feb 2024 15:22:53 GMT. x board in Inc/config. Supplies. com So additional structs Server2HoverTorque or Server2HoverRpm might be in reach. This is a dirt simple build that uses two moteus This is a fork from https://github. An RC receiver with iBUS protocol can be (1) By enabling ELECTRIC_BRAKE_ENABLE in config. Find and fix vulnerabilities 17th April 2019 testing out the rc hoverboard car at drifting, going up inclines, top speed and handling version/layout 2. for this I was trying to go with to gaucho1978 / CHEAP-LAWNMOWER-ROBOT-FROM-HOVERBOARD Public forked from flo199213/Hoverboard-Firmware-Hack-Gen2 Notifications You must be signed in to change notification settings Here is the link to the guide for making the Balancing robot-hoverboard + ODESC It loves to hack digital stuff around such as radio protocols, access control systems, hardware and more. ; roslaunch hoverboard_driver hoverboard. x for the Hoverboard with the two Mainboards instead of the Sensorboards (See Pictures). New Hoverboard Firmware Hack. Watch my other video on using them for a RC controlled Go Kart robot: https://youtu. AskEngineers is a forum for questions about the technologies, standards, and processes used to design & build these systems, as well as for questions about the engineering profession and its many disciplines. 4WD config is purely for illustration on how to use several ports, but was not tested with two hoverboards. ini or config. If you only have 1 hoverboard, it will also work, but you need to find an alternative for the If you find my videos helpful, you can say thank you and help me to make more tutorials with a cup of coffee or by picking up a copy of Practical Robotics in Variant ADC Control type FOC Control mode Voltage Description I need to develop an autonomous mobile robot , using the hoverboard firmware. x Public forked from krisstakos/Hoverboard-Firmware-Hack-Gen2. Learn more about releases in our docs ROS2 Control hardware interface for Hoverboard motors. The firmware you can find here allows you to use your Hoverboard Hardware (like the Mainboard, Motors and Battery) for cool projects like driving armchairs, person-tracking transportation robots and every other application you can imagine that requires controlling the Motors. 6 kB init. 8 - RoboDurden/Hoverboard-Firmware-Hack-Gen2. Code; Issues 60; Pull requests 0; (and i even added more classes like Hoverboard and even more classes to come like Remote), that i think i will give up on that. In the send() function what values can be used to steer the robot? It is set to 0 in EFeru's Version and this one. The launch file can be an inspiration for your Hello, Thank you for all the nice work, I'm able to control the hoverboard motors through UART2 using an ESP32. The goal is to enable this robot to receive destination coord (1) By enabling ELECTRIC_BRAKE_ENABLE in config. Two: Reprogram the control chip(s) in the hoverboard, and send messages from a host. As of August 2019, HOVERBOARD MOTOR HACK – useful for Arduino robot projects. CHEAP LAWNMOWER ROBOT USING A HOVERBOARD (Hacked Firmware) - gaucho1978/CHEAP-LAWNMOWER-ROBOT-FROM-HOVERBOARD with different defines_2-x. Of course, these weren’t Back to the Future-style hovering skateboards; they were crappy two-whee In this video i show you how to remove the hoverboard motherboard and change the firmware to use other inputs instead of the balance sensorsyou can get the h This is PART 2 of "Hoverboard to OFF-ROAD 4X4 SEGABOT#5" - ( Electronics & Drive TEST ). Unfortunately the original 40x40mm Aluminium profiles and Aluminium cheets plus the cheapest Hoverboard. So only one hoverboard firmware needed :-) The autodetect firmware currently is th Hoverboard creations ready for battle. Sign in Product Here is the link to the guide for making the Balancing robot-hoverboard + ODESC It loves to hack digital stuff around such as radio protocols, access control systems, hardware and more. h for different board layouts :-) Compiles with Keil version 6 - Issues · RoboDurden/Hoverboard-Firmware-Hack-Gen2. I would like you to help me find a solution to my problem, please! So, my problem is that I purchased Hoverboard for robot projects. x This repo contains open source firmware for generic Hoverboard Mainboards. Th Low cost two wheels drive - hoverboard hack. But these structs should of course be c++ classes derived from an abstarct class Server2HoverControl with an element function (method) Control() that hosts the closed loop needed to control a position or torque or rpm in these classes. Contribute to RoboDurden/Hoverboard-Firmware-Hack-Gen2. This is what keeps the human upright most of the time. h :-)) Make use of the hoverboard hardware to create a robotics-platform that can be controlled either from RC-Transmitter or over rx-tx serial from Arduino or Raspberry pi. x hoverboard. You could also replace the radiocontrol with bluetooth receiver conneted on the slave board serial line (reference about this on Florian repository) My first mobile robot, Robaka v1 was a nice experience, but the platform was too weak to carry the Jetson Nano. I need to configure code to control by: PWM and direction for each wheel separately, or Control by UART The main requirement make the robot run these sequences (by Arduino): Forward (in Different approaches. Hi, I'm a new member of this wonderful forum. Multiple different hoverboard models exist, you should find the right repository for your device. Power your robot, chair, couch, with an overboard! Gives anything two wheels drive! This repo contains open source firmware for generic Hoverboard Mainboards. - copterfight/selfbalancing-robot Hoverboard firmware hack \n; Hoverboard control with embedded system using ROS2 \n; Robot design \n; Robot simulation \n; Create the robot \n; Add own AI system for semantic segmentation into ROS2 \n \n In Ice & Snow HOVERBOARD Wheels HACK - DIY studs video, I show how I thought about modifying the hoverboard wheels so that they can be used on ice and snow a However, we can make a suitable platform from a commonly found item, a hoverboard, as they contain motors and batteries, which are often the most expensive parts of a robot. Navigation Menu Toggle navigation. If you find my videos helpful, you can say thank you and help me to make more tutorials with a cup of coffee or by picking up a copy of Practical Robotics in Posted in Toy Hacks, Transportation Hacks Tagged hoverboard, hoverboard motor, motorized, remote control, rover, wheel motor Post navigation ← Teaching A USBasp Programmer To Speak TPI Hoverboard Robot Hack . For older models with only one motherboard, see the FOC repository, For models with 2 sideboards, the CHEAP LAWNMOWER ROBOT USING A HOVERBOARD (Hacked Firmware) - gaucho1978/CHEAP-LAWNMOWER-ROBOT-FROM-HOVERBOARD Hoverboard Hack Firmware Generation 2 for the Hoverboard with the two Mainboards instead of the Sensorboards (See Readme. Wheel driving wheel is a form of power steering😎. (i. forked from krisstakos/Hoverboard-Firmware-Hack-Gen2. About Press Copyright Contact us Creators Advertise Developers Terms Privacy Policy & Safety How YouTube works Test new features NFL Sunday Ticket Press Copyright This is my attempt to the Hack it Back challenge, with my hoverboard based rover robot gaucho1978 / CHEAP-LAWNMOWER-ROBOT-FROM-HOVERBOARD Public forked from flo199213/Hoverboard-Firmware-Hack-Gen2 Notifications You must be signed in to change notification settings Hackaday. First version will be remotely controlled (i. This experiment will show how easy the Hoverboard controller can be manipulated. It is intended for use by robot enthusiasts, students, professionals, hackers, makers, and the compulsively curious. h, the freewheeling amount can be adjusted using the ELECTRIC_BRAKE_MAX parameter. Also nice to see simulink / matlab models related to FOC ;). Suitable controllers are available on eBay for around $AU15 each. launch for examples of 2WD and 4WD configurations. This brings 2015 was two years ago, and to the surprise of many, we actually had hoverboards at the time. EFeru firmware was ported (1) By enabling ELECTRIC_BRAKE_ENABLE in config. The text was updated successfully, but these errors were encountered: All reactions. Cool We could hack it and move your obese robot! Here is how an hoverboard must be ridden In this project we will capture and generate control signals in order to be able to drive two wheels motor using an external CPU. A firmware to control split motherboard hoverboards with UART - AILIFE4798/Hoverboard-Firmware-Hack-Gen2. x-GD32 development by creating an account on GitHub. io is home to thousands of art, design, science, and technology projects. Unable to hack the board’s firmware Hoverboard port can be set as a "port" parameter in the node namespace. Hoverbot is an extensible robot platform built from repurposed consumer products and modern software tools. x hoverboard-firmware-hack. thingiverse. In all FOC control modes, the controller features maximum motor speed and maximum motor current protection. 0: The low side gate drivers each have three smd resitors connected to a PBx and the high side mosfets begin with two resistors connected to a PAx, which confirms the gate driver circuit of the original "Gen1" hoverboard schematics on page 2 of https://raw. They didn’t float and they looked fair hoverboard-firmware-hack. We all probably secretly wished them to be the boards from the Back to the Future series of films made real, but the mo Different approaches. The next set of parts you need to build your robot is sensors. (2) The standstill hold functionality can be forced by enabling STANDSTILL_HOLD_ENABLE in config. 1 Notifications You must be signed in to change notification settings CHEAP LAWNMOWER ROBOT USING A HOVERBOARD (Hacked Firmware) - gaucho1978/CHEAP-LAWNMOWER-ROBOT-FROM-HOVERBOARD. This is pretty awesome and super helpful!. Members Online. Find and fix vulnerabilities I have no idea how to flash this mcu, I had to buy a whole hoverboard to finish my robot but to my contrary this happened; RoboDurden / Hoverboard-Firmware-Hack-Gen2. The next milestone was building a robot ready to carry the real payload and drive outdoors. youtube. github. VARIANT_DEBUG: In this variant the user can interact with sideboard by sending commands via a Serial Monitor to observe and check the capabilities of the sideboard; VARIANT_HOVERCAR: This variant can be used for Hovercar build. Copy link Owner. lua for NodeMCU to install lua files via wifi Lua 12 4 Something went wrong, please refresh the page to try again. Arduino Controlled Lawn Mowers. It allows you to @Tjaart-Hobby I checked, and yes I confirm what @Candas1 said, because IBUS is a subset of SERIAL_CONTROL at the moment with the above settings you get dual IBUS variant on both cables, so basically the firmware expects IBUS input on both Left and Right cable. It allows you to control the hardware of the new version of hoverboards (like the Mainboard, Motors and Battery) with an arduino or some Engineers apply the knowledge of math & science to design and manufacture maintainable systems used to solve specific problems. This repo contains open source firmware for generic Hoverboards with two mainboards. x Lets make a hoverboard robot The hoverboard motor controller is programmed for a human controlled, self-balancing system. You could also replace the radiocontrol with bluetooth receiver conneted on the slave board serial line (reference about this on Florian repository) The hoverboard wheels and casters were upgraded with pneumatic tires for the sake of a smoother ride, and control is via a thumbstick mounted on a mouse. Instructions: https://stijnsprojects. h. My pr With Field Oriented Control (FOC). It's fully open-source and customizable so you can extend it in whatever way you like. Finally, FlipperPhone! With this DIY open-source module you can call and write sms with FLipperZero. com/playlist?list=PLB1fUWB0ZL18aI60wh CHEAP LAWNMOWER ROBOT USING A HOVERBOARD (Hacked Firmware) - gaucho1978/CHEAP-LAWNMOWER-ROBOT-FROM-HOVERBOARD. Glad to see it worked for you. com/NiklasFauth/hoverboard-firmware-hack Write better code with AI Security With Field Oriented Control (FOC). This brings All these 4 methods are available in this repository and can be selected by a calibratable inside 'config. Skip to content. The transformation of inexpensive drones into weapons of war (1) By enabling ELECTRIC_BRAKE_ENABLE in config. A hoverboard with custom firmware looked like a great starting point for Robaka 2: get a board, build the platform around it and add a ROS-enabled controller for the motors. Notifications Fork 23; Star 62. Automate any workflow Packages. A pair of hoverboard could be used to make a skid-steer robot. My plan for incorporating Hoverboard motors into RoboDog. h for different board layouts :-) Compiles with Keil version 6 - cpu133/Hoverboard-Firmware-Hack-Gen2. In this video I show you the conversion of a hoverboard into a radio guided rover. com/sch/i. The hoverboard motor controller is programmed for a human controlled, self-balancing system. launch; Use any tool (keyboard_teleop, rqt) to send This video shows you how to hack 3 phase brushless hoverboard motors then program and control them using VESC, Synthiam (EZ Builder) EZ Robots IOTiny control Dette reoet implementerer Field Oriented Control (FOC) for vanlige hoverboards. Hoverboard are also available in off-road versions, which a have larger (8. The second part of hacking a hoverboard motherboard, in this video i show you which wires to connect to what to make the motors move how you want, I cant put (1) By enabling ELECTRIC_BRAKE_ENABLE in config. Here, we are using (this board), wich needs as a specific procedure to flash it, described below. Each hall sensor has five wires: Two for power (5V, usually red and GND, usually black) and three for signal (often blue, yellow and green). I need to build round robot with hoverboard motors/drivers by hacking main board of hoverboard. Better to learn with something smaller and simpler to This repo contains open source firmware for generic Hoverboard Mainboards. The simplest way to run the whole package is to use the demo launch file. h' file. These two wells can move a human. e. Great! Lets make a hoverboard robot. ebay. which has the so called splitboard described here: GitHub - Candas1/Hoverboard-Firmware-Hack-Gen2: Hoverboard Hack Firmware Generation 2 for the Hoverboard with the two Mainboards instead of the Sensorboards (See Readme. Check hoverboard. Three: Replace the hoverboard motor drivers with a driver such as the ZS-11B. liqbh tqq qbhlcq osj cuadtr kmjyzxdy bkz bxo qomqz nopylf