diff --git a/doc/ProgrammeHolonome2023.png b/doc/ProgrammeHolonome2023.png index 2885ff0..4ec4933 100644 Binary files a/doc/ProgrammeHolonome2023.png and b/doc/ProgrammeHolonome2023.png differ diff --git a/doc/ProgrammeHolonome2023.svg b/doc/ProgrammeHolonome2023.svg index 4f9c876..0521bb8 100644 --- a/doc/ProgrammeHolonome2023.svg +++ b/doc/ProgrammeHolonome2023.svg @@ -7,14 +7,14 @@ xmlns="http://www.w3.org/2000/svg" xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" - width="900.72089mm" - height="339.11084mm" - viewBox="0 0 900.72088 339.11083" + width="1163.9067mm" + height="339.91183mm" + viewBox="0 0 1163.9067 339.91183" version="1.1" id="svg5" inkscape:version="1.0.2 (e86c870879, 2021-01-15)" sodipodi:docname="ProgrammeHolonome2023.svg" - inkscape:export-filename="/media/samuel/E6A6-F9D3/Perso/ProgrammeHolonome2023.png" + inkscape:export-filename="/home/samuel/Projets/RpiPico/pico/pico-perso/doc/ProgrammeHolonome2023.png" inkscape:export-xdpi="74.976669" inkscape:export-ydpi="74.976669"> <metadata @@ -25,7 +25,7 @@ <dc:format>image/svg+xml</dc:format> <dc:type rdf:resource="http://purl.org/dc/dcmitype/StillImage" /> - <dc:title></dc:title> + <dc:title /> </cc:Work> </rdf:RDF> </metadata> @@ -39,9 +39,9 @@ inkscape:pagecheckerboard="0" inkscape:document-units="mm" showgrid="false" - inkscape:zoom="0.31300852" - inkscape:cx="1829.513" - inkscape:cy="732.39461" + inkscape:zoom="0.54838704" + inkscape:cx="2689.2562" + inkscape:cy="1223.561" inkscape:window-width="1920" inkscape:window-height="1016" inkscape:window-x="0" @@ -55,12 +55,26 @@ inkscape:snap-nodes="false" inkscape:snap-others="false"> <sodipodi:guide - position="835.2789,154.33063" + position="1098.4647,155.13162" orientation="1,0" id="guide3153" /> </sodipodi:namedview> <defs id="defs2"> + <marker + style="overflow:visible" + id="marker3980" + refX="0" + refY="0" + orient="auto" + inkscape:stockid="Arrow1Mend" + inkscape:isstock="true"> + <path + transform="matrix(-0.4,0,0,-0.4,-4,0)" + style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1pt;stroke-opacity:1" + d="M 0,0 5,-5 -12.5,0 5,5 Z" + id="path3978" /> + </marker> <marker style="overflow:visible" id="marker1561" @@ -375,7 +389,7 @@ inkscape:label="Calque 1" inkscape:groupmode="layer" id="layer1" - transform="translate(156.80836,85.209211)"> + transform="translate(419.9942,85.209211)"> <g id="g1125" transform="translate(73.433542)"> @@ -416,37 +430,21 @@ id="rect859" width="135.61519" height="28.193871" - x="-79.934021" + x="-343.11987" y="74.73587" rx="4.640729" ry="4.640729" /> <text xml:space="preserve" style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="-26.657791" + x="-289.84363" y="91.752518" id="text1798"><tspan sodipodi:role="line" id="tspan1796" style="stroke-width:0.264583" - x="-26.657791" + x="-289.84363" y="91.752518">Trajet</tspan></text> - <text - xml:space="preserve" - style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="115.57403" - y="85.137955" - id="text1981"><tspan - sodipodi:role="line" - id="tspan1979" - style="stroke-width:0.264583" - x="115.57403" - y="85.137955">Asservissement</tspan><tspan - sodipodi:role="line" - style="stroke-width:0.264583" - x="115.57403" - y="98.367081" - id="tspan2005">en position</tspan></text> <text xml:space="preserve" style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583" @@ -557,37 +555,37 @@ <text xml:space="preserve" style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="-41.592754" + x="-304.77859" y="47.43401" id="text857"><tspan sodipodi:role="line" id="tspan855" style="stroke-width:0.264583" - x="-41.592754" + x="-304.77859" y="47.43401">trajectoire</tspan></text> <rect style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round" id="rect861" width="101.60324" height="28.193871" - x="-62.528076" + x="-325.71393" y="30.357273" rx="4.640729" ry="4.640729" /> <text xml:space="preserve" style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1;font-family:sans-serif;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="-150.14523" + x="-413.33109" y="-27.002911" id="text865"><tspan sodipodi:role="line" id="tspan863" style="stroke-width:0.264583" - x="-150.14523" + x="-413.33109" y="-27.002911">Trajectoire</tspan><tspan sodipodi:role="line" style="stroke-width:0.264583" - x="-150.14523" + x="-413.33109" y="-16.419611" id="tspan881">droite</tspan></text> <rect @@ -595,32 +593,33 @@ id="rect867" width="101.60324" height="35.545925" - x="-155.80836" + x="-418.9942" y="-37.155365" rx="4.640729" ry="4.640729" /> <path style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#Arrow1Mend)" - d="M -66.5095,74.484131 -53.106074,59.875052" + d="m -329.69534,74.484131 13.40343,-14.609079" id="path889" sodipodi:nodetypes="cc" /> <path style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker1215)" - d="M 23.702313,58.387707 37.105739,72.996786" + d="m -239.48352,58.387707 13.40342,14.609079" id="path1211" sodipodi:nodetypes="cc" /> <path style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker1269)" - d="M -21.971403,29.31563 V -45.526719" + d="M -285.15724,29.31563 V -45.526719" id="path1265" sodipodi:nodetypes="cc" /> <path style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker1325)" - d="M -15.761388,-47.4974 V 27.344949" + d="M -278.94723,-47.4974 V 27.344949" id="path1321" sodipodi:nodetypes="cc" /> <g - id="g1541"> + id="g1541" + transform="translate(-263.18584)"> <path style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker1427)" d="M -49.929084,29.826385 -80.746446,0.2189067" @@ -634,7 +633,7 @@ </g> <g id="g1571" - transform="matrix(-1,0,0,1,-41.913523,-0.20775309)"> + transform="matrix(-1,0,0,1,-305.09936,-0.20775309)"> <path style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker1575)" d="M -49.929084,29.826385 -80.746446,0.2189067" @@ -649,55 +648,80 @@ <text xml:space="preserve" style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8068px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" - x="37.328125" + x="-225.85771" y="99.070374" id="text1697"><tspan sodipodi:role="line" id="tspan1695" - x="37.328125" + x="-225.85771" y="99.070374" style="fill:#ff0000;stroke-width:0.638136px">Trajet.c</tspan></text> - <rect - style="fill:none;stroke:#000000;stroke-width:1.99999;stroke-linecap:round" - id="rect1699" - width="135.61517" - height="42.038025" - x="106.52355" - y="71.056046" - rx="5.3628693" - ry="5.3628693" /> - <text - xml:space="preserve" - style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8068px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" - x="208.40685" - y="107.8418" - id="text1703"><tspan - sodipodi:role="line" - id="tspan1701" - x="208.40685" + <g + id="g3684" + transform="translate(-93.870068)"> + <text + xml:space="preserve" + style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583" + x="-14.271639" + y="85.137955" + id="text1981"><tspan + sodipodi:role="line" + id="tspan1979" + style="stroke-width:0.264583" + x="-14.271639" + y="85.137955">Asservissement</tspan><tspan + sodipodi:role="line" + style="stroke-width:0.264583" + x="-14.271639" + y="98.367081" + id="tspan2005">en position</tspan></text> + <rect + style="fill:none;stroke:#000000;stroke-width:1.99999;stroke-linecap:round" + id="rect1699" + width="135.61517" + height="42.038025" + x="-23.322115" + y="71.056046" + rx="5.3628693" + ry="5.3628693" /> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8068px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="78.56118" y="107.8418" - style="fill:#ff0000;stroke-width:0.638136px">Asser_Position.c</tspan></text> + id="text1703"><tspan + sodipodi:role="line" + id="tspan1701" + x="78.56118" + y="107.8418" + style="fill:#ff0000;stroke-width:0.638136px">Asser_Position.c</tspan></text> + </g> <path style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker1715)" - d="m 56.43858,88.308674 h 48.1176" + d="m -206.74726,88.308674 h 87.33549" id="path1711" sodipodi:nodetypes="cc" /> <text xml:space="preserve" style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8068px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#008000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" - x="81.021301" + x="-164.18672" y="97.716385" id="text1817"><tspan sodipodi:role="line" - id="tspan1815" - x="81.021301" + x="-164.18672" y="97.716385" - style="fill:#008000;stroke-width:0.638136px">Consigne de </tspan><tspan + style="fill:#008000;stroke-width:0.638136px" + id="tspan1819">Consigne de position</tspan><tspan sodipodi:role="line" - x="81.021301" + x="-164.18672" y="106.22488" style="fill:#008000;stroke-width:0.638136px" - id="tspan1819">position</tspan></text> + id="tspan4038">(dans le référentiel </tspan><tspan + sodipodi:role="line" + x="-164.18672" + y="114.73338" + style="fill:#008000;stroke-width:0.638136px" + id="tspan4040">de la table)</tspan></text> <rect style="fill:none;stroke:#000000;stroke-width:1.99999;stroke-linecap:round" id="rect1821" @@ -870,19 +894,19 @@ sodipodi:nodetypes="cc" /> <text xml:space="preserve" - style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8068px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#008000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" - x="324.15137" - y="197.67642" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8068px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans';text-align:end;letter-spacing:0px;word-spacing:0px;text-anchor:end;fill:#008000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="352.59756" + y="176.69061" id="text2451"><tspan sodipodi:role="line" - x="324.15137" - y="197.67642" - style="fill:#008000;stroke-width:0.638136px" - id="tspan2449">Déplacement des </tspan><tspan + x="352.59756" + y="176.69061" + style="text-align:end;text-anchor:end;fill:#008000;stroke-width:0.638136px" + id="tspan2449">Déplacement des</tspan><tspan sodipodi:role="line" - x="324.15137" - y="206.18492" - style="fill:#008000;stroke-width:0.638136px" + x="352.59756" + y="185.19911" + style="text-align:end;text-anchor:end;fill:#008000;stroke-width:0.638136px" id="tspan2595">roues en mm</tspan></text> <path style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker2631)" @@ -948,49 +972,50 @@ id="tspan2799">Trame SPI</tspan></text> <path style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#marker2977)" - d="M 182.2974,188.90282 H 153.28767 V 114.20407" - id="path2967" /> + d="m 182.2974,188.90282 -246.49723,0 v -74.69875" + id="path2967" + sodipodi:nodetypes="ccc" /> <text xml:space="preserve" style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8068px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#008000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" - x="161.44324" + x="-62.272495" y="130.59872" id="text3103"><tspan sodipodi:role="line" - x="161.44324" + x="-62.272495" y="130.59872" style="text-align:start;text-anchor:start;fill:#008000;stroke-width:0.638136px" id="tspan3101">Position en mm</tspan><tspan sodipodi:role="line" - x="161.44324" + x="-62.272495" y="139.10722" style="text-align:start;text-anchor:start;fill:#008000;stroke-width:0.638136px" id="tspan3107">et en degrés</tspan></text> <text xml:space="preserve" style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8068px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" - x="13.099242" + x="-250.08659" y="55.114014" id="text3111"><tspan sodipodi:role="line" id="tspan3109" - x="13.099241" + x="-250.08659" y="55.114014" style="fill:#ff0000;stroke-width:0.638136px">Trajectoire.c</tspan></text> <text xml:space="preserve" style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8068px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" - x="-91.371681" + x="-354.55753" y="-5.5514426" id="text3115"><tspan sodipodi:role="line" id="tspan3113" - x="-91.371681" + x="-354.55753" y="-5.5514426" style="fill:#ff0000;stroke-width:0.638136px">Trajectoire_droite.c</tspan></text> <g id="g3137" - transform="translate(0,2.3067419)"> + transform="translate(-263.18584,2.3067419)"> <text xml:space="preserve" style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1;font-family:sans-serif;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583" @@ -1030,7 +1055,7 @@ </g> <g id="g3151" - transform="translate(82.850271,48.466968)"> + transform="translate(-180.33557,48.466968)"> <text xml:space="preserve" style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1;font-family:sans-serif;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583" @@ -1147,7 +1172,7 @@ id="tspan1543">(rad/s)</tspan></text> <path style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#marker1561)" - d="m 276.23549,238.12678 -48.58818,0 v -32.36542" + d="M 276.23549,238.12678 H 227.64731 V 205.76136" id="path1557" sodipodi:nodetypes="ccc" /> <text @@ -1166,5 +1191,71 @@ y="251.53632" style="fill:#008000;stroke-width:0.638136px" id="tspan1761">radians</tspan></text> + <g + id="g3698" + transform="translate(129.45388)"> + <text + xml:space="preserve" + style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583" + x="-14.271639" + y="85.137955" + id="text3690"><tspan + sodipodi:role="line" + style="stroke-width:0.264583" + x="-14.271639" + y="85.137955" + id="tspan3688">Commande en</tspan><tspan + sodipodi:role="line" + style="stroke-width:0.264583" + x="-14.271639" + y="98.367081" + id="tspan3762">vitesse</tspan></text> + <rect + style="fill:none;stroke:#000000;stroke-width:1.99999;stroke-linecap:round" + id="rect3692" + width="135.61517" + height="42.038025" + x="-23.322115" + y="71.056046" + rx="5.3628693" + ry="5.3628693" /> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8068px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="71.682014" + y="107.8418" + id="text3696"><tspan + sodipodi:role="line" + id="tspan3694" + x="71.682014" + y="107.8418" + style="fill:#ff0000;stroke-width:0.638136px">Commande_vitesse.c</tspan></text> + </g> + <path + style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker3980)" + d="M 18.820847,88.308674 H 104.19978" + id="path3770" + sodipodi:nodetypes="cc" /> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8068px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#008000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + x="59.34296" + y="97.716385" + id="text3778"><tspan + sodipodi:role="line" + x="59.34296" + y="97.716385" + style="fill:#008000;stroke-width:0.638136px" + id="tspan3776">Consigne de vitesse</tspan><tspan + sodipodi:role="line" + x="59.34296" + y="106.22488" + style="fill:#008000;stroke-width:0.638136px" + id="tspan4109">(dans le référentiel </tspan><tspan + sodipodi:role="line" + x="59.34296" + y="114.73338" + style="fill:#008000;stroke-width:0.638136px" + id="tspan4111">du robot)</tspan></text> </g> </svg>