Mise à jour du schéma de l'architecture logicielle
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|        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)" |        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)" | ||||||
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|        sodipodi:nodetypes="cc" /> |        sodipodi:nodetypes="cc" /> | ||||||
|     <text |     <text | ||||||
|        xml:space="preserve" |        xml:space="preserve" | ||||||
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|        x="81.021301" |        x="-164.18672" | ||||||
|        y="97.716385" |        y="97.716385" | ||||||
|        id="text1817"><tspan |        id="text1817"><tspan | ||||||
|          sodipodi:role="line" |          sodipodi:role="line" | ||||||
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|          x="81.021301" |  | ||||||
|          y="97.716385" |          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" |          sodipodi:role="line" | ||||||
|          x="81.021301" |          x="-164.18672" | ||||||
|          y="106.22488" |          y="106.22488" | ||||||
|          style="fill:#008000;stroke-width:0.638136px" |          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 |     <rect | ||||||
|        style="fill:none;stroke:#000000;stroke-width:1.99999;stroke-linecap:round" |        style="fill:none;stroke:#000000;stroke-width:1.99999;stroke-linecap:round" | ||||||
|        id="rect1821" |        id="rect1821" | ||||||
| @ -870,19 +894,19 @@ | |||||||
|        sodipodi:nodetypes="cc" /> |        sodipodi:nodetypes="cc" /> | ||||||
|     <text |     <text | ||||||
|        xml:space="preserve" |        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" |        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="324.15137" |        x="352.59756" | ||||||
|        y="197.67642" |        y="176.69061" | ||||||
|        id="text2451"><tspan |        id="text2451"><tspan | ||||||
|          sodipodi:role="line" |          sodipodi:role="line" | ||||||
|          x="324.15137" |          x="352.59756" | ||||||
|          y="197.67642" |          y="176.69061" | ||||||
|          style="fill:#008000;stroke-width:0.638136px" |          style="text-align:end;text-anchor:end;fill:#008000;stroke-width:0.638136px" | ||||||
|          id="tspan2449">Déplacement des </tspan><tspan |          id="tspan2449">Déplacement des</tspan><tspan | ||||||
|          sodipodi:role="line" |          sodipodi:role="line" | ||||||
|          x="324.15137" |          x="352.59756" | ||||||
|          y="206.18492" |          y="185.19911" | ||||||
|          style="fill:#008000;stroke-width:0.638136px" |          style="text-align:end;text-anchor:end;fill:#008000;stroke-width:0.638136px" | ||||||
|          id="tspan2595">roues en mm</tspan></text> |          id="tspan2595">roues en mm</tspan></text> | ||||||
|     <path |     <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)" |        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> |          id="tspan2799">Trame SPI</tspan></text> | ||||||
|     <path |     <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)" |        style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#marker2977)" | ||||||
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|        id="path2967" /> |        id="path2967" | ||||||
|  |        sodipodi:nodetypes="ccc" /> | ||||||
|     <text |     <text | ||||||
|        xml:space="preserve" |        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" |        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" |        y="130.59872" | ||||||
|        id="text3103"><tspan |        id="text3103"><tspan | ||||||
|          sodipodi:role="line" |          sodipodi:role="line" | ||||||
|          x="161.44324" |          x="-62.272495" | ||||||
|          y="130.59872" |          y="130.59872" | ||||||
|          style="text-align:start;text-anchor:start;fill:#008000;stroke-width:0.638136px" |          style="text-align:start;text-anchor:start;fill:#008000;stroke-width:0.638136px" | ||||||
|          id="tspan3101">Position en mm</tspan><tspan |          id="tspan3101">Position en mm</tspan><tspan | ||||||
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|          x="161.44324" |          x="-62.272495" | ||||||
|          y="139.10722" |          y="139.10722" | ||||||
|          style="text-align:start;text-anchor:start;fill:#008000;stroke-width:0.638136px" |          style="text-align:start;text-anchor:start;fill:#008000;stroke-width:0.638136px" | ||||||
|          id="tspan3107">et en degrés</tspan></text> |          id="tspan3107">et en degrés</tspan></text> | ||||||
|     <text |     <text | ||||||
|        xml:space="preserve" |        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" |        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" | ||||||
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|        y="55.114014" |        y="55.114014" | ||||||
|        id="text3111"><tspan |        id="text3111"><tspan | ||||||
|          sodipodi:role="line" |          sodipodi:role="line" | ||||||
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|          x="13.099241" |          x="-250.08659" | ||||||
|          y="55.114014" |          y="55.114014" | ||||||
|          style="fill:#ff0000;stroke-width:0.638136px">Trajectoire.c</tspan></text> |          style="fill:#ff0000;stroke-width:0.638136px">Trajectoire.c</tspan></text> | ||||||
|     <text |     <text | ||||||
|        xml:space="preserve" |        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" |        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" | ||||||
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|        y="-5.5514426" |        y="-5.5514426" | ||||||
|        id="text3115"><tspan |        id="text3115"><tspan | ||||||
|          sodipodi:role="line" |          sodipodi:role="line" | ||||||
|          id="tspan3113" |          id="tspan3113" | ||||||
|          x="-91.371681" |          x="-354.55753" | ||||||
|          y="-5.5514426" |          y="-5.5514426" | ||||||
|          style="fill:#ff0000;stroke-width:0.638136px">Trajectoire_droite.c</tspan></text> |          style="fill:#ff0000;stroke-width:0.638136px">Trajectoire_droite.c</tspan></text> | ||||||
|     <g |     <g | ||||||
|        id="g3137" |        id="g3137" | ||||||
|        transform="translate(0,2.3067419)"> |        transform="translate(-263.18584,2.3067419)"> | ||||||
|       <text |       <text | ||||||
|          xml:space="preserve" |          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" |          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> | ||||||
|     <g |     <g | ||||||
|        id="g3151" |        id="g3151" | ||||||
|        transform="translate(82.850271,48.466968)"> |        transform="translate(-180.33557,48.466968)"> | ||||||
|       <text |       <text | ||||||
|          xml:space="preserve" |          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" |          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> |          id="tspan1543">(rad/s)</tspan></text> | ||||||
|     <path |     <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)" |        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" |        id="path1557" | ||||||
|        sodipodi:nodetypes="ccc" /> |        sodipodi:nodetypes="ccc" /> | ||||||
|     <text |     <text | ||||||
| @ -1166,5 +1191,71 @@ | |||||||
|          y="251.53632" |          y="251.53632" | ||||||
|          style="fill:#008000;stroke-width:0.638136px" |          style="fill:#008000;stroke-width:0.638136px" | ||||||
|          id="tspan1761">radians</tspan></text> |          id="tspan1761">radians</tspan></text> | ||||||
|  |     <g | ||||||
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|  |       <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" | ||||||
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|  |            y="85.137955" | ||||||
|  |            id="tspan3688">Commande en</tspan><tspan | ||||||
|  |            sodipodi:role="line" | ||||||
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|  |            x="-14.271639" | ||||||
|  |            y="98.367081" | ||||||
|  |            id="tspan3762">vitesse</tspan></text> | ||||||
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|  |          width="135.61517" | ||||||
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|  |          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" | ||||||
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|  |            sodipodi:role="line" | ||||||
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|  |            y="107.8418" | ||||||
|  |            style="fill:#ff0000;stroke-width:0.638136px">Commande_vitesse.c</tspan></text> | ||||||
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|  |     <path | ||||||
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|  |        sodipodi:nodetypes="cc" /> | ||||||
|  |     <text | ||||||
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|  |        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" | ||||||
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|  |        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> |   </g> | ||||||
| </svg> | </svg> | ||||||
|  | |||||||
| Before Width: | Height: | Size: 48 KiB After Width: | Height: | Size: 52 KiB | 
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		Reference in New Issue
	
	Block a user