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"> image/svg+xml - + @@ -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"> + + + + transform="translate(419.9942,85.209211)"> @@ -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" /> Trajet - Asservissementen position trajectoire Trajectoiredroite + id="g1541" + transform="translate(-263.18584)"> + transform="matrix(-1,0,0,1,-305.09936,-0.20775309)"> Trajet.c - - + Asservissementen position + + Asser_Position.c + id="text1703">Asser_Position.c + Consigne de Consigne de positionposition + id="tspan4038">(dans le référentiel de la table) Déplacement des Déplacement desroues en mm Trame SPI + d="m 182.2974,188.90282 -246.49723,0 v -74.69875" + id="path2967" + sodipodi:nodetypes="ccc" /> Position en mmet en degrés Trajectoire.c Trajectoire_droite.c + transform="translate(-263.18584,2.3067419)"> + transform="translate(-180.33557,48.466968)"> (rad/s) radians + + Commande envitesse + + Commande_vitesse.c + + + Consigne de vitesse(dans le référentiel du robot)