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)