Mise à jour du schéma de l'architecture logicielle
This commit is contained in:
parent
6e0f7eb8db
commit
ba1d5fb5c5
Binary file not shown.
|
Before Width: | Height: | Size: 210 KiB After Width: | Height: | Size: 245 KiB |
@ -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>
|
||||
<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="106.52355"
|
||||
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="208.40685"
|
||||
x="78.56118"
|
||||
y="107.8418"
|
||||
id="text1703"><tspan
|
||||
sodipodi:role="line"
|
||||
id="tspan1701"
|
||||
x="208.40685"
|
||||
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>
|
||||
|
||||
|
Before Width: | Height: | Size: 48 KiB After Width: | Height: | Size: 52 KiB |
Loading…
Reference in New Issue
Block a user