RPiPico-Holonome2023/doc/ProgrammeHolonome2023.svg

1350 lines
56 KiB
XML

<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
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="1173.7749mm"
height="338.62747mm"
viewBox="0 0 1173.7749 338.62747"
version="1.1"
id="svg5"
inkscape:version="1.0.2 (e86c870879, 2021-01-15)"
sodipodi:docname="ProgrammeHolonome2023.svg"
inkscape:export-filename="/home/samuel/Projets/RpiPico/pico/pico-perso/doc/ProgrammeHolonome2023.png"
inkscape:export-xdpi="74.976669"
inkscape:export-ydpi="74.976669">
<metadata
id="metadata30">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title />
</cc:Work>
</rdf:RDF>
</metadata>
<sodipodi:namedview
id="namedview7"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:pageshadow="2"
inkscape:pageopacity="1"
inkscape:pagecheckerboard="0"
inkscape:document-units="mm"
showgrid="false"
inkscape:zoom="0.32793568"
inkscape:cx="1221.6943"
inkscape:cy="150.91722"
inkscape:window-width="1920"
inkscape:window-height="1016"
inkscape:window-x="0"
inkscape:window-y="0"
inkscape:window-maximized="1"
inkscape:current-layer="layer1"
inkscape:document-rotation="0"
inkscape:snap-global="true"
showguides="true"
inkscape:guide-bbox="true"
inkscape:snap-nodes="false"
inkscape:snap-others="false">
<sodipodi:guide
position="1108.3329,155.13163"
orientation="1,0"
id="guide3153" />
</sodipodi:namedview>
<defs
id="defs2">
<marker
style="overflow:visible"
id="marker2001"
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="path1999" />
</marker>
<marker
style="overflow:visible"
id="marker1736"
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="path1734" />
</marker>
<marker
style="overflow:visible"
id="marker1221"
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="path1219" />
</marker>
<marker
style="overflow:visible"
id="marker1211"
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="path1209" />
</marker>
<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"
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="path1559" />
</marker>
<marker
style="overflow:visible"
id="marker1361"
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="path1359" />
</marker>
<marker
style="overflow:visible"
id="marker1153"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path1151" />
</marker>
<marker
style="overflow:visible"
id="marker2977"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path2975" />
</marker>
<marker
style="overflow:visible"
id="marker2805"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path2803" />
</marker>
<marker
style="overflow:visible"
id="marker2631"
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="path2629" />
</marker>
<marker
style="overflow:visible"
id="marker2455"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path2453" />
</marker>
<marker
style="overflow:visible"
id="marker2291"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path2289" />
</marker>
<marker
style="overflow:visible"
id="marker2129"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path2127" />
</marker>
<marker
style="overflow:visible"
id="marker1977"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path1975" />
</marker>
<marker
style="overflow:visible"
id="marker1849"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path1847" />
</marker>
<marker
style="overflow:visible"
id="marker1715"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path1713" />
</marker>
<marker
style="overflow:visible"
id="marker1585"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path1583" />
</marker>
<marker
style="overflow:visible"
id="marker1575"
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="path1573" />
</marker>
<marker
style="overflow:visible"
id="marker1427"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path1425" />
</marker>
<marker
style="overflow:visible"
id="marker1325"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path1323" />
</marker>
<marker
style="overflow:visible"
id="marker1269"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path1267" />
</marker>
<marker
style="overflow:visible"
id="marker1215"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path1213" />
</marker>
<marker
style="overflow:visible"
id="Arrow1Mend"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Mend"
inkscape:isstock="true"
inkscape:collect="always">
<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="path900" />
</marker>
<marker
style="overflow:visible"
id="Arrow1Lend"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow1Lend"
inkscape:isstock="true">
<path
transform="matrix(-0.8,0,0,-0.8,-10,0)"
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="path894" />
</marker>
</defs>
<g
inkscape:label="Calque 1"
inkscape:groupmode="layer"
id="layer1"
transform="translate(429.86237,83.924844)">
<g
id="g1125"
transform="translate(73.433542)">
<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="525.46295"
y="241.90329"
id="text1117"><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="525.46295"
y="241.90329"
id="tspan1115">SPI</tspan></text>
<rect
style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round"
id="rect1119"
width="62.432789"
height="28.193863"
x="502.18665"
y="223.94872"
rx="4.640729"
ry="4.640729" />
<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:end;letter-spacing:0px;word-spacing:0px;text-anchor:end;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
x="561.49591"
y="248.28322"
id="text1123"><tspan
sodipodi:role="line"
id="tspan1121"
x="561.49591"
y="248.28322"
style="text-align:end;text-anchor:end;fill:#ff0000;stroke-width:0.638136px">spi_nb.c</tspan></text>
</g>
<rect
style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round"
id="rect859"
width="135.61519"
height="28.193871"
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="-289.84363"
y="91.752518"
id="text1798"><tspan
sodipodi:role="line"
id="tspan1796"
style="stroke-width:0.264583"
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="340.29419"
y="83.611282"
id="text2091"><tspan
sodipodi:role="line"
id="tspan2087"
style="stroke-width:0.264583"
x="340.29419"
y="83.611282">Asservissement</tspan><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="340.29419"
y="96.840408"
id="tspan2089">des moteurs</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="568.95526"
y="92.690437"
id="text2199"><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="568.95526"
y="92.690437"
id="tspan2225">PWM</tspan></text>
<g
id="g5392"
transform="translate(367.97643,0.17760668)">
<rect
style="fill:none;stroke:#ffcc00;stroke-width:1;stroke-linecap:round"
id="rect5085"
width="58.191002"
height="19.737303"
x="311.24551"
y="79.056892"
ry="4.7641764" />
<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="319.17972"
y="92.650864"
id="text2311"><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="319.17972"
y="92.650864"
id="tspan2309">Moteurs</tspan></text>
</g>
<g
id="g5568"
transform="translate(450.66775,45.30878)">
<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="236.69897"
y="146.02075"
id="text4469"><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="236.69897"
y="146.02075"
id="tspan4467">Codeurs</tspan></text>
<rect
style="fill:none;stroke:#008000;stroke-width:1;stroke-linecap:round"
id="rect5085-4"
width="58.191002"
height="19.737303"
x="228.46315"
y="132.18336"
ry="4.7641764" />
</g>
<g
id="g5538"
transform="translate(447.42665,65.016789)">
<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="237.39209"
y="175.13161"
id="text4959"><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="237.39209"
y="175.13161"
id="tspan4957">Gyroscope</tspan></text>
<rect
style="fill:none;stroke:#008000;stroke-width:1;stroke-linecap:round"
id="rect5434"
width="64.387535"
height="19.737305"
x="231.59836"
y="162.7018"
ry="4.7641764" />
</g>
<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="191.3743"
y="193.37941"
id="text5574"><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="191.3743"
y="193.37941"
id="tspan5572">Localisation</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="-304.77859"
y="47.43401"
id="text857"><tspan
sodipodi:role="line"
id="tspan855"
style="stroke-width:0.264583"
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="-325.71393"
y="30.357273"
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 -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 -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 -260.81542,29.31563 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 -254.60541,-47.4974 V 27.344949"
id="path1321"
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(#marker1427)"
d="m -298.54584,30.767142 -9.47941,-69.597164"
id="path1411"
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(#marker1585)"
d="M -199.60446,8.5812099 -246.46564,28.576767"
id="path1569"
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:#000000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
x="-225.85771"
y="99.070374"
id="text1697"><tspan
sodipodi:role="line"
id="tspan1695"
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="-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"
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 -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="-164.18672"
y="97.716385"
id="text1817"><tspan
sodipodi:role="line"
x="-164.18672"
y="97.716385"
style="fill:#008000;stroke-width:0.638136px"
id="tspan1819">Consigne de position</tspan><tspan
sodipodi:role="line"
x="-164.18672"
y="106.22488"
style="fill:#008000;stroke-width:0.638136px"
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"
width="135.61517"
height="42.038025"
x="336.9469"
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="429.27563"
y="107.8418"
id="text1825"><tspan
sodipodi:role="line"
id="tspan1823"
x="429.27563"
y="107.8418"
style="fill:#ff0000;stroke-width:0.638136px">Asser_Moteur.c</tspan></text>
<rect
style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round"
id="rect1827"
width="84.521042"
height="28.193871"
x="540.02979"
y="74.73587"
rx="4.640729"
ry="4.640729" />
<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="601.68939"
y="99.070374"
id="text1831"><tspan
sodipodi:role="line"
id="tspan1829"
x="601.68939"
y="99.070374"
style="fill:#ff0000;stroke-width:0.638136px">Moteurs.c</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(#marker1849)"
d="m 241.5409,88.308674 h 94.08948"
id="path1839"
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="289.27905"
y="97.716385"
id="text1845"><tspan
sodipodi:role="line"
x="289.27905"
y="97.716385"
style="fill:#008000;stroke-width:0.638136px"
id="tspan1843">Consigne de vitesse </tspan><tspan
sodipodi:role="line"
x="289.27905"
y="106.22488"
style="fill:#008000;stroke-width:0.638136px"
id="tspan1959">pour chaque moteur</tspan><tspan
sodipodi:role="line"
x="289.27905"
y="114.73338"
style="fill:#008000;stroke-width:0.638136px"
id="tspan2099">(en mm/s)</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(#marker1977)"
d="m 473.26774,88.308674 h 65.35547"
id="path1973"
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="504.31293"
y="97.716385"
id="text2097"><tspan
sodipodi:role="line"
x="504.31293"
y="97.716385"
style="fill:#008000;stroke-width:0.638136px"
id="tspan2095">Consigne PWM</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(#marker2129)"
d="m 625.82361,88.308674 h 51.62124"
id="path2121"
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="649.9375"
y="97.716385"
id="text2125"><tspan
sodipodi:role="line"
x="649.9375"
y="97.716385"
style="fill:#008000;stroke-width:0.638136px"
id="tspan2123">Signal PWM</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="399.94461"
y="193.69334"
id="text2263"><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="399.94461"
y="193.69334"
id="tspan2261">QEI</tspan></text>
<rect
style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round"
id="rect2265"
width="84.521042"
height="28.193871"
x="371.01913"
y="175.73877"
rx="4.640729"
ry="4.640729" />
<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="432.67874"
y="200.07327"
id="text2269"><tspan
sodipodi:role="line"
id="tspan2267"
x="432.67874"
y="200.07327"
style="fill:#ff0000;stroke-width:0.638136px">QEI.c</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(#marker2291)"
d="M 677.82306,187.47092 H 457.51097"
id="path2283"
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="487.91074"
y="196.87863"
id="text2287"><tspan
sodipodi:role="line"
x="487.91074"
y="196.87863"
style="fill:#008000;stroke-width:0.638136px"
id="tspan2285">Impulsions</tspan></text>
<rect
style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round"
id="rect2429"
width="84.521042"
height="28.193871"
x="182.83186"
y="175.33699"
rx="4.640729"
ry="4.640729" />
<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="239.35162"
y="200.8679"
id="text2433"><tspan
sodipodi:role="line"
id="tspan2431"
x="239.35162"
y="200.8679"
style="fill:#ff0000;stroke-width:0.638136px">Localisation.c</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(#marker2455)"
d="M 370.49589,188.26871 H 269.56834"
id="path2447"
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: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="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="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)"
d="M 355.37608,188.17127 V 115.61869"
id="path2627"
sodipodi:nodetypes="cc" />
<circle
style="fill:#000000;stroke:#000000;stroke-width:1;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none"
id="path2779"
cx="355.4902"
cy="188.16827"
r="1.825509" />
<g
id="g1095"
transform="translate(-204.01522)">
<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="509.02386"
y="241.90329"
id="text2783"><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="509.02386"
y="241.90329"
id="tspan2781">Gyro</tspan></text>
<rect
style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round"
id="rect2785"
width="84.521042"
height="28.193871"
x="480.09839"
y="223.94872"
rx="4.640729"
ry="4.640729" />
<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="541.758"
y="248.28322"
id="text2789"><tspan
sodipodi:role="line"
id="tspan2787"
x="541.758"
y="248.28322"
style="fill:#ff0000;stroke-width:0.638136px">Gyro.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(#marker2805)"
d="M 678.53464,237.59073 H 640.19187"
id="path2797"
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="659.45337"
y="246.99844"
id="text2801"><tspan
sodipodi:role="line"
x="659.45337"
y="246.99844"
style="fill:#008000;stroke-width:0.638136px"
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 -64.19983 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="-62.272495"
y="130.59872"
id="text3103"><tspan
sodipodi:role="line"
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="-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="-250.08659"
y="55.114014"
id="text3111"><tspan
sodipodi:role="line"
id="tspan3109"
x="-250.08659"
y="55.114014"
style="fill:#ff0000;stroke-width:0.638136px">Trajectoire.c</tspan></text>
<g
id="g1167"
transform="translate(17.742742,-38.662131)">
<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="-413.33109"
y="-27.002911"
id="text865"><tspan
sodipodi:role="line"
id="tspan863"
style="stroke-width:0.264583"
x="-413.33109"
y="-27.002911">Trajectoire</tspan><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="-413.33109"
y="-16.419611"
id="tspan881">droite</tspan></text>
<rect
style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round"
id="rect867"
width="101.60324"
height="35.545925"
x="-418.9942"
y="-37.155365"
rx="4.640729"
ry="4.640729" />
<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="-354.55753"
y="-5.5514426"
id="text3115"><tspan
sodipodi:role="line"
id="tspan3113"
x="-354.55753"
y="-5.5514426"
style="fill:#ff0000;stroke-width:0.638136px">Trajectoire_droite.c</tspan></text>
</g>
<g
id="g3137"
transform="translate(-190.94094,3.591109)">
<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="-66.863602"
y="-76.363503"
id="text3121"><tspan
sodipodi:role="line"
id="tspan3117"
style="stroke-width:0.264583"
x="-66.863602"
y="-76.363503">Trajectoire</tspan><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="-66.863602"
y="-65.780205"
id="tspan3119">circulaire</tspan></text>
<rect
style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round"
id="rect3123"
width="101.60324"
height="35.545925"
x="-72.526733"
y="-86.515953"
rx="4.640729"
ry="4.640729" />
<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="-12.23871"
y="-54.912033"
id="text3127"><tspan
sodipodi:role="line"
id="tspan3125"
x="-12.238709"
y="-54.912033"
style="fill:#ff0000;stroke-width:0.638136px">Trajectoire_circulaire.c</tspan></text>
</g>
<g
id="g3151"
transform="translate(-127.43216,61.952822)">
<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="-66.863602"
y="-76.363503"
id="text3143"><tspan
sodipodi:role="line"
id="tspan3139"
style="stroke-width:0.264583"
x="-66.863602"
y="-76.363503">Trajectoire</tspan><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="-66.863602"
y="-65.780205"
id="tspan3141">de Bézier</tspan></text>
<rect
style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round"
id="rect3145"
width="101.60324"
height="35.545925"
x="-72.526733"
y="-86.515953"
rx="4.640729"
ry="4.640729" />
<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="-7.0305295"
y="-54.912033"
id="text3149"><tspan
sodipodi:role="line"
id="tspan3147"
x="-7.0305281"
y="-54.912033"
style="fill:#ff0000;stroke-width:0.638136px">Trajectoire_bezier.c</tspan></text>
</g>
<g
id="g1107"
transform="translate(-47.423087)">
<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="509.02386"
y="241.90329"
id="text1099"><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="509.02386"
y="241.90329"
id="tspan1097">Gyro</tspan></text>
<rect
style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round"
id="rect1101"
width="84.521042"
height="28.193871"
x="480.09839"
y="223.94872"
rx="4.640729"
ry="4.640729" />
<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:end;letter-spacing:0px;word-spacing:0px;text-anchor:end;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.638136px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
x="561.49591"
y="248.28322"
id="text1105"><tspan
sodipodi:role="line"
id="tspan1103"
x="561.49591"
y="248.28322"
style="text-align:end;text-anchor:end;fill:#ff0000;stroke-width:0.638136px">Gyro_ADXRS453.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(#marker1153)"
d="M 574.85975,237.59073 H 519.56603"
id="path1145"
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:100%;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="550.66028"
y="246.99844"
id="text1149"><tspan
sodipodi:role="line"
x="550.66028"
y="246.99844"
style="fill:#008000;stroke-width:0.638136px"
id="tspan1147">Données gyro </tspan><tspan
sodipodi:role="line"
x="550.66028"
y="253.80524"
style="fill:#008000;stroke-width:0.638136px"
id="tspan1331">brutes</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(#marker1361)"
d="M 431.6513,237.59073 H 362.03264"
id="path1351"
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:100%;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="399.66528"
y="246.99844"
id="text1357"><tspan
sodipodi:role="line"
x="399.66528"
y="246.99844"
style="fill:#008000;stroke-width:0.638136px"
id="tspan1355">Vitesse angulaire</tspan><tspan
sodipodi:role="line"
x="399.66528"
y="253.80524"
style="fill:#008000;stroke-width:0.638136px"
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 H 227.64731 V 205.76136"
id="path1557"
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:100%;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="250.6864"
y="244.72952"
id="text1753"><tspan
sodipodi:role="line"
x="250.6864"
y="244.72952"
style="fill:#008000;stroke-width:0.638136px"
id="tspan1757">Angle en</tspan><tspan
sodipodi:role="line"
x="250.6864"
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
id="g1181"
transform="translate(-9.8681703,23.459814)">
<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="-413.33109"
y="-18.018301"
id="text1173"><tspan
sodipodi:role="line"
style="stroke-width:0.264583"
x="-413.33109"
y="-18.018301"
id="tspan1171">Rotation pure</tspan></text>
<rect
style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:round"
id="rect1175"
width="101.60327"
height="27.222868"
x="-418.9942"
y="-28.832308"
rx="4.640729"
ry="4.640729" />
<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="-358.79092"
y="-5.5514426"
id="text1179"><tspan
sodipodi:role="line"
id="tspan1177"
x="-358.79092"
y="-5.5514426"
style="fill:#ff0000;stroke-width:0.638136px">Trajectoire_rotation.c</tspan></text>
</g>
<g
id="g1207"
transform="matrix(0.3507944,0,0,0.34507833,-300.45437,19.114151)"
style="stroke-width:2.87419">
<path
style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:2.87419;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker1211)"
d="M -74.06478,43.627597 -104.88214,14.020121"
id="path1203"
sodipodi:nodetypes="cc" />
<path
style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:2.87419;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker1221)"
d="M -74.771376,-1.0799154 -44.671437,28.677714"
id="path1205"
sodipodi:nodetypes="cc" />
</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(#marker1736)"
d="m -312.2598,-40.715195 9.47941,69.597164"
id="path1732"
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(#marker2001)"
d="M -239.15636,29.708773 -199.2016,12.566624"
id="path1997"
sodipodi:nodetypes="cc" />
</g>
</svg>