1262 lines
52 KiB
XML
1262 lines
52 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="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="/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="0.54838704"
|
|
inkscape:cx="2689.2562"
|
|
inkscape:cy="1223.561"
|
|
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="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"
|
|
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">
|
|
<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="marker1417"
|
|
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="path1415" />
|
|
</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(419.9942,85.209211)">
|
|
<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">PMW</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" />
|
|
<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" />
|
|
<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 -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 -278.94723,-47.4974 V 27.344949"
|
|
id="path1321"
|
|
sodipodi:nodetypes="cc" />
|
|
<g
|
|
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"
|
|
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(#marker1417)"
|
|
d="M -74.771376,-1.0799154 -44.671437,28.677714"
|
|
id="path1413"
|
|
sodipodi:nodetypes="cc" />
|
|
</g>
|
|
<g
|
|
id="g1571"
|
|
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"
|
|
id="path1567"
|
|
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 -88.733659,-1.0799154 -58.63372,28.677714"
|
|
id="path1569"
|
|
sodipodi:nodetypes="cc" />
|
|
</g>
|
|
<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 PMW</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 -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="-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>
|
|
<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
|
|
id="g3137"
|
|
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"
|
|
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(-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"
|
|
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>
|
|
</svg>
|