Fixed timing issue with battery

conception_robot: typos

.gitignore

@@ -64,4 +64,10 @@ GUI
 
 /software/raspberry/superviseur-robot/superviseur/dist/
 /software/raspberry/testeur/testeur/build/
-/software/raspberry/testeur/testeur/dist/
+/software/raspberry/testeur/testeur/dist/
+/software/dumber3/Release/
+/software/dumber3/Debug/
+/software/dumber3/Tests/
+/software/dumber3/workspace/
+
+/doc/Doc\ robot/doxygen/

.vscode/c_cpp_properties.json

@@ -0,0 +1,18 @@
+{
+  "configurations": [
+    {
+      "name": "linux-gcc-x64",
+      "includePath": [
+        "${workspaceFolder}/**"
+      ],
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "${default}",
+      "cppStandard": "${default}",
+      "intelliSenseMode": "linux-gcc-x64",
+      "compilerArgs": [
+        ""
+      ]
+    }
+  ],
+  "version": 4
+}

.vscode/launch.json

@@ -0,0 +1,16 @@
+{
+    // Utilisez IntelliSense pour en savoir plus sur les attributs possibles.
+    // Pointez pour afficher la description des attributs existants.
+    // Pour plus d'informations, visitez : https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python : fichier actif",
+            "type": "python",
+            "request": "launch",
+            "program": "${file}",
+            "console": "integratedTerminal",
+            "justMyCode": false
+        }
+    ]
+}

.vscode/settings.json

@@ -0,0 +1,59 @@
+{
+  "C_Cpp_Runner.cCompilerPath": "gcc",
+  "C_Cpp_Runner.cppCompilerPath": "g++",
+  "C_Cpp_Runner.debuggerPath": "gdb",
+  "C_Cpp_Runner.cStandard": "",
+  "C_Cpp_Runner.cppStandard": "",
+  "C_Cpp_Runner.msvcBatchPath": "",
+  "C_Cpp_Runner.useMsvc": false,
+  "C_Cpp_Runner.warnings": [
+    "-Wall",
+    "-Wextra",
+    "-Wpedantic",
+    "-Wshadow",
+    "-Wformat=2",
+    "-Wcast-align",
+    "-Wconversion",
+    "-Wsign-conversion",
+    "-Wnull-dereference"
+  ],
+  "C_Cpp_Runner.msvcWarnings": [
+    "/W4",
+    "/permissive-",
+    "/w14242",
+    "/w14287",
+    "/w14296",
+    "/w14311",
+    "/w14826",
+    "/w44062",
+    "/w44242",
+    "/w14905",
+    "/w14906",
+    "/w14263",
+    "/w44265",
+    "/w14928"
+  ],
+  "C_Cpp_Runner.enableWarnings": true,
+  "C_Cpp_Runner.warningsAsError": false,
+  "C_Cpp_Runner.compilerArgs": [],
+  "C_Cpp_Runner.linkerArgs": [],
+  "C_Cpp_Runner.includePaths": [],
+  "C_Cpp_Runner.includeSearch": [
+    "*",
+    "**/*"
+  ],
+  "C_Cpp_Runner.excludeSearch": [
+    "**/build",
+    "**/build/**",
+    "**/.*",
+    "**/.*/**",
+    "**/.vscode",
+    "**/.vscode/**"
+  ],
+  "C_Cpp_Runner.useAddressSanitizer": false,
+  "C_Cpp_Runner.useUndefinedSanitizer": false,
+  "C_Cpp_Runner.useLeakSanitizer": false,
+  "C_Cpp_Runner.showCompilationTime": false,
+  "C_Cpp_Runner.useLinkTimeOptimization": false,
+  "C_Cpp_Runner.msvcSecureNoWarnings": false
+}

README.md

@@ -8,3 +8,6 @@ Depot du projet de temps reel 4eme année au departement GEI de l'INSA Toulouse.
 - doc: contient les sujets de TD et TP
 - aruco_markers: Script de generation des tags (aruco) utilisés sur les robots
 
+
+/home/xenomai/.netbeans/remote/10.105.0.144/insa-10577-Linux-x86_64/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/dist/Debug__RPI_/GNU-Linux
+

doc/Doc robot/Commande GET_BATTERY.drawio

@@ -0,0 +1,53 @@
+<mxfile host="app.diagrams.net" modified="2023-11-21T12:48:07.142Z" agent="Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:109.0) Gecko/20100101 Firefox/119.0" etag="H5Q9Ykphl-WS1KJXH4T_" version="22.1.3" type="device">
+  <diagram name="Page-1" id="13e1069c-82ec-6db2-03f1-153e76fe0fe0">
+    <mxGraphModel dx="1244" dy="911" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1100" pageHeight="850" background="none" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="7baba1c4bc27f4b0-2" value="Robot" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="480" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-10" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-2" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="120" as="geometry" />
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-1" value="" style="curved=1;endArrow=classic;html=1;rounded=0;entryX=1.279;entryY=0.784;entryDx=0;entryDy=0;entryPerimeter=0;" parent="7baba1c4bc27f4b0-2" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="55" y="130" as="sourcePoint" />
+            <mxPoint x="100" y="200" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="105" y="130" />
+              <mxPoint x="130" y="140" />
+              <mxPoint x="130" y="200" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-2" value="val = 2 si batterie chargée&lt;br&gt;val = 1 si batterie faible&lt;br&gt;val = 0 si batterie vide" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="HzyZGsg6_ylir2WwqlqJ-1" vertex="1" connectable="0">
+          <mxGeometry x="-0.1338" y="1" relative="1" as="geometry">
+            <mxPoint x="-1" y="11" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-8" value="Ordinateur" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="290" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-9" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-8" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="200" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-30" value="val" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;exitX=0.119;exitY=0.988;exitDx=0;exitDy=0;exitPerimeter=0;" parent="7baba1c4bc27f4b0-8" source="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="220" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="495.5" y="220" />
+            </Array>
+            <mxPoint x="795.5" y="220" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-11" value="GET_BATTERY" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="1" source="7baba1c4bc27f4b0-9" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="410" y="370" as="sourcePoint" />
+            <mxPoint as="offset" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Doc robot/Commande GET_STATUS.drawio

@@ -0,0 +1,52 @@
+<mxfile host="app.diagrams.net" modified="2023-11-21T12:44:54.545Z" agent="Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:109.0) Gecko/20100101 Firefox/119.0" etag="J3T64XuEu5BhQiDO6xH4" version="22.1.3" type="device">
+  <diagram name="Page-1" id="13e1069c-82ec-6db2-03f1-153e76fe0fe0">
+    <mxGraphModel dx="1244" dy="911" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1100" pageHeight="850" background="none" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="7baba1c4bc27f4b0-2" value="Robot" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="480" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-10" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-2" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="120" as="geometry" />
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-1" value="" style="curved=1;endArrow=classic;html=1;rounded=0;entryX=1.279;entryY=0.784;entryDx=0;entryDy=0;entryPerimeter=0;" parent="7baba1c4bc27f4b0-2" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="55" y="130" as="sourcePoint" />
+            <mxPoint x="100" y="200" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="105" y="130" />
+              <mxPoint x="130" y="140" />
+              <mxPoint x="130" y="200" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-2" value="&lt;div&gt;Si état == MOTOR_ON, retourne 1&lt;/div&gt;&lt;div&gt;sinon 0&lt;br&gt;&lt;/div&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="HzyZGsg6_ylir2WwqlqJ-1" vertex="1" connectable="0">
+          <mxGeometry x="-0.1338" y="1" relative="1" as="geometry">
+            <mxPoint x="29" y="6" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-8" value="Ordinateur" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="290" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-9" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-8" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="200" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-30" value="status" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;exitX=0.119;exitY=0.988;exitDx=0;exitDy=0;exitPerimeter=0;" parent="7baba1c4bc27f4b0-8" source="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="220" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="495.5" y="220" />
+            </Array>
+            <mxPoint x="795.5" y="220" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-11" value="GET_STATUS" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="1" source="7baba1c4bc27f4b0-9" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="410" y="370" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Doc robot/Commande GET_VERSION.drawio

@@ -0,0 +1,52 @@
+<mxfile host="app.diagrams.net" modified="2023-11-21T12:45:38.079Z" agent="Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:109.0) Gecko/20100101 Firefox/119.0" etag="SAXS6E1cj-U9-1OtTARd" version="22.1.3" type="device">
+  <diagram name="Page-1" id="13e1069c-82ec-6db2-03f1-153e76fe0fe0">
+    <mxGraphModel dx="1244" dy="911" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1100" pageHeight="850" background="none" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="7baba1c4bc27f4b0-2" value="Robot" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="480" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-10" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-2" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="120" as="geometry" />
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-1" value="" style="curved=1;endArrow=classic;html=1;rounded=0;entryX=1.279;entryY=0.784;entryDx=0;entryDy=0;entryPerimeter=0;" parent="7baba1c4bc27f4b0-2" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="55" y="130" as="sourcePoint" />
+            <mxPoint x="100" y="200" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="105" y="130" />
+              <mxPoint x="130" y="140" />
+              <mxPoint x="130" y="200" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-2" value="Récupération de la version" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="HzyZGsg6_ylir2WwqlqJ-1" vertex="1" connectable="0">
+          <mxGeometry x="-0.1338" y="1" relative="1" as="geometry">
+            <mxPoint x="-1" y="11" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-8" value="Ordinateur" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="290" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-9" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-8" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="200" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-30" value="version" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;exitX=0.119;exitY=0.988;exitDx=0;exitDy=0;exitPerimeter=0;" parent="7baba1c4bc27f4b0-8" source="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="220" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="495.5" y="220" />
+            </Array>
+            <mxPoint x="795.5" y="220" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-11" value="GET_VERSION" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="1" source="7baba1c4bc27f4b0-9" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="410" y="370" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Doc robot/Commande MOVE.drawio

@@ -0,0 +1,52 @@
+<mxfile host="Electron" modified="2023-10-19T14:42:15.159Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/22.0.3 Chrome/114.0.5735.289 Electron/25.8.4 Safari/537.36" etag="BJ6CX-0tTJ_Yu_ODM2h3" version="22.0.3" type="device">
+  <diagram name="Page-1" id="13e1069c-82ec-6db2-03f1-153e76fe0fe0">
+    <mxGraphModel dx="1122" dy="852" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1100" pageHeight="850" background="none" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="7baba1c4bc27f4b0-2" value="Robot" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="480" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-10" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-2" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="120" as="geometry" />
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-1" value="" style="curved=1;endArrow=classic;html=1;rounded=0;entryX=1.279;entryY=0.784;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="7baba1c4bc27f4b0-2" target="7baba1c4bc27f4b0-10">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="55" y="130" as="sourcePoint" />
+            <mxPoint x="100" y="200" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="105" y="130" />
+              <mxPoint x="130" y="140" />
+              <mxPoint x="130" y="200" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-2" value="RUN -&amp;gt; MOTORS ON&lt;br&gt;Deplacement de xxxx cm" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="HzyZGsg6_ylir2WwqlqJ-1">
+          <mxGeometry x="-0.1338" y="1" relative="1" as="geometry">
+            <mxPoint x="-1" y="11" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-8" value="Ordinateur" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="290" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-9" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-8" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="200" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-30" value="OK" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;exitX=0.119;exitY=0.988;exitDx=0;exitDy=0;exitPerimeter=0;" parent="7baba1c4bc27f4b0-8" source="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="220" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="495.5" y="220" />
+            </Array>
+            <mxPoint x="795.5" y="220" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-11" value="MOVE=xxxx" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="1" source="7baba1c4bc27f4b0-9" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="410" y="370" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Doc robot/Commande PING.drawio

@@ -0,0 +1,36 @@
+<mxfile host="Electron" modified="2023-10-19T14:02:39.901Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/22.0.3 Chrome/114.0.5735.289 Electron/25.8.4 Safari/537.36" etag="w496wtbRllVrjJP-o5cl" version="22.0.3" type="device">
+  <diagram name="Page-1" id="13e1069c-82ec-6db2-03f1-153e76fe0fe0">
+    <mxGraphModel dx="1122" dy="852" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1100" pageHeight="850" background="none" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="7baba1c4bc27f4b0-2" value="Robot" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="430" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-10" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-2" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="120" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-8" value="Ordinateur" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="290" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-9" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-8" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="200" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-30" value="OK" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;exitX=0.119;exitY=0.988;exitDx=0;exitDy=0;exitPerimeter=0;" parent="7baba1c4bc27f4b0-8" source="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="220" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="495.5" y="220" />
+            </Array>
+            <mxPoint x="795.5" y="220" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-11" value="PING" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="1" source="7baba1c4bc27f4b0-9" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="410" y="370" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Doc robot/Commande POWEROFF.drawio

@@ -0,0 +1,52 @@
+<mxfile host="app.diagrams.net" modified="2023-11-21T12:49:54.137Z" agent="Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:109.0) Gecko/20100101 Firefox/119.0" etag="hZ7n7WkkaXjE-WsCi2cN" version="22.1.3" type="device">
+  <diagram name="Page-1" id="13e1069c-82ec-6db2-03f1-153e76fe0fe0">
+    <mxGraphModel dx="1244" dy="911" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1100" pageHeight="850" background="none" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="7baba1c4bc27f4b0-2" value="Robot" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="480" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-10" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-2" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="120" as="geometry" />
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-1" value="" style="curved=1;endArrow=classic;html=1;rounded=0;entryX=1.279;entryY=0.784;entryDx=0;entryDy=0;entryPerimeter=0;" parent="7baba1c4bc27f4b0-2" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="55" y="130" as="sourcePoint" />
+            <mxPoint x="100" y="200" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="105" y="130" />
+              <mxPoint x="130" y="140" />
+              <mxPoint x="130" y="200" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-2" value="Lance la procedure d&#39;extinction " style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="HzyZGsg6_ylir2WwqlqJ-1" vertex="1" connectable="0">
+          <mxGeometry x="-0.1338" y="1" relative="1" as="geometry">
+            <mxPoint x="-1" y="11" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-8" value="Ordinateur" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="290" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-9" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-8" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="200" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-30" value="OK" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;exitX=0.119;exitY=0.988;exitDx=0;exitDy=0;exitPerimeter=0;" parent="7baba1c4bc27f4b0-8" source="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="220" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="495.5" y="220" />
+            </Array>
+            <mxPoint x="795.5" y="220" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-11" value="POWEROFF" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="1" source="7baba1c4bc27f4b0-9" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="410" y="370" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Doc robot/Commande RESET.drawio

@@ -0,0 +1,58 @@
+<mxfile host="Electron" modified="2023-10-19T14:08:29.206Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/22.0.3 Chrome/114.0.5735.289 Electron/25.8.4 Safari/537.36" etag="4zu-3zHQbISUwasoLV-3" version="22.0.3" type="device">
+  <diagram name="Page-1" id="13e1069c-82ec-6db2-03f1-153e76fe0fe0">
+    <mxGraphModel dx="1122" dy="852" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1100" pageHeight="850" background="none" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="7baba1c4bc27f4b0-2" value="Robot" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="480" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-10" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-2" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="120" as="geometry" />
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-1" value="" style="curved=1;endArrow=classic;html=1;rounded=0;entryX=1.279;entryY=0.784;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="7baba1c4bc27f4b0-2" target="7baba1c4bc27f4b0-10">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="55" y="130" as="sourcePoint" />
+            <mxPoint x="100" y="200" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="105" y="130" />
+              <mxPoint x="130" y="140" />
+              <mxPoint x="130" y="200" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-2" value="IDLE-&amp;gt; RUN" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="HzyZGsg6_ylir2WwqlqJ-1">
+          <mxGeometry x="-0.1338" y="1" relative="1" as="geometry">
+            <mxPoint x="-1" y="11" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-8" value="Ordinateur" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="290" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-9" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-8" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="200" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-30" value="OK" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;exitX=0.119;exitY=0.988;exitDx=0;exitDy=0;exitPerimeter=0;" parent="7baba1c4bc27f4b0-8" source="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="220" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="495.5" y="220" />
+            </Array>
+            <mxPoint x="795.5" y="220" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-3" value="START_WITHOUT_WATCHDOG" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" edge="1" parent="7baba1c4bc27f4b0-8">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="120" as="sourcePoint" />
+            <mxPoint x="235" y="120" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-11" value="START_WITH_WATCHDOG" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="1" source="7baba1c4bc27f4b0-9" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="410" y="370" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Doc robot/Commande RESET_WATCHDOG.drawio

@@ -0,0 +1,65 @@
+<mxfile host="app.diagrams.net" modified="2023-11-21T11:58:33.981Z" agent="Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:109.0) Gecko/20100101 Firefox/119.0" etag="eJqPFFLypjJ9nA5gPQRz" version="22.1.3" type="device">
+  <diagram name="Page-1" id="13e1069c-82ec-6db2-03f1-153e76fe0fe0">
+    <mxGraphModel dx="1244" dy="911" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1100" pageHeight="850" background="none" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="7baba1c4bc27f4b0-2" value="Robot" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;size=40;" parent="1" vertex="1">
+          <mxGeometry x="540" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-10" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-2" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="140" as="geometry" />
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-1" value="" style="curved=1;endArrow=classic;html=1;rounded=0;entryX=1.279;entryY=0.784;entryDx=0;entryDy=0;entryPerimeter=0;" parent="7baba1c4bc27f4b0-2" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="55" y="130" as="sourcePoint" />
+            <mxPoint x="100" y="200" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="105" y="130" />
+              <mxPoint x="130" y="140" />
+              <mxPoint x="130" y="200" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-2" value="Reinitialisation watchdog" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="HzyZGsg6_ylir2WwqlqJ-1" vertex="1" connectable="0">
+          <mxGeometry x="-0.1338" y="1" relative="1" as="geometry">
+            <mxPoint x="-1" y="11" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-8" value="Ordinateur" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="290" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-9" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-8" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="200" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-30" value="OK (si entre 0.9s et 1.1s)" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;exitX=0.1;exitY=0.786;exitDx=0;exitDy=0;exitPerimeter=0;" parent="7baba1c4bc27f4b0-8" source="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry y="-10" relative="1" as="geometry">
+            <mxPoint x="55" y="210" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="146" y="210" />
+            </Array>
+            <mxPoint x="230" y="210" as="sourcePoint" />
+            <mxPoint x="1" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-11" value="RESET_WATCHDOG" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="1" source="7baba1c4bc27f4b0-9" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="410" y="370" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="3dzF_IovML2ldSXeqPZC-5" value="" style="endArrow=open;html=1;rounded=1;dashed=1;endFill=0;edgeStyle=elbowEdgeStyle;elbow=vertical;entryX=0.9;entryY=0.705;entryDx=0;entryDy=0;entryPerimeter=0;endSize=8;" edge="1" parent="1" source="7baba1c4bc27f4b0-2" target="7baba1c4bc27f4b0-9">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="520" y="500" as="sourcePoint" />
+            <mxPoint x="350" y="500" as="targetPoint" />
+            <Array as="points" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="3dzF_IovML2ldSXeqPZC-7" value="&lt;font face=&quot;Verdana&quot; style=&quot;font-size: 12px;&quot;&gt;ERR (si trop tôt ou trop tard)&lt;br&gt;&lt;/font&gt;" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="3dzF_IovML2ldSXeqPZC-5">
+          <mxGeometry x="0.6158" y="-2" relative="1" as="geometry">
+            <mxPoint x="79" y="-9" as="offset" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Doc robot/Commande START_WITH_WATCHDOG.drawio

@@ -0,0 +1,58 @@
+<mxfile host="Electron" modified="2023-10-19T14:08:50.889Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/22.0.3 Chrome/114.0.5735.289 Electron/25.8.4 Safari/537.36" etag="5e21WgYeRU5zKfirCkVZ" version="22.0.3" type="device">
+  <diagram name="Page-1" id="13e1069c-82ec-6db2-03f1-153e76fe0fe0">
+    <mxGraphModel dx="1122" dy="852" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1100" pageHeight="850" background="none" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="7baba1c4bc27f4b0-2" value="Robot" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="480" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-10" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-2" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="120" as="geometry" />
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-1" value="" style="curved=1;endArrow=classic;html=1;rounded=0;entryX=1.279;entryY=0.784;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="7baba1c4bc27f4b0-2" target="7baba1c4bc27f4b0-10">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="55" y="130" as="sourcePoint" />
+            <mxPoint x="100" y="200" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="105" y="130" />
+              <mxPoint x="130" y="140" />
+              <mxPoint x="130" y="200" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-2" value="IDLE-&amp;gt; RUN" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="HzyZGsg6_ylir2WwqlqJ-1">
+          <mxGeometry x="-0.1338" y="1" relative="1" as="geometry">
+            <mxPoint x="-1" y="11" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-8" value="Ordinateur" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="290" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-9" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-8" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="200" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-30" value="OK" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;exitX=0.119;exitY=0.988;exitDx=0;exitDy=0;exitPerimeter=0;" parent="7baba1c4bc27f4b0-8" source="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="220" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="495.5" y="220" />
+            </Array>
+            <mxPoint x="795.5" y="220" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-3" value="START_WITHOUT_WATCHDOG" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" edge="1" parent="7baba1c4bc27f4b0-8">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="120" as="sourcePoint" />
+            <mxPoint x="235" y="120" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-11" value="START_WITH_WATCHDOG" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="1" source="7baba1c4bc27f4b0-9" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="410" y="370" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Doc robot/Commande TURN.drawio

@@ -0,0 +1,52 @@
+<mxfile host="Electron" modified="2023-10-19T15:06:14.960Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/22.0.3 Chrome/114.0.5735.289 Electron/25.8.4 Safari/537.36" etag="TFiLTTUfpOkRn3xQ6uxh" version="22.0.3" type="device">
+  <diagram name="Page-1" id="13e1069c-82ec-6db2-03f1-153e76fe0fe0">
+    <mxGraphModel dx="1122" dy="852" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1100" pageHeight="850" background="none" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="7baba1c4bc27f4b0-2" value="Robot" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="480" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-10" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-2" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="120" as="geometry" />
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-1" value="" style="curved=1;endArrow=classic;html=1;rounded=0;entryX=1.279;entryY=0.784;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="7baba1c4bc27f4b0-2" target="7baba1c4bc27f4b0-10">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="55" y="130" as="sourcePoint" />
+            <mxPoint x="100" y="200" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="105" y="130" />
+              <mxPoint x="130" y="140" />
+              <mxPoint x="130" y="200" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="HzyZGsg6_ylir2WwqlqJ-2" value="RUN -&amp;gt; MOTORS ON&lt;br&gt;Rotation de xxxx degrés" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="HzyZGsg6_ylir2WwqlqJ-1">
+          <mxGeometry x="-0.1338" y="1" relative="1" as="geometry">
+            <mxPoint x="-1" y="11" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-8" value="Ordinateur" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="290" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-9" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-8" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="200" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-30" value="OK" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;exitX=0.119;exitY=0.988;exitDx=0;exitDy=0;exitPerimeter=0;" parent="7baba1c4bc27f4b0-8" source="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="220" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="495.5" y="220" />
+            </Array>
+            <mxPoint x="795.5" y="220" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-11" value="TURN=xxxx" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="1" source="7baba1c4bc27f4b0-9" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="410" y="370" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Doc robot/Commande.drawio

@@ -0,0 +1,36 @@
+<mxfile host="Electron" modified="2023-10-18T14:02:34.606Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/22.0.2 Chrome/114.0.5735.289 Electron/25.8.4 Safari/537.36" etag="7CYwIgy7QJl9Bf2-hre1" version="22.0.2" type="device">
+  <diagram name="Page-1" id="13e1069c-82ec-6db2-03f1-153e76fe0fe0">
+    <mxGraphModel dx="1116" dy="849" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1100" pageHeight="850" background="none" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="7baba1c4bc27f4b0-2" value="Robot" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="430" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-10" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-2" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="120" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-8" value="Ordinateur" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=1;collapsible=0;recursiveResize=0;outlineConnect=0;rounded=1;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="1" vertex="1">
+          <mxGeometry x="290" y="260" width="100" height="360" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-9" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;rounded=0;shadow=0;comic=0;labelBackgroundColor=none;strokeWidth=1;fontFamily=Verdana;fontSize=12;align=center;" parent="7baba1c4bc27f4b0-8" vertex="1">
+          <mxGeometry x="45" y="100" width="10" height="200" as="geometry" />
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-30" value="OK" style="html=1;verticalAlign=bottom;endArrow=open;dashed=1;endSize=8;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;exitX=0.119;exitY=0.988;exitDx=0;exitDy=0;exitPerimeter=0;" parent="7baba1c4bc27f4b0-8" source="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="55" y="220" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="495.5" y="220" />
+            </Array>
+            <mxPoint x="795.5" y="220" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="7baba1c4bc27f4b0-11" value="PING" style="html=1;verticalAlign=bottom;endArrow=block;entryX=0;entryY=0;labelBackgroundColor=none;fontFamily=Verdana;fontSize=12;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="1" source="7baba1c4bc27f4b0-9" target="7baba1c4bc27f4b0-10" edge="1">
+          <mxGeometry relative="1" as="geometry">
+            <mxPoint x="410" y="370" as="sourcePoint" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Doc robot/Usage.drawio

@@ -0,0 +1,99 @@
+<mxfile host="Electron" modified="2023-10-18T12:56:23.491Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/22.0.2 Chrome/114.0.5735.289 Electron/25.8.4 Safari/537.36" etag="u2Q0An3SG5VA8hU9XdA-" version="22.0.2" type="device">
+  <diagram name="Page-1" id="s1iIJNLQm_feeAUxPTrX">
+    <mxGraphModel dx="1118" dy="979" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-1" value="" style="ellipse;fillColor=strokeColor;html=1;" vertex="1" parent="1">
+          <mxGeometry x="399" y="90" width="30" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-2" value="IDLE" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="354" y="180" width="120" height="60" as="geometry" />
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-3" value="" style="endArrow=classic;html=1;rounded=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" edge="1" parent="1" source="gdbxGBDsbOmqj8yGOonJ-1" target="gdbxGBDsbOmqj8yGOonJ-2">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="390" y="530" as="sourcePoint" />
+            <mxPoint x="440" y="480" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-5" value="Demarrage" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="gdbxGBDsbOmqj8yGOonJ-3">
+          <mxGeometry x="-0.279" y="5" relative="1" as="geometry">
+            <mxPoint x="-5" as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-4" value="RUN" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="354" y="320" width="120" height="60" as="geometry" />
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-25" value="Commande&lt;br&gt;de sureté &lt;br&gt;de fonctionnement" style="verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.patternFillRect;fillStyle=diagGrid;step=5;fillStrokeWidth=0.2;fillStrokeColor=#dddddd;rotation=0;dashed=1;" vertex="1" parent="1">
+          <mxGeometry x="500" y="285" width="150" height="115" as="geometry" />
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-6" value="" style="endArrow=classic;html=1;rounded=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="gdbxGBDsbOmqj8yGOonJ-2" target="gdbxGBDsbOmqj8yGOonJ-4">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="390" y="530" as="sourcePoint" />
+            <mxPoint x="440" y="480" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-7" value="Start with watchdog&lt;br&gt;ou&lt;br&gt;Start without watchdog" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];rotation=0;" vertex="1" connectable="0" parent="gdbxGBDsbOmqj8yGOonJ-6">
+          <mxGeometry x="-0.1336" y="1" relative="1" as="geometry">
+            <mxPoint as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-11" value="" style="curved=1;endArrow=classic;html=1;rounded=0;exitX=1;exitY=0.25;exitDx=0;exitDy=0;entryX=1;entryY=0.75;entryDx=0;entryDy=0;" edge="1" parent="1" source="gdbxGBDsbOmqj8yGOonJ-4" target="gdbxGBDsbOmqj8yGOonJ-4">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="480" y="340" as="sourcePoint" />
+            <mxPoint x="540" y="370" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="540" y="320" />
+              <mxPoint x="560" y="330" />
+              <mxPoint x="570" y="350" />
+              <mxPoint x="550" y="380" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-12" value="Reset watchdog&amp;nbsp;&lt;br&gt;(si le watchdog est actif)" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="gdbxGBDsbOmqj8yGOonJ-11">
+          <mxGeometry x="-0.0635" y="1" relative="1" as="geometry">
+            <mxPoint as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-20" value="Commandes&lt;br&gt;de mouvement" style="verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.patternFillRect;fillStyle=diagGrid;step=5;fillStrokeWidth=0.2;fillStrokeColor=#dddddd;rotation=0;dashed=1;" vertex="1" parent="1">
+          <mxGeometry x="200" y="285" width="130" height="115" as="geometry" />
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-13" value="" style="curved=1;endArrow=classic;html=1;rounded=0;exitX=0;exitY=0.25;exitDx=0;exitDy=0;entryX=0;entryY=0.75;entryDx=0;entryDy=0;" edge="1" parent="1" source="gdbxGBDsbOmqj8yGOonJ-4" target="gdbxGBDsbOmqj8yGOonJ-4">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="260" y="330" as="sourcePoint" />
+            <mxPoint x="310" y="280" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="320" y="320" />
+              <mxPoint x="310" y="320" />
+              <mxPoint x="250" y="320" />
+              <mxPoint x="260" y="380" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-14" value="Move&amp;nbsp;&lt;br&gt;ou&lt;br&gt;Turn" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="gdbxGBDsbOmqj8yGOonJ-13">
+          <mxGeometry x="-0.0409" y="1" relative="1" as="geometry">
+            <mxPoint as="offset" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-27" value="Commandes&lt;br&gt;de surveillance" style="verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.patternFillRect;fillStyle=diagGrid;step=5;fillStrokeWidth=0.2;fillStrokeColor=#dddddd;rotation=0;dashed=1;" vertex="1" parent="1">
+          <mxGeometry x="349" y="400" width="130" height="115" as="geometry" />
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-26" value="" style="curved=1;endArrow=classic;html=1;rounded=0;exitX=0.25;exitY=1;exitDx=0;exitDy=0;entryX=0.75;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1" source="gdbxGBDsbOmqj8yGOonJ-4" target="gdbxGBDsbOmqj8yGOonJ-4">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="399" y="470" as="sourcePoint" />
+            <mxPoint x="449" y="420" as="targetPoint" />
+            <Array as="points">
+              <mxPoint x="380" y="460" />
+              <mxPoint x="450" y="460" />
+            </Array>
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="gdbxGBDsbOmqj8yGOonJ-28" value="Get battery&lt;br&gt;Get status" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="gdbxGBDsbOmqj8yGOonJ-26">
+          <mxGeometry x="-0.0101" y="-2" relative="1" as="geometry">
+            <mxPoint y="8" as="offset" />
+          </mxGeometry>
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>

doc/Flowchart-robot.drawio

@@ -0,0 +1 @@
+<mxfile host="app.diagrams.net" modified="2022-10-11T12:40:49.574Z" agent="5.0 (X11)" etag="YNnbMm92YCTksZ5bMFh4" version="20.4.0" type="device"><diagram name="Page-1" id="c7558073-3199-34d8-9f00-42111426c3f3">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</diagram></mxfile>

doc/sujets/tex/conception/conception_robot.tex

@@ -212,7 +212,7 @@ La dernière fonctionnalité qui sera traitée dans cette conception introduit d
 %%%%%%%%%%%%%%%%%%%%%%%%%
 
 \subsection{Identification des threads}
-Après avoir identifier les fonctions de l'application, le concepteur doit préciser quand l'exécution des fonctions se produit. La première étape consiste à considérer chaque fonction comme un thread. Deux questions se posent alors :
+Après avoir identifié les fonctions de l'application, le concepteur doit préciser quand l'exécution des fonctions se produit. La première étape consiste à considérer chaque fonction comme un thread. Deux questions se posent alors :
 \begin{itemize}
 	\item Quel est le type du thread ? Un thread apériodique (noté par un A dans un rond) est un thread dont l'exécution est contrôlé par des événements alors qu'un thread périodique (noté par la valeur de la période dans un rond) aura une exécution qui revient périodiquement.
 	\item Quel est la priorité du thread ? Une règle simple pour les threads périodiques est d'attribuer les priorités par ordre décroissant des périodes, c'est-à-dire qu'un thread sera d'autant plus prioritaire que sa période sera petite.  Pour les threads apériodiques, le niveau de priorité va dépendre de la criticité des fonctions.\\
@@ -229,7 +229,7 @@ Après avoir identifier les fonctions de l'application, le concepteur doit préc
 
 Une seconde étape consiste à avoir un regard critique sur sa conception, par exemple en se demandant s'il est possible de réunir des threads ensembles. Ici, le thread {\tt Etablissement de la communication avec le moniteur} ne peut être appelé qu'après {\tt démarrer serveur}, il est donc possible de les réunir en un seul thread.
 
-C'est aussi le moment de se demande si toutes les fonctionnalités sont couvertes. Pour cela on reprend chaque fonctionnalité et on vérifie qu'elles sont bien traitées. Ici tout semble correct, bien qu'un doute subsiste pour la gestion des déplacements du robot...
+C'est aussi le moment de se demander si toutes les fonctionnalités sont couvertes. Pour cela on reprend chaque fonctionnalité et on vérifie qu'elles sont bien traitées. Ici tout semble correct, bien qu'un doute subsiste pour la gestion des déplacements du robot...
 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 \subsection{Formalisation}
@@ -328,7 +328,7 @@ Elle ne se veut pas exhaustive, mais simplement présenter les éléments néces
 
 Le diagramme d'activité est un diagramme comportemental d'UML, permettant de représenter le déclenchement d'événements en fonction des états du système et de modéliser des comportements parallélisables (multi-threads ou multi-processus).
 
-Les diagrammes d'activités permettent de spécifier des traitements a priori séquentiels et offrent une vision très proche de celle des langages de programmation impératifs comme C++ ou Java. Il serait utilisé ici dans ce but.
+Les diagrammes d'activité permettent de spécifier des traitements à priori séquentiels et offrent une vision très proche de celle des langages de programmation impératifs comme C++ ou Java. Il serait utilisé ici dans ce but.
 
 \subsection{N{\oe}uds d'activité}
 
@@ -442,7 +442,7 @@ Chaque composant appartient à une {\bf catégorie}. Ces catégories sont préd
 
 Chaque composant comprend deux parties. La première, \textbf{le type}, correspond à son interface fonctionnelle, c'est-à-dire ce qui est visible pour les autres composants. La seconde, \textbf{l'implémentation}, décrit son contenu : sous-composants, propriétés, connexions, etc.
 
-Chaque implémentation est associée à un type. ¿ chaque type est associé aucune, une ou plusieurs implémentations. La figure~\ref{fig:type_implementation} donne un exemple de deux types de composants dont le premier est associé à deux implémentations de composants (component implementations).  Textuellement, le type est introduit par le mot décrivant le type du composant, alors que l'implémentation est décrite par le type suivi du mot {\em implementation}.
+Chaque implémentation est associée à un type. À chaque type est associé aucune, une ou plusieurs implémentations. La figure~\ref{fig:type_implementation} donne un exemple de deux types de composants dont le premier est associé à deux implémentations de composants (component implementations).  Textuellement, le type est introduit par le mot décrivant le type du composant, alors que l'implémentation est décrite par le type suivi du mot {\em implementation}.
 
 
 \begin{figure}[htbp]

doc/sujets/tex/guide_compilation/guide.tex

@@ -115,6 +115,20 @@ Guide des outils de développement \\
 
 \maketitle
 
+%%%%%%%%%%%%%%%%%%%%
+\section{Configurer Netbeans pour C/C++}
+\label{sec:git}
+%%%%%%%%%%%%%%%%%%%%
+
+Depuis la version 11 de Netbeans, il est nécessaire que chaque utilisateur configure son environnement avec le plugin C/CC++. Pour cela, il faut :
+\begin{itemize}
+	\item ouvrir le menu \og Tools > Plugins \fg
+	\item aller dans l'onglet \og Settings \fg,
+	\item cocher  \og Netbeans 8.2 plugins Portal \fg,
+	\item aller dans l'onglet \og Available \fg et rafraichir,
+	\item puis choisir C/C++ et suivre le guide...
+\end{itemize}
+
 %%%%%%%%%%%%%%%%%%%%
 \section{Code initial du projet}
 \label{sec:git}
@@ -132,7 +146,7 @@ Le répertoire {\tt superviseur-robot} est constitué des fichiers suivants :
 \begin{itemize}
 \item {\tt /destijl\_init/main.cpp} qui contient le main de l'application et lance la création des objets et leur exécution,
 \item {\tt /destijl\_init/src/tasks.h} qui contient l'entête des différentes fonctions,
-\item {\tt /destijl\_init/src/tasks.cpp} qui contient l'implémentation des fonctions de création des objets (tâches, sémaphores, mutex, etc.) ainsi que les fonction de traitement.
+\item {\tt /destijl\_init/src/tasks.cpp} qui contient l'implémentation des fonctions de création des objets (tâches, sémaphores, mutex, etc.) ainsi que les fonctions de traitement.
 \end{itemize}
 
 
@@ -142,9 +156,9 @@ Le répertoire {\tt superviseur-robot} est constitué des fichiers suivants :
 \section{Compilation d'une application distante}
 %%%%%%%%%%%%%%%%%%%%
 
-L'application étant sur une \raspi, il vous faut compiler le programme pour cette architecture. Nous vous proposons d'utiliser Netbeans pour écrire votre code et faire la compilation distante. Cela signifie que votre code est stocké sur votre compte INSA, que vous éditer le code sur la machine de TP, que ce code est ensuite automatiquement chargé sur la \raspi puis compilé (Netbeans permet de faire tout cela).
+L'application étant sur une \raspi, il vous faut compiler le programme pour cette architecture. Nous vous proposons d'utiliser Netbeans pour écrire votre code et faire la compilation distante. Cela signifie que votre code est stocké sur votre compte INSA, que vous éditez le code sur la machine de TP, que ce code est ensuite automatiquement chargé sur la \raspi puis compilé (Netbeans permet de faire tout cela).
 
-Pour commencer lancer Netbeans et ouvrez le projet {\tt superviseur-robot}.
+Pour commencer, lancez Netbeans et ouvrez le projet {\tt superviseur-robot}.
 
 Avant de compiler, il vous faut configurer la cible sur laquelle la compilation va se faire:
 \begin{enumerate}
@@ -165,7 +179,7 @@ Avant de compiler, il vous faut configurer la cible sur laquelle la compilation
 \item Cliquez {\tt OK}.
 \end{enumerate}
 
-Pour compiler, il suffit ensuite de cliquer sur l'icône en forme de marteau. Vous pourrez voir dans le terminal les étapes de compilation qui commence par le transfert des fichiers suivi de la compilation proprement dite.
+Pour compiler, il suffit ensuite de cliquer sur l'icône en forme de marteau. Vous pourrez voir dans le terminal les étapes de compilation qui commencent par le transfert des fichiers suivi de la compilation proprement dite.
 
 {\bf Remarque} : la première compilation est un peu longue, mais devrait ensuite se fluidifier avec la compilation incrémentale.
 
@@ -175,7 +189,7 @@ Pour compiler, il suffit ensuite de cliquer sur l'icône en forme de marteau. Vo
 \label{sec:utilisation}
 %%%%%%%%%%%%%%%%%%%%
 
-Pour exécuter l'application sur le superviseur, il faut après avoir mis en place un terminal distant (voir ci-dessous) puis démarrer l'exécution avec la commande {\tt sudo ./path/app} où {\tt path} est le chemin du répertoire où se trouve l'application et {\tt app} est le nom de votre application. Attention les droits {\tt sudo} sont nécessaires pour des questions d'accès à certains services Xenomai de gestion de la mémoire.
+Pour exécuter l'application sur le superviseur, il faut avoir mis en place un terminal distant (voir ci-dessous) puis démarrer l'exécution avec la commande {\tt sudo ./path/app} où {\tt path} est le chemin du répertoire où se trouve l'application et {\tt app} est le nom de votre application. Attention les droits {\tt sudo} sont nécessaires pour des questions d'accès à certains services Xenomai de gestion de la mémoire.
 
 Si vous utilisez Netbeans, le répertoire dans lequel est compilée l'application se trouve dans l'arboressence commençant par {\tt .netbeans} (attention au "." au début). Il faut descendre dans cette arboressence jusqu'à une bifurcation, puis choisir le répertoire {\tt dist} et aller jusqu'au bout. L'application se trouve au bout de cette branche.
 
@@ -209,7 +223,7 @@ Pour exécuter le moniteur, il suffit depuis votre PC de travail de se placer da
  
  Les seuls fichiers que vous allez avoir à modifier sont les fichiers {\tt tasks.h} et {\tt tasks.cpp}. La classe {\tt Tasks} a pour attributs privés l'ensemble des structures constituant l'application (tâches, mutex, sémarphores, ressources, etc.). Les fonctions de traitement associées aux tâches sont déclarées comme des méthodes privées de {\tt Tasks}.
  
- La classe {\tt Tasks} propose quatre méthodes publics :
+ La classe {\tt Tasks} propose quatre méthodes publiques :
  \begin{itemize}
  	\item {\tt Init()} qui crée les structures de l'application,
 	\item {\tt Run()} qui lance les tâches,
@@ -217,7 +231,7 @@ Pour exécuter le moniteur, il suffit depuis votre PC de travail de se placer da
 	\item {\tt Join()} qui suspend l'exécution du {\tt main}.\\
  \end{itemize}
 
-Pour ajoutez des structures à l'application, il suffit de les déclarer dans le fichier {\tt tasks.h} puis de s'assurer qu'elles sont bien instanciées dans les méthodes adéquates de {\tt tasks.cpp}. Pour une tâche, il faut en plus déclarer une nouvelle méthode privée dans {tasks.h} et fournir son implémentation dans {tasks.cpp}. Cette nouvelle méthode sera le point d'entrée de la tâche.
+Pour ajouter des structures à l'application, il suffit de les déclarer dans le fichier {\tt tasks.h} puis de s'assurer qu'elles sont bien instanciées dans les méthodes adéquates de {\tt tasks.cpp}. Pour une tâche, il faut en plus déclarer une nouvelle méthode privée dans {tasks.h} et fournir son implémentation dans {tasks.cpp}. Cette nouvelle méthode sera le point d'entrée de la tâche.
 
 Toute la documentation de Xenomai se trouve en ligne (attention c'est Xenomai 3) et nous utilisons l'\href{https://xenomai.org/documentation/xenomai-3/html/xeno3prm/group__alchemy.html}{API alchemy}.
 

hardware/meca/.gitignore

@@ -0,0 +1,2 @@
+Dumber_2022_Freecad/
+

hardware/pcb/Dumber-v3/dumber-v3/.gitignore

@@ -0,0 +1 @@
+dumber-v3.step

hardware/pcb/Dumber-v3/dumber-v3/Gerber/dumber-v3-B_Adhesive.gbr

@@ -0,0 +1,176 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,6.0.7-f9a2dced07~116~ubuntu20.04.1*%
+%TF.CreationDate,2022-08-31T16:11:48+02:00*%
+%TF.ProjectId,dumber-v3,64756d62-6572-42d7-9633-2e6b69636164,1.1*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Glue,Bot*%
+%TF.FilePolarity,Positive*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 6.0.7-f9a2dced07~116~ubuntu20.04.1) date 2022-08-31 16:11:48*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%TA.AperFunction,Profile*%
+%ADD10C,0.010050*%
+%TD*%
+%TA.AperFunction,Profile*%
+%ADD11C,0.500000*%
+%TD*%
+G04 APERTURE END LIST*
+D10*
+X173755025Y-70000000D02*
+G75*
+G03*
+X173755025Y-70000000I-5025J0D01*
+G01*
+X141505025Y-86500000D02*
+G75*
+G03*
+X141505025Y-86500000I-5025J0D01*
+G01*
+D11*
+X175350000Y-70000000D02*
+G75*
+G03*
+X175350000Y-70000000I-1600000J0D01*
+G01*
+X142550000Y-86500000D02*
+G75*
+G03*
+X142550000Y-86500000I-1050000J0D01*
+G01*
+X167750000Y-63000000D02*
+X167750000Y-71500000D01*
+X109750000Y-96000000D02*
+X109750000Y-116000000D01*
+X129350000Y-142000000D02*
+G75*
+G03*
+X129350000Y-142000000I-1600000J0D01*
+G01*
+X127750000Y-63000000D02*
+G75*
+G03*
+X109750000Y-96000000I21250000J-33000000D01*
+G01*
+X197750000Y-127000000D02*
+X197750000Y-85000000D01*
+X129350000Y-70000000D02*
+G75*
+G03*
+X129350000Y-70000000I-1600000J0D01*
+G01*
+X167750000Y-149000000D02*
+X172750000Y-149000000D01*
+X172750000Y-63000000D02*
+X167750000Y-63000000D01*
+D10*
+X172755025Y-123795455D02*
+G75*
+G03*
+X172755025Y-123795455I-5025J0D01*
+G01*
+X159005025Y-125500000D02*
+G75*
+G03*
+X159005025Y-125500000I-5025J0D01*
+G01*
+X159005025Y-86500000D02*
+G75*
+G03*
+X159005025Y-86500000I-5025J0D01*
+G01*
+X172755025Y-88204545D02*
+G75*
+G03*
+X172755025Y-88204545I-5025J0D01*
+G01*
+X149005025Y-116000000D02*
+G75*
+G03*
+X149005025Y-116000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-149000000D02*
+X132750000Y-140500000D01*
+X167750000Y-140500000D02*
+X167750000Y-149000000D01*
+X127750000Y-149000000D02*
+X132750000Y-149000000D01*
+X167750000Y-71500000D02*
+X132750000Y-71500000D01*
+D10*
+X127755025Y-70000000D02*
+G75*
+G03*
+X127755025Y-70000000I-5025J0D01*
+G01*
+D11*
+X109750000Y-116000000D02*
+G75*
+G03*
+X127750000Y-149000000I39250000J0D01*
+G01*
+X175350000Y-142000000D02*
+G75*
+G03*
+X175350000Y-142000000I-1600000J0D01*
+G01*
+D10*
+X149005025Y-96000000D02*
+G75*
+G03*
+X149005025Y-96000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-63000000D02*
+X127750000Y-63000000D01*
+X132750000Y-71500000D02*
+X132750000Y-63000000D01*
+X197750047Y-84999994D02*
+G75*
+G03*
+X172750000Y-63000000I-25000047J-3204606D01*
+G01*
+X160050000Y-86500000D02*
+G75*
+G03*
+X160050000Y-86500000I-1050000J0D01*
+G01*
+D10*
+X173755025Y-142000000D02*
+G75*
+G03*
+X173755025Y-142000000I-5025J0D01*
+G01*
+X141505025Y-125500000D02*
+G75*
+G03*
+X141505025Y-125500000I-5025J0D01*
+G01*
+D11*
+X132750000Y-140500000D02*
+X167750000Y-140500000D01*
+X160050000Y-125500000D02*
+G75*
+G03*
+X160050000Y-125500000I-1050000J0D01*
+G01*
+X142550000Y-125500000D02*
+G75*
+G03*
+X142550000Y-125500000I-1050000J0D01*
+G01*
+X172750000Y-149000005D02*
+G75*
+G03*
+X197750000Y-127000000I0J25204545D01*
+G01*
+D10*
+X127755025Y-142000000D02*
+G75*
+G03*
+X127755025Y-142000000I-5025J0D01*
+G01*
+M02*

hardware/pcb/Dumber-v3/dumber-v3/Gerber/dumber-v3-B_Courtyard.gbr

@@ -0,0 +1,821 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,6.0.7-f9a2dced07~116~ubuntu20.04.1*%
+%TF.CreationDate,2022-08-31T16:11:48+02:00*%
+%TF.ProjectId,dumber-v3,64756d62-6572-42d7-9633-2e6b69636164,1.1*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Other,User*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 6.0.7-f9a2dced07~116~ubuntu20.04.1) date 2022-08-31 16:11:48*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%TA.AperFunction,Profile*%
+%ADD10C,0.010050*%
+%TD*%
+%TA.AperFunction,Profile*%
+%ADD11C,0.500000*%
+%TD*%
+%ADD12C,0.050000*%
+G04 APERTURE END LIST*
+D10*
+X173755025Y-70000000D02*
+G75*
+G03*
+X173755025Y-70000000I-5025J0D01*
+G01*
+X141505025Y-86500000D02*
+G75*
+G03*
+X141505025Y-86500000I-5025J0D01*
+G01*
+D11*
+X175350000Y-70000000D02*
+G75*
+G03*
+X175350000Y-70000000I-1600000J0D01*
+G01*
+X142550000Y-86500000D02*
+G75*
+G03*
+X142550000Y-86500000I-1050000J0D01*
+G01*
+X167750000Y-63000000D02*
+X167750000Y-71500000D01*
+X109750000Y-96000000D02*
+X109750000Y-116000000D01*
+X129350000Y-142000000D02*
+G75*
+G03*
+X129350000Y-142000000I-1600000J0D01*
+G01*
+X127750000Y-63000000D02*
+G75*
+G03*
+X109750000Y-96000000I21250000J-33000000D01*
+G01*
+X197750000Y-127000000D02*
+X197750000Y-85000000D01*
+X129350000Y-70000000D02*
+G75*
+G03*
+X129350000Y-70000000I-1600000J0D01*
+G01*
+X167750000Y-149000000D02*
+X172750000Y-149000000D01*
+X172750000Y-63000000D02*
+X167750000Y-63000000D01*
+D10*
+X172755025Y-123795455D02*
+G75*
+G03*
+X172755025Y-123795455I-5025J0D01*
+G01*
+X159005025Y-125500000D02*
+G75*
+G03*
+X159005025Y-125500000I-5025J0D01*
+G01*
+X159005025Y-86500000D02*
+G75*
+G03*
+X159005025Y-86500000I-5025J0D01*
+G01*
+X172755025Y-88204545D02*
+G75*
+G03*
+X172755025Y-88204545I-5025J0D01*
+G01*
+X149005025Y-116000000D02*
+G75*
+G03*
+X149005025Y-116000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-149000000D02*
+X132750000Y-140500000D01*
+X167750000Y-140500000D02*
+X167750000Y-149000000D01*
+X127750000Y-149000000D02*
+X132750000Y-149000000D01*
+X167750000Y-71500000D02*
+X132750000Y-71500000D01*
+D10*
+X127755025Y-70000000D02*
+G75*
+G03*
+X127755025Y-70000000I-5025J0D01*
+G01*
+D11*
+X109750000Y-116000000D02*
+G75*
+G03*
+X127750000Y-149000000I39250000J0D01*
+G01*
+X175350000Y-142000000D02*
+G75*
+G03*
+X175350000Y-142000000I-1600000J0D01*
+G01*
+D10*
+X149005025Y-96000000D02*
+G75*
+G03*
+X149005025Y-96000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-63000000D02*
+X127750000Y-63000000D01*
+X132750000Y-71500000D02*
+X132750000Y-63000000D01*
+X197750047Y-84999994D02*
+G75*
+G03*
+X172750000Y-63000000I-25000047J-3204606D01*
+G01*
+X160050000Y-86500000D02*
+G75*
+G03*
+X160050000Y-86500000I-1050000J0D01*
+G01*
+D10*
+X173755025Y-142000000D02*
+G75*
+G03*
+X173755025Y-142000000I-5025J0D01*
+G01*
+X141505025Y-125500000D02*
+G75*
+G03*
+X141505025Y-125500000I-5025J0D01*
+G01*
+D11*
+X132750000Y-140500000D02*
+X167750000Y-140500000D01*
+X160050000Y-125500000D02*
+G75*
+G03*
+X160050000Y-125500000I-1050000J0D01*
+G01*
+X142550000Y-125500000D02*
+G75*
+G03*
+X142550000Y-125500000I-1050000J0D01*
+G01*
+X172750000Y-149000005D02*
+G75*
+G03*
+X197750000Y-127000000I0J25204545D01*
+G01*
+D10*
+X127755025Y-142000000D02*
+G75*
+G03*
+X127755025Y-142000000I-5025J0D01*
+G01*
+D12*
+%TO.C,D1*%
+X136495000Y-102265000D02*
+X139095000Y-102265000D01*
+X139095000Y-99665000D02*
+X136495000Y-99665000D01*
+X136495000Y-99665000D02*
+X136495000Y-102265000D01*
+X139095000Y-99665000D02*
+X139095000Y-102265000D01*
+%TO.C,C17*%
+X155230000Y-104345000D02*
+X155230000Y-107745000D01*
+X155230000Y-107745000D02*
+X157190000Y-107745000D01*
+X157190000Y-107745000D02*
+X157190000Y-104345000D01*
+X157190000Y-104345000D02*
+X155230000Y-104345000D01*
+%TO.C,R10*%
+X176432000Y-80050000D02*
+X173072000Y-80050000D01*
+X173072000Y-80050000D02*
+X173072000Y-81950000D01*
+X173072000Y-81950000D02*
+X176432000Y-81950000D01*
+X176432000Y-81950000D02*
+X176432000Y-80050000D01*
+%TO.C,U2*%
+X153645000Y-109280000D02*
+X154245000Y-109280000D01*
+X150495000Y-118180000D02*
+X153645000Y-118180000D01*
+X145345000Y-116180000D02*
+X145345000Y-113030000D01*
+X153645000Y-116780000D02*
+X154245000Y-116780000D01*
+X153645000Y-118180000D02*
+X153645000Y-116780000D01*
+X154245000Y-116780000D02*
+X154245000Y-116180000D01*
+X147345000Y-109280000D02*
+X146745000Y-109280000D01*
+X155645000Y-116180000D02*
+X155645000Y-113030000D01*
+X147345000Y-118180000D02*
+X147345000Y-116780000D01*
+X146745000Y-116780000D02*
+X146745000Y-116180000D01*
+X150495000Y-118180000D02*
+X147345000Y-118180000D01*
+X150495000Y-107880000D02*
+X147345000Y-107880000D01*
+X155645000Y-109880000D02*
+X155645000Y-113030000D01*
+X146745000Y-116180000D02*
+X145345000Y-116180000D01*
+X146745000Y-109280000D02*
+X146745000Y-109880000D01*
+X154245000Y-116180000D02*
+X155645000Y-116180000D01*
+X146745000Y-109880000D02*
+X145345000Y-109880000D01*
+X147345000Y-116780000D02*
+X146745000Y-116780000D01*
+X145345000Y-109880000D02*
+X145345000Y-113030000D01*
+X150495000Y-107880000D02*
+X153645000Y-107880000D01*
+X153645000Y-107880000D02*
+X153645000Y-109280000D01*
+X154245000Y-109880000D02*
+X155645000Y-109880000D01*
+X154245000Y-109280000D02*
+X154245000Y-109880000D01*
+X147345000Y-107880000D02*
+X147345000Y-109280000D01*
+%TO.C,C4*%
+X183805000Y-113870000D02*
+X183805000Y-117270000D01*
+X183805000Y-117270000D02*
+X185765000Y-117270000D01*
+X185765000Y-113870000D02*
+X183805000Y-113870000D01*
+X185765000Y-117270000D02*
+X185765000Y-113870000D01*
+%TO.C,R7*%
+X172945000Y-113980000D02*
+X176305000Y-113980000D01*
+X176305000Y-112080000D02*
+X172945000Y-112080000D01*
+X172945000Y-112080000D02*
+X172945000Y-113980000D01*
+X176305000Y-113980000D02*
+X176305000Y-112080000D01*
+%TO.C,C20*%
+X140625000Y-110060000D02*
+X140625000Y-113460000D01*
+X140625000Y-113460000D02*
+X142585000Y-113460000D01*
+X142585000Y-113460000D02*
+X142585000Y-110060000D01*
+X142585000Y-110060000D02*
+X140625000Y-110060000D01*
+%TO.C,R17*%
+X171225000Y-124140000D02*
+X171225000Y-122240000D01*
+X171225000Y-122240000D02*
+X167865000Y-122240000D01*
+X167865000Y-124140000D02*
+X171225000Y-124140000D01*
+X167865000Y-122240000D02*
+X167865000Y-124140000D01*
+%TO.C,C6*%
+X171975000Y-101255000D02*
+X171975000Y-103215000D01*
+X175375000Y-103215000D02*
+X175375000Y-101255000D01*
+X175375000Y-101255000D02*
+X171975000Y-101255000D01*
+X171975000Y-103215000D02*
+X175375000Y-103215000D01*
+%TO.C,R3*%
+X177932500Y-123505000D02*
+X177932500Y-121605000D01*
+X174572500Y-123505000D02*
+X177932500Y-123505000D01*
+X174572500Y-121605000D02*
+X174572500Y-123505000D01*
+X177932500Y-121605000D02*
+X174572500Y-121605000D01*
+%TO.C,C19*%
+X143800000Y-118000000D02*
+X143800000Y-121400000D01*
+X143800000Y-121400000D02*
+X145760000Y-121400000D01*
+X145760000Y-121400000D02*
+X145760000Y-118000000D01*
+X145760000Y-118000000D02*
+X143800000Y-118000000D01*
+%TO.C,U3*%
+X116060000Y-103300000D02*
+X116060000Y-99900000D01*
+X116060000Y-99900000D02*
+X120160000Y-99900000D01*
+X120160000Y-99900000D02*
+X120160000Y-103300000D01*
+X120160000Y-103300000D02*
+X116060000Y-103300000D01*
+%TO.C,Q2*%
+X129685000Y-110990000D02*
+X133205000Y-110990000D01*
+X133205000Y-107440000D02*
+X133205000Y-110990000D01*
+X133205000Y-107440000D02*
+X129685000Y-107440000D01*
+X129685000Y-110990000D02*
+X129685000Y-107440000D01*
+%TO.C,R24*%
+X133125000Y-111445000D02*
+X129765000Y-111445000D01*
+X129765000Y-111445000D02*
+X129765000Y-113345000D01*
+X129765000Y-113345000D02*
+X133125000Y-113345000D01*
+X133125000Y-113345000D02*
+X133125000Y-111445000D01*
+%TO.C,R1*%
+X129765000Y-103190000D02*
+X129765000Y-105090000D01*
+X129765000Y-105090000D02*
+X133125000Y-105090000D01*
+X133125000Y-103190000D02*
+X129765000Y-103190000D01*
+X133125000Y-105090000D02*
+X133125000Y-103190000D01*
+%TO.C,C7*%
+X183805000Y-128790000D02*
+X183805000Y-132190000D01*
+X183805000Y-132190000D02*
+X185765000Y-132190000D01*
+X185765000Y-128790000D02*
+X183805000Y-128790000D01*
+X185765000Y-132190000D02*
+X185765000Y-128790000D01*
+%TO.C,R16*%
+X115890000Y-122607500D02*
+X117790000Y-122607500D01*
+X115890000Y-119247500D02*
+X115890000Y-122607500D01*
+X117790000Y-119247500D02*
+X115890000Y-119247500D01*
+X117790000Y-122607500D02*
+X117790000Y-119247500D01*
+%TO.C,R13*%
+X179385000Y-111535000D02*
+X179385000Y-108175000D01*
+X179385000Y-108175000D02*
+X177485000Y-108175000D01*
+X177485000Y-111535000D02*
+X179385000Y-111535000D01*
+X177485000Y-108175000D02*
+X177485000Y-111535000D01*
+%TO.C,U7*%
+X153845000Y-103030000D02*
+X147145000Y-103030000D01*
+X147145000Y-97630000D02*
+X147145000Y-103030000D01*
+X153845000Y-97630000D02*
+X147145000Y-97630000D01*
+X153845000Y-97630000D02*
+X153845000Y-103030000D01*
+%TO.C,R21*%
+X176305000Y-114620000D02*
+X172945000Y-114620000D01*
+X172945000Y-116520000D02*
+X176305000Y-116520000D01*
+X176305000Y-116520000D02*
+X176305000Y-114620000D01*
+X172945000Y-114620000D02*
+X172945000Y-116520000D01*
+%TO.C,C3*%
+X187615000Y-104345000D02*
+X187615000Y-107745000D01*
+X187615000Y-107745000D02*
+X189575000Y-107745000D01*
+X189575000Y-104345000D02*
+X187615000Y-104345000D01*
+X189575000Y-107745000D02*
+X189575000Y-104345000D01*
+%TO.C,R2*%
+X120875000Y-101285000D02*
+X120875000Y-103185000D01*
+X120875000Y-103185000D02*
+X124235000Y-103185000D01*
+X124235000Y-103185000D02*
+X124235000Y-101285000D01*
+X124235000Y-101285000D02*
+X120875000Y-101285000D01*
+%TO.C,JP1*%
+X152795000Y-125115000D02*
+X152795000Y-127615000D01*
+X148195000Y-127615000D02*
+X148195000Y-125115000D01*
+X148195000Y-127615000D02*
+X152795000Y-127615000D01*
+X152795000Y-125115000D02*
+X148195000Y-125115000D01*
+%TO.C,C8*%
+X175055000Y-92552500D02*
+X175055000Y-90592500D01*
+X171655000Y-92552500D02*
+X175055000Y-92552500D01*
+X171655000Y-90592500D02*
+X171655000Y-92552500D01*
+X175055000Y-90592500D02*
+X171655000Y-90592500D01*
+%TO.C,R5*%
+X174572500Y-120965000D02*
+X177932500Y-120965000D01*
+X174572500Y-119065000D02*
+X174572500Y-120965000D01*
+X177932500Y-120965000D02*
+X177932500Y-119065000D01*
+X177932500Y-119065000D02*
+X174572500Y-119065000D01*
+%TO.C,R11*%
+X181916500Y-85278000D02*
+X181916500Y-83378000D01*
+X178556500Y-85278000D02*
+X181916500Y-85278000D01*
+X181916500Y-83378000D02*
+X178556500Y-83378000D01*
+X178556500Y-83378000D02*
+X178556500Y-85278000D01*
+%TO.C,C5*%
+X185892000Y-86028000D02*
+X185892000Y-82628000D01*
+X183932000Y-86028000D02*
+X185892000Y-86028000D01*
+X185892000Y-82628000D02*
+X183932000Y-82628000D01*
+X183932000Y-82628000D02*
+X183932000Y-86028000D01*
+%TO.C,R18*%
+X171225000Y-124780000D02*
+X167865000Y-124780000D01*
+X167865000Y-126680000D02*
+X171225000Y-126680000D01*
+X171225000Y-126680000D02*
+X171225000Y-124780000D01*
+X167865000Y-124780000D02*
+X167865000Y-126680000D01*
+%TO.C,R19*%
+X167865000Y-130495000D02*
+X167865000Y-132395000D01*
+X167865000Y-132395000D02*
+X171225000Y-132395000D01*
+X171225000Y-130495000D02*
+X167865000Y-130495000D01*
+X171225000Y-132395000D02*
+X171225000Y-130495000D01*
+%TO.C,C13*%
+X120125000Y-113320000D02*
+X116725000Y-113320000D01*
+X116725000Y-113320000D02*
+X116725000Y-115280000D01*
+X120125000Y-115280000D02*
+X120125000Y-113320000D01*
+X116725000Y-115280000D02*
+X120125000Y-115280000D01*
+%TO.C,U4*%
+X178206400Y-113778600D02*
+X178511200Y-113778600D01*
+X182168800Y-116091400D02*
+X182473600Y-116091400D01*
+X179183600Y-116763800D02*
+X179183600Y-117068600D01*
+X179183600Y-116763800D02*
+X178511200Y-116763800D01*
+X182168800Y-113778600D02*
+X182168800Y-113106200D01*
+X178511200Y-116763800D02*
+X178511200Y-116091400D01*
+X179183600Y-113106200D02*
+X178511200Y-113106200D01*
+X182168800Y-116763800D02*
+X182168800Y-116091400D01*
+X181496400Y-116763800D02*
+X182168800Y-116763800D01*
+X178511200Y-116091400D02*
+X178511200Y-116763800D01*
+X181496400Y-112801400D02*
+X179183600Y-112801400D01*
+X182473600Y-113778600D02*
+X182168800Y-113778600D01*
+X178206400Y-116091400D02*
+X178511200Y-116091400D01*
+X179183600Y-117068600D02*
+X181496400Y-117068600D01*
+X182473600Y-116091400D02*
+X182473600Y-113778600D01*
+X178511200Y-116091400D02*
+X178206400Y-116091400D01*
+X182168800Y-113106200D02*
+X181496400Y-113106200D01*
+X181496400Y-117068600D02*
+X181496400Y-116763800D01*
+X179183600Y-112801400D02*
+X179183600Y-113106200D01*
+X182168800Y-116763800D02*
+X181496400Y-116763800D01*
+X178206400Y-116091400D02*
+X178206400Y-113778600D01*
+X181496400Y-116763800D02*
+X181496400Y-117068600D01*
+X182168800Y-116763800D02*
+X182168800Y-116091400D01*
+X179183600Y-117068600D02*
+X179183600Y-116763800D01*
+X181496400Y-117068600D02*
+X179183600Y-117068600D01*
+X181496400Y-112801400D02*
+X179183600Y-112801400D01*
+X181496400Y-113106200D02*
+X181496400Y-112801400D01*
+X178511200Y-113106200D02*
+X178511200Y-113778600D01*
+X179183600Y-113106200D02*
+X178511200Y-113106200D01*
+X181496400Y-113106200D02*
+X181496400Y-112801400D01*
+X182168800Y-113106200D02*
+X181496400Y-113106200D01*
+X178511200Y-116763800D02*
+X179183600Y-116763800D01*
+X178511200Y-113778600D02*
+X178206400Y-113778600D01*
+X178206400Y-113778600D02*
+X178206400Y-116091400D01*
+X179183600Y-112801400D02*
+X179183600Y-113106200D01*
+X182168800Y-113778600D02*
+X182168800Y-113106200D01*
+X182473600Y-116091400D02*
+X182473600Y-113778600D01*
+X182168800Y-116091400D02*
+X182473600Y-116091400D01*
+X182473600Y-113778600D02*
+X182168800Y-113778600D01*
+X178511200Y-113778600D02*
+X178511200Y-113106200D01*
+%TO.C,R9*%
+X182020000Y-119446000D02*
+X178660000Y-119446000D01*
+X182020000Y-121346000D02*
+X182020000Y-119446000D01*
+X178660000Y-121346000D02*
+X182020000Y-121346000D01*
+X178660000Y-119446000D02*
+X178660000Y-121346000D01*
+%TO.C,R14*%
+X184465000Y-108175000D02*
+X182565000Y-108175000D01*
+X184465000Y-111535000D02*
+X184465000Y-108175000D01*
+X182565000Y-108175000D02*
+X182565000Y-111535000D01*
+X182565000Y-111535000D02*
+X184465000Y-111535000D01*
+%TO.C,R29*%
+X160975000Y-112977500D02*
+X160975000Y-116337500D01*
+X160975000Y-116337500D02*
+X162875000Y-116337500D01*
+X162875000Y-112977500D02*
+X160975000Y-112977500D01*
+X162875000Y-116337500D02*
+X162875000Y-112977500D01*
+%TO.C,C10*%
+X166025000Y-88192500D02*
+X167985000Y-88192500D01*
+X166025000Y-84792500D02*
+X166025000Y-88192500D01*
+X167985000Y-88192500D02*
+X167985000Y-84792500D01*
+X167985000Y-84792500D02*
+X166025000Y-84792500D01*
+%TO.C,R26*%
+X148910000Y-120240000D02*
+X148910000Y-123600000D01*
+X150810000Y-123600000D02*
+X150810000Y-120240000D01*
+X150810000Y-120240000D02*
+X148910000Y-120240000D01*
+X148910000Y-123600000D02*
+X150810000Y-123600000D01*
+%TO.C,R28*%
+X165415000Y-112977500D02*
+X163515000Y-112977500D01*
+X163515000Y-116337500D02*
+X165415000Y-116337500D01*
+X165415000Y-116337500D02*
+X165415000Y-112977500D01*
+X163515000Y-112977500D02*
+X163515000Y-116337500D01*
+%TO.C,R8*%
+X185862000Y-90072000D02*
+X185862000Y-86712000D01*
+X183962000Y-90072000D02*
+X185862000Y-90072000D01*
+X183962000Y-86712000D02*
+X183962000Y-90072000D01*
+X185862000Y-86712000D02*
+X183962000Y-86712000D01*
+%TO.C,R6*%
+X124235000Y-98745000D02*
+X120875000Y-98745000D01*
+X124235000Y-100645000D02*
+X124235000Y-98745000D01*
+X120875000Y-100645000D02*
+X124235000Y-100645000D01*
+X120875000Y-98745000D02*
+X120875000Y-100645000D01*
+%TO.C,R25*%
+X136205000Y-110900000D02*
+X136205000Y-107540000D01*
+X134305000Y-107540000D02*
+X134305000Y-110900000D01*
+X134305000Y-110900000D02*
+X136205000Y-110900000D01*
+X136205000Y-107540000D02*
+X134305000Y-107540000D01*
+%TO.C,R27*%
+X167955000Y-112977500D02*
+X166055000Y-112977500D01*
+X166055000Y-116337500D02*
+X167955000Y-116337500D01*
+X166055000Y-112977500D02*
+X166055000Y-116337500D01*
+X167955000Y-116337500D02*
+X167955000Y-112977500D01*
+%TO.C,C14*%
+X127840000Y-91150000D02*
+X131240000Y-91150000D01*
+X131240000Y-89190000D02*
+X127840000Y-89190000D01*
+X131240000Y-91150000D02*
+X131240000Y-89190000D01*
+X127840000Y-89190000D02*
+X127840000Y-91150000D01*
+%TO.C,R23*%
+X119954000Y-119247500D02*
+X119954000Y-122607500D01*
+X121854000Y-122607500D02*
+X121854000Y-119247500D01*
+X119954000Y-122607500D02*
+X121854000Y-122607500D01*
+X121854000Y-119247500D02*
+X119954000Y-119247500D01*
+%TO.C,R12*%
+X181925000Y-111535000D02*
+X181925000Y-108175000D01*
+X181925000Y-108175000D02*
+X180025000Y-108175000D01*
+X180025000Y-108175000D02*
+X180025000Y-111535000D01*
+X180025000Y-111535000D02*
+X181925000Y-111535000D01*
+%TO.C,C15*%
+X125440000Y-130285000D02*
+X125440000Y-126885000D01*
+X123480000Y-130285000D02*
+X125440000Y-130285000D01*
+X123480000Y-126885000D02*
+X123480000Y-130285000D01*
+X125440000Y-126885000D02*
+X123480000Y-126885000D01*
+%TO.C,C12*%
+X148734000Y-94016000D02*
+X148734000Y-95976000D01*
+X148734000Y-95976000D02*
+X152134000Y-95976000D01*
+X152134000Y-94016000D02*
+X148734000Y-94016000D01*
+X152134000Y-95976000D02*
+X152134000Y-94016000D01*
+%TO.C,C1*%
+X113320000Y-99900000D02*
+X113320000Y-103300000D01*
+X115280000Y-103300000D02*
+X115280000Y-99900000D01*
+X113320000Y-103300000D02*
+X115280000Y-103300000D01*
+X115280000Y-99900000D02*
+X113320000Y-99900000D01*
+%TO.C,Q1*%
+X133205000Y-99185000D02*
+X129685000Y-99185000D01*
+X129685000Y-102735000D02*
+X133205000Y-102735000D01*
+X133205000Y-99185000D02*
+X133205000Y-102735000D01*
+X129685000Y-102735000D02*
+X129685000Y-99185000D01*
+%TO.C,U6*%
+X175690000Y-99972500D02*
+X172290000Y-99972500D01*
+X172290000Y-99972500D02*
+X172290000Y-95872500D01*
+X175690000Y-95872500D02*
+X175690000Y-99972500D01*
+X172290000Y-95872500D02*
+X175690000Y-95872500D01*
+%TO.C,C9*%
+X179500000Y-103215000D02*
+X179500000Y-101255000D01*
+X179500000Y-101255000D02*
+X176100000Y-101255000D01*
+X176100000Y-103215000D02*
+X179500000Y-103215000D01*
+X176100000Y-101255000D02*
+X176100000Y-103215000D01*
+%TO.C,C11*%
+X177455000Y-99490000D02*
+X179415000Y-99490000D01*
+X179415000Y-99490000D02*
+X179415000Y-96090000D01*
+X177455000Y-96090000D02*
+X177455000Y-99490000D01*
+X179415000Y-96090000D02*
+X177455000Y-96090000D01*
+%TO.C,C18*%
+X158405000Y-112915000D02*
+X158405000Y-116315000D01*
+X160365000Y-112915000D02*
+X158405000Y-112915000D01*
+X158405000Y-116315000D02*
+X160365000Y-116315000D01*
+X160365000Y-116315000D02*
+X160365000Y-112915000D01*
+%TO.C,R22*%
+X117922000Y-122607500D02*
+X119822000Y-122607500D01*
+X119822000Y-119247500D02*
+X117922000Y-119247500D01*
+X119822000Y-122607500D02*
+X119822000Y-119247500D01*
+X117922000Y-119247500D02*
+X117922000Y-122607500D01*
+%TO.C,U5*%
+X177055000Y-83792500D02*
+X177055000Y-89192500D01*
+X169655000Y-89192500D02*
+X169655000Y-83792500D01*
+X177055000Y-89192500D02*
+X169655000Y-89192500D01*
+X169655000Y-83792500D02*
+X177055000Y-83792500D01*
+%TO.C,C16*%
+X154420000Y-121575000D02*
+X151020000Y-121575000D01*
+X151020000Y-123535000D02*
+X154420000Y-123535000D01*
+X154420000Y-123535000D02*
+X154420000Y-121575000D01*
+X151020000Y-121575000D02*
+X151020000Y-123535000D01*
+%TO.C,R4*%
+X124235000Y-105725000D02*
+X124235000Y-103825000D01*
+X124235000Y-103825000D02*
+X120875000Y-103825000D01*
+X120875000Y-105725000D02*
+X124235000Y-105725000D01*
+X120875000Y-103825000D02*
+X120875000Y-105725000D01*
+%TO.C,C2*%
+X120125000Y-108295000D02*
+X120125000Y-106335000D01*
+X116725000Y-106335000D02*
+X116725000Y-108295000D01*
+X120125000Y-106335000D02*
+X116725000Y-106335000D01*
+X116725000Y-108295000D02*
+X120125000Y-108295000D01*
+%TO.C,R15*%
+X170495000Y-99602500D02*
+X170495000Y-96242500D01*
+X170495000Y-96242500D02*
+X168595000Y-96242500D01*
+X168595000Y-96242500D02*
+X168595000Y-99602500D01*
+X168595000Y-99602500D02*
+X170495000Y-99602500D01*
+%TO.C,R20*%
+X171225000Y-127955000D02*
+X167865000Y-127955000D01*
+X171225000Y-129855000D02*
+X171225000Y-127955000D01*
+X167865000Y-127955000D02*
+X167865000Y-129855000D01*
+X167865000Y-129855000D02*
+X171225000Y-129855000D01*
+%TD*%
+M02*

hardware/pcb/Dumber-v3/dumber-v3/Gerber/dumber-v3-B_Mask.gbr

@@ -0,0 +1,685 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,6.0.7-f9a2dced07~116~ubuntu20.04.1*%
+%TF.CreationDate,2022-08-31T16:11:48+02:00*%
+%TF.ProjectId,dumber-v3,64756d62-6572-42d7-9633-2e6b69636164,1.1*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Soldermask,Bot*%
+%TF.FilePolarity,Negative*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 6.0.7-f9a2dced07~116~ubuntu20.04.1) date 2022-08-31 16:11:48*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+G04 Aperture macros list*
+%AMRoundRect*
+0 Rectangle with rounded corners*
+0 $1 Rounding radius*
+0 $2 $3 $4 $5 $6 $7 $8 $9 X,Y pos of 4 corners*
+0 Add a 4 corners polygon primitive as box body*
+4,1,4,$2,$3,$4,$5,$6,$7,$8,$9,$2,$3,0*
+0 Add four circle primitives for the rounded corners*
+1,1,$1+$1,$2,$3*
+1,1,$1+$1,$4,$5*
+1,1,$1+$1,$6,$7*
+1,1,$1+$1,$8,$9*
+0 Add four rect primitives between the rounded corners*
+20,1,$1+$1,$2,$3,$4,$5,0*
+20,1,$1+$1,$4,$5,$6,$7,0*
+20,1,$1+$1,$6,$7,$8,$9,0*
+20,1,$1+$1,$8,$9,$2,$3,0*%
+%AMFreePoly0*
+4,1,22,0.550000,-0.750000,0.000000,-0.750000,0.000000,-0.745033,-0.079941,-0.743568,-0.215256,-0.701293,-0.333266,-0.622738,-0.424486,-0.514219,-0.481581,-0.384460,-0.499164,-0.250000,-0.500000,-0.250000,-0.500000,0.250000,-0.499164,0.250000,-0.499963,0.256109,-0.478152,0.396186,-0.417904,0.524511,-0.324060,0.630769,-0.204165,0.706417,-0.067858,0.745374,0.000000,0.744959,0.000000,0.750000,
+0.550000,0.750000,0.550000,-0.750000,0.550000,-0.750000,$1*%
+%AMFreePoly1*
+4,1,20,0.000000,0.744959,0.073905,0.744508,0.209726,0.703889,0.328688,0.626782,0.421226,0.519385,0.479903,0.390333,0.500000,0.250000,0.500000,-0.250000,0.499851,-0.262216,0.476331,-0.402017,0.414519,-0.529596,0.319384,-0.634700,0.198574,-0.708877,0.061801,-0.746166,0.000000,-0.745033,0.000000,-0.750000,-0.550000,-0.750000,-0.550000,0.750000,0.000000,0.750000,0.000000,0.744959,
+0.000000,0.744959,$1*%
+G04 Aperture macros list end*
+%TA.AperFunction,Profile*%
+%ADD10C,0.010050*%
+%TD*%
+%TA.AperFunction,Profile*%
+%ADD11C,0.500000*%
+%TD*%
+%ADD12R,0.300000X0.300000*%
+%ADD13R,0.250000X0.250000*%
+%ADD14R,1.000000X1.500000*%
+%ADD15RoundRect,0.250000X0.600000X0.600000X-0.600000X0.600000X-0.600000X-0.600000X0.600000X-0.600000X0*%
+%ADD16C,1.700000*%
+%ADD17C,3.500000*%
+%ADD18O,1.700000X1.100000*%
+%ADD19R,1.200000X1.200000*%
+%ADD20C,1.200000*%
+%ADD21RoundRect,0.250000X0.475000X-0.250000X0.475000X0.250000X-0.475000X0.250000X-0.475000X-0.250000X0*%
+%ADD22RoundRect,0.250000X-0.262500X-0.450000X0.262500X-0.450000X0.262500X0.450000X-0.262500X0.450000X0*%
+%ADD23RoundRect,0.075000X-0.662500X-0.075000X0.662500X-0.075000X0.662500X0.075000X-0.662500X0.075000X0*%
+%ADD24RoundRect,0.075000X-0.075000X-0.662500X0.075000X-0.662500X0.075000X0.662500X-0.075000X0.662500X0*%
+%ADD25RoundRect,0.250000X0.262500X0.450000X-0.262500X0.450000X-0.262500X-0.450000X0.262500X-0.450000X0*%
+%ADD26RoundRect,0.250000X-0.475000X0.250000X-0.475000X-0.250000X0.475000X-0.250000X0.475000X0.250000X0*%
+%ADD27RoundRect,0.250000X-0.250000X-0.475000X0.250000X-0.475000X0.250000X0.475000X-0.250000X0.475000X0*%
+%ADD28RoundRect,0.125000X-0.537500X-0.125000X0.537500X-0.125000X0.537500X0.125000X-0.537500X0.125000X0*%
+%ADD29R,0.700000X0.510000*%
+%ADD30RoundRect,0.250000X-0.450000X0.262500X-0.450000X-0.262500X0.450000X-0.262500X0.450000X0.262500X0*%
+%ADD31RoundRect,0.250000X0.450000X-0.262500X0.450000X0.262500X-0.450000X0.262500X-0.450000X-0.262500X0*%
+%ADD32R,1.100000X0.510000*%
+%ADD33FreePoly0,180.000000*%
+%ADD34FreePoly1,180.000000*%
+%ADD35RoundRect,0.250000X0.250000X0.475000X-0.250000X0.475000X-0.250000X-0.475000X0.250000X-0.475000X0*%
+%ADD36R,0.812800X0.254000*%
+%ADD37R,0.254000X0.812800*%
+%ADD38R,1.752600X1.752600*%
+%ADD39RoundRect,0.150000X0.150000X-0.512500X0.150000X0.512500X-0.150000X0.512500X-0.150000X-0.512500X0*%
+%ADD40RoundRect,0.150000X0.725000X0.150000X-0.725000X0.150000X-0.725000X-0.150000X0.725000X-0.150000X0*%
+G04 APERTURE END LIST*
+D10*
+X173755025Y-70000000D02*
+G75*
+G03*
+X173755025Y-70000000I-5025J0D01*
+G01*
+X141505025Y-86500000D02*
+G75*
+G03*
+X141505025Y-86500000I-5025J0D01*
+G01*
+D11*
+X175350000Y-70000000D02*
+G75*
+G03*
+X175350000Y-70000000I-1600000J0D01*
+G01*
+X142550000Y-86500000D02*
+G75*
+G03*
+X142550000Y-86500000I-1050000J0D01*
+G01*
+X167750000Y-63000000D02*
+X167750000Y-71500000D01*
+X109750000Y-96000000D02*
+X109750000Y-116000000D01*
+X129350000Y-142000000D02*
+G75*
+G03*
+X129350000Y-142000000I-1600000J0D01*
+G01*
+X127750000Y-63000000D02*
+G75*
+G03*
+X109750000Y-96000000I21250000J-33000000D01*
+G01*
+X197750000Y-127000000D02*
+X197750000Y-85000000D01*
+X129350000Y-70000000D02*
+G75*
+G03*
+X129350000Y-70000000I-1600000J0D01*
+G01*
+X167750000Y-149000000D02*
+X172750000Y-149000000D01*
+X172750000Y-63000000D02*
+X167750000Y-63000000D01*
+D10*
+X172755025Y-123795455D02*
+G75*
+G03*
+X172755025Y-123795455I-5025J0D01*
+G01*
+X159005025Y-125500000D02*
+G75*
+G03*
+X159005025Y-125500000I-5025J0D01*
+G01*
+X159005025Y-86500000D02*
+G75*
+G03*
+X159005025Y-86500000I-5025J0D01*
+G01*
+X172755025Y-88204545D02*
+G75*
+G03*
+X172755025Y-88204545I-5025J0D01*
+G01*
+X149005025Y-116000000D02*
+G75*
+G03*
+X149005025Y-116000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-149000000D02*
+X132750000Y-140500000D01*
+X167750000Y-140500000D02*
+X167750000Y-149000000D01*
+X127750000Y-149000000D02*
+X132750000Y-149000000D01*
+X167750000Y-71500000D02*
+X132750000Y-71500000D01*
+D10*
+X127755025Y-70000000D02*
+G75*
+G03*
+X127755025Y-70000000I-5025J0D01*
+G01*
+D11*
+X109750000Y-116000000D02*
+G75*
+G03*
+X127750000Y-149000000I39250000J0D01*
+G01*
+X175350000Y-142000000D02*
+G75*
+G03*
+X175350000Y-142000000I-1600000J0D01*
+G01*
+D10*
+X149005025Y-96000000D02*
+G75*
+G03*
+X149005025Y-96000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-63000000D02*
+X127750000Y-63000000D01*
+X132750000Y-71500000D02*
+X132750000Y-63000000D01*
+X197750047Y-84999994D02*
+G75*
+G03*
+X172750000Y-63000000I-25000047J-3204606D01*
+G01*
+X160050000Y-86500000D02*
+G75*
+G03*
+X160050000Y-86500000I-1050000J0D01*
+G01*
+D10*
+X173755025Y-142000000D02*
+G75*
+G03*
+X173755025Y-142000000I-5025J0D01*
+G01*
+X141505025Y-125500000D02*
+G75*
+G03*
+X141505025Y-125500000I-5025J0D01*
+G01*
+D11*
+X132750000Y-140500000D02*
+X167750000Y-140500000D01*
+X160050000Y-125500000D02*
+G75*
+G03*
+X160050000Y-125500000I-1050000J0D01*
+G01*
+X142550000Y-125500000D02*
+G75*
+G03*
+X142550000Y-125500000I-1050000J0D01*
+G01*
+X172750000Y-149000005D02*
+G75*
+G03*
+X197750000Y-127000000I0J25204545D01*
+G01*
+D10*
+X127755025Y-142000000D02*
+G75*
+G03*
+X127755025Y-142000000I-5025J0D01*
+G01*
+D12*
+%TO.C,D1*%
+X136945000Y-101615000D03*
+X136945000Y-100315000D03*
+D13*
+X138670000Y-100965000D03*
+D14*
+X138045000Y-100965000D03*
+%TD*%
+D15*
+%TO.C,J1*%
+X131000000Y-87000000D03*
+D16*
+X128460000Y-87000000D03*
+X131000000Y-84460000D03*
+X128460000Y-84460000D03*
+X131000000Y-81920000D03*
+X128460000Y-81920000D03*
+%TD*%
+D17*
+%TO.C,BT1*%
+X180500000Y-124250000D03*
+X180500000Y-131850000D03*
+X180500000Y-80150000D03*
+X180500000Y-87750000D03*
+%TD*%
+D15*
+%TO.C,J2*%
+X131000000Y-130000000D03*
+D16*
+X128460000Y-130000000D03*
+X131000000Y-127460000D03*
+X128460000Y-127460000D03*
+X131000000Y-124920000D03*
+X128460000Y-124920000D03*
+%TD*%
+D18*
+%TO.C,P1*%
+X191835000Y-101710000D03*
+X195635000Y-110350000D03*
+X195635000Y-101700000D03*
+X191835000Y-110350000D03*
+%TD*%
+D19*
+%TO.C,U1*%
+X119435000Y-116800000D03*
+D20*
+X121435000Y-116800000D03*
+X123435000Y-116800000D03*
+X125435000Y-116800000D03*
+X127435000Y-116800000D03*
+X129435000Y-116800000D03*
+X131435000Y-116800000D03*
+X133435000Y-116800000D03*
+X135435000Y-116800000D03*
+X137435000Y-116800000D03*
+X137435000Y-94800000D03*
+X135435000Y-94800000D03*
+X133435000Y-94800000D03*
+X131435000Y-94800000D03*
+X129435000Y-94800000D03*
+X127435000Y-94800000D03*
+X125435000Y-94800000D03*
+X123435000Y-94800000D03*
+X121435000Y-94800000D03*
+X119435000Y-94800000D03*
+%TD*%
+D21*
+%TO.C,C17*%
+X156210000Y-106995000D03*
+X156210000Y-105095000D03*
+%TD*%
+D22*
+%TO.C,R10*%
+X173839500Y-81000000D03*
+X175664500Y-81000000D03*
+%TD*%
+D23*
+%TO.C,U2*%
+X146332500Y-115780000D03*
+X146332500Y-115280000D03*
+X146332500Y-114780000D03*
+X146332500Y-114280000D03*
+X146332500Y-113780000D03*
+X146332500Y-113280000D03*
+X146332500Y-112780000D03*
+X146332500Y-112280000D03*
+X146332500Y-111780000D03*
+X146332500Y-111280000D03*
+X146332500Y-110780000D03*
+X146332500Y-110280000D03*
+D24*
+X147745000Y-108867500D03*
+X148245000Y-108867500D03*
+X148745000Y-108867500D03*
+X149245000Y-108867500D03*
+X149745000Y-108867500D03*
+X150245000Y-108867500D03*
+X150745000Y-108867500D03*
+X151245000Y-108867500D03*
+X151745000Y-108867500D03*
+X152245000Y-108867500D03*
+X152745000Y-108867500D03*
+X153245000Y-108867500D03*
+D23*
+X154657500Y-110280000D03*
+X154657500Y-110780000D03*
+X154657500Y-111280000D03*
+X154657500Y-111780000D03*
+X154657500Y-112280000D03*
+X154657500Y-112780000D03*
+X154657500Y-113280000D03*
+X154657500Y-113780000D03*
+X154657500Y-114280000D03*
+X154657500Y-114780000D03*
+X154657500Y-115280000D03*
+X154657500Y-115780000D03*
+D24*
+X153245000Y-117192500D03*
+X152745000Y-117192500D03*
+X152245000Y-117192500D03*
+X151745000Y-117192500D03*
+X151245000Y-117192500D03*
+X150745000Y-117192500D03*
+X150245000Y-117192500D03*
+X149745000Y-117192500D03*
+X149245000Y-117192500D03*
+X148745000Y-117192500D03*
+X148245000Y-117192500D03*
+X147745000Y-117192500D03*
+%TD*%
+D21*
+%TO.C,C4*%
+X184785000Y-116520000D03*
+X184785000Y-114620000D03*
+%TD*%
+D25*
+%TO.C,R7*%
+X175537500Y-113030000D03*
+X173712500Y-113030000D03*
+%TD*%
+D26*
+%TO.C,C20*%
+X141605000Y-110810000D03*
+X141605000Y-112710000D03*
+%TD*%
+D25*
+%TO.C,R17*%
+X170457500Y-123190000D03*
+X168632500Y-123190000D03*
+%TD*%
+D27*
+%TO.C,C6*%
+X172725000Y-102235000D03*
+X174625000Y-102235000D03*
+%TD*%
+D22*
+%TO.C,R3*%
+X175340000Y-122555000D03*
+X177165000Y-122555000D03*
+%TD*%
+D26*
+%TO.C,C19*%
+X144780000Y-118750000D03*
+X144780000Y-120650000D03*
+%TD*%
+D28*
+%TO.C,U3*%
+X116972500Y-102575000D03*
+X116972500Y-101925000D03*
+X116972500Y-101275000D03*
+X116972500Y-100625000D03*
+X119247500Y-100625000D03*
+X119247500Y-101275000D03*
+X119247500Y-101925000D03*
+X119247500Y-102575000D03*
+%TD*%
+D29*
+%TO.C,Q2*%
+X132605000Y-108270000D03*
+X132605000Y-109220000D03*
+X132605000Y-110170000D03*
+X130285000Y-110170000D03*
+X130285000Y-109220000D03*
+X130285000Y-108270000D03*
+%TD*%
+D22*
+%TO.C,R24*%
+X130532500Y-112395000D03*
+X132357500Y-112395000D03*
+%TD*%
+%TO.C,R1*%
+X130532500Y-104140000D03*
+X132357500Y-104140000D03*
+%TD*%
+D21*
+%TO.C,C7*%
+X184785000Y-131440000D03*
+X184785000Y-129540000D03*
+%TD*%
+D30*
+%TO.C,R16*%
+X116840000Y-120015000D03*
+X116840000Y-121840000D03*
+%TD*%
+D31*
+%TO.C,R13*%
+X178435000Y-110767500D03*
+X178435000Y-108942500D03*
+%TD*%
+D32*
+%TO.C,U7*%
+X153045000Y-98330000D03*
+X153045000Y-99330000D03*
+X153045000Y-100330000D03*
+X153045000Y-101330000D03*
+X153045000Y-102330000D03*
+X147945000Y-102330000D03*
+X147945000Y-101330000D03*
+X147945000Y-100330000D03*
+X147945000Y-99330000D03*
+X147945000Y-98330000D03*
+%TD*%
+D25*
+%TO.C,R21*%
+X175537500Y-115570000D03*
+X173712500Y-115570000D03*
+%TD*%
+D26*
+%TO.C,C3*%
+X188595000Y-105095000D03*
+X188595000Y-106995000D03*
+%TD*%
+D25*
+%TO.C,R2*%
+X123467500Y-102235000D03*
+X121642500Y-102235000D03*
+%TD*%
+D33*
+%TO.C,JP1*%
+X151795000Y-126365000D03*
+D14*
+X150495000Y-126365000D03*
+D34*
+X149195000Y-126365000D03*
+%TD*%
+D27*
+%TO.C,C8*%
+X172405000Y-91572500D03*
+X174305000Y-91572500D03*
+%TD*%
+D22*
+%TO.C,R5*%
+X175340000Y-120015000D03*
+X177165000Y-120015000D03*
+%TD*%
+D25*
+%TO.C,R11*%
+X181149000Y-84328000D03*
+X179324000Y-84328000D03*
+%TD*%
+D26*
+%TO.C,C5*%
+X184912000Y-83378000D03*
+X184912000Y-85278000D03*
+%TD*%
+D22*
+%TO.C,R18*%
+X168632500Y-125730000D03*
+X170457500Y-125730000D03*
+%TD*%
+D25*
+%TO.C,R19*%
+X170457500Y-131445000D03*
+X168632500Y-131445000D03*
+%TD*%
+D35*
+%TO.C,C13*%
+X119375000Y-114300000D03*
+X117475000Y-114300000D03*
+%TD*%
+D36*
+%TO.C,U4*%
+X181813200Y-114184999D03*
+X181813200Y-114685000D03*
+X181813200Y-115185000D03*
+X181813200Y-115685001D03*
+D37*
+X181090001Y-116408200D03*
+X180590000Y-116408200D03*
+X180090000Y-116408200D03*
+X179589999Y-116408200D03*
+D36*
+X178866800Y-115685001D03*
+X178866800Y-115185000D03*
+X178866800Y-114685000D03*
+X178866800Y-114184999D03*
+D37*
+X179589999Y-113461800D03*
+X180090000Y-113461800D03*
+X180590000Y-113461800D03*
+X181090001Y-113461800D03*
+D38*
+X180340000Y-114935000D03*
+%TD*%
+D22*
+%TO.C,R9*%
+X179427500Y-120396000D03*
+X181252500Y-120396000D03*
+%TD*%
+D31*
+%TO.C,R14*%
+X183515000Y-110767500D03*
+X183515000Y-108942500D03*
+%TD*%
+%TO.C,R29*%
+X161925000Y-115570000D03*
+X161925000Y-113745000D03*
+%TD*%
+D26*
+%TO.C,C10*%
+X167005000Y-85542500D03*
+X167005000Y-87442500D03*
+%TD*%
+D31*
+%TO.C,R26*%
+X149860000Y-122832500D03*
+X149860000Y-121007500D03*
+%TD*%
+D30*
+%TO.C,R28*%
+X164465000Y-113745000D03*
+X164465000Y-115570000D03*
+%TD*%
+D31*
+%TO.C,R8*%
+X184912000Y-89304500D03*
+X184912000Y-87479500D03*
+%TD*%
+D25*
+%TO.C,R6*%
+X123467500Y-99695000D03*
+X121642500Y-99695000D03*
+%TD*%
+D31*
+%TO.C,R25*%
+X135255000Y-110132500D03*
+X135255000Y-108307500D03*
+%TD*%
+%TO.C,R27*%
+X167005000Y-115570000D03*
+X167005000Y-113745000D03*
+%TD*%
+D35*
+%TO.C,C14*%
+X130490000Y-90170000D03*
+X128590000Y-90170000D03*
+%TD*%
+D30*
+%TO.C,R23*%
+X120904000Y-120015000D03*
+X120904000Y-121840000D03*
+%TD*%
+D31*
+%TO.C,R12*%
+X180975000Y-110767500D03*
+X180975000Y-108942500D03*
+%TD*%
+D21*
+%TO.C,C15*%
+X124460000Y-129535000D03*
+X124460000Y-127635000D03*
+%TD*%
+D35*
+%TO.C,C12*%
+X151384000Y-94996000D03*
+X149484000Y-94996000D03*
+%TD*%
+D21*
+%TO.C,C1*%
+X114300000Y-100650000D03*
+X114300000Y-102550000D03*
+%TD*%
+D29*
+%TO.C,Q1*%
+X132605000Y-100015000D03*
+X132605000Y-100965000D03*
+X132605000Y-101915000D03*
+X130285000Y-101915000D03*
+X130285000Y-100965000D03*
+X130285000Y-100015000D03*
+%TD*%
+D39*
+%TO.C,U6*%
+X174940000Y-99060000D03*
+X173990000Y-99060000D03*
+X173040000Y-99060000D03*
+X173040000Y-96785000D03*
+X174940000Y-96785000D03*
+%TD*%
+D35*
+%TO.C,C9*%
+X178750000Y-102235000D03*
+X176850000Y-102235000D03*
+%TD*%
+D26*
+%TO.C,C11*%
+X178435000Y-96840000D03*
+X178435000Y-98740000D03*
+%TD*%
+D21*
+%TO.C,C18*%
+X159385000Y-115565000D03*
+X159385000Y-113665000D03*
+%TD*%
+D30*
+%TO.C,R22*%
+X118872000Y-120015000D03*
+X118872000Y-121840000D03*
+%TD*%
+D40*
+%TO.C,U5*%
+X175930000Y-84587500D03*
+X175930000Y-85857500D03*
+X175930000Y-87127500D03*
+X175930000Y-88397500D03*
+X170780000Y-88397500D03*
+X170780000Y-87127500D03*
+X170780000Y-85857500D03*
+X170780000Y-84587500D03*
+%TD*%
+D35*
+%TO.C,C16*%
+X153670000Y-122555000D03*
+X151770000Y-122555000D03*
+%TD*%
+D25*
+%TO.C,R4*%
+X123467500Y-104775000D03*
+X121642500Y-104775000D03*
+%TD*%
+D35*
+%TO.C,C2*%
+X119375000Y-107315000D03*
+X117475000Y-107315000D03*
+%TD*%
+D30*
+%TO.C,R15*%
+X169545000Y-97010000D03*
+X169545000Y-98835000D03*
+%TD*%
+D22*
+%TO.C,R20*%
+X168632500Y-128905000D03*
+X170457500Y-128905000D03*
+%TD*%
+M02*

hardware/pcb/Dumber-v3/dumber-v3/Gerber/dumber-v3-B_Paste.gbr

@@ -0,0 +1,605 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,6.0.7-f9a2dced07~116~ubuntu20.04.1*%
+%TF.CreationDate,2022-08-31T16:11:48+02:00*%
+%TF.ProjectId,dumber-v3,64756d62-6572-42d7-9633-2e6b69636164,1.1*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Paste,Bot*%
+%TF.FilePolarity,Positive*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 6.0.7-f9a2dced07~116~ubuntu20.04.1) date 2022-08-31 16:11:48*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+G04 Aperture macros list*
+%AMRoundRect*
+0 Rectangle with rounded corners*
+0 $1 Rounding radius*
+0 $2 $3 $4 $5 $6 $7 $8 $9 X,Y pos of 4 corners*
+0 Add a 4 corners polygon primitive as box body*
+4,1,4,$2,$3,$4,$5,$6,$7,$8,$9,$2,$3,0*
+0 Add four circle primitives for the rounded corners*
+1,1,$1+$1,$2,$3*
+1,1,$1+$1,$4,$5*
+1,1,$1+$1,$6,$7*
+1,1,$1+$1,$8,$9*
+0 Add four rect primitives between the rounded corners*
+20,1,$1+$1,$2,$3,$4,$5,0*
+20,1,$1+$1,$4,$5,$6,$7,0*
+20,1,$1+$1,$6,$7,$8,$9,0*
+20,1,$1+$1,$8,$9,$2,$3,0*%
+G04 Aperture macros list end*
+%TA.AperFunction,Profile*%
+%ADD10C,0.010050*%
+%TD*%
+%TA.AperFunction,Profile*%
+%ADD11C,0.500000*%
+%TD*%
+%ADD12R,0.300000X0.300000*%
+%ADD13R,0.250000X0.250000*%
+%ADD14R,1.000000X1.500000*%
+%ADD15RoundRect,0.250000X0.475000X-0.250000X0.475000X0.250000X-0.475000X0.250000X-0.475000X-0.250000X0*%
+%ADD16RoundRect,0.250000X-0.262500X-0.450000X0.262500X-0.450000X0.262500X0.450000X-0.262500X0.450000X0*%
+%ADD17RoundRect,0.075000X-0.662500X-0.075000X0.662500X-0.075000X0.662500X0.075000X-0.662500X0.075000X0*%
+%ADD18RoundRect,0.075000X-0.075000X-0.662500X0.075000X-0.662500X0.075000X0.662500X-0.075000X0.662500X0*%
+%ADD19RoundRect,0.250000X0.262500X0.450000X-0.262500X0.450000X-0.262500X-0.450000X0.262500X-0.450000X0*%
+%ADD20RoundRect,0.250000X-0.475000X0.250000X-0.475000X-0.250000X0.475000X-0.250000X0.475000X0.250000X0*%
+%ADD21RoundRect,0.250000X-0.250000X-0.475000X0.250000X-0.475000X0.250000X0.475000X-0.250000X0.475000X0*%
+%ADD22RoundRect,0.125000X-0.537500X-0.125000X0.537500X-0.125000X0.537500X0.125000X-0.537500X0.125000X0*%
+%ADD23R,0.700000X0.510000*%
+%ADD24RoundRect,0.250000X-0.450000X0.262500X-0.450000X-0.262500X0.450000X-0.262500X0.450000X0.262500X0*%
+%ADD25RoundRect,0.250000X0.450000X-0.262500X0.450000X0.262500X-0.450000X0.262500X-0.450000X-0.262500X0*%
+%ADD26R,1.100000X0.510000*%
+%ADD27RoundRect,0.250000X0.250000X0.475000X-0.250000X0.475000X-0.250000X-0.475000X0.250000X-0.475000X0*%
+%ADD28R,0.812800X0.254000*%
+%ADD29R,0.254000X0.812800*%
+%ADD30R,1.752600X1.752600*%
+%ADD31RoundRect,0.150000X0.150000X-0.512500X0.150000X0.512500X-0.150000X0.512500X-0.150000X-0.512500X0*%
+%ADD32RoundRect,0.150000X0.725000X0.150000X-0.725000X0.150000X-0.725000X-0.150000X0.725000X-0.150000X0*%
+G04 APERTURE END LIST*
+D10*
+X173755025Y-70000000D02*
+G75*
+G03*
+X173755025Y-70000000I-5025J0D01*
+G01*
+X141505025Y-86500000D02*
+G75*
+G03*
+X141505025Y-86500000I-5025J0D01*
+G01*
+D11*
+X175350000Y-70000000D02*
+G75*
+G03*
+X175350000Y-70000000I-1600000J0D01*
+G01*
+X142550000Y-86500000D02*
+G75*
+G03*
+X142550000Y-86500000I-1050000J0D01*
+G01*
+X167750000Y-63000000D02*
+X167750000Y-71500000D01*
+X109750000Y-96000000D02*
+X109750000Y-116000000D01*
+X129350000Y-142000000D02*
+G75*
+G03*
+X129350000Y-142000000I-1600000J0D01*
+G01*
+X127750000Y-63000000D02*
+G75*
+G03*
+X109750000Y-96000000I21250000J-33000000D01*
+G01*
+X197750000Y-127000000D02*
+X197750000Y-85000000D01*
+X129350000Y-70000000D02*
+G75*
+G03*
+X129350000Y-70000000I-1600000J0D01*
+G01*
+X167750000Y-149000000D02*
+X172750000Y-149000000D01*
+X172750000Y-63000000D02*
+X167750000Y-63000000D01*
+D10*
+X172755025Y-123795455D02*
+G75*
+G03*
+X172755025Y-123795455I-5025J0D01*
+G01*
+X159005025Y-125500000D02*
+G75*
+G03*
+X159005025Y-125500000I-5025J0D01*
+G01*
+X159005025Y-86500000D02*
+G75*
+G03*
+X159005025Y-86500000I-5025J0D01*
+G01*
+X172755025Y-88204545D02*
+G75*
+G03*
+X172755025Y-88204545I-5025J0D01*
+G01*
+X149005025Y-116000000D02*
+G75*
+G03*
+X149005025Y-116000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-149000000D02*
+X132750000Y-140500000D01*
+X167750000Y-140500000D02*
+X167750000Y-149000000D01*
+X127750000Y-149000000D02*
+X132750000Y-149000000D01*
+X167750000Y-71500000D02*
+X132750000Y-71500000D01*
+D10*
+X127755025Y-70000000D02*
+G75*
+G03*
+X127755025Y-70000000I-5025J0D01*
+G01*
+D11*
+X109750000Y-116000000D02*
+G75*
+G03*
+X127750000Y-149000000I39250000J0D01*
+G01*
+X175350000Y-142000000D02*
+G75*
+G03*
+X175350000Y-142000000I-1600000J0D01*
+G01*
+D10*
+X149005025Y-96000000D02*
+G75*
+G03*
+X149005025Y-96000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-63000000D02*
+X127750000Y-63000000D01*
+X132750000Y-71500000D02*
+X132750000Y-63000000D01*
+X197750047Y-84999994D02*
+G75*
+G03*
+X172750000Y-63000000I-25000047J-3204606D01*
+G01*
+X160050000Y-86500000D02*
+G75*
+G03*
+X160050000Y-86500000I-1050000J0D01*
+G01*
+D10*
+X173755025Y-142000000D02*
+G75*
+G03*
+X173755025Y-142000000I-5025J0D01*
+G01*
+X141505025Y-125500000D02*
+G75*
+G03*
+X141505025Y-125500000I-5025J0D01*
+G01*
+D11*
+X132750000Y-140500000D02*
+X167750000Y-140500000D01*
+X160050000Y-125500000D02*
+G75*
+G03*
+X160050000Y-125500000I-1050000J0D01*
+G01*
+X142550000Y-125500000D02*
+G75*
+G03*
+X142550000Y-125500000I-1050000J0D01*
+G01*
+X172750000Y-149000005D02*
+G75*
+G03*
+X197750000Y-127000000I0J25204545D01*
+G01*
+D10*
+X127755025Y-142000000D02*
+G75*
+G03*
+X127755025Y-142000000I-5025J0D01*
+G01*
+D12*
+%TO.C,D1*%
+X136945000Y-101615000D03*
+X136945000Y-100315000D03*
+D13*
+X138670000Y-100965000D03*
+D14*
+X138045000Y-100965000D03*
+%TD*%
+D15*
+%TO.C,C17*%
+X156210000Y-106995000D03*
+X156210000Y-105095000D03*
+%TD*%
+D16*
+%TO.C,R10*%
+X173839500Y-81000000D03*
+X175664500Y-81000000D03*
+%TD*%
+D17*
+%TO.C,U2*%
+X146332500Y-115780000D03*
+X146332500Y-115280000D03*
+X146332500Y-114780000D03*
+X146332500Y-114280000D03*
+X146332500Y-113780000D03*
+X146332500Y-113280000D03*
+X146332500Y-112780000D03*
+X146332500Y-112280000D03*
+X146332500Y-111780000D03*
+X146332500Y-111280000D03*
+X146332500Y-110780000D03*
+X146332500Y-110280000D03*
+D18*
+X147745000Y-108867500D03*
+X148245000Y-108867500D03*
+X148745000Y-108867500D03*
+X149245000Y-108867500D03*
+X149745000Y-108867500D03*
+X150245000Y-108867500D03*
+X150745000Y-108867500D03*
+X151245000Y-108867500D03*
+X151745000Y-108867500D03*
+X152245000Y-108867500D03*
+X152745000Y-108867500D03*
+X153245000Y-108867500D03*
+D17*
+X154657500Y-110280000D03*
+X154657500Y-110780000D03*
+X154657500Y-111280000D03*
+X154657500Y-111780000D03*
+X154657500Y-112280000D03*
+X154657500Y-112780000D03*
+X154657500Y-113280000D03*
+X154657500Y-113780000D03*
+X154657500Y-114280000D03*
+X154657500Y-114780000D03*
+X154657500Y-115280000D03*
+X154657500Y-115780000D03*
+D18*
+X153245000Y-117192500D03*
+X152745000Y-117192500D03*
+X152245000Y-117192500D03*
+X151745000Y-117192500D03*
+X151245000Y-117192500D03*
+X150745000Y-117192500D03*
+X150245000Y-117192500D03*
+X149745000Y-117192500D03*
+X149245000Y-117192500D03*
+X148745000Y-117192500D03*
+X148245000Y-117192500D03*
+X147745000Y-117192500D03*
+%TD*%
+D15*
+%TO.C,C4*%
+X184785000Y-116520000D03*
+X184785000Y-114620000D03*
+%TD*%
+D19*
+%TO.C,R7*%
+X175537500Y-113030000D03*
+X173712500Y-113030000D03*
+%TD*%
+D20*
+%TO.C,C20*%
+X141605000Y-110810000D03*
+X141605000Y-112710000D03*
+%TD*%
+D19*
+%TO.C,R17*%
+X170457500Y-123190000D03*
+X168632500Y-123190000D03*
+%TD*%
+D21*
+%TO.C,C6*%
+X172725000Y-102235000D03*
+X174625000Y-102235000D03*
+%TD*%
+D16*
+%TO.C,R3*%
+X175340000Y-122555000D03*
+X177165000Y-122555000D03*
+%TD*%
+D20*
+%TO.C,C19*%
+X144780000Y-118750000D03*
+X144780000Y-120650000D03*
+%TD*%
+D22*
+%TO.C,U3*%
+X116972500Y-102575000D03*
+X116972500Y-101925000D03*
+X116972500Y-101275000D03*
+X116972500Y-100625000D03*
+X119247500Y-100625000D03*
+X119247500Y-101275000D03*
+X119247500Y-101925000D03*
+X119247500Y-102575000D03*
+%TD*%
+D23*
+%TO.C,Q2*%
+X132605000Y-108270000D03*
+X132605000Y-109220000D03*
+X132605000Y-110170000D03*
+X130285000Y-110170000D03*
+X130285000Y-109220000D03*
+X130285000Y-108270000D03*
+%TD*%
+D16*
+%TO.C,R24*%
+X130532500Y-112395000D03*
+X132357500Y-112395000D03*
+%TD*%
+%TO.C,R1*%
+X130532500Y-104140000D03*
+X132357500Y-104140000D03*
+%TD*%
+D15*
+%TO.C,C7*%
+X184785000Y-131440000D03*
+X184785000Y-129540000D03*
+%TD*%
+D24*
+%TO.C,R16*%
+X116840000Y-120015000D03*
+X116840000Y-121840000D03*
+%TD*%
+D25*
+%TO.C,R13*%
+X178435000Y-110767500D03*
+X178435000Y-108942500D03*
+%TD*%
+D26*
+%TO.C,U7*%
+X153045000Y-98330000D03*
+X153045000Y-99330000D03*
+X153045000Y-100330000D03*
+X153045000Y-101330000D03*
+X153045000Y-102330000D03*
+X147945000Y-102330000D03*
+X147945000Y-101330000D03*
+X147945000Y-100330000D03*
+X147945000Y-99330000D03*
+X147945000Y-98330000D03*
+%TD*%
+D19*
+%TO.C,R21*%
+X175537500Y-115570000D03*
+X173712500Y-115570000D03*
+%TD*%
+D20*
+%TO.C,C3*%
+X188595000Y-105095000D03*
+X188595000Y-106995000D03*
+%TD*%
+D19*
+%TO.C,R2*%
+X123467500Y-102235000D03*
+X121642500Y-102235000D03*
+%TD*%
+D21*
+%TO.C,C8*%
+X172405000Y-91572500D03*
+X174305000Y-91572500D03*
+%TD*%
+D16*
+%TO.C,R5*%
+X175340000Y-120015000D03*
+X177165000Y-120015000D03*
+%TD*%
+D19*
+%TO.C,R11*%
+X181149000Y-84328000D03*
+X179324000Y-84328000D03*
+%TD*%
+D20*
+%TO.C,C5*%
+X184912000Y-83378000D03*
+X184912000Y-85278000D03*
+%TD*%
+D16*
+%TO.C,R18*%
+X168632500Y-125730000D03*
+X170457500Y-125730000D03*
+%TD*%
+D19*
+%TO.C,R19*%
+X170457500Y-131445000D03*
+X168632500Y-131445000D03*
+%TD*%
+D27*
+%TO.C,C13*%
+X119375000Y-114300000D03*
+X117475000Y-114300000D03*
+%TD*%
+D28*
+%TO.C,U4*%
+X181813200Y-114184999D03*
+X181813200Y-114685000D03*
+X181813200Y-115185000D03*
+X181813200Y-115685001D03*
+D29*
+X181090001Y-116408200D03*
+X180590000Y-116408200D03*
+X180090000Y-116408200D03*
+X179589999Y-116408200D03*
+D28*
+X178866800Y-115685001D03*
+X178866800Y-115185000D03*
+X178866800Y-114685000D03*
+X178866800Y-114184999D03*
+D29*
+X179589999Y-113461800D03*
+X180090000Y-113461800D03*
+X180590000Y-113461800D03*
+X181090001Y-113461800D03*
+D30*
+X180340000Y-114935000D03*
+%TD*%
+D16*
+%TO.C,R9*%
+X179427500Y-120396000D03*
+X181252500Y-120396000D03*
+%TD*%
+D25*
+%TO.C,R14*%
+X183515000Y-110767500D03*
+X183515000Y-108942500D03*
+%TD*%
+%TO.C,R29*%
+X161925000Y-115570000D03*
+X161925000Y-113745000D03*
+%TD*%
+D20*
+%TO.C,C10*%
+X167005000Y-85542500D03*
+X167005000Y-87442500D03*
+%TD*%
+D25*
+%TO.C,R26*%
+X149860000Y-122832500D03*
+X149860000Y-121007500D03*
+%TD*%
+D24*
+%TO.C,R28*%
+X164465000Y-113745000D03*
+X164465000Y-115570000D03*
+%TD*%
+D25*
+%TO.C,R8*%
+X184912000Y-89304500D03*
+X184912000Y-87479500D03*
+%TD*%
+D19*
+%TO.C,R6*%
+X123467500Y-99695000D03*
+X121642500Y-99695000D03*
+%TD*%
+D25*
+%TO.C,R25*%
+X135255000Y-110132500D03*
+X135255000Y-108307500D03*
+%TD*%
+%TO.C,R27*%
+X167005000Y-115570000D03*
+X167005000Y-113745000D03*
+%TD*%
+D27*
+%TO.C,C14*%
+X130490000Y-90170000D03*
+X128590000Y-90170000D03*
+%TD*%
+D24*
+%TO.C,R23*%
+X120904000Y-120015000D03*
+X120904000Y-121840000D03*
+%TD*%
+D25*
+%TO.C,R12*%
+X180975000Y-110767500D03*
+X180975000Y-108942500D03*
+%TD*%
+D15*
+%TO.C,C15*%
+X124460000Y-129535000D03*
+X124460000Y-127635000D03*
+%TD*%
+D27*
+%TO.C,C12*%
+X151384000Y-94996000D03*
+X149484000Y-94996000D03*
+%TD*%
+D15*
+%TO.C,C1*%
+X114300000Y-100650000D03*
+X114300000Y-102550000D03*
+%TD*%
+D23*
+%TO.C,Q1*%
+X132605000Y-100015000D03*
+X132605000Y-100965000D03*
+X132605000Y-101915000D03*
+X130285000Y-101915000D03*
+X130285000Y-100965000D03*
+X130285000Y-100015000D03*
+%TD*%
+D31*
+%TO.C,U6*%
+X174940000Y-99060000D03*
+X173990000Y-99060000D03*
+X173040000Y-99060000D03*
+X173040000Y-96785000D03*
+X174940000Y-96785000D03*
+%TD*%
+D27*
+%TO.C,C9*%
+X178750000Y-102235000D03*
+X176850000Y-102235000D03*
+%TD*%
+D20*
+%TO.C,C11*%
+X178435000Y-96840000D03*
+X178435000Y-98740000D03*
+%TD*%
+D15*
+%TO.C,C18*%
+X159385000Y-115565000D03*
+X159385000Y-113665000D03*
+%TD*%
+D24*
+%TO.C,R22*%
+X118872000Y-120015000D03*
+X118872000Y-121840000D03*
+%TD*%
+D32*
+%TO.C,U5*%
+X175930000Y-84587500D03*
+X175930000Y-85857500D03*
+X175930000Y-87127500D03*
+X175930000Y-88397500D03*
+X170780000Y-88397500D03*
+X170780000Y-87127500D03*
+X170780000Y-85857500D03*
+X170780000Y-84587500D03*
+%TD*%
+D27*
+%TO.C,C16*%
+X153670000Y-122555000D03*
+X151770000Y-122555000D03*
+%TD*%
+D19*
+%TO.C,R4*%
+X123467500Y-104775000D03*
+X121642500Y-104775000D03*
+%TD*%
+D27*
+%TO.C,C2*%
+X119375000Y-107315000D03*
+X117475000Y-107315000D03*
+%TD*%
+D24*
+%TO.C,R15*%
+X169545000Y-97010000D03*
+X169545000Y-98835000D03*
+%TD*%
+D16*
+%TO.C,R20*%
+X168632500Y-128905000D03*
+X170457500Y-128905000D03*
+%TD*%
+M02*

hardware/pcb/Dumber-v3/dumber-v3/Gerber/dumber-v3-Edge_Cuts.gbr

@@ -0,0 +1,175 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,6.0.7-f9a2dced07~116~ubuntu20.04.1*%
+%TF.CreationDate,2022-08-31T16:11:48+02:00*%
+%TF.ProjectId,dumber-v3,64756d62-6572-42d7-9633-2e6b69636164,1.1*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Profile,NP*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 6.0.7-f9a2dced07~116~ubuntu20.04.1) date 2022-08-31 16:11:48*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%TA.AperFunction,Profile*%
+%ADD10C,0.010050*%
+%TD*%
+%TA.AperFunction,Profile*%
+%ADD11C,0.500000*%
+%TD*%
+G04 APERTURE END LIST*
+D10*
+X173755025Y-70000000D02*
+G75*
+G03*
+X173755025Y-70000000I-5025J0D01*
+G01*
+X141505025Y-86500000D02*
+G75*
+G03*
+X141505025Y-86500000I-5025J0D01*
+G01*
+D11*
+X175350000Y-70000000D02*
+G75*
+G03*
+X175350000Y-70000000I-1600000J0D01*
+G01*
+X142550000Y-86500000D02*
+G75*
+G03*
+X142550000Y-86500000I-1050000J0D01*
+G01*
+X167750000Y-63000000D02*
+X167750000Y-71500000D01*
+X109750000Y-96000000D02*
+X109750000Y-116000000D01*
+X129350000Y-142000000D02*
+G75*
+G03*
+X129350000Y-142000000I-1600000J0D01*
+G01*
+X127750000Y-63000000D02*
+G75*
+G03*
+X109750000Y-96000000I21250000J-33000000D01*
+G01*
+X197750000Y-127000000D02*
+X197750000Y-85000000D01*
+X129350000Y-70000000D02*
+G75*
+G03*
+X129350000Y-70000000I-1600000J0D01*
+G01*
+X167750000Y-149000000D02*
+X172750000Y-149000000D01*
+X172750000Y-63000000D02*
+X167750000Y-63000000D01*
+D10*
+X172755025Y-123795455D02*
+G75*
+G03*
+X172755025Y-123795455I-5025J0D01*
+G01*
+X159005025Y-125500000D02*
+G75*
+G03*
+X159005025Y-125500000I-5025J0D01*
+G01*
+X159005025Y-86500000D02*
+G75*
+G03*
+X159005025Y-86500000I-5025J0D01*
+G01*
+X172755025Y-88204545D02*
+G75*
+G03*
+X172755025Y-88204545I-5025J0D01*
+G01*
+X149005025Y-116000000D02*
+G75*
+G03*
+X149005025Y-116000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-149000000D02*
+X132750000Y-140500000D01*
+X167750000Y-140500000D02*
+X167750000Y-149000000D01*
+X127750000Y-149000000D02*
+X132750000Y-149000000D01*
+X167750000Y-71500000D02*
+X132750000Y-71500000D01*
+D10*
+X127755025Y-70000000D02*
+G75*
+G03*
+X127755025Y-70000000I-5025J0D01*
+G01*
+D11*
+X109750000Y-116000000D02*
+G75*
+G03*
+X127750000Y-149000000I39250000J0D01*
+G01*
+X175350000Y-142000000D02*
+G75*
+G03*
+X175350000Y-142000000I-1600000J0D01*
+G01*
+D10*
+X149005025Y-96000000D02*
+G75*
+G03*
+X149005025Y-96000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-63000000D02*
+X127750000Y-63000000D01*
+X132750000Y-71500000D02*
+X132750000Y-63000000D01*
+X197750047Y-84999994D02*
+G75*
+G03*
+X172750000Y-63000000I-25000047J-3204606D01*
+G01*
+X160050000Y-86500000D02*
+G75*
+G03*
+X160050000Y-86500000I-1050000J0D01*
+G01*
+D10*
+X173755025Y-142000000D02*
+G75*
+G03*
+X173755025Y-142000000I-5025J0D01*
+G01*
+X141505025Y-125500000D02*
+G75*
+G03*
+X141505025Y-125500000I-5025J0D01*
+G01*
+D11*
+X132750000Y-140500000D02*
+X167750000Y-140500000D01*
+X160050000Y-125500000D02*
+G75*
+G03*
+X160050000Y-125500000I-1050000J0D01*
+G01*
+X142550000Y-125500000D02*
+G75*
+G03*
+X142550000Y-125500000I-1050000J0D01*
+G01*
+X172750000Y-149000005D02*
+G75*
+G03*
+X197750000Y-127000000I0J25204545D01*
+G01*
+D10*
+X127755025Y-142000000D02*
+G75*
+G03*
+X127755025Y-142000000I-5025J0D01*
+G01*
+M02*

hardware/pcb/Dumber-v3/dumber-v3/Gerber/dumber-v3-F_Adhesive.gbr

@@ -0,0 +1,176 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,6.0.7-f9a2dced07~116~ubuntu20.04.1*%
+%TF.CreationDate,2022-08-31T16:11:48+02:00*%
+%TF.ProjectId,dumber-v3,64756d62-6572-42d7-9633-2e6b69636164,1.1*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Glue,Top*%
+%TF.FilePolarity,Positive*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 6.0.7-f9a2dced07~116~ubuntu20.04.1) date 2022-08-31 16:11:48*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%TA.AperFunction,Profile*%
+%ADD10C,0.010050*%
+%TD*%
+%TA.AperFunction,Profile*%
+%ADD11C,0.500000*%
+%TD*%
+G04 APERTURE END LIST*
+D10*
+X173755025Y-70000000D02*
+G75*
+G03*
+X173755025Y-70000000I-5025J0D01*
+G01*
+X141505025Y-86500000D02*
+G75*
+G03*
+X141505025Y-86500000I-5025J0D01*
+G01*
+D11*
+X175350000Y-70000000D02*
+G75*
+G03*
+X175350000Y-70000000I-1600000J0D01*
+G01*
+X142550000Y-86500000D02*
+G75*
+G03*
+X142550000Y-86500000I-1050000J0D01*
+G01*
+X167750000Y-63000000D02*
+X167750000Y-71500000D01*
+X109750000Y-96000000D02*
+X109750000Y-116000000D01*
+X129350000Y-142000000D02*
+G75*
+G03*
+X129350000Y-142000000I-1600000J0D01*
+G01*
+X127750000Y-63000000D02*
+G75*
+G03*
+X109750000Y-96000000I21250000J-33000000D01*
+G01*
+X197750000Y-127000000D02*
+X197750000Y-85000000D01*
+X129350000Y-70000000D02*
+G75*
+G03*
+X129350000Y-70000000I-1600000J0D01*
+G01*
+X167750000Y-149000000D02*
+X172750000Y-149000000D01*
+X172750000Y-63000000D02*
+X167750000Y-63000000D01*
+D10*
+X172755025Y-123795455D02*
+G75*
+G03*
+X172755025Y-123795455I-5025J0D01*
+G01*
+X159005025Y-125500000D02*
+G75*
+G03*
+X159005025Y-125500000I-5025J0D01*
+G01*
+X159005025Y-86500000D02*
+G75*
+G03*
+X159005025Y-86500000I-5025J0D01*
+G01*
+X172755025Y-88204545D02*
+G75*
+G03*
+X172755025Y-88204545I-5025J0D01*
+G01*
+X149005025Y-116000000D02*
+G75*
+G03*
+X149005025Y-116000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-149000000D02*
+X132750000Y-140500000D01*
+X167750000Y-140500000D02*
+X167750000Y-149000000D01*
+X127750000Y-149000000D02*
+X132750000Y-149000000D01*
+X167750000Y-71500000D02*
+X132750000Y-71500000D01*
+D10*
+X127755025Y-70000000D02*
+G75*
+G03*
+X127755025Y-70000000I-5025J0D01*
+G01*
+D11*
+X109750000Y-116000000D02*
+G75*
+G03*
+X127750000Y-149000000I39250000J0D01*
+G01*
+X175350000Y-142000000D02*
+G75*
+G03*
+X175350000Y-142000000I-1600000J0D01*
+G01*
+D10*
+X149005025Y-96000000D02*
+G75*
+G03*
+X149005025Y-96000000I-5025J0D01*
+G01*
+D11*
+X132750000Y-63000000D02*
+X127750000Y-63000000D01*
+X132750000Y-71500000D02*
+X132750000Y-63000000D01*
+X197750047Y-84999994D02*
+G75*
+G03*
+X172750000Y-63000000I-25000047J-3204606D01*
+G01*
+X160050000Y-86500000D02*
+G75*
+G03*
+X160050000Y-86500000I-1050000J0D01*
+G01*
+D10*
+X173755025Y-142000000D02*
+G75*
+G03*
+X173755025Y-142000000I-5025J0D01*
+G01*
+X141505025Y-125500000D02*
+G75*
+G03*
+X141505025Y-125500000I-5025J0D01*
+G01*
+D11*
+X132750000Y-140500000D02*
+X167750000Y-140500000D01*
+X160050000Y-125500000D02*
+G75*
+G03*
+X160050000Y-125500000I-1050000J0D01*
+G01*
+X142550000Y-125500000D02*
+G75*
+G03*
+X142550000Y-125500000I-1050000J0D01*
+G01*
+X172750000Y-149000005D02*
+G75*
+G03*
+X197750000Y-127000000I0J25204545D01*
+G01*
+D10*
+X127755025Y-142000000D02*
+G75*
+G03*
+X127755025Y-142000000I-5025J0D01*
+G01*
+M02*