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x="57"><tspan id="SvgjsTspan1051" style="text-decoration:;">IMU</tspan></tspan></text></g></g><g id="SvgjsG1052" transform="translate(59.40416971842319,247.98115079365152)"><path id="SvgjsPath1053" d="M 16.666666666666668 0L 83.33333333333333 0C 105.55555555555556 0 105.55555555555556 50 83.33333333333333 50L 16.666666666666668 50C -5.555555555555556 50 -5.555555555555556 0 16.666666666666668 0Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#ffffff"></path><g id="SvgjsG1054"><text id="SvgjsText1055" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="80px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="14.375" transform="rotate(0)"><tspan id="SvgjsTspan1056" dy="16" x="50"><tspan id="SvgjsTspan1057" style="text-decoration:;">app</tspan></tspan></text></g></g><g id="SvgjsG1058" transform="translate(166.4041697184232,177.9811507936512)"><path id="SvgjsPath1059" d="M 0 0L 100 0L 100 40L 0 40Z" stroke="none" fill="none"></path><g id="SvgjsG1060"><text id="SvgjsText1061" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="100px" fill="#323232" font-weight="700" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="700" font-style="" opacity="1" y="9.375" transform="rotate(0)"><tspan id="SvgjsTspan1062" dy="16" x="50"><tspan id="SvgjsTspan1063" style="text-decoration:;">模块</tspan></tspan></text></g></g><g id="SvgjsG1064" transform="translate(166.4041697184232,252.98115079365152)"><path id="SvgjsPath1065" d="M 0 0L 100 0L 100 40L 0 40Z" stroke="none" fill="none"></path><g id="SvgjsG1066"><text id="SvgjsText1067" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="100px" fill="#323232" font-weight="700" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="700" font-style="" opacity="1" y="9.375" transform="rotate(0)"><tspan id="SvgjsTspan1068" dy="16" x="50"><tspan id="SvgjsTspan1069" style="text-decoration:;">应用</tspan></tspan></text></g></g><g id="SvgjsG1070" transform="translate(61.40416971842319,327.9811507936515)"><path id="SvgjsPath1071" d="M 0 4Q 0 0 4 0L 92 0Q 96 0 96 4L 96 50Q 96 54 92 54L 4 54Q 0 54 0 50Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#ffffff"></path><g id="SvgjsG1072"><text id="SvgjsText1073" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="16.375" transform="rotate(0)"><tspan id="SvgjsTspan1074" dy="16" x="48"><tspan id="SvgjsTspan1075" style="text-decoration:;">data struct</tspan></tspan></text></g></g><g id="SvgjsG1076" transform="translate(165.4041697184232,334.9811507936515)"><path id="SvgjsPath1077" d="M 0 0L 100 0L 100 40L 0 40Z" stroke="none" fill="none"></path><g id="SvgjsG1078"><text id="SvgjsText1079" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="100px" fill="#323232" font-weight="700" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="700" font-style="" opacity="1" y="0.875" transform="rotate(0)"><tspan id="SvgjsTspan1080" dy="16" x="50"><tspan id="SvgjsTspan1081" style="text-decoration:;">数据结构(类型)</tspan></tspan><tspan id="SvgjsTspan1082" dy="16" x="50"><tspan id="SvgjsTspan1083" style="text-decoration:;">module间交互</tspan></tspan></text></g></g><g id="SvgjsG1084"><path id="SvgjsPath1085" d="M62.40416971842319 426.4811507936514L107.90416971842319 426.4811507936514L107.90416971842319 426.4811507936514L153.4041697184232 426.4811507936514" stroke="#323232" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1086)"></path><rect id="SvgjsRect1088" width="27" height="16" x="94.40416971842319" y="418.4811507936514" fill="#ffffff"></rect><text id="SvgjsText1089" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="27px" fill="#323232" font-weight="400" align="top" lineHeight="16px" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="415.8561507936514" transform="rotate(0)"><tspan id="SvgjsTspan1090" dy="16" x="107.90416971842319"><tspan id="SvgjsTspan1091" style="text-decoration:;">flow</tspan></tspan></text></g><g id="SvgjsG1092" transform="translate(165.4041697184232,405.4811507936515)"><path id="SvgjsPath1093" d="M 0 0L 100 0L 100 40L 0 40Z" stroke="none" fill="none"></path><g id="SvgjsG1094"><text id="SvgjsText1095" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="100px" fill="#323232" font-weight="700" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="700" font-style="" opacity="1" y="0.875" transform="rotate(0)"><tspan id="SvgjsTspan1096" dy="16" x="50"><tspan id="SvgjsTspan1097" style="text-decoration:;">数据流出</tspan></tspan><tspan id="SvgjsTspan1098" dy="16" x="50"><tspan id="SvgjsTspan1099" style="text-decoration:;">（颜色相同）</tspan></tspan></text></g></g><g id="SvgjsG1100" transform="translate(59.40416971842319,80.48115079365118)"><path id="SvgjsPath1101" d="M 0 35L 48 0L 96 35L 48 70Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#ffffff"></path><g id="SvgjsG1102"><text id="SvgjsText1103" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="24.725" transform="rotate(0)"><tspan id="SvgjsTspan1104" dy="16" x="48"><tspan id="SvgjsTspan1105" style="text-decoration:;">bsp</tspan></tspan></text></g></g><g id="SvgjsG1106" transform="translate(163.4041697184232,92.98115079365128)"><path id="SvgjsPath1107" d="M 0 0L 100 0L 100 40L 0 40Z" stroke="none" fill="none"></path><g id="SvgjsG1108"><text id="SvgjsText1109" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="100px" fill="#323232" font-weight="700" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="700" font-style="" opacity="1" y="9.375" transform="rotate(0)"><tspan id="SvgjsTspan1110" dy="16" x="50"><tspan id="SvgjsTspan1111" style="text-decoration:;">板级支持包</tspan></tspan></text></g></g><g id="SvgjsG1112" transform="translate(91.01248167455196,461.2311507936514)"><path id="SvgjsPath1113" d="M 0 45.25322420634859Q 9 45.25322420634859 9 40.72790178571373L 9 27.151934523809153Q 9 22.626612103174295 22 22.626612103174295Q 9 22.626612103174295 9 18.101289682539438L 9 4.5253224206348595Q 9 0 0 0" stroke="rgba(33,41,48,1)" stroke-width="2" fill="none"></path><path id="SvgjsPath1114" d="M 0 0L 174.39168804387123 0L 174.39168804387123 45.25322420634859L 0 45.25322420634859Z" stroke="none" fill="none"></path><g id="SvgjsG1115"><text id="SvgjsText1116" font-family="微软雅黑" text-anchor="start" font-size="13px" width="148px" fill="#323232" font-weight="700" align="middle" lineHeight="125%" anchor="start" family="微软雅黑" size="13px" weight="700" font-style="" opacity="1" y="12.001612103174295" transform="rotate(0)"><tspan id="SvgjsTspan1117" dy="16" x="27"><tspan id="SvgjsTspan1118" style="text-decoration:;">         (应用)拥有(的模块)</tspan></tspan></text></g></g><g id="SvgjsG1119" transform="translate(430.4041697184233,621.7708333333326)"><path id="SvgjsPath1120" d="M 16.666666666666668 0L 83.33333333333333 0C 105.55555555555556 0 105.55555555555556 50 83.33333333333333 50L 16.666666666666668 50C -5.555555555555556 50 -5.555555555555556 0 16.666666666666668 0Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#f8d5b5"></path><g id="SvgjsG1121"><text id="SvgjsText1122" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="80px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="14.375" transform="rotate(0)"><tspan id="SvgjsTspan1123" dy="16" x="50"><tspan id="SvgjsTspan1124" style="text-decoration:;">cmd</tspan></tspan></text></g></g><g id="SvgjsG1125" transform="translate(776.5152808295363,621.7708333333326)"><path id="SvgjsPath1126" d="M 16.666666666666668 0L 83.33333333333333 0C 105.55555555555556 0 105.55555555555556 50 83.33333333333333 50L 16.666666666666668 50C -5.555555555555556 50 -5.555555555555556 0 16.666666666666668 0Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#f5b9b7"></path><g id="SvgjsG1127"><text id="SvgjsText1128" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="80px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="14.375" transform="rotate(0)"><tspan id="SvgjsTspan1129" dy="16" x="50"><tspan id="SvgjsTspan1130" style="text-decoration:;">gimbal</tspan></tspan></text></g></g><g id="SvgjsG1131" transform="translate(1100.2055337693942,621.770833333332)"><path id="SvgjsPath1132" d="M 16.666666666666668 0L 83.33333333333333 0C 105.55555555555556 0 105.55555555555556 50 83.33333333333333 50L 16.666666666666668 50C -5.555555555555556 50 -5.555555555555556 0 16.666666666666668 0Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#f1e4a2"></path><g id="SvgjsG1133"><text id="SvgjsText1134" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="80px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="14.375" transform="rotate(0)"><tspan id="SvgjsTspan1135" dy="16" x="50"><tspan id="SvgjsTspan1136" style="text-decoration:;">chassis</tspan></tspan></text></g></g><g id="SvgjsG1137" transform="translate(1434.2890903533448,621.770833333332)"><path id="SvgjsPath1138" d="M 16.666666666666668 0L 83.33333333333333 0C 105.55555555555556 0 105.55555555555556 50 83.33333333333333 50L 16.666666666666668 50C -5.555555555555556 50 -5.555555555555556 0 16.666666666666668 0Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#d2d6f9"></path><g id="SvgjsG1139"><text id="SvgjsText1140" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="80px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="14.375" transform="rotate(0)"><tspan id="SvgjsTspan1141" dy="16" x="50"><tspan id="SvgjsTspan1142" style="text-decoration:;">shoot</tspan></tspan></text></g></g><g id="SvgjsG1143" transform="translate(404.4041697184234,581.7708333333325)"><path id="SvgjsPath1144" d="M 0 135Q 6 135 6 126L 6 76.5Q 6 67.5 22 67.5Q 6 67.5 6 58.5L 6 9Q 6 0 0 0" stroke="rgba(33,41,48,1)" stroke-width="2" fill="none"></path><path id="SvgjsPath1145" d="M 0 0L 60 0L 60 135L 0 135Z" stroke="none" fill="none"></path><g id="SvgjsG1146"><text id="SvgjsText1147" font-family="微软雅黑" text-anchor="start" font-size="13px" width="33px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="start" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="56.875" transform="rotate(0)"></text></g></g><g id="SvgjsG1148" transform="translate(753.2326212988933,576.7708333333326)"><path id="SvgjsPath1149" d="M 0 140Q 3.5 140 3.5 131L 3.5 79Q 3.5 70 22 70Q 3.5 70 3.5 61L 3.5 9Q 3.5 0 0 0" stroke="rgba(33,41,48,1)" stroke-width="2" fill="none"></path><path id="SvgjsPath1150" d="M 0 0L 35 0L 35 140L 0 140Z" stroke="none" fill="none"></path><g id="SvgjsG1151"><text id="SvgjsText1152" font-family="微软雅黑" text-anchor="start" font-size="13px" width="8px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="start" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="59.375" transform="rotate(0)"></text></g></g><g id="SvgjsG1153" transform="translate(1083.348843998379,572.0486111111098)"><path id="SvgjsPath1154" d="M 0 191.94444444444514Q 4.2 191.94444444444514 4.2 182.94444444444514L 4.2 104.97222222222257Q 4.2 95.97222222222257 22 95.97222222222257Q 4.2 95.97222222222257 4.2 86.97222222222257L 4.2 9Q 4.2 0 0 0" stroke="rgba(33,41,48,1)" stroke-width="2" fill="none"></path><path id="SvgjsPath1155" d="M 0 0L 42 0L 42 191.94444444444514L 0 191.94444444444514Z" stroke="none" fill="none"></path><g id="SvgjsG1156"><text id="SvgjsText1157" font-family="微软雅黑" text-anchor="start" font-size="13px" width="15px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="start" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="85.34722222222257" transform="rotate(0)"></text></g></g><g id="SvgjsG1158" transform="translate(1407.5998884999844,576.770833333332)"><path id="SvgjsPath1159" d="M 0 140Q 5.7 140 5.7 131L 5.7 79Q 5.7 70 22 70Q 5.7 70 5.7 61L 5.7 9Q 5.7 0 0 0" stroke="rgba(33,41,48,1)" stroke-width="2" fill="none"></path><path id="SvgjsPath1160" d="M 0 0L 57 0L 57 140L 0 140Z" stroke="none" fill="none"></path><g id="SvgjsG1161"><text id="SvgjsText1162" font-family="微软雅黑" text-anchor="start" font-size="13px" width="30px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="start" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="59.375" transform="rotate(0)"></text></g></g><g id="SvgjsG1163" transform="translate(261.3680860731349,587.0208333333325)"><path id="SvgjsPath1164" d="M 0 0L 126 0L 126 54L 0 54Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#e5f6da"></path><g id="SvgjsG1165"><text id="SvgjsText1166" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="106px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="16.375" transform="rotate(0)"><tspan id="SvgjsTspan1167" dy="16" x="63"><tspan id="SvgjsTspan1168" style="text-decoration:;">master_machine</tspan></tspan></text></g></g><g id="SvgjsG1169" transform="translate(261.3680860731349,657.5208333333327)"><path id="SvgjsPath1170" d="M 0 0L 126 0L 126 54L 0 54Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#ffffff"></path><g id="SvgjsG1171"><text id="SvgjsText1172" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="106px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="16.375" transform="rotate(0)"><tspan id="SvgjsTspan1173" dy="16" x="63"><tspan id="SvgjsTspan1174" style="text-decoration:;">remote_control</tspan></tspan></text></g></g><g id="SvgjsG1175" transform="translate(628.7735866970487,651.2708333333323)"><path id="SvgjsPath1176" d="M 0 0L 114 0L 114 54L 0 54Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#a6a6a6"></path><g id="SvgjsG1177"><text id="SvgjsText1178" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="94px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="7.875" transform="rotate(0)"><tspan id="SvgjsTspan1179" dy="16" x="57"><tspan id="SvgjsTspan1180" style="text-decoration:;">pitch motor</tspan></tspan><tspan id="SvgjsTspan1181" dy="16" x="57"><tspan id="SvgjsTspan1182" style="text-decoration:;fill: rgb(50, 50, 50);">  yaw motor</tspan></tspan></text></g></g><g id="SvgjsG1183" transform="translate(977.497719022962,641.0208333333323)"><path id="SvgjsPath1184" d="M 0 0L 96 0L 96 54L 0 54Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#e5f6da"></path><g id="SvgjsG1185"><text id="SvgjsText1186" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="16.375" transform="rotate(0)"><tspan id="SvgjsTspan1187" dy="16" x="48"><tspan id="SvgjsTspan1188" style="text-decoration:;">super_cap</tspan></tspan></text></g></g><g id="SvgjsG1189" transform="translate(977.497719022962,708.0624999999985)"><path id="SvgjsPath1190" d="M 0 0L 96 0L 96 54L 0 54Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#a6a6a6"></path><g id="SvgjsG1191"><text id="SvgjsText1192" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="16.375" transform="rotate(0)"><tspan id="SvgjsTspan1193" dy="16" x="48"><tspan id="SvgjsTspan1194" style="text-decoration:;">4 * motor</tspan></tspan></text></g></g><g id="SvgjsG1195" transform="translate(1261.0089965396455,655.9791666666665)"><path id="SvgjsPath1196" d="M 0 0L 129.44238980611135 0L 129.44238980611135 52.08333333333201L 0 52.08333333333201Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#a6a6a6"></path><g id="SvgjsG1197"><text id="SvgjsText1198" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="110px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="6.9166666666660035" transform="rotate(0)"><tspan id="SvgjsTspan1199" dy="16" x="65"><tspan id="SvgjsTspan1200" style="text-decoration:;">2 * friction motor</tspan></tspan><tspan id="SvgjsTspan1201" dy="16" x="65"><tspan id="SvgjsTspan1202" style="text-decoration:;font-size: inherit;">loader motor</tspan></tspan></text></g></g><g id="SvgjsG1203" transform="translate(61.40416971842319,170.9811507936512)"><path id="SvgjsPath1204" d="M 0 0L 96 0L 96 54L 0 54Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#ffffff"></path><g id="SvgjsG1205"><text id="SvgjsText1206" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="16.375" transform="rotate(0)"><tspan id="SvgjsTspan1207" dy="16" x="48"><tspan id="SvgjsTspan1208" style="text-decoration:;">module</tspan></tspan></text></g></g><g id="SvgjsG1209" transform="translate(443.7735866970486,125.42851262310742)"><path id="SvgjsPath1210" d="M 0 0L 859 0L 859 229.37908586489618L 0 229.37908586489618Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#efeceb"></path><g id="SvgjsG1211"><text id="SvgjsText1212" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="839px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="104.06454293244809" transform="rotate(0)"></text></g></g><g id="SvgjsG1213" transform="translate(443.7735866970486,75.52434335347095)"><path 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lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="20.375" transform="rotate(0)"><tspan id="SvgjsTspan1223" dy="16" x="62.5"><tspan id="SvgjsTspan1224" style="text-decoration:;">gimbal_cmd</tspan></tspan></text></g></g><g id="SvgjsG1225" transform="translate(552.8846978081597,278.49305555555554)"><path id="SvgjsPath1226" d="M 0 0L 125 0L 125 62L 0 62Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#dbf5f5"></path><g id="SvgjsG1227"><text id="SvgjsText1228" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="105px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="20.375" transform="rotate(0)"><tspan id="SvgjsTspan1229" dy="16" x="62.5"><tspan id="SvgjsTspan1230" style="text-decoration:;">gimbal_feed</tspan></tspan></text></g></g><g id="SvgjsG1231" 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align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="20.375" transform="rotate(0)"><tspan id="SvgjsTspan1241" dy="16" x="62.5"><tspan id="SvgjsTspan1242" style="text-decoration:;">chassis_feed</tspan></tspan></text></g></g><g id="SvgjsG1243" transform="translate(1150.5513670179578,198.49305555555563)"><path id="SvgjsPath1244" d="M 0 0L 125 0L 125 62L 0 62Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#caedb4"></path><g id="SvgjsG1245"><text id="SvgjsText1246" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="105px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="20.375" transform="rotate(0)"><tspan id="SvgjsTspan1247" dy="16" x="62.5"><tspan id="SvgjsTspan1248" style="text-decoration:;">shoot_cmd</tspan></tspan></text></g></g><g id="SvgjsG1249" 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font-weight="700" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="25px" weight="700" font-style="" opacity="1" y="6.938880496554823" transform="rotate(0)"><tspan id="SvgjsTspan1259" dy="31" x="323"><tspan id="SvgjsTspan1260" style="text-decoration:;">以每个模块都收到一次信息为例，展示完整的数据流</tspan></tspan><tspan id="SvgjsTspan1261" dy="31" x="323"><tspan id="SvgjsTspan1262" style="text-decoration:;">rtos中的任务都运行一次</tspan></tspan></text></g></g><g id="SvgjsG1263"><path id="SvgjsPath1264" d="M480.4041697184233 620.7708333333326L480.4041697184233 229.49305555555563L549.2846978081596 229.49305555555563" stroke="#ed9745" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1265)"></path></g><g id="SvgjsG1267"><path id="SvgjsPath1268" d="M480.4041697184233 620.7708333333326L480.4041697184233 168.49305555555563L907.1624755859364 168.49305555555563L907.1624755859364 194.89305555555563" stroke="#ed9745" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1269)"></path></g><g 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id="SvgjsTspan1311" dy="16" x="48"><tspan id="SvgjsTspan1312" style="text-decoration:;">云台模式</tspan></tspan><tspan id="SvgjsTspan1313" dy="16" x="48"><tspan id="SvgjsTspan1314" style="text-decoration:;">+</tspan></tspan><tspan id="SvgjsTspan1315" dy="16" x="48"><tspan id="SvgjsTspan1316" style="text-decoration:;">云台角度</tspan></tspan></text></g></g><g id="SvgjsG1317" transform="translate(377.4555337693955,424.35416666666663)"><path id="SvgjsPath1318" d="M 0 4Q 0 0 4 0L 92 0Q 96 0 96 4L 96 50Q 96 54 92 54L 4 54Q 0 54 0 50Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#fbeada"></path><g id="SvgjsG1319"><text id="SvgjsText1320" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="-0.125" transform="rotate(0)"><tspan id="SvgjsTspan1321" dy="16" x="48"><tspan id="SvgjsTspan1322" style="text-decoration:;">发射模式</tspan></tspan><tspan id="SvgjsTspan1323" dy="16" x="48"><tspan id="SvgjsTspan1324" style="text-decoration:;">+</tspan></tspan><tspan id="SvgjsTspan1325" dy="16" x="48"><tspan id="SvgjsTspan1326" style="text-decoration:;">射频</tspan></tspan></text></g></g><g id="SvgjsG1327" transform="translate(377.4555337693954,485.46527777777794)"><path id="SvgjsPath1328" d="M 0 4Q 0 0 4 0L 92 0Q 96 0 96 4L 96 50Q 96 54 92 54L 4 54Q 0 54 0 50Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#fbeada"></path><g id="SvgjsG1329"><text id="SvgjsText1330" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="-0.125" transform="rotate(0)"><tspan id="SvgjsTspan1331" dy="16" x="48"><tspan id="SvgjsTspan1332" style="text-decoration:;">底盘模式</tspan></tspan><tspan id="SvgjsTspan1333" dy="16" x="48"><tspan id="SvgjsTspan1334" style="text-decoration:;">+</tspan></tspan><tspan id="SvgjsTspan1335" dy="16" x="48"><tspan id="SvgjsTspan1336" style="text-decoration:;">运动速度</tspan></tspan></text></g></g><g id="SvgjsG1337" transform="translate(670.1930423312725,421.68750000000006)"><path id="SvgjsPath1338" d="M 0 4Q 0 0 4 0L 94.32223849826414 0Q 98.32223849826414 0 98.32223849826414 4L 98.32223849826414 73.38888380262665Q 98.32223849826414 77.38888380262665 94.32223849826414 77.38888380262665L 4 77.38888380262665Q 0 77.38888380262665 0 73.38888380262665Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#fadcdb"></path><g id="SvgjsG1339"><text id="SvgjsText1340" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="79px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="3.5694419013133256" transform="rotate(0)"><tspan id="SvgjsTspan1341" dy="16" x="49.5"><tspan id="SvgjsTspan1342" style="text-decoration:;">pitch电机和</tspan></tspan><tspan id="SvgjsTspan1343" dy="16" x="49.5"><tspan id="SvgjsTspan1344" style="text-decoration:;">底盘的offset</tspan></tspan><tspan id="SvgjsTspan1345" dy="16" x="49.5"><tspan id="SvgjsTspan1346" style="text-decoration:;">+</tspan></tspan><tspan id="SvgjsTspan1347" dy="16" x="49.5"><tspan id="SvgjsTspan1348" style="text-decoration:;">IMU数据</tspan></tspan></text></g></g><g id="SvgjsG1349" transform="translate(977.497719022962,424.4513914320206)"><path id="SvgjsPath1350" d="M 0 4Q 0 0 4 0L 104.39998372395826 0Q 108.39998372395826 0 108.39998372395826 4L 108.39998372395826 67.86110093858571Q 108.39998372395826 71.86110093858571 104.39998372395826 71.86110093858571L 4 71.86110093858571Q 0 71.86110093858571 0 67.86110093858571Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#f6edc1"></path><g id="SvgjsG1351"><text id="SvgjsText1352" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="89px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="0.8055504692928537" transform="rotate(0)"><tspan id="SvgjsTspan1353" dy="16" x="54.5"><tspan id="SvgjsTspan1354" style="text-decoration:;">底盘真实运动</tspan></tspan><tspan id="SvgjsTspan1355" dy="16" x="54.5"><tspan id="SvgjsTspan1356" style="text-decoration:;">速度</tspan></tspan><tspan id="SvgjsTspan1357" dy="16" x="54.5"><tspan id="SvgjsTspan1358" style="text-decoration:;">+</tspan></tspan><tspan id="SvgjsTspan1359" dy="16" x="54.5"><tspan id="SvgjsTspan1360" style="text-decoration:;">裁判系统数据</tspan></tspan></text></g></g><g id="SvgjsG1361" transform="translate(1329.0285141121617,435.90972222222234)"><path id="SvgjsPath1362" d="M 0 4Q 0 0 4 0L 92 0Q 96 0 96 4L 96 50Q 96 54 92 54L 4 54Q 0 54 0 50Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#a6aef3"></path><g id="SvgjsG1363"><text id="SvgjsText1364" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="-0.125" transform="rotate(0)"><tspan id="SvgjsTspan1365" dy="16" x="48"><tspan id="SvgjsTspan1366" style="text-decoration:;">是否卡弹</tspan></tspan><tspan id="SvgjsTspan1367" dy="16" x="48"><tspan id="SvgjsTspan1368" style="text-decoration:;">+</tspan></tspan><tspan id="SvgjsTspan1369" dy="16" x="48"><tspan id="SvgjsTspan1370" style="text-decoration:;">剩余热量</tspan></tspan></text></g></g><g id="SvgjsG1371" transform="translate(436.7735866970489,130.52083333333243)"><path id="SvgjsPath1372" d="M 0 0L 191.99999999999977 0L 191.99999999999977 40L 0 40Z" stroke="none" fill="none"></path><g id="SvgjsG1373"><text id="SvgjsText1374" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="192px" fill="#323232" font-weight="700" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="700" font-style="" opacity="1" y="9.375" transform="rotate(0)"><tspan id="SvgjsTspan1375" dy="16" x="96"><tspan id="SvgjsTspan1376" style="text-decoration:;">消息中心注册了多个话题</tspan></tspan></text></g></g><g id="SvgjsG1377" transform="translate(1200.2055337693942,1196.6347320841546)"><path id="SvgjsPath1378" d="M 0 0L 114.2767319149441 0L 114.2767319149441 53.975645715834645L 0 53.975645715834645Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#ded9d7"></path><g id="SvgjsG1379"><text id="SvgjsText1380" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="95px" fill="#323232" font-weight="700" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="700" font-style="" opacity="1" y="16.362822857917322" transform="rotate(0)"><tspan id="SvgjsTspan1381" dy="16" x="57.5"><tspan id="SvgjsTspan1382" style="text-decoration:;">MotorTask</tspan></tspan></text></g></g><g id="SvgjsG1383" transform="translate(896.0235866970486,1196.6347320841546)"><path id="SvgjsPath1384" d="M 0 0L 114.2767319149441 0L 114.2767319149441 53.975645715834645L 0 53.975645715834645Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#f199c8"></path><g id="SvgjsG1385"><text id="SvgjsText1386" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="95px" fill="#323232" font-weight="700" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="700" font-style="" opacity="1" y="16.362822857917322" transform="rotate(0)"><tspan id="SvgjsTspan1387" dy="16" x="57.5"><tspan id="SvgjsTspan1388" style="text-decoration:;">INSTask</tspan></tspan></text></g></g><g id="SvgjsG1389" transform="translate(1045.7852124108201,1196.6347320841546)"><path id="SvgjsPath1390" d="M 0 0L 117.1272631751176 0L 117.1272631751176 132.96945492756413L 0 132.96945492756413Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#fcf9ea"></path><g id="SvgjsG1391"><text id="SvgjsText1392" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="98px" fill="#323232" font-weight="400" align="top" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="-2.625" transform="rotate(0)"><tspan id="SvgjsTspan1393" dy="16" x="59"><tspan id="SvgjsTspan1394" style="text-decoration:;"> </tspan></tspan><tspan id="SvgjsTspan1395" dy="16" x="59"><tspan id="SvgjsTspan1396" style="text-decoration:;"> </tspan></tspan><tspan id="SvgjsTspan1397" dy="16" x="59"><tspan id="SvgjsTspan1398" style="text-decoration:;"> </tspan></tspan><tspan id="SvgjsTspan1399" dy="16" x="59"><tspan id="SvgjsTspan1400" style="text-decoration:;"> </tspan></tspan><tspan id="SvgjsTspan1401" dy="16" x="59"><tspan id="SvgjsTspan1402" style="text-decoration:;">几乎连接到每个</tspan></tspan><tspan id="SvgjsTspan1403" dy="16" x="59"><tspan id="SvgjsTspan1404" style="text-decoration:;">module上</tspan></tspan><tspan id="SvgjsTspan1405" dy="16" x="59"><tspan id="SvgjsTspan1406" style="text-decoration:;">为了保持整洁这</tspan></tspan><tspan id="SvgjsTspan1407" dy="16" x="59"><tspan id="SvgjsTspan1408" style="text-decoration:;">里不连线</tspan></tspan></text></g></g><g id="SvgjsG1409"><path id="SvgjsPath1410" d="M895.0235866970486 1223.622554942072L863.769433763292 1223.622554942072L863.769433763292 1223.622554942072L835.1152808295355 1223.622554942072" stroke="#a23c73" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1411)"></path></g><g id="SvgjsG1413"><path id="SvgjsPath1414" d="M1025.497719022962 763.0624999999985L1025.497719022962 802.6319444444437L1046.2543926874791 802.6319444444437" stroke="#7f7f7f" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1415)"></path></g><g id="SvgjsG1417"><path id="SvgjsPath1418" d="M685.7735866970487 706.2708333333323L685.7735866970487 802.6319444444437L731.9152808295355 802.6319444444437" stroke="#7f7f7f" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1419)"></path></g><g id="SvgjsG1421" transform="translate(1261.0089965396455,585.4791666666667)"><path id="SvgjsPath1422" d="M 0 0L 129.44238980611135 0L 129.44238980611135 52.08333333333201L 0 52.08333333333201Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#a6a6a6"></path><g id="SvgjsG1423"><text id="SvgjsText1424" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="110px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="15.416666666666003" transform="rotate(0)"><tspan id="SvgjsTspan1425" dy="16" x="65"><tspan id="SvgjsTspan1426" style="text-decoration:;">lid servo</tspan></tspan></text></g></g><g id="SvgjsG1427"><path id="SvgjsPath1428" d="M1260.0089965396455 611.5208333333328L1233.5124816894531 611.5208333333328L1233.5124816894531 1193.2729917923398" stroke="#7f7f7f" stroke-width="2" fill="none" 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x="54.5"><tspan id="SvgjsTspan1450" style="text-decoration:;">设置闭环</tspan></tspan><tspan id="SvgjsTspan1451" dy="16" x="54.5"><tspan id="SvgjsTspan1452" style="text-decoration:;">设置参考</tspan></tspan><tspan id="SvgjsTspan1453" dy="16" x="54.5"><tspan id="SvgjsTspan1454" style="text-decoration:;">设置反馈来源</tspan></tspan></text></g></g><g id="SvgjsG1455" transform="translate(1350.9740780724414,775.6319444444438)"><path id="SvgjsPath1456" d="M 0 4Q 0 0 4 0L 104.98890262179907 0Q 108.98890262179907 0 108.98890262179907 4L 108.98890262179907 50Q 108.98890262179907 54 104.98890262179907 54L 4 54Q 0 54 0 50Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#f2f2f2"></path><g id="SvgjsG1457"><text id="SvgjsText1458" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="89px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="-0.125" transform="rotate(0)"><tspan id="SvgjsTspan1459" dy="16" x="54.5"><tspan id="SvgjsTspan1460" style="text-decoration:;">设置闭环</tspan></tspan><tspan id="SvgjsTspan1461" dy="16" x="54.5"><tspan id="SvgjsTspan1462" style="text-decoration:;">设置参考</tspan></tspan><tspan id="SvgjsTspan1463" dy="16" x="54.5"><tspan id="SvgjsTspan1464" style="text-decoration:;">设置反馈来源</tspan></tspan></text></g></g><g id="SvgjsG1465" transform="translate(735.5152808295356,1196.622554942072)"><path id="SvgjsPath1466" d="M 0 4Q 0 0 4 0L 92 0Q 96 0 96 4L 96 50Q 96 54 92 54L 4 54Q 0 54 0 50Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#f6bbdb"></path><g id="SvgjsG1467"><text id="SvgjsText1468" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="7.875" transform="rotate(0)"><tspan id="SvgjsTspan1469" dy="16" x="48"><tspan id="SvgjsTspan1470" style="text-decoration:;">加速度</tspan></tspan><tspan id="SvgjsTspan1471" dy="16" x="48"><tspan id="SvgjsTspan1472" style="text-decoration:;">角速度</tspan></tspan></text></g></g><g id="SvgjsG1473" transform="translate(281.45553376939563,1043.9603758169922)"><path id="SvgjsPath1474" d="M 0 35L 48 0L 96 35L 48 70Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#ed9745"></path><g id="SvgjsG1475"><text id="SvgjsText1476" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="24.725" transform="rotate(0)"><tspan id="SvgjsTspan1477" dy="16" x="48"><tspan id="SvgjsTspan1478" style="text-decoration:;">CAN</tspan></tspan></text></g></g><g id="SvgjsG1479" transform="translate(284.45553376939563,1172.8492647058797)"><path id="SvgjsPath1480" d="M 0 35L 45 0L 90 35L 45 70L 0 35Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#9d8c88"></path><g id="SvgjsG1481"><text id="SvgjsText1482" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="70px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="24.375" transform="rotate(0)"><tspan id="SvgjsTspan1483" dy="16" x="45"><tspan id="SvgjsTspan1484" style="text-decoration:;">SPI</tspan></tspan></text></g></g><g id="SvgjsG1485" transform="translate(281.4555337693955,931.7381535947703)"><path id="SvgjsPath1486" d="M 0 35L 48 0L 96 35L 48 70Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#e74f4c"></path><g id="SvgjsG1487"><text id="SvgjsText1488" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="24.725" transform="rotate(0)"><tspan 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style="text-decoration:;">直接阻塞读取imu</tspan></tspan></text></g></g><g id="SvgjsG1551" transform="translate(128.0680779351141,859.8819512261285)"><path id="SvgjsPath1552" d="M 0 4Q 0 0 4 0L 96.56944444444446 0Q 100.56944444444446 0 100.56944444444446 4L 100.56944444444446 48.83333333333326Q 100.56944444444446 52.83333333333326 96.56944444444446 52.83333333333326L 4 52.83333333333326Q 0 52.83333333333326 0 48.83333333333326Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#e74f4c"></path><g id="SvgjsG1553"><text id="SvgjsText1554" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="81px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="7.291666666666629" transform="rotate(0)"><tspan id="SvgjsTspan1555" dy="16" x="50.5"><tspan id="SvgjsTspan1556" style="text-decoration:;">接收回调函数</tspan></tspan><tspan id="SvgjsTspan1557" dy="16" x="50.5"><tspan id="SvgjsTspan1558" style="text-decoration:;">解析视觉报文</tspan></tspan></text></g></g><g id="SvgjsG1559" transform="translate(390.0993120405402,739.0617458521849)"><path id="SvgjsPath1560" d="M 0 4Q 0 0 4 0L 95.72082646687738 0Q 99.72082646687738 0 99.72082646687738 4L 99.72082646687738 65.99509803921671Q 99.72082646687738 69.99509803921671 95.72082646687738 69.99509803921671L 4 69.99509803921671Q 0 69.99509803921671 0 65.99509803921671Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#e74f4c"></path><g id="SvgjsG1561"><text id="SvgjsText1562" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="80px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="-0.12745098039164304" transform="rotate(0)"><tspan id="SvgjsTspan1563" dy="16" x="50"><tspan id="SvgjsTspan1564" style="text-decoration:;">接收回调函数</tspan></tspan><tspan id="SvgjsTspan1565" dy="16" x="50"><tspan id="SvgjsTspan1566" style="text-decoration:;">解析遥控器</tspan></tspan><tspan id="SvgjsTspan1567" dy="16" x="50"><tspan id="SvgjsTspan1568" style="text-decoration:;">或</tspan></tspan><tspan id="SvgjsTspan1569" dy="16" x="50"><tspan id="SvgjsTspan1570" style="text-decoration:;">键鼠数据</tspan></tspan></text></g></g><g id="SvgjsG1571" transform="translate(684.002783457438,987.0152723524305)"><path id="SvgjsPath1572" d="M 0 4Q 0 0 4 0L 95.44165293375477 0Q 99.44165293375477 0 99.44165293375477 4L 99.44165293375477 35.32222154405383Q 99.44165293375477 39.32222154405383 95.44165293375477 39.32222154405383L 4 39.32222154405383Q 0 39.32222154405383 0 35.32222154405383Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#e74f4c"></path><g id="SvgjsG1573"><text id="SvgjsText1574" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="80px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="9.036110772026916" transform="rotate(0)"><tspan id="SvgjsTspan1575" dy="16" x="50"><tspan id="SvgjsTspan1576" style="text-decoration:;">解析裁判系统</tspan></tspan></text></g></g><g id="SvgjsG1577" transform="translate(446.7688492063493,1023.1603575064453)"><path id="SvgjsPath1578" d="M 0 4Q 0 0 4 0L 98.17500305175781 0Q 102.17500305175781 0 102.17500305175781 4L 102.17500305175781 33.20001220703125Q 102.17500305175781 37.20001220703125 98.17500305175781 37.20001220703125L 4 37.20001220703125Q 0 37.20001220703125 0 33.20001220703125Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#f1ac6a"></path><g id="SvgjsG1579"><text id="SvgjsText1580" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="83px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="7.975006103515625" transform="rotate(0)"><tspan id="SvgjsTspan1581" dy="16" x="51.5"><tspan id="SvgjsTspan1582" style="text-decoration:;">电机反馈数据</tspan></tspan></text></g></g><g id="SvgjsG1583" transform="translate(809.3626045045403,1060.3603697134765)"><path id="SvgjsPath1584" d="M 0 4Q 0 0 4 0L 98.17500305175781 0Q 102.17500305175781 0 102.17500305175781 4L 102.17500305175781 33.20001220703125Q 102.17500305175781 37.20001220703125 98.17500305175781 37.20001220703125L 4 37.20001220703125Q 0 37.20001220703125 0 33.20001220703125Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#f1ac6a"></path><g id="SvgjsG1585"><text id="SvgjsText1586" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="83px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="7.975006103515625" transform="rotate(0)"><tspan id="SvgjsTspan1587" dy="16" x="51.5"><tspan id="SvgjsTspan1588" style="text-decoration:;">超级电容功率</tspan></tspan></text></g></g><g id="SvgjsG1589" transform="translate(957.3763639662002,988.0763770209419)"><path id="SvgjsPath1590" d="M 0 4Q 0 0 4 0L 98.17500305175781 0Q 102.17500305175781 0 102.17500305175781 4L 102.17500305175781 33.20001220703125Q 102.17500305175781 37.20001220703125 98.17500305175781 37.20001220703125L 4 37.20001220703125Q 0 37.20001220703125 0 33.20001220703125Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#f1ac6a"></path><g id="SvgjsG1591"><text id="SvgjsText1592" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="83px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="7.975006103515625" transform="rotate(0)"><tspan id="SvgjsTspan1593" dy="16" x="51.5"><tspan id="SvgjsTspan1594" style="text-decoration:;">电机反馈数据</tspan></tspan></text></g></g><g id="SvgjsG1595" transform="translate(1257.50177401588,988.0763770209419)"><path id="SvgjsPath1596" d="M 0 4Q 0 0 4 0L 98.17500305175781 0Q 102.17500305175781 0 102.17500305175781 4L 102.17500305175781 33.20001220703125Q 102.17500305175781 37.20001220703125 98.17500305175781 37.20001220703125L 4 37.20001220703125Q 0 37.20001220703125 0 33.20001220703125Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#f1ac6a"></path><g id="SvgjsG1597"><text id="SvgjsText1598" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="83px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="7.975006103515625" transform="rotate(0)"><tspan id="SvgjsTspan1599" dy="16" x="51.5"><tspan id="SvgjsTspan1600" style="text-decoration:;">电机反馈数据</tspan></tspan></text></g></g><g id="SvgjsG1601" transform="translate(778.5152808295363,906.0486178927948)"><path id="SvgjsPath1602" d="M 0 4Q 0 0 4 0L 92 0Q 96 0 96 4L 96 50Q 96 54 92 54L 4 54Q 0 54 0 50Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#7985ec"></path><g id="SvgjsG1603"><text id="SvgjsText1604" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="7.875" transform="rotate(0)"><tspan id="SvgjsTspan1605" dy="16" x="48"><tspan id="SvgjsTspan1606" style="text-decoration:;">多机通信</tspan></tspan><tspan id="SvgjsTspan1607" dy="16" x="48"><tspan id="SvgjsTspan1608" style="text-decoration:;">UI绘制</tspan></tspan></text></g></g><g id="SvgjsG1609"><path id="SvgjsPath1610" d="M178.35280015733633 858.8819512261285L178.35280015733633 629.5840873133009L258.01673621933617 629.5840873133009" stroke="#e74f4c" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1611)"></path></g><g id="SvgjsG1613"><path id="SvgjsPath1614" d="M734.5152808295356 1223.622554942072L583.5582860310873 1223.622554942072L583.5582860310873 621.5375061035156L625.9582860310873 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594.5375061035156" stroke="#9d8c88" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1659)"></path></g><g id="SvgjsG1661" transform="translate(33.97517160269115,711.5208333333327)"><path id="SvgjsPath1662" d="M 0 4Q 0 0 4 0L 90.09290633242261 0Q 94.09290633242261 0 94.09290633242261 4L 94.09290633242261 114.11111111111109Q 94.09290633242261 118.11111111111109 90.09290633242261 118.11111111111109L 4 118.11111111111109Q 0 118.11111111111109 0 114.11111111111109Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#e5f6da"></path><g id="SvgjsG1663"><text id="SvgjsText1664" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="75px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="15.930555555555543" transform="rotate(0)"><tspan id="SvgjsTspan1665" dy="16" x="47.5"><tspan id="SvgjsTspan1666" style="text-decoration:;">云台姿态数</tspan></tspan><tspan id="SvgjsTspan1667" dy="16" x="47.5"><tspan id="SvgjsTspan1668" style="text-decoration:;">据</tspan></tspan><tspan id="SvgjsTspan1669" dy="16" x="47.5"><tspan id="SvgjsTspan1670" style="text-decoration:;">加速度</tspan></tspan><tspan id="SvgjsTspan1671" dy="16" x="47.5"><tspan id="SvgjsTspan1672" style="text-decoration:;">底盘速度</tspan></tspan><tspan id="SvgjsTspan1673" dy="16" x="47.5"><tspan id="SvgjsTspan1674" style="text-decoration:;">弹速</tspan></tspan></text></g></g><g id="SvgjsG1675"><path id="SvgjsPath1676" d="M81.02162476890243 830.6319444444438L81.02162476890243 1003.7550870344895L291.4665360370834 1003.7550870344895L291.4665360370834 977.3550870344895" stroke="#95da69" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1677)"></path></g><g id="SvgjsG1679"><path id="SvgjsPath1680" d="M375.45553376939563 1207.8492647058797L401.34235021803056 1207.8492647058797L401.34235021803056 1207.8492647058797L424.62916666666547 1207.8492647058797" stroke="#9d8c88" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1681)"></path></g><g id="SvgjsG1683" transform="translate(685.7236099243154,1126.6548066980672)"><path id="SvgjsPath1684" d="M 0 4Q 0 0 4 0L 92 0Q 96 0 96 4L 96 50Q 96 54 92 54L 4 54Q 0 54 0 50Z" stroke="rgba(33,41,48,1)" stroke-width="2" fill-opacity="1" fill="#e5f6da"></path><g id="SvgjsG1685"><text id="SvgjsText1686" font-family="微软雅黑" text-anchor="middle" font-size="13px" width="76px" fill="#323232" font-weight="400" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="400" font-style="" opacity="1" y="16.375" transform="rotate(0)"><tspan id="SvgjsTspan1687" dy="16" x="48"><tspan id="SvgjsTspan1688" style="text-decoration:;">电容控制量</tspan></tspan></text></g></g><g id="SvgjsG1689"><path id="SvgjsPath1690" d="M684.7236099243154 1153.6548066980672L340.85852154546797 1153.6548066980672L340.85852154546797 1108.2225938377817" stroke="#569230" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1691)"></path></g><g id="SvgjsG1693"><path id="SvgjsPath1694" d="M1008.4638654920791 987.0763770209419L1008.4638654920791 873.4631915622288L1008.4638654920791 873.4631915622288L1008.4638654920791 762.4500061035156" stroke="#f1ac6a" stroke-width="2" fill="none" marker-end="url(#SvgjsMarker1695)"></path></g><g id="SvgjsG1697" transform="translate(234.58133860996793,1126.6548066980672)"><path id="SvgjsPath1698" d="M 0 0L 100 0L 100 40L 0 40Z" stroke="none" fill="none"></path><g id="SvgjsG1699"><text id="SvgjsText1700" font-family="微软雅黑" text-anchor="middle" font-size="33px" width="100px" fill="#323232" font-weight="700" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="33px" weight="700" font-style="" opacity="1" y="-8.625" transform="rotate(0)"><tspan id="SvgjsTspan1701" dy="41" x="50"><tspan id="SvgjsTspan1702" style="text-decoration:;">BSP</tspan></tspan></text></g></g><g id="SvgjsG1703" transform="translate(1003.0124816894534,1349.7374877929688)"><path id="SvgjsPath1704" d="M 0 0L 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font-size="13px" width="95px" fill="#323232" font-weight="700" align="middle" lineHeight="125%" anchor="middle" family="微软雅黑" size="13px" weight="700" font-style="" opacity="1" y="16.362822857917322" transform="rotate(0)"><tspan id="SvgjsTspan1735" dy="16" x="57.5"><tspan id="SvgjsTspan1736" style="text-decoration:;">RefereeTask</tspan></tspan></text></g></g></svg>
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