First you need to instanciate the robot
from poppy.creatures import PoppyHumanoid
poppy = PoppyHumanoid(simulator='vrep')
%pylab inline
import time
Populating the interactive namespace from numpy and matplotlib
This test is bases on the information you can retrieve from an IMU sensor. In fact, you can have the absolute x,y,z position of the head (assuming the IMU is in the head of Poppy)
list_pos_x = []
list_pos_y = []
list_pos_z = []
t= []
#poppy.r_hip_y.goto_position(-50, 4)
#poppy.r_knee_y.goto_position(50, 4)
poppy.l_shoulder_y.goto_behavior = 'minjerk'
poppy.r_shoulder_y.goto_behavior = 'minjerk'
poppy.l_shoulder_x.goto_behavior = 'minjerk'
poppy.r_shoulder_x.goto_behavior = 'minjerk'
poppy.l_shoulder_x.goto_position(10, 2, wait=True)
poppy.l_shoulder_y.goto_position(10, 2, wait=True)
poppy.r_shoulder_x.goto_position(-10, 2, wait=True)
poppy.r_shoulder_y.goto_position(10, 2, wait=True)
poppy.l_shoulder_y.goto_position(80, 4)
poppy.r_shoulder_y.goto_position(80, 4)
pos = poppy.get_object_position('head_visual')
pos_x=pos[0]
pos_y=pos[1]
pos_z=pos[2]
action_passe = 0
t0 = time.time()
while time.time() - t0 < 30:
pos = poppy.get_object_position('head_visual')
if pos_x != pos[0]:
decalage_x=pos[0]-pos_x
decalage_y=pos[1]-pos_y
decalage_z=pos[2]-pos_z
list_pos_x.append(decalage_x)
list_pos_y.append(decalage_y)
list_pos_z.append(decalage_z)
pos_x = pos[0]
pos_y = pos[1]
pos_z = pos[2]
t.append(poppy.current_simulation_time)
time.sleep(0.05)
plot(t, list_pos_x)
plot(t, list_pos_y)
plot(t, list_pos_z)
legend(('dx', 'dy','dz'))
<matplotlib.legend.Legend at 0x742b9b0>
poppy.reset_simulation()
time.sleep(2)
Now, you need to correct the movement the more quickly it is possible to ovoid the falling down and restaure the balance.
To do that we choose to make a movement in the opposite direction of the fall, using the motor abs_x and abs_y.
The problem is that we don't know what is the orientation of the motor and for example, we need to know what will be the correction of the abs_x motor.
For the motor abs_x we define a correction vector base on the orientation of the motor. The correction vector is the vector which represent in what direction the motor is able to move the gravity center of poppy. For abs_x the vector is parallele to x axis because when rotation is increasing gravity center is moving along x axis (and same sign).
Assuming we are working with an absolute frame, we need to konw what is the coordinate of the x axis of the abs_x motor in the absolute frame.
Get orientation return the orientation of the x axis Vrep doc and using the matrix rotation you can obtain the coordinate of x axis of the motor in the reference frame rotation matrix
# x axis of the absolute frame
Vx = mat('[1 ; 0 ; 0]')
# orientation of the motor frame
orient = poppy.get_object_orientation('abs_x')
# orthogonal matrix 3D rotation
def rotate_matrix(orient):
a = orient[0]
b = orient[1]
g = orient[2]
Rx = array([[1,0,0], [0,cos(a),-sin(a)], [0,sin(a),cos(a)]])
Rx = mat(Rx)
Ry = array([[cos(b),0,sin(b)], [0,1,0], [-sin(b),0,cos(b)]])
Ry = mat(Ry)
Rz = array([[cos(g),-sin(g),0], [sin(g),cos(g),0], [0,0,1]])
Rz = mat(Rz)
Rot = Rx*Ry*Rz
return Rot
# coordinate of motor abs_x x axis in the absolute frame
Rot = rotate_matrix(orient)
Vx_abs_x = Rot*Vx
print Vx_abs_x
# coordinate of motor abs_y x axis in the absolute frame
orient = poppy.get_object_orientation('abs_y')
Rot = rotate_matrix(orient)
Vx_abs_y = Rot*Vx
print Vx_abs_y
[[ 0.99996959] [-0.00660931] [-0.00414028]] [[-0.0071547 ] [-0.99995199] [-0.00669564]]
Just the simpliest code to have the moving direction of the gravity center for abs_x and abs_y. You have to be careful with the sens of the move. abs_x is in direct sens (increase x when increase position) but abs_y is in the opposite direction (decrease x when increase position).
Vx_abs_x = rotate_matrix(poppy.get_object_orientation('abs_x'))*Vx
print Vx_abs_x
[[ -9.99990118e-01] [ -7.27109619e-04] [ 4.38585109e-03]]
Vx_indirect = mat('[-1 ; 0 ; 0]')
Vx_abs_y = rotate_matrix(poppy.get_object_orientation('abs_y'))*Vx_indirect
print Vx_abs_y
[[ 0.00783792] [ 0.99994014] [ 0.00763457]]
Now we can apply the correction in the right direction to avoid poppy falling. We have to find the good values for the motors in order to move the gravity center in the opposite direction of the fall (by resolving a equation system in the x-y plan).
poppy.reset_simulation()
poppy.abs_x.goto_behavior = 'dummy'
poppy.abs_y.goto_behavior = 'dummy'
list_pos_x = []
list_pos_y = []
list_pos_z = []
t= []
poppy.head_y.goto_position(10, 1, wait=True)
poppy.l_shoulder_x.goto_position(10, 2, wait=True)
poppy.l_shoulder_y.goto_position(10, 2, wait=True)
poppy.r_shoulder_x.goto_position(-10, 2, wait=True)
poppy.r_shoulder_y.goto_position(10, 2, wait=True)
t0 = time.time()
poppy.l_shoulder_y.goto_behavior = 'minjerk'
poppy.r_shoulder_y.goto_behavior = 'minjerk'
poppy.l_shoulder_y.goto_position(80, 4)
poppy.r_shoulder_y.goto_position(80, 4)
action_passex = 0
action_passey = 0
while time.time() - t0 < 30:
pos = poppy.get_object_position('head_visual')
time.sleep(0.05)
pos2 = poppy.get_object_position('head_visual')
print pos
print pos2
if pos2 != pos:
decalage_x=pos2[0]-pos[0]
decalage_y=pos2[1]-pos[1]
decalage_z=pos2[2]-pos[2]
list_pos_x.append(decalage_x)
list_pos_y.append(decalage_y)
list_pos_z.append(decalage_z)
t.append(poppy.current_simulation_time)
print " "
print " "
print "temps :",poppy.current_simulation_time
print "moving direction :"
print "dx =",decalage_x
print "dy =",decalage_y
# x axis of the absolute frame
Vx = mat('[1 ; 0 ; 0]')
# orientation of the motor frame
Vx_abs_x = rotate_matrix(poppy.get_object_orientation('abs_x'))*Vx
Vx_abs_y = rotate_matrix(poppy.get_object_orientation('abs_y'))*Vx_indirect
# calculatin of the good values for position of Abs_x and Abs_y
# resolution of the system -dx = Vx_abs_x[0]*Abs_x + Vx_abs_y[0]*Abs_y and -dy = Vx_abs_x[1]*Abs_x + Vx_abs_y[1]*Abs_y
A3 = concatenate((Vx_abs_x,Vx_abs_y),axis=1)
A2 = delete(A3, (2), axis=0)
B=matrix([[decalage_x],[decalage_y]])
solution=linalg.solve(A2,B)
print "solution du système equation :"
print "Abs_x = ",solution[0]
print "Abs_y = ",solution[1]
actionx =poppy.abs_x.goal_position=1000*solution[0]
#action_passex = actionx
print "correction abs_x : ",actionx
actiony =poppy.abs_y.goal_position=1000*solution[1]
#action_passey = actiony
print "correction abs_y : ",actiony
t0 = poppy.current_simulation_time
plot(t, list_pos_x)
plot(t, list_pos_y)
plot(t, list_pos_z)
legend(('dx', 'dy','dz'))
[0.004666585475206375, 0.004125743638724089, 0.7526013851165771] [0.004666585475206375, 0.004125743638724089, 0.7526013851165771] [0.004666585475206375, 0.004125743638724089, 0.7526013851165771] [0.005073468200862408, 0.004714743699878454, 0.752467691898346] temps : 16.5000343323 moving direction : dx = 0.000406882725656 dy = 0.000589000061154 solution du système equation : Abs_x = [[ 0.00041793]] Abs_y = [[ 0.00058119]] correction abs_x : [[ 0.41793202]] correction abs_y : [[ 0.58119435]]
<matplotlib.legend.Legend at 0x8427250>
The system is oscillating. Now we need to find a way to avoid the oscillation.
poppy.reset_simulation()
poppy.abs_x.goto_behavior = 'dummy'
poppy.abs_y.goto_behavior = 'dummy'
list_pos_x = []
list_pos_y = []
list_pos_z = []
t= []
poppy.l_shoulder_y.goto_behavior = 'minjerk'
poppy.r_shoulder_y.goto_behavior = 'minjerk'
poppy.head_y.goto_position(10, 1, wait=True)
poppy.l_shoulder_x.goto_position(10, 2, wait=True)
poppy.l_shoulder_y.goto_position(10, 2, wait=True)
poppy.r_shoulder_x.goto_position(-10, 2, wait=True)
poppy.r_shoulder_y.goto_position(10, 2, wait=True)
poppy.l_shoulder_y.goto_position(80, 4)
poppy.r_shoulder_y.goto_position(80, 4)
t0 = time.time()
while time.time() - t0 < 20:
pos = poppy.get_object_position('head_visual')
time.sleep(0.05)
pos2 = poppy.get_object_position('head_visual')
if pos2 != pos:
decalage_x=pos2[0]-pos[0]
decalage_y=pos2[1]-pos[1]
decalage_z=pos2[2]-pos[2]
list_pos_x.append(decalage_x)
list_pos_y.append(decalage_y)
list_pos_z.append(decalage_z)
t.append(poppy.current_simulation_time)
print " "
print " "
print "temps :",poppy.current_simulation_time
print "moving direction :"
print "dx =",decalage_x
print "dy =",decalage_y
# x axis of the absolute frame
Vx = mat('[1 ; 0 ; 0]')
# orientation of the motor frame
Vx_abs_x = rotate_matrix(poppy.get_object_orientation('abs_x'))*Vx
Vx_abs_y = rotate_matrix(poppy.get_object_orientation('abs_y'))*Vx_indirect
# calculatin of the good values for position of Abs_x and Abs_y
# resolution of the system -dx = Vx_abs_x[0]*Abs_x + Vx_abs_y[0]*Abs_y and -dy = Vx_abs_x[1]*Abs_x + Vx_abs_y[1]*Abs_y
A3 = concatenate((Vx_abs_x,Vx_abs_y),axis=1)
A2 = delete(A3, (2), axis=0)
B=matrix([[decalage_x],[decalage_y]])
solution=linalg.solve(A2,B)
print "solution du système equation :"
print "Abs_x = ",solution[0]
print "Abs_y = ",solution[1]
actionx =poppy.abs_x.goal_position=poppy.abs_x.present_position + 1000*solution[0]
print "correction abs_x : ",actionx
actiony =poppy.abs_y.goal_position=poppy.abs_y.present_position + 1000*solution[1]
print "correction abs_y : ",actiony
t_wait = poppy.current_simulation_time
#while poppy.current_simulation_time == t_wait:
# time.sleep(0.01)
plot(t, list_pos_x)
plot(t, list_pos_y)
plot(t, list_pos_z)
legend(('dx', 'dy','dz'))
temps : 10.7500228882 moving direction : dx = 0.000798930879682 dy = -0.00023758225143 solution du système equation : Abs_x = [[ 0.00079093]] Abs_y = [[-0.00026334]] correction abs_x : [[ 0.79092907]] correction abs_y : [[-0.36333587]] temps : 10.8000230789 moving direction : dx = 0.00058828946203 dy = -0.00013967230916 solution du système equation : Abs_x = [[ 0.00058339]] Abs_y = [[-0.00015921]] correction abs_x : [[ 0.58339392]] correction abs_y : [[-0.25921126]] temps : 10.8500232697 moving direction : dx = -0.00015623588115 dy = 0.000381924211979 solution du système equation : Abs_x = [[-0.00014335]] Abs_y = [[ 0.00038705]] correction abs_x : [[ 0.35665408]] correction abs_y : [[ 0.1870483]] temps : 10.9000234604 moving direction : dx = -0.000851685879752 dy = 0.000657763332129 solution du système equation : Abs_x = [[-0.00082929]] Abs_y = [[ 0.0006861]] correction abs_x : [[-0.329286]] correction abs_y : [[ 0.4861015]] temps : 10.9500236511 moving direction : dx = -0.000758791575208 dy = 0.000333115458488 solution du système equation : Abs_x = [[-0.00074701]] Abs_y = [[ 0.00035899]] correction abs_x : [[-0.14700608]] correction abs_y : [[ 0.05898818]] temps : 11.0000238419 moving direction : dx = -6.6701322794e-05 dy = -7.43251293898e-05 solution du système equation : Abs_x = [[ -6.91627725e-05]] Abs_y = [[ -7.20477702e-05]] correction abs_x : [[-0.06916277]] correction abs_y : [[ 0.22795223]] temps : 11.0500240326 moving direction : dx = 0.000767602352425 dy = -0.000566396862268 solution du système equation : Abs_x = [[ 0.00074924]] Abs_y = [[-0.00059079]] correction abs_x : [[ 0.54923585]] correction abs_y : [[-0.19079113]] temps : 11.1000242233 moving direction : dx = 0.000913888448849 dy = -0.000846864655614 solution du système equation : Abs_x = [[ 0.00088751]] Abs_y = [[-0.00087482]] correction abs_x : [[ 0.68751152]] correction abs_y : [[-0.4748189]] temps : 11.1500244141 moving direction : dx = 0.000454635359347 dy = -0.000658983364701 solution du système equation : Abs_x = [[ 0.00043435]] Abs_y = [[-0.00067273]] correction abs_x : [[ 0.33435458]] correction abs_y : [[-0.37273445]] temps : 11.2000246048 moving direction : dx = -0.000338654965162 dy = -0.000272132456303 solution du système equation : Abs_x = [[-0.00034699]] Abs_y = [[-0.00026145]] correction abs_x : [[ 0.05300699]] correction abs_y : [[-0.46145304]] temps : 11.2500247955 moving direction : dx = -0.00138297840022 dy = 0.000297028571367 solution du système equation : Abs_x = [[-0.00137283]] Abs_y = [[ 0.00034153]] correction abs_x : [[-0.97282626]] correction abs_y : [[ 0.14152923]] temps : 11.3000249863 moving direction : dx = -0.00151819479652 dy = 0.000687200576067 solution du système equation : Abs_x = [[-0.00149619]] Abs_y = [[ 0.00073441]] correction abs_x : [[-0.8961892]] correction abs_y : [[ 0.43440977]] temps : 11.350025177 moving direction : dx = -0.000409116502851 dy = 0.000335641205311 solution du système equation : Abs_x = [[-0.00039909]] Abs_y = [[ 0.00034766]] correction abs_x : [[-0.89908954]] correction abs_y : [[ 0.3476635]] temps : 11.4500255585 moving direction : dx = 0.00167834456079 dy = -0.00053208693862 solution du système equation : Abs_x = [[ 0.00166316]] Abs_y = [[-0.00057808]] correction abs_x : [[ 0.86316236]] correction abs_y : [[-0.2780848]] temps : 11.5000257492 moving direction : dx = 0.00201622676104 dy = -0.000298734754324 solution du système equation : Abs_x = [[ 0.00200733]] Abs_y = [[-0.00035416]] correction abs_x : [[ 1.10732814]] correction abs_y : [[ 0.04583823]] temps : 11.5500259399 moving direction : dx = 0.00117980968207 dy = 0.000236434862018 solution du système equation : Abs_x = [[ 0.00118647]] Abs_y = [[ 0.00020116]] correction abs_x : [[ 0.28647095]] correction abs_y : [[ 0.60115525]] temps : 11.6000261307 moving direction : dx = -0.00104984175414 dy = 0.000432640314102 solution du système equation : Abs_x = [[-0.00103529]] Abs_y = [[ 0.00046715]] correction abs_x : [[-0.73529441]] correction abs_y : [[ 0.46714701]] temps : 11.6500263214 moving direction : dx = -0.00192112009972 dy = -8.20755958557e-05 solution du système equation : Abs_x = [[-0.00192288]] Abs_y = [[ -1.65234982e-05]] correction abs_x : [[-1.12288375]] correction abs_y : [[-0.0165235]] temps : 11.7000265121 moving direction : dx = -0.000823948532343 dy = -0.000753458589315 solution du système equation : Abs_x = [[-0.00084764]] Abs_y = [[-0.00072668]] correction abs_x : [[-1.14763564]] correction abs_y : [[-0.22667542]] temps : 11.7500267029 moving direction : dx = 0.000959556084126 dy = -0.000576904043555 solution du système equation : Abs_x = [[ 0.0009414]] Abs_y = [[-0.00060638]] correction abs_x : [[ 0.14140229]] correction abs_y : [[-0.40638352]] temps : 11.8000268936 moving direction : dx = 0.00205559842288 dy = 1.50222331285e-05 solution du système equation : Abs_x = [[ 0.00205519]] Abs_y = [[ -4.63049011e-05]] correction abs_x : [[ 1.0551864]] correction abs_y : [[ 0.0536951]] temps : 11.8500270844 moving direction : dx = 0.00223081139848 dy = 0.00042125582695 solution du système equation : Abs_x = [[ 0.00224163]] Abs_y = [[ 0.00035974]] correction abs_x : [[ 1.14162713]] correction abs_y : [[ 0.2597374]] temps : 11.9000272751 moving direction : dx = 0.00101751927286 dy = 0.0012275185436 solution du système equation : Abs_x = [[ 0.00104918]] Abs_y = [[ 0.00120071]] correction abs_x : [[ 0.74917884]] correction abs_y : [[ 0.90070842]] temps : 11.9500274658 moving direction : dx = -0.00134661234915 dy = 0.00146033614874 solution du système equation : Abs_x = [[-0.00130355]] Abs_y = [[ 0.00149972]] correction abs_x : [[-1.60354786]] correction abs_y : [[ 1.19972092]] temps : 12.0000276566 moving direction : dx = -0.00298922508955 dy = 0.00113797932863 solution du système equation : Abs_x = [[-0.00295002]] Abs_y = [[ 0.00123758]] correction abs_x : [[-2.05001614]] correction abs_y : [[ 1.43757547]] temps : 12.0500278473 moving direction : dx = -0.00187814282253 dy = 0.0005216114223 solution du système equation : Abs_x = [[-0.00185737]] Abs_y = [[ 0.00059241]] correction abs_x : [[-2.55736699]] correction abs_y : [[ 1.39240633]] temps : 12.100028038 moving direction : dx = 0.000837138853967 dy = -3.59248369932e-05 solution du système equation : Abs_x = [[ 0.00083517]] Abs_y = [[ -6.81719588e-05]] correction abs_x : [[-0.46482988]] correction abs_y : [[ 0.93182804]] temps : 12.1500282288 moving direction : dx = 0.00270233536139 dy = -0.00041500851512 solution du système equation : Abs_x = [[ 0.00268616]] Abs_y = [[-0.00051091]] correction abs_x : [[ 1.38616039]] correction abs_y : [[ 0.68908559]] temps : 12.2000284195 moving direction : dx = 0.00393156241626 dy = -0.000636849552393 solution du système equation : Abs_x = [[ 0.00391065]] Abs_y = [[-0.00075665]] correction abs_x : [[ 2.11065347]] correction abs_y : [[ 0.44335014]] temps : 12.2500286102 moving direction : dx = 0.00171317439526 dy = -0.000231981277466 solution du système equation : Abs_x = [[ 0.00170523]] Abs_y = [[-0.00028842]] correction abs_x : [[-0.59477419]] correction abs_y : [[ 1.01157763]] temps : 12.300028801 moving direction : dx = -0.00339572969824 dy = 0.000186266377568 solution du système equation : Abs_x = [[-0.00338726]] Abs_y = [[ 0.00031664]] correction abs_x : [[-3.28725675]] correction abs_y : [[ 1.31664293]] temps : 12.3500289917 moving direction : dx = -0.00428944965824 dy = -0.000302568078041 solution du système equation : Abs_x = [[-0.00429819]] Abs_y = [[-0.00013121]] correction abs_x : [[-2.89818588]] correction abs_y : [[ 0.46879058]] temps : 12.4000291824 moving direction : dx = -0.000207700766623 dy = -0.000209741294384 solution du système equation : Abs_x = [[-0.00021558]] Abs_y = [[-0.00020162]] correction abs_x : [[-0.11558391]] correction abs_y : [[ 0.59838359]] temps : 12.4500293732 moving direction : dx = 0.00370286079124 dy = 0.000977778807282 solution du système equation : Abs_x = [[ 0.00373435]] Abs_y = [[ 0.00084841]] correction abs_x : [[ 1.13434651]] correction abs_y : [[ 1.5484109]] temps : 12.5000295639 moving direction : dx = 0.00293729733676 dy = 0.0018217228353 solution du système equation : Abs_x = [[ 0.00299628]] Abs_y = [[ 0.00172405]] correction abs_x : [[ 1.99627696]] correction abs_y : [[ 2.32405206]] temps : 12.5500297546 moving direction : dx = -8.34269449115e-05 dy = 0.0020797085017 solution du système equation : Abs_x = [[ -1.56923037e-05]] Abs_y = [[ 0.00208255]] correction abs_x : [[-0.4156923]] correction abs_y : [[ 2.5825472]] temps : 12.6000299454 moving direction : dx = -0.00215535983443 dy = 0.00146728381515 solution du système equation : Abs_x = [[-0.00210443]] Abs_y = [[ 0.00154131]] correction abs_x : [[-1.50443263]] correction abs_y : [[ 2.54130885]] temps : 12.6500301361 moving direction : dx = -0.00433908449486 dy = 0.000623412430286 solution du système equation : Abs_x = [[-0.00431278]] Abs_y = [[ 0.00079088]] correction abs_x : [[-3.71277752]] correction abs_y : [[ 1.79088018]] temps : 12.7000303268 moving direction : dx = -0.00425200891914 dy = -0.000332165509462 solution du système equation : Abs_x = [[-0.00426261]] Abs_y = [[-0.0001393]] correction abs_x : [[-2.76261494]] correction abs_y : [[ 1.56070275]] temps : 12.7500305176 moving direction : dx = 0.0004855854786 dy = -0.000310128554702 solution du système equation : Abs_x = [[ 0.00047111]] Abs_y = [[-0.00033245]] correction abs_x : [[ 0.77111029]] correction abs_y : [[ 1.86754566]] temps : 12.8000307083 moving direction : dx = 0.00462451239582 dy = 0.000630058348179 solution du système equation : Abs_x = [[ 0.0046457]] Abs_y = [[ 0.00044478]] correction abs_x : [[ 2.04569509]] correction abs_y : [[ 2.04477784]] temps : 12.850030899 moving direction : dx = 0.00289309350774 dy = 0.00105257518589 solution du système equation : Abs_x = [[ 0.00292554]] Abs_y = [[ 0.00096024]] correction abs_x : [[ 2.52554477]] correction abs_y : [[ 2.56023806]] temps : 12.9000310898 moving direction : dx = -0.00163220334798 dy = 0.00042312964797 solution du système equation : Abs_x = [[-0.00162067]] Abs_y = [[ 0.00046765]] correction abs_x : [[-1.22066944]] correction abs_y : [[ 2.16764717]] temps : 12.9500312805 moving direction : dx = -0.00388554763049 dy = -0.000327933579683 solution du système equation : Abs_x = [[-0.00389343]] Abs_y = [[-0.00022756]] correction abs_x : [[-3.49342762]] correction abs_y : [[ 1.47244453]] temps : 13.0000314713 moving direction : dx = -0.00527977221645 dy = -0.00107990764081 solution du système equation : Abs_x = [[-0.00530882]] Abs_y = [[-0.00092785]] correction abs_x : [[-3.20882029]] correction abs_y : [[ 1.17214766]] temps : 13.050031662 moving direction : dx = -0.00184915447608 dy = -0.000882312655449 solution du système equation : Abs_x = [[-0.00187386]] Abs_y = [[-0.00082841]] correction abs_x : [[-3.37386328]] correction abs_y : [[ 0.77159144]] temps : 13.1000318527 moving direction : dx = 0.00517435115762 dy = 2.01929360628e-05 solution du système equation : Abs_x = [[ 0.00517357]] Abs_y = [[-0.00011069]] correction abs_x : [[ 2.37356752]] correction abs_y : [[ 1.28931469]] temps : 13.1500320435 moving direction : dx = 0.00734298536554 dy = 0.00094143114984 solution du système equation : Abs_x = [[ 0.00736337]] Abs_y = [[ 0.00076217]] correction abs_x : [[ 4.26337303]] correction abs_y : [[ 1.8621734]] temps : 13.2000322342 moving direction : dx = 0.00645177159458 dy = 0.0015487074852 solution du système equation : Abs_x = [[ 0.00649056]] Abs_y = [[ 0.00137874]] correction abs_x : [[ 3.19056492]] correction abs_y : [[ 2.17873734]] temps : 13.2500324249 moving direction : dx = 0.00220404006541 dy = 0.00233382731676 solution du système equation : Abs_x = [[ 0.00227325]] Abs_y = [[ 0.00227069]] correction abs_x : [[ 2.67325133]] correction abs_y : [[ 3.17069093]] temps : 13.3000326157 moving direction : dx = -0.0053852731362 dy = 0.0020651165396 solution du système equation : Abs_x = [[-0.00531436]] Abs_y = [[ 0.00225157]] correction abs_x : [[-4.91435735]] correction abs_y : [[ 3.15156648]] temps : 13.3500328064 moving direction : dx = -0.00812578294426 dy = 0.000886108726263 solution du système equation : Abs_x = [[-0.00807916]] Abs_y = [[ 0.00125186]] correction abs_x : [[-4.97915897]] correction abs_y : [[ 2.95186342]] temps : 13.4000329971 moving direction : dx = -0.000934495357797 dy = 0.00109989568591 solution du système equation : Abs_x = [[-0.00087412]] Abs_y = [[ 0.00115171]] correction abs_x : [[-2.97412078]] correction abs_y : [[ 3.65171012]] temps : 13.4500331879 moving direction : dx = 0.00819941214286 dy = 0.00243271887302 solution du système equation : Abs_x = [[ 0.0083338]] Abs_y = [[ 0.00191906]] correction abs_x : [[ 4.43380032]] correction abs_y : [[ 4.71906123]] temps : 13.5000333786 moving direction : dx = 0.00992911215872 dy = 0.00360345467925 solution du système equation : Abs_x = [[ 0.0101495]] Abs_y = [[ 0.00292352]] correction abs_x : [[ 5.54950481]] correction abs_y : [[ 5.6235184]] temps : 13.5500335693 moving direction : dx = 0.00757945328951 dy = 0.00351465493441 solution du système equation : Abs_x = [[ 0.00780444]] Abs_y = [[ 0.00299761]] correction abs_x : [[ 4.20443502]] correction abs_y : [[ 6.19760844]] temps : 13.6000337601 moving direction : dx = -0.00052947551012 dy = 0.00256739556789 solution du système equation : Abs_x = [[-0.00035573]] Abs_y = [[ 0.00260684]] correction abs_x : [[-3.95572527]] correction abs_y : [[ 5.806843]] temps : 13.6500339508 moving direction : dx = -0.0101189445704 dy = 0.00118692591786 solution du système equation : Abs_x = [[-0.01002965]] Abs_y = [[ 0.0018514]] correction abs_x : [[-5.92964877]] correction abs_y : [[ 6.65139873]] temps : 13.7000341415 moving direction : dx = -0.00716241635382 dy = 0.000732876360416 solution du système equation : Abs_x = [[-0.00709815]] Abs_y = [[ 0.00120795]] correction abs_x : [[-8.29814867]] correction abs_y : [[ 6.50794553]] temps : 13.7500343323 moving direction : dx = 0.00358180236071 dy = 0.00287869945168 solution du système equation : Abs_x = [[ 0.00377473]] Abs_y = [[ 0.00263416]] correction abs_x : [[ 0.77473059]] correction abs_y : [[ 8.03416219]] temps : 13.800034523 moving direction : dx = 0.00897828582674 dy = 0.00411005318165 solution du système equation : Abs_x = [[ 0.00928382]] Abs_y = [[ 0.00338089]] correction abs_x : [[ 4.38381502]] correction abs_y : [[ 9.48088589]] temps : 13.8500347137 moving direction : dx = 0.012673176825 dy = 0.00487538054585 solution du système equation : Abs_x = [[ 0.01306237]] Abs_y = [[ 0.00373454]] correction abs_x : [[ 5.96236886]] correction abs_y : [[ 9.93454378]] temps : 13.9000349045 moving direction : dx = 0.00912706926465 dy = 0.00607583671808 solution du système equation : Abs_x = [[ 0.0097126]] Abs_y = [[ 0.00520308]] correction abs_x : [[ 7.7126002]] correction abs_y : [[ 12.40307778]] temps : 13.9500350952 moving direction : dx = -0.00105283781886 dy = 0.00623597204685 solution du système equation : Abs_x = [[-0.00036678]] Abs_y = [[ 0.00638326]] correction abs_x : [[ 1.83322106]] correction abs_y : [[ 14.98326288]] temps : 14.0000352859 moving direction : dx = -0.00768806412816 dy = 0.00616349279881 solution du système equation : Abs_x = [[-0.00697095]] Abs_y = [[ 0.00700754]] correction abs_x : [[-4.7709512]] correction abs_y : [[ 15.60753918]] temps : 14.0500354767 moving direction : dx = -0.00900342315435 dy = 0.00672458857298 solution du système equation : Abs_x = [[-0.00817076]] Abs_y = [[ 0.0077758]] correction abs_x : [[-1.57075851]] correction abs_y : [[ 18.975803]] temps : 14.1000356674 moving direction : dx = 0.00097356364131 dy = 0.00869898498058 solution du système equation : Abs_x = [[ 0.00185393]] Abs_y = [[ 0.00878357]] correction abs_x : [[ 8.45393114]] correction abs_y : [[ 19.98356933]] temps : 14.1500358582 moving direction : dx = 0.0160272531211 dy = 0.014634385705 solution du système equation : Abs_x = [[ 0.01727526]] Abs_y = [[ 0.01368908]] correction abs_x : [[ 16.47526239]] correction abs_y : [[ 27.68908377]] temps : 14.2000360489 moving direction : dx = 0.015141107142 dy = 0.0200991407037 solution du système equation : Abs_x = [[ 0.0176877]] Abs_y = [[ 0.0193023]] correction abs_x : [[ 21.98770308]] correction abs_y : [[ 37.70230108]] temps : 14.2500362396 moving direction : dx = 0.00489296764135 dy = 0.0203541666269 solution du système equation : Abs_x = [[ 0.00895155]] Abs_y = [[ 0.02079451]] correction abs_x : [[ 13.25155331]] correction abs_y : [[ 39.19450753]] temps : 14.3000364304 moving direction : dx = 0.00378566980362 dy = 0.0220019668341 solution du système equation : Abs_x = [[ 0.00927666]] Abs_y = [[ 0.02287543]] correction abs_x : [[ 24.27665973]] correction abs_y : [[ 49.77542612]] temps : 14.3500366211 moving direction : dx = 0.0131308361888 dy = 0.0285067558289 solution du système equation : Abs_x = [[ 0.02075369]] Abs_y = [[ 0.03002632]] correction abs_x : [[ 35.75369179]] correction abs_y : [[ 56.92632415]] temps : 14.4000368118 moving direction : dx = 0.0197337940335 dy = 0.0405056476593 solution du système equation : Abs_x = [[ 0.03207116]] Abs_y = [[ 0.04484408]] correction abs_x : [[ 45.97116213]] correction abs_y : [[ 79.94408132]] temps : 14.4500370026 moving direction : dx = 0.0154033005238 dy = 0.057278290391 solution du système equation : Abs_x = [[ 0.04808717]] Abs_y = [[ 0.06752181]] correction abs_x : [[ 76.0871657]] correction abs_y : [[ 105.22181139]] temps : 14.5000371933 moving direction : dx = 0.013535015285 dy = 0.0682498216629 solution du système equation : Abs_x = [[ 0.0777032]] Abs_y = [[ 0.08887046]] correction abs_x : [[ 117.40320292]] correction abs_y : [[ 126.47046097]] temps : 14.550037384 moving direction : dx = 0.0213095992804 dy = 0.0768367946148 solution du système equation : Abs_x = [[ 0.13170295]] Abs_y = [[ 0.1245045]] correction abs_x : [[ 171.40295405]] correction abs_y : [[ 162.10449587]] temps : 14.6000375748 moving direction : dx = 0.0283047109842 dy = 0.0875850915909 solution du système equation : Abs_x = [[ 0.28230169]] Abs_y = [[ 0.25781015]] correction abs_x : [[ 327.20168654]] correction abs_y : [[ 295.3101542]] temps : 14.6500377655 moving direction : dx = 0.0400423258543 dy = 0.107340455055 solution du système equation : Abs_x = [[-1.25524056]] Abs_y = [[-1.41659641]] correction abs_x : [[-1210.34056417]] correction abs_y : [[-1379.09640624]] temps : 14.7000379562 moving direction : dx = 0.0492481291294 dy = 0.0661706328392 solution du système equation : Abs_x = [[-0.20959683]] Abs_y = [[-0.25419307]] correction abs_x : [[-164.59682762]] correction abs_y : [[-217.69306802]] temps : 14.750038147 moving direction : dx = 0.044008731842 dy = 0.0328003764153 solution du système equation : Abs_x = [[-0.17800248]] Abs_y = [[-0.24186199]] correction abs_x : [[-156.50248293]] correction abs_y : [[-228.1619853]] temps : 14.8000383377 moving direction : dx = 0.0329310297966 dy = 0.018301486969 solution du système equation : Abs_x = [[-0.54722711]] Abs_y = [[-0.60942714]] correction abs_x : [[-549.22710622]] correction abs_y : [[-617.82713527]] temps : 14.8500385284 moving direction : dx = 0.00571271777153 dy = 0.00797837972641 solution du système equation : Abs_x = [[ 0.03889207]] Abs_y = [[ 0.04112765]] correction abs_x : [[ 13.3920654]] correction abs_y : [[ 25.92764793]] temps : 14.9000387192 moving direction : dx = 0.00129067897797 dy = 0.00364458560944 solution du système equation : Abs_x = [[ 0.00811789]] Abs_y = [[ 0.00729538]] correction abs_x : [[-17.38211296]] correction abs_y : [[-7.90462154]] temps : 14.9500389099 moving direction : dx = -0.00781124830246 dy = 0.00604927539825 solution du système equation : Abs_x = [[ 0.00075024]] Abs_y = [[ 0.01404743]] correction abs_x : [[-41.54975782]] correction abs_y : [[-1.55257473]] temps : 15.0000391006 moving direction : dx = -0.010839164257 dy = 0.0101542472839 solution du système equation : Abs_x = [[ 0.00737488]] Abs_y = [[ 0.03386421]] correction abs_x : [[-19.72511881]] correction abs_y : [[ 23.56421004]] temps : 15.0500392914 moving direction : dx = -0.00913423299789 dy = 0.0042696595192 solution du système equation : Abs_x = [[-0.0029536]] Abs_y = [[ 0.01732696]] correction abs_x : [[-39.45360492]] correction abs_y : [[ 12.92695535]] temps : 15.1000394821 moving direction : dx = -0.0079303085804 dy = 0.00252491235733 solution du système equation : Abs_x = [[-0.00554625]] Abs_y = [[ 0.01243818]] correction abs_x : [[-45.34624941]] correction abs_y : [[ 10.03818477]] temps : 15.1500396729 moving direction : dx = -0.0159676969051 dy = -0.000936210155487 solution du système equation : Abs_x = [[ 0.01605233]] Abs_y = [[ 0.14832801]] correction abs_x : [[-11.44766503]] correction abs_y : [[ 161.42801391]] temps : 15.2000398636 moving direction : dx = -0.0153462290764 dy = -0.0028184056282 solution du système equation : Abs_x = [[-0.07047014]] Abs_y = [[-0.26600974]] correction abs_x : [[-105.77014416]] correction abs_y : [[-253.20974206]] temps : 15.2500400543 moving direction : dx = -0.00229626893997 dy = -0.00657427310944 solution du système equation : Abs_x = [[-0.03372299]] Abs_y = [[-0.18453376]] correction abs_x : [[-75.52298656]] correction abs_y : [[-173.53375943]] temps : 15.3000402451 moving direction : dx = -0.0095103085041 dy = -0.00543373823166 solution du système equation : Abs_x = [[ 0.00916987]] Abs_y = [[ 0.05927474]] correction abs_x : [[-14.03012937]] correction abs_y : [[ 89.97473797]] temps : 15.3500404358 moving direction : dx = -0.00672528147697 dy = 0.0016023516655 solution du système equation : Abs_x = [[-0.00306057]] Abs_y = [[ 0.01306087]] correction abs_x : [[-44.76057046]] correction abs_y : [[ 21.16087118]] temps : 15.4000406265 moving direction : dx = 0.00216290354729 dy = -0.00194799900055 solution du système equation : Abs_x = [[-0.00143209]] Abs_y = [[-0.01012638]] correction abs_x : [[-43.13209152]] correction abs_y : [[-2.02637684]] temps : 15.4500408173 moving direction : dx = -0.00467798113823 dy = 0.00111168622971 solution du système equation : Abs_x = [[-0.00895215]] Abs_y = [[-0.01128183]] correction abs_x : [[-34.25214994]] correction abs_y : [[ 0.01816873]] temps : 15.500041008 moving direction : dx = -0.0073010623455 dy = 0.000184535980225 solution du système equation : Abs_x = [[-0.00858935]] Abs_y = [[-0.00451774]] correction abs_x : [[-45.48935306]] correction abs_y : [[-1.61773655]] temps : 15.5500411987 moving direction : dx = -0.00417074561119 dy = 0.00032651424408 solution du système equation : Abs_x = [[-0.00328035]] Abs_y = [[ 0.00532885]] correction abs_x : [[-43.88035206]] correction abs_y : [[ 5.12885114]] temps : 15.6000413895 moving direction : dx = -0.00303909182549 dy = 0.00139927864075 solution du système equation : Abs_x = [[ 0.00179589]] Abs_y = [[ 0.02734334]] correction abs_x : [[-34.80411198]] correction abs_y : [[ 27.24333967]] temps : 15.6500415802 moving direction : dx = -0.000542521476746 dy = -0.000312328338623 solution du système equation : Abs_x = [[-0.00145896]] Abs_y = [[-0.00530593]] correction abs_x : [[-43.55895755]] correction abs_y : [[-6.30593022]] temps : 15.7000417709 moving direction : dx = 0.000172540545464 dy = -0.00208055973053 solution du système equation : Abs_x = [[-0.00967706]] Abs_y = [[-0.05464904]] correction abs_x : [[-51.77705505]] correction abs_y : [[-55.6490448]] temps : 15.7500419617 moving direction : dx = -0.0034841299057 dy = -0.00730520486832 solution du système equation : Abs_x = [[ 0.04320042]] Abs_y = [[ 0.20217603]] correction abs_x : [[-0.09957598]] correction abs_y : [[ 204.77602696]] temps : 15.8000421524 moving direction : dx = 0.00241476297379 dy = -0.00687694549561 solution du système equation : Abs_x = [[-0.00904058]] Abs_y = [[-0.04983637]] correction abs_x : [[-53.34058071]] correction abs_y : [[-54.73637123]] temps : 15.8500423431 moving direction : dx = -0.00323362648487 dy = 0.000327885150909 solution du système equation : Abs_x = [[-0.00323635]] Abs_y = [[ 0.00057018]] correction abs_x : [[-47.53634812]] correction abs_y : [[-4.32982151]] temps : 15.9000425339 moving direction : dx = -0.0222697854042 dy = -0.00121319293976 solution du système equation : Abs_x = [[-0.01452469]] Abs_y = [[ 0.02327944]] correction abs_x : [[-36.82469263]] correction abs_y : [[ 40.17944218]] temps : 15.9500427246 moving direction : dx = -0.00284476578236 dy = 0.00433439016342 solution du système equation : Abs_x = [[ 0.06128437]] Abs_y = [[ 0.22229439]] correction abs_x : [[ 30.28436934]] correction abs_y : [[ 234.29439372]] temps : 16.0000419617 moving direction : dx = 0.00922654569149 dy = -0.0113923549652 solution du système equation : Abs_x = [[ 0.03825175]] Abs_y = [[ 0.12125255]] correction abs_x : [[ 3.45175127]] correction abs_y : [[ 150.75255017]] temps : 16.0500411987 moving direction : dx = 0.00557844340801 dy = -0.0111503005028 solution du système equation : Abs_x = [[ 0.03151456]] Abs_y = [[ 0.11059536]] correction abs_x : [[-4.48543636]] correction abs_y : [[ 145.89535838]] temps : 16.1000404358 moving direction : dx = -0.0021693110466 dy = 0.000500738620758 solution du système equation : Abs_x = [[-0.00327822]] Abs_y = [[-0.00254107]] correction abs_x : [[-39.27821933]] correction abs_y : [[ 32.75892709]] temps : 16.1500396729 moving direction : dx = -0.0137071609497 dy = 0.0158767104149 solution du système equation : Abs_x = [[-0.06253095]] Abs_y = [[-0.09241884]] correction abs_x : [[-64.63095129]] correction abs_y : [[-55.81884021]] temps : 16.2000389099 moving direction : dx = -0.000520125031471 dy = 0.00870501995087 solution du système equation : Abs_x = [[-0.10381877]] Abs_y = [[-0.2930512]] correction abs_x : [[-127.91877339]] correction abs_y : [[-259.05120317]] temps : 16.250038147 moving direction : dx = 0.0161056220531 dy = -0.00223296880722 solution du système equation : Abs_x = [[ 0.03835202]] Abs_y = [[ 0.10122993]] correction abs_x : [[ 14.25201949]] correction abs_y : [[ 135.22993168]] temps : 16.300037384 moving direction : dx = 0.010899066925 dy = -0.00305491685867 solution du système equation : Abs_x = [[ 4.34780148e-05]] Abs_y = [[-0.06729627]] correction abs_x : [[-33.95652199]] correction abs_y : [[-34.19627105]] temps : 16.3500366211 moving direction : dx = -0.00476777553558 dy = -0.000957608222961 solution du système equation : Abs_x = [[-0.00281799]] Abs_y = [[ 0.00644475]] correction abs_x : [[-24.61799017]] correction abs_y : [[ 36.54475252]] temps : 16.4000358582 moving direction : dx = -0.00711141526699 dy = 0.00568616390228 solution du système equation : Abs_x = [[ 0.06385474]] Abs_y = [[ 0.17520912]] correction abs_x : [[ 34.054743]] correction abs_y : [[ 182.6091232]] temps : 16.4500350952 moving direction : dx = -0.00352676212788 dy = 0.00207990407944 solution du système equation : Abs_x = [[ 0.00197795]] Abs_y = [[ 0.01497863]] correction abs_x : [[-30.52205174]] correction abs_y : [[ 3.47862595]] temps : 16.5000343323 moving direction : dx = -0.00271017849445 dy = -0.00269222259521 solution du système equation : Abs_x = [[ 0.01761315]] Abs_y = [[ 0.076138]] correction abs_x : [[-10.28685244]] correction abs_y : [[ 86.73800487]] temps : 16.5500335693 moving direction : dx = -0.0173840373755 dy = -0.00786292552948 solution du système equation : Abs_x = [[-0.00034889]] Abs_y = [[ 0.05086405]] correction abs_x : [[-7.14889056]] correction abs_y : [[ 81.06404685]] temps : 16.6000328064 moving direction : dx = -0.015031427145 dy = 0.00128185749054 solution du système equation : Abs_x = [[ 0.00747944]] Abs_y = [[ 0.07178255]] correction abs_x : [[-14.72056396]] correction abs_y : [[ 85.28254886]] temps : 16.6500320435 moving direction : dx = -0.0040558129549 dy = -0.0071964263916 solution du système equation : Abs_x = [[ 0.01145255]] Abs_y = [[ 0.05755467]] correction abs_x : [[-3.24745141]] correction abs_y : [[ 89.95467272]] temps : 16.7000312805 moving direction : dx = -0.00752708315849 dy = -0.00583249330521 solution du système equation : Abs_x = [[ 0.00351148]] Abs_y = [[ 0.04208513]] correction abs_x : [[-11.18851782]] correction abs_y : [[ 74.48512929]] temps : 16.7500305176 moving direction : dx = -0.00762617588043 dy = -0.00200289487839 solution du système equation : Abs_x = [[-0.00489031]] Abs_y = [[ 0.01278397]] correction abs_x : [[-14.7903114]] correction abs_y : [[ 48.78397448]] temps : 16.8000297546 moving direction : dx = -0.00212027132511 dy = 0.000926613807678 solution du système equation : Abs_x = [[-0.00427767]] Abs_y = [[-0.00869723]] correction abs_x : [[-16.17766995]] correction abs_y : [[ 27.90277117]] temps : 16.8500289917 moving direction : dx = 0.00169207155704 dy = 0.00123178958893 solution du système equation : Abs_x = [[-0.00034424]] Abs_y = [[-0.00890505]] correction abs_x : [[-14.14423523]] correction abs_y : [[ 27.59494627]] temps : 16.9000282288 moving direction : dx = 0.00474067032337 dy = 0.000876843929291 solution du système equation : Abs_x = [[ 0.00391172]] Abs_y = [[-0.00410904]] correction abs_x : [[-10.68827826]] correction abs_y : [[ 32.39095868]] temps : 16.9500274658 moving direction : dx = 0.00603887438774 dy = 0.00263255834579 solution du système equation : Abs_x = [[ 0.00084701]] Abs_y = [[-0.02180656]] correction abs_x : [[-13.75298525]] correction abs_y : [[ 14.69343849]] temps : 17.0000267029 moving direction : dx = 0.00529912114143 dy = 0.00320768356323 solution du système equation : Abs_x = [[-0.00218041]] Abs_y = [[-0.02874819]] correction abs_x : [[-17.28040802]] correction abs_y : [[-0.6481855]] temps : 17.0500259399 moving direction : dx = 0.00325666368008 dy = 0.00366014242172 solution du système equation : Abs_x = [[-0.01174281]] Abs_y = [[-0.06083788]] correction abs_x : [[-25.94280621]] correction abs_y : [[-41.63788203]] temps : 17.100025177 moving direction : dx = 0.00335071980953 dy = 0.00213849544525 solution du système equation : Abs_x = [[-0.00847909]] Abs_y = [[-0.05225215]] correction abs_x : [[-22.67908863]] correction abs_y : [[-36.45214506]] temps : 17.1500244141 moving direction : dx = 0.00293914973736 dy = 0.00212645530701 solution du système equation : Abs_x = [[ 0.02081612]] Abs_y = [[ 0.11750521]] correction abs_x : [[ 4.3161246]] correction abs_y : [[ 122.70521475]] temps : 17.2000236511 moving direction : dx = -0.000605970621109 dy = 0.00414210557938 solution du système equation : Abs_x = [[ 0.00339299]] Abs_y = [[ 0.03886318]] correction abs_x : [[-17.10701072]] correction abs_y : [[ 26.56318124]] temps : 17.2500228882 moving direction : dx = -0.00746899843216 dy = 0.00258028507233 solution du système equation : Abs_x = [[-0.00642714]] Abs_y = [[ 0.02276665]] correction abs_x : [[-28.32714337]] correction abs_y : [[ 7.66664713]] temps : 17.3000221252 moving direction : dx = -0.0149867087603 dy = -0.00517076253891 solution du système equation : Abs_x = [[-0.00619188]] Abs_y = [[ 0.13726764]] correction abs_x : [[-12.29187628]] correction abs_y : [[ 143.6676402]] temps : 17.3500213623 moving direction : dx = -0.0144623070955 dy = -0.0167304873466 solution du système equation : Abs_x = [[ 0.00231976]] Abs_y = [[ 0.19579594]] correction abs_x : [[-9.98024209]] correction abs_y : [[ 213.79593516]] temps : 17.4000205994 moving direction : dx = 0.00984996557236 dy = -0.0136954784393 solution du système equation : Abs_x = [[-0.021919]] Abs_y = [[-0.80490318]] correction abs_x : [[-44.41900081]] correction abs_y : [[-793.40317555]] temps : 17.4500198364 moving direction : dx = 0.00674161314964 dy = -0.0141152143478 solution du système equation : Abs_x = [[ 0.03716486]] Abs_y = [[ 0.16782936]] correction abs_x : [[ 21.86485615]] correction abs_y : [[ 198.22936491]] temps : 17.5000190735 moving direction : dx = 0.00481684505939 dy = -0.0165733098984 solution du système equation : Abs_x = [[ 0.04546733]] Abs_y = [[ 0.18072699]] correction abs_x : [[ 33.66732619]] correction abs_y : [[ 216.6269892]] temps : 17.5500183105 moving direction : dx = 0.0162418186665 dy = -0.00520181655884 solution du système equation : Abs_x = [[ 0.00477933]] Abs_y = [[-0.06481861]] correction abs_x : [[-27.32067109]] correction abs_y : [[-51.2186073]] temps : 17.6000175476 moving direction : dx = 0.00678311288357 dy = -0.00264090299606 solution du système equation : Abs_x = [[ 0.0139918]] Abs_y = [[ 0.0233818]] correction abs_x : [[ 4.59180462]] correction abs_y : [[ 55.68179624]] temps : 17.6500167847 moving direction : dx = -0.0221912711859 dy = 0.0115239024162 solution du système equation : Abs_x = [[-0.03928756]] Abs_y = [[-0.02956313]] correction abs_x : [[-25.28755728]] correction abs_y : [[ 6.43687315]] temps : 17.7000160217 moving direction : dx = -0.0151736736298 dy = 0.0235611200333 solution du système equation : Abs_x = [[-0.38684752]] Abs_y = [[-1.0269507]] correction abs_x : [[-395.94751788]] correction abs_y : [[-1013.45070083]] temps : 17.7500152588 moving direction : dx = 0.00550307333469 dy = 0.00892472267151 solution du système equation : Abs_x = [[-0.00950901]] Abs_y = [[-0.04221219]] correction abs_x : [[-10.40900865]] correction abs_y : [[-10.11219025]] temps : 17.8000144958 moving direction : dx = 0.0149654448032 dy = 0.00667256116867 solution du système equation : Abs_x = [[-0.00461464]] Abs_y = [[-0.07355911]] correction abs_x : [[-21.41464484]] correction abs_y : [[-57.85910626]] temps : 17.8500137329 moving direction : dx = 0.0180032998323 dy = 0.00128656625748 solution du système equation : Abs_x = [[ 0.01448512]] Abs_y = [[-0.0191133]] correction abs_x : [[-24.41487929]] correction abs_y : [[-25.9132981]] temps : 17.90001297 moving direction : dx = -0.00356248021126 dy = 0.00445765256882 solution du système equation : Abs_x = [[ 0.00461957]] Abs_y = [[ 0.05486663]] correction abs_x : [[-16.08042559]] correction abs_y : [[ 46.36662677]] temps : 17.950012207 moving direction : dx = -0.0103592127562 dy = 0.00235551595688 solution du système equation : Abs_x = [[-0.00845026]] Abs_y = [[ 0.02585603]] correction abs_x : [[-29.65025506]] correction abs_y : [[ 11.15603457]] temps : 18.0000114441 moving direction : dx = -0.0076802521944 dy = 0.00177019834518 solution du système equation : Abs_x = [[-0.00711966]] Abs_y = [[ 0.02202642]] correction abs_x : [[-30.4196574]] correction abs_y : [[ 6.62642122]] temps : 18.1000099182 moving direction : dx = -0.00372152030468 dy = -0.0122969150543 solution du système equation : Abs_x = [[-0.31197899]] Abs_y = [[-3.03027698]] correction abs_x : [[-331.17899128]] correction abs_y : [[-3024.17698393]] temps : 18.1500091553 moving direction : dx = 0.0114167779684 dy = -0.00399971008301 solution du système equation : Abs_x = [[-0.00792771]] Abs_y = [[-0.16898073]] correction abs_x : [[-33.22770714]] correction abs_y : [[-160.1807347]] temps : 18.2000083923 moving direction : dx = 0.0215188860893 dy = -0.00475233793259 solution du système equation : Abs_x = [[ 0.01073846]] Abs_y = [[-0.07482507]] correction abs_x : [[-32.26153616]] correction abs_y : [[-86.32506814]] temps : 18.2500076294 moving direction : dx = 0.00254522264004 dy = -0.00133204460144 solution du système equation : Abs_x = [[ 0.00094967]] Abs_y = [[-0.01435119]] correction abs_x : [[-35.6503344]] correction abs_y : [[-29.3511872]] temps : 18.3000068665 moving direction : dx = -0.00540651381016 dy = 0.0016918182373 solution du système equation : Abs_x = [[-0.00417248]] Abs_y = [[ 0.02302601]] correction abs_x : [[-38.57248294]] correction abs_y : [[ 7.62601047]] temps : 18.3500061035 moving direction : dx = -0.00243297219276 dy = 0.00100189447403 solution du système equation : Abs_x = [[-0.0018569]] Abs_y = [[ 0.01319519]] correction abs_x : [[-34.95689502]] correction abs_y : [[-2.30480905]] temps : 18.4000053406 moving direction : dx = 0.000101283192635 dy = -7.29560852051e-05 solution du système equation : Abs_x = [[ 5.21867245e-05]] Abs_y = [[-0.00082926]] correction abs_x : [[-34.74781328]] correction abs_y : [[-16.32925684]] temps : 18.4500045776 moving direction : dx = -0.000430807471275 dy = -0.00368523597717 solution du système equation : Abs_x = [[-0.01819568]] Abs_y = [[-0.17598177]] correction abs_x : [[-55.59567541]] correction abs_y : [[-177.08176772]] temps : 18.5000038147 moving direction : dx = 0.00156377255917 dy = -0.00307494401932 solution du système equation : Abs_x = [[-0.00808421]] Abs_y = [[-0.05972179]] correction abs_x : [[-43.78421126]] correction abs_y : [[-61.62179044]] temps : 18.5500030518 moving direction : dx = 4.07844781876e-05 dy = -0.000160098075867 solution du système equation : Abs_x = [[-0.00020885]] Abs_y = [[-0.0015555]] correction abs_x : [[-35.20884828]] correction abs_y : [[-12.15549863]] temps : 18.6000022888 moving direction : dx = -0.00388079881668 dy = 0.000149309635162 solution du système equation : Abs_x = [[-0.0027882]] Abs_y = [[ 0.00918093]] correction abs_x : [[-46.68819979]] correction abs_y : [[-5.71906904]] temps : 18.6500015259 moving direction : dx = -0.00264164805412 dy = 0.000147521495819 solution du système equation : Abs_x = [[-0.00214397]] Abs_y = [[ 0.00752229]] correction abs_x : [[-46.04396559]] correction abs_y : [[-7.97770977]] temps : 18.7999992371 moving direction : dx = 0.00424695014954 dy = -0.00296437740326 solution du système equation : Abs_x = [[-0.00203026]] Abs_y = [[-0.05299465]] correction abs_x : [[-45.83026024]] correction abs_y : [[-61.09464534]] temps : 18.8499984741 moving direction : dx = 0.000531062483788 dy = -0.000397324562073 solution du système equation : Abs_x = [[-0.00024936]] Abs_y = [[-0.00727446]] correction abs_x : [[-45.24936206]] correction abs_y : [[-15.07445709]] temps : 18.8999977112 moving direction : dx = -0.0019683688879 dy = 0.000665247440338 solution du système equation : Abs_x = [[-0.00102058]] Abs_y = [[ 0.01050153]] correction abs_x : [[-45.62058075]] correction abs_y : [[-4.09846788]] temps : 18.9499969482 moving direction : dx = -0.000955834984779 dy = 0.00019508600235 solution du système equation : Abs_x = [[-0.00063804]] Abs_y = [[ 0.00412463]] correction abs_x : [[-45.6380393]] correction abs_y : [[-11.27537281]] temps : 18.9999961853 moving direction : dx = 0.000229090452194 dy = -0.000300288200378 solution du système equation : Abs_x = [[ -6.22090880e-05]] Abs_y = [[-0.00346587]] correction abs_x : [[-44.46220909]] correction abs_y : [[-18.06586731]] temps : 19.0499954224 moving direction : dx = 0.00116108357906 dy = -0.0015606880188 solution du système equation : Abs_x = [[-0.00170981]] Abs_y = [[-0.02889048]] correction abs_x : [[-46.60981271]] correction abs_y : [[-36.59048384]] temps : 19.0999946594 moving direction : dx = 0.00119230151176 dy = -0.000577330589294 solution du système equation : Abs_x = [[ 5.45241092e-05]] Abs_y = [[-0.01017896]] correction abs_x : [[-44.94547589]] correction abs_y : [[-19.77895997]] temps : 19.1999931335 moving direction : dx = -0.00137646496296 dy = 0.000541687011719 solution du système equation : Abs_x = [[-0.00073291]] Abs_y = [[ 0.00837083]] correction abs_x : [[-45.43291177]] correction abs_y : [[-6.02917313]] temps : 19.2499923706 moving direction : dx = -0.000126048922539 dy = -8.52942466736e-05 solution du système equation : Abs_x = [[-0.00016997]] Abs_y = [[-0.00047677]] correction abs_x : [[-44.56997029]] correction abs_y : [[-15.87676998]] temps : 19.2999916077 moving direction : dx = 0.00066089630127 dy = -0.000896751880646 solution du système equation : Abs_x = [[-0.00076093]] Abs_y = [[-0.0150779]] correction abs_x : [[-45.6609346]] correction abs_y : [[-24.2778956]] temps : 19.3499908447 moving direction : dx = 0.000481247901917 dy = -2.25901603699e-05 solution du système equation : Abs_x = [[ 0.0003474]] Abs_y = [[-0.00148008]] correction abs_x : [[-44.3525993]] correction abs_y : [[-14.38008403]] temps : 19.3999900818 moving direction : dx = -0.000834196805954 dy = 0.000348806381226 solution du système equation : Abs_x = [[-0.00037005]] Abs_y = [[ 0.00548722]] correction abs_x : [[-45.1700535]] correction abs_y : [[-8.81278143]] temps : 19.4999885559 moving direction : dx = -0.00018398463726 dy = -0.000124752521515 solution du système equation : Abs_x = [[-0.00025311]] Abs_y = [[-0.00076142]] correction abs_x : [[-44.65311284]] correction abs_y : [[-14.96141842]] temps : 19.59998703 moving direction : dx = 0.000623881816864 dy = -0.000747382640839 solution du système equation : Abs_x = [[-0.0006026]] Abs_y = [[-0.01222678]] correction abs_x : [[-45.60260227]] correction abs_y : [[-21.3267783]] temps : 19.6999855042 moving direction : dx = -0.00060972571373 dy = 0.000103712081909 solution du système equation : Abs_x = [[-0.00038836]] Abs_y = [[ 0.00273241]] correction abs_x : [[-45.28835591]] correction abs_y : [[-10.86759068]] temps : 19.7499847412 moving direction : dx = -0.000184461474419 dy = -0.000146746635437 solution du système equation : Abs_x = [[-0.00026664]] Abs_y = [[-0.00088442]] correction abs_x : [[-45.16663835]] correction abs_y : [[-16.18441666]] temps : 19.8499832153 moving direction : dx = -3.98904085159e-05 dy = -0.00050288438797 solution du système equation : Abs_x = [[-0.00052452]] Abs_y = [[-0.00581319]] correction abs_x : [[-45.22451779]] correction abs_y : [[-21.31319366]] temps : 19.8999824524 moving direction : dx = 0.00024701654911 dy = -0.000164985656738 solution du système equation : Abs_x = [[ 5.47131808e-05]] Abs_y = [[-0.0022574]] correction abs_x : [[-44.84528682]] correction abs_y : [[-14.45740434]] temps : 19.9499816895 moving direction : dx = -0.00015427172184 dy = -3.88622283936e-05 solution du système equation : Abs_x = [[-0.00015756]] Abs_y = [[ 3.16217191e-05]] correction abs_x : [[-44.85755566]] correction abs_y : [[-15.36837828]] temps : 19.9999809265 moving direction : dx = -0.000169947743416 dy = -0.000276327133179 solution du système equation : Abs_x = [[-0.00036405]] Abs_y = [[-0.002316]] correction abs_x : [[-45.06405096]] correction abs_y : [[-16.61599835]] temps : 20.0499801636 moving direction : dx = 2.37673521042e-05 dy = -0.000332713127136 solution du système equation : Abs_x = [[-0.00026359]] Abs_y = [[-0.00346785]] correction abs_x : [[-45.06358731]] correction abs_y : [[-17.36785457]] temps : 20.0999794006 moving direction : dx = -3.65823507309e-05 dy = -0.000220060348511 solution du système equation : Abs_x = [[-0.00021137]] Abs_y = [[-0.00207215]] correction abs_x : [[-45.11137335]] correction abs_y : [[-16.3721457]] temps : 20.1999778748 moving direction : dx = -0.000195220112801 dy = -7.67111778259e-05 solution du système equation : Abs_x = [[-0.00021933]] Abs_y = [[-0.00021683]] correction abs_x : [[-45.11933169]] correction abs_y : [[-15.41683239]] temps : 20.2499771118 moving direction : dx = -0.000164911150932 dy = -0.000190913677216 solution du système equation : Abs_x = [[-0.00027595]] Abs_y = [[-0.00137466]] correction abs_x : [[-44.97594617]] correction abs_y : [[-16.87465515]] temps : 20.2999763489 moving direction : dx = -0.00013168156147 dy = -0.00024026632309 solution du système equation : Abs_x = [[-0.00028816]] Abs_y = [[-0.00202205]] correction abs_x : [[-44.78815867]] correction abs_y : [[-16.92204581]] temps : 20.3499755859 moving direction : dx = -0.00012743473053 dy = -0.000143647193909 solution du système equation : Abs_x = [[-0.00021005]] Abs_y = [[-0.00102526]] correction abs_x : [[-45.11005166]] correction abs_y : [[-16.52526245]] temps : 20.399974823 moving direction : dx = -0.000158399343491 dy = -0.000198543071747 solution du système equation : Abs_x = [[-0.00027269]] Abs_y = [[-0.0014721]] correction abs_x : [[-44.97269456]] correction abs_y : [[-16.97209965]] temps : 20.5499725342 moving direction : dx = -0.000137344002724 dy = -0.000202655792236 solution du système equation : Abs_x = [[-0.00025148]] Abs_y = [[-0.00158224]] correction abs_x : [[-45.25147835]] correction abs_y : [[-17.08224069]] temps : 20.5999717712 moving direction : dx = -0.000131472945213 dy = -0.000204682350159 solution du système equation : Abs_x = [[-0.00024634]] Abs_y = [[-0.00162092]] correction abs_x : [[-45.04633756]] correction abs_y : [[-17.12091955]] temps : 20.6499710083 moving direction : dx = -0.000141128897667 dy = -0.000191688537598 solution du système equation : Abs_x = [[-0.00024393]] Abs_y = [[-0.00147817]] correction abs_x : [[-45.14392737]] correction abs_y : [[-17.07817454]] temps : 20.6999702454 moving direction : dx = -0.000107780098915 dy = -0.000211596488953 solution du système equation : Abs_x = [[-0.00022651]] Abs_y = [[-0.00176569]] correction abs_x : [[-45.22650676]] correction abs_y : [[-17.36569342]] temps : 20.7499694824 moving direction : dx = -0.00014454126358 dy = -0.000169396400452 solution du système equation : Abs_x = [[-0.00022916]] Abs_y = [[-0.00126453]] correction abs_x : [[-45.02916133]] correction abs_y : [[-16.86453205]] temps : 20.7999687195 moving direction : dx = -0.000117540359497 dy = -0.000203788280487 solution du système equation : Abs_x = [[-0.00022577]] Abs_y = [[-0.00167815]] correction abs_x : [[-45.22576566]] correction abs_y : [[-17.27814866]] temps : 20.8499679565 moving direction : dx = -0.000141277909279 dy = -0.000172734260559 solution du système equation : Abs_x = [[-0.00022548]] Abs_y = [[-0.00131552]] correction abs_x : [[-45.02548353]] correction abs_y : [[-16.91551537]] temps : 20.9499664307 moving direction : dx = -0.000138685107231 dy = -0.000167608261108 solution du système equation : Abs_x = [[-0.00021687]] Abs_y = [[-0.00128287]] correction abs_x : [[-45.21686657]] correction abs_y : [[-16.88286814]] temps : 20.9999656677 moving direction : dx = -0.000131607055664 dy = -0.000166594982147 solution du système equation : Abs_x = [[-0.00020896]] Abs_y = [[-0.00129528]] correction abs_x : [[-45.10896158]] correction abs_y : [[-16.89527508]] temps : 21.0499649048 moving direction : dx = -0.000152483582497 dy = -0.000148713588715 solution du système equation : Abs_x = [[-0.00021555]] Abs_y = [[-0.00106602]] correction abs_x : [[-44.91555061]] correction abs_y : [[-16.6660165]] temps : 21.0999641418 moving direction : dx = -0.000177428126335 dy = -0.000184178352356 solution du système equation : Abs_x = [[-0.00025566]] Abs_y = [[-0.00135454]] correction abs_x : [[-45.25565745]] correction abs_y : [[-16.954545]] temps : 21.1499633789 moving direction : dx = -0.000153750181198 dy = -0.000124990940094 solution du système equation : Abs_x = [[-0.00020227]] Abs_y = [[-0.00082577]] correction abs_x : [[-45.20226678]] correction abs_y : [[-16.42577078]] temps : 21.199962616 moving direction : dx = -0.000157654285431 dy = -2.67624855042e-05 solution du système equation : Abs_x = [[-0.00015471]] Abs_y = [[ 0.00018266]] correction abs_x : [[-45.05470892]] correction abs_y : [[-15.41733755]] temps : 21.249961853 moving direction : dx = -0.000137344002724 dy = -1.15036964417e-05 solution du système equation : Abs_x = [[-0.00012879]] Abs_y = [[ 0.0002816]] correction abs_x : [[-45.12878937]] correction abs_y : [[-15.31839696]] temps : 21.2999610901 moving direction : dx = -0.000101774930954 dy = -3.5285949707e-05 solution du système equation : Abs_x = [[-0.000109]] Abs_y = [[ -6.34725141e-05]] correction abs_x : [[-45.10900324]] correction abs_y : [[-15.66347251]] temps : 21.3499603271 moving direction : dx = 2.25007534027e-05 dy = -0.000142633914948 solution du système equation : Abs_x = [[ -5.70971215e-05]] Abs_y = [[-0.00158309]] correction abs_x : [[-45.05709712]] correction abs_y : [[-16.58308706]] temps : 21.3999595642 moving direction : dx = 0.000284299254417 dy = -0.000243604183197 solution du système equation : Abs_x = [[ 0.00010417]] Abs_y = [[-0.00345654]] correction abs_x : [[-44.89583262]] correction abs_y : [[-18.15653713]] temps : 21.4999580383 moving direction : dx = 2.18898057938e-05 dy = -3.90410423279e-05 solution du système equation : Abs_x = [[ -3.61106146e-06]] Abs_y = [[-0.00045177]] correction abs_x : [[-45.00361106]] correction abs_y : [[-15.85176801]] temps : 21.5999565125 moving direction : dx = -0.000227063894272 dy = 2.77757644653e-05 solution du système equation : Abs_x = [[-0.00018737]] Abs_y = [[ 0.00093956]] correction abs_x : [[-45.08736552]] correction abs_y : [[-14.66043654]] temps : 21.6999549866 moving direction : dx = -1.6838312149e-06 dy = -0.000121116638184 solution du système equation : Abs_x = [[ -6.68212771e-05]] Abs_y = [[-0.00125627]] correction abs_x : [[-44.96682128]] correction abs_y : [[-16.55626897]] temps : 21.7499542236 moving direction : dx = 0.000143438577652 dy = -0.000202417373657 solution du système equation : Abs_x = [[ 3.21551402e-06]] Abs_y = [[-0.00265986]] correction abs_x : [[-44.99678449]] correction abs_y : [[-17.15986427]] temps : 21.7999534607 moving direction : dx = 0.000186249613762 dy = -3.36170196533e-05 solution du système equation : Abs_x = [[ 0.00014352]] Abs_y = [[-0.00087975]] correction abs_x : [[-44.65647942]] correction abs_y : [[-16.17974978]] temps : 21.8499526978 moving direction : dx = -0.000227972865105 dy = 5.71012496948e-05 solution du système equation : Abs_x = [[-0.00017056]] Abs_y = [[ 0.00123818]] correction abs_x : [[-45.07055735]] correction abs_y : [[-14.36182269]] temps : 21.8999519348 moving direction : dx = -0.00030417740345 dy = 4.96506690979e-05 solution du système equation : Abs_x = [[-0.00024601]] Abs_y = [[ 0.00140321]] correction abs_x : [[-45.14601391]] correction abs_y : [[-14.19678574]] temps : 21.9499511719 moving direction : dx = -0.000224232673645 dy = 2.39610671997e-05 solution du système equation : Abs_x = [[-0.00018977]] Abs_y = [[ 0.00091757]] correction abs_x : [[-44.98977036]] correction abs_y : [[-14.58242886]] temps : 21.9999504089 moving direction : dx = 5.92768192291e-05 dy = -0.000219941139221 solution du système equation : Abs_x = [[ -7.22047430e-05]] Abs_y = [[-0.00264704]] correction abs_x : [[-44.97220474]] correction abs_y : [[-17.04703531]] temps : 22.049949646 moving direction : dx = 0.00055567920208 dy = -0.000358402729034 solution du système equation : Abs_x = [[ 0.00023166]] Abs_y = [[-0.00581376]] correction abs_x : [[-44.76834313]] correction abs_y : [[-19.71375648]] temps : 22.0999488831 moving direction : dx = 0.000641718506813 dy = -0.000322222709656 solution du système equation : Abs_x = [[ 0.00029667]] Abs_y = [[-0.00548143]] correction abs_x : [[-44.7033256]] correction abs_y : [[-19.38143099]] temps : 22.1499481201 moving direction : dx = 0.000213131308556 dy = 1.68681144714e-05 solution du système equation : Abs_x = [[ 0.0001924]] Abs_y = [[-0.00043788]] correction abs_x : [[-44.70760009]] correction abs_y : [[-15.73787586]] temps : 22.2499465942 moving direction : dx = -0.00106106698513 dy = 0.000382483005524 solution du système equation : Abs_x = [[-0.00073799]] Abs_y = [[ 0.00694927]] correction abs_x : [[-45.53799404]] correction abs_y : [[-8.5507278]] temps : 22.2999458313 moving direction : dx = -0.000376001000404 dy = 5.07831573486e-05 solution du système equation : Abs_x = [[-0.0003081]] Abs_y = [[ 0.00167749]] correction abs_x : [[-44.90810342]] correction abs_y : [[-13.52251296]] temps : 22.3499450684 moving direction : dx = 0.000574693083763 dy = -0.00080406665802 solution du système equation : Abs_x = [[-0.0003227]] Abs_y = [[-0.01409073]] correction abs_x : [[-45.12269718]] correction abs_y : [[-24.89072804]] temps : 22.3999443054 moving direction : dx = 0.00256226956844 dy = -0.00130778551102 solution du système equation : Abs_x = [[ -8.64524228e-05]] Abs_y = [[-0.02893936]] correction abs_x : [[-44.98645242]] correction abs_y : [[-38.03935615]] temps : 22.4499435425 moving direction : dx = 0.000499680638313 dy = 0.000141799449921 solution du système equation : Abs_x = [[ 0.00051591]] Abs_y = [[ -6.65947045e-05]] correction abs_x : [[-44.38409082]] correction abs_y : [[-11.5665947]] temps : 22.5499420166 moving direction : dx = -0.00240857899189 dy = 0.00129324197769 solution du système equation : Abs_x = [[-0.00131028]] Abs_y = [[ 0.01959494]] correction abs_x : [[-46.2102755]] correction abs_y : [[ 4.49494409]] temps : 22.5999412537 moving direction : dx = -0.000262632966042 dy = -0.000154972076416 solution du système equation : Abs_x = [[-0.00033222]] Abs_y = [[-0.00097558]] correction abs_x : [[-44.73222313]] correction abs_y : [[-13.67558074]] temps : 22.6499404907 moving direction : dx = 0.00154158473015 dy = -0.00312411785126 solution du système equation : Abs_x = [[-0.0115378]] Abs_y = [[-0.14747496]] correction abs_x : [[-56.43779698]] correction abs_y : [[-149.47496472]] temps : 22.6999397278 moving direction : dx = 0.00414368510246 dy = -0.00486522912979 solution du système equation : Abs_x = [[-0.02273608]] Abs_y = [[-0.2213248]] correction abs_x : [[-67.63607671]] correction abs_y : [[-219.52480335]] temps : 22.7499389648 moving direction : dx = 0.00343307852745 dy = -0.000904142856598 solution du système equation : Abs_x = [[ 0.00092286]] Abs_y = [[-0.0212644]] correction abs_x : [[-43.77713936]] correction abs_y : [[-28.96439646]] temps : 22.7999382019 moving direction : dx = -0.00353886187077 dy = 0.0019166469574 solution du système equation : Abs_x = [[-0.00225234]] Abs_y = [[ 0.0301801]] correction abs_x : [[-47.15234461]] correction abs_y : [[ 15.48009792]] temps : 22.899936676 moving direction : dx = -0.00131949782372 dy = 0.000637829303741 solution du système equation : Abs_x = [[-0.00102878]] Abs_y = [[ 0.01087313]] correction abs_x : [[-45.12878489]] correction abs_y : [[-4.72686516]] temps : 22.9499359131 moving direction : dx = -0.00219041109085 dy = -0.00388503074646 solution du système equation : Abs_x = [[ 0.03774348]] Abs_y = [[ 0.62620978]] correction abs_x : [[-7.25651521]] correction abs_y : [[ 629.20977697]] temps : 22.9999351501 moving direction : dx = 0.00256019830704 dy = -0.0113287568092 solution du système equation : Abs_x = [[-0.16762834]] Abs_y = [[-1.47299266]] correction abs_x : [[-212.42834228]] correction abs_y : [[-1462.49265828]] temps : 23.0499343872 moving direction : dx = 0.0122894346714 dy = -0.00589430332184 solution du système equation : Abs_x = [[-0.00296809]] Abs_y = [[-0.12567946]] correction abs_x : [[-47.86808837]] correction abs_y : [[-124.57946047]] temps : 23.0999336243 moving direction : dx = -0.00278809666634 dy = -0.00402933359146 solution du système equation : Abs_x = [[ 0.00542286]] Abs_y = [[ 0.0362561]] correction abs_x : [[-18.67713788]] correction abs_y : [[ 58.35609919]] temps : 23.1499328613 moving direction : dx = -0.00202092528343 dy = -0.00502377748489 solution du système equation : Abs_x = [[-0.01248968]] Abs_y = [[-0.03619053]] correction abs_x : [[-54.4896827]] correction abs_y : [[-36.59052837]] temps : 23.2499313354 moving direction : dx = -0.00362852215767 dy = -0.00851583480835 solution du système equation : Abs_x = [[ 0.03813774]] Abs_y = [[ 0.2695418]] correction abs_x : [[-6.56226084]] correction abs_y : [[ 255.8418049]] temps : 23.2999305725 moving direction : dx = -0.00589302182198 dy = -0.0122469067574 solution du système equation : Abs_x = [[-0.0211551]] Abs_y = [[-0.08433514]] correction abs_x : [[-64.25510027]] correction abs_y : [[-95.63513501]] temps : 23.3499298096 moving direction : dx = -0.0073105096817 dy = -0.00866973400116 solution du système equation : Abs_x = [[ 0.01596931]] Abs_y = [[ 0.14036886]] correction abs_x : [[-6.23069236]] correction abs_y : [[ 150.56885559]] temps : 23.3999290466 moving direction : dx = -0.018686324358 dy = -0.016072332859 solution du système equation : Abs_x = [[ 0.00597649]] Abs_y = [[ 0.08951145]] correction abs_x : [[-6.52350962]] correction abs_y : [[ 119.41144503]] temps : 23.4999275208 moving direction : dx = 0.0100758820772 dy = -0.0110285282135 solution du système equation : Abs_x = [[ 0.04376372]] Abs_y = [[ 0.13803741]] correction abs_x : [[ 7.86371535]] correction abs_y : [[ 145.43741385]] temps : 23.5499267578 moving direction : dx = -0.00893685221672 dy = -0.00506561994553 solution du système equation : Abs_x = [[ -4.42257558e-05]] Abs_y = [[ 0.03397794]] correction abs_x : [[-17.64422576]] correction abs_y : [[ 62.97793584]] temps : 23.5999259949 moving direction : dx = -0.0159219652414 dy = 0.00427132844925 solution du système equation : Abs_x = [[-0.02647993]] Abs_y = [[-0.02910258]] correction abs_x : [[-24.87993031]] correction abs_y : [[ 7.49741579]] temps : 23.6499252319 moving direction : dx = -0.00431564450264 dy = 0.00330501794815 solution du système equation : Abs_x = [[-0.01216506]] Abs_y = [[-0.02826619]] correction abs_x : [[-23.0650607]] correction abs_y : [[ 8.53380663]] temps : 23.699924469 moving direction : dx = 0.00874796509743 dy = 0.00263649225235 solution du système equation : Abs_x = [[ 0.00632459]] Abs_y = [[-0.01175854]] correction abs_x : [[-8.77540681]] correction abs_y : [[ 24.84146152]] temps : 23.7499237061 moving direction : dx = 0.00811965763569 dy = 0.00713133811951 solution du système equation : Abs_x = [[-0.04764114]] Abs_y = [[-0.23277316]] correction abs_x : [[-69.14114221]] correction abs_y : [[-214.47316108]] temps : 23.8499221802 moving direction : dx = -0.00343337655067 dy = -0.00200587511063 solution du système equation : Abs_x = [[ 0.00150889]] Abs_y = [[ 0.01760574]] correction abs_x : [[-12.49111281]] correction abs_y : [[ 36.50574042]] temps : 23.8999214172 moving direction : dx = -0.00165443122387 dy = -0.000674426555634 solution du système equation : Abs_x = [[-0.0023725]] Abs_y = [[-0.0020339]] correction abs_x : [[-39.47249565]] correction abs_y : [[-5.73390251]] temps : 23.9999198914 moving direction : dx = 0.00259266793728 dy = -0.00371807813644 solution du système equation : Abs_x = [[ 0.04602722]] Abs_y = [[ 0.19401653]] correction abs_x : [[ 1.82721939]] correction abs_y : [[ 179.91653047]] temps : 24.0499191284 moving direction : dx = -0.00881226360798 dy = -0.00499004125595 solution du système equation : Abs_x = [[-0.01780981]] Abs_y = [[-0.04270728]] correction abs_x : [[-52.40981284]] correction abs_y : [[-43.30728159]] temps : 24.0999183655 moving direction : dx = -0.0115182101727 dy = -0.00779408216476 solution du système equation : Abs_x = [[ 0.00327431]] Abs_y = [[ 0.06256614]] correction abs_x : [[-11.02569052]] correction abs_y : [[ 82.76614013]] temps : 24.1499176025 moving direction : dx = -0.0203704982996 dy = -0.0121148228645 solution du système equation : Abs_x = [[-0.0030596]] Abs_y = [[ 0.05610272]] correction abs_x : [[-7.25960358]] correction abs_y : [[ 90.20272278]] temps : 24.1999168396 moving direction : dx = 0.000542655587196 dy = 0.00484377145767 solution du système equation : Abs_x = [[ 0.02191544]] Abs_y = [[ 0.08916092]] correction abs_x : [[-5.78456014]] correction abs_y : [[ 101.16092081]] temps : 24.2999153137 moving direction : dx = -0.00210173428059 dy = -0.0102432966232 solution du système equation : Abs_x = [[ 0.01611868]] Abs_y = [[ 0.06963651]] correction abs_x : [[-0.68131799]] correction abs_y : [[ 101.53651421]] temps : 24.3499145508 moving direction : dx = -0.0120821148157 dy = -0.00145530700684 solution du système equation : Abs_x = [[-0.01410826]] Abs_y = [[-0.00471777]] correction abs_x : [[-21.30825729]] correction abs_y : [[ 31.78222723]] temps : 24.3999137878 moving direction : dx = -0.0109237208962 dy = 0.0029319524765 solution du système equation : Abs_x = [[-0.01941876]] Abs_y = [[-0.02791091]] correction abs_x : [[-21.91875997]] correction abs_y : [[ 8.78909418]] temps : 24.499912262 moving direction : dx = 0.0057649537921 dy = 0.00579297542572 solution du système equation : Abs_x = [[-0.0076463]] Abs_y = [[-0.05594399]] correction abs_x : [[-21.64629616]] correction abs_y : [[-22.8439932]] temps : 24.5999107361 moving direction : dx = 0.0105371251702 dy = -0.00100612640381 solution du système equation : Abs_x = [[ 0.02757714]] Abs_y = [[ 0.06322501]] correction abs_x : [[ 8.47713816]] correction abs_y : [[ 80.72500506]] temps : 24.6499099731 moving direction : dx = 0.000496298074722 dy = 0.000565767288208 solution du système equation : Abs_x = [[ 0.00171427]] Abs_y = [[ 0.00507795]] correction abs_x : [[-19.48573059]] correction abs_y : [[-3.82205037]] temps : 24.6999092102 moving direction : dx = -0.0135687142611 dy = -0.00752413272858 solution du système equation : Abs_x = [[ 0.00259839]] Abs_y = [[ 0.07182275]] correction abs_x : [[-1.10160743]] correction abs_y : [[ 84.22275316]] temps : 24.7499084473 moving direction : dx = -0.0217051059008 dy = -0.0199119448662 solution du système equation : Abs_x = [[ 0.00614108]] Abs_y = [[ 0.09172682]] correction abs_x : [[ 9.34108129]] correction abs_y : [[ 122.52681726]] temps : 24.8499069214 moving direction : dx = 0.00263888388872 dy = -0.0201630592346 solution du système equation : Abs_x = [[ 0.0397417]] Abs_y = [[ 0.14531829]] correction abs_x : [[ 28.14169751]] correction abs_y : [[ 155.81829193]] temps : 24.8999061584 moving direction : dx = -0.00596848875284 dy = -0.0106364488602 solution du système equation : Abs_x = [[ 0.01077986]] Abs_y = [[ 0.0597916]] correction abs_x : [[ 14.37985763]] correction abs_y : [[ 95.39160161]] temps : 24.9499053955 moving direction : dx = -0.0209917426109 dy = -0.00478851795197 solution du système equation : Abs_x = [[-0.01445805]] Abs_y = [[ 0.02263272]] correction abs_x : [[ 5.0419523]] correction abs_y : [[ 59.03272327]] temps : 25.0499038696 moving direction : dx = -0.0238846242428 dy = 0.00810617208481 solution du système equation : Abs_x = [[-0.03740111]] Abs_y = [[-0.0370886]] correction abs_x : [[-12.3011051]] correction abs_y : [[-0.48859905]] temps : 25.0999031067 moving direction : dx = 0.00564192607999 dy = 0.0124822258949 solution du système equation : Abs_x = [[-0.00714101]] Abs_y = [[-0.05588782]] correction abs_x : [[ 2.7589925]] correction abs_y : [[-19.58781669]] temps : 25.1499023438 moving direction : dx = 0.0113239325583 dy = 0.0165199637413 solution du système equation : Abs_x = [[-0.04237588]] Abs_y = [[-0.24666883]] correction abs_x : [[-46.9758829]] correction abs_y : [[-231.86882568]] temps : 25.2499008179 moving direction : dx = 0.0123624876142 dy = 0.00835967063904 solution du système equation : Abs_x = [[ 0.03300181]] Abs_y = [[ 0.09618864]] correction abs_x : [[ 24.20181241]] correction abs_y : [[ 100.48863603]] temps : 25.2999000549 moving direction : dx = -0.00274093449116 dy = -0.00137662887573 solution du système equation : Abs_x = [[-0.00409013]] Abs_y = [[-0.00407874]] correction abs_x : [[-28.69012845]] correction abs_y : [[-19.07873978]] temps : 25.349899292 moving direction : dx = -0.00463143736124 dy = -0.00415533781052 solution du système equation : Abs_x = [[ 0.00928123]] Abs_y = [[ 0.06629302]] correction abs_x : [[ 6.28123309]] correction abs_y : [[ 72.99302442]] temps : 25.4498977661 moving direction : dx = -0.0338241383433 dy = -0.0322165489197 solution du système equation : Abs_x = [[-0.1344241]] Abs_y = [[-0.30781389]] correction abs_x : [[-144.62409695]] correction abs_y : [[-303.61389089]] temps : 25.4998970032 moving direction : dx = 0.00323784351349 dy = -0.0131171941757 solution du système equation : Abs_x = [[ 0.03530236]] Abs_y = [[ 0.1138518]] correction abs_x : [[ 35.80235934]] correction abs_y : [[ 140.15179649]]
<matplotlib.legend.Legend at 0x8772fd0>
Balance bahaviour is not totaly working. On my computer Poppy fall later... V-REP behavior is sometimes very surprising (maybe because of the slowness of calcul. Some ideas to go further : Uses speed and acceleration of the fall to calibrate the correction. Wait until the correction is done, so it will be easier to calculate the balance, because the move of the motors (in partiular abs_x and abs_y) move the head so the IMU... Implement in primitive Correction with more motors and more movements ...
The problem is that the movement of correction create a movement of the head and hide the real movement. Now we need to make sequences : 10 ms to correct - stop the correction (movement of motors) - 10 ms to measure the fall - 10 ms to correct etc...
poppy.reset_simulation()
poppy.abs_x.goto_behavior = 'dummy'
poppy.abs_y.goto_behavior = 'dummy'
t0 = time.time()
nb_pos = 0
while time.time() - t0 < 30:
pos = poppy.get_object_position('head_visual')
time.sleep(0.01)
pos2 = poppy.get_object_position('head_visual')
#as soon as a new position is recorded
if pos2 != pos:
nb_pos = nb_pos + 1
decalage_x=pos2[0]-pos[0]
decalage_y=pos2[1]-pos[1]
decalage_z=pos2[2]-pos[2]
list_pos_x.append(decalage_x)
list_pos_y.append(decalage_y)
list_pos_z.append(decalage_z)
t.append(poppy.current_simulation_time)
print " "
print "Position n° : ",nb_pos
print "temps :",poppy.current_simulation_time
print "moving direction :"
print "dx =",round(decalage_x*100000,0)
print "dy =",round(decalage_y*100000,0)
# orientation of the motor frame
Vx_abs_x = rotate_matrix(poppy.get_object_orientation('abs_x'))*Vx
Vx_abs_y = rotate_matrix(poppy.get_object_orientation('abs_y'))*Vx_indirect
# calculatin of the good values for position of Abs_x and Abs_y
# resolution of the system -dx = Vx_abs_x[0]*Abs_x + Vx_abs_y[0]*Abs_y and -dy = Vx_abs_x[1]*Abs_x + Vx_abs_y[1]*Abs_y
A3 = concatenate((Vx_abs_x,Vx_abs_y),axis=1)
A2 = delete(A3, (2), axis=0)
B=matrix([[decalage_x],[decalage_y]])
solution=linalg.solve(A2,B)
print "solution du système equation :"
print "Abs_x = ",solution[0]
print "Abs_y = ",solution[1]
actionx =poppy.abs_x.goal_position=poppy.abs_x.present_position + 800*solution[0]
actiony =poppy.abs_y.goal_position=poppy.abs_y.present_position + 800*solution[1]
print "correction abs_x : ",actionx
print "correction abs_y : ",actiony
td = time.time()
while abs(poppy.abs_x.goal_position - poppy.abs_x.present_position)>1 or abs(poppy.abs_y.goal_position - poppy.abs_y.present_position)>1 or time.time()-td >1:
time.sleep(0.01)
print "wait"
actionx =poppy.abs_x.goal_position=poppy.abs_x.present_position
actiony =poppy.abs_y.goal_position=poppy.abs_y.present_position
Position n° : 1 temps : 146.104309082 moving direction : dx = 9.0 dy = 30.0 solution du système equation : Abs_x = [[ 0.00010159]] Abs_y = [[ 0.00029575]] correction abs_x : [[ 0.88127139]] correction abs_y : [[ 1.63659784]] Position n° : 2 temps : 146.154312134 moving direction : dx = 18.0 dy = 30.0 solution du système equation : Abs_x = [[ 0.00019429]] Abs_y = [[ 0.00029409]] correction abs_x : [[ 0.95543181]] correction abs_y : [[ 1.63527487]] Position n° : 3 temps : 146.204315186 moving direction : dx = 19.0 dy = 11.0 solution du système equation : Abs_x = [[ 0.00019409]] Abs_y = [[ 0.00010423]] correction abs_x : [[ 0.95527249]] correction abs_y : [[ 1.48338053]] Position n° : 4 temps : 146.254318237 moving direction : dx = 27.0 dy = -34.0 solution du système equation : Abs_x = [[ 0.00025367]] Abs_y = [[-0.00035555]] correction abs_x : [[ 1.00293281]] correction abs_y : [[ 1.21555686]] Position n° : 5 temps : 146.304321289 moving direction : dx = 29.0 dy = -32.0 solution du système equation : Abs_x = [[ 0.00027449]] Abs_y = [[-0.00032779]] correction abs_x : [[ 1.01959241]] correction abs_y : [[ 1.33776685]] Position n° : 6 temps : 146.354324341 moving direction : dx = 10.0 dy = -2.0 solution du système equation : Abs_x = [[ 0.00010144]] Abs_y = [[ -2.79986395e-05]] correction abs_x : [[ 0.8811537]] correction abs_y : [[ 1.57760109]] Position n° : 7 temps : 146.404327393 moving direction : dx = -10.0 dy = 14.0 solution du système equation : Abs_x = [[ -9.60887201e-05]] Abs_y = [[ 0.000143]] correction abs_x : [[ 0.82312902]] correction abs_y : [[ 1.81439859]] Position n° : 8 temps : 146.454330444 moving direction : dx = 5.0 dy = -29.0 solution du système equation : Abs_x = [[ 3.81994982e-05]] Abs_y = [[-0.00029558]] correction abs_x : [[ 0.8305596]] correction abs_y : [[ 1.56353881]] Position n° : 9 temps : 146.504333496 moving direction : dx = 1.0 dy = -63.0 solution du système equation : Abs_x = [[ -1.81215389e-05]] Abs_y = [[-0.00063041]] correction abs_x : [[ 0.78550277]] correction abs_y : [[ 1.29567583]] Position n° : 10 temps : 146.554336548 moving direction : dx = -15.0 dy = -142.0 solution du système equation : Abs_x = [[-0.0002156]] Abs_y = [[-0.00140748]] correction abs_x : [[ 0.72751657]] correction abs_y : [[ 0.77401811]] wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 11 temps : 146.704345703 moving direction : dx = -19.0 dy = -26.0 solution du système equation : Abs_x = [[-0.00020638]] Abs_y = [[-0.00025358]] correction abs_x : [[ 0.53489863]] correction abs_y : [[ 1.1971335]] Position n° : 12 temps : 146.754348755 moving direction : dx = 2.0 dy = 42.0 solution du système equation : Abs_x = [[ 3.66210359e-05]] Abs_y = [[ 0.00042366]] correction abs_x : [[ 0.72929683]] correction abs_y : [[ 1.5389315]] Position n° : 13 temps : 146.804351807 moving direction : dx = 30.0 dy = 85.0 solution du système equation : Abs_x = [[ 0.00033617]] Abs_y = [[ 0.00083935]] correction abs_x : [[ 0.96893328]] correction abs_y : [[ 1.77148164]] Position n° : 14 temps : 146.854354858 moving direction : dx = 36.0 dy = 113.0 solution du système equation : Abs_x = [[ 0.00040837]] Abs_y = [[ 0.00110896]] correction abs_x : [[ 1.02669813]] correction abs_y : [[ 2.38717102]] Position n° : 15 temps : 146.90435791 moving direction : dx = 25.0 dy = 112.0 solution du système equation : Abs_x = [[ 0.00029489]] Abs_y = [[ 0.00110538]] correction abs_x : [[ 0.93591256]] correction abs_y : [[ 2.28430314]] Position n° : 16 temps : 146.954360962 moving direction : dx = 16.0 dy = 73.0 solution du système equation : Abs_x = [[ 0.00018942]] Abs_y = [[ 0.00072594]] correction abs_x : [[ 0.85153917]] correction abs_y : [[ 1.98074822]] Position n° : 17 temps : 147.004364014 moving direction : dx = 1.0 dy = 27.0 solution du système equation : Abs_x = [[ 1.76117414e-05]] Abs_y = [[ 0.00026653]] correction abs_x : [[ 0.71408939]] correction abs_y : [[ 1.81322121]] Position n° : 18 temps : 147.054367065 moving direction : dx = -24.0 dy = -9.0 solution du système equation : Abs_x = [[-0.00024582]] Abs_y = [[ -8.24821638e-05]] correction abs_x : [[ 0.50334527]] correction abs_y : [[ 1.53401427]] Position n° : 19 temps : 147.104370117 moving direction : dx = -40.0 dy = -50.0 solution du système equation : Abs_x = [[-0.00042408]] Abs_y = [[-0.00047821]] correction abs_x : [[ 0.36073569]] correction abs_y : [[ 1.31743497]] Position n° : 20 temps : 147.154373169 moving direction : dx = -19.0 dy = -72.0 solution du système equation : Abs_x = [[-0.0002236]] Abs_y = [[-0.00070949]] correction abs_x : [[ 0.5211191]] correction abs_y : [[ 1.13240775]] Position n° : 21 temps : 147.204376221 moving direction : dx = 1.0 dy = -47.0 solution du système equation : Abs_x = [[ -8.51141395e-06]] Abs_y = [[-0.00047255]] correction abs_x : [[ 0.69319087]] correction abs_y : [[ 1.4219612]] Position n° : 22 temps : 147.254379272 moving direction : dx = 5.0 dy = -41.0 solution du système equation : Abs_x = [[ 3.53267845e-05]] Abs_y = [[-0.00041394]] correction abs_x : [[ 0.72826143]] correction abs_y : [[ 1.26884507]] Position n° : 23 temps : 147.304382324 moving direction : dx = 22.0 dy = -51.0 solution du système equation : Abs_x = [[ 0.0002004]] Abs_y = [[-0.00051674]] correction abs_x : [[ 0.86032189]] correction abs_y : [[ 1.38661138]] Position n° : 24 temps : 147.354385376 moving direction : dx = 57.0 dy = -28.0 solution du système equation : Abs_x = [[ 0.00055382]] Abs_y = [[-0.00030177]] correction abs_x : [[ 1.14305565]] correction abs_y : [[ 1.75858242]] Position n° : 25 temps : 147.404388428 moving direction : dx = 62.0 dy = 5.0 solution du système equation : Abs_x = [[ 0.00061887]] Abs_y = [[ 2.41052379e-05]] correction abs_x : [[ 1.19509484]] correction abs_y : [[ 1.91928419]] Position n° : 26 temps : 147.454391479 moving direction : dx = 47.0 dy = -9.0 solution du système equation : Abs_x = [[ 0.000465]] Abs_y = [[-0.00011254]] correction abs_x : [[ 1.37200378]] correction abs_y : [[ 2.10997057]] Position n° : 27 temps : 147.504394531 moving direction : dx = 48.0 dy = -9.0 solution du système equation : Abs_x = [[ 0.00047235]] Abs_y = [[-0.00011635]] correction abs_x : [[ 1.37787796]] correction abs_y : [[ 2.10692349]] Position n° : 28 temps : 147.554397583 moving direction : dx = 57.0 dy = -2.0 solution du système equation : Abs_x = [[ 0.00056497]] Abs_y = [[ -4.73054695e-05]] correction abs_x : [[ 1.2519779]] correction abs_y : [[ 2.06215562]] Position n° : 29 temps : 147.604400635 moving direction : dx = 23.0 dy = -55.0 solution du système equation : Abs_x = [[ 0.00019899]] Abs_y = [[-0.00055715]] correction abs_x : [[ 0.85919531]] correction abs_y : [[ 1.65427769]] Position n° : 30 temps : 147.654403687 moving direction : dx = -14.0 dy = -91.0 solution du système equation : Abs_x = [[-0.00018821]] Abs_y = [[-0.00089782]] correction abs_x : [[ 0.74943194]] correction abs_y : [[ 1.58174513]] Position n° : 31 temps : 147.704406738 moving direction : dx = -14.0 dy = -106.0 solution du système equation : Abs_x = [[-0.00019524]] Abs_y = [[-0.00104714]] correction abs_x : [[ 0.64380881]] correction abs_y : [[ 1.46228826]] Position n° : 32 temps : 147.75440979 moving direction : dx = -38.0 dy = -138.0 solution du système equation : Abs_x = [[-0.00044848]] Abs_y = [[-0.00136467]] correction abs_x : [[ 0.3412194]] correction abs_y : [[ 1.20826799]] wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 33 temps : 147.904418945 moving direction : dx = 12.0 dy = 92.0 solution du système equation : Abs_x = [[ 0.00016042]] Abs_y = [[ 0.00091459]] correction abs_x : [[ 0.52833814]] correction abs_y : [[ 2.33166861]] Position n° : 34 temps : 147.954421997 moving direction : dx = 37.0 dy = 177.0 solution du système equation : Abs_x = [[ 0.00045098]] Abs_y = [[ 0.00175062]] correction abs_x : [[ 0.76078558]] correction abs_y : [[ 3.00049449]] wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 35 temps : 148.104431152 moving direction : dx = -15.0 dy = -40.0 solution du système equation : Abs_x = [[-0.00016716]] Abs_y = [[-0.00039167]] correction abs_x : [[ 0.66627281]] correction abs_y : [[ 2.78666155]] Position n° : 36 temps : 148.154434204 moving direction : dx = -21.0 dy = -93.0 solution du système equation : Abs_x = [[-0.0002542]] Abs_y = [[-0.00091959]] correction abs_x : [[ 0.59664245]] correction abs_y : [[ 2.46432881]] Position n° : 37 temps : 148.204437256 moving direction : dx = -3.0 dy = -83.0 solution du système equation : Abs_x = [[ -7.24123107e-05]] Abs_y = [[-0.00083025]] correction abs_x : [[ 0.74207015]] correction abs_y : [[ 2.53580182]] Position n° : 38 temps : 148.254440308 moving direction : dx = 16.0 dy = -101.0 solution du système equation : Abs_x = [[ 0.00010537]] Abs_y = [[-0.00101835]] correction abs_x : [[ 0.78429461]] correction abs_y : [[ 2.18532224]] Position n° : 39 temps : 148.304443359 moving direction : dx = 25.0 dy = -148.0 solution du système equation : Abs_x = [[ 0.00017012]] Abs_y = [[-0.00149502]] correction abs_x : [[ 0.93609931]] correction abs_y : [[ 2.00398567]] wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 40 temps : 148.454452515 moving direction : dx = -39.0 dy = 68.0 solution du système equation : Abs_x = [[-0.00035244]] Abs_y = [[ 0.00069336]] correction abs_x : [[ 0.51804575]] correction abs_y : [[ 3.25468546]] Position n° : 41 temps : 148.504455566 moving direction : dx = -50.0 dy = 138.0 solution du système equation : Abs_x = [[-0.00042966]] Abs_y = [[ 0.00140021]] correction abs_x : [[ 0.55626821]] correction abs_y : [[ 3.62016655]] wait wait wait wait wait wait wait Position n° : 42 temps : 148.60446167 moving direction : dx = 15.0 dy = -1.0 solution du système equation : Abs_x = [[ 0.00015114]] Abs_y = [[ -1.45525738e-05]] correction abs_x : [[ 0.92090891]] correction abs_y : [[ 2.68835794]] Position n° : 43 temps : 148.654464722 moving direction : dx = 38.0 dy = -76.0 solution du système equation : Abs_x = [[ 0.00034549]] Abs_y = [[-0.00078168]] correction abs_x : [[ 0.9763916]] correction abs_y : [[ 2.77465282]] Position n° : 44 temps : 148.704467773 moving direction : dx = 12.0 dy = -75.0 solution du système equation : Abs_x = [[ 7.98289820e-05]] Abs_y = [[-0.00075085]] correction abs_x : [[ 0.66386319]] correction abs_y : [[ 3.09931648]] Position n° : 45 temps : 148.754470825 moving direction : dx = -3.0 dy = -63.0 solution du système equation : Abs_x = [[ -6.31971250e-05]] Abs_y = [[-0.0006305]] correction abs_x : [[ 0.6494423]] correction abs_y : [[ 2.9956028]] Position n° : 46 temps : 148.804473877 moving direction : dx = 4.0 dy = -96.0 solution du système equation : Abs_x = [[ -8.21259305e-06]] Abs_y = [[-0.00096492]] correction abs_x : [[ 0.69342993]] correction abs_y : [[ 2.72806351]] Position n° : 47 temps : 148.854476929 moving direction : dx = 12.0 dy = -128.0 solution du système equation : Abs_x = [[ 5.62392078e-05]] Abs_y = [[-0.00127955]] correction abs_x : [[ 0.64499137]] correction abs_y : [[ 2.77636071]] wait wait wait wait wait wait wait wait wait wait wait Position n° : 48 temps : 149.004486084 moving direction : dx = 17.0 dy = 62.0 solution du système equation : Abs_x = [[ 0.00020009]] Abs_y = [[ 0.0006159]] correction abs_x : [[ 0.76007453]] correction abs_y : [[ 3.89272016]] Position n° : 49 temps : 149.054489136 moving direction : dx = 2.0 dy = 113.0 solution du système equation : Abs_x = [[ 7.24913210e-05]] Abs_y = [[ 0.0011298]] correction abs_x : [[ 0.65799306]] correction abs_y : [[ 4.10384073]] Position n° : 50 temps : 149.104492188 moving direction : dx = 7.0 dy = 84.0 solution du système equation : Abs_x = [[ 0.00010978]] Abs_y = [[ 0.00083241]] correction abs_x : [[ 0.68782769]] correction abs_y : [[ 3.76592765]] Position n° : 51 temps : 149.154495239 moving direction : dx = 23.0 dy = 82.0 solution du système equation : Abs_x = [[ 0.00026369]] Abs_y = [[ 0.0008137]] correction abs_x : [[ 0.81095031]] correction abs_y : [[ 4.1509614]] Position n° : 52 temps : 149.204498291 moving direction : dx = 17.0 dy = 96.0 solution du système equation : Abs_x = [[ 0.00021384]] Abs_y = [[ 0.00094767]] correction abs_x : [[ 0.7710688]] correction abs_y : [[ 4.25813804]] Position n° : 53 temps : 149.254501343 moving direction : dx = 11.0 dy = 37.0 solution du système equation : Abs_x = [[ 0.00012234]] Abs_y = [[ 0.00036551]] correction abs_x : [[ 0.69787554]] correction abs_y : [[ 3.69240539]] Position n° : 54 temps : 149.304504395 moving direction : dx = 2.0 dy = -49.0 solution du système equation : Abs_x = [[ -4.79099247e-06]] Abs_y = [[-0.0004863]] correction abs_x : [[ 0.59616721]] correction abs_y : [[ 3.21096295]] Position n° : 55 temps : 149.354507446 moving direction : dx = -9.0 dy = -92.0 solution du système equation : Abs_x = [[-0.00012644]] Abs_y = [[-0.00091875]] correction abs_x : [[ 0.49884541]] correction abs_y : [[ 2.9649996]] Position n° : 56 temps : 149.404510498 moving direction : dx = -9.0 dy = -130.0 solution du système equation : Abs_x = [[-0.00014815]] Abs_y = [[-0.00129335]] correction abs_x : [[ 0.48148049]] correction abs_y : [[ 2.66532198]] wait wait wait wait wait wait wait wait wait wait wait Position n° : 57 temps : 149.554519653 moving direction : dx = 17.0 dy = 62.0 solution du système equation : Abs_x = [[ 0.00019986]] Abs_y = [[ 0.00061066]] correction abs_x : [[ 0.65988668]] correction abs_y : [[ 3.78852685]] Position n° : 58 temps : 149.604522705 moving direction : dx = 13.0 dy = 117.0 solution du système equation : Abs_x = [[ 0.00017875]] Abs_y = [[ 0.00116034]] correction abs_x : [[ 0.64300073]] correction abs_y : [[ 3.92827474]] Position n° : 59 temps : 149.654525757 moving direction : dx = 11.0 dy = 41.0 solution du système equation : Abs_x = [[ 0.00012478]] Abs_y = [[ 0.00040332]] correction abs_x : [[ 0.59982629]] correction abs_y : [[ 3.32265281]] Position n° : 60 temps : 149.704528809 moving direction : dx = 15.0 dy = -26.0 solution du système equation : Abs_x = [[ 0.00013891]] Abs_y = [[-0.0002661]] correction abs_x : [[ 0.71112833]] correction abs_y : [[ 3.48712226]] Position n° : 61 temps : 149.75453186 moving direction : dx = 16.0 dy = -1.0 solution du système equation : Abs_x = [[ 0.00015551]] Abs_y = [[ -2.04605394e-05]] correction abs_x : [[ 0.62440649]] correction abs_y : [[ 3.48363157]] Position n° : 62 temps : 149.804534912 moving direction : dx = 10.0 dy = -6.0 solution du système equation : Abs_x = [[ 0.00010046]] Abs_y = [[ -6.45822112e-05]] correction abs_x : [[ 0.5803694]] correction abs_y : [[ 3.34833423]] Position n° : 63 temps : 149.854537964 moving direction : dx = -3.0 dy = 6.0 solution du système equation : Abs_x = [[ -2.26955597e-05]] Abs_y = [[ 6.07747713e-05]] correction abs_x : [[ 0.58184355]] correction abs_y : [[ 3.84861982]] Position n° : 64 temps : 149.904541016 moving direction : dx = -22.0 dy = 31.0 solution du système equation : Abs_x = [[-0.00020508]] Abs_y = [[ 0.00031983]] correction abs_x : [[ 0.43593729]] correction abs_y : [[ 4.05586736]] Position n° : 65 temps : 149.954544067 moving direction : dx = -21.0 dy = -30.0 solution du système equation : Abs_x = [[-0.00022256]] Abs_y = [[-0.00028788]] correction abs_x : [[ 0.3219541]] correction abs_y : [[ 3.46969544]] Position n° : 66 temps : 150.004547119 moving direction : dx = -8.0 dy = -82.0 solution du système equation : Abs_x = [[-0.00011951]] Abs_y = [[-0.00081865]] correction abs_x : [[ 0.50438994]] correction abs_y : [[ 3.24508342]] Position n° : 67 temps : 150.054550171 moving direction : dx = -22.0 dy = -88.0 solution du système equation : Abs_x = [[-0.00026256]] Abs_y = [[-0.00087017]] correction abs_x : [[ 0.38994883]] correction abs_y : [[ 3.30386203]] Position n° : 68 temps : 150.104553223 moving direction : dx = -21.0 dy = -78.0 solution du système equation : Abs_x = [[-0.00024434]] Abs_y = [[-0.00076568]] correction abs_x : [[ 0.40452485]] correction abs_y : [[ 3.4874528]] Position n° : 69 temps : 150.154556274 moving direction : dx = -9.0 dy = -74.0 solution du système equation : Abs_x = [[-0.00012008]] Abs_y = [[-0.00073288]] correction abs_x : [[ 0.50393827]] correction abs_y : [[ 3.5136973]] Position n° : 70 temps : 150.204559326 moving direction : dx = -11.0 dy = -59.0 solution du système equation : Abs_x = [[-0.00013806]] Abs_y = [[-0.00058035]] correction abs_x : [[ 0.48955267]] correction abs_y : [[ 3.83572333]] Position n° : 71 temps : 150.254562378 moving direction : dx = -10.0 dy = -69.0 solution du système equation : Abs_x = [[-0.0001355]] Abs_y = [[-0.00068848]] correction abs_x : [[ 0.49159746]] correction abs_y : [[ 3.7492168]] Position n° : 72 temps : 150.30456543 moving direction : dx = -0.0 dy = -71.0 solution du système equation : Abs_x = [[ -3.27973271e-05]] Abs_y = [[-0.0007091]] correction abs_x : [[ 0.57376214]] correction abs_y : [[ 3.83272211]] Position n° : 73 temps : 150.354568481 moving direction : dx = 11.0 dy = -65.0 solution du système equation : Abs_x = [[ 8.00853790e-05]] Abs_y = [[-0.00065405]] correction abs_x : [[ 0.6640683]] correction abs_y : [[ 3.97675813]] Position n° : 74 temps : 150.404571533 moving direction : dx = 35.0 dy = -32.0 solution du système equation : Abs_x = [[ 0.00033037]] Abs_y = [[-0.00033387]] correction abs_x : [[ 0.86429957]] correction abs_y : [[ 4.43290796]] Position n° : 75 temps : 150.454574585 moving direction : dx = 36.0 dy = -17.0 solution du système equation : Abs_x = [[ 0.00035673]] Abs_y = [[-0.00018674]] correction abs_x : [[ 0.88538364]] correction abs_y : [[ 4.55060581]] Position n° : 76 temps : 150.504577637 moving direction : dx = 35.0 dy = -27.0 solution du système equation : Abs_x = [[ 0.00033516]] Abs_y = [[-0.00028453]] correction abs_x : [[ 0.86812928]] correction abs_y : [[ 4.57237905]] Position n° : 77 temps : 150.554580688 moving direction : dx = 27.0 dy = -16.0 solution du système equation : Abs_x = [[ 0.00025893]] Abs_y = [[-0.00016792]] correction abs_x : [[ 0.80714773]] correction abs_y : [[ 4.66566056]] Position n° : 78 temps : 150.60458374 moving direction : dx = 1.0 dy = -44.0 solution du système equation : Abs_x = [[ -9.95019738e-06]] Abs_y = [[-0.00043701]] correction abs_x : [[ 0.59203984]] correction abs_y : [[ 4.65039436]] Position n° : 79 temps : 150.654586792 moving direction : dx = 4.0 dy = -77.0 solution du système equation : Abs_x = [[ 9.87443213e-06]] Abs_y = [[-0.00077285]] correction abs_x : [[ 0.60789955]] correction abs_y : [[ 4.48172011]] Position n° : 80 temps : 150.704589844 moving direction : dx = 13.0 dy = -85.0 solution du système equation : Abs_x = [[ 8.81258991e-05]] Abs_y = [[-0.00085028]] correction abs_x : [[ 0.67050072]] correction abs_y : [[ 4.41977941]] Position n° : 81 temps : 150.754592896 moving direction : dx = 8.0 dy = -147.0 solution du système equation : Abs_x = [[ 1.43114270e-05]] Abs_y = [[-0.00146979]] correction abs_x : [[ 0.61144914]] correction abs_y : [[ 4.22416825]] wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 82 temps : 150.954605103 moving direction : dx = 24.0 dy = 167.0 solution du système equation : Abs_x = [[ 0.00031312]] Abs_y = [[ 0.00166098]] correction abs_x : [[ 0.85049483]] correction abs_y : [[ 6.22878301]] wait wait wait wait wait wait wait wait wait wait Position n° : 83 temps : 151.104614258 moving direction : dx = -65.0 dy = -185.0 solution du système equation : Abs_x = [[-0.00073343]] Abs_y = [[-0.00181921]] correction abs_x : [[ 0.21325967]] correction abs_y : [[ 4.34463252]] wait wait wait wait wait wait wait wait Position n° : 84 temps : 151.254623413 moving direction : dx = 44.0 dy = -69.0 solution du système equation : Abs_x = [[ 0.00040932]] Abs_y = [[-0.00071405]] correction abs_x : [[ 0.72745777]] correction abs_y : [[ 4.72876075]] Position n° : 85 temps : 151.304626465 moving direction : dx = 93.0 dy = 93.0 solution du système equation : Abs_x = [[ 0.00097595]] Abs_y = [[ 0.00089012]] correction abs_x : [[ 1.08076076]] correction abs_y : [[ 5.61209907]] Position n° : 86 temps : 151.354629517 moving direction : dx = 90.0 dy = 142.0 solution du système equation : Abs_x = [[ 0.00096483]] Abs_y = [[ 0.00137267]] correction abs_x : [[ 0.97186239]] correction abs_y : [[ 5.89813373]] wait Position n° : 87 temps : 151.404632568 moving direction : dx = 61.0 dy = 133.0 solution du système equation : Abs_x = [[ 0.00066759]] Abs_y = [[ 0.00130343]] correction abs_x : [[ 0.83407299]] correction abs_y : [[ 6.44274604]] wait wait wait wait Position n° : 88 temps : 151.504638672 moving direction : dx = -58.0 dy = -70.0 solution du système equation : Abs_x = [[-0.00061117]] Abs_y = [[-0.00066993]] correction abs_x : [[ 0.31106545]] correction abs_y : [[ 5.86405436]] Position n° : 89 temps : 151.554641724 moving direction : dx = -61.0 dy = -159.0 solution du système equation : Abs_x = [[-0.0006871]] Abs_y = [[-0.00156026]] correction abs_x : [[ 0.25031945]] correction abs_y : [[ 5.35179177]] wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 90 temps : 151.754653931 moving direction : dx = 90.0 dy = -35.0 solution du système equation : Abs_x = [[ 0.00087772]] Abs_y = [[-0.00039675]] correction abs_x : [[ 1.10217327]] correction abs_y : [[ 5.58260061]] Position n° : 91 temps : 151.804656982 moving direction : dx = 85.0 dy = 5.0 solution du système equation : Abs_x = [[ 0.00085126]] Abs_y = [[ 3.88911763e-06]] correction abs_x : [[ 1.08100442]] correction abs_y : [[ 5.90311129]] Position n° : 92 temps : 151.854660034 moving direction : dx = 51.0 dy = 20.0 solution du système equation : Abs_x = [[ 0.00052417]] Abs_y = [[ 0.00017318]] correction abs_x : [[ 0.81933732]] correction abs_y : [[ 6.43854538]] Position n° : 93 temps : 151.904663086 moving direction : dx = -54.0 dy = 23.0 solution du système equation : Abs_x = [[-0.0005291]] Abs_y = [[ 0.00025863]] correction abs_x : [[-0.02328032]] correction abs_y : [[ 6.5069016]] Position n° : 94 temps : 151.954666138 moving direction : dx = -93.0 dy = 17.0 solution du système equation : Abs_x = [[-0.00092272]] Abs_y = [[ 0.00021472]] correction abs_x : [[ 0.16182652]] correction abs_y : [[ 6.47177399]] Position n° : 95 temps : 152.004669189 moving direction : dx = -27.0 dy = -18.0 solution du système equation : Abs_x = [[-0.00027369]] Abs_y = [[-0.00016621]] correction abs_x : [[ 0.18104485]] correction abs_y : [[ 6.16703304]] Position n° : 96 temps : 152.054672241 moving direction : dx = -26.0 dy = -32.0 solution du système equation : Abs_x = [[-0.00027417]] Abs_y = [[-0.00030848]] correction abs_x : [[ 0.4806675]] correction abs_y : [[ 6.35321537]] Position n° : 97 temps : 152.104675293 moving direction : dx = -64.0 dy = -57.0 solution du système equation : Abs_x = [[-0.00067038]] Abs_y = [[-0.00053882]] correction abs_x : [[ 0.16369557]] correction abs_y : [[ 6.16894696]] Position n° : 98 temps : 152.154678345 moving direction : dx = -38.0 dy = -109.0 solution du système equation : Abs_x = [[-0.00042994]] Abs_y = [[-0.00107347]] correction abs_x : [[ 0.45604489]] correction abs_y : [[ 5.7412268]] Position n° : 99 temps : 152.204681396 moving direction : dx = 6.0 dy = -131.0 solution du système equation : Abs_x = [[ -2.62977629e-06]] Abs_y = [[-0.00131468]] correction abs_x : [[ 0.59789618]] correction abs_y : [[ 5.84825533]] wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 100 temps : 152.404693604 moving direction : dx = -11.0 dy = 111.0 solution du système equation : Abs_x = [[ -5.68040865e-05]] Abs_y = [[ 0.00111186]] correction abs_x : [[ 0.65455673]] correction abs_y : [[ 7.38948828]] wait wait wait wait wait wait wait wait Position n° : 101 temps : 152.554702759 moving direction : dx = 51.0 dy = -78.0 solution du système equation : Abs_x = [[ 0.00046802]] Abs_y = [[-0.00080006]] correction abs_x : [[ 1.07441622]] correction abs_y : [[ 6.55995262]] Position n° : 102 temps : 152.604705811 moving direction : dx = 61.0 dy = -164.0 solution du système equation : Abs_x = [[ 0.0005251]] Abs_y = [[-0.00167084]] correction abs_x : [[ 1.12007925]] correction abs_y : [[ 6.2633252]] wait wait wait wait wait wait wait wait Position n° : 103 temps : 152.754714966 moving direction : dx = -63.0 dy = 3.0 solution du système equation : Abs_x = [[-0.00062526]] Abs_y = [[ 6.96084491e-05]] correction abs_x : [[ 0.4997896]] correction abs_y : [[ 7.15568676]] Position n° : 104 temps : 152.804718018 moving direction : dx = -92.0 dy = 89.0 solution du système equation : Abs_x = [[-0.00087195]] Abs_y = [[ 0.00094211]] correction abs_x : [[ 0.40244172]] correction abs_y : [[ 7.65368549]] Position n° : 105 temps : 152.854721069 moving direction : dx = -103.0 dy = 71.0 solution du système equation : Abs_x = [[-0.00099204]] Abs_y = [[ 0.00076891]] correction abs_x : [[ 0.30637036]] correction abs_y : [[ 7.415126]] Position n° : 106 temps : 152.904724121 moving direction : dx = -83.0 dy = 28.0 solution du système equation : Abs_x = [[-0.00081436]] Abs_y = [[ 0.00032851]] correction abs_x : [[ 0.3485148]] correction abs_y : [[ 7.46280535]] Position n° : 107 temps : 152.954727173 moving direction : dx = -64.0 dy = 25.0 solution du système equation : Abs_x = [[-0.00062152]] Abs_y = [[ 0.00028845]] correction abs_x : [[ 0.60278539]] correction abs_y : [[ 7.53075944]] Position n° : 108 temps : 153.004730225 moving direction : dx = -24.0 dy = 12.0 solution du système equation : Abs_x = [[-0.00023456]] Abs_y = [[ 0.00013652]] correction abs_x : [[ 0.91234927]] correction abs_y : [[ 7.30921733]] Position n° : 109 temps : 153.054733276 moving direction : dx = 2.0 dy = -34.0 solution du système equation : Abs_x = [[ -2.56836970e-06]] Abs_y = [[-0.00034493]] correction abs_x : [[ 0.9979453]] correction abs_y : [[ 7.22405321]] Position n° : 110 temps : 153.104736328 moving direction : dx = 4.0 dy = -46.0 solution du système equation : Abs_x = [[ 1.66658420e-05]] Abs_y = [[-0.00046652]] correction abs_x : [[ 1.11333267]] correction abs_y : [[ 7.22678337]] Position n° : 111 temps : 153.15473938 moving direction : dx = 11.0 dy = -69.0 solution du système equation : Abs_x = [[ 7.54399433e-05]] Abs_y = [[-0.00069317]] correction abs_x : [[ 1.16035195]] correction abs_y : [[ 7.04546143]] Position n° : 112 temps : 153.204742432 moving direction : dx = 34.0 dy = -87.0 solution du système equation : Abs_x = [[ 0.00029016]] Abs_y = [[-0.00088745]] correction abs_x : [[ 1.23212456]] correction abs_y : [[ 6.89003767]] Position n° : 113 temps : 153.254745483 moving direction : dx = 36.0 dy = -140.0 solution du système equation : Abs_x = [[ 0.00028615]] Abs_y = [[-0.00141411]] correction abs_x : [[ 1.32891751]] correction abs_y : [[ 6.76871221]] wait wait wait wait wait wait wait wait Position n° : 114 temps : 153.404754639 moving direction : dx = -32.0 dy = -25.0 solution du système equation : Abs_x = [[-0.00033081]] Abs_y = [[-0.00023139]] correction abs_x : [[ 0.93535081]] correction abs_y : [[ 7.31489157]] Position n° : 115 temps : 153.45475769 moving direction : dx = -58.0 dy = 28.0 solution du système equation : Abs_x = [[-0.00056167]] Abs_y = [[ 0.00031174]] correction abs_x : [[ 0.85066141]] correction abs_y : [[ 7.64939385]] Position n° : 116 temps : 153.504760742 moving direction : dx = -51.0 dy = 6.0 solution du système equation : Abs_x = [[-0.00050611]] Abs_y = [[ 8.69223253e-05]] correction abs_x : [[ 0.89511059]] correction abs_y : [[ 7.36953786]] Position n° : 117 temps : 153.554763794 moving direction : dx = -19.0 dy = -3.0 solution du système equation : Abs_x = [[-0.00019099]] Abs_y = [[ -1.80198331e-05]] correction abs_x : [[ 1.04720726]] correction abs_y : [[ 7.68558413]] Position n° : 118 temps : 153.604766846 moving direction : dx = -8.0 dy = 20.0 solution du système equation : Abs_x = [[ -7.14706560e-05]] Abs_y = [[ 0.00020466]] correction abs_x : [[ 1.24282348]] correction abs_y : [[ 7.96372562]] Position n° : 119 temps : 153.654769897 moving direction : dx = -9.0 dy = 56.0 solution du système equation : Abs_x = [[ -6.44178155e-05]] Abs_y = [[ 0.00056216]] correction abs_x : [[ 1.24846575]] correction abs_y : [[ 8.24972915]] Position n° : 120 temps : 153.704772949 moving direction : dx = 5.0 dy = 63.0 solution du système equation : Abs_x = [[ 8.88779756e-05]] Abs_y = [[ 0.00062377]] correction abs_x : [[ 1.27110238]] correction abs_y : [[ 8.49901582]] Position n° : 121 temps : 153.754776001 moving direction : dx = 16.0 dy = 49.0 solution du système equation : Abs_x = [[ 0.00018648]] Abs_y = [[ 0.0004802]] correction abs_x : [[ 1.34918249]] correction abs_y : [[ 8.68416207]] Position n° : 122 temps : 153.804779053 moving direction : dx = 24.0 dy = 22.0 solution du système equation : Abs_x = [[ 0.00024654]] Abs_y = [[ 0.00020367]] correction abs_x : [[ 1.497232]] correction abs_y : [[ 8.46293638]] Position n° : 123 temps : 153.854782104 moving direction : dx = 20.0 dy = -42.0 solution du système equation : Abs_x = [[ 0.00017644]] Abs_y = [[-0.00043469]] correction abs_x : [[ 1.34115526]] correction abs_y : [[ 8.2522461]] Position n° : 124 temps : 153.904785156 moving direction : dx = 5.0 dy = -125.0 solution du système equation : Abs_x = [[ -1.35613284e-05]] Abs_y = [[-0.00125055]] correction abs_x : [[ 1.28915094]] correction abs_y : [[ 7.69955865]] wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 125 temps : 154.104797363 moving direction : dx = -7.0 dy = -88.0 solution du système equation : Abs_x = [[-0.00011731]] Abs_y = [[-0.00087825]] correction abs_x : [[ 1.20615031]] correction abs_y : [[ 7.79739724]] Position n° : 126 temps : 154.154800415 moving direction : dx = -4.0 dy = -12.0 solution du système equation : Abs_x = [[ -5.04257531e-05]] Abs_y = [[-0.00011574]] correction abs_x : [[ 1.2596594]] correction abs_y : [[ 8.20740827]] Position n° : 127 temps : 154.204803467 moving direction : dx = -8.0 dy = 17.0 solution du système equation : Abs_x = [[ -7.41911302e-05]] Abs_y = [[ 0.00017603]] correction abs_x : [[ 1.2406471]] correction abs_y : [[ 8.34082352]] Position n° : 128 temps : 154.254806519 moving direction : dx = -17.0 dy = 47.0 solution du système equation : Abs_x = [[-0.00014103]] Abs_y = [[ 0.00047427]] correction abs_x : [[ 1.18717758]] correction abs_y : [[ 9.07941621]] Position n° : 129 temps : 154.30480957 moving direction : dx = 18.0 dy = 81.0 solution du système equation : Abs_x = [[ 0.00022637]] Abs_y = [[ 0.00079704]] correction abs_x : [[ 1.481092]] correction abs_y : [[ 9.43763438]] Position n° : 130 temps : 154.354812622 moving direction : dx = 49.0 dy = 75.0 solution du système equation : Abs_x = [[ 0.0005279]] Abs_y = [[ 0.00071871]] correction abs_x : [[ 1.62231851]] correction abs_y : [[ 9.27496847]] Position n° : 131 temps : 154.404815674 moving direction : dx = 33.0 dy = 19.0 solution du système equation : Abs_x = [[ 0.00034265]] Abs_y = [[ 0.00017104]] correction abs_x : [[ 1.57412218]] correction abs_y : [[ 9.13683513]] Position n° : 132 temps : 154.454818726 moving direction : dx = 4.0 dy = -41.0 solution du système equation : Abs_x = [[ 1.29989613e-05]] Abs_y = [[-0.00041415]] correction abs_x : [[ 1.31039917]] correction abs_y : [[ 8.76867649]] Position n° : 133 temps : 154.504821777 moving direction : dx = -15.0 dy = -121.0 solution du système equation : Abs_x = [[-0.00022005]] Abs_y = [[-0.00119863]] correction abs_x : [[ 1.02395818]] correction abs_y : [[ 8.1410991]] Position n° : 134 temps : 154.554824829 moving direction : dx = -32.0 dy = -180.0 solution du système equation : Abs_x = [[-0.0004243]] Abs_y = [[-0.00177488]] correction abs_x : [[ 0.96056135]] correction abs_y : [[ 8.08009828]] wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 135 temps : 154.754837036 moving direction : dx = 66.0 dy = 93.0 solution du système equation : Abs_x = [[ 0.00071008]] Abs_y = [[ 0.00089243]] correction abs_x : [[ 1.66806227]] correction abs_y : [[ 9.71394799]] Position n° : 136 temps : 154.804840088 moving direction : dx = 68.0 dy = 158.0 solution du système equation : Abs_x = [[ 0.00077218]] Abs_y = [[ 0.0015424]] correction abs_x : [[ 1.61774305]] correction abs_y : [[ 9.93391822]] wait wait wait wait Position n° : 137 temps : 154.904846191 moving direction : dx = 24.0 dy = 6.0 solution du système equation : Abs_x = [[ 0.00024453]] Abs_y = [[ 4.23039547e-05]] correction abs_x : [[ 1.29562093]] correction abs_y : [[ 9.23384316]] Position n° : 138 temps : 154.954849243 moving direction : dx = -26.0 dy = -124.0 solution du système equation : Abs_x = [[-0.0003316]] Abs_y = [[-0.00122464]] correction abs_x : [[ 1.13472268]] correction abs_y : [[ 8.92028987]] Position n° : 139 temps : 155.004852295 moving direction : dx = -31.0 dy = -129.0 solution du système equation : Abs_x = [[-0.00038972]] Abs_y = [[-0.0012684]] correction abs_x : [[ 0.98822167]] correction abs_y : [[ 8.88527867]] wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 140 temps : 155.204864502 moving direction : dx = 12.0 dy = -15.0 solution du système equation : Abs_x = [[ 0.00011022]] Abs_y = [[-0.0001582]] correction abs_x : [[ 1.18817777]] correction abs_y : [[ 9.67344079]] Position n° : 141 temps : 155.254867554 moving direction : dx = 24.0 dy = 57.0 solution du système equation : Abs_x = [[ 0.00027716]] Abs_y = [[ 0.00055921]] correction abs_x : [[ 1.22173084]] correction abs_y : [[ 10.04736575]] Position n° : 142 temps : 155.304870605 moving direction : dx = -1.0 dy = 49.0 solution du système equation : Abs_x = [[ 1.96468659e-05]] Abs_y = [[ 0.00049046]] correction abs_x : [[ 1.01571749]] correction abs_y : [[ 9.89237128]] Position n° : 143 temps : 155.354873657 moving direction : dx = -44.0 dy = -21.0 solution du système equation : Abs_x = [[-0.00044662]] Abs_y = [[-0.0001799]] correction abs_x : [[ 0.74270661]] correction abs_y : [[ 9.85607747]] Position n° : 144 temps : 155.404876709 moving direction : dx = -65.0 dy = -58.0 solution du système equation : Abs_x = [[-0.00068162]] Abs_y = [[-0.00054106]] correction abs_x : [[ 0.65470029]] correction abs_y : [[ 9.66715425]] Position n° : 145 temps : 155.454879761 moving direction : dx = -53.0 dy = -98.0 solution du système equation : Abs_x = [[-0.00058254]] Abs_y = [[-0.0009442]] correction abs_x : [[ 0.63397013]] correction abs_y : [[ 9.5446416]] Position n° : 146 temps : 155.504882812 moving direction : dx = 9.0 dy = -97.0 solution du système equation : Abs_x = [[ 3.37344928e-05]] Abs_y = [[-0.00097097]] correction abs_x : [[ 1.12698759]] correction abs_y : [[ 9.52322111]] Position n° : 147 temps : 155.554885864 moving direction : dx = 59.0 dy = -69.0 solution du système equation : Abs_x = [[ 0.00055377]] Abs_y = [[-0.00072103]] correction abs_x : [[ 1.24301726]] correction abs_y : [[ 9.72317745]] Position n° : 148 temps : 155.604888916 moving direction : dx = 63.0 dy = -64.0 solution du système equation : Abs_x = [[ 0.00059287]] Abs_y = [[-0.00067529]] correction abs_x : [[ 1.4742953]] correction abs_y : [[ 9.85977132]] Position n° : 149 temps : 155.654891968 moving direction : dx = 77.0 dy = -62.0 solution du système equation : Abs_x = [[ 0.00073703]] Abs_y = [[-0.0006638]] correction abs_x : [[ 1.68962305]] correction abs_y : [[ 10.16895823]] Position n° : 150 temps : 155.70489502 moving direction : dx = 77.0 dy = -46.0 solution du système equation : Abs_x = [[ 0.00074473]] Abs_y = [[-0.00050499]] correction abs_x : [[ 1.4957846]] correction abs_y : [[ 10.39600895]] Position n° : 151 temps : 155.754898071 moving direction : dx = 61.0 dy = -60.0 solution du système equation : Abs_x = [[ 0.00057124]] Abs_y = [[-0.00063865]] correction abs_x : [[ 1.75699162]] correction abs_y : [[ 10.0890764]] Position n° : 152 temps : 155.804901123 moving direction : dx = 50.0 dy = -66.0 solution du système equation : Abs_x = [[ 0.00046436]] Abs_y = [[-0.00068516]] correction abs_x : [[ 1.57149131]] correction abs_y : [[ 10.45187174]] Position n° : 153 temps : 155.854904175 moving direction : dx = -9.0 dy = -69.0 solution du système equation : Abs_x = [[-0.00013446]] Abs_y = [[-0.00068822]] correction abs_x : [[ 0.89243011]] correction abs_y : [[ 10.6494252]] Position n° : 154 temps : 155.904907227 moving direction : dx = -91.0 dy = -100.0 solution du système equation : Abs_x = [[-0.00096419]] Abs_y = [[-0.00094424]] correction abs_x : [[ 0.42864894]] correction abs_y : [[ 10.64460928]] Position n° : 155 temps : 155.954910278 moving direction : dx = -85.0 dy = -120.0 solution du système equation : Abs_x = [[-0.00091573]] Abs_y = [[-0.0011504]] correction abs_x : [[ 0.4674166]] correction abs_y : [[ 10.47967947]] Position n° : 156 temps : 156.00491333 moving direction : dx = -39.0 dy = -111.0 solution du système equation : Abs_x = [[-0.00045135]] Abs_y = [[-0.00108601]] correction abs_x : [[ 0.83891762]] correction abs_y : [[ 10.63118911]] wait wait wait wait wait wait wait Position n° : 157 temps : 156.154922485 moving direction : dx = 36.0 dy = 29.0 solution du système equation : Abs_x = [[ 0.00037889]] Abs_y = [[ 0.00027195]] correction abs_x : [[ 1.20310834]] correction abs_y : [[ 11.61756244]] Position n° : 158 temps : 156.204925537 moving direction : dx = 37.0 dy = 95.0 solution du système equation : Abs_x = [[ 0.00042039]] Abs_y = [[ 0.00092607]] correction abs_x : [[ 1.13631533]] correction abs_y : [[ 12.04085291]] Position n° : 159 temps : 156.254928589 moving direction : dx = 26.0 dy = 71.0 solution du système equation : Abs_x = [[ 0.00030162]] Abs_y = [[ 0.0006986]] correction abs_x : [[ 1.04129332]] correction abs_y : [[ 11.75888315]] Position n° : 160 temps : 156.304931641 moving direction : dx = 38.0 dy = -12.0 solution du système equation : Abs_x = [[ 0.00037369]] Abs_y = [[-0.00014541]] correction abs_x : [[ 1.19895045]] correction abs_y : [[ 11.58367331]] Position n° : 161 temps : 156.354934692 moving direction : dx = 65.0 dy = -76.0 solution du système equation : Abs_x = [[ 0.00060146]] Abs_y = [[-0.00079921]] correction abs_x : [[ 1.28116832]] correction abs_y : [[ 11.16063382]] Position n° : 162 temps : 156.404937744 moving direction : dx = 67.0 dy = -106.0 solution du système equation : Abs_x = [[ 0.00060878]] Abs_y = [[-0.00109772]] correction abs_x : [[ 1.28702706]] correction abs_y : [[ 10.92182187]] Position n° : 163 temps : 156.454940796 moving direction : dx = 13.0 dy = -80.0 solution du système equation : Abs_x = [[ 8.09474127e-05]] Abs_y = [[-0.00080664]] correction abs_x : [[ 0.96475793]] correction abs_y : [[ 11.45468897]] Position n° : 164 temps : 156.504943848 moving direction : dx = -32.0 dy = -61.0 solution du système equation : Abs_x = [[-0.00035795]] Abs_y = [[-0.00059487]] correction abs_x : [[ 0.81364015]] correction abs_y : [[ 11.4241062]] Position n° : 165 temps : 156.554946899 moving direction : dx = -16.0 dy = -65.0 solution du système equation : Abs_x = [[-0.00019943]] Abs_y = [[-0.00063562]] correction abs_x : [[ 0.74045543]] correction abs_y : [[ 11.69150437]] Position n° : 166 temps : 156.604949951 moving direction : dx = -32.0 dy = -42.0 solution du système equation : Abs_x = [[-0.00034008]] Abs_y = [[-0.00040224]] correction abs_x : [[ 0.62793609]] correction abs_y : [[ 12.17820758]] Position n° : 167 temps : 156.654953003 moving direction : dx = -25.0 dy = -26.0 solution du système equation : Abs_x = [[-0.00026882]] Abs_y = [[-0.00024703]] correction abs_x : [[ 0.78494185]] correction abs_y : [[ 12.30237917]] Position n° : 168 temps : 156.704956055 moving direction : dx = -11.0 dy = -56.0 solution du système equation : Abs_x = [[-0.00014518]] Abs_y = [[-0.0005569]] correction abs_x : [[ 0.78385726]] correction abs_y : [[ 12.2544781]] Position n° : 169 temps : 156.754959106 moving direction : dx = -23.0 dy = -114.0 solution du système equation : Abs_x = [[-0.00029575]] Abs_y = [[-0.00112134]] correction abs_x : [[ 0.66339972]] correction abs_y : [[ 12.00293139]] Position n° : 170 temps : 156.804962158 moving direction : dx = -45.0 dy = -166.0 solution du système equation : Abs_x = [[-0.00054233]] Abs_y = [[-0.00163026]] correction abs_x : [[ 0.56613281]] correction abs_y : [[ 11.69578808]] wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 171 temps : 157.004974365 moving direction : dx = 79.0 dy = 140.0 solution du système equation : Abs_x = [[ 0.00085857]] Abs_y = [[ 0.00135785]] correction abs_x : [[ 1.28685653]] correction abs_y : [[ 13.586281]] wait wait wait wait wait wait wait wait Position n° : 172 temps : 157.154983521 moving direction : dx = -57.0 dy = -103.0 solution du système equation : Abs_x = [[-0.0006192]] Abs_y = [[-0.0009964]] correction abs_x : [[ 0.70463788]] correction abs_y : [[ 13.1028791]] Position n° : 173 temps : 157.204986572 moving direction : dx = -90.0 dy = -212.0 solution du système equation : Abs_x = [[-0.00101373]] Abs_y = [[-0.00207352]] correction abs_x : [[ 0.48901331]] correction abs_y : [[ 12.44118272]] wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 174 temps : 157.455001831 moving direction : dx = 104.0 dy = 143.0 solution du système equation : Abs_x = [[ 0.00111128]] Abs_y = [[ 0.00137872]] correction abs_x : [[ 1.48902747]] correction abs_y : [[ 14.40297709]] wait wait wait wait wait wait wait Position n° : 175 temps : 157.605010986 moving direction : dx = -61.0 dy = -62.0 solution du système equation : Abs_x = [[-0.00064416]] Abs_y = [[-0.00058574]] correction abs_x : [[ 0.88467254]] correction abs_y : [[ 14.23141151]] Position n° : 176 temps : 157.655014038 moving direction : dx = -87.0 dy = -179.0 solution du système equation : Abs_x = [[-0.0009664]] Abs_y = [[-0.00173434]] correction abs_x : [[ 0.62688202]] correction abs_y : [[ 13.31252716]] wait wait wait wait wait wait wait wait wait Position n° : 177 temps : 157.805023193 moving direction : dx = 113.0 dy = 30.0 solution du système equation : Abs_x = [[ 0.0011413]] Abs_y = [[ 0.00023938]] correction abs_x : [[ 1.71304362]] correction abs_y : [[ 14.49150663]] Position n° : 178 temps : 157.855026245 moving direction : dx = 133.0 dy = 80.0 solution du système equation : Abs_x = [[ 0.00137074]] Abs_y = [[ 0.00072568]] correction abs_x : [[ 1.79659134]] correction abs_y : [[ 14.68054411]] wait wait wait wait wait wait wait wait Position n° : 179 temps : 158.0050354 moving direction : dx = -137.0 dy = -122.0 solution du système equation : Abs_x = [[-0.00144495]] Abs_y = [[-0.00113415]] correction abs_x : [[ 0.24403843]] correction abs_y : [[ 14.19267731]] wait wait wait wait wait wait wait wait wait Position n° : 180 temps : 158.155044556 moving direction : dx = 30.0 dy = -84.0 solution du système equation : Abs_x = [[ 0.00025356]] Abs_y = [[-0.0008582]] correction abs_x : [[ 0.90284433]] correction abs_y : [[ 14.31344139]] Position n° : 181 temps : 158.205047607 moving direction : dx = 145.0 dy = -42.0 solution du système equation : Abs_x = [[ 0.00142569]] Abs_y = [[-0.00050209]] correction abs_x : [[ 1.44055246]] correction abs_y : [[ 14.49833182]] wait wait wait wait Position n° : 182 temps : 158.305053711 moving direction : dx = 136.0 dy = -96.0 solution du système equation : Abs_x = [[ 0.00130391]] Abs_y = [[-0.0010332]] correction abs_x : [[ 1.54312769]] correction abs_y : [[ 14.57343694]] wait wait wait wait wait Position n° : 183 temps : 158.405059814 moving direction : dx = -82.0 dy = -18.0 solution du système equation : Abs_x = [[-0.0008334]] Abs_y = [[-0.00013368]] correction abs_x : [[ 0.43328047]] correction abs_y : [[ 15.2930583]] Position n° : 184 temps : 158.455062866 moving direction : dx = -147.0 dy = 48.0 solution du système equation : Abs_x = [[-0.00143935]] Abs_y = [[ 0.00057068]] correction abs_x : [[ 0.24851923]] correction abs_y : [[ 15.75654746]] wait wait wait wait wait Position n° : 185 temps : 158.55506897 moving direction : dx = -11.0 dy = 7.0 solution du système equation : Abs_x = [[-0.00010329]] Abs_y = [[ 7.86524773e-05]] correction abs_x : [[ 1.11736917]] correction abs_y : [[ 15.86292198]] Position n° : 186 temps : 158.605072021 moving direction : dx = 131.0 dy = -61.0 solution du système equation : Abs_x = [[ 0.00127019]] Abs_y = [[-0.00068143]] correction abs_x : [[ 1.6161507]] correction abs_y : [[ 15.65485642]] wait wait wait wait Position n° : 187 temps : 158.705078125 moving direction : dx = 26.0 dy = -123.0 solution du système equation : Abs_x = [[ 0.00018258]] Abs_y = [[-0.00124341]] correction abs_x : [[ 1.04606333]] correction abs_y : [[ 15.40526871]] Position n° : 188 temps : 158.755081177 moving direction : dx = -54.0 dy = -117.0 solution du système equation : Abs_x = [[-0.00060952]] Abs_y = [[-0.00113686]] correction abs_x : [[ 0.91238257]] correction abs_y : [[ 15.49051227]] Position n° : 189 temps : 158.805084229 moving direction : dx = -81.0 dy = -118.0 solution du système equation : Abs_x = [[-0.00088443]] Abs_y = [[-0.0011268]] correction abs_x : [[ 0.79245612]] correction abs_y : [[ 15.49855924]] Position n° : 190 temps : 158.85508728 moving direction : dx = -44.0 dy = -94.0 solution du système equation : Abs_x = [[-0.00049918]] Abs_y = [[-0.00091502]] correction abs_x : [[ 0.70065651]] correction abs_y : [[ 16.16798371]] Position n° : 191 temps : 158.905090332 moving direction : dx = -47.0 dy = -75.0 solution du système equation : Abs_x = [[-0.00052123]] Abs_y = [[-0.00071815]] correction abs_x : [[ 0.58301341]] correction abs_y : [[ 15.92547994]] Position n° : 192 temps : 158.955093384 moving direction : dx = -60.0 dy = -113.0 solution du système equation : Abs_x = [[-0.00067299]] Abs_y = [[-0.00109587]] correction abs_x : [[ 0.76160701]] correction abs_y : [[ 16.02330063]] Position n° : 193 temps : 159.005096436 moving direction : dx = 27.0 dy = -87.0 solution du système equation : Abs_x = [[ 0.00021564]] Abs_y = [[-0.0008838]] correction abs_x : [[ 1.37251158]] correction abs_y : [[ 16.69295878]] Position n° : 194 temps : 159.055099487 moving direction : dx = 80.0 dy = -34.0 solution du système equation : Abs_x = [[ 0.00077833]] Abs_y = [[-0.00039063]] correction abs_x : [[ 1.42266377]] correction abs_y : [[ 16.58749995]] Position n° : 195 temps : 159.105102539 moving direction : dx = 35.0 dy = -68.0 solution du système equation : Abs_x = [[ 0.00030282]] Abs_y = [[-0.00070438]] correction abs_x : [[ 1.34225263]] correction abs_y : [[ 16.83649289]] Position n° : 196 temps : 159.155105591 moving direction : dx = -11.0 dy = -97.0 solution du système equation : Abs_x = [[-0.00017166]] Abs_y = [[-0.00096437]] correction abs_x : [[ 1.06267119]] correction abs_y : [[ 17.12850149]] Position n° : 197 temps : 159.205108643 moving direction : dx = -31.0 dy = -108.0 solution du système equation : Abs_x = [[-0.00037379]] Abs_y = [[-0.00106236]] correction abs_x : [[ 0.90097183]] correction abs_y : [[ 16.65011374]] wait wait wait wait wait wait wait wait wait wait wait Position n° : 198 temps : 159.40512085 moving direction : dx = 67.0 dy = 97.0 solution du système equation : Abs_x = [[ 0.00073238]] Abs_y = [[ 0.00092566]] correction abs_x : [[ 1.58590129]] correction abs_y : [[ 18.34053044]] Position n° : 199 temps : 159.455123901 moving direction : dx = 61.0 dy = 156.0 solution du système equation : Abs_x = [[ 0.00070574]] Abs_y = [[ 0.0015258]] correction abs_x : [[ 1.46459216]] correction abs_y : [[ 18.7206388]] wait wait wait wait wait Position n° : 200 temps : 159.555130005 moving direction : dx = -11.0 dy = -39.0 solution du système equation : Abs_x = [[-0.00013372]] Abs_y = [[-0.00038247]] correction abs_x : [[ 0.89302118]] correction abs_y : [[ 17.69402063]] Position n° : 201 temps : 159.605133057 moving direction : dx = -61.0 dy = -196.0 solution du système equation : Abs_x = [[-0.00073517]] Abs_y = [[-0.00191638]] correction abs_x : [[ 0.81186159]] correction abs_y : [[ 17.6668944]] wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 202 temps : 159.805145264 moving direction : dx = 21.0 dy = 1.0 solution du système equation : Abs_x = [[ 0.00020826]] Abs_y = [[ 1.93155837e-07]] correction abs_x : [[ 1.06660724]] correction abs_y : [[ 18.60015452]] Position n° : 203 temps : 159.855148315 moving direction : dx = 19.0 dy = 49.0 solution du système equation : Abs_x = [[ 0.0002219]] Abs_y = [[ 0.00047755]] correction abs_x : [[ 0.97751851]] correction abs_y : [[ 18.98203956]] Position n° : 204 temps : 159.905151367 moving direction : dx = -5.0 dy = 30.0 solution du système equation : Abs_x = [[ -2.79267970e-05]] Abs_y = [[ 0.00030058]] correction abs_x : [[ 0.77765856]] correction abs_y : [[ 18.74046428]] Position n° : 205 temps : 159.955154419 moving direction : dx = -22.0 dy = -34.0 solution du système equation : Abs_x = [[-0.00023837]] Abs_y = [[-0.00033097]] correction abs_x : [[ 0.70930782]] correction abs_y : [[ 18.83522148]] Position n° : 206 temps : 160.005157471 moving direction : dx = -5.0 dy = -72.0 solution du système equation : Abs_x = [[ -8.79155440e-05]] Abs_y = [[-0.00071665]] correction abs_x : [[ 0.72966756]] correction abs_y : [[ 18.72668312]] Position n° : 207 temps : 160.055160522 moving direction : dx = 8.0 dy = -94.0 solution du système equation : Abs_x = [[ 2.74413706e-05]] Abs_y = [[-0.00094246]] correction abs_x : [[ 0.8219531]] correction abs_y : [[ 18.54603487]] Position n° : 208 temps : 160.105163574 moving direction : dx = 32.0 dy = -133.0 solution du système equation : Abs_x = [[ 0.00023735]] Abs_y = [[-0.00134968]] correction abs_x : [[ 0.98988266]] correction abs_y : [[ 18.82025754]] wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 209 temps : 160.305175781 moving direction : dx = 54.0 dy = -2.0 solution du système equation : Abs_x = [[ 0.00053349]] Abs_y = [[ -5.61124170e-05]] correction abs_x : [[ 1.4267899]] correction abs_y : [[ 19.75511007]] Position n° : 210 temps : 160.355178833 moving direction : dx = 9.0 dy = 50.0 solution du système equation : Abs_x = [[ 0.00012137]] Abs_y = [[ 0.00048979]] correction abs_x : [[ 1.09709683]] correction abs_y : [[ 20.09182881]] Position n° : 211 temps : 160.405181885 moving direction : dx = -18.0 dy = 16.0 solution du système equation : Abs_x = [[-0.00017031]] Abs_y = [[ 0.00017217]] correction abs_x : [[ 0.86375075]] correction abs_y : [[ 19.83773302]] Position n° : 212 temps : 160.455184937 moving direction : dx = -43.0 dy = -55.0 solution du système equation : Abs_x = [[-0.00046552]] Abs_y = [[-0.00051974]] correction abs_x : [[ 0.62758262]] correction abs_y : [[ 19.88420404]] Position n° : 213 temps : 160.505187988 moving direction : dx = -55.0 dy = -86.0 solution du système equation : Abs_x = [[-0.00060671]] Abs_y = [[-0.00082781]] correction abs_x : [[ 0.51463343]] correction abs_y : [[ 19.83775122]] Position n° : 214 temps : 160.55519104 moving direction : dx = -44.0 dy = -88.0 solution du système equation : Abs_x = [[-0.00049171]] Abs_y = [[-0.00085543]] correction abs_x : [[ 0.30662961]] correction abs_y : [[ 20.01565858]] Position n° : 215 temps : 160.605194092 moving direction : dx = -31.0 dy = -81.0 solution du système equation : Abs_x = [[-0.00036129]] Abs_y = [[-0.00079491]] correction abs_x : [[ 0.61096722]] correction abs_y : [[ 20.36406825]] Position n° : 216 temps : 160.655197144 moving direction : dx = -34.0 dy = -76.0 solution du système equation : Abs_x = [[-0.00038761]] Abs_y = [[-0.00074007]] correction abs_x : [[ 0.58991455]] correction abs_y : [[ 20.40794049]] Position n° : 217 temps : 160.705200195 moving direction : dx = -12.0 dy = -78.0 solution du système equation : Abs_x = [[-0.00017045]] Abs_y = [[-0.00077112]] correction abs_x : [[ 0.86363713]] correction abs_y : [[ 20.28310094]] wait wait wait wait wait wait wait wait wait wait wait Position n° : 218 temps : 160.905212402 moving direction : dx = 19.0 dy = -48.0 solution du système equation : Abs_x = [[ 0.00015983]] Abs_y = [[-0.00048987]] correction abs_x : [[ 1.02786045]] correction abs_y : [[ 20.80810223]] Position n° : 219 temps : 160.955215454 moving direction : dx = 39.0 dy = -11.0 solution du système equation : Abs_x = [[ 0.000383]] Abs_y = [[-0.00013043]] correction abs_x : [[ 1.20639604]] correction abs_y : [[ 21.09565382]] Position n° : 220 temps : 161.005218506 moving direction : dx = 40.0 dy = -12.0 solution du système equation : Abs_x = [[ 0.0003898]] Abs_y = [[-0.00015015]] correction abs_x : [[ 1.2118397]] correction abs_y : [[ 21.07987907]] Position n° : 221 temps : 161.055221558 moving direction : dx = 31.0 dy = -68.0 solution du système equation : Abs_x = [[ 0.00026546]] Abs_y = [[-0.0007006]] correction abs_x : [[ 1.11236731]] correction abs_y : [[ 21.13952081]] Position n° : 222 temps : 161.105224609 moving direction : dx = 21.0 dy = -95.0 solution du système equation : Abs_x = [[ 0.00015088]] Abs_y = [[-0.00096401]] correction abs_x : [[ 1.0207026]] correction abs_y : [[ 21.12879363]] Position n° : 223 temps : 161.155227661 moving direction : dx = 27.0 dy = -94.0 solution du système equation : Abs_x = [[ 0.00020974]] Abs_y = [[-0.00095488]] correction abs_x : [[ 1.06778969]] correction abs_y : [[ 21.23609422]] Position n° : 224 temps : 161.205230713 moving direction : dx = 18.0 dy = -88.0 solution du système equation : Abs_x = [[ 0.00012127]] Abs_y = [[-0.00089162]] correction abs_x : [[ 0.99701624]] correction abs_y : [[ 21.68670573]] Position n° : 225 temps : 161.255233765 moving direction : dx = -7.0 dy = -108.0 solution du système equation : Abs_x = [[-0.00013606]] Abs_y = [[-0.00108009]] correction abs_x : [[ 0.79115404]] correction abs_y : [[ 21.73592438]] Position n° : 226 temps : 161.305236816 moving direction : dx = -11.0 dy = -135.0 solution du système equation : Abs_x = [[-0.00019417]] Abs_y = [[-0.00134306]] correction abs_x : [[ 0.74466399]] correction abs_y : [[ 21.72555146]] wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 227 temps : 161.505249023 moving direction : dx = 6.0 dy = 73.0 solution du système equation : Abs_x = [[ 0.00010429]] Abs_y = [[ 0.00072956]] correction abs_x : [[ 0.7834343]] correction abs_y : [[ 23.28364442]] Position n° : 228 temps : 161.555252075 moving direction : dx = 7.0 dy = 102.0 solution du système equation : Abs_x = [[ 0.00013274]] Abs_y = [[ 0.00101269]] correction abs_x : [[ 0.80619575]] correction abs_y : [[ 23.51015146]] Position n° : 229 temps : 161.605255127 moving direction : dx = 7.0 dy = 75.0 solution du système equation : Abs_x = [[ 0.00012149]] Abs_y = [[ 0.00074281]] correction abs_x : [[ 0.79719334]] correction abs_y : [[ 23.1942518]] Position n° : 230 temps : 161.655258179 moving direction : dx = 9.0 dy = -31.0 solution du système equation : Abs_x = [[ 6.60263137e-05]] Abs_y = [[-0.00031445]] correction abs_x : [[ 0.75282105]] correction abs_y : [[ 22.94844192]] wait wait wait wait Position n° : 231 temps : 161.755264282 moving direction : dx = 36.0 dy = -118.0 solution du système equation : Abs_x = [[ 0.00028616]] Abs_y = [[-0.00120347]] correction abs_x : [[ 1.0289242]] correction abs_y : [[ 22.83722523]] Position n° : 232 temps : 161.805267334 moving direction : dx = 27.0 dy = -102.0 solution du système equation : Abs_x = [[ 0.00020548]] Abs_y = [[-0.00104045]] correction abs_x : [[ 0.96438141]] correction abs_y : [[ 22.96763602]] Position n° : 233 temps : 161.855270386 moving direction : dx = 28.0 dy = -111.0 solution du système equation : Abs_x = [[ 0.00020405]] Abs_y = [[-0.00113251]] correction abs_x : [[ 0.86323708]] correction abs_y : [[ 23.39399247]] Position n° : 234 temps : 161.905273438 moving direction : dx = 24.0 dy = -141.0 solution du système equation : Abs_x = [[ 0.0001467]] Abs_y = [[-0.00142466]] correction abs_x : [[ 0.81735705]] correction abs_y : [[ 23.16027022]] wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 235 temps : 162.305297852 moving direction : dx = 1.0 dy = 52.0 solution du système equation : Abs_x = [[ 4.14502887e-05]] Abs_y = [[ 0.00052397]] correction abs_x : [[ 0.83316023]] correction abs_y : [[ 24.5191798]] Position n° : 236 temps : 162.355300903 moving direction : dx = 30.0 dy = 44.0 solution du système equation : Abs_x = [[ 0.00032817]] Abs_y = [[ 0.00042233]] correction abs_x : [[ 1.06253751]] correction abs_y : [[ 24.43786109]] Position n° : 237 temps : 162.405303955 moving direction : dx = 49.0 dy = 8.0 solution du système equation : Abs_x = [[ 0.0004915]] Abs_y = [[ 4.94928735e-05]] correction abs_x : [[ 1.19320172]] correction abs_y : [[ 24.1395943]] Position n° : 238 temps : 162.455307007 moving direction : dx = 64.0 dy = -81.0 solution du système equation : Abs_x = [[ 0.00058819]] Abs_y = [[-0.00085015]] correction abs_x : [[ 1.27055044]] correction abs_y : [[ 24.01988218]] Position n° : 239 temps : 162.505310059 moving direction : dx = 51.0 dy = -141.0 solution du système equation : Abs_x = [[ 0.00041678]] Abs_y = [[-0.0014456]] correction abs_x : [[ 1.13342026]] correction abs_y : [[ 23.74352213]] wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 240 temps : 162.755325317 moving direction : dx = -109.0 dy = 14.0 solution du système equation : Abs_x = [[-0.0010741]] Abs_y = [[ 0.00020919]] correction abs_x : [[ 0.24071857]] correction abs_y : [[ 24.86735369]] Position n° : 241 temps : 162.805328369 moving direction : dx = -107.0 dy = 69.0 solution du système equation : Abs_x = [[-0.00102367]] Abs_y = [[ 0.00076491]] correction abs_x : [[ 0.28106161]] correction abs_y : [[ 25.31192897]] Position n° : 242 temps : 162.855331421 moving direction : dx = -84.0 dy = 84.0 solution du système equation : Abs_x = [[-0.00078727]] Abs_y = [[ 0.00089844]] correction abs_x : [[ 0.47018474]] correction abs_y : [[ 25.41875528]] Position n° : 243 temps : 162.905334473 moving direction : dx = -41.0 dy = 34.0 solution du système equation : Abs_x = [[-0.00038632]] Abs_y = [[ 0.00036294]] correction abs_x : [[ 0.79094567]] correction abs_y : [[ 25.59035464]] Position n° : 244 temps : 162.955337524 moving direction : dx = -7.0 dy = -16.0 solution du système equation : Abs_x = [[ -7.58719696e-05]] Abs_y = [[-0.00015244]] correction abs_x : [[ 1.03930242]] correction abs_y : [[ 25.47804706]] Position n° : 245 temps : 163.005340576 moving direction : dx = 28.0 dy = -66.0 solution du système equation : Abs_x = [[ 0.00023609]] Abs_y = [[-0.00067762]] correction abs_x : [[ 1.28887385]] correction abs_y : [[ 25.05790699]] Position n° : 246 temps : 163.055343628 moving direction : dx = 53.0 dy = -128.0 solution du système equation : Abs_x = [[ 0.00044374]] Abs_y = [[-0.00131313]] correction abs_x : [[ 1.45499308]] correction abs_y : [[ 24.94949594]] wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait Position n° : 247 temps : 163.305358887 moving direction : dx = -55.0 dy = 14.0 solution du système equation : Abs_x = [[-0.00053628]] Abs_y = [[ 0.00017141]] correction abs_x : [[ 1.07097417]] correction abs_y : [[ 26.03713005]] Position n° : 248 temps : 163.355361938 moving direction : dx = -54.0 dy = 27.0 solution du système equation : Abs_x = [[-0.00052054]] Abs_y = [[ 0.00030526]] correction abs_x : [[ 1.08356444]] correction abs_y : [[ 26.14420608]] Position n° : 249 temps : 163.40536499 moving direction : dx = -52.0 dy = 6.0 solution du système equation : Abs_x = [[-0.00051834]] Abs_y = [[ 9.11413450e-05]] correction abs_x : [[ 1.08533119]] correction abs_y : [[ 25.97291308]] Position n° : 250 temps : 163.455368042 moving direction : dx = -41.0 dy = -47.0 solution du système equation : Abs_x = [[-0.00044104]] Abs_y = [[-0.00044496]] correction abs_x : [[ 1.14716536]] correction abs_y : [[ 26.14403441]] Position n° : 251 temps : 163.505371094 moving direction : dx = -34.0 dy = -60.0 solution du système equation : Abs_x = [[-0.00038025]] Abs_y = [[-0.00058033]] correction abs_x : [[ 1.19580277]] correction abs_y : [[ 26.33573592]] Position n° : 252 temps : 163.555374146 moving direction : dx = -29.0 dy = -53.0 solution du système equation : Abs_x = [[-0.00031959]] Abs_y = [[-0.00050854]] correction abs_x : [[ 1.24432922]] correction abs_y : [[ 26.49317189]] Position n° : 253 temps : 163.605377197 moving direction : dx = -7.0 dy = -98.0 solution du système equation : Abs_x = [[-0.00013701]] Abs_y = [[-0.00097946]] correction abs_x : [[ 1.39039197]] correction abs_y : [[ 26.81643375]] Position n° : 254 temps : 163.655380249 moving direction : dx = 16.0 dy = -137.0 solution du système equation : Abs_x = [[ 6.94041458e-05]] Abs_y = [[-0.00137985]] correction abs_x : [[ 1.55552332]] correction abs_y : [[ 26.49611787]] wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait wait