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       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="92.74939"
       y="105.90142"
       id="text8"><tspan
         sodipodi:role="line"
         id="tspan8"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="92.74939"
         y="105.90142">t</tspan></text>
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="47.268562"
       y="88.747261"
       id="text8-5"><tspan
         sodipodi:role="line"
         id="tspan8-3"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="47.268562"
         y="88.747261">v</tspan></text>
    <rect
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.53762;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1"
       id="rect1-9"
       width="53.342007"
       height="14.224533"
       x="44.332588"
       y="129.68565" />
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="56.02932"
       y="84.602623"
       id="text8-0"><tspan
         sodipodi:role="line"
         id="tspan8-9"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="56.02932"
         y="84.602623">Speed Planning</tspan></text>
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="57.292133"
       y="137.58672"
       id="text8-0-6"><tspan
         sodipodi:role="line"
         id="tspan8-9-2"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="57.292133"
         y="137.58672">Position PID</tspan></text>
    <rect
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.53762;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1"
       id="rect1-9-8"
       width="53.342007"
       height="14.224533"
       x="44.332588"
       y="168.49756" />
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="60.783417"
       y="176.38087"
       id="text8-0-6-9"><tspan
         sodipodi:role="line"
         id="tspan8-9-2-7"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="60.783417"
         y="176.38087">Speed PID</tspan></text>
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="71.90966"
       y="61.605091"
       id="text8-0-6-7"><tspan
         sodipodi:role="line"
         id="tspan8-9-2-9"
         style="font-size:3.7932px;text-align:center;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="71.90966"
         y="61.605091">User set destination position</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;text-align:center;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="71.90966"
         y="66.346588"
         id="tspan10">(tc_pos) tc: Trapezoidal-Curve</tspan></text>
    <path
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.2;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker8-7)"
       d="m 21.166666,37.484252 c 0,1.175388 0,2.350776 0,3.526164"
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       transform="matrix(2.688101,0,0,2.688101,14.07487,-32.241309)"
       sodipodi:nodetypes="cc" />
    <path
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.2;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker8-7-6)"
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       transform="matrix(2.688101,0,0,2.688101,13.173401,17.544568)" />
    <path
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.2;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker8-7-6-5)"
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       id="path1-0-4-3"
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       transform="matrix(2.688101,0,0,2.688101,13.173401,54.828014)" />
    <path
       style="opacity:0.9;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.2;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1"
       d="m 17.197916,70.114585 c 0,0 -2.796856,-0.04126 -2.796856,-0.04126"
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       transform="matrix(2.688101,0,0,2.688101,-5.4532804,-5.4474355)" />
    <path
       style="opacity:0.9;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.2;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1"
       d="m 17.197916,70.114585 c 0,0 -2.645833,0 -2.645833,0"
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       transform="matrix(2.688101,0,0,2.688101,-5.4532804,-5.4474355)" />
    <path
       style="opacity:0.9;fill:none;fill-opacity:1;stroke:#000000;stroke-width:0.53762;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker8)"
       d="m 236.49711,351.90332 -211.82876,0.026 V 139.7379 h 16.242648"
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       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';text-align:start;letter-spacing:0px;word-spacing:0px;text-anchor:start;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="27.019442"
       y="145.05582"
       id="text8-0-2"><tspan
         sodipodi:role="line"
         id="tspan8-9-7"
         style="font-size:3.7932px;text-align:start;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="27.019442"
         y="145.05582">Sensor</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;text-align:start;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="27.019442"
         y="149.79732"
         id="tspan18">position</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;text-align:start;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="27.019442"
         y="154.53882"
         id="tspan19">(sen_pos)</tspan></text>
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="73.419662"
       y="116.48481"
       id="text8-0-2-1"><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="73.419662"
         y="116.48481"
         id="tspan19-1">Calculated target position</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="73.419662"
         y="121.22631"
         id="tspan21">(cal_pos)</tspan></text>
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="73.570076"
       y="153.56734"
       id="text8-0-2-9"><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="73.570076"
         y="153.56734"
         id="tspan19-17">Calculated target speed</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="73.570076"
         y="158.30884"
         id="tspan23">(cal_speed)</tspan></text>
    <path
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.2;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker8-7-6-5-9)"
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       id="path1-0-4-3-4"
       inkscape:path-effect="#path-effect1-4-5-5-7"
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       transform="matrix(2.688101,0,0,2.688101,13.173401,93.820118)" />
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="73.570076"
       y="192.55945"
       id="text8-0-2-9-5"><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="73.570076"
         y="192.55945"
         id="tspan19-17-0">Calculated target current</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="73.570076"
         y="197.30095"
         id="tspan23-3">(cal_current)</tspan></text>
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';text-align:start;letter-spacing:0px;word-spacing:0px;text-anchor:start;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="26.93631"
       y="181.82198"
       id="text8-0-2-2"><tspan
         sodipodi:role="line"
         id="tspan8-9-7-3"
         style="font-size:3.7932px;text-align:start;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="26.93631"
         y="181.82198">Sensor</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;text-align:start;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="26.93631"
         y="186.56348"
         id="tspan18-7">speed</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;text-align:start;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="26.93631"
         y="191.30498"
         id="tspan19-5">(sen_speed)</tspan></text>
    <rect
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.53762;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1"
       id="rect1-9-8-6"
       width="53.342007"
       height="14.224533"
       x="44.332588"
       y="206.95564" />
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="55.061222"
       y="215.3101"
       id="text8-0-6-9-3"><tspan
         sodipodi:role="line"
         id="tspan8-9-2-7-2"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="55.061222"
         y="215.3101">Current Iq PID</tspan></text>
    <path
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.2;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker8-7-6-5-9-1)"
       d="m 21.166666,34.395833 c 0,0 0,6.614583 0,6.614583"
       id="path1-0-4-3-4-7"
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       transform="matrix(2.688101,0,0,2.688101,28.200494,131.9703)" />
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="88.597168"
       y="229.12215"
       id="text8-0-2-9-5-6"><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="88.597168"
         y="229.12215"
         id="tspan1">Calculated target</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="88.597168"
         y="233.86365"
         id="tspan2">voltage for Iq</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="88.597168"
         y="238.60515"
         id="tspan23-3-6">(cal_v_sq)</tspan></text>
    <rect
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.53762;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1"
       id="rect1-9-8-6-5"
       width="53.342007"
       height="14.224533"
       x="129.11781"
       y="206.95564" />
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="139.84644"
       y="215.3101"
       id="text8-0-6-9-3-4"><tspan
         sodipodi:role="line"
         id="tspan8-9-2-7-2-7"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="139.84644"
         y="215.3101">Current Id PID</tspan></text>
    <path
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.2;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker8-7-6-5-9-1-7)"
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       id="path1-0-4-3-4-7-4"
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       transform="matrix(2.688101,0,0,2.688101,78.275865,132.18402)" />
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="138.67255"
       y="229.33588"
       id="text8-0-2-9-5-6-4"><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="138.67255"
         y="229.33588"
         id="tspan1-3">Calculated target</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="138.67255"
         y="234.07738"
         id="tspan3">voltage for Id</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="138.67255"
         y="238.81888"
         id="tspan23-3-6-0">(cal_v_sd)</tspan></text>
    <path
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.2;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker8-7-6-5-9-6)"
       d="m 21.166666,37.888205 c 0,1.040736 0,2.081474 0,3.122211"
       id="path1-0-4-3-4-3"
       inkscape:path-effect="#path-effect1-4-5-5-7-8"
       inkscape:original-d="m 21.166666,37.888205 c 0,1.040736 0,2.081474 0,3.122211"
       transform="matrix(2.688101,0,0,2.688101,104.80429,94.112752)"
       sodipodi:nodetypes="cc" />
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="166.17473"
       y="188.88153"
       id="text8-0-2-9-5-2"><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;text-align:center;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="166.17473"
         y="188.88153"
         id="tspan19-17-0-0">Target Id current</tspan><tspan
         sodipodi:role="line"
         style="font-size:3.7932px;text-align:center;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="166.17473"
         y="193.62303"
         id="tspan23-3-68">always 0</tspan></text>
    <rect
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.53762;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1"
       id="rect1-9-8-6-6"
       width="62.860756"
       height="14.224518"
       x="79.284889"
       y="245.70578" />
    <text
       xml:space="preserve"
       style="font-size:3.7932px;line-height:125%;font-family:'Liberation Mono';-inkscape-font-specification:'Liberation Mono';letter-spacing:0px;word-spacing:0px;fill:none;stroke:#000000;stroke-width:0.711226px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
       x="96.966766"
       y="254.17381"
       id="text8-0-6-9-3-49"><tspan
         sodipodi:role="line"
         id="tspan8-9-2-7-2-5"
         style="font-size:3.7932px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.711226px"
         x="96.966766"
         y="254.17381">Inverse Park</tspan></text>
    <path
       style="opacity:0.9;fill:none;stroke:#000000;stroke-width:0.2;stroke-linecap:round;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker8-7-6-5-9-1-8)"
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