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<!--To view this file, download free mind mapping software Freeplane from http://freeplane.sourceforge.net -->
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<node TEXT="Le robot Thymio" ID="ID_1723255651" CREATED="1283093380553" MODIFIED="1428762151940" LINK="https://aseba.wikidot.com/fr:thymio"><hook NAME="MapStyle">
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<node TEXT="ComportementsUsineDuThymio.png" ID="ID_1797497536" CREATED="1428069533203" MODIFIED="1428919241744" HGAP="90" VSHIFT="55" LINK="https://aseba.wikidot.com/fr:thymiostarting">
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<node TEXT="Thymio explorateur (Jaune)" STYLE_REF="Thymio3" ID="ID_658480375" CREATED="1428919555110" MODIFIED="1428920412758" LINK="https://aseba.wikidot.com/fr:thymiobehaviourexplorer">
<node TEXT="Code tr&#xe8;s d&#xe9;taill&#xe9;" ID="ID_1477025746" CREATED="1428919877605" MODIFIED="1428920423961">
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<node TEXT="Programmation du robot" POSITION="left" ID="ID_125669870" CREATED="1428068782521" MODIFIED="1428762151948" LINK="https://aseba.wikidot.com/fr:thymioprogram" COLOR="#497549">
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<node TEXT="Les outils de d&#xe9;veloppement" LOCALIZED_STYLE_REF="AutomaticLayout.level,2" ID="ID_1627137364" CREATED="1428068906730" MODIFIED="1428762151949">
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<node TEXT="Apprendre &#xe0; programmer avec VPL&#xa;    Visual Programming Language" LOCALIZED_STYLE_REF="AutomaticLayout.level,3" ID="ID_257548339" CREATED="1428068833277" MODIFIED="1428762151950">
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<node TEXT="Thymio VPL carte de r&#xe9;f&#xe9;rence" LOCALIZED_STYLE_REF="AutomaticLayout.level,4" ID="ID_1718705956" CREATED="1428068854784" MODIFIED="1428762151957" LINK="thymio-vpl-ref-card-fr.pdf">
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<node TEXT="L&apos;environnement Aseba" LOCALIZED_STYLE_REF="AutomaticLayout.level,3" ID="ID_1058673229" CREATED="1428068791436" MODIFIED="1428919394585" LINK="https://aseba.wikidot.com/fr:asebastudio">
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<node TEXT="Concepts" ID="ID_352500457" CREATED="1428920991990" MODIFIED="1428921519297" LINK="https://aseba.wikidot.com/fr:asebaconcepts">
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<node TEXT="R&#xe9;seau de plusieurs robots ou un robot avec plusieurs processors" ID="ID_1585564738" CREATED="1428921240198" MODIFIED="1428921519303">
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<node TEXT="N&#x153;ud = Processeur d&apos;un r&#xe9;seau Aseba" ID="ID_295948302" CREATED="1428921213174" MODIFIED="1428921519304">
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<node TEXT="Les n&#x153;uds communiquent ensemble &#xe0; travers des &#xe9;v&#xe9;nements." ID="ID_1168748868" CREATED="1428921325972" MODIFIED="1428921519305">
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<node TEXT="&#xc9;v&#xe9;nements" ID="ID_161009221" CREATED="1428921057622" MODIFIED="1428921519302">
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<node TEXT="Des &#xe9;v&#xe9;nements d&#xe9;clenchent l&apos;ex&#xe9;cution du code de fa&#xe7;on asynchrone." ID="ID_1587009228" CREATED="1428921116734" MODIFIED="1428921519308">
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<node TEXT="Le langage" LOCALIZED_STYLE_REF="AutomaticLayout.level,2" ID="ID_189413478" CREATED="1428068926384" MODIFIED="1428762151961" LINK="https://aseba.wikidot.com/fr:asebalanguage">
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<node TEXT="Variables et fonctions li&#xe9;es aux capteurs et actuateurs" LOCALIZED_STYLE_REF="AutomaticLayout.level,3" ID="ID_1545905217" CREATED="1428070235830" MODIFIED="1428919443304" HGAP="10" VSHIFT="-11" LINK="https://aseba.wikidot.com/fr:thymioapi">
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<node TEXT="buttons.binary&#xa;1 = appuy&#xe9;, 0 = rel&#xe2;ch&#xe9;" ID="ID_1272716496" CREATED="1428070374219" MODIFIED="1428762335805">
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<node TEXT="button.center : bouton central" ID="ID_994225104" CREATED="1428070384816" MODIFIED="1428762335811">
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<node TEXT="button.forward : fl&#xe8;che avant" ID="ID_477418140" CREATED="1428070384816" MODIFIED="1428762335811">
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<node TEXT="button.right : fl&#xe8;che droite" ID="ID_1452722999" CREATED="1428070384818" MODIFIED="1428762335812">
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<node TEXT="maj 20 Hz" ID="ID_1006899899" CREATED="1428070561446" MODIFIED="1428762335813">
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<node TEXT="Ev&#xe8;nement button" ID="ID_359576738" CREATED="1428070777876" MODIFIED="1428762335813">
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<node TEXT="Capteurs de distance" ID="ID_1569505004" CREATED="1428070419286" MODIFIED="1428762335814" VSHIFT="40">
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<node TEXT="Horizontaux" ID="ID_482801447" CREATED="1428070426100" MODIFIED="1428762335815">
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<node TEXT="tableau de 7 variables&#xa;prox.horizontal" ID="ID_532868358" CREATED="1428070484867" MODIFIED="1428762335815">
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<node TEXT="avant gauche" ID="ID_1108326518" CREATED="1428500561253" MODIFIED="1428762335820">
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<node TEXT="prox.horizontal[1] : avant milieu-gauche" ID="ID_1075787023" CREATED="1428070432656" MODIFIED="1428762335821">
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<node TEXT="prox.horizontal[2] : avant milieu" ID="ID_729491939" CREATED="1428070432658" MODIFIED="1428762335822">
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<node TEXT="maj 10 Hz" ID="ID_1959596150" CREATED="1428070561446" MODIFIED="1428762335826">
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<node TEXT="distance au sol" ID="ID_147655698" CREATED="1428070862005" MODIFIED="1428762335827">
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<node TEXT="prox.ground.ambiant : intensit&#xe9; lumineuse ambiante au sol, varie entre 0 (pas de lumi&#xe8;re) et 1023 (lumi&#xe8;re maximale)" ID="ID_581492862" CREATED="1428070894345" MODIFIED="1428762335827">
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<node TEXT="prox.ground.reflected : quantit&#xe9; de lumi&#xe8;re re&#xe7;ue pendant que le capteur &#xe9;met de l&apos;infrarouge, varie entre 0 (aucune r&#xe9;flexion) et 1023 (lumi&#xe8;re maximale)" ID="ID_1289154467" CREATED="1428070894349" MODIFIED="1428762335834">
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<node TEXT="prox.ground.delta : diff&#xe9;rence entre la lumi&#xe8;re r&#xe9;fl&#xe9;chie et la lumi&#xe8;re ambiante, li&#xe9;e &#xe0; la distance et &#xe0; la couleur du sol" ID="ID_200926183" CREATED="1428070894353" MODIFIED="1428762335839">
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<node TEXT="Ev&#xe8;nement prox" ID="ID_861965659" CREATED="1428070777876" MODIFIED="1428762335843">
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<node TEXT="Communication locale" ID="ID_712398423" CREATED="1428499537566" MODIFIED="1428762335843">
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<node TEXT="state = 1 pour activer la communication" ID="ID_286539946" CREATED="1428499807365" MODIFIED="1428762335845">
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<node TEXT="state = 0 pour d&#xe9;sactiver" ID="ID_588274742" CREATED="1428499817057" MODIFIED="1428762335845">
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<node TEXT="Ev&#xe8;nement prox.com" ID="ID_1927691863" CREATED="1428070777876" MODIFIED="1428762335846">
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<node TEXT="valeur &#xe0; transmettre" ID="ID_1887864787" CREATED="1428500124212" MODIFIED="1428762335847">
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<node TEXT="prox.comm.rx" ID="ID_972899778" CREATED="1428500148228" MODIFIED="1428762335847">
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<node TEXT="valeur re&#xe7;ue &#xe0; lire" ID="ID_1326454617" CREATED="1428500154276" MODIFIED="1428762335848">
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<node TEXT="Acc&#xe9;l&#xe9;rom&#xe8;tre" ID="ID_1488257837" CREATED="1428500439426" MODIFIED="1428762335848">
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<node TEXT="tableau de 3 variables&#xa;acc" ID="ID_648336452" CREATED="1428501418028" MODIFIED="1428762335849">
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<node TEXT="acc[0]" ID="ID_621834081" CREATED="1428501358894" MODIFIED="1428762335853">
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<node TEXT="axe x (de droite &#xe0; gauche du robot, positif si vers gauche)" ID="ID_901008268" CREATED="1428501368707" MODIFIED="1428762335854">
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<node TEXT="acc[1]" ID="ID_355025410" CREATED="1428501373857" MODIFIED="1428762335855">
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<node TEXT="axe y (d&apos;avant vers l&apos;arri&#xe8;re du robot, positif si vers arri&#xe8;re)" ID="ID_1941937709" CREATED="1428501384878" MODIFIED="1428762335855">
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<node TEXT="acc[2]" ID="ID_1490152857" CREATED="1428501378665" MODIFIED="1428762335856">
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<node TEXT="axe z (qui rentre du plan horizontal, positif si vers sol" ID="ID_562153132" CREATED="1428501391532" MODIFIED="1428762335856">
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<node TEXT="Capteur de temp&#xe9;rature" ID="ID_1108555546" CREATED="1428501511432" MODIFIED="1428762335857">
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<node TEXT="temperature" ID="ID_206375198" CREATED="1428501560201" MODIFIED="1428762335857">
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<node TEXT="Actuateurs" LOCALIZED_STYLE_REF="AutomaticLayout.level,4" ID="ID_131421198" CREATED="1428501596853" MODIFIED="1428762276131" COLOR="#c50cc5">
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<node TEXT="LEDs" ID="ID_1945591048" CREATED="1428501623046" MODIFIED="1428762397029">
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<node TEXT="Le cercle de LEDs du dessus" ID="ID_6242774" CREATED="1428501631914" MODIFIED="1428762397034">
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<node TEXT="Les LEDs RGB" ID="ID_674151231" CREATED="1428501675986" MODIFIED="1428762397036">
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<node TEXT="leds.top(red, green, blue)" ID="ID_541945260" CREATED="1428501686615" MODIFIED="1428762397037">
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<node TEXT="leds.bottom.left(red, green, blue)" ID="ID_1563349023" CREATED="1428501693664" MODIFIED="1428762397037">
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<node TEXT="leds.bottom.right(red, green, blue)" ID="ID_498353056" CREATED="1428501700628" MODIFIED="1428762397038">
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<node TEXT="Les LEDs des capteurs de proximit&#xe9;" ID="ID_295138945" CREATED="1428501706292" MODIFIED="1428762397038">
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<node TEXT="Les LEDs des boutons" ID="ID_684193020" CREATED="1428501822560" MODIFIED="1428762397040">
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<node TEXT="leds.buttons(led 1, led 2, led 3, led 4)" ID="ID_1606132881" CREATED="1428501837947" MODIFIED="1428762397040">
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<node TEXT="La LED du r&#xe9;cepteur t&#xe9;l&#xe9;commande" ID="ID_1596958907" CREATED="1428501863163" MODIFIED="1428762397041">
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<node TEXT="leds.rc(led)" ID="ID_351143384" CREATED="1428501932359" MODIFIED="1428762397041">
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<node TEXT="Les LEDs du capteur de temp&#xe9;rature" ID="ID_995788856" CREATED="1428501940621" MODIFIED="1428762397042">
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<node TEXT="rouge si la temp&#xe9;rature est au dessus de 28&#xb0;C" ID="ID_820054266" CREATED="1428501981229" MODIFIED="1428922034531">
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<node TEXT="rouge et bleu entre 28&#xb0; et 15&#xb0;" ID="ID_1547561622" CREATED="1428501989568" MODIFIED="1428762397043">
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<node TEXT="Cr&#xe9;ation de son depuis un ordinateur" ID="ID_899165855" CREATED="1428502872380" MODIFIED="1428762476406">
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<node TEXT="-1 arr&#xea;te de jouer un son" ID="ID_1245791936" CREATED="1428503005565" MODIFIED="1428762502711">
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<node TEXT="2 son des boutons fl&#xe9;ch&#xe9;s" ID="ID_121042123" CREATED="1428503005567" MODIFIED="1428762502715">
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<node TEXT="4 son de chute libre (peureux)" ID="ID_1748814165" CREATED="1428503005569" MODIFIED="1428762502716">
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<node TEXT="6 son de suivi d&apos;objet" ID="ID_1519741434" CREATED="1428503005570" MODIFIED="1428762502718">
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<node TEXT="d&#xe9;tecteur de t&#xe9;l&#xe9;commande infrarouge compatible RC5" ID="ID_394614860" CREATED="1428503245585" MODIFIED="1428762476408">
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<node TEXT="Timer (minuterie)" ID="ID_1390262062" CREATED="1428503271502" MODIFIED="1428762397033">
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<node TEXT="deux timers" ID="ID_347871736" CREATED="1428503286433" MODIFIED="1428762476408">
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<node TEXT="p&#xe9;riode du timer 0 en milliseconde" ID="ID_895668428" CREATED="1428503341071" MODIFIED="1428762502719">
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<node TEXT="Ev&#xe9;nements timer0 et timer1" ID="ID_664241015" CREATED="1428503365219" MODIFIED="1428762491765">
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<node TEXT="Biblioth&#xe8;que standard de fonctions natives - ASEBA &amp; Robots" LOCALIZED_STYLE_REF="AutomaticLayout.level,2" ID="ID_451556254" CREATED="1428068812506" MODIFIED="1428920067663" LINK="https://aseba.wikidot.com/fr:asebastdnative">
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<node TEXT="math.copy(A,B)&#xa;    Copie le tableau B dans le tableau A, &#xe9;l&#xe9;ment par &#xe9;l&#xe9;ment: Ai=Bi.&#xa;math.fill(A,c)&#xa;    Rempli chaque &#xe9;l&#xe9;ment du tableau A par la constante c: Ai=c.&#xa;math.addscalar(A, B, c)&#xa;    Effectue l&apos;op&#xe9;ration Ai=Bi+c o&#xf9; c est un nombre scalaire.&#xa;math.add(A, B, C)&#xa;    Effectue l&apos;op&#xe9;ration Ai=Bi+Ci o&#xf9; A, B et C sont des tableaux de m&#xea;me taille.&#xa;math.sub(A, B, C)&#xa;    Effectue l&apos;op&#xe9;ration Ai=Bi&#x2212;Ci o&#xf9; A, B et C sont des tableaux de m&#xea;me taille.&#xa;math.mul(A, B, C)&#xa;    Effectue l&apos;op&#xe9;ration Ai=Bi&#x22c5;Ci o&#xf9; A, B et C sont des tableaux de m&#xea;me taille. Ceci n&apos;est pas le produit scalaire.&#xa;math.div(A, B, C)&#xa;    Effectue l&apos;op&#xe9;ration Ai=Bi/Ci where A, B et C sont des tableaux de m&#xea;me taille. Une erreur sera envoy&#xe9;e en cas de division par z&#xe9;ro.&#xa;math.min(A, B, C)&#xa;    &#xc9;crit le plus petit &#xe9;l&#xe9;ment entre B et C dans A o&#xf9; A, B et C sont des tableaux de m&#xea;me taille: Ai=min(Bi,Ci).&#xa;math.max(A, B, C)&#xa;    &#xc9;crit le plus grand &#xe9;lement entre B et C dans A o&#xf9; A, B et C sont des tableaux de m&#xea;me taille: Ai=max(Bi,Ci).&#xa;math.dot(r, A, B, n)&#xa;    Effectue le produit scalaire entre deux tableaux A et B de m&#xea;me taille: r=&#x2211;i(Ai&#x22c5;Bi)2n&#xa;math.stat(V, min, max, mean)&#xa;    Calcule le minimum, le maximum et la moyenne des &#xe9;l&#xe9;ments d&apos;un tableau V.&#xa;math.argbounds(A, argmin, argmax)&#xa;    Fournit les indices argmin et argmax correspondant au minimum respectivement au maximum des &#xe9;l&#xe9;ments de A.&#xa;math.sort(A)&#xa;    Trie le tableau A du minimum au maximum, directement dans A.&#xa;math.muldiv(A, B, C, D)&#xa;    Calcule la multiplication-division en utilisant une pr&#xe9;cision interne de 32\,bits: Ai=Bi&#x22c5;CiDi. Une erreur sera envoy&#xe9;e en cas de division par z&#xe9;ro.&#xa;math.atan2(A, Y, X)&#xa;    Calcule Ai=arctan(YiXi) en utilisant le signe de Yi et Xi pour d&#xe9;terminer le quadrant de sortie, o&#xf9; A, Y et X sont des tableaux de m&#xea;me taille. Si Xi=0 et Yi=0 alors Ai=0..&#xa;math.sin(A, B)&#xa;    Calcule Ai=sin(Bi) o&#xf9; A et B sont deux tableaux de m&#xea;me taille.&#xa;math.cos(A, B)&#xa;    Calcule Ai=cos(Bi) o&#xf9; A et B sont deux tableaux de m&#xea;me taille.&#xa;math.rot2(A, B, angle)&#xa;    Rotation du tableau B par l&apos;angle, &#xe9;crit le r&#xe9;sultat dans A. A et B Doivent &#xea;tre des tableaux de taille 2&#xa;math.sqrt(A, B)&#xa;    Calcule Ai=Bi&#x2212;&#x2212;&#x221a; o&#xf9; A et B sont deux tableaux de m&#xea;me taille.&#xa;math.rand(v)&#xa;    Retourne une valeur al&#xe9;atoire v de intervalle &#x2212;32768:32767." ID="ID_63798629" CREATED="1428920598190" MODIFIED="1428920836075"/>
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<node TEXT="Prise en main" STYLE_REF="Thymio1" POSITION="left" ID="ID_1475818052" CREATED="1428921549502" MODIFIED="1428921912821" LINK="http://irem.univ-reunion.fr/spip.php?article776">
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<node TEXT="Exemples" STYLE_REF="Thymio2" ID="ID_45326957" CREATED="1428919654317" MODIFIED="1428921872645" LINK="https://aseba.wikidot.com/fr:thymioexamples"/>
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<node TEXT="Se procurer le Thymio" STYLE_REF="Thymio1" POSITION="right" ID="ID_525131373" CREATED="1428919677598" MODIFIED="1428920268574" LINK="https://aseba.wikidot.com/fr:thymiobuy"/>
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<node TEXT="Compter en unaire" ID="ID_492582316" CREATED="1428922333878" MODIFIED="1428938844175">
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<node TEXT="Compter en repr&#xe9;sentation binaire" ID="ID_516515284" CREATED="1428922431870" MODIFIED="1428938866483">
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<node TEXT="Avec 2 leds" ID="ID_1506530700" CREATED="1428922478750" MODIFIED="1428941156550"/>
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<node TEXT="Addition binaire" ID="ID_475359128" CREATED="1428922514638" MODIFIED="1428922523308">
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<node TEXT="Avec 4 leds" ID="ID_578452730" CREATED="1428922593062" MODIFIED="1428922623541"/>
<node TEXT="Avec 8 leds" ID="ID_1123507451" CREATED="1428922627062" MODIFIED="1428922631621"/>
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<node TEXT="Soustraction binaire" ID="ID_231320415" CREATED="1428922525326" MODIFIED="1428922533301">
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<node TEXT="Avec 4 leds" ID="ID_1675932644" CREATED="1428922593062" MODIFIED="1428922623541"/>
<node TEXT="Avec 8 leds" ID="ID_1131339024" CREATED="1428922627062" MODIFIED="1428922631621"/>
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