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yRobot-FreeRTOS.xml
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<mxfile host="Electron" modified="2021-02-22T17:01:33.131Z" agent="5.0 (Windows NT 10.0; WOW64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/14.1.8 Chrome/87.0.4280.88 Electron/11.1.1 Safari/537.36" etag="oAq9cqsvWHZSW7EXFxvy" compressed="true" version="14.1.8" type="device" pages="10"><diagram name="1-FreeRTOS" 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0qz37bjJdNl70Wy5Za99a8xbOF0552awItAQsbu8J7BByundtuOHC4FhfeyuBwTZxusOkAfxQt7slm4RYLR9Hillm8xeJRtHiTrTPY45C1TXblYI9D9jqX/eJNPg7hG9wXaXGg4tjjkL8etDvZarjw1hGomovsao6DpfpwE/rwhxBdP9058Rnd7FSNv2hbDalOfjVEEtOBMTb4zjMRZi5jAy3t/bzDKue9EeSlDzCqPvQvP6kIXgWmoQE3mXgGVc3Ds5j57h4vutl8E9tEBoFv7FzGPxAeu4qv2d76oPS1t5m7fKrIa1wr5rN6RTyrNj0ci36fNb1pCUY2xnr4zQdVM4HifTY9wWYH/xR5QwH0T5EPG6IglsR+Yp2cJWSFdL4Px9M+lstt/u1xdGpCrBkinx5PtfagisNo3f8D</diagram><diagram name="4-tasks_Robot" 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</diagram><diagram 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