refactor: remove remote control, zero-force mode and emergency stop

- Remove RC_ctrl_t and RemoteControlInit from robot_cmd.c
- Delete GIMBAL_ZERO_FORCE, gimbal_mode_e, Robot_Status_e from robot_def.h
- Remove EmergencyHandler and robot_state from robot_cmd.c
- Remove emergency commands from master_machine.h
- Remove remote_control and can_comm from CMakeLists.txt

CMakeLists.txt

@@ -89,7 +89,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     modules/imu/ins_task.c
     # modules - communication
     modules/master_machine/master_machine.c
-    modules/remote/remote_control.c
     modules/timachine/board_comm.c
     # modules - motor
     modules/motor/DMmotor/dmmotor.c
@@ -135,8 +134,6 @@ target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
     modules/master_machine
     modules/motor/DMmotor
     modules/motor
-    modules/remote
-    modules/can_comm
     modules/message_center
     modules/daemon
     modules/alarm

application/cmd/robot_cmd.c

@@ -3,7 +3,6 @@
 #include "robot_cmd.h"
 /* module */
 #include "controller.h"
-#include "remote_control.h"
 #include "ins_task.h"
 #include "message_center.h"
 #include "general_def.h"
@@ -36,12 +35,6 @@ static Subscriber_t *gimbal_feed_sub;
 static Gimbal_Ctrl_Cmd_s gimbal_cmd_send;
 static Gimbal_Upload_Data_s gimbal_fetch_data;
 
-/* ---- 遥控器 ---- */
-static RC_ctrl_t *rc_data;
-
-/* ---- 机器人状态 ---- */
-static Robot_Status_e robot_state;
-
 /* ---- 激光 ---- */
 static void laser_on(void)
 {
@@ -56,7 +49,6 @@ static void laser_off(void)
 /* ---- 视觉 PID 和卡尔曼滤波器重置 ---- */
 static void VisionPIDReset(void)
 {
-    /* 清零积分项和上次误差 */
     vision_yaw_pid.Iout      = 0;
     vision_yaw_pid.ITerm     = 0;
     vision_yaw_pid.Last_Err  = 0;
@@ -75,7 +67,6 @@ static void VisionPIDReset(void)
     vision_pitch_pid.Output    = 0;
     vision_pitch_pid.Last_Dout = 0;
 
-    /* 重置滤波器状态: x = [0, 0], P = diag(5, 5) */
     memset(yaw_error_kf.xhat_data,   0, yaw_error_kf.xhatSize   * sizeof(float));
     memset(yaw_error_kf.P_data,      0, yaw_error_kf.xhatSize   * yaw_error_kf.xhatSize * sizeof(float));
     memset(pitch_error_kf.xhat_data, 0, pitch_error_kf.xhatSize * sizeof(float));
@@ -89,17 +80,16 @@ static void VisionPIDReset(void)
     filtered_pitch_error = 0;
 }
 
-/* ---- 模式切换处理 ---- */
+/* ---- 模式切换 ---- */
 static void SwitchToAutoMode(void)
 {
     if (current_mode == VISION_MODE_AUTO)
         return;
 
-    /* 同步角度参考值为当前 IMU 角度 */
     gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
     gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data->Pitch;
 
-    vision_data.manual_updated = 0; // 清除手动数据残留
+    vision_data.manual_updated = 0;
     VisionPIDReset();
     current_mode = VISION_MODE_AUTO;
     LOGINFO("[CMD] switched to AUTO mode");
@@ -113,7 +103,7 @@ static void SwitchToManualMode(void)
     gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
     gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data->Pitch;
 
-    vision_data.auto_updated = 0; // 清除自动数据残留
+    vision_data.auto_updated = 0;
     current_mode = VISION_MODE_MANUAL;
     LOGINFO("[CMD] switched to MANUAL mode");
 }
@@ -178,8 +168,6 @@ static void VisionKalmanFilterInit()
 
 void RobotCMDInit()
 {
-    rc_data = RemoteControlInit(&huart5);
-
     gimbal_cmd_pub  = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
     gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
 
@@ -204,16 +192,12 @@ void RobotCMDInit()
     VisionKalmanFilterInit();
 
     Vision_Uart_Init(&huart10);
-
-    robot_state = ROBOT_READY;
     laser_off();
 }
 
 /* ---- 自动 / 视觉追踪模式 ---- */
 static void VisionTrackingSet()
 {
-    gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
-
     if (vision_data.auto_updated)
     {
         vision_data.auto_updated = 0;
@@ -242,32 +226,15 @@ static void VisionTrackingSet()
     gimbal_cmd_send.pitch = gimbal_pitch_ref;
 }
 
-/* ---- 手动模式 ---- */
+/* ---- 手动模式: 上位机角度参考 ---- */
 static void ManualModeSet()
 {
-    if (vision_data.manual_updated && vision_data.zero_force)
+    if (vision_data.manual_updated)
     {
-        /* 零力子模式 */
         vision_data.manual_updated = 0;
-        gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
-        gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
-        gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data->Pitch;
-    }
-    else if (vision_data.manual_updated)
-    {
-        /* 上位机角度参考 */
-        vision_data.manual_updated = 0;
-        gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
         gimbal_yaw_ref   = vision_data.yaw_ref;
         gimbal_pitch_ref = vision_data.pitch_ref;
     }
-    else
-    {
-        /* 遥控器 */
-        gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
-        gimbal_yaw_ref   -= 0.0025f * (float)rc_data[TEMP].rc.rocker_r_;
-        gimbal_pitch_ref += 0.00125f * (float)rc_data[TEMP].rc.rocker_r1;
-    }
 
     if (gimbal_pitch_ref > 30.0f)
         gimbal_pitch_ref = 30.0f;
@@ -278,43 +245,12 @@ static void ManualModeSet()
     gimbal_cmd_send.pitch = gimbal_pitch_ref;
 }
 
-/* ---- 急停 ---- */
-static void EmergencyHandler()
-{
-    if (switch_is_down(rc_data[TEMP].rc.switch_right))
-    {
-        robot_state = ROBOT_STOP;
-        gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
-        gimbal_cmd_send.yaw   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
-        gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data->Pitch;
-        laser_off();
-    }
-
-    if (!switch_is_down(rc_data[TEMP].rc.switch_right) && robot_state == ROBOT_STOP)
-    {
-        robot_state = ROBOT_READY;
-        gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
-        gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data->Pitch;
-        LOGINFO("[CMD] reinstate, robot ready");
-    }
-}
-
 void RobotCMDTask()
 {
     SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
 
-    /* 优先处理串口命令 (模式切换 / 激光等) */
     ProcessCommand();
 
-    EmergencyHandler();
-
-    if (robot_state == ROBOT_STOP)
-    {
-        PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send);
-        return;
-    }
-
-    /* 根据当前模式执行控制 */
     if (current_mode == VISION_MODE_AUTO)
         VisionTrackingSet();
     else

application/gimbal/gimbal.c

@@ -84,17 +84,8 @@ void GimbalTask()
 {
     SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
 
-    if (gimbal_cmd_recv.gimbal_mode == GIMBAL_ZERO_FORCE)
-    {
-        /* 零力模式: 保持当前IMU角度, 电机不主动出力 */
-        DMMotorSetRef(yaw_motor, gimbal_IMU_data->YawTotalAngle);
-        DMMotorSetRef(pitch_motor, gimbal_IMU_data->Pitch);
-    }
-    else
-    {
     DMMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw);
     DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
-    }
 
     gimbal_feedback_data.gimbal_imu_data = gimbal_IMU_data;
     PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);

application/robot_def.h

@@ -24,13 +24,6 @@
 
 #pragma pack(1)
 
-/* 机器人状态 */
-typedef enum
-{
-    ROBOT_STOP = 0,
-    ROBOT_READY,
-} Robot_Status_e;
-
 /* 应用状态 */
 typedef enum
 {
@@ -39,19 +32,11 @@ typedef enum
     APP_ERROR,
 } App_Status_e;
 
-/* 云台模式 */
-typedef enum
-{
-    GIMBAL_ZERO_FORCE = 0,
-    GIMBAL_GYRO_MODE,
-} gimbal_mode_e;
-
 /* ---- CMD 发布给 gimbal 的控制数据 ---- */
 typedef struct
 {
     float yaw;        // yaw 目标角度 (degrees, multi-turn)
     float pitch;      // pitch 目标角度 (degrees)
-    gimbal_mode_e gimbal_mode;
 } Gimbal_Ctrl_Cmd_s;
 
 /* ---- gimbal 发布给 CMD 的反馈数据 ---- */