3 Commits

Author	SHA1	Message	Date
SkyLiCoder	9b52a9ec64	refactor: rename opencv module to master_machine, remove old master_process ... - Delete modules/master_machine/ (old seasky protocol vision module) - Rename modules/opencv/ → modules/master_machine/ - Rename opencv.h/c → master_machine.h/c - Remove master_process.h include from robot_def.h and ins_task.c - Remove VisionSetAltitude() call from ins_task.c (send not needed) - Update all #include paths and CMakeLists.txt	2026-05-29 23:52:27 +08:00
SkyLiCoder	4d1702b577	refactor: migrate from DJI motors to DM motors, simplify to gimbal-only control ... - Rewrite DM motor driver based on DM_6220 reference protocol (MIT/PosVel/Velocity modes) - Use velocity control mode: MCU runs angle PID with IMU feedback, motor handles speed loop - Rewrite vision protocol with 3 frame types (0xA5 auto data, 0xA6 manual data, 0xA7 command) - Decouple serial parsing (opencv module) from mode switching (robot_cmd module) - Implement dual-loop architecture: vision PID outer loop → angle ref → motor PID inner loop - Add KF/PID reset on mode switch transitions - Merge motor_reverse_flag and feedback_reverse_flag into single output_reverse flag - Remove DMMotorEnable/DMMotorStop (motor always runs, controlled by angle ref) - Remove unused modules: DJI/LK/HT/step/servo motors, chassis, shoot, referee - Add ExitRun0Mode() for STM32H723 power supply configuration - Clean up CMakeLists: 115 → 76 C source files	2026-05-29 23:37:36 +08:00
SkyLiCoder	5b3333125d	第一次提交	2026-05-29 17:36:34 +08:00