3 Commits

Author	SHA1	Message	Date
SkyLiCoder	9b8e204ff7	feat: add DEBUG mode with host-side PID tuning, motor enable/disable protection ... - Add DEBUG mode (parallel to AUTO/MANUAL) for real-time PID parameter tuning - New 0xA8 debug frame: 12 floats for vision/motor angle PID tuning params - DMMotorSetMode: send zero-velocity before disable, clear PID to prevent jumps - motor_enable topic: pub from robot_cmd, sub in gimbal, controls motor on/off - motor_pid topic: pub from robot_cmd, sub in gimbal, updates motor angle PID - Rename DM motor enums (DM_CMD_ENABLE_MODE/DISABLE_MODE, DM_Motor_Ctrl_Mode_e) - SwitchToAuto/Manual: re-enable motors when switching back from DEBUG mode - Static-allocate enable_msg/pid_tune in GimbalTask to avoid stack churn - Add docs/host_comm_guide.md with Python Tkinter tuning GUI example - Remove ARCHITECTURE.md	2026-05-31 03:49:41 +08:00
SkyLiCoder	d56254d190	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	2026-05-30 01:14:00 +08:00
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