- host 0xA9 frame → master_machine decode → robot_cmd publish
via gimbal_feedforward topic → gimbal subscribe → yaw_motor.feed_input
- add DM_Feedforward_Controller_s with Kp and feed_input fields
- add feedforward term (Kp * feed_input) to motor control output
- add DM_Feedforward_Kp to motor init config
- Vision PID: increase Kp to 100, zero Ki/Kd, tighten CoefA/B
- Gimbal angle PID: reduce to P-only (Kp=1), lower IntegralLimit,
remove derivative/output filters, unify MaxOut to 2000
- Manual mode: hold last velocity command on lost frames instead of
stopping
- Debug mode: reset debug_updated flag on mode switch
- Remove stale .vscode settings copy
- 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
- 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
SkyLiCoder