SkyLiCoder
4d1702b577
- 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
15 lines
302 B
C
15 lines
302 B
C
#ifndef ROBOT_H
|
|
#define ROBOT_H
|
|
|
|
/**
|
|
* @brief 机器人初始化,请在开启rtos之前调用.这也是唯一需要放入main函数的函数
|
|
*/
|
|
void RobotInit();
|
|
|
|
/**
|
|
* @brief 机器人任务,放入实时系统以一定频率运行,内部会调用各个应用的任务
|
|
*/
|
|
void RobotTask();
|
|
|
|
#endif
|