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

..

gimbal.c

feat: add DEBUG mode with host-side PID tuning, motor enable/disable protection

2026-05-31 03:49:41 +08:00

gimbal.h

refactor: migrate from DJI motors to DM motors, simplify to gimbal-only control

2026-05-29 23:37:36 +08:00

gimbal.md

第一次提交

2026-05-29 17:36:34 +08:00