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
242 B
C
15 lines
242 B
C
#ifndef GIMBAL_H
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#define GIMBAL_H
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/**
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* @brief 初始化云台,会被RobotInit()调用
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*/
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void GimbalInit();
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/**
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* @brief 云台任务,从gimbal_cmd话题获取控制指令并执行闭环控制
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*/
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void GimbalTask();
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#endif // GIMBAL_H
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