SkyLiCoder e1a01e6b53 feat: add 0xA9 feedforward frame and wire feedforward controller to motor output ...

- 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

2026-06-07 11:54:23 +08:00

..

robot_cmd.c

feat: add 0xA9 feedforward frame and wire feedforward controller to motor output

2026-06-07 11:54:23 +08:00

robot_cmd.h

refactor: replace vision error_x/y with measure/ref in 0xA5 frame

2026-06-04 13:55:40 +08:00

robot_cmd.md

第一次提交

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