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
26 lines
328 B
C
26 lines
328 B
C
#include "bsp_init.h"
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#include "robot.h"
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#include "robot_def.h"
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#include "robot_task.h"
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#include "gimbal.h"
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#include "robot_cmd.h"
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void RobotInit()
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{
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__disable_irq();
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BSPInit();
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RobotCMDInit();
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GimbalInit();
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OSTaskInit();
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__enable_irq();
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}
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void RobotTask()
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{
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RobotCMDTask();
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GimbalTask();
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}
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