锁框pid调好了

MDK-ARM/AUTO_CHASSIS.uvoptx

@@ -866,7 +866,7 @@
 
   <Group>
     <GroupName>User/bsp</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm

@@ -29,37 +29,22 @@ Project File Date:  06/04/2025
 Build target 'AUTO_CHASSIS'
 Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\gpio.o' to 'ELE_CHASSIS\gpio_1.o'.
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.
-compiling error_detect_task.c...
-compiling config.c...
-compiling navi_task.c...
-compiling cmd_task.c...
-compiling can_task.c...
-compiling init.c...
-compiling Calc_task.c...
 compiling Chassis.c...
-compiling freertos.c...
-compiling chassis_task.c...
-compiling user_task.c...
-compiling action_task.c...
-compiling remote_control_task.c...
-compiling nuc_task.c...
-compiling atti_esti.c...
-compiling cmd.c...
-compiling nuc.c...
 compiling can_use.c...
 ..\User\device\can_use.c(82): warning:  #177-D: function "CAN_Sick_Receive_mini"  was declared but never referenced
   static void CAN_Sick_Receive_mini(CAN_SickFeedback_mini_t *feedback,const uint8_t *raw) {
 ..\User\device\can_use.c: 1 warning, 0 errors
-compiling bmi088.c...
+compiling vofa.c...
 compiling map.c...
+compiling navi.c...
 compiling remote_control.c...
 ..\User\device\remote_control.c(73): warning:  #177-D: function "DR16_DataCorrupted"  was declared but never referenced
   static bool DR16_DataCorrupted(const DR16_t *dr16) {
 ..\User\device\remote_control.c: 1 warning, 0 errors
-compiling navi.c...
+compiling cmd.c...
-compiling vofa.c...
+compiling nuc.c...
 linking...
-Program Size: Code=92292 RO-data=1632 RW-data=1084 ZI-data=34796  
+Program Size: Code=89416 RO-data=1636 RW-data=1084 ZI-data=34796  
 "ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 2 Warning(s).
 
 <h2>Software Packages used:</h2>
@@ -84,7 +69,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:10
+Build Time Elapsed:  00:00:04
 </pre>
 </body>
 </html>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep

@@ -160,7 +160,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
-I (../User/task\user_task.h)(0x685844EB)
+I (../User/task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
@@ -175,7 +175,7 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/bsp/bsp.h)(0x663B6621)
@@ -1542,7 +1542,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
-F (..\User\Module\Chassis.c)(0x6867C614)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\chassis.o --omf_browse ele_chassis\chassis.crf --depend ele_chassis\chassis.d)
+F (..\User\Module\Chassis.c)(0x6868028C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\chassis.o --omf_browse ele_chassis\chassis.crf --depend ele_chassis\chassis.d)
 I (..\User\Module\Chassis.h)(0x6867AD71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685CBDA2)
@@ -1589,7 +1589,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
@@ -1602,8 +1602,8 @@ I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
 I (../User/Algorithm/kalman.h)(0x686430C8)
 I (../User/bsp\pwm.h)(0x685AE3BC)
-I (..\User\Module\define.h)(0x6866E077)
+I (..\User\Module\define.h)(0x686803C0)
-F (..\User\Module\config.c)(0x6867A34F)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
+F (..\User\Module\config.c)(0x6867FC98)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
 I (..\User\Module\config.h)(0x683FAE78)
 I (..\User\Module\Chassis.h)(0x6867AD71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@@ -1651,7 +1651,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
@@ -1669,7 +1669,7 @@ I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 I (../User/bsp/flash.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-F (..\User\Module\define.h)(0x6866E077)()
+F (..\User\Module\define.h)(0x686803C0)()
 F (..\User\bsp\bsp_delay.c)(0x663B6621)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\bsp_delay.o --omf_browse ele_chassis\bsp_delay.crf --depend ele_chassis\bsp_delay.d)
 I (..\User\bsp\bsp_delay.h)(0x663B6621)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@@ -2129,7 +2129,7 @@ I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/task\user_task.h)(0x685844EB)
+I (../User/task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
@@ -2146,7 +2146,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x6867AD71)
 I (../User/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -2162,7 +2162,7 @@ I (../User/device/navi.h)(0x685FAF15)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\user_task.c)(0x685A85B8)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\user_task.o --omf_browse ele_chassis\user_task.crf --depend ele_chassis\user_task.d)
-I (../User/task\user_task.h)(0x685844EB)
+I (../User/task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@@ -2223,7 +2223,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -2285,7 +2285,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
@@ -2298,7 +2298,7 @@ I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
 I (../User/Algorithm/kalman.h)(0x686430C8)
 I (../User/bsp\pwm.h)(0x685AE3BC)
-I (..\User\task\user_task.h)(0x685844EB)
+I (..\User\task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -2318,7 +2318,7 @@ I (../User/bsp/bsp_delay.h)(0x663B6621)
 I (../User/device/vofa.h)(0x685B9AD7)
 F (..\User\task\atti_esti.c)(0x685CE600)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\atti_esti.o --omf_browse ele_chassis\atti_esti.crf --depend ele_chassis\atti_esti.d)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-I (../User/task\user_task.h)(0x685844EB)
+I (../User/task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@@ -2379,7 +2379,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -2398,8 +2398,8 @@ I (..\User\task\atti_esti.h)(0x663B6622)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h)(0x64D895DA)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
 I (../User/device/vofa.h)(0x685B9AD7)
-F (..\User\task\can_task.c)(0x68655C98)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\can_task.o --omf_browse ele_chassis\can_task.crf --depend ele_chassis\can_task.d)
+F (..\User\task\can_task.c)(0x6867F7D7)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\can_task.o --omf_browse ele_chassis\can_task.crf --depend ele_chassis\can_task.d)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@@ -2442,7 +2442,12 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (..\User\task\user_task.h)(0x685844EB)
+I (../User/device/cmd.h)(0x6867ACA8)
+I (../User/device/device.h)(0x666C4CF9)
+I (../User/device/Action.h)(0x67CAEC48)
+I (../User/bsp/bsp_usart.h)(0x6817565B)
+I (../Core/Inc/usart.h)(0x664876DC)
+I (..\User\task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -2464,19 +2469,14 @@ I (../User/Algorithm/ahrs.h)(0x663B6620)
 I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
-I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/cmd.h)(0x6867ACA8)
-I (../User/device/Action.h)(0x67CAEC48)
-I (../User/bsp/bsp_usart.h)(0x6817565B)
-I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
 I (../User/Algorithm/kalman.h)(0x686430C8)
 I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x685FAF15)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\task\cmd_task.c)(0x6843EC4E)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\cmd_task.o --omf_browse ele_chassis\cmd_task.crf --depend ele_chassis\cmd_task.d)
+F (..\User\task\cmd_task.c)(0x6867E85B)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\cmd_task.o --omf_browse ele_chassis\cmd_task.crf --depend ele_chassis\cmd_task.d)
-I (..\User\task\user_task.h)(0x685844EB)
+I (..\User\task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@@ -2537,7 +2537,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -2553,7 +2553,7 @@ I (../User/device/navi.h)(0x685FAF15)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\nuc_task.c)(0x685A5054)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\nuc_task.o --omf_browse ele_chassis\nuc_task.crf --depend ele_chassis\nuc_task.d)
-I (..\User\task\user_task.h)(0x685844EB)
+I (..\User\task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@@ -2614,7 +2614,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -2634,7 +2634,7 @@ I (../User/bsp/protocol.h)(0x6851732E)
 F (..\User\task\error_detect_task.c)(0x67E914EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\error_detect_task.o --omf_browse ele_chassis\error_detect_task.crf --depend ele_chassis\error_detect_task.d)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (..\User\task\user_task.h)(0x685844EB)
+I (..\User\task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@@ -2694,7 +2694,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -2758,7 +2758,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../User/device/cmd.h)(0x6867ACA8)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (..\User\task\user_task.h)(0x685844EB)
+I (..\User\task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -2780,7 +2780,7 @@ I (../User/Algorithm/ahrs.h)(0x663B6620)
 I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
@@ -2790,7 +2790,7 @@ I (../User/device/navi.h)(0x685FAF15)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\Calc_task.c)(0x682338DB)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\calc_task.o --omf_browse ele_chassis\calc_task.crf --depend ele_chassis\calc_task.d)
-I (..\User\task\user_task.h)(0x685844EB)
+I (..\User\task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@@ -2851,7 +2851,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -2867,7 +2867,7 @@ I (../User/device/navi.h)(0x685FAF15)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\navi_task.c)(0x68553927)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\navi_task.o --omf_browse ele_chassis\navi_task.crf --depend ele_chassis\navi_task.d)
-I (..\User\task\user_task.h)(0x685844EB)
+I (..\User\task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@@ -2928,7 +2928,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -2995,7 +2995,7 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
-I (..\User\task\user_task.h)(0x685844EB)
+I (..\User\task\user_task.h)(0x6867E857)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -3013,7 +3013,7 @@ I (../User/Module/Chassis.h)(0x6867AD71)
 I (../User/Algorithm/pid.h)(0x685CBDA2)
 I (../User/device/bmi088.h)(0x685CA251)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
@@ -3306,7 +3306,7 @@ I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/Algorithm/pid.h)(0x685CBDA2)
 I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x6867AD71)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/device/cmd.h)(0x6867ACA8)
@@ -3318,8 +3318,8 @@ I (../User/Algorithm/kalman.h)(0x686430C8)
 I (../User/device/navi.h)(0x685FAF15)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\device\can_use.c)(0x68656DA7)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\can_use.o --omf_browse ele_chassis\can_use.crf --depend ele_chassis\can_use.d)
+F (..\User\device\can_use.c)(0x6867F7D7)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\can_use.o --omf_browse ele_chassis\can_use.crf --depend ele_chassis\can_use.d)
-I (..\User\device\can_use.h)(0x6864D417)
+I (..\User\device\can_use.h)(0x6867F7D7)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@@ -3362,13 +3362,17 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../User/bsp/bsp.h)(0x663B6621)
+I (..\User\device\cmd.h)(0x6867ACA8)
+I (..\User\device\device.h)(0x666C4CF9)
+I (..\User\device\Action.h)(0x67CAEC48)
+I (../User/bsp/bsp_usart.h)(0x6817565B)
+I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
-I (..\User\device\device.h)(0x666C4CF9)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
-I (../User/Module/define.h)(0x6866E077)
+I (../User/Module/define.h)(0x686803C0)
 F (..\User\device\cmd.c)(0x6867ACC0)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\cmd.o --omf_browse ele_chassis\cmd.crf --depend ele_chassis\cmd.d)
 I (..\User\device\cmd.h)(0x6867ACA8)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@@ -3417,7 +3421,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../Core/Inc/gpio.h)(0x664876DA)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-I (../User/Module/define.h)(0x6866E077)
+I (../User/Module/define.h)(0x686803C0)
 F (..\User\device\nuc.c)(0x6867CC81)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\nuc.o --omf_browse ele_chassis\nuc.crf --depend ele_chassis\nuc.d)
 I (..\User\device\nuc.h)(0x685A5054)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
@@ -3473,7 +3477,7 @@ I (../User/Algorithm/ahrs.h)(0x663B6620)
 I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
-I (../User/device/can_use.h)(0x6864D417)
+I (../User/device/can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
@@ -3482,7 +3486,7 @@ I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/bsp/protocol.h)(0x6851732E)
 I (../User/bsp/crc16.h)(0x67FB9F9F)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-I (../User/Module/define.h)(0x6866E077)
+I (../User/Module/define.h)(0x686803C0)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
 F (..\User\device\vofa.c)(0x685D0043)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\vofa.o --omf_browse ele_chassis\vofa.crf --depend ele_chassis\vofa.d)
 I (..\User\device\vofa.h)(0x685B9AD7)
@@ -3537,7 +3541,7 @@ I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../User/bsp/bsp.h)(0x663B6621)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
-I (../User/Module/define.h)(0x6866E077)
+I (../User/Module/define.h)(0x686803C0)
 F (..\User\device\Action.c)(0x6809A469)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\action.o --omf_browse ele_chassis\action.crf --depend ele_chassis\action.d)
 I (../Core/Inc/tim.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -3633,7 +3637,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (..\User\device\cmd.h)(0x6867ACA8)
-I (../User/Module/define.h)(0x6866E077)
+I (../User/Module/define.h)(0x686803C0)
 F (..\User\device\navi.c)(0x685FAF15)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\navi.o --omf_browse ele_chassis\navi.crf --depend ele_chassis\navi.d)
 I (..\User\device\navi.h)(0x685FAF15)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3689,11 +3693,11 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (..\User\device\bmi088.h)(0x685CA251)
 I (..\User\device\map.h)(0x682338DB)
-I (..\User\device\can_use.h)(0x6864D417)
+I (..\User\device\can_use.h)(0x6867F7D7)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-I (../User/Module/define.h)(0x6866E077)
+I (../User/Module/define.h)(0x686803C0)
 F (..\User\device\remote_control.c)(0x6863C5BC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\remote_control.o --omf_browse ele_chassis\remote_control.crf --depend ele_chassis\remote_control.d)
 I (..\User\device\remote_control.h)(0x6818B568)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
@@ -3747,7 +3751,7 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
-I (../User/Module/define.h)(0x6866E077)
+I (../User/Module/define.h)(0x686803C0)
 F (../USB_DEVICE/App/usb_device.c)(0x664876DC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\usb_device.o --omf_browse ele_chassis\usb_device.crf --depend ele_chassis\usb_device.d)
 I (../USB_DEVICE/App/usb_device.h)(0x664876DC)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x64D895D7)

MDK-ARM/ELE_CHASSIS/can_task.d

@@ -43,6 +43,12 @@ ele_chassis\can_task.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h
 ele_chassis\can_task.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h
 ele_chassis\can_task.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h
 ele_chassis\can_task.o: ../User/bsp/bsp.h
+ele_chassis\can_task.o: ../User/device/cmd.h
+ele_chassis\can_task.o: ../User/device/device.h
+ele_chassis\can_task.o: ../User/device/Action.h
+ele_chassis\can_task.o: ../User/bsp/bsp_usart.h
+ele_chassis\can_task.o: ../Core/Inc/usart.h
+ele_chassis\can_task.o: ../User/device/cmd.h
 ele_chassis\can_task.o: ..\User\task\user_task.h
 ele_chassis\can_task.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h
 ele_chassis\can_task.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
@@ -65,12 +71,6 @@ ele_chassis\can_task.o: ../User/Algorithm/ahrs.h
 ele_chassis\can_task.o: ../User/Algorithm/user_math.h
 ele_chassis\can_task.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\float.h
 ele_chassis\can_task.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\math.h
-ele_chassis\can_task.o: ../User/device\device.h
-ele_chassis\can_task.o: ../User/device/cmd.h
-ele_chassis\can_task.o: ../User/device/Action.h
-ele_chassis\can_task.o: ../User/bsp/bsp_usart.h
-ele_chassis\can_task.o: ../Core/Inc/usart.h
-ele_chassis\can_task.o: ../User/device/cmd.h
 ele_chassis\can_task.o: ../User/Algorithm/filter.h
 ele_chassis\can_task.o: ../User/Algorithm/kalman.h
 ele_chassis\can_task.o: ../User/bsp\pwm.h

MDK-ARM/ELE_CHASSIS/can_use.d

@@ -43,10 +43,15 @@ ele_chassis\can_use.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h
 ele_chassis\can_use.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h
 ele_chassis\can_use.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h
 ele_chassis\can_use.o: ../User/bsp/bsp.h
+ele_chassis\can_use.o: ..\User\device\cmd.h
+ele_chassis\can_use.o: ..\User\device\device.h
+ele_chassis\can_use.o: ..\User\device\Action.h
+ele_chassis\can_use.o: ../User/bsp/bsp_usart.h
+ele_chassis\can_use.o: ../Core/Inc/usart.h
+ele_chassis\can_use.o: ..\User\device\cmd.h
 ele_chassis\can_use.o: ../User/Algorithm/user_math.h
 ele_chassis\can_use.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\float.h
 ele_chassis\can_use.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\math.h
 ele_chassis\can_use.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\stdbool.h
-ele_chassis\can_use.o: ..\User\device\device.h
 ele_chassis\can_use.o: ../User/Algorithm/error_detect.h
 ele_chassis\can_use.o: ../User/Module/define.h

User/Module/Chassis.c

@@ -167,8 +167,6 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos,CMD_t *ctrl) {
 				
 	    case NAVI: 
 #ifdef radar					
-			if(ctrl->C_cmd.nuc_radar == ANGLE ||ctrl->C_cmd.nuc_radar == RADAR_RESET){
-      //雷达纠正时就用正常解算
 				c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
 			  (c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
 				(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));	
@@ -195,46 +193,43 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos,CMD_t *ctrl) {
 				c->hopemotorout.rotor6020_jiesuan_1[3]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
 																			(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
 	    break;
-		}
-    else if(ctrl->C_cmd.nuc_radar == WORLD){			
 			
-			//利用雷达反馈的自身角度把机器人坐标系转到世界坐标系
+//			//利用雷达反馈的自身角度把机器人坐标系转到世界坐标系
-			   c->chassis_yaw = ctrl->nuc.yaw* (M_PI / 180.0f);
+//			   c->chassis_yaw = ctrl->nuc.yaw* (M_PI / 180.0f);
-			   float cos_yaw = cosf(c->chassis_yaw);
+//			   float cos_yaw = cosf(c->chassis_yaw);
-         float sin_yaw = sinf(c->chassis_yaw);
+//         float sin_yaw = sinf(c->chassis_yaw);
-			 
+//			 
-			   // 将速度从世界坐标系转换到底盘坐标系
+//			   // 将速度从世界坐标系转换到底盘坐标系
-         float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
+//         float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
-         float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
+//         float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
- 
+// 
-			   //解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
+//			   //解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
-	       c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
+//	       c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
-	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
+//	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
-         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
+//         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
-  
+//  
-				 c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
+//				 c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
-	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
+//	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
-         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
+//         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
- 
+// 
-	       c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
+//	       c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
-	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
+//	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
-         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
+//         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
- 
+// 
-         c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
+//         c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
-	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
+//	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
-         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
+//         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
-	
+//	
-		     //解算得到6020角度（-180°——+180°）
+//		     //解算得到6020角度（-180°——+180°）
-         c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
+//         c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
-																			 (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
+//																			 (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
-         c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
+//         c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
-				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
+//				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
-         c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
+//         c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
-				                               (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
+//				                               (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
- 	       c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
+// 	       c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
-				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);  
+//				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);  
-				break;
+//				break;																
-			}																		
 #elif defined(action_sick)
       if(ctrl->C_cmd.nuc_radar == WORLD && ctrl->C_cmd.dribble == Pause){
 				//运球时锁死
@@ -322,29 +317,29 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos,CMD_t *ctrl) {
 }
 
 //利用c板yaw纠正底盘角度
-//void Chassis_AngleCompensate(Chassis_t *c,CMD_t *ctrl) {
+void Chassis_AngleCompensate(Chassis_t *c,CMD_t *ctrl) {
-//  // 将 IMU 的 yaw 从 [+180°, 0,-180°] 转换到 [0°, 360°]
+  // 将 IMU 的 yaw 从 [+180°, 0,-180°] 转换到 [0°, 360°]
-//  c->angle_current = - AngleChange(DEGREE, c->pos088.imu_eulr.yaw);
+  c->angle_current = - AngleChange(DEGREE, c->pos088.imu_eulr.yaw);
-//  if (c->angle_current < 0) c->angle_current += 360.0f;
+  if (c->angle_current < 0) c->angle_current += 360.0f;
-//	CircleAdd(&c->set_point.yaw, ctrl->Vw, 360.0f);
+	CircleAdd(&c->set_point.yaw, ctrl->Vw, 360.0f);
 
-//	c->yaw_out = PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_current,c->set_point.yaw);
+	c->yaw_out = PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_current,c->set_point.yaw);
+}
+
+
+//void Chassis_AngleCompensate(Chassis_t *c,CMD_t *ctrl) {
+//	fp32 current_angle;
+//	
+//  if(c->move_vec.Vw== 0){
+//		 c->angle_piancha=current_angle-c->angle_current;		
+//	}
+//  else{
+//		current_angle = c->angle_current;			
+//    c->angle_piancha=0;
 //	}	
 
-
+//	c->yaw_out = -PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_piancha,0);
-void Chassis_AngleCompensate(Chassis_t *c,CMD_t *ctrl) {
+//}
-	fp32 current_angle;
-	
-  if(c->move_vec.Vw== 0){
-		 c->angle_piancha=current_angle-c->angle_current;		
-	}
-  else{
-		current_angle = c->angle_current;			
-    c->angle_piancha=0;
-	}	
-
-	c->yaw_out = -PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_piancha,0);
-}
 
 //根据陀螺仪反馈的数据来防止速度过快时侧翻
 void Chassis_RolPrevent(Chassis_t *c){	
@@ -370,60 +365,11 @@ void nuc_angle_correct(Chassis_t *c,CMD_t *ctrl){
  fp32 detla_angle; 
 	//雷达数据必须滤波，否则波形是0和正常数组成的矩形
   ctrl->nuc.angle = LowPassFilter2p_Apply(&(c->filled[5]),ctrl->nuc.angle);		
-	//卡尔曼滤波
-//ctrl->nuc.vw = KalmanFilter(&c->kalman_filled[0], ctrl->nuc.vw);	
 	
  detla_angle = PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.angle,0);	
  c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,detla_angle);	
 }
 
-//uint8_t angle_locked;          // 角度锁定标志
-//float locked_target_angle;  // 锁定时的目标角度
-//uint32_t angle_lock_timer = 0;     // 锁定计时器
-//float normalize_angle(float angle) {
-//    while(angle < 0) angle += 360;
-//    while(angle >= 360) angle -= 360;
-//    return angle;
-//}
-
-//// 计算最短路径角度差（返回-180~180之间的差值）
-//float angle_difference(float current, float target) {
-//    float diff = target - current;
-//    if(diff > 180) diff -= 360;
-//    else if(diff < -180) diff += 360;
-//    return diff;
-//}
-//void nuc_angle_correct(Chassis_t *c, CMD_t *ctrl) {
-//    fp32 detla_angle;
-//    // 雷达数据滤波
-//    ctrl->nuc.angle = LowPassFilter2p_Apply(&(c->filled[5]), ctrl->nuc.angle);
-
-//    if(c->mode != NAVI|| ctrl->C_cmd.nuc_radar != ANGLE||(c->move_vec.Vx||c->move_vec.Vy)){
-//      angle_locked = 0;  // 解锁		
-//      angle_lock_timer = 0;			
-//		} 
-//    if(ctrl->nuc.angle != 0){
-//			if(angle_locked == 0){
-//	locked_target_angle = normalize_angle(c->angle_current - ctrl->nuc.angle);
-//        angle_locked = 1;  	
-//         angle_lock_timer = HAL_GetTick(); // 记录锁定时间				
-//			}
-//		}	
-//     if(angle_locked){       
-//        if(fabs(angle_difference(c->angle_current, locked_target_angle)) < 1){
-//            // 误差小于阈值时开始计时
-//            if((HAL_GetTick() - angle_lock_timer) > 50){
-//                angle_locked = 0;
-//            }
-//        } else {
-//            // 误差变大则重置计时
-//            angle_lock_timer = HAL_GetTick();
-//        }
-//    }		
-// detla_angle = PID_calc(&(c->pid.chassis_RadaranglePID),c->angle_current,locked_target_angle);	
-// c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,detla_angle);		
-//}
-
 //雷达运用sick来校准
 void radar_sick_calibration(Chassis_t *c,CMD_t *ctrl){
 	
@@ -466,8 +412,8 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 		case RC:
 	   c->move_vec.Vx = ctrl->Vx*ctrl->throttle*9500;
      c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;		
-	   c->move_vec.Vw = ctrl->Vw*ctrl->throttle*6000;
+	   c->move_vec.Vw = ctrl->Vw*15000;
-//		 c->move_vec.Vw = c->yaw_out*ctrl->throttle;
+		 BSP_PWM_Stop(BSP_PWM_BUZZER);
 	   break;	
 		
 	  case STOP:
@@ -481,10 +427,8 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 		  case ANGLE:
 	     c->move_vec.Vx = ctrl->Vx*95000;
        c->move_vec.Vy = ctrl->Vy*95000;			 
-//	     c->move_vec.Vw = c->radar_yaw*400;
        c->move_vec.Vw = c->radar_yaw;			
-			
+       Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.angle) < 1 && ctrl->nuc.angle != 0));							 	  
-//       Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.vw) < 1 && ctrl->nuc.vw != 0));							 	  
 		  break;
 			 
 		  case WORLD:
@@ -505,7 +449,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 #else
          c->move_vec.Vx = ctrl->Vx*ctrl->throttle*9500;
          c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;
-	       c->move_vec.Vw = ctrl->Vw*ctrl->throttle*6000;	 
+	       c->move_vec.Vw = ctrl->Vw*15000;	 
 #endif
 			break;
       case NAVI:
@@ -519,7 +463,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
   } 
 	
   //防翻
-  Chassis_RolPrevent(c);  
+//  Chassis_RolPrevent(c);  
 	
   //进行滤波	 
 	c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[0]),c->move_vec.Vx);

User/Module/config.c

@@ -38,17 +38,17 @@ static const ConfigParam_t param_chassis ={
 			.out_limit =6000.0f,							
 		},
 		 .RadarAngle_param = {
-       .p = 40.0f,
+       .p = 22.0f,
-			 .i = 0.01f,
+			 .i = 20.0f,
-			 .d = 1000.0f,
+			 .d = 800.0f,
 			 .i_limit = 100.0f,
-		   .out_limit =1500.0f,
+		   .out_limit =2000.0f,
 	 },	
 		 .RadarSpeed_param = {
        .p = 7.0f,
-			 .i = 0.01f,
+			 .i = 0.1f,
 			 .d = 50.0f,
-	    .i_limit = 500.0f,
+	    .i_limit = 1000.0f,
 			.out_limit =8000.0f, 
 	 },		 
 	 .SickVx_param = {

User/Module/define.h

@@ -25,8 +25,8 @@
 
 /*导航方式*/ 
 
-	 #define radar                //雷达
+	 //#define radar                //雷达
-	 //#define action_sick          //码盘sick跑点
+	 #define action_sick          //码盘sick跑点
 	 
 
 /*sick数据*/    
@@ -37,7 +37,7 @@
 	 
 /*vofa*/
    //#define vofa_usb            //利用c板usb口有线调试
-   #define vofa_uart1            //利用串口1（不用码盘时）进行无线调试
+   //#define vofa_uart1            //利用串口1（不用码盘时）进行无线调试
 	 
 
 

User/device/can_use.h

@@ -3,6 +3,7 @@
 
 #include <cmsis_os2.h>
 #include "bsp_can.h"
+#include "cmd.h"
 
 typedef enum {
   CAN_M3508_M1_ID = 0x201, /* 1 */

readme.md

@@ -54,23 +54,13 @@
 
 7.4加了利用陀螺仪yaw来纠正只有vx，vy时的角度误差
 
+7.5由于我5065用的是占空比控制，受电池电量电压影响大，所以这就是我之前调好一套pid之后过了一会电量下去之后就不好用了的原因，而换成转速控制的话因为启动速度太高不好控制，但今天通过邪修i给到20调了一套适用于半格电池到满电的pid
+
 
 
 目前存在的问题：
 
-1，雷达纠正角度那块pid得调
+1，加一个上电后串口正常亮灯的代码
-
-2,sick辅助雷达校准点位pid得调，差不多了，但调的很抽象，d贼大，没办法
-
-3，加一个上电后串口正常亮灯的代码
-
-
-
-1，码盘运球赛提速,速度差不多了
-
-2,改一下串口代码(已加上，但原代码没出现过什么问题)
-
-3，2号舵6020貌似有问题，平移的时候总是往右面偏一点，导致左右平移都会往前移动，已经过验证