Yodel/25_R1_chassis
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运球赛码盘跑点框架完成

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Yodel 2025-06-28 12:47:52 +08:00
parent 830bfbe962
commit 386cf83917
65 changed files with 5900 additions and 5415 deletions
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337
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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10
MDK-ARM/AUTO_CHASSIS.uvoptx
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@ -160,6 +160,16 @@
<WinNumber>1</WinNumber>
<ItemText>chassis,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>ctrl,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_rc,0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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20
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -29,7 +29,23 @@ 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'.
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
compiling navi.c...
compiling map.c...
compiling cmd.c...
compiling can_use.c...
..\User\device\can_use.c(83): 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 remote_control.c...
..\User\device\remote_control.c(72): 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 vofa.c...
compiling nuc.c...
compiling Chassis.c...
linking...
Program Size: Code=88808 RO-data=1636 RW-data=1060 ZI-data=34588
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 2 Warning(s).
<h2>Software Packages used:</h2>
@ -53,7 +69,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:00
Build Time Elapsed: 00:00:04
</pre>
</body>
</html>

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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
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76
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
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@ -71,7 +71,7 @@ I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/device/device.h)(0x666C4CF9)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
F (../Core/Src/gpio.c)(0x666D939D)(--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\gpio.o --omf_browse ele_chassis\gpio.crf --depend ele_chassis\gpio.d)
I (../Core/Inc/gpio.h)(0x664876DA)
I (../Core/Inc/main.h)(0x666C4A91)
@ -179,7 +179,7 @@ I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -1541,7 +1541,7 @@ 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)(0x685D7576)(--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)(0x685F7304)(--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)(0x685D755E)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
@ -1594,14 +1594,14 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
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/bsp\pwm.h)(0x685AE3BC)
I (..\User\Module\define.h)(0x685D507E)
F (..\User\Module\config.c)(0x685D7576)(--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\define.h)(0x685F735B)
F (..\User\Module\config.c)(0x685E71E2)(--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)(0x685D755E)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@ -1655,7 +1655,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -1666,7 +1666,7 @@ 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)(0x685D507E)()
F (..\User\Module\define.h)(0x685F735B)()
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)
@ -2081,7 +2081,7 @@ 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/bsp/bsp.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\task\init.c)(0x685CE5B4)(--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\init.o --omf_browse ele_chassis\init.crf --depend ele_chassis\init.d)
F (..\User\task\init.c)(0x685F7334)(--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\init.o --omf_browse ele_chassis\init.crf --depend ele_chassis\init.d)
I (../User/Device\bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@ -2148,7 +2148,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2224,7 +2224,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2286,7 +2286,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2378,7 +2378,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2458,7 +2458,7 @@ 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/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2534,7 +2534,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2610,7 +2610,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2689,7 +2689,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2745,7 +2745,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
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)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\task\user_task.h)(0x685844EB)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
@ -2844,7 +2844,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2920,7 +2920,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2935,7 +2935,7 @@ I (../User/device/remote_control.h)(0x6818B568)
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)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/device/device.h)(0x666C4CF9)
I (../User/device/Action.h)(0x67CAEC48)
@ -3294,7 +3294,7 @@ I (../User/Module/Chassis.h)(0x685D755E)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/device/cmd.h)(0x685ACF87)
I (../User/device/cmd.h)(0x685F6F1A)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -3352,9 +3352,9 @@ 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)(0x685D507E)
F (..\User\device\cmd.c)(0x685AD9F4)(--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)(0x685ACF87)
I (../User/Module/define.h)(0x685F735B)
F (..\User\device\cmd.c)(0x685F6F2F)(--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)(0x685F6F1A)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\device.h)(0x666C4CF9)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3401,7 +3401,7 @@ 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)(0x685D507E)
I (../User/Module/define.h)(0x685F735B)
F (..\User\device\nuc.c)(0x685D6E85)(--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)
@ -3446,7 +3446,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
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)(0x685ACF87)
I (..\User\device\cmd.h)(0x685F6F1A)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48)
I (../User/Module/chassis.h)(0x685D755E)
@ -3465,7 +3465,7 @@ 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)(0x685D507E)
I (../User/Module/define.h)(0x685F735B)
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)
@ -3520,7 +3520,7 @@ 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)(0x685D507E)
I (../User/Module/define.h)(0x685F735B)
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)
@ -3566,10 +3566,10 @@ I (..\User\device\device.h)(0x666C4CF9)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../User/bsp/bsp.h)(0x663B6621)
I (../Core/Inc/usart.h)(0x664876DC)
I (..\User\device\cmd.h)(0x685ACF87)
I (..\User\device\cmd.h)(0x685F6F1A)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\device\map.c)(0x685955C7)(--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\map.o --omf_browse ele_chassis\map.crf --depend ele_chassis\map.d)
F (..\User\device\map.c)(0x685F72C6)(--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\map.o --omf_browse ele_chassis\map.crf --depend ele_chassis\map.d)
I (..\User\device\map.h)(0x682338DB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3615,8 +3615,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
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)(0x685ACF87)
I (../User/Module/define.h)(0x685D507E)
I (..\User\device\cmd.h)(0x685F6F1A)
I (../User/Module/define.h)(0x685F735B)
F (..\User\device\navi.c)(0x68553AB8)(--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)(0x68553A70)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3662,7 +3662,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
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)(0x685ACF87)
I (..\User\device\cmd.h)(0x685F6F1A)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -3676,13 +3676,13 @@ I (..\User\device\can_use.h)(0x6811C5CD)
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)(0x685D507E)
F (..\User\device\remote_control.c)(0x685CEFC8)(--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/Module/define.h)(0x685F735B)
F (..\User\device\remote_control.c)(0x685F6C26)(--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)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (..\User\device\cmd.h)(0x685ACF87)
I (..\User\device\cmd.h)(0x685F6F1A)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\device.h)(0x666C4CF9)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3730,7 +3730,7 @@ 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)(0x685D507E)
I (../User/Module/define.h)(0x685F735B)
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)

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57
User/Module/Chassis.c
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@ -276,7 +276,7 @@ void Chassis_RolPrevent(Chassis_t *c){
c->move_vec.Vy = 20000; //往右挪
}
fp32 nuc_detangle;
//nuc纠正角度（右旋偏移量为正，左旋偏移量为负）
void nuc_angle_correct(Chassis_t *c,CMD_t *ctrl){
@ -285,18 +285,10 @@ void nuc_angle_correct(Chassis_t *c,CMD_t *ctrl){
ctrl->nuc.vy = LowPassFilter2p_Apply(&(c->filled[4]),ctrl->nuc.vy);
ctrl->nuc.vw = LowPassFilter2p_Apply(&(c->filled[5]),ctrl->nuc.vw);
//双环pid
// fp32 nuc_detangle;
// nuc_detangle = - PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.vw,0);
// c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,nuc_detangle);
//两个单环pid
if(fabsf(ctrl->nuc.vw)>8){
c->radar_yaw = - PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.vw,0)*8;
}
else{
c->radar_yaw = - PID_calc(&(c->pid.chassis_RadarspeedPID),ctrl->nuc.vw,0)*20;
}
//一个单环pid
c->radar_yaw = - PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.vw*5,0);
}
//雷达运用sick来校准
@ -351,7 +343,6 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
break;
case NAVI:
#ifdef radar
switch (ctrl->C_cmd.nuc_radar){
case ANGLE:
/*
@ -362,21 +353,28 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
目前xy的参数还可以
*/
//跑点
c->move_vec.Vx = ctrl->nuc.vx*2500;
c->move_vec.Vy = ctrl->nuc.vy*2500;
// c->move_vec.Vx = ctrl->nuc.vx*2500;
// c->move_vec.Vy = ctrl->nuc.vy*2500;
//纠正角度
// c->move_vec.Vx = ctrl->Vx*95000;
// c->move_vec.Vy = ctrl->Vy*95000;
c->move_vec.Vx = ctrl->Vx*95000;
c->move_vec.Vy = ctrl->Vy*95000;
c->move_vec.Vw = c->radar_yaw;
Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.vw) < 1 && ctrl->nuc.vw != 0));
break;
case FORBIDDEN:
c->move_vec.Vx = ctrl->Vx*ctrl->throttle*9500;
#ifdef action_sick
c->move_vec.Vx =ctrl->C_navi.vx ;
c->move_vec.Vy =ctrl->C_navi.vy ;
c->move_vec.Vw =ctrl->C_navi.wz ;
#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;
break;
c->move_vec.Vw = ctrl->Vw*ctrl->throttle*6000;
#endif
break;
case RADAR_RESET:
c->move_vec.Vx = c->move_sick.Vx;
@ -385,15 +383,8 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
Buzzer_Control(&c->buzzer_sick_calibration,(c->SICK_FALG == 1));
break;
}
#elif defined(action_sick)
c->move_vec.Vx =ctrl->C_navi.vx ;
c->move_vec.Vy =ctrl->C_navi.vy ;
c->move_vec.Vw =ctrl->C_navi.wz ;
#endif
break;
}
break;
}
//进行滤波
@ -427,8 +418,8 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
// c->vofa_send[2] =c->sick[0];
// c->vofa_send[3] =c->sick_set[0];
// c->vofa_send[4] =c->sick[0] - c->sick[1];
// c->vofa_send[5] =;
// c->vofa_send[6] =;
// c->vofa_send[7] =;
c->vofa_send[5] =ctrl->nuc.vw;
c->vofa_send[6] =nuc_detangle;
c->vofa_send[7] =c->pos088.bmi088.gyro.z;
return CHASSIS_OK;
}

46
User/Module/config.c
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@ -32,35 +32,29 @@ static const ConfigParam_t param_chassis ={
},
//两套单环pid
.RadarAngle_param = {
.p = 15.0f,
.i = 0.8f,
.d = 1.0f,
.i_limit = 100.0f,
.out_limit =1000.0f,
},
.RadarSpeed_param = {
.p = 17.0f,
.i = 0.2f,
.d = 7.0f,
.i_limit = 60.0f,
.out_limit =500.0f,
},
//正常双环pid
// .RadarAngle_param = {
// .p = 10.0f,
// .i = 0.05f,
// .d = 0.0f,
// .i_limit = 40.0f,
// .out_limit =500.0f,
// .p = 20.0f,
// .i = 0.8f,
// .d = 500.0f,
// .i_limit = 100.0f,
// .out_limit =1000.0f,
// },
// .RadarSpeed_param = {
// .p = 9.0f,
// .i = 0.15f,
// .d = 10.0f,
// .i_limit = 1300.0f,
// .out_limit =7000.0f,
// },
// .p = 20.0f,
// .i = 0.3f,
// .d = 200.0f,
// .i_limit = 90.0f,
// .out_limit =500.0f,
// },
//一个单环pid 最后还是有点震荡
.RadarAngle_param = {
.p = 30.0f,
.i = 0.6f,
.d = 1400.0f,
.i_limit = 1800.0f,
.out_limit =8000.0f,
},
//第一套：原本的pid
// .SickVx_param = {

48
User/device/cmd.c
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@ -129,7 +129,6 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
switch(rc->LD.key_D){
case CMD_SW_UP:
cmd->C_cmd.mode = NAVI;
break;
case CMD_SW_DOWN:
cmd->C_cmd.mode = RC;
@ -137,8 +136,8 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
case CMD_SW_MID:
cmd->C_cmd.mode = STOP;
}
switch(rc->LD.key_E){
#ifdef radar
case CMD_SW_UP:
cmd->C_cmd.nuc_radar = ANGLE;
break;
@ -146,28 +145,41 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
cmd->C_cmd.nuc_radar = FORBIDDEN;
break;
case CMD_SW_DOWN:
cmd->C_cmd.nuc_radar = RADAR_RESET;
#elif defined(action_sick)
case CMD_SW_UP:
cmd->C_cmd.pos = POS_1;
break;
case CMD_SW_MID:
cmd->C_cmd.pos = POS_2;
break;
case CMD_SW_DOWN:
cmd->C_cmd.pos = POS_3;
#endif
}
cmd->C_cmd.nuc_radar = RADAR_RESET;
}
switch(rc->LD.key_A){
case CMD_SW_UP:
cmd->C_cmd.communicate = YES;
break;
case CMD_SW_DOWN:
cmd->C_cmd.communicate = NO;
}
}
return 0;
}
if(rc->LD.knob_left>199 && rc->LD.knob_left<350){
cmd->C_cmd.pos = POS_1;
}
if(rc->LD.knob_left>350 && rc->LD.knob_left<650){
cmd->C_cmd.pos = POS_2;
}
if(rc->LD.knob_left>650 && rc->LD.knob_left<900){
cmd->C_cmd.pos = POS_3;
}
if(rc->LD.knob_left>900 && rc->LD.knob_left<1150){
cmd->C_cmd.pos = POS_4;
}
if(rc->LD.knob_left>1150 && rc->LD.knob_left<1400){
cmd->C_cmd.pos = POS_5;
}
if(rc->LD.knob_left>1400 && rc->LD.knob_left<1650){
cmd->C_cmd.pos = POS_6;
}
if(rc->LD.knob_left>1650 && rc->LD.knob_left<1801){
cmd->C_cmd.pos = POS_7;
}
}
return 0;
}
//接收码盘导航的返回数据，传入cmd_t结构体

28
User/device/cmd.h
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@ -94,33 +94,37 @@ typedef enum{
POS_1,
POS_2,
POS_3,
POS_4,
POS_5,
POS_6,
POS_7,
}CMD_Chassis_navi_pos;
typedef enum{
STOP,
RC,
NAVI,
STOP, //底盘锁死
RC, //遥控模式
NAVI, //导航模式
}CMD_Chassis_mode;
typedef enum{
FORBIDDEN,
ANGLE,
RADAR_RESET,
FORBIDDEN, //遥控模式
ANGLE, //角度纠正
RADAR_RESET, //雷达复位
}CMD_Chassis_radar;
typedef enum{
NO,
YES,
NO, //锁框
YES, //锁车
}CMD_Chassis_Communication;
typedef struct{
CMD_Chassis_navi_pos pos;
CMD_Chassis_navi_pos pos; //码盘点位
CMD_Chassis_mode mode;
CMD_Chassis_mode mode; //底盘模式
CMD_Chassis_radar nuc_radar;
CMD_Chassis_radar nuc_radar; //导航模式
CMD_Chassis_Communication communicate;
CMD_Chassis_Communication communicate; //瞄准模式
}CMD_Chassis_Ctrl_t;

107
User/device/map.c
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@ -7,17 +7,44 @@
/* Private variables -------------------------------------------------------- */
Path_t path_state;
Path_t path_state; //地图数据
/*点位数据*/
point_t path_1;
sick_t sick_1;
point_t path_2;
sick_t sick_2;
point_t path_3;
sick_t sick_3;
point_t path_4;
sick_t sick_4;
point_t path_5;
sick_t sick_5;
point_t path_6;
sick_t sick_6;
point_t path_7;
sick_t sick_7;
//点位坐标x轴朝前，y轴朝右
void block_select(Action_POS_t*pos,CMD_t*cmd){
// path_1.x = 0;
// path_1.y = 0;
// path_1.angle=0;
// sick_1.sick_qian = 0;
// sick_1.sick_you = 0;
// sick_1.sick_hou = 0;
// sick_1.sick_zuo = 0;
// sick_1.sick_flag = 0;
// path_2.x = pos->pos_x;
// path_2.y = pos->pos_y;
// path_2.angle= 0;
// sick_2.sick_qian = 0;
// sick_2.sick_you = 0;
// sick_2.sick_hou = 0;
// sick_2.sick_zuo = 0;
// sick_2.sick_flag = 0;
//1
path_1.x = 0;
path_1.y = 0;
@ -28,23 +55,59 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
sick_1.sick_zuo = 0;
sick_1.sick_flag = 0;
//2
path_2.x = 2000;
path_2.y = -2000;
path_2.x = 0;
path_2.y = 0;
path_2.angle=0;
sick_2.sick_qian = 3997;
sick_2.sick_you = 2721;
sick_2.sick_hou = 2709;
sick_2.sick_qian = 0;
sick_2.sick_you = 0;
sick_2.sick_hou = 0;
sick_2.sick_zuo = 0;
sick_2.sick_flag = 1;
sick_2.sick_flag = 0;
//3
path_3.x = pos->pos_x;
path_3.y = pos->pos_y;
path_3.x = 0;
path_3.y = 0;
path_3.angle= 0;
sick_3.sick_qian = 0;
sick_3.sick_you = 0;
sick_3.sick_hou = 0;
sick_3.sick_zuo = 0;
sick_3.sick_flag = 0;
//4
path_4.x = 0;
path_4.y = 0;
path_4.angle= 0;
sick_4.sick_qian = 0;
sick_4.sick_you = 0;
sick_4.sick_hou = 0;
sick_4.sick_zuo = 0;
sick_4.sick_flag = 0;
//5
path_5.x = 0;
path_5.y = 0;
path_5.angle= 0;
sick_5.sick_qian = 0;
sick_5.sick_you = 0;
sick_5.sick_hou = 0;
sick_5.sick_zuo = 0;
sick_5.sick_flag = 0;
//6
path_6.x = 0;
path_6.y = 0;
path_6.angle= 0;
sick_6.sick_qian = 0;
sick_6.sick_you = 0;
sick_6.sick_hou = 0;
sick_6.sick_zuo = 0;
sick_6.sick_flag = 0;
//7
path_7.x = 0;
path_7.y = 0;
path_7.angle= 0;
sick_7.sick_qian = 0;
sick_7.sick_you = 0;
sick_7.sick_hou = 0;
sick_7.sick_zuo = 0;
sick_7.sick_flag = 0;
}
@ -61,19 +124,35 @@ void path_select(CMD_t*cmd){
switch (cmd->C_cmd.pos){
case POS_1:
path_state.target = &path_1;//选择路径
path_state.target = &path_1;
path_state.sick = &sick_1;
break;
case POS_2:
path_state.target = &path_2;//选择路径
path_state.target = &path_2;
path_state.sick = &sick_2;
break;
case POS_3:
path_state.target = &path_3;//选择路径
path_state.target = &path_3;
path_state.sick = &sick_3;
break;
case POS_4:
path_state.target = &path_4;
path_state.sick = &sick_4;
break;
case POS_5:
path_state.target = &path_5;
path_state.sick = &sick_5;
break;
case POS_6:
path_state.target = &path_6;
path_state.sick = &sick_6;
break;
case POS_7:
path_state.target = &path_7;
path_state.sick = &sick_7;
break;
}
path_state.points_flag = 0;
path_state.points_flag = 0; //标志位清零
}
last_pos = cmd->C_cmd.pos; // 更新上一次的位置

2
User/device/remote_control.c
View File

@ -223,7 +223,7 @@ int8_t REMOTE_ParseRC(DR16_t *dr16, CMD_RC_t *rc,LD_raw_t *LD) {
rc->LD.key_E = Keymap(LD->sw[4]);
rc->LD.key_F = Keymap(LD->sw[5]);
rc->LD.key_G = Keymap(LD->sw[6]);
rc->LD.knob_left = Keymap(LD->sw[7]);
rc->LD.knob_left = LD->sw[7];
// /*离线处理，和dr16位置不同*/
if(LD->sw[3]==1400)

12
User/task/init.c
View File

@ -45,12 +45,12 @@ void Task_Init(void *argument) {
task_runtime.thread.nuc =
osThreadNew(Task_nuc,NULL,&attr_nuc);
//暂时用不到这仨任务
// task_runtime.thread.action_ops=
// osThreadNew(Task_action,NULL,&attr_ops_9pos);
// task_runtime.thread.calc =
// osThreadNew(Task_calc,NULL,&attr_calc);
// task_runtime.thread.navi =
// osThreadNew(Task_navi,NULL,&attr_navi);
task_runtime.thread.action_ops=
osThreadNew(Task_action,NULL,&attr_ops_9pos);
task_runtime.thread.calc =
osThreadNew(Task_calc,NULL,&attr_calc);
task_runtime.thread.navi =
osThreadNew(Task_navi,NULL,&attr_navi);
task_runtime.thread.error_detect =
osThreadNew(Task_error_detect,NULL,&attr_error_detect);

24
readme.md
View File

@ -48,23 +48,27 @@
6.25简单加了一个乐迪的上电保护，蜂鸣器完成
6.26两车通信，r1锁r2成功
6.27加了个防翻保护
目前存在的问题：
1,加上两车通信
1,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
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
2，雷达纠正角度那块pid得调
3，雷达纠正角度那块pid得调
3,试一下雷达发自身角度，用世界坐标系实现边跑边锁框
4,试一下雷达发自身角度，用世界坐标系实现边跑边锁框
5，运球跑点
5，用码盘实现运球赛自动
1，整车跑的时候底盘容易断连（好像只有在进入debug后才会出现，得多按几遍reset）
2，舵轮前后校准和左右校准不一样，会导致前后校准后前后走的还可以，但是左右会歪，就像是转不够90度
1，舵轮前后校准和左右校准不一样，会导致前后校准后前后走的还可以，但是左右会歪，就像是转不够90度
@ -80,4 +84,4 @@
赛场上运球赛r1打，投篮赛r2打，正赛大部分都是r1持球，先用sick跑点校准并且运完球之后进入进攻区，在进攻区内找准时机锁框发射，实在不行传球。
赛场上运球赛r1打，码盘自动跑点，投篮赛r2打，正赛大部分都是r1持球，先用sick跑点校准并且运完球之后进入进攻区，在进攻区内找准时机锁框发射，实在不行传球。