调了sick的pid，优化了底盘代码，把蜂鸣器给封装了

MDK-ARM/AUTO_CHASSIS.uvoptx

@@ -158,67 +158,47 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>task_runtime,0x0A</ItemText>
+          <ItemText>chassis,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>chassis,0x0A</ItemText>
+          <ItemText>rc_ctrl,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>can,0x0A</ItemText>
+          <ItemText>ctrl,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd,0x0A</ItemText>
+          <ItemText>a,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>pos,0x0A</ItemText>
+          <ItemText>d,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>o,0x0A</ItemText>
+          <ItemText>b,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucbuf,0x10</ItemText>
+          <ItemText>c,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rc_ctrl,0x0A</ItemText>
+          <ItemText>SendBuffer,0x10</ItemText>
         </Ww>
         <Ww>
           <count>8</count>
           <WinNumber>1</WinNumber>
-          <ItemText>LD,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>9</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>cmd_fromnuc,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>10</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>ctrl,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>11</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>SendBuffer,0x10</ItemText>
-        </Ww>
-        <Ww>
-          <count>12</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>b,0x0A</ItemText>
+          <ItemText>nucbuf,0x10</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm

@@ -29,13 +29,7 @@ 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 nuc_task.c...
-..\User\task\nuc_task.c(43): warning:  #223-D: function "memset" declared implicitly
-         memset(send_data, 0, sizeof(send_data));  // 全部�0
-..\User\task\nuc_task.c: 1 warning, 0 errors
-linking...
-Program Size: Code=88104 RO-data=1636 RW-data=1140 ZI-data=33996  
-"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 1 Warning(s).
+"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -59,7 +53,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:00
 </pre>
 </body>
 </html>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep

@@ -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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)
@@ -165,9 +165,9 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
+I (../User/Module/Chassis.h)(0x685AE909)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -179,12 +179,12 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -1541,10 +1541,10 @@ 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)(0x68583FAB)(--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)(0x68582F71)
+F (..\User\Module\Chassis.c)(0x685AE9B5)(--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)(0x685AE909)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -1594,18 +1594,18 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
-I (..\User\Module\define.h)(0x685820DE)
-F (..\User\Module\config.c)(0x68583BA7)(--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/bsp\pwm.h)(0x685AE3BC)
+I (..\User\Module\define.h)(0x685A1A77)
+F (..\User\Module\config.c)(0x685AE566)(--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)(0x68582F71)
+I (..\User\Module\Chassis.h)(0x685AE909)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -1655,18 +1655,18 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 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)(0x685820DE)()
+F (..\User\Module\define.h)(0x685A1A77)()
 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)
@@ -1789,10 +1789,11 @@ 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)
-F (..\User\bsp\pwm.c)(0x6856A42B)(--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\pwm.o --omf_browse ele_chassis\pwm.crf --depend ele_chassis\pwm.d)
-I (../User/bsp\pwm.h)(0x6856A44C)
+F (..\User\bsp\pwm.c)(0x685AE3DE)(--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\pwm.o --omf_browse ele_chassis\pwm.crf --depend ele_chassis\pwm.d)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (../User/bsp\bsp.h)(0x663B6621)
+I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x64D895F2)
 I (../Core/Inc/stm32f4xx_hal_conf.h)(0x664876DD)
@@ -2140,23 +2141,23 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/can_use.h)(0x6811C5CD)
 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\task\user_task.c)(0x6818B046)(--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)
+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 (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2174,9 +2175,9 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
+I (../User/Module/Chassis.h)(0x685AE909)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -2223,19 +2224,19 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\task\chassis_task.c)(0x685844EB)(--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_task.o --omf_browse ele_chassis\chassis_task.crf --depend ele_chassis\chassis_task.d)
-I (../User/Module/Chassis.h)(0x68582F71)
+F (..\User\task\chassis_task.c)(0x68598B85)(--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_task.o --omf_browse ele_chassis\chassis_task.crf --depend ele_chassis\chassis_task.d)
+I (../User/Module/Chassis.h)(0x685AE909)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2285,12 +2286,12 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (..\User\task\user_task.h)(0x685844EB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
@@ -2328,9 +2329,9 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
+I (../User/Module/Chassis.h)(0x685AE909)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -2377,12 +2378,12 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -2448,8 +2449,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -2457,12 +2458,12 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -2484,9 +2485,9 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
+I (../User/Module/Chassis.h)(0x685AE909)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -2533,16 +2534,16 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\task\nuc_task.c)(0x685849D4)(--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)
+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 (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2560,9 +2561,9 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
+I (../User/Module/Chassis.h)(0x685AE909)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -2609,16 +2610,16 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-I (../User/device/nuc.h)(0x6852BA01)
+I (../User/device/nuc.h)(0x685A5054)
 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)
@@ -2640,8 +2641,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -2688,17 +2689,17 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 I (../User/device/r12ds.h)(0x67CAE0AC)
-I (../User/device/nuc.h)(0x6852BA01)
+I (../User/device/nuc.h)(0x685A5054)
 I (../User/bsp/protocol.h)(0x6851732E)
 F (..\User\task\action_task.c)(0x681DFED8)(--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_task.o --omf_browse ele_chassis\action_task.crf --depend ele_chassis\action_task.d)
 I (../User/device/Action.h)(0x67CAEC48)
@@ -2744,7 +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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)
@@ -2760,8 +2761,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -2772,7 +2773,7 @@ I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/bsp\pwm.h)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -2794,9 +2795,9 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
+I (../User/Module/Chassis.h)(0x685AE909)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -2843,12 +2844,12 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -2870,9 +2871,9 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
+I (../User/Module/Chassis.h)(0x685AE909)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -2919,12 +2920,12 @@ 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 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)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -2934,7 +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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/device/device.h)(0x666C4CF9)
 I (../User/device/Action.h)(0x67CAEC48)
@@ -2994,15 +2995,15 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Module/Chassis.h)(0x685AE909)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
 I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/bsp\pwm.h)(0x6856A44C)
+I (../User/bsp\pwm.h)(0x685AE3BC)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -3191,8 +3192,8 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (..\User\Algorithm\struct_typedef.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-F (..\User\Algorithm\pid.c)(0x6832B92D)(--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\pid.o --omf_browse ele_chassis\pid.crf --depend ele_chassis\pid.d)
-I (..\User\Algorithm\pid.h)(0x6832B92D)
+F (..\User\Algorithm\pid.c)(0x685AC270)(--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\pid.o --omf_browse ele_chassis\pid.crf --depend ele_chassis\pid.d)
+I (..\User\Algorithm\pid.h)(0x685AC270)
 I (..\User\Algorithm\struct_typedef.h)(0x663B6621)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x64D895F2)
@@ -3286,14 +3287,14 @@ I (../User/bsp/bsp.h)(0x663B6621)
 I (../User/bsp\gpio.h)(0x663B6621)
 I (../User/bsp\spi.h)(0x663B6621)
 I (../Core/Inc/spi.h)(0x664876DC)
-I (../User/bsp\pwm.h)(0x6856A44C)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/bsp\pwm.h)(0x685AE3BC)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x68582F71)
+I (../User/Module/Chassis.h)(0x685AE909)
 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)(0x685622D1)
+I (../User/device/cmd.h)(0x685ACF87)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -3351,9 +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)(0x685820DE)
-F (..\User\device\cmd.c)(0x685622D1)(--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)(0x685622D1)
+I (../User/Module/define.h)(0x685A1A77)
+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/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3400,9 +3401,9 @@ 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)(0x685820DE)
-F (..\User\device\nuc.c)(0x6858497F)(--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)(0x6852BA01)
+I (../User/Module/define.h)(0x685A1A77)
+F (..\User\device\nuc.c)(0x685AE909)(--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)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@@ -3445,11 +3446,11 @@ 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)(0x685622D1)
+I (..\User\device\cmd.h)(0x685ACF87)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\Action.h)(0x67CAEC48)
-I (../User/Module/chassis.h)(0x68582F71)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Module/chassis.h)(0x685AE909)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -3460,13 +3461,13 @@ I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/bsp\pwm.h)(0x6856A44C)
+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)(0x685820DE)
+I (../User/Module/define.h)(0x685A1A77)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
-F (..\User\device\vofa.c)(0x684006BC)(--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)
+F (..\User\device\vofa.c)(0x685AABA9)(--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)(0x6661C23A)
 I (../USB_DEVICE/App/usbd_cdc_if.h)(0x664876DD)
 I (../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h)(0x64D895D9)
@@ -3515,6 +3516,9 @@ 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/ST/STM32_USB_Device_Library/Core/Inc/usbd_core.h)(0x64D895D9)
 I (../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h)(0x64D895D9)
+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)
 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)
@@ -3561,10 +3565,10 @@ 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)(0x685622D1)
+I (..\User\device\cmd.h)(0x685ACF87)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-F (..\User\device\map.c)(0x6842CE5A)(--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)(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)
 I (..\User\device\map.h)(0x682338DB)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3610,8 +3614,8 @@ 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)(0x685622D1)
-I (../User/Module/define.h)(0x685820DE)
+I (..\User\device\cmd.h)(0x685ACF87)
+I (../User/Module/define.h)(0x685A1A77)
 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)
@@ -3657,9 +3661,9 @@ 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)(0x685622D1)
+I (..\User\device\cmd.h)(0x685ACF87)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (../User/Algorithm/pid.h)(0x6832B92D)
+I (../User/Algorithm/pid.h)(0x685AC270)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
 I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
@@ -3671,13 +3675,13 @@ 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)(0x685820DE)
+I (../User/Module/define.h)(0x685A1A77)
 F (..\User\device\remote_control.c)(0x68580AA1)(--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)(0x685622D1)
+I (..\User\device\cmd.h)(0x685ACF87)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3725,7 +3729,7 @@ 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)(0x685820DE)
+I (../User/Module/define.h)(0x685A1A77)
 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/pwm.d

@@ -2,6 +2,7 @@ ele_chassis\pwm.o: ..\User\bsp\pwm.c
 ele_chassis\pwm.o: ../User/bsp\pwm.h
 ele_chassis\pwm.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\stdint.h
 ele_chassis\pwm.o: ../User/bsp\bsp.h
+ele_chassis\pwm.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\stdbool.h
 ele_chassis\pwm.o: ../Core/Inc/main.h
 ele_chassis\pwm.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
 ele_chassis\pwm.o: ../Core/Inc/stm32f4xx_hal_conf.h

MDK-ARM/ELE_CHASSIS/vofa.d

@@ -49,4 +49,7 @@ ele_chassis\vofa.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h
 ele_chassis\vofa.o: ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_core.h
 ele_chassis\vofa.o: ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h
 ele_chassis\vofa.o: ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h
+ele_chassis\vofa.o: ../User/bsp/bsp_usart.h
+ele_chassis\vofa.o: ../User/bsp/bsp.h
+ele_chassis\vofa.o: ../Core/Inc/usart.h
 ele_chassis\vofa.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h

User/Algorithm/pid.c

@@ -111,41 +111,7 @@ fp32 PID_calc(pid_type_def *pid, fp32 ref, fp32 set)
     }
     return pid->out;
 }
-//前馈pid
-fp32 PID_feedforward(pid_type_def *pid, fp32 ref, fp32 set)
-{
-    if (pid == NULL)
-    {
-        return 0.0f;
-    }
 
-    pid->error[2] = pid->error[1];
-    pid->error[1] = pid->error[0];
-    pid->set = set;
-    pid->fdb = ref;
-    pid->error[0] = set - ref;
-    
-    if (pid->mode == PID_POSITION)
-    {
-        pid->Pout = pid->param->p * pid->error[0];
-        pid->Iout += pid->param->i * pid->error[0];
-        pid->Dbuf[2] = pid->Dbuf[1];
-        pid->Dbuf[1] = pid->Dbuf[0];
-        pid->Dbuf[0] = (pid->error[0] - pid->error[1]);
-        pid->Dout = pid->param->d * pid->Dbuf[0];
-        // 限制积分项
-        LimitMax((pid->Iout), pid->param->i_limit);
-			
-        pid->Fout = pid->param->f * set; 
-                
-        // 输出为PID输出加前馈输出
-        pid->out = pid->Pout + pid->Iout + pid->Dout + pid->Fout;
-        
-        // 限制总输出
-        LimitMax(pid->out, pid->param->out_limit);
-    }
-    return pid->out;
-}
 /**
   * @brief          pid out clear
   * @param[out]     pid: PID struct data point

User/Algorithm/pid.h

@@ -79,7 +79,6 @@ extern int8_t PID_init(pid_type_def *pid, uint8_t mode, const pid_param_t *param
   */
 extern fp32 PID_calc(pid_type_def *pid, fp32 ref, fp32 set);
 
-extern fp32 PID_feedforward(pid_type_def *pid, fp32 ref, fp32 set);
 /**
   * @brief          pid out clear
   * @param[out]     pid: PID struct data point

User/Module/Chassis.c

@@ -5,12 +5,87 @@
 进debug将四个轮子编码器朝右（左右无所谓，可能会导致5065方向反，在解算里加个负号就行）
 查看6020反馈值，将6020反馈值放入motor_offset中*/
 
+
+
+//底盘初始化
+int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq){
+	 c->param = param; 	/*初始化参数 */
+
+    //舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面   
+	 MotorOffset_t motor_offset = { {30.303986, 149.937744, 268.077156, 29.820541}};	
+   c->motoroffset = motor_offset;  // 将 motor_offset 的值赋给 c->motoroffset
+	
+   //在这里修改雷达校准时sick的值    (标号为逆时针)
+	 c->SICK_FALG = 0; 		
+   c->sick_set[0] = 2500;
+   c->sick_set[1] = 2500;
+   c->sick_set[2] = 600;
+	 
+	 //蜂鸣器初始化
+	 Buzzer_Init(&c->buzzer_radar_angle,200,1000,0.5);
+	 Buzzer_Init(&c->buzzer_sick_calibration,200,1000,0.5);	 
+	 
+	 PID_init(&(c->pid.chassis_6020OmegaPid), PID_POSITION,&(c->param->C6020Omega_param));
+	 PID_init(&(c->pid.chassis_6020anglePid), PID_POSITION,&(c->param->C6020Angle_param)); 		
+	 PID_init(&(c->pid.chassis_RadaranglePID),PID_POSITION,&(c->param->RadarAngle_param));
+	 PID_init(&(c->pid.chassis_RadarspeedPID),PID_POSITION,&(c->param->RadarSpeed_param));
+	
+	 PID_init(&(c->pid.chassis_SickVx), PID_POSITION,&(c->param->SickVx_param));
+	 PID_init(&(c->pid.chassis_SickVy), PID_POSITION,&(c->param->SickVy_param));	 
+	 PID_init(&(c->pid.chassis_SickVw), PID_POSITION,&(c->param->SickVw_param));
+
+	 LowPassFilter2p_Init(&(c->filled[0]),target_freq,80.0f); //给x 做滤波
+	 LowPassFilter2p_Init(&(c->filled[1]),target_freq,80.0f); //给y 做滤波	
+	 LowPassFilter2p_Init(&(c->filled[2]),target_freq,80.0f); //给w 做滤波
+	 LowPassFilter2p_Init(&(c->filled[3]),target_freq,8.0f); //给雷达x做滤波
+	 LowPassFilter2p_Init(&(c->filled[4]),target_freq,8.0f); //给雷达y做滤波
+	 LowPassFilter2p_Init(&(c->filled[5]),target_freq,8.0f); //给雷达z做滤波
+	 LowPassFilter2p_Init(&(c->filled[6]),target_freq,10.0f); //给sick1做滤波
+	 LowPassFilter2p_Init(&(c->filled[7]),target_freq,10.0f); //给sick2做滤波
+	 LowPassFilter2p_Init(&(c->filled[8]),target_freq,10.0f); //给sick3做滤波
+	 return CHASSIS_OK;
+}
+
 static int8_t Chassis_SetCtrl(Chassis_t *c,CMD_t *ctrl){
 	 c->mode =ctrl->C_cmd.mode;
    c->pos =ctrl->C_cmd.pos;	   
 	 return 0;
 }
 
+//该函数用来更新其他任务获得的数据
+int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
+
+  for (uint8_t i = 0; i < 4; i++) {
+		
+		c->motorfeedback.rotor_rpm3508[i] = can->motor.motor3508.as_array[i].rotor_speed;
+		c->motorfeedback.rotor_current3508[i] = can->motor.motor3508.as_array[i].torque_current;
+	 
+    c->motorfeedback.rotor_rpm6020[i] = can->motor.chassis6020.as_array[i].rotor_speed;
+		c->motorfeedback.rotor_current6020[i] = can->motor.chassis6020.as_array[i].torque_current;
+		c->motorfeedback.rotor_angle6020[i] = can->motor.chassis6020.as_array[i].rotor_angle;
+		c->motorfeedback.rotor_temp6020[i] = can->motor.chassis6020.as_array[i].temp;
+		
+#ifdef calibration
+#else  
+    //由于安装不能保证0点朝向我们想要朝向的方向，所以进行零点偏移
+		c->motorfeedback.rotor_angle6020[i] = fmod(can->motor.chassis6020.as_array[i].rotor_angle - 
+		                                                    c->motoroffset.MOTOR_OFFSET[i], 360.0);
+		if(c->motorfeedback.rotor_angle6020[i]<0){
+		c->motorfeedback.rotor_angle6020[i]+=360;
+		}		
+#endif
+			
+	  c->motorfeedback.rotor_rpm5065[i] = can->motor.chassis5065.as_array[i].rotor_speed;
+	  c->motorfeedback.torque_current5065[i] = can->motor.chassis5065.as_array[i].torque_current;
+
+ }	
+	  //接收sick数据
+    for (uint8_t i = 0; i < 3; i++) {
+ 	    c->sick[i] = can->sickfed.as_array[i].sick_distance/10;
+   }
+  return CHASSIS_OK;
+}
+
 //底盘解算   
 void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
 	 
@@ -75,7 +150,7 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
 		    c->hopemotorout.rotor6020_jiesuan_1[3]=315;   
 		  break;
 	    case NAVI: 
-#if defined(carmera_angle) || defined(radar)
+#ifdef radar
       //相机，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))+
@@ -102,7 +177,7 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
 																		(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
 			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);		 
-#elif defined(action_sick)|| defined(camera_angle_static)	
+#elif defined(action_sick)
 			 //码盘sick模式下操控为世界坐标系，能实现舵轮小陀螺前进
 				 
 			   c->chassis_yaw = pos->pos_yaw* (M_PI / 180.0f);
@@ -177,71 +252,7 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
      }	 
 }
 
-//该函数用来更新can任务获得的电机反馈值
-int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
-
-  for (uint8_t i = 0; i < 4; i++) {
-		
-		c->motorfeedback.rotor_rpm3508[i] = can->motor.motor3508.as_array[i].rotor_speed;
-		c->motorfeedback.rotor_current3508[i] = can->motor.motor3508.as_array[i].torque_current;
-	 
-    c->motorfeedback.rotor_rpm6020[i] = can->motor.chassis6020.as_array[i].rotor_speed;
-		c->motorfeedback.rotor_current6020[i] = can->motor.chassis6020.as_array[i].torque_current;
-		c->motorfeedback.rotor_angle6020[i] = can->motor.chassis6020.as_array[i].rotor_angle;
-		
-#ifdef calibration
-#else  
-    //由于安装不能保证0点朝向我们想要朝向的方向，所以进行零点偏移
-		c->motorfeedback.rotor_angle6020[i] = fmod(can->motor.chassis6020.as_array[i].rotor_angle - 
-		                                                    c->motoroffset.MOTOR_OFFSET[i], 360.0);
-		if(c->motorfeedback.rotor_angle6020[i]<0){
-		c->motorfeedback.rotor_angle6020[i]+=360;
-		}		
-#endif
-			
-	  c->motorfeedback.rotor_rpm5065[i] = can->motor.chassis5065.as_array[i].rotor_speed;
-	  c->motorfeedback.torque_current5065[i] = can->motor.chassis5065.as_array[i].torque_current;
-
- }	
-	  //接收sick数据
-    for (uint8_t i = 0; i < 3; i++) {
- 	    c->sick[i] = can->sickfed.as_array[i].sick_distance/10;
-   }
-  return CHASSIS_OK;
-}
-
-//底盘初始化
-int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq){
-	 c->param = param; 	/*初始化参数 */
-
-    //舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面   
-	 MotorOffset_t motor_offset = { {29.886459, 149.630066, 267.659637, 29.205215}};	
-   c->motoroffset = motor_offset;  // 将 motor_offset 的值赋给 c->motoroffset
-	
-   //在这里修改雷达校准时sick的值    (标号为逆时针)
-   c->sick_set[0] = 3000;
-   c->sick_set[1] = 3000;
-   c->sick_set[2] = 2500;
-	 
-	 PID_init(&(c->pid.chassis_6020OmegaPid), PID_POSITION,&(c->param->C6020Omega_param));
-	 PID_init(&(c->pid.chassis_6020anglePid), PID_POSITION,&(c->param->C6020Angle_param)); 		
-	 PID_init(&(c->pid.chassis_RadaranglePID),PID_POSITION,&(c->param->RadarAngle_param));
-	 PID_init(&(c->pid.chassis_RadarspeedPID),PID_POSITION,&(c->param->RadarSpeed_param));
-	
-	 PID_init(&(c->pid.chassis_SickVx), PID_POSITION,&(c->param->SickVx_param));
-	 PID_init(&(c->pid.chassis_SickVy), PID_POSITION,&(c->param->SickVy_param));	 
-	 PID_init(&(c->pid.chassis_SickVw), PID_POSITION,&(c->param->SickVw_param));
-
-	 LowPassFilter2p_Init(&(c->filled[0]),target_freq,80.0f); //给x 做滤波
-	 LowPassFilter2p_Init(&(c->filled[1]),target_freq,80.0f); //给y 做滤波	
-	 LowPassFilter2p_Init(&(c->filled[2]),target_freq,80.0f); //给w 做滤波
-	 LowPassFilter2p_Init(&(c->filled[3]),target_freq,8.0f); //给雷达x做滤波
-	 LowPassFilter2p_Init(&(c->filled[4]),target_freq,8.0f); //给雷达y做滤波
-	 LowPassFilter2p_Init(&(c->filled[5]),target_freq,8.0f); //给雷达z做滤波
-	 return CHASSIS_OK;
-}
-
-//对nuc发送的角度偏移量进行双环pid控制（右旋偏移量为正，左旋偏移量为负）
+//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){		
 
 	//双环pid
@@ -259,27 +270,35 @@ void nuc_angle_correct(Chassis_t *c,CMD_t *ctrl){
 }
 
 //雷达运用sick来校准
-void radar_sick_correct(Chassis_t *c){
+void radar_sick_calibration(Chassis_t *c){
    fp32 diff_x = c->sick[2] - c->sick_set[2];
    fp32 diff_y = c->sick[0] - c->sick_set[0];
-   fp32 diff_w = (c->sick[1] - c->sick[0])*10; //放大偏角误差
+   fp32 diff_w = (c->sick[0] - c->sick[1]); //放大偏角误差
 	
    c->move_sick.Vx = (fabsf(diff_x)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVx),diff_x,0): 0;
    c->move_sick.Vy = (fabsf(diff_y)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVy),diff_y,0): 0;
-   c->move_sick.Vw = (fabsf(diff_w)>SICKW_ERROR) ? PID_calc(&(c->pid.chassis_SickVw),diff_w,0): 0;
+   c->move_sick.Vw = (fabsf(diff_w)>SICKW_ERROR) ? PID_calc(&(c->pid.chassis_SickVw),diff_w*4,0): 0;
 		
+	//判断sick是否到达目标点附近
    static uint8_t reach_cnt = 0; 
    if (fabsf(diff_x) <= SICKXY_ERROR && fabsf(diff_y) <= SICKXY_ERROR &&fabsf(diff_w)<= SICKW_ERROR) {
-//     reach_cnt++;
-//     if (reach_cnt >= 50) {
+     reach_cnt++;
+     if (reach_cnt >= 50) {
        c->SICK_FALG = 1;
-//       reach_cnt = 0;				 
-//     } 
+       reach_cnt = 0;				 
+     } 
   }		 
     else { 
      c->SICK_FALG = 0; 		
    }
-
+	
+  //由于r1到达sick目标点附近可能会震荡，所以必须是锁死时到达目标点才给nuc发数	 
+	if(c->SICK_FALG == 1 && c->mode ==STOP){
+		c->SICK__SEND_FALG = 1;
+	}	
+	else { 
+    c->SICK__SEND_FALG = 0; 		
+   }
 }
 
 //底盘控制
@@ -288,34 +307,42 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 	Chassis_SetCtrl(c,ctrl);
 
 	fp32 chassis6020_detangle[4];
-	//雷达数据必须滤波，否则波形是0和正常数组成的矩形
+	
+#ifdef radar	
+  //关于nuc纠正的函数都要一直运行 
+
+ 	//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.vx = LowPassFilter2p_Apply(&(c->filled[3]),ctrl->nuc.vx);
   ctrl->nuc.vy = LowPassFilter2p_Apply(&(c->filled[4]),ctrl->nuc.vy);
   ctrl->nuc.vw = LowPassFilter2p_Apply(&(c->filled[5]),ctrl->nuc.vw);	
 	
-#if defined(carmera_angle)|| defined(radar)	
-  //关于nuc纠正的函数都要一直运行
+	c->sick[0] = LowPassFilter2p_Apply(&(c->filled[6]),c->sick[0]);
+	c->sick[1] = LowPassFilter2p_Apply(&(c->filled[7]),c->sick[1]);	
+	c->sick[2] = LowPassFilter2p_Apply(&(c->filled[8]),c->sick[2]);	
+	
 	nuc_angle_correct(c,ctrl);	
-	radar_sick_correct(c);
+	radar_sick_calibration(c);
 #endif  
 	switch (c->mode){	
 		case RC:
 	   c->move_vec.Vx = ctrl->Vx*ctrl->throttle*9500;
-     c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;
+     c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;		
 	   c->move_vec.Vw = ctrl->Vw*ctrl->throttle*6000;
-		 BSP_PWM_Stop(BSP_PWM_BUZZER);
+
 	   break;	
 		
 	  case STOP:
 		 c->move_vec.Vx =0;
 		 c->move_vec.Vy =0;
 		 c->move_vec.Vw =0;
+		 Buzzer_Control(&c->buzzer_sick_calibration,(c->SICK_FALG == 1));	
+     Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.vw) < 1 && ctrl->nuc.vw != 0));					
 		 break; 
 		
 	  case NAVI:					
 #ifdef radar
 		switch (ctrl->C_cmd.nuc_radar){
-			 case ANGLE:
+		  case ANGLE:
 			 /*
 			 跑点时只需要xy，不需要转角度，
 			 而且如果跑点时有角度车会呈现蠕动的形态，
@@ -330,78 +357,26 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 	     c->move_vec.Vx = ctrl->Vx*95000;
        c->move_vec.Vy = ctrl->Vy*95000;			 
 	     c->move_vec.Vw = c->radar_yaw;
-							 
-       static uint32_t buzzer_timer = 0;
-       static bool buzzer_state = false;
-
-      // 在循环中（如1ms周期）
-      if(fabsf(ctrl->nuc.vw) < 1 && ctrl->nuc.vw != 0) {
-        // 鸣叫模式
-        if(HAL_GetTick() - buzzer_timer >= (buzzer_state ? 200 : 1000)) {  //鸣叫时间：间隔时间
-          buzzer_state = !buzzer_state;
-          buzzer_timer = HAL_GetTick();
-        
-        if(buzzer_state) {
-            BSP_PWM_Start(BSP_PWM_BUZZER);
-            BSP_PWM_Set(BSP_PWM_BUZZER, 0.5f);  // 50%占空比
-         } 
-				 else {
-            BSP_PWM_Stop(BSP_PWM_BUZZER);
-         }
-       }
-      } 
-			else {
-        // 停止鸣叫
-        buzzer_state = false;
-        BSP_PWM_Stop(BSP_PWM_BUZZER);
-       }
-	  
-	  break;
-		case FORBIDDEN:
-	   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;
-		   BSP_PWM_Stop(BSP_PWM_BUZZER);
+			 
+       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;
+       c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;
+	     c->move_vec.Vw = ctrl->Vw*ctrl->throttle*6000;
 	     break;		 
 		
-		case RADAR_RESET:		
+		  case RADAR_RESET:		
 			 c->move_vec.Vx = c->move_sick.Vx;
 			 c->move_vec.Vy = c->move_sick.Vy;
 			 c->move_vec.Vw = c->move_sick.Vw;
 
-       static uint32_t buzzer_timer_2 = 0;
-       static bool buzzer_state_2 = false;
-
-      // 在循环中（如1ms周期）
-      if(c->SICK_FALG == 1) {
-        // 鸣叫模式
-        if(HAL_GetTick() - buzzer_timer_2 >= (buzzer_state_2 ? 200 : 1000)) {  //鸣叫时间：间隔时间
-          buzzer_state_2 = !buzzer_state_2;
-          buzzer_timer_2 = HAL_GetTick();
-        
-        if(buzzer_state_2) {
-            BSP_PWM_Start(BSP_PWM_BUZZER);
-            BSP_PWM_Set(BSP_PWM_BUZZER, 0.5f);  // 50%占空比
-         } 
-				 else {
-            BSP_PWM_Stop(BSP_PWM_BUZZER);
-         }
-       }
-      } 
-			else {
-        // 停止鸣叫
-        buzzer_state_2 = false;
-        BSP_PWM_Stop(BSP_PWM_BUZZER);
-       }		
-		 break;
+       Buzzer_Control(&c->buzzer_sick_calibration,(c->SICK_FALG == 1));	
+		  break;
 	 }
-#elif defined(carmera_angle)
-		//如果相机开始工作	
-	   if(ctrl->nuc.vw != 0){
-		  c->move_vec.Vw = c->radar_yaw;
-     }	
 		 
-#elif defined(action_sick)|| defined(camera_angle_static)
+#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 ;		 
@@ -433,12 +408,12 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 	}	
 #endif
    //vofa发送
-	 c->vofa_send[0] =ctrl->nuc.vw;
-	 c->vofa_send[1] =c->radar_yaw;
-	 c->vofa_send[2] =out->chassis5065.erpm[0];
-	 c->vofa_send[3] =c->motorfeedback.rotor_rpm5065[0];
-	 c->vofa_send[4] =ctrl->nuc.vx;
-	 c->vofa_send[5] =ctrl->nuc.vy;
+	 c->vofa_send[0] =c->sick[0];
+	 c->vofa_send[1] =c->sick[1];
+	 c->vofa_send[2] =c->sick[2];
+//	 c->vofa_send[3] =c->motorfeedback.rotor_rpm5065[0];
+//	 c->vofa_send[4] =ctrl->nuc.vx;
+//	 c->vofa_send[5] =ctrl->nuc.vy;
 //	 c->vofa_send[6] =;
 //	 c->vofa_send[7] =;	
 return CHASSIS_OK;

User/Module/Chassis.h

@@ -26,7 +26,7 @@
 
 //小量程sick1分米大概变30，大量程sick1分米大概变60
 #define	SICKXY_ERROR 10
-#define	SICKW_ERROR 10
+#define	SICKW_ERROR 5
 
 //     纵向/横向
 #define radians atan(1.0*422/440)//角度制
@@ -70,17 +70,17 @@ typedef struct
   Chassis_Motortype_e motor_type; /**/
 	
 	/*该部分决定PID的参数整定在config中修改*/
-  pid_param_t M3508_param;	
 	pid_param_t C6020Omega_param;        
   pid_param_t C6020Angle_param;    
   pid_param_t RadarAngle_param;
   pid_param_t RadarSpeed_param;	
-  pid_param_t C6020pitAngle_param;
-  pid_param_t C6020pitOmega_param;	
-	
   pid_param_t SickVx_param;
   pid_param_t SickVy_param;	
-  pid_param_t SickVw_param;	
+  pid_param_t SickVw_param;
+	
+  pid_param_t M3508_param;	
+  pid_param_t C6020pitAngle_param;
+  pid_param_t C6020pitOmega_param;		
 }Chassis_Param_t;
 /*该结构体用于底盘的期望运动向量*/
 typedef struct 
@@ -109,6 +109,7 @@ typedef struct{
 	fp32 sick[3];
 	fp32 sick_set[3];
 	uint8_t SICK_FALG;   
+	uint8_t SICK__SEND_FALG; 	
 	ChassisMove_Vec move_sick;        //sick跑点速度
 	
 	/*期望的底盘输出值(此处为舵轮解算出的各个电机的期望输出值)ֵ*/
@@ -141,7 +142,8 @@ typedef struct{
     fp32 rotor_rpm6020[4];
 	  fp32 rotor_angle6020[4];
 		fp32 rotor_current6020[4];
-			
+		fp32 rotor_temp6020[4];
+		
 	  fp32 rotor_rpm5065[4];
 	  fp32 torque_current5065[4];
 		fp32 rotor_5065pos[4];	
@@ -153,13 +155,13 @@ typedef struct{
 	  pid_type_def chassis_6020OmegaPid;                     
 	  pid_type_def chassis_RadaranglePID; 
     pid_type_def chassis_RadarspeedPID;  			
-	  pid_type_def chassis_3508VecPID[4];
-	  pid_type_def chassis_pitAngle6020;
-	  pid_type_def chassis_pitOmega6020;
-
 	  pid_type_def chassis_SickVx;
 	  pid_type_def chassis_SickVy;		
 	  pid_type_def chassis_SickVw;
+
+	  pid_type_def chassis_3508VecPID[4];
+	  pid_type_def chassis_pitAngle6020;
+	  pid_type_def chassis_pitOmega6020;
 	}pid;  
 	
 	fp32 chassis_yaw;                 //码盘世界坐标系下底盘角度 
@@ -169,9 +171,10 @@ typedef struct{
   MotorOffset_t motoroffset;	      //5065校准数据
   const	Chassis_Param_t *param;     //一些固定的参数	
   fp32 vofa_send[8];                //vofa输出数据
-	LowPassFilter2p_t filled[6];      //滤波器
+	LowPassFilter2p_t filled[9];      //滤波器
   float keep_angle[4];              // 保持的 6020 角度
-	
+	Buzzer_t buzzer_radar_angle;      // 用于雷达角度纠正的蜂鸣器控制
+ Buzzer_t buzzer_sick_calibration;  // 用于SICK校准雷达的蜂鸣器控制
 }Chassis_t;
 
 /**

User/Module/config.c

@@ -25,7 +25,7 @@ static const ConfigParam_t param_chassis ={
 			.out_limit = 5000.0f,
     },
     .C6020Omega_param = {
-      .p = 45.0f,
+      .p = 30.0f,
 			.i = 0.6f,
 			.d = 2.0f,
 			.f = 0.1f,
@@ -33,7 +33,7 @@ static const ConfigParam_t param_chassis ={
 			.out_limit = 25000.0f  
     },
 		
-		//两套pid
+		//两套单环pid
 		 .RadarAngle_param = {
        .p = 15.0f,
 			 .i = 0.8f,
@@ -48,7 +48,7 @@ static const ConfigParam_t param_chassis ={
 	    .i_limit = 60.0f,
 			.out_limit =500.0f, 
 	 },			
-		//正常pid
+		//正常双环pid
 //		 .RadarAngle_param = {
 //       .p = 10.0f,
 //			 .i = 0.05f,
@@ -62,7 +62,28 @@ static const ConfigParam_t param_chassis ={
 //			 .d = 10.0f,
 //	    .i_limit = 1300.0f,
 //			.out_limit =7000.0f, 
-//	 },			 
+//	 },	
+	 .SickVx_param = {
+			 .p =14.0f,
+			 .i =0.3f,
+			 .d =3.0f,
+			 .i_limit =2500.0f,
+			 .out_limit =12000.0f,				
+		},
+		.SickVy_param = {
+			 .p =15.0f,
+			 .i =0.3f,
+			 .d =6.0f,
+			 .i_limit =2500.0f,
+			 .out_limit =12000.0f,				
+		},
+		.SickVw_param = {
+			.p =40.0f,
+			.i =0.02f,
+			.d =4.0f,
+			.i_limit = 1600.0f,
+			.out_limit = 8000.0f				
+		},			 
 		.M3508_param = {
 		 .p = 15.0f,
 		 .i = 0.0f,
@@ -83,28 +104,7 @@ static const ConfigParam_t param_chassis ={
 			.d =0.0f,
 			.i_limit = 2000.0f,
 			.out_limit = 3000.0f,				
-		},
-		.SickVx_param = {
-			 .p =26.0f,
-			 .i =0.3f,
-			 .d =5.0f,
-			 .i_limit =2500.0f,
-			 .out_limit =7000.0f,				
-		},
-		.SickVy_param = {
-			 .p =20.0f,
-			 .i =0.064f,
-			 .d =0.0f,
-			 .i_limit =2000.0f,
-			 .out_limit =7000.0f,				
-		},
-		.SickVw_param = {
-			.p =20.0f,
-			.i =0.1f,
-			.d =0.5f,
-			.i_limit = 1500.0f,
-			.out_limit = 6000.0f				
-		},	 
+		}, 
 	},
 
            /*码盘导航*/	 

User/Module/define.h

@@ -23,10 +23,8 @@
    #define R12DS                //乐迪
 
 
-/*导航方式*/ //这边细碎东西有点多，可能没注释全
+/*导航方式*/ 
 
-   //#define carmera_angle        //相机纠正动态角度
-	 //#define camera_angle_static  //相机纠正静态角度
 	 #define radar                //雷达
 	 //#define action_sick          //码盘sick跑点
 	 

User/bsp/pwm.c

@@ -69,3 +69,36 @@ int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch) {
   HAL_GPIO_WritePin(IMU_HEAT_PWM_GPIO_Port, IMU_HEAT_PWM_Pin, GPIO_PIN_RESET);
   return BSP_OK;
 }
+
+//蜂鸣器初始化
+void Buzzer_Init(Buzzer_t* ctrl,uint16_t beep_duration,uint16_t silent_duration,float duty_cycle){
+	ctrl->timer = 0;
+	ctrl->state = false;
+	ctrl->beep_duration = beep_duration;
+	ctrl->silent_duration = silent_duration;
+	ctrl->duty_cycle = duty_cycle;
+}
+
+//蜂鸣器控制函数,间断鸣叫
+void Buzzer_Control(Buzzer_t* ctrl, bool condition) {
+  if (condition) {
+    // 鸣叫模式
+    if (HAL_GetTick() - ctrl->timer >= (ctrl->state ? ctrl->beep_duration : ctrl->silent_duration)) {
+       ctrl->state = !ctrl->state;
+       ctrl->timer = HAL_GetTick();
+            
+       if (ctrl->state) {
+          BSP_PWM_Start(BSP_PWM_BUZZER);
+          BSP_PWM_Set(BSP_PWM_BUZZER, ctrl->duty_cycle);
+       } 
+			 else {
+         BSP_PWM_Stop(BSP_PWM_BUZZER);
+       }
+    }
+  } 
+  else {
+    // 停止鸣叫
+    ctrl->state = false;
+    BSP_PWM_Stop(BSP_PWM_BUZZER);
+  }
+}

User/bsp/pwm.h

@@ -4,6 +4,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include <stdint.h>
 #include "bsp\bsp.h"
+#include <stdbool.h>
 
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -15,11 +16,19 @@ typedef enum {
 	BSP_PWM_BUZZER,
 } BSP_PWM_Channel_t;
 
-
+typedef struct {
+    uint32_t timer;
+    bool state;
+    uint16_t beep_duration;    // 蜂鸣持续时间(ms)
+    uint16_t silent_duration;  // 静默间隔时间(ms)
+    float duty_cycle;          // 占空比(0-1)
+} Buzzer_t;
 
 /* Exported functions prototypes -------------------------------------------- */
 int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch);
 int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle);
 int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch);
 
+void Buzzer_Init(Buzzer_t* ctrl,uint16_t beep_duration,uint16_t silent_duration,float duty_cycle);
+void Buzzer_Control(Buzzer_t* ctrl, bool condition);
 #endif

User/device/cmd.c

@@ -43,7 +43,7 @@ static void CMD_RcLostLogic(CMD_t *cmd){
   /* 机器人底盘运行模式恢复至放松模式 */
   cmd->C_cmd.mode = STOP;
 }
-int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){   
+void CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){   
   
   switch (rc->rc_type){
 	  case  RC_DR16:
@@ -68,20 +68,32 @@ int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){
 //		 }    
       }
    break;
+			
    case RC_LD:
 		 if (rc->LD.key_D == 0) {
         CMD_RcLostLogic(cmd);
       } 
 		 else{
-     CMD_remote(rc, cmd);				 
-		 }
+		 /* 上电保护检查 */			 
+//			if(!cmd->cmd_power_on_safe){
+//		    if (rc->LD.key_A == CMD_SW_DOWN && rc->LD.key_D == CMD_SW_MID && rc->LD.key_E == CMD_SW_MID){
+//          cmd->cmd_power_on_safe = 1;
+//        }
+//				else{
+//				  // 否则保持停止状态
+//          cmd->C_cmd.mode = STOP;
+//				}      
+//     }
+//		 else{
+	     CMD_remote(rc, cmd);
+//		 } 			 
+		}
    break;
 
    case Control_loss:
      CMD_RcLostLogic(cmd);
 	 break;
   }
-return 0;
 }
 
 int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
@@ -146,14 +158,15 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
 		case CMD_SW_DOWN:
 			cmd->C_cmd.pos = POS_3;     
 #endif				
-		} 
+		}	
+	switch(rc->LD.key_A){
+    case CMD_SW_UP:
+			cmd->C_cmd.communicate = YES; 
+			break;			
+		case CMD_SW_DOWN:
+			cmd->C_cmd.communicate = NO;     			
+		} 	
 }	
- 
-//switch(cmd->cmd_status){
-	
-//	    cmd->C_cmd.mode = NORMAL;
-//	   break;
-// }
 return 0;
 }
 

User/device/cmd.h

@@ -108,6 +108,11 @@ typedef  enum{
 	RADAR_RESET,
   }CMD_Chassis_radar;
 
+typedef  enum{	
+  NO,
+	YES,
+  }CMD_Chassis_Communication;
+
 typedef struct{
  CMD_Chassis_navi_pos pos;
 
@@ -115,6 +120,8 @@ typedef struct{
 
  CMD_Chassis_radar nuc_radar;
 
+ CMD_Chassis_Communication	communicate;
+
 }CMD_Chassis_Ctrl_t;
 
 typedef  struct {
@@ -149,7 +156,7 @@ typedef struct {
 
 void CMD_Init(CMD_t *cmd);
 
-int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc);
+void CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc);
 
 int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc);
 

User/device/map.c

@@ -39,38 +39,12 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
 	//3
 	path_3.x = pos->pos_x;
 	path_3.y = pos->pos_y;	
-	//path_3.angle= 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;
-
-#ifdef camera_angle_static
-// 锁死相机偏差角度
-    static float fixed_yaw = 0;
-    static int is_calibrating = 0;
-    static float prev_camera_yaw = 0;
-		
-  // 非NAVI模式直接重置状态
-    if (cmd->C_cmd.mode != NAVI) {
-        is_calibrating = 0;
-    }
-    
-    if (cmd->nuc.vw != 0) {        
-        // 只有未校准时才更新固定值
-        if (is_calibrating == 0) {
-        
-                fixed_yaw = pos->pos_yaw + cmd->nuc.vw;
-                is_calibrating = 1; 
-        }
-
-        // 校准期间始终使用fixed_yaw
-        path_3.angle = fixed_yaw;
-        prev_camera_yaw = cmd->nuc.vw;
-    }	 
-#endif		
-
 }
 		 
 

User/device/nuc.c

@@ -9,7 +9,7 @@ static volatile uint32_t drop_message = 0;
 static osThreadId_t thread_alert;
 
 uint8_t nucbuf[32];
-uint8_t SendBuffer[19];
+uint8_t SendBuffer[11];
 int b=0;
 int c =0;
 
@@ -41,21 +41,46 @@ bool_t NUC_WaitDmaCplt(void) {
   return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
           SIGNAL_NUC_RAW_REDY);
 }
+//正常的发送
+//int8_t NUC_Send(fp32 *data) {
+//  union {
+//		float x[5];
+//		uint8_t  data[20];
+//	}instance;
+//  for (int i = 0; i < 5; i++) {
+//    instance.x[i] = data[i];
+//  }
+//  SendBuffer[0] = 0xFC; //发送ID
+//  SendBuffer[1] = 0x01; //控制帧
+//  for(int i = 2; i < 22; i++){
+//   SendBuffer[i] = instance.data[i-2];
+//  }
+//  SendBuffer[22] = 0xFD; //结束符
 
+//  if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_NUC),
+//      (uint8_t *)SendBuffer,sizeof(SendBuffer),1000) == HAL_OK){
+//				b++;
+//		return DEVICE_OK;	
+//	}   
+//	return DEVICE_ERR;
+//}
+
+//满足视觉的特定发送
 int8_t NUC_Send(fp32 *data) {
   union {
-		float x[4];
-		uint8_t  data[16];
+		float x[2];
+		uint8_t  data[8];
 	}instance;
-  for (int i = 0; i < 4; i++) {
+  for (int i = 0; i < 2; i++) {
     instance.x[i] = data[i];
   }
   SendBuffer[0] = 0xFC; //发送ID
   SendBuffer[1] = 0x01; //控制帧
-  for(int i = 2; i < 18; i++){
+	
+  for(int i = 2; i < 10; i++){
    SendBuffer[i] = instance.data[i-2];
   }
-  SendBuffer[18] = 0xFD; //结束符
+  SendBuffer[10] = 0xFD; //结束符
 
   if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_NUC),
       (uint8_t *)SendBuffer,sizeof(SendBuffer),1000) == HAL_OK){
@@ -65,6 +90,32 @@ int8_t NUC_Send(fp32 *data) {
 	return DEVICE_ERR;
 }
 
+//发送控制函数
+void NUC_Send_control(CMD_NUC_t *n,CMD_t *cmd,Chassis_t *chassis) {
+	static fp32 send_data[5];
+	
+	  //启动sick校准雷达			 
+    if (chassis->SICK__SEND_FALG == 1) {
+      send_data[0] = 1;
+      send_data[1] = 0;
+      send_data[2] = 2;
+      send_data[3] = 3;
+      send_data[4] = 4;	
+      NUC_Send(send_data);  // 发送数据		 				
+     } 
+		 //启动传球
+		 else if(cmd->C_cmd.communicate == YES){
+      send_data[0] = 0;
+      send_data[1] = 1;	
+      NUC_Send(send_data);  // 发送数据		 	 
+		 }
+		 else if(cmd->C_cmd.communicate == NO){
+      send_data[0] = 0;
+      send_data[1] = 0;
+      NUC_Send(send_data);  // 发送数据			 			 
+     } 
+}
+
 int8_t NUC_RawParse(CMD_NUC_t *n) {
   if (n == NULL) return DEVICE_ERR_NULL;
   union {
@@ -87,8 +138,7 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
              z    fp32
              0xFE  TAIL
           */
-      if (nucbuf[15] != TAIL) goto error;
-#ifdef radar
+      if (nucbuf[19] != TAIL) goto error;
           instance.data[0] = nucbuf[3];
           instance.data[1] = nucbuf[4];
           instance.data[2] = nucbuf[5];
@@ -105,34 +155,13 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
           instance.data[9] = nucbuf[12];
           instance.data[10] = nucbuf[13];
           instance.data[11] = nucbuf[14];
-          n->nuc.vw = instance.x[2]/3.1415926535f*360+6.8;
+          n->nuc.vw = instance.x[2]/3.1415926535f*360;
 					
-//					instance.data[12] = nucbuf[15];
-//          instance.data[13] = nucbuf[16];
-//          instance.data[14] = nucbuf[17];
-//          instance.data[15] = nucbuf[18];
-//          n->nuc.yaw = instance.x[3]/3.1415926535f*360;
-
-#elif defined(carmera_angle)|| defined(camera_angle_static)
-          instance.data[3] = nucbuf[3];
-          instance.data[2] = nucbuf[4];
-          instance.data[1] = nucbuf[5];
-          instance.data[0] = nucbuf[6];
-          n->nuc.vx = instance.x[0];
-
-          instance.data[7] = nucbuf[7];
-          instance.data[6] = nucbuf[8];
-          instance.data[5] = nucbuf[9];
-          instance.data[4] = nucbuf[10];
-          n->nuc.vy = instance.x[1];
-
-          instance.data[11] = nucbuf[11];
-          instance.data[10] = nucbuf[12];
-          instance.data[9] = nucbuf[13];
-          instance.data[8] = nucbuf[14];
-          n->nuc.vw = instance.x[2];	 
-   	 
-#endif		   
+					instance.data[12] = nucbuf[15];
+          instance.data[13] = nucbuf[16];
+          instance.data[14] = nucbuf[17];
+          instance.data[15] = nucbuf[18];
+          n->nuc.yaw = instance.x[3]/3.1415926535f*360;
     break;
    }
    return DEVICE_OK;

User/device/nuc.h

@@ -30,6 +30,7 @@ int8_t NUC_StartReceiving(void);
 int8_t NUC_Restart(void);
 bool_t NUC_WaitDmaCplt(void);
 int8_t NUC_Send(fp32 *data);
+void NUC_Send_control(CMD_NUC_t *n,CMD_t *cmd,Chassis_t *chassis);
 int8_t NUC_RawParse(CMD_NUC_t *n);
 int8_t NUC_HandleOffline(CMD_NUC_t *cmd);
 #endif

User/device/vofa.c

@@ -1,6 +1,6 @@
 #include "vofa.h"
 #include "usbd_cdc_if.h"
-
+#include "bsp_usart.h"
 #include <cmsis_os2.h>
 //用来对需要的数据进行串口绘图  （未添加接收函数）
 
@@ -27,5 +27,8 @@ void vofa_tx_main(float *data)
     /*通过usb口发送数据到vofa*/
     CDC_Transmit_FS( packet, sizeof(packet));
       osDelay(1);
+		
+		//通过串口1发送数据到vofa
+//		HAL_UART_Transmit_DMA(&huart1, ( uint8_t *)fdata, sizeof(fdata));
    
 }

User/task/nuc_task.c

@@ -12,8 +12,9 @@ static NUC_t nuc_raw;
 static CMD_NUC_t cmd_fromnuc;
 static CMD_t cmd_nuc;
 #endif
-fp32 send_data[4];
+
 int a = 0;
+int d = 0;
 
 void Task_nuc(void *argument){
  (void)argument; /**/
@@ -32,18 +33,10 @@ void Task_nuc(void *argument){
     task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());
 #endif
 		osMessageQueueGet(task_runtime.msgq.cmd.nuc,&cmd_nuc, NULL, 0); 		
-    
-    if (chassis.SICK_FALG == 1) {
-      send_data[0] = 1;
-      send_data[1] = 2;
-      send_data[2] = 3;
-      send_data[3] = 4;
-     } 
-		 else {
-       memset(send_data, 0, sizeof(send_data));  // 全部置0
-     }
-     NUC_Send(send_data);  // 发送数据（无论 SICK_FALG 是 0 还是 1）
-		
+
+		 //发送数据	 
+		 NUC_Send_control(&cmd_fromnuc,&cmd_nuc,&chassis);
+		 d++;
       //接收nuc数据
 			NUC_StartReceiving();
 			  if (NUC_WaitDmaCplt()){

User/task/user_task.c

@@ -36,7 +36,7 @@ const osThreadAttr_t attr_r12ds = {
     .priority = osPriorityRealtime,
     .stack_size = 128 * 4,
 };
-
+//can的栈空间拉大了会导致每个轮小陀螺旋转，离谱
 const osThreadAttr_t attr_can = {
     .name = "can",
     .priority = osPriorityRealtime,

readme.md

@@ -44,29 +44,27 @@
 
 6.23sick校准大致调好了，pid还得调，配合视觉那块也做好了
 
+6.24后轮发烫已经烧坏3个6020了，很费解的一件事，6020明明有过热保护，而且之前40kg的时候后两个轮天天发烫都没有一个坏的，第一次减重到29kg后左后轮已经烧坏了两个6020了，其中第二个6020才用了3天。全车换完碳之后右后轮也在今天凌晨2点寄掉了。我们分析了一波原因，一个是重量分布不均匀，重量全压在一个轮子上，另一个就是本身场地是胶皮，轮子还是包胶轮，摩擦力太大了，而且debug里显示6020一瞬间的输出就达到了25000，电控这边已经无能为力了。我们最后想出的办法是给后两个轮贴透明胶带，以减小摩擦力，效果非常显著，今天跑了一天轮子最高温才40多。
+
+6.25简单加了一个乐迪的上电保护，蜂鸣器完成
+
 目前存在的问题：
 
-1,雷达纠正角度那块视觉的pid得改
+1,雷达纠正角度那块pid得调
 
-2，sick辅助雷达校准点位
+2，sick辅助雷达校准点位pid得调
 
 3，试一下雷达发自身角度，用世界坐标系
 
-4，校准角度成功和sick校准成功加个蜂鸣器
+4,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）
 
-5，雷达导航xy需要的话得加pid
-
-6,整车跑的时候底盘容易断连
+5，加上两车通信
 
 
 
-6,雷达跑点xy需要加个pid
+6，6020双环pid发送out给can的那块有问题，会导致手动转1号轮2号轮会跟着转，手动转2号轮3号轮会跟着转以此类推，手动转6020会导致两个电机的反馈变化，目前还没有解决
 
-7，三号舵轮6020总是发热
-
-8，6020双环pid发送out给can的那块有问题，会导致手动转1号轮2号轮会跟着转，手动转2号轮3号轮会跟着转以此类推，手动转6020会导致两个电机的反馈变化，目前还没有解决
-
-9，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
+7，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
 
 
 
@@ -80,3 +78,6 @@
 
 第二种是码盘和sick配合跑点，也是比较受限
 
+
+
+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。