diff --git a/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha b/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha
index c2a23be..fbf664f 100644
--- a/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha
+++ b/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha
@@ -6,7 +6,7 @@
### uVision Project, (C) Keil Software
- D:\yunha\git_gimbal\RM\Steering Wheel_Infatry\User\device
+ D:\yunha\git\RM\Steering Wheel_Infatry\User\module
@@ -15,17 +15,17 @@
38003
Registers
- 115 100
+ 115 104
346
Code Coverage
- 622 186
+ 710 160
204
Performance Analyzer
- 448 130 130 100
+ 870
@@ -110,8 +110,8 @@
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@@ -1822,7 +1822,7 @@
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1423
@@ -3563,7 +3563,7 @@
Build
955
- 00200000000000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0000000000000000010000000000000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000000002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA00000000000000000000000000000000000000000000000001000000010000009600000003002050FFFFFFFF00960000000000000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000000240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000
+ 00200000000000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000010000000000000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000000002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA00000000000000000000000000000000000000000000000001000000010000009600000003002050FFFFFFFF00960000000000000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000000240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000
583
@@ -3579,7 +3579,7 @@
Debug
2362
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898
@@ -3606,99 +3606,27 @@
0
..\User\module\chassis.c
- 36
- 510
- 516
- 1
-
- 0
-
-
- startup_stm32f407xx.s
- 0
- 165
- 174
- 1
-
- 0
-
-
- ../Core/Src/main.c
- 0
- 67
- 80
- 1
-
- 0
-
-
- ..\User\task\chassis_ctrl.c
- 23
- 19
- 46
- 1
-
- 0
-
-
- ..\User\module\cmd\cmd.c
- 61
- 103
- 109
+ 10
+ 565
+ 573
1
0
..\User\module\chassis.h
- 0
- 129
- 143
+ 43
+ 226
+ 240
1
0
..\User\module\config.c
- 28
- 136
- 145
- 1
-
- 0
-
-
- ..\User\device\ET16s.c
- 49
- 154
- 168
- 1
-
- 0
-
-
- ..\User\module\gimbal.c
- 0
- 52
- 1
- 1
-
- 0
-
-
- ..\User\task\gimbal_ctrl.c
- 13
- 20
- 40
- 1
-
- 0
-
-
- ..\User\task\shoot_ctrl.c
- 0
- 16
- 1
+ 24
+ 348
+ 354
1
0
diff --git a/MDK-ARM/Steering Wheel_Infatry.uvoptx b/MDK-ARM/Steering Wheel_Infatry.uvoptx
index f702e37..531a855 100644
--- a/MDK-ARM/Steering Wheel_Infatry.uvoptx
+++ b/MDK-ARM/Steering Wheel_Infatry.uvoptx
@@ -117,10 +117,6 @@
Segger\JL2CM3.dll
-
- 0
- DLGUARM
-
0
JL2CM3
@@ -304,7 +300,7 @@
Application/MDK-ARM
- 0
+ 1
0
0
0
@@ -324,7 +320,7 @@
Application/User/Core
- 0
+ 1
0
0
0
@@ -976,7 +972,7 @@
component
- 0
+ 1
0
0
0
@@ -1148,6 +1144,18 @@
0
0
+
+ 7
+ 67
+ 1
+ 0
+ 0
+ 0
+ ..\User\component\trapezoidal_profile.c
+ trapezoidal_profile.c
+ 0
+ 0
+
@@ -1158,7 +1166,7 @@
0
8
- 67
+ 68
1
0
0
@@ -1170,7 +1178,7 @@
8
- 68
+ 69
1
0
0
@@ -1182,7 +1190,7 @@
8
- 69
+ 70
1
0
0
@@ -1194,7 +1202,7 @@
8
- 70
+ 71
1
0
0
@@ -1206,7 +1214,7 @@
8
- 71
+ 72
1
0
0
@@ -1216,18 +1224,6 @@
0
0
-
- 8
- 72
- 1
- 0
- 0
- 0
- ..\User\device\motor_step.c
- motor_step.c
- 0
- 0
-
8
73
@@ -1283,18 +1279,6 @@
0
0
0
- ..\User\device\Oid.c
- Oid.c
- 0
- 0
-
-
- 8
- 78
- 1
- 0
- 0
- 0
..\User\device\motor_lk.c
motor_lk.c
0
@@ -1302,7 +1286,7 @@
8
- 79
+ 78
1
0
0
@@ -1314,7 +1298,7 @@
8
- 80
+ 79
1
0
0
@@ -1332,6 +1316,18 @@
0
0
0
+
+ 9
+ 80
+ 1
+ 0
+ 0
+ 0
+ ..\User\module\chassis.c
+ chassis.c
+ 0
+ 0
+
9
81
@@ -1368,18 +1364,6 @@
0
0
-
- 9
- 84
- 1
- 0
- 0
- 0
- ..\User\module\chassis.c
- chassis.c
- 0
- 0
-
@@ -1390,7 +1374,7 @@
0
10
- 85
+ 84
1
0
0
@@ -1402,7 +1386,7 @@
10
- 86
+ 85
1
0
0
@@ -1414,7 +1398,7 @@
10
- 87
+ 86
1
0
0
@@ -1426,7 +1410,7 @@
10
- 88
+ 87
1
0
0
@@ -1438,43 +1422,7 @@
10
- 89
- 1
- 0
- 0
- 0
- ..\User\task\gimbal_ctrl.c
- gimbal_ctrl.c
- 0
- 0
-
-
- 10
- 90
- 1
- 0
- 0
- 0
- ..\User\task\chassis_ctrl.c
- chassis_ctrl.c
- 0
- 0
-
-
- 10
- 91
- 1
- 0
- 0
- 0
- ..\User\task\shoot_ctrl.c
- shoot_ctrl.c
- 0
- 0
-
-
- 10
- 92
+ 88
1
0
0
@@ -1486,19 +1434,7 @@
10
- 93
- 1
- 0
- 0
- 0
- ..\User\task\step_motor.c
- step_motor.c
- 0
- 0
-
-
- 10
- 94
+ 89
1
0
0
@@ -1510,7 +1446,7 @@
10
- 95
+ 90
1
0
0
@@ -1522,7 +1458,7 @@
10
- 96
+ 91
1
0
0
@@ -1532,6 +1468,42 @@
0
0
+
+ 10
+ 92
+ 1
+ 0
+ 0
+ 0
+ ..\User\task\chassis_ctrl.c
+ chassis_ctrl.c
+ 0
+ 0
+
+
+ 10
+ 93
+ 1
+ 0
+ 0
+ 0
+ ..\User\task\gimbal_ctrl.c
+ gimbal_ctrl.c
+ 0
+ 0
+
+
+ 10
+ 94
+ 1
+ 0
+ 0
+ 0
+ ..\User\task\shoot_ctrl.c
+ shoot_ctrl.c
+ 0
+ 0
+
@@ -1542,7 +1514,7 @@
0
11
- 97
+ 95
1
0
0
@@ -1554,7 +1526,7 @@
11
- 98
+ 96
1
0
0
@@ -1566,7 +1538,7 @@
11
- 99
+ 97
1
0
0
@@ -1578,7 +1550,7 @@
11
- 100
+ 98
1
0
0
diff --git a/MDK-ARM/Steering Wheel_Infatry.uvprojx b/MDK-ARM/Steering Wheel_Infatry.uvprojx
index 9e98156..2ee649e 100644
--- a/MDK-ARM/Steering Wheel_Infatry.uvprojx
+++ b/MDK-ARM/Steering Wheel_Infatry.uvprojx
@@ -1833,6 +1833,11 @@
1
..\User\component\crc8.c
+
+ trapezoidal_profile.c
+ 1
+ ..\User\component\trapezoidal_profile.c
+
@@ -1863,11 +1868,6 @@
1
..\User\device\motor_dm.c
-
- motor_step.c
- 1
- ..\User\device\motor_step.c
-
motor_lz.c
1
@@ -1888,11 +1888,6 @@
1
..\User\device\dr16.c
-
- Oid.c
- 1
- ..\User\device\Oid.c
-
motor_lk.c
1
@@ -1913,6 +1908,11 @@
module
+
+ chassis.c
+ 1
+ ..\User\module\chassis.c
+
config.c
1
@@ -1928,11 +1928,6 @@
1
..\User\module\shoot.c
-
- chassis.c
- 1
- ..\User\module\chassis.c
-
@@ -1958,31 +1953,11 @@
1
..\User\task\atti_esti.c
-
- gimbal_ctrl.c
- 1
- ..\User\task\gimbal_ctrl.c
-
-
- chassis_ctrl.c
- 1
- ..\User\task\chassis_ctrl.c
-
-
- shoot_ctrl.c
- 1
- ..\User\task\shoot_ctrl.c
-
ET16s.c
1
..\User\task\ET16s.c
-
- step_motor.c
- 1
- ..\User\task\step_motor.c
-
init.c
1
@@ -1998,6 +1973,21 @@
1
..\User\task\user_task.c
+
+ chassis_ctrl.c
+ 1
+ ..\User\task\chassis_ctrl.c
+
+
+ gimbal_ctrl.c
+ 1
+ ..\User\task\gimbal_ctrl.c
+
+
+ shoot_ctrl.c
+ 1
+ ..\User\task\shoot_ctrl.c
+
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf
index cbebed5..c1b56dc 100644
Binary files a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf and b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf differ
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm
index e2e40b6..fc2bd5a 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm
@@ -21,8 +21,8 @@ Target DLL: Segger\JL2CM3.dll V2.99.38.0
Dialog DLL: TCM.DLL V1.48.0.0
Project:
-D:\yunha\git_gimbal\RM\Steering Wheel_Infatry\MDK-ARM\Steering Wheel_Infatry.uvprojx
-Project File Date: 02/07/2026
+D:\yunha\git\RM\Steering Wheel_Infatry\MDK-ARM\Steering Wheel_Infatry.uvprojx
+Project File Date: 03/08/2026
Output:
*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
@@ -34,14 +34,26 @@ Note: source file '..\User\bsp\spi.c' - object file renamed from 'Steering Wheel
Note: source file '..\User\task\ai.c' - object file renamed from 'Steering Wheel_Infatry\ai.o' to 'Steering Wheel_Infatry\ai_1.o'.
Note: source file '..\User\task\dr16.c' - object file renamed from 'Steering Wheel_Infatry\dr16.o' to 'Steering Wheel_Infatry\dr16_1.o'.
Note: source file '..\User\task\ET16s.c' - object file renamed from 'Steering Wheel_Infatry\ET16s.o' to 'Steering Wheel_Infatry\et16s_1.o'.
-Note: source file '..\User\task\step_motor.c' - object file renamed from 'Steering Wheel_Infatry\step_motor.o' to 'Steering Wheel_Infatry\step_motor_1.o'.
Note: source file '..\User\task\vofa.c' - object file renamed from 'Steering Wheel_Infatry\vofa.o' to 'Steering Wheel_Infatry\vofa_1.o'.
Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.
+../User/module/chassis.c(227): warning: incompatible pointer types passing 'KPID_t (*)[2]' to parameter of type 'KPID_t *' [-Wincompatible-pointer-types]
+ PID_Reset(&c->pid.Telescope_omega);
+ ^~~~~~~~~~~~~~~~~~~~~~~
+../User\component/pid.h(99): note: passing argument to parameter 'pid' here
+int8_t PID_Reset(KPID_t *pid);
+ ^
+../User/module/chassis.c(228): warning: incompatible pointer types passing 'KPID_t (*)[2]' to parameter of type 'KPID_t *' [-Wincompatible-pointer-types]
+ PID_Reset(&c->pid.Telescope_angle);
+ ^~~~~~~~~~~~~~~~~~~~~~~
+../User\component/pid.h(99): note: passing argument to parameter 'pid' here
+int8_t PID_Reset(KPID_t *pid);
+ ^
+2 warnings generated.
compiling chassis.c...
linking...
-Program Size: Code=67104 RO-data=1712 RW-data=1156 ZI-data=122760
+Program Size: Code=67304 RO-data=1668 RW-data=1224 ZI-data=123044
FromELF: creating hex file...
-"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 0 Warning(s).
+"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 2 Warning(s).
Software Packages used:
@@ -65,7 +77,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
-Build Time Elapsed: 00:00:07
+Build Time Elapsed: 00:00:02