同步最新代码，pitch、yaw正常开启，等待单发限位代码

底盘/底盘/CarBody/Mecanum.c

@@ -58,7 +58,7 @@ void Mecanum_Init(void)
 	//Raw Code//
 	//PID_PositionSetParameter(&Mecanum_TrackPID,0.007,0,0.8);
 	//Testing Code//
-	PID_PositionSetParameter(&Mecanum_TrackPID,0.01,0,01);//随便写的PID值，勉强可以用
+	PID_PositionSetParameter(&Mecanum_TrackPID,0.01,0,1);//随便写的PID值，勉强可以用
 	
 	PID_PositionSetEkRange(&Mecanum_TrackPID,-1,1);
 	PID_PositionSetOUTRange(&Mecanum_TrackPID,-4,4);
@@ -184,16 +184,16 @@ void Mecanum_PowerMoveControl(void)
 	vx=vx_*cosf(Mecanum_YawTheta)-vy_*sinf(Mecanum_YawTheta);
 	vy=vx_*sinf(Mecanum_YawTheta)+vy_*cosf(Mecanum_YawTheta);//根据底盘云台相对角度修正xy轴速度
 	
-	/*==========小陀螺处理==========*/
+/*==========小陀螺处理==========*/
 	if(Yaw_GM6020PositionValue<4096)//正向小陀螺为逆时针
 	{
 		if((Remote_RxData.Remote_RS==2 || Remote_RxData.Remote_KeyPush_Ctrl==1) || (Mecanum_GyroScopeFlag==1 && Mecanum_GyroScopeCloseFlag==1 && GM6020_MotorStatus[0].Position<Yaw_GM6020PositionValue+500))//小陀螺模式
 		{
-			w=Mecanum_GyroScopeAngularVelocity;
+			w=-Mecanum_GyroScopeAngularVelocity;
 			Mecanum_GyroScopeFlag=1;//处于小陀螺状态
 			Mecanum_GyroScopeCloseFlag=1;//小陀螺处于待关闭状态
 		}
-		else if(Mecanum_GyroScopeFlag==1 && ((GM6020_MotorStatus[0].Angle>Yaw_GM6020PositionValue+100 || GM6020_MotorStatus[0].Angle<Yaw_GM6020PositionValue-100) || (GM6020_MotorStatus[0].Speed>2||GM6020_MotorStatus[0].Speed<-2)))//小陀螺关闭状态
+		else if(Mecanum_GyroScopeFlag==1 && ((GM6020_MotorStatus[0].Angle>Yaw_GM6020PositionValue+200 || GM6020_MotorStatus[0].Angle<Yaw_GM6020PositionValue-200) || (GM6020_MotorStatus[0].Speed>3||GM6020_MotorStatus[0].Speed<-3)))//小陀螺关闭状态
 		{
 			PID_PositionSetOUTRange(&Mecanum_TrackPID,-2,2);
 			PID_PositionCalc(&Mecanum_TrackPID,GM6020_MotorStatus[0].Position);//底盘跟云台
@@ -201,7 +201,7 @@ void Mecanum_PowerMoveControl(void)
 			Mecanum_GyroScopeCloseFlag=0;//小陀螺未处于待关闭状态
 		}
 		else if(Remote_RxData.Remote_RS==1)//反向小陀螺模式(仅检录使用)
-			w=-Mecanum_GyroScopeAngularVelocity;
+			w=Mecanum_GyroScopeAngularVelocity;
 		else
 		{
 			PID_PositionSetOUTRange(&Mecanum_TrackPID,-5,5);
@@ -214,11 +214,11 @@ void Mecanum_PowerMoveControl(void)
 	{
 		if((Remote_RxData.Remote_RS==2 || Remote_RxData.Remote_KeyPush_Ctrl==1) || (Mecanum_GyroScopeFlag==1 && Mecanum_GyroScopeCloseFlag==1 && GM6020_MotorStatus[0].Position>Yaw_GM6020PositionValue-500))//小陀螺模式
 		{
-			w=-Mecanum_GyroScopeAngularVelocity;
+			w=Mecanum_GyroScopeAngularVelocity;
 			Mecanum_GyroScopeFlag=1;//处于小陀螺状态
 			Mecanum_GyroScopeCloseFlag=1;//小陀螺处于待关闭状态
 		}
-		else if(Mecanum_GyroScopeFlag==1 && ((GM6020_MotorStatus[0].Angle>Yaw_GM6020PositionValue+5 || GM6020_MotorStatus[0].Angle<Yaw_GM6020PositionValue-5) || (GM6020_MotorStatus[0].Speed>1||GM6020_MotorStatus[0].Speed<-1)))//小陀螺关闭状态
+		else if(Mecanum_GyroScopeFlag==1 && ((GM6020_MotorStatus[0].Angle>Yaw_GM6020PositionValue+200 || GM6020_MotorStatus[0].Angle<Yaw_GM6020PositionValue-200) || (GM6020_MotorStatus[0].Speed>3||GM6020_MotorStatus[0].Speed<-3)))//小陀螺关闭状态
 		{
 			PID_PositionSetOUTRange(&Mecanum_TrackPID,-2,2);
 			PID_PositionCalc(&Mecanum_TrackPID,GM6020_MotorStatus[0].Position);//底盘跟云台
@@ -226,7 +226,7 @@ void Mecanum_PowerMoveControl(void)
 			Mecanum_GyroScopeCloseFlag=0;//小陀螺未处于待关闭状态
 		}
 		else if(Remote_RxData.Remote_RS==1)//反向小陀螺模式(仅检录使用)
-			w=Mecanum_GyroScopeAngularVelocity;
+			w=-Mecanum_GyroScopeAngularVelocity;
 		else
 		{
 			PID_PositionSetOUTRange(&Mecanum_TrackPID,-5,5);
@@ -235,7 +235,6 @@ void Mecanum_PowerMoveControl(void)
 			w=-Mecanum_TrackPID.OUT;
 		}
 	}		
-	
 	/*==========功率上限处理==========*/
 	/*由缓冲能量得到功率控制功率上限*/
 	float Mecanum_PowerRef=1.0f/(60.0f-Mecanum_PowerControl_UseBuffer)*RefereeSystem_Buffer;//功率增益

底盘/底盘/Listings/startup_stm32f40_41xxx.lst

@@ -842,16 +842,16 @@ ARM Macro Assembler    Page 13
               00000000 
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M4.fp.sp --apcs=
 interwork --depend=.\objects\startup_stm32f40_41xxx.d -o.\objects\startup_stm32
-f40_41xxx.o -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.
+f40_41xxx.o -ID:\useless\ARM\PACK\Keil\STM32F4xx_DFP\3.0.0\Drivers\CMSIS\Device
 
 
 
 ARM Macro Assembler    Page 14 
 
 
-1\Drivers\CMSIS\Device\ST\STM32F4xx\Include --predefine="__MICROLIB SETA 1" --p
-redefine="__UVISION_VERSION SETA 543" --predefine="STM32F407xx SETA 1" --list=.
-\listings\startup_stm32f40_41xxx.lst Start\startup_stm32f40_41xxx.s
+\ST\STM32F4xx\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VE
+RSION SETA 539" --predefine="STM32F407xx SETA 1" --list=.\listings\startup_stm3
+2f40_41xxx.lst Start\startup_stm32f40_41xxx.s
 
 
 

底盘/底盘/Objects/ExtDll.iex

@@ -0,0 +1,2 @@
+[EXTDLL]
+Count=0

底盘/底盘/Objects/Project.build_log.htm

@@ -3,112 +3,43 @@
 <pre>
 <h1><EFBFBD>Vision Build Log</h1>
 <h2>Tool Versions:</h2>
-IDE-Version: <20><>Vision V5.43.1.0
-Copyright (C) 2025 ARM Ltd and ARM Germany GmbH. All rights reserved.
-License Information: LS Mushui, 1, LIC=NQQMA-1N3GT-30GNC-71PK8-06QJT-WGQ3X
+IDE-Version: <20><>Vision V5.39.0.0
+Copyright (C) 2023 ARM Ltd and ARM Germany GmbH. All rights reserved.
+License Information: sun JXF, sun, LIC=HN0AE-5SW5I-PCIJ8-3MDKX-KLD28-41CF7
  
 Tool Versions:
-Toolchain:       MDK-ARM Plus  Version: 5.43.0.0
-Toolchain Path:  C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin
+Toolchain:       MDK-ARM Plus  Version: 5.39.0.0
+Toolchain Path:  D:\useless\ARM\ARM_Compiler_5.06u7\Bin
 C Compiler:      Armcc.exe V5.06 update 7 (build 960)
 Assembler:       Armasm.exe V5.06 update 7 (build 960)
 Linker/Locator:  ArmLink.exe V5.06 update 7 (build 960)
 Library Manager: ArmAr.exe V5.06 update 7 (build 960)
 Hex Converter:   FromElf.exe V5.06 update 7 (build 960)
-CPU DLL:         SARMCM3.DLL V5.43.0.0
+CPU DLL:         SARMCM3.DLL V5.39.0.0
 Dialog DLL:      DCM.DLL V1.17.5.0
-Target DLL:      CMSIS_AGDI.dll V1.33.24.0
-Dialog DLL:      TCM.DLL V1.56.6.0
+Target DLL:      CMSIS_AGDI.dll V1.33.16.0
+Dialog DLL:      TCM.DLL V1.56.4.0
  
 <h2>Project:</h2>
-C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\<5C><><EFBFBD><EFBFBD>\<5C><><EFBFBD><EFBFBD>\Project.uvprojx
-Project File Date:  11/02/2025
+D:\robomaster\Hero-C-Board-Legacy-main\hero-c-board-legacy\<5C><><EFBFBD><EFBFBD>\<5C><><EFBFBD><EFBFBD>\Project.uvprojx
+Project File Date:  03/19/2026
 
 <h2>Output:</h2>
-*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin'
-Rebuild target 'Target 1'
-assembling startup_stm32f40_41xxx.s...
-compiling system_stm32f4xx.c...
-compiling stm32f4xx_cec.c...
-compiling stm32f4xx_dsi.c...
-compiling stm32f4xx_can.c...
-compiling stm32f4xx_adc.c...
-compiling stm32f4xx_cryp.c...
-compiling stm32f4xx_crc.c...
-compiling stm32f4xx_cryp_tdes.c...
-compiling stm32f4xx_dma2d.c...
-compiling stm32f4xx_gpio.c...
-compiling stm32f4xx_fmpi2c.c...
-compiling stm32f4xx_cryp_des.c...
-compiling stm32f4xx_dfsdm.c...
-compiling stm32f4xx_dac.c...
-compiling misc.c...
-compiling stm32f4xx_flash_ramfunc.c...
-compiling stm32f4xx_exti.c...
-compiling stm32f4xx_dbgmcu.c...
-compiling stm32f4xx_dcmi.c...
-compiling stm32f4xx_fsmc.c...
-compiling stm32f4xx_dma.c...
-compiling stm32f4xx_flash.c...
-compiling stm32f4xx_cryp_aes.c...
-compiling stm32f4xx_hash.c...
-compiling stm32f4xx_hash_sha1.c...
-compiling stm32f4xx_hash_md5.c...
-compiling stm32f4xx_i2c.c...
-compiling stm32f4xx_iwdg.c...
-compiling stm32f4xx_lptim.c...
-compiling stm32f4xx_ltdc.c...
-compiling stm32f4xx_qspi.c...
-compiling stm32f4xx_pwr.c...
-compiling stm32f4xx_rng.c...
-compiling stm32f4xx_rcc.c...
-compiling stm32f4xx_spdifrx.c...
-compiling TIM.c...
-compiling stm32f4xx_sai.c...
-compiling stm32f4xx_wwdg.c...
-compiling Delay.c...
-compiling stm32f4xx_syscfg.c...
-compiling stm32f4xx_sdio.c...
-compiling stm32f4xx_spi.c...
-compiling stm32f4xx_usart.c...
-compiling stm32f4xx_rtc.c...
-compiling UART.c...
-compiling stm32f4xx_tim.c...
-compiling CAN.c...
-compiling Buzzer.c...
-compiling LED.c...
-compiling Remote.c...
-compiling M3508.c...
-compiling GM6020.c...
-compiling Warming.c...
-compiling CToC.c...
-compiling LinkCheck.c...
-compiling CloseLoopControl.c...
-compiling PID.c...
-compiling RefereeSystem.c...
-compiling Mecanum.c...
-compiling RefereeSystem_CRCTable.c...
-compiling UI.c...
-compiling Ultra_CAP.c...
-compiling UI_Base.c...
-compiling UI_Library.c...
-compiling stm32f4xx_it.c...
-compiling main.c...
-linking...
-Program Size: Code=18636 RO-data=1224 RW-data=408 ZI-data=2496  
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\useless\ARM\ARM_Compiler_5.06u7\Bin'
+Build target 'Target 1'
 ".\Objects\Project.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
 
 Package Vendor: Keil
-                https://www.keil.com/pack/Keil.STM32F4xx_DFP.3.1.1.pack
-                Keil::STM32F4xx_DFP@3.1.1
+                https://www.keil.com/pack/Keil.STM32F4xx_DFP.3.0.0.pack
+                Keil::STM32F4xx_DFP@3.0.0
                 STMicroelectronics STM32F4 Series Device Support
 
 <h2>Collection of Component include folders:</h2>
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:04
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>

底盘/底盘/Objects/Project.htm

@@ -3,7 +3,7 @@
 <title>Static Call Graph - [.\Objects\Project.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\Project.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sun Jan 11 14:26:24 2026
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sat Mar 21 18:49:59 2026
 <BR><P>
 <H3>Maximum Stack Usage =        232 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -934,7 +934,7 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CloseLoopControl_Init
 </UL>
 
-<P><STRONG><a name="[b0]"></a>Mecanum_PowerMoveControl</STRONG> (Thumb, 2004 bytes, Stack size 80 bytes, mecanum.o(i.Mecanum_PowerMoveControl))
+<P><STRONG><a name="[b0]"></a>Mecanum_PowerMoveControl</STRONG> (Thumb, 2000 bytes, Stack size 80 bytes, mecanum.o(i.Mecanum_PowerMoveControl))
 <BR><BR>[Stack]<UL><LI>Max Depth = 224<LI>Call Chain = Mecanum_PowerMoveControl &rArr; Mecanum_ControlSpeed &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
 <BR>[Calls]<UL><LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Ultra_CAP_SetPower

底盘/底盘/Objects/Project_sct.Bak

@@ -0,0 +1,16 @@
+; *************************************************************
+; *** Scatter-Loading Description File generated by uVision ***
+; *************************************************************
+
+LR_IROM1 0x08000000 0x00100000  {    ; load region size_region
+  ER_IROM1 0x08000000 0x00100000  {  ; load address = execution address
+   *.o (RESET, +First)
+   *(InRoot$$Sections)
+   .ANY (+RO)
+   .ANY (+XO)
+  }
+  RW_IRAM1 0x20000000 0x00020000  {  ; RW data
+   .ANY (+RW +ZI)
+  }
+}
+

底盘/底盘/Project.uvoptx

@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>3</nTsel>
+        <nTsel>2</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -120,7 +120,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"CMSIS-DAP_LU" -ULU_2022_8888 -O206 -S8 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-X"WCH CMSIS-DAP" -U453A9A84F57D -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -230,6 +230,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>Odometer_dx</ItemText>
         </Ww>
+        <Ww>
+          <count>15</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>GM6020_MotorStatus[0],0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <WatchWindow2>
         <Ww>

底盘/底盘/Project.uvprojx

@@ -11,13 +11,13 @@
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
       <pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
-      <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARM_Compiler_5.06u7</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.3.1.1</PackID>
+          <PackID>Keil.STM32F4xx_DFP.3.0.0</PackID>
           <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x00020000) IRAM2(0x10000000,0x00010000) IROM(0x08000000,0x00100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>