添加文件1和文件2

2025-11-27 20:08:38 +08:00
parent 5d4099938c
commit edc427c423
1675 changed files with 1068907 additions and 2830 deletions
--- a/1/.mxproject
+++ b/1/.mxproject
--- a/1/Core/Inc/CToC.h
+++ b/1/Core/Inc/CToC.h
@@ -0,0 +1,33 @@
+#ifndef __CToC_H
+#define __CToC_H
+#include "main.h"  
+#include "M3508.h"
+
+
+#define CToC_MasterID1	0x019//ID1
+
+#define CToC_SlaveID1	0x149//ID1
+#define CToC_SlaveID2	0x189//ID2
+//<2F>жϻص<CFBB><D8B5><EFBFBD><EFBFBD><EFBFBD>
+//<2F>жϽ<D0B6><CFBD>ܶ<EFBFBD><DCB6><EFBFBD><EFBFBD><EFBFBD>ID-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><><EFBFBD>ɽ<EFBFBD><C9BD><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
+//motor_chassis<69><73>motor_measure_t <20><><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD>飬<EFBFBD><E9A3AC><EFBFBD><EFBFBD>װ<EFBFBD>е<EFBFBD><D0B5><EFBFBD>ת<EFBFBD>ӽǶȣ<C7B6><C8A3><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>ת<EFBFBD>٣<EFBFBD><D9A3><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¶<EFBFBD>
+//<2F><><EFBFBD>庯<EFBFBD><E5BAAF>
+#define get_motor_measure(ptr, data) \
+ { \
+ (ptr)->last_ecd = (ptr)->ecd; \
+ (ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
+ (ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
+ (ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
+ (ptr)->temperate = (data)[6]; \
+ }
+
+
+extern uint8_t CToC_SlaveSendRefereeSystemData(void); 
+extern void can_filter_init(void);                  
+extern void CToC_CANDataProcess(uint32_t ID,uint8_t *Data); 
+extern void Update_Motor_Measure(uint8_t motor_id, motor_measure_t* measure); 
+extern void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);                  
+
+
+
+#endif
--- a/1/Core/Inc/M3508.h
+++ b/1/Core/Inc/M3508.h
@@ -0,0 +1,42 @@
+#ifndef __M3508_H
+#define __M3508_H
+#include "main.h"
+#include "PID.h"
+
+// <20><><EFBFBD>̲<EFBFBD><CCB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>ʻ<EFBFBD>е<EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#define WHEEL_RADIUS          0.075f// <20><><EFBFBD>Ӱ뾶 (<28><>)
+#define WHEELBASE_WIDTH       0.21f      // <20>־<EFBFBD><D6BE><EFBFBD><EFBFBD><EFBFBD>/2 (<28><>)
+#define WHEELBASE_LENGTH      0.17f      // <20>־೤<D6BE><E0B3A4>/2 (<28><>)
+
+typedef struct
+{
+ uint16_t ecd;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ -16384--+16384
+ int16_t speed_rpm;//ת<><D7AA> תÿ<D7AA><C3BF><EFBFBD><EFBFBD>
+ int16_t given_current;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+	uint8_t temperate;//<2F><><EFBFBD><EFBFBD><EFBFBD>¶<EFBFBD>
+	int16_t last_ecd;//<2F>ϴα<CFB4><CEB1><EFBFBD><EFBFBD><EFBFBD>ֵ
+} motor_measure_t;
+
+
+// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽṹ<C6BD><E1B9B9>
+typedef struct {
+    motor_measure_t measure;    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ٶȵ<D9B6>λ<EFBFBD><CEBB>RPM<50><4D>
+    PID_Controller_t speed_pid; // <20>ٶȻ<D9B6>PID
+    float target_speed;         // Ŀ<><C4BF><EFBFBD>ٶ<EFBFBD> (rad/s)
+} Motor_Controller_t;
+
+
+extern motor_measure_t motor_chassis[4];
+extern Motor_Controller_t motor_controller[4];
+extern int16_t motor_commands[4];
+
+
+extern void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4);
+extern float RPM_To_RadPerSec(int16_t rpm);
+extern int16_t RadPerSec_To_RPM(float rad_per_sec);
+extern void Set_Motor_Target_Speed(uint8_t motor_id, float target_speed_rad_s);
+extern void Motor_Speed_Control_Task(float dt);
+extern void Drive_Motor(float vx, float vy, float vz);
+extern float Map_Remote_to_Speed(int16_t input, float max_speed);
+extern void Process_Remote_Control(void);
+#endif
--- a/1/Core/Inc/RefreeSystem.h
+++ b/1/Core/Inc/RefreeSystem.h
@@ -0,0 +1,9 @@
+#ifndef __RefreeSystem_H
+#define __RefreeSystem_H
+#include "main.h"  
+
+extern uint8_t RefereeSystem_Status;
+extern uint8_t RefereeSystem_ShooterStatus;
+
+
+#endif
--- a/1/Core/Inc/Remote.h
+++ b/1/Core/Inc/Remote.h
@@ -0,0 +1,39 @@
+
+#ifndef __Remote_H
+#define __Remote_H
+
+#include "main.h"
+typedef struct
+{
+	uint16_t Remote_R_RL;
+	uint16_t Remote_R_UD;
+	uint16_t Remote_L_RL;
+	uint16_t Remote_L_UD;
+	
+	uint8_t Remote_LS;
+	uint8_t Remote_RS;
+	
+	int16_t Remote_Mouse_RL;
+	int16_t Remote_Mouse_DU;
+	int16_t Remote_Mouse_Wheel;
+	uint8_t Remote_Mouse_KeyL;
+	uint8_t Remote_Mouse_KeyR;
+	
+	uint8_t Remote_Key_W;
+	uint8_t Remote_Key_S;
+	uint8_t Remote_Key_A;
+	uint8_t Remote_Key_D;
+	uint8_t Remote_Key_Q;
+	uint8_t Remote_Key_E;
+	uint8_t Remote_Key_Shift;
+	uint8_t Remote_Key_Ctrl;
+	uint8_t Remote_KeyPush_Ctrl;
+	uint8_t Remote_KeyPush_Shift;
+	
+	int16_t Remote_ThumbWheel;
+}Remote_Data;
+extern Remote_Data Remote_RxData; 
+
+extern uint8_t Remote_Status;
+extern uint8_t Remote_StartFlag;
+#endif
--- a/1/Core/Inc/can.h
+++ b/1/Core/Inc/can.h
@@ -34,11 +34,14 @@ extern "C" {

 extern CAN_HandleTypeDef hcan1;

+extern CAN_HandleTypeDef hcan2;
+
 /* USER CODE BEGIN Private defines */

 /* USER CODE END Private defines */

 void MX_CAN1_Init(void);
+void MX_CAN2_Init(void);

 /* USER CODE BEGIN Prototypes */

--- a/1/Core/Inc/main.h
+++ b/1/Core/Inc/main.h
@@ -60,33 +60,8 @@ void Error_Handler(void);
 /* Private defines -----------------------------------------------------------*/

 /* USER CODE BEGIN Private defines */
-#define DBUS_MAX_LEN     (50)
-#define DBUS_BUFLEN      (18)
-#define DBUS_HUART       huart3
-typedef __packed struct
-{
-  int16_t ch0;
-  int16_t ch1;
-  int16_t ch2;
-  int16_t ch3;
-  int16_t roll;
-  uint8_t sw1;
-  uint8_t sw2;
-} rc_info_t;

-#define rc_Init   \
-{                 \
-		0,            \
-		0,            \
-		0,            \
-		0,            \
-		0,            \
-		0,            \
-		0,            \
-}
-void uart_receive_handler(UART_HandleTypeDef *huart);
-void dbus_uart_init(void);
-void rc_callback_handler(rc_info_t *rc, uint8_t *buff);
+

 /* USER CODE END Private defines */

--- a/1/Core/Inc/pid.h
+++ b/1/Core/Inc/pid.h
@@ -0,0 +1,22 @@
+
+#ifndef __PID_H
+#define __PID_H
+#include "main.h"  
+
+typedef struct {
+    float kp;           // ????
+    float ki;           // ????  
+    float kd;           // ????
+    float integral;     // ???
+    float prev_error;   // ?????
+    float output;       // ???
+    float integral_limit; // ????
+    float output_limit;   // ????
+} PID_Controller_t;
+
+extern void PID_Init(PID_Controller_t* pid, float kp, float ki, float kd, float integral_limit, float output_limit); 
+extern float PID_Calculate(PID_Controller_t* pid, float error, float dt); 
+extern void Motor_PID_Init(); 
+extern void PID_PositionClean(PID_Controller_t* pid); 
+
+#endif
--- a/1/Core/Inc/stm32f4xx_hal_conf.h
+++ b/1/Core/Inc/stm32f4xx_hal_conf.h
@@ -64,7 +64,7 @@
 /* #define HAL_MMC_MODULE_ENABLED */
 /* #define HAL_SPI_MODULE_ENABLED */
 /* #define HAL_TIM_MODULE_ENABLED */
-#define HAL_UART_MODULE_ENABLED
+/* #define HAL_UART_MODULE_ENABLED */
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */
 /* #define HAL_SMARTCARD_MODULE_ENABLED */
--- a/1/Core/Inc/stm32f4xx_it.h
+++ b/1/Core/Inc/stm32f4xx_it.h
@@ -55,9 +55,8 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
-void DMA1_Stream1_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
-void USART3_IRQHandler(void);
+void CAN2_RX0_IRQHandler(void);
 /* USER CODE BEGIN EFP */

 /* USER CODE END EFP */
--- a/1/Core/Src/CToC.c
+++ b/1/Core/Src/CToC.c
@@ -0,0 +1,149 @@
+#include "main.h"
+#include "can.h"
+#include "gpio.h"
+#include "CToC.h"
+#include "RefreeSystem.h"
+#include "Remote.h"
+#include "M3508.h"
+
+
+
+static CAN_TxHeaderTypeDef TxMessage;
+static uint8_t DATE_CAIPAN[8];
+uint8_t CToC_SlaveSendRefereeSystemData(void)
+{
+	uint32_t send_mail_box;
+	TxMessage.StdId=CToC_MasterID1;
+	TxMessage.IDE = CAN_ID_STD;
+  TxMessage.RTR = CAN_RTR_DATA;
+	TxMessage.DLC=0x08;
+	DATE_CAIPAN[0]=RefereeSystem_ShooterStatus;
+	DATE_CAIPAN[1]=0;
+	DATE_CAIPAN[2]=0;
+	DATE_CAIPAN[3]=0;
+	DATE_CAIPAN[4]=0;
+	DATE_CAIPAN[5]=0;
+	DATE_CAIPAN[6]=0;
+	DATE_CAIPAN[7]=0;
+
+HAL_StatusTypeDef status = HAL_CAN_AddTxMessage(&hcan2, &TxMessage,DATE_CAIPAN, &send_mail_box);
+if (status != HAL_OK) {
+    return 0; 
+}
+
+uint16_t i = 0;
+while ((HAL_CAN_IsTxMessagePending(&hcan2, send_mail_box)) && (i < 0xFFF)) {
+    i++;
+}
+if (i >= 0xFFF) {
+    return 0; 
+}
+    return 1;  
+}
+
+
+
+void can_filter_init(void)
+{
+    CAN_FilterTypeDef can_filter_st;
+    
+    // ==================== CAN1 ?? ====================
+    // CAN1??ID 
+    can_filter_st.FilterActivation = ENABLE;
+    can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
+    can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
+    can_filter_st.FilterIdHigh = 0x0000;        // ??ID
+    can_filter_st.FilterIdLow = 0x0000;
+    can_filter_st.FilterMaskIdHigh = 0x0000;
+    can_filter_st.FilterMaskIdLow = 0x0007;          // ??ID 
+    can_filter_st.FilterBank = 0;
+    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
+    can_filter_st.SlaveStartFilterBank = 14;         // CAN2??14???
+    HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
+    HAL_CAN_Start(&hcan1);
+    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
+
+    // ==================== CAN2 ?? ====================
+    // CAN2??ID 0x200-0x207???
+   can_filter_st.FilterIdHigh = 0;    // ?????ID
+   can_filter_st.FilterIdLow = 0;     // ?????ID
+   can_filter_st.FilterMaskIdHigh = 0;      // ???????ID
+   can_filter_st.FilterMaskIdLow = 0;       // ???????ID 
+    can_filter_st.FilterBank = 14;                   // CAN2??????14
+    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
+    HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
+    HAL_CAN_Start(&hcan2);
+    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
+}
+
+
+Remote_Data Remote_RxData;
+
+void CToC_CANDataProcess(uint32_t ID,uint8_t *Data)
+{
+	if(ID==CToC_SlaveID1)//?????????
+	{
+		Remote_RxData.Remote_R_RL=(uint16_t)((uint16_t)Data[0]<<8 | Data[1]);//?????
+		Remote_RxData.Remote_R_UD=(uint16_t)((uint16_t)Data[2]<<8 | Data[3]);//?????
+		Remote_RxData.Remote_L_RL=(uint16_t)((uint16_t)Data[4]<<8 | Data[5]);//?????
+		Remote_RxData.Remote_L_UD=(uint16_t)((uint16_t)Data[6]<<8 | Data[7]);//?????
+	}
+	else if(ID==CToC_SlaveID2)//?????????
+	{
+		Remote_Status=Data[0];//???????
+		Remote_RxData.Remote_RS=Data[1];//?????????
+		Remote_RxData.Remote_KeyPush_Ctrl=Data[2];//??Ctrl??
+		Remote_RxData.Remote_KeyPush_Shift=Data[3];//??Shift??
+		Remote_StartFlag=Data[4];//????????
+		Remote_RxData.Remote_LS=Data[5];//?????????
+	}
+}
+
+/**
+ * @brief <20><><EFBFBD>µ<EFBFBD><C2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><DDB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * @param motor_id: <20><><EFBFBD><EFBFBD>ID (0-3)
+ * @param measure: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
+ */
+
+void Update_Motor_Measure(uint8_t motor_id, motor_measure_t* measure)
+{
+    if (motor_id < 4) {
+        // ֱ<>ӽṹ<D3BD>帳ֵ<E5B8B3><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ࣩ
+        motor_controller[motor_id].measure = *measure;
+    }
+}
+
+
+ //can<61><6E><EFBFBD>ز<EFBFBD><D8B2><EFBFBD><EFBFBD>ṹ<EFBFBD>嶨<EFBFBD><E5B6A8>
+// CAN2<4E><32><EFBFBD>ջص<D5BB><D8B5><EFBFBD><EFBFBD><EFBFBD>
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
+    CAN_RxHeaderTypeDef rx_header;
+    uint8_t rx_data[8];
+    
+    HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
+    
+    // <20>ж<EFBFBD><D0B6><EFBFBD>CAN1<4E><31><EFBFBD><EFBFBD>CAN2
+    if (hcan->Instance == CAN1) {
+        // CAN1<4E><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (ID 1-4)
+        switch (rx_header.StdId) {
+            case 1: case 2: case 3: case 4: {
+                static uint8_t i = 0;
+                i = rx_header.StdId - 1;
+                get_motor_measure(&motor_chassis[i], rx_data);
+                Update_Motor_Measure(i, &motor_chassis[i]);
+                break;
+            }
+            default:
+                break;
+        }
+    }
+    else if (hcan->Instance == CAN2) {
+        // CAN2<4E><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+        CToC_CANDataProcess(rx_header.StdId, rx_data);
+    }
+}
+//HAL<41><4C><EFBFBD><EFBFBD><EFBFBD>պ<EFBFBD><D5BA><EFBFBD>HAL_CAN_GetRxMessage
+HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[]);
+
+
--- a/1/Core/Src/M3508.c
+++ b/1/Core/Src/M3508.c
@@ -0,0 +1,170 @@
+#include "main.h"
+#include "M3508.h"
+#include "can.h"
+#include "gpio.h"
+#include <string.h> 
+#include <stdlib.h> 
+#include <math.h>  // <20><><EFBFBD><EFBFBD>isnan<61><6E>isinf<6E><66><EFBFBD><EFBFBD>
+#include "PID.h"
+#include "Remote.h"
+#include "CToC.h"
+
+
+// <20>ĸ<EFBFBD><C4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD>
+Motor_Controller_t motor_controller[4] = {0};
+// <20>洢<EFBFBD>ĸ<EFBFBD><C4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+int16_t motor_commands[4] = {0};
+	
+motor_measure_t motor_chassis[4] = {0};
+
+static CAN_TxHeaderTypeDef  chassis_tx_message;
+static uint8_t              chassis_can_send_data[8];						
+void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4)
+{
+	 uint32_t send_mail_box;
+	 chassis_tx_message.StdId = 0x200;
+	 chassis_tx_message.IDE = CAN_ID_STD;
+	 chassis_tx_message.RTR = CAN_RTR_DATA;
+	 chassis_tx_message.DLC = 0x08;
+	 chassis_can_send_data[0] = motor1 >> 8;
+	 chassis_can_send_data[1] = motor1;
+	 chassis_can_send_data[2] = motor2 >> 8;
+	 chassis_can_send_data[3] = motor2;
+	 chassis_can_send_data[4] = motor3 >> 8;
+	 chassis_can_send_data[5] = motor3;
+	 chassis_can_send_data[6] = motor4 >> 8;
+	 chassis_can_send_data[7] = motor4;
+	 HAL_CAN_AddTxMessage(&hcan1, &chassis_tx_message, 
+	chassis_can_send_data, &send_mail_box);
+
+}
+
+
+/**
+ * @brief <20><>RPMת<4D><D7AA>Ϊrad/s
+ */
+float RPM_To_RadPerSec(int16_t rpm)
+{
+    return (float)rpm * 2.0f * 3.1415926535f / 60.0f;
+}
+
+/**
+ * @brief <20><>rad/sת<73><D7AA>ΪRPM
+ */
+int16_t RadPerSec_To_RPM(float rad_per_sec)
+{
+    return (int16_t)(rad_per_sec * 60.0f / (2.0f * 3.1415926535f));
+}
+
+/**
+ * @brief <20><><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>ٶ<EFBFBD>
+ * @param motor_id: <20><><EFBFBD><EFBFBD>ID (0-3)
+ * @param target_speed_rad_s: Ŀ<><C4BF><EFBFBD>ٶ<EFBFBD> (rad/s)
+ */
+void Set_Motor_Target_Speed(uint8_t motor_id, float target_speed_rad_s)
+{
+    if (motor_id < 4) {
+        motor_controller[motor_id].target_speed = target_speed_rad_s;
+    }
+}
+
+/**
+ * @brief <20><><EFBFBD><EFBFBD><EFBFBD>ٶȿ<D9B6><C8BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>񣨴<EFBFBD><F1A3A8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4>
+ */
+void Motor_Speed_Control_Task(float dt)
+{
+    for (int i = 0; i < 4; i++) {
+        // <20><>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+        if (isnan(motor_controller[i].measure.speed_rpm) || 
+            motor_controller[i].measure.speed_rpm > 10000 || 
+            motor_controller[i].measure.speed_rpm < -10000) {
+            // <20><><EFBFBD><EFBFBD><EFBFBD>쳣<EFBFBD><ECB3A3>ʹ<EFBFBD><CAB9>Ĭ<EFBFBD><C4AC>ֵ
+            motor_controller[i].measure.speed_rpm = 0;
+        }
+        
+        // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>RPMת<4D><D7AA>Ϊrad/s
+        float actual_speed_rads = RPM_To_RadPerSec(motor_controller[i].measure.speed_rpm);
+        
+        // <20><>֤ת<D6A4><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+        if (isnan(actual_speed_rads) || isinf(actual_speed_rads)) {
+            actual_speed_rads = 0.0f;
+        }
+        
+        // <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>
+        float speed_error = motor_controller[i].target_speed - actual_speed_rads;
+        
+        // <20><>֤<EFBFBD><D6A4><EFBFBD><EFBFBD>ֵ
+        if (isnan(speed_error) || isinf(speed_error)) {
+            speed_error = 0.0f;
+        }
+        
+        // PID<49><44><EFBFBD><EFBFBD>
+        float pid_output = PID_Calculate(&motor_controller[i].speed_pid, speed_error, dt);
+        
+        // <20><>֤PID<49><44><EFBFBD><EFBFBD>
+        if (isnan(pid_output) || isinf(pid_output)) {
+            pid_output = 0.0f;
+            // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PID״̬
+            PID_PositionClean(&motor_controller[i].speed_pid);
+        }
+        
+        // <20>洢<EFBFBD><E6B4A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+        motor_commands[i] = (int16_t)pid_output;
+        
+        
+    }
+}
+
+
+/**
+ * @brief <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD>ٶȽ<D9B6><C8BD>㺯<EFBFBD><E3BAAF>
+ * @param vx: X<><58><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> (m/s) - <20><><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * @param vy: Y<><59><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> (m/s) - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD><C6A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>  
+ * @param vz: <20><>ת<EFBFBD><D7AA><EFBFBD>ٶ<EFBFBD> (rad/s) - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>룬<EFBFBD><EBA3AC><EFBFBD><EFBFBD>˳ʱ<CBB3><CAB1>
+ */
+void Drive_Motor(float vx, float vy, float vz)
+{
+    float A = WHEELBASE_WIDTH + WHEELBASE_LENGTH;
+    
+    // <20><>׼<EFBFBD><D7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD>˶<EFBFBD>ѧ<EFBFBD><D1A7><EFBFBD><EFBFBD><EFBFBD>㹫ʽ
+    // <20><><EFBFBD>ӱ<EFBFBD><D3B1>ţ<EFBFBD>0-<2D><><EFBFBD><EFBFBD>, 1-<2D><><EFBFBD><EFBFBD>, 2-<2D><><EFBFBD><EFBFBD>, 3-<2D><><EFBFBD><EFBFBD>
+     
+    // <20><>׼<EFBFBD><D7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD>˶<EFBFBD>ѧ<EFBFBD><D1A7><EFBFBD><EFBFBD><EFBFBD>㹫ʽ
+    float wheel1_speed = ( vx +vy + vz * A  ) / WHEEL_RADIUS;  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    float wheel2_speed = ( vx - vy + vz * A  ) / WHEEL_RADIUS;  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    float wheel3_speed = (-vx -vy + vz * A  ) / WHEEL_RADIUS;  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    float wheel4_speed = (-vx +vy +vz * A  ) / WHEEL_RADIUS;  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
+    Set_Motor_Target_Speed(0, wheel1_speed);  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    Set_Motor_Target_Speed(1, wheel2_speed);  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    Set_Motor_Target_Speed(2, wheel3_speed);  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    Set_Motor_Target_Speed(3, wheel4_speed);  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+}
+
+
+float Map_Remote_to_Speed(int16_t input, float max_speed)
+{
+    if (input > 660) input = 660;
+    if (input < -660) input = -660;
+    
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>ӷ<EFBFBD><D3B7><EFBFBD>0
+    if (abs(input) < 50) {
+        return 0.0f;
+    }
+    
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><DAA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
+    return (input / 660.0f) * max_speed;
+}
+/**
+ * @brief <20><><EFBFBD><EFBFBD>ң<EFBFBD><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݲ<EFBFBD><DDB2><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD>ٶ<EFBFBD>
+ */
+void Process_Remote_Control(void)
+{
+    // ӳ<><D3B3>ң<EFBFBD><D2A3><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ٶ<EFBFBD> (m/s)
+    float vx = Map_Remote_to_Speed(Remote_RxData.Remote_L_UD,2.0f);   // ǰ<><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2m/s
+    float vy = Map_Remote_to_Speed(Remote_RxData.Remote_L_RL, 2.0f);  // <20><><EFBFBD>ҷ<EFBFBD><D2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2m/s  
+    float vz = Map_Remote_to_Speed(Remote_RxData.Remote_R_RL, 3.0f);   // <20><>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3rad/s
+    
+    // <20><><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>ѧ<EFBFBD><D1A7><EFBFBD><EFBFBD>
+    Drive_Motor(vx, vy, vz);
+}
--- a/1/Core/Src/PID.c
+++ b/1/Core/Src/PID.c
@@ -0,0 +1,119 @@
+#include "PID.h"
+#include "main.h"
+#include "M3508.h"
+#include <math.h>  // <20><><EFBFBD><EFBFBD>isnan<61><6E>isinf<6E><66><EFBFBD><EFBFBD>
+#include "Remote.h"
+#include "CToC.h"
+/**
+ * @brief PID<49><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
+ */
+void PID_Init(PID_Controller_t* pid, float kp, float ki, float kd, float integral_limit, float output_limit)
+{
+    pid->kp = kp;
+    pid->ki = ki;
+    pid->kd = kd;
+    pid->integral = 0.0f;
+    pid->prev_error = 0.0f;
+    pid->output = 0.0f;
+    pid->integral_limit = integral_limit;
+    pid->output_limit = output_limit;
+}
+
+/**
+ * @brief PID<49><44><EFBFBD>㺯<EFBFBD><E3BAAF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ */
+float PID_Calculate(PID_Controller_t* pid, float error, float dt)
+{
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>
+    if (dt <= 0.0f || dt > 1.0f) {
+        dt = 0.01f;  // ʹ<><CAB9>Ĭ<EFBFBD><C4AC>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    }
+    
+    // <20><><EFBFBD><EFBFBD>error<6F>Ƿ<EFBFBD>ΪNaN<61><4E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    if (isnan(error) || isinf(error)) {
+        error = 0.0f;
+    }
+    
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    float proportional = pid->kp * error;
+    
+    // <20><><EFBFBD><EFBFBD>proportional<61>Ƿ<EFBFBD>ΪNaN
+    if (isnan(proportional) || isinf(proportional)) {
+        proportional = 0.0f;
+    }
+    
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EEA3A8><EFBFBD>޷<EFBFBD><DEB7><EFBFBD>
+    pid->integral += error * dt;
+    if (pid->integral > pid->integral_limit) {
+        pid->integral = pid->integral_limit;
+    } else if (pid->integral < -pid->integral_limit) {
+        pid->integral = -pid->integral_limit;
+    }
+    float integral = pid->ki * pid->integral;
+    
+    // <20><><EFBFBD><EFBFBD>integral<61>Ƿ<EFBFBD>ΪNaN
+    if (isnan(integral) || isinf(integral)) {
+        integral = 0.0f;
+        pid->integral = 0.0f;
+    }
+    
+    // ΢<><CEA2><EFBFBD><EFBFBD><EEA3A8><EFBFBD><EFBFBD>dt<64><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    float derivative = 0.0f;
+    if (dt > 0.001f) {  // ȷ<><C8B7>dt<64>㹻<EFBFBD>󣬱<EFBFBD><F3A3ACB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ժ<EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>
+        derivative = pid->kd * (error - pid->prev_error) / dt;
+    }
+    
+    // <20><><EFBFBD><EFBFBD>derivative<76>Ƿ<EFBFBD>ΪNaN
+    if (isnan(derivative) || isinf(derivative)) {
+        derivative = 0.0f;
+    }
+    
+    pid->prev_error = error;
+    
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    pid->output = proportional + integral + derivative;
+    
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>ΪNaN
+    if (isnan(pid->output) || isinf(pid->output)) {
+        pid->output = 0.0f;
+        // <20><><EFBFBD><EFBFBD>PID״̬
+        pid->integral = 0.0f;
+        pid->prev_error = 0.0f;
+    }
+    
+    // <20><><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD>
+    if (pid->output > pid->output_limit) {
+        pid->output = pid->output_limit;
+    } else if (pid->output < -pid->output_limit) {
+        pid->output = -pid->output_limit;
+    }
+    
+    return pid->output;
+}
+/**
+ * @brief <20><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD>PID<49><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ */
+void Motor_PID_Init(void)
+{
+    // PID<49><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>ʵ<EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>
+    float speed_kp = 400.0f;      // <20>ٶȻ<D9B6><C8BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
+    float speed_ki = 0.05f;      // <20>ٶȻ<D9B6><C8BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
+    float speed_kd = 300.0f;      // <20>ٶȻ<D9B6>΢<EFBFBD><CEA2>ϵ<EFBFBD><CFB5>
+    
+    for (int i = 0; i < 4; i++) {
+        PID_Init(&motor_controller[i].speed_pid, speed_kp, speed_ki, speed_kd, 3000.0f, 3000.0f);
+    }
+}
+
+/*
+ *<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:λ<><CEBB>ʽPID<49><44><EFBFBD><EFBFBD>
+ *<2A><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>:λ<><CEBB>ʽPID<49><44><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9>
+ *<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:<3A><>
+ *<2A><>ע:<3A><><EFBFBD><EFBFBD>PID<49>ڲ<EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3>л<EFBFBD><D0BB><EFBFBD><EFBFBD>쳣<EFBFBD><ECB3A3><EFBFBD><EFBFBD>
+ */
+void PID_PositionClean(PID_Controller_t* pid)
+{
+    pid->integral = 0.0f;      // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EEA3AC>ֹ<EFBFBD><D6B9><EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD>
+    pid->prev_error = 0.0f;    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EEA3AC>ֹ΢<D6B9>ֳ<EFBFBD><D6B3><EFBFBD>
+    pid->output = 0.0f;        // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+}
--- a/1/Core/Src/RefreeSystem.c
+++ b/1/Core/Src/RefreeSystem.c
@@ -0,0 +1,5 @@
+#include "RefreeSystem.h"
+#include "main.h"
+
+uint8_t RefereeSystem_Status =0;
+uint8_t RefereeSystem_ShooterStatus=1;
--- a/1/Core/Src/Remote.c
+++ b/1/Core/Src/Remote.c
@@ -0,0 +1,4 @@
+#include "main.h"
+#include "Remote.h"
+uint8_t Remote_Status;
+uint8_t Remote_StartFlag=1;
--- a/1/Core/Src/can.c
+++ b/1/Core/Src/can.c
@@ -25,6 +25,7 @@
 /* USER CODE END 0 */

 CAN_HandleTypeDef hcan1;
+CAN_HandleTypeDef hcan2;

 /* CAN1 init function */
 void MX_CAN1_Init(void)
@@ -58,6 +59,40 @@ void MX_CAN1_Init(void)
  /* USER CODE END CAN1_Init 2 */

 }
+/* CAN2 init function */
+void MX_CAN2_Init(void)
+{
+
+  /* USER CODE BEGIN CAN2_Init 0 */
+
+  /* USER CODE END CAN2_Init 0 */
+
+  /* USER CODE BEGIN CAN2_Init 1 */
+
+  /* USER CODE END CAN2_Init 1 */
+  hcan2.Instance = CAN2;
+  hcan2.Init.Prescaler = 3;
+  hcan2.Init.Mode = CAN_MODE_NORMAL;
+  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
+  hcan2.Init.TimeSeg1 = CAN_BS1_10TQ;
+  hcan2.Init.TimeSeg2 = CAN_BS2_3TQ;
+  hcan2.Init.TimeTriggeredMode = DISABLE;
+  hcan2.Init.AutoBusOff = DISABLE;
+  hcan2.Init.AutoWakeUp = DISABLE;
+  hcan2.Init.AutoRetransmission = DISABLE;
+  hcan2.Init.ReceiveFifoLocked = DISABLE;
+  hcan2.Init.TransmitFifoPriority = DISABLE;
+  if (HAL_CAN_Init(&hcan2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN CAN2_Init 2 */
+
+  /* USER CODE END CAN2_Init 2 */
+
+}
+
+static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;

 void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
 {
@@ -69,7 +104,10 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)

  /* USER CODE END CAN1_MspInit 0 */
    /* CAN1 clock enable */
+    HAL_RCC_CAN1_CLK_ENABLED++;
+    if(HAL_RCC_CAN1_CLK_ENABLED==1){
      __HAL_RCC_CAN1_CLK_ENABLE();
+    }

    __HAL_RCC_GPIOD_CLK_ENABLE();
    /**CAN1 GPIO Configuration
@@ -90,6 +128,37 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)

  /* USER CODE END CAN1_MspInit 1 */
  }
+  else if(canHandle->Instance==CAN2)
+  {
+  /* USER CODE BEGIN CAN2_MspInit 0 */
+
+  /* USER CODE END CAN2_MspInit 0 */
+    /* CAN2 clock enable */
+    __HAL_RCC_CAN2_CLK_ENABLE();
+    HAL_RCC_CAN1_CLK_ENABLED++;
+    if(HAL_RCC_CAN1_CLK_ENABLED==1){
+      __HAL_RCC_CAN1_CLK_ENABLE();
+    }
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**CAN2 GPIO Configuration
+    PB5     ------> CAN2_RX
+    PB6     ------> CAN2_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    /* CAN2 interrupt Init */
+    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
+  /* USER CODE BEGIN CAN2_MspInit 1 */
+
+  /* USER CODE END CAN2_MspInit 1 */
+  }
 }

 void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
@@ -101,7 +170,10 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)

  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
+    HAL_RCC_CAN1_CLK_ENABLED--;
+    if(HAL_RCC_CAN1_CLK_ENABLED==0){
      __HAL_RCC_CAN1_CLK_DISABLE();
+    }

    /**CAN1 GPIO Configuration
    PD0     ------> CAN1_RX
@@ -115,6 +187,30 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)

  /* USER CODE END CAN1_MspDeInit 1 */
  }
+  else if(canHandle->Instance==CAN2)
+  {
+  /* USER CODE BEGIN CAN2_MspDeInit 0 */
+
+  /* USER CODE END CAN2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_CAN2_CLK_DISABLE();
+    HAL_RCC_CAN1_CLK_ENABLED--;
+    if(HAL_RCC_CAN1_CLK_ENABLED==0){
+      __HAL_RCC_CAN1_CLK_DISABLE();
+    }
+
+    /**CAN2 GPIO Configuration
+    PB5     ------> CAN2_RX
+    PB6     ------> CAN2_TX
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
+
+    /* CAN2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
+  /* USER CODE BEGIN CAN2_MspDeInit 1 */
+
+  /* USER CODE END CAN2_MspDeInit 1 */
+  }
 }

 /* USER CODE BEGIN 1 */
--- a/1/Core/Src/gpio.c
+++ b/1/Core/Src/gpio.c
@@ -45,9 +45,9 @@ void MX_GPIO_Init(void)
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
-  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
--- a/1/Core/Src/main.c
+++ b/1/Core/Src/main.c
@@ -19,15 +19,16 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "can.h"
-#include "dma.h"
-#include "usart.h"
 #include "gpio.h"
+#include "CToC.h"
+#include "RefreeSystem.h"
+#include "Remote.h"
+#include "M3508.h"
+#include "PID.h"

 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include <string.h> 
-#include <stdlib.h> 
-#include <math.h>  // 用于isnan、isinf函数
+
 /* USER CODE END Includes */

 /* Private typedef -----------------------------------------------------------*/
@@ -48,9 +49,7 @@
 /* Private variables ---------------------------------------------------------*/

 /* USER CODE BEGIN PV */
-uint8_t   dbus_buf[DBUS_BUFLEN];
-rc_info_t rc = rc_Init;
-extern UART_HandleTypeDef huart3;//遥控器
+

 /* USER CODE END PV */

@@ -62,494 +61,6 @@ void SystemClock_Config(void);

 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-static int uart_receive_dma_no_it(UART_HandleTypeDef* huart, uint8_t* pData, uint32_t Size)
-{
-  uint32_t tmp1 = 0;
-  tmp1 = huart->RxState;
-	
-	if (tmp1 == HAL_UART_STATE_READY)
-	{
-		if ((pData == NULL) || (Size == 0))
-		{
-			return HAL_ERROR;
-		}
- 
-		huart->pRxBuffPtr = pData;
-		huart->RxXferSize = Size;
-		huart->ErrorCode  = HAL_UART_ERROR_NONE;
- 
-		HAL_DMA_Start(huart->hdmarx, (uint32_t)&huart->Instance->DR, (uint32_t)pData, Size);
-		
-	
-		SET_BIT(huart->Instance->CR3, USART_CR3_DMAR);
-		
-		return HAL_OK;
-	}
-	else
-	{
-		return HAL_BUSY;
-	}
-}
-
-void dbus_uart_init(void)
-{
-	__HAL_UART_CLEAR_IDLEFLAG(&DBUS_HUART);
-	
-	__HAL_UART_ENABLE_IT(&DBUS_HUART, UART_IT_IDLE);
-	
-	uart_receive_dma_no_it(&DBUS_HUART, dbus_buf, DBUS_MAX_LEN);
-}
-
-
-void rc_callback_handler(rc_info_t *rc, uint8_t *buff)
-{
-  rc->ch0 = (buff[0] | buff[1] << 8) & 0x07FF;
-  rc->ch0 -= 1024;
-  rc->ch1 = (buff[1] >> 3 | buff[2] << 5) & 0x07FF;
-  rc->ch1 -= 1024;
-  rc->ch2 = (buff[2] >> 6 | buff[3] << 2 | buff[4] << 10) & 0x07FF;
-  rc->ch2 -= 1024;
-  rc->ch3 = (buff[4] >> 1 | buff[5] << 7) & 0x07FF;
-  rc->ch3 -= 1024;
-  rc->roll = (buff[16] | (buff[17] << 8)) & 0x07FF;  
-  rc->roll -= 1024;
- 
-  rc->sw1 = ((buff[5] >> 4) & 0x000C) >> 2;
-  rc->sw2 = (buff[5] >> 4) & 0x0003;
-	
-//  if ((abs(rc->ch0) > 660) || \
-//      (abs(rc->ch1) > 660) || \
-//      (abs(rc->ch2) > 660) || \
-//      (abs(rc->ch3) > 660))
-//	  
-//  {
-//    memset(rc, 0, sizeof(rc_info_t));
-//  }		
-}
-
-uint16_t dma_current_data_counter(DMA_Stream_TypeDef *dma_stream)
-{
-  return ((uint16_t)(dma_stream->NDTR));
-}
- 
-static void uart_rx_idle_callback(UART_HandleTypeDef* huart)
-{
-	__HAL_UART_CLEAR_IDLEFLAG(huart);
-	
-	
-	if (huart == &DBUS_HUART)
-	{
-		__HAL_DMA_DISABLE(huart->hdmarx);
- 
-		if ((DBUS_MAX_LEN - dma_current_data_counter(huart->hdmarx->Instance)) == DBUS_BUFLEN)
-		{
-			rc_callback_handler(&rc, dbus_buf);	
-		}
-		__HAL_DMA_SET_COUNTER(huart->hdmarx, DBUS_MAX_LEN);
-		__HAL_DMA_ENABLE(huart->hdmarx);
-	}
-}
-void uart_receive_handler(UART_HandleTypeDef *huart)
-{
-	if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE) && 
-			__HAL_UART_GET_IT_SOURCE(huart, UART_IT_IDLE))
-	{
-		uart_rx_idle_callback(huart);
-	}
-}//遥控器
-typedef struct
-{
- uint16_t ecd;//编码器值 -16384--+16384
- int16_t speed_rpm;//转速 转每分钟
- int16_t given_current;//输出电流值
-	uint8_t temperate;//电机温度
-	int16_t last_ecd;//上次编码器值
-} motor_measure_t;
-	
-motor_measure_t motor_chassis[4] = {0};
-/**
- * @brief 更新电机测量数据到控制器
- * @param motor_id: 电机ID (0-3)
- * @param measure: 电机测量数据指针
- */
-
-static CAN_TxHeaderTypeDef  chassis_tx_message;
-static uint8_t              chassis_can_send_data[8];						
-	void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4)
-//can总线数据发送函数 
-//motor1-右上 motor2-左上 motor3-左下 motor4-右下
-//以c板的正方向为基准
-{
-	 uint32_t send_mail_box;
-	 chassis_tx_message.StdId = 0x200;
-	 chassis_tx_message.IDE = CAN_ID_STD;
-	 chassis_tx_message.RTR = CAN_RTR_DATA;
-	 chassis_tx_message.DLC = 0x08;
-	 chassis_can_send_data[0] = motor1 >> 8;
-	 chassis_can_send_data[1] = motor1;
-	 chassis_can_send_data[2] = motor2 >> 8;
-	 chassis_can_send_data[3] = motor2;
-	 chassis_can_send_data[4] = motor3 >> 8;
-	 chassis_can_send_data[5] = motor3;
-	 chassis_can_send_data[6] = motor4 >> 8;
-	 chassis_can_send_data[7] = motor4;
-	 HAL_CAN_AddTxMessage(&hcan1, &chassis_tx_message, 
-	chassis_can_send_data, &send_mail_box);
-
-}
-
-//滤波器 只接受 ID 1-4 的电机
-//此段后续可优化为列表模式
-void can_filter_init(void)
-{
-    CAN_FilterTypeDef can_filter_st;
-    can_filter_st.FilterActivation = ENABLE;
-    can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
-    can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
-    can_filter_st.FilterIdHigh = 0x0000;//高八位
-    can_filter_st.FilterIdLow = 0x0000;//低八位
-    can_filter_st.FilterMaskIdHigh = 0x0000;
-    can_filter_st.FilterMaskIdLow = 0x0007;
-    can_filter_st.FilterBank = 0;
-    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
-    HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
-    HAL_CAN_Start(&hcan1);
-    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
- 
-
-	can_filter_st.SlaveStartFilterBank = 14;
-    can_filter_st.FilterBank = 14;
-    HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
-    HAL_CAN_Start(&hcan1);
-    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
-}
-//过滤器笔记
-//SlaveStartFilterBank参数只有在双CAN模式（CAN1和CAN2）下才需要，如果只有CAN1，可以不用设置
-
-// PID控制器结构体
-typedef struct {
-    float kp;           // 比例系数
-    float ki;           // 积分系数  
-    float kd;           // 微分系数
-    float integral;     // 积分项
-    float prev_error;   // 上一次误差
-    float output;       // 输出值
-    float integral_limit; // 积分限幅
-    float output_limit;   // 输出限幅
-} PID_Controller_t;
-
-// 电机控制结构体
-typedef struct {
-    motor_measure_t measure;    // 电机测量值（速度单位：RPM）
-    PID_Controller_t speed_pid; // 速度环PID
-    float target_speed;         // 目标速度 (rad/s)
-} Motor_Controller_t;
-// 四个电机的控制器
-Motor_Controller_t motor_controller[4] = {0};
-// 存储四个电机的控制命令
-int16_t motor_commands[4] = {0};
-// 底盘参数（根据实际机械结构调整）
-#define WHEEL_RADIUS          0.075f// 轮子半径 (米)
-#define WHEELBASE_WIDTH       0.21f      // 轮距宽度/2 (米)
-#define WHEELBASE_LENGTH      0.17f      // 轮距长度/2 (米)
-/**
- * @brief 更新电机测量数据到控制器
- * @param motor_id: 电机ID (0-3)
- * @param measure: 电机测量数据指针
- */
-
-void Update_Motor_Measure(uint8_t motor_id, motor_measure_t* measure)
-{
-    if (motor_id < 4) {
-        // 直接结构体赋值（更简洁）
-        motor_controller[motor_id].measure = *measure;
-    }
-}
-//中断回调函数
-//判断接受对象的ID-符合条件-完成解码-发送数据包
-//motor_chassis：motor_measure_t 类型的数组，其中装有电机转子角度，电机转子转速，控制电流，温度
-//定义函数
-#define get_motor_measure(ptr, data) \
- { \
- (ptr)->last_ecd = (ptr)->ecd; \
- (ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
- (ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
- (ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
- (ptr)->temperate = (data)[6]; \
- }
- //can传回参数结构体定义
-
-//回调函数
-void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
-{
- CAN_RxHeaderTypeDef rx_header;
- uint8_t rx_data[8];
- HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
- switch (rx_header.StdId)
- {
-     case 1:
-     case 2:
-     case 3:
-     case 4:
-     {
-         static uint8_t i = 0;
-			 //读取电机ID
-         i = rx_header.StdId - 1;
-         get_motor_measure(&motor_chassis[i], rx_data);
-					Update_Motor_Measure(i, &motor_chassis[i]);
-         break;
-     }
-     default:
-     {
-         break;
-     }
- }
-}
-//HAL库接收函数HAL_CAN_GetRxMessage
-HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[]);
-
-/**
- * @brief 将RPM转换为rad/s
- */
-float RPM_To_RadPerSec(int16_t rpm)
-{
-    return (float)rpm * 2.0f * 3.1415926535f / 60.0f;
-}
-
-/**
- * @brief 将rad/s转换为RPM
- */
-int16_t RadPerSec_To_RPM(float rad_per_sec)
-{
-    return (int16_t)(rad_per_sec * 60.0f / (2.0f * 3.1415926535f));
-}
-
-/**
- * @brief PID控制器初始化
- */
-void PID_Init(PID_Controller_t* pid, float kp, float ki, float kd, float integral_limit, float output_limit)
-{
-    pid->kp = kp;
-    pid->ki = ki;
-    pid->kd = kd;
-    pid->integral = 0.0f;
-    pid->prev_error = 0.0f;
-    pid->output = 0.0f;
-    pid->integral_limit = integral_limit;
-    pid->output_limit = output_limit;
-}
-
-/**
- * @brief PID计算函数（带保护）
- */
-float PID_Calculate(PID_Controller_t* pid, float error, float dt)
-{
-    // 检查输入参数有效性
-    if (dt <= 0.0f || dt > 1.0f) {
-        dt = 0.01f;  // 使用默认时间间隔
-    }
-    
-    // 检查error是否为NaN或无穷大
-    if (isnan(error) || isinf(error)) {
-        error = 0.0f;
-    }
-    
-    // 比例项
-    float proportional = pid->kp * error;
-    
-    // 检查proportional是否为NaN
-    if (isnan(proportional) || isinf(proportional)) {
-        proportional = 0.0f;
-    }
-    
-    // 积分项（带限幅）
-    pid->integral += error * dt;
-    if (pid->integral > pid->integral_limit) {
-        pid->integral = pid->integral_limit;
-    } else if (pid->integral < -pid->integral_limit) {
-        pid->integral = -pid->integral_limit;
-    }
-    float integral = pid->ki * pid->integral;
-    
-    // 检查integral是否为NaN
-    if (isnan(integral) || isinf(integral)) {
-        integral = 0.0f;
-        pid->integral = 0.0f;
-    }
-    
-    // 微分项（添加dt保护）
-    float derivative = 0.0f;
-    if (dt > 0.001f) {  // 确保dt足够大，避免除以很小的数
-        derivative = pid->kd * (error - pid->prev_error) / dt;
-    }
-    
-    // 检查derivative是否为NaN
-    if (isnan(derivative) || isinf(derivative)) {
-        derivative = 0.0f;
-    }
-    
-    pid->prev_error = error;
-    
-    // 计算总输出
-    pid->output = proportional + integral + derivative;
-    
-    // 检查总输出是否为NaN
-    if (isnan(pid->output) || isinf(pid->output)) {
-        pid->output = 0.0f;
-        // 重置PID状态
-        pid->integral = 0.0f;
-        pid->prev_error = 0.0f;
-    }
-    
-    // 输出限幅
-    if (pid->output > pid->output_limit) {
-        pid->output = pid->output_limit;
-    } else if (pid->output < -pid->output_limit) {
-        pid->output = -pid->output_limit;
-    }
-    
-    return pid->output;
-}
-/**
- * @brief 初始化所有电机的PID控制器
- */
-void Motor_PID_Init(void)
-{
-    // PID参数（需要根据实际电机调试）
-    float speed_kp = 400.0f;      // 速度环比例系数
-    float speed_ki = 0.05f;      // 速度环积分系数
-    float speed_kd = 300.0f;      // 速度环微分系数
-    
-    for (int i = 0; i < 4; i++) {
-        PID_Init(&motor_controller[i].speed_pid, speed_kp, speed_ki, speed_kd, 3000.0f, 3000.0f);
-    }
-}
-
-/*
- *函数简介:位置式PID清理
- *参数说明:位置式PID参数结构体
- *返回类型:无
- *备注:重置PID内部状态，用于模式切换或异常情况
- */
-void PID_PositionClean(PID_Controller_t* pid)
-{
-    pid->integral = 0.0f;      // 清理积分项，防止积分饱和
-    pid->prev_error = 0.0f;    // 清理上一次误差，防止微分冲击
-    pid->output = 0.0f;        // 清理输出值
-}
-/**
- * @brief 设置单个电机的目标速度
- * @param motor_id: 电机ID (0-3)
- * @param target_speed_rad_s: 目标速度 (rad/s)
- */
-void Set_Motor_Target_Speed(uint8_t motor_id, float target_speed_rad_s)
-{
-    if (motor_id < 4) {
-        motor_controller[motor_id].target_speed = target_speed_rad_s;
-    }
-}
-
-/**
- * @brief 电机速度控制任务（带数据验证）
- */
-void Motor_Speed_Control_Task(float dt)
-{
-    for (int i = 0; i < 4; i++) {
-        // 验证电机反馈数据
-        if (isnan(motor_controller[i].measure.speed_rpm) || 
-            motor_controller[i].measure.speed_rpm > 10000 || 
-            motor_controller[i].measure.speed_rpm < -10000) {
-            // 数据异常，使用默认值
-            motor_controller[i].measure.speed_rpm = 0;
-        }
-        
-        // 将电机反馈的RPM转换为rad/s
-        float actual_speed_rads = RPM_To_RadPerSec(motor_controller[i].measure.speed_rpm);
-        
-        // 验证转换结果
-        if (isnan(actual_speed_rads) || isinf(actual_speed_rads)) {
-            actual_speed_rads = 0.0f;
-        }
-        
-        // 计算速度误差
-        float speed_error = motor_controller[i].target_speed - actual_speed_rads;
-        
-        // 验证误差值
-        if (isnan(speed_error) || isinf(speed_error)) {
-            speed_error = 0.0f;
-        }
-        
-        // PID计算
-        float pid_output = PID_Calculate(&motor_controller[i].speed_pid, speed_error, dt);
-        
-        // 验证PID输出
-        if (isnan(pid_output) || isinf(pid_output)) {
-            pid_output = 0.0f;
-            // 重置这个电机的PID状态
-            PID_PositionClean(&motor_controller[i].speed_pid);
-        }
-        
-        // 存储控制命令
-        motor_commands[i] = (int16_t)pid_output;
-        
-        
-    }
-}
-
-
-/**
- * @brief 麦克纳姆轮速度解算函数
- * @param vx: X方向速度 (m/s) - 正数前进，负数后退
- * @param vy: Y方向速度 (m/s) - 正数右移，负数左移  
- * @param vz: 旋转角速度 (rad/s) - 正数逆时针，负数顺时针
- */
-void Drive_Motor(float vx, float vy, float vz)
-{
-    float A = WHEELBASE_WIDTH + WHEELBASE_LENGTH;
-    
-    // 标准麦克纳姆轮运动学逆解算公式
-    // 轮子编号：0-右上, 1-左上, 2-左下, 3-右下
-     
-    // 标准麦克纳姆轮运动学逆解算公式
-    float wheel1_speed = ( vx +vy + vz * A  ) / WHEEL_RADIUS;  // 右上轮
-    float wheel2_speed = ( vx - vy + vz * A  ) / WHEEL_RADIUS;  // 左上轮
-    float wheel3_speed = (-vx -vy + vz * A  ) / WHEEL_RADIUS;  // 左下轮
-    float wheel4_speed = (-vx +vy +vz * A  ) / WHEEL_RADIUS;  // 右下轮
-
-    Set_Motor_Target_Speed(0, wheel1_speed);  // 右上轮
-    Set_Motor_Target_Speed(1, wheel2_speed);  // 左上轮
-    Set_Motor_Target_Speed(2, wheel3_speed);  // 左下轮
-    Set_Motor_Target_Speed(3, wheel4_speed);  // 右下轮
-}
-
-
-float Map_Remote_to_Speed(int16_t input, float max_speed)
-{
-    if (input > 660) input = 660;
-    if (input < -660) input = -660;
-    
-    // 死区内直接返回0
-    if (abs(input) < 50) {
-        return 0.0f;
-    }
-    
-    // 不在死区内，正常计算速度
-    return (input / 660.0f) * max_speed;
-}
-/**
- * @brief 处理遥控器数据并设置底盘速度
- */
-void Process_Remote_Control(void)
-{
-    // 映射遥控器值到速度 (m/s)
-    float vx = Map_Remote_to_Speed(rc.ch2,2.0f);   // 前后方向，最大2m/s
-    float vy = Map_Remote_to_Speed(-rc.ch3, 2.0f);  // 左右方向，最大2m/s  
-    float vz = Map_Remote_to_Speed(rc.ch0, 3.0f);   // 旋转方向，最大3rad/s
-    
-    // 调用运动学解算
-    Drive_Motor(vx, vy, vz);
-}
-

 /* USER CODE END 0 */

@@ -582,12 +93,9 @@ int main(void)

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
-  MX_DMA_Init();
  MX_CAN1_Init();
-  MX_USART3_UART_Init();
+  MX_CAN2_Init();
  /* USER CODE BEGIN 2 */
-  dbus_uart_init();
-  HAL_CAN_Start(&hcan1);
  Motor_PID_Init();
  can_filter_init();
  uint32_t last_control_time = 0;
--- a/1/Core/Src/stm32f4xx_it.c
+++ b/1/Core/Src/stm32f4xx_it.c
@@ -56,8 +56,7 @@

 /* External variables --------------------------------------------------------*/
 extern CAN_HandleTypeDef hcan1;
-extern DMA_HandleTypeDef hdma_usart3_rx;
-extern UART_HandleTypeDef huart3;
+extern CAN_HandleTypeDef hcan2;
 /* USER CODE BEGIN EV */

 /* USER CODE END EV */
@@ -200,20 +199,6 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f4xx.s).                    */
 /******************************************************************************/

-/**
-  * @brief This function handles DMA1 stream1 global interrupt.
-  */
-void DMA1_Stream1_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
-
-  /* USER CODE END DMA1_Stream1_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart3_rx);
-  /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
-
-  /* USER CODE END DMA1_Stream1_IRQn 1 */
-}
-
 /**
  * @brief This function handles CAN1 RX0 interrupts.
  */
@@ -229,17 +214,17 @@ void CAN1_RX0_IRQHandler(void)
 }

 /**
-  * @brief This function handles USART3 global interrupt.
+  * @brief This function handles CAN2 RX0 interrupts.
  */
-void USART3_IRQHandler(void)
+void CAN2_RX0_IRQHandler(void)
 {
-  /* USER CODE BEGIN USART3_IRQn 0 */
- uart_receive_handler(&huart3);
-  /* USER CODE END USART3_IRQn 0 */
-  HAL_UART_IRQHandler(&huart3);
-  /* USER CODE BEGIN USART3_IRQn 1 */
+  /* USER CODE BEGIN CAN2_RX0_IRQn 0 */

-  /* USER CODE END USART3_IRQn 1 */
+  /* USER CODE END CAN2_RX0_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan2);
+  /* USER CODE BEGIN CAN2_RX0_IRQn 1 */
+
+  /* USER CODE END CAN2_RX0_IRQn 1 */
 }

 /* USER CODE BEGIN 1 */
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -235,6 +235,11 @@
          <WinNumber>1</WinNumber>
          <ItemText>debug_vz</ItemText>
        </Ww>
+        <Ww>
+          <count>16</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Remote_RxData</ItemText>
+        </Ww>
      </WatchWindow1>
      <Tracepoint>
        <THDelay>0</THDelay>
@@ -357,30 +362,6 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/dma.c</PathWithFileName>
-      <FilenameWithoutPath>dma.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>6</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>1</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/usart.c</PathWithFileName>
-      <FilenameWithoutPath>usart.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>7</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>1</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
      <PathWithFileName>../Core/Src/stm32f4xx_it.c</PathWithFileName>
      <FilenameWithoutPath>stm32f4xx_it.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
@@ -388,7 +369,7 @@
    </File>
    <File>
      <GroupNumber>2</GroupNumber>
-      <FileNumber>8</FileNumber>
+      <FileNumber>6</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -398,6 +379,126 @@
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>7</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Src\CToC.c</PathWithFileName>
+      <FilenameWithoutPath>CToC.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>8</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Inc\CToC.h</PathWithFileName>
+      <FilenameWithoutPath>CToC.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>9</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Src\RefreeSystem.c</PathWithFileName>
+      <FilenameWithoutPath>RefreeSystem.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>10</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Inc\RefreeSystem.h</PathWithFileName>
+      <FilenameWithoutPath>RefreeSystem.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>11</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Src\Remote.c</PathWithFileName>
+      <FilenameWithoutPath>Remote.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>12</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Inc\Remote.h</PathWithFileName>
+      <FilenameWithoutPath>Remote.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>13</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Src\M3508.c</PathWithFileName>
+      <FilenameWithoutPath>M3508.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>14</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Inc\M3508.h</PathWithFileName>
+      <FilenameWithoutPath>M3508.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>15</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Src\PID.c</PathWithFileName>
+      <FilenameWithoutPath>PID.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>16</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Inc\pid.h</PathWithFileName>
+      <FilenameWithoutPath>pid.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
  </Group>

  <Group>
@@ -408,7 +509,7 @@
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>9</FileNumber>
+      <FileNumber>17</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -420,7 +521,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>18</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -432,7 +533,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>19</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -444,7 +545,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>20</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -456,7 +557,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>21</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -468,7 +569,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>22</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -480,7 +581,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>23</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -492,7 +593,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>24</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -504,7 +605,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>25</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -516,7 +617,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>26</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -528,7 +629,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>27</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -540,7 +641,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>28</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -552,7 +653,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>29</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -564,7 +665,7 @@
    </File>
    <File>
      <GroupNumber>3</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>30</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -574,18 +675,6 @@
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
-    <File>
-      <GroupNumber>3</GroupNumber>
-      <FileNumber>23</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</PathWithFileName>
-      <FilenameWithoutPath>stm32f4xx_hal_uart.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
  </Group>

  <Group>
@@ -596,7 +685,7 @@
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>4</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>31</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -409,16 +409,6 @@
              <FileType>1</FileType>
              <FilePath>../Core/Src/can.c</FilePath>
            </File>
-            <File>
-              <FileName>dma.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Core/Src/dma.c</FilePath>
-            </File>
-            <File>
-              <FileName>usart.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Core/Src/usart.c</FilePath>
-            </File>
            <File>
              <FileName>stm32f4xx_it.c</FileName>
              <FileType>1</FileType>
@@ -429,6 +419,56 @@
              <FileType>1</FileType>
              <FilePath>../Core/Src/stm32f4xx_hal_msp.c</FilePath>
            </File>
+            <File>
+              <FileName>CToC.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\Src\CToC.c</FilePath>
+            </File>
+            <File>
+              <FileName>CToC.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\Core\Inc\CToC.h</FilePath>
+            </File>
+            <File>
+              <FileName>RefreeSystem.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\Src\RefreeSystem.c</FilePath>
+            </File>
+            <File>
+              <FileName>RefreeSystem.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\Core\Inc\RefreeSystem.h</FilePath>
+            </File>
+            <File>
+              <FileName>Remote.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\Src\Remote.c</FilePath>
+            </File>
+            <File>
+              <FileName>Remote.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\Core\Inc\Remote.h</FilePath>
+            </File>
+            <File>
+              <FileName>M3508.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\Src\M3508.c</FilePath>
+            </File>
+            <File>
+              <FileName>M3508.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\Core\Inc\M3508.h</FilePath>
+            </File>
+            <File>
+              <FileName>PID.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\Src\PID.c</FilePath>
+            </File>
+            <File>
+              <FileName>pid.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\Core\Inc\pid.h</FilePath>
+            </File>
          </Files>
        </Group>
        <Group>
@@ -504,11 +544,6 @@
              <FileType>1</FileType>
              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath>
            </File>
-            <File>
-              <FileName>stm32f4xx_hal_uart.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</FilePath>
-            </File>
          </Files>
        </Group>
        <Group>
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -21,16 +21,12 @@ Target DLL:      CMSIS_AGDI.dll V1.33.16.0
 Dialog DLL:      TCM.DLL V1.56.4.0
 
 <h2>Project:</h2>
-D:\robomaster\Mecanum Wheel moving project 1\Mecanum Wheel moving project 1\MDK-ARM\Mecanum Wheel moving project 1.uvprojx
-Project File Date:  11/07/2025
+D:\robomaster\Mecanum Wheel moving project 1\MDK-ARM\Mecanum Wheel moving project 1.uvprojx
+Project File Date:  11/27/2025

 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 5 (build 528)', folder: 'D:\useless\ARM\ARMCC\Bin'
 Build target 'Mecanum Wheel moving project 1'
-compiling main.c...
-linking...
-Program Size: Code=9724 RO-data=456 RW-data=36 ZI-data=2132  
-FromELF: creating hex file...
 "Mecanum Wheel moving project 1\Mecanum Wheel moving project 1.axf" - 0 Error(s), 0 Warning(s).

 <h2>Software Packages used:</h2>
@@ -54,7 +50,7 @@ Package Vendor: Keil

   * Component: ARM::CMSIS:CORE@5.6.0
      Include file:  CMSIS/Core/Include/tz_context.h
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:00
 </pre>
 </body>
 </html>
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -3,10 +3,13 @@
 "mecanum wheel moving project 1\main.o"
 "mecanum wheel moving project 1\gpio.o"
 "mecanum wheel moving project 1\can.o"
-"mecanum wheel moving project 1\dma.o"
-"mecanum wheel moving project 1\usart.o"
 "mecanum wheel moving project 1\stm32f4xx_it.o"
 "mecanum wheel moving project 1\stm32f4xx_hal_msp.o"
+"mecanum wheel moving project 1\ctoc.o"
+"mecanum wheel moving project 1\refreesystem.o"
+"mecanum wheel moving project 1\remote.o"
+"mecanum wheel moving project 1\m3508.o"
+"mecanum wheel moving project 1\pid.o"
 "mecanum wheel moving project 1\stm32f4xx_hal_can.o"
 "mecanum wheel moving project 1\stm32f4xx_hal_rcc.o"
 "mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o"
@@ -21,7 +24,6 @@
 "mecanum wheel moving project 1\stm32f4xx_hal_cortex.o"
 "mecanum wheel moving project 1\stm32f4xx_hal.o"
 "mecanum wheel moving project 1\stm32f4xx_hal_exti.o"
-"mecanum wheel moving project 1\stm32f4xx_hal_uart.o"
 "mecanum wheel moving project 1\system_stm32f4xx.o"
 --strict --scatter "Mecanum Wheel moving project 1\Mecanum Wheel moving project 1.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -1,10 +1,10 @@
 Dependencies for Project 'Mecanum Wheel moving project 1', Target 'Mecanum Wheel moving project 1': (DO NOT MODIFY !)
 CompilerVersion: 5060528::V5.06 update 5 (build 528)::ARMCC
-F (startup_stm32f407xx.s)(0x690B4370)(--cpu Cortex-M4.fp.sp -g --apcs=interwork 
-
-I.\RTE\_Mecanum_Wheel_moving_project_1
+F (startup_stm32f407xx.s)(0x69257E8D)(--cpu Cortex-M4.fp.sp -g --apcs=interwork 
+
+-I.\RTE\_Mecanum_Wheel_moving_project_1

-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
+-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include

 --pd "__UVISION_VERSION SETA 539" --pd "_RTE_ SETA 1" --pd "STM32F407xx SETA 1" --pd "_RTE_ SETA 1"

@@ -31,19 +31,283 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
 I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
-I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
+I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
+I (../Core/Inc/can.h)(0x69257E8A)
+I (../Core/Inc/gpio.h)(0x6908ACBA)
+I (../Core/Inc/CToC.h)(0x69283CF2)
+I (../Core/Inc/M3508.h)(0x69283CF2)
+I (../Core/Inc/PID.h)(0x69283CF2)
+I (../Core/Inc/RefreeSystem.h)(0x69283CF2)
+I (../Core/Inc/Remote.h)(0x69283CF2)
+F (../Core/Src/gpio.c)(0x69257E8A)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
+
+-I.\RTE\_Mecanum_Wheel_moving_project_1
+
+-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
+
+-o "mecanum wheel moving project 1\gpio.o" --omf_browse "mecanum wheel moving project 1\gpio.crf" --depend "mecanum wheel moving project 1\gpio.d")
+I (../Core/Inc/gpio.h)(0x6908ACBA)
+I (../Core/Inc/main.h)(0x69283CF2)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
+I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
+I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
+I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
+I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
+F (../Core/Src/can.c)(0x69257E8A)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
+
+-I.\RTE\_Mecanum_Wheel_moving_project_1
+
+-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
+
+-o "mecanum wheel moving project 1\can.o" --omf_browse "mecanum wheel moving project 1\can.crf" --depend "mecanum wheel moving project 1\can.d")
+I (../Core/Inc/can.h)(0x69257E8A)
+I (../Core/Inc/main.h)(0x69283CF2)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
+I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
+I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
+I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
+I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
+F (../Core/Src/stm32f4xx_it.c)(0x69257E8A)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
+
+-I.\RTE\_Mecanum_Wheel_moving_project_1
+
+-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
+
+-o "mecanum wheel moving project 1\stm32f4xx_it.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_it.crf" --depend "mecanum wheel moving project 1\stm32f4xx_it.d")
+I (../Core/Inc/main.h)(0x69283CF2)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
+I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
+I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
+I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
+I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
+I (../Core/Inc/stm32f4xx_it.h)(0x69257E8B)
+F (../Core/Src/stm32f4xx_hal_msp.c)(0x6908ACBC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
+
+-I.\RTE\_Mecanum_Wheel_moving_project_1
+
+-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
+
+-o "mecanum wheel moving project 1\stm32f4xx_hal_msp.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_hal_msp.crf" --depend "mecanum wheel moving project 1\stm32f4xx_hal_msp.d")
+I (../Core/Inc/main.h)(0x69283CF2)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
+I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
+I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
+I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
+I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
+F (..\Core\Src\CToC.c)(0x69283CF2)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
+
+-I.\RTE\_Mecanum_Wheel_moving_project_1
+
+-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
+
+-o "mecanum wheel moving project 1\ctoc.o" --omf_browse "mecanum wheel moving project 1\ctoc.crf" --depend "mecanum wheel moving project 1\ctoc.d")
+I (../Core/Inc/main.h)(0x69283CF2)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
+I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
+I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
+I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
+I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
+I (../Core/Inc/can.h)(0x69257E8A)
+I (../Core/Inc/gpio.h)(0x6908ACBA)
+I (../Core/Inc/CToC.h)(0x69283CF2)
+I (../Core/Inc/M3508.h)(0x69283CF2)
+I (../Core/Inc/PID.h)(0x69283CF2)
+I (../Core/Inc/RefreeSystem.h)(0x69283CF2)
+I (../Core/Inc/Remote.h)(0x69283CF2)
+F (..\Core\Inc\CToC.h)(0x69283CF2)()
+F (..\Core\Src\RefreeSystem.c)(0x69283CF2)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
+
+-I.\RTE\_Mecanum_Wheel_moving_project_1
+
+-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
+
+-o "mecanum wheel moving project 1\refreesystem.o" --omf_browse "mecanum wheel moving project 1\refreesystem.crf" --depend "mecanum wheel moving project 1\refreesystem.d")
+I (../Core/Inc/RefreeSystem.h)(0x69283CF2)
+I (../Core/Inc/main.h)(0x69283CF2)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
+I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
+I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
+I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
+I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
+F (..\Core\Inc\RefreeSystem.h)(0x69283CF2)()
+F (..\Core\Src\Remote.c)(0x69283CF2)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
+
 -I.\RTE\_Mecanum_Wheel_moving_project_1

 -ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
+
+-o "mecanum wheel moving project 1\remote.o" --omf_browse "mecanum wheel moving project 1\remote.crf" --depend "mecanum wheel moving project 1\remote.d")
+I (../Core/Inc/main.h)(0x69283CF2)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
 I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
@@ -70,169 +334,14 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
 I (../Core/Inc/Remote.h)(0x69283CF2)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
-I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
-I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
-I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
-F (../Core/Src/can.c)(0x690B436C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-
-I.\RTE\_Mecanum_Wheel_moving_project_1
-
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-
-o "mecanum wheel moving project 1\can.o" --omf_browse "mecanum wheel moving project 1\can.crf" --depend "mecanum wheel moving project 1\can.d")
-I (../Core/Inc/can.h)(0x6908ACBC)
-I (../Core/Inc/main.h)(0x69108671)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
-I (../Core/Inc/stm32f4xx_hal_conf.h)(0x6908ACBD)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
-I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
-I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
-I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
-F (../Core/Src/dma.c)(0x6908ACBC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-
-I.\RTE\_Mecanum_Wheel_moving_project_1
-
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-
-o "mecanum wheel moving project 1\dma.o" --omf_browse "mecanum wheel moving project 1\dma.crf" --depend "mecanum wheel moving project 1\dma.d")
-I (../Core/Inc/dma.h)(0x6908ACBC)
-I (../Core/Inc/main.h)(0x69108671)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
-I (../Core/Inc/stm32f4xx_hal_conf.h)(0x6908ACBD)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
-I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
-I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
-I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
-F (../Core/Src/usart.c)(0x690B1648)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-
-I.\RTE\_Mecanum_Wheel_moving_project_1
-
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-
-o "mecanum wheel moving project 1\usart.o" --omf_browse "mecanum wheel moving project 1\usart.crf" --depend "mecanum wheel moving project 1\usart.d")
-I (../Core/Inc/usart.h)(0x6908ACBC)
-I (../Core/Inc/main.h)(0x69108671)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
-I (../Core/Inc/stm32f4xx_hal_conf.h)(0x6908ACBD)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
-I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
-I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
-I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
-F (../Core/Src/stm32f4xx_it.c)(0x690B41D9)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-
-I.\RTE\_Mecanum_Wheel_moving_project_1
-
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-
-o "mecanum wheel moving project 1\stm32f4xx_it.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_it.crf" --depend "mecanum wheel moving project 1\stm32f4xx_it.d")
-I (../Core/Inc/main.h)(0x69108671)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
-I (../Core/Inc/stm32f4xx_hal_conf.h)(0x6908ACBD)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
+F (..\Core\Inc\Remote.h)(0x69283CF2)()
+F (..\Core\Src\M3508.c)(0x69283CF2)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
+
+-I.\RTE\_Mecanum_Wheel_moving_project_1
+
 -ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

 -o "mecanum wheel moving project 1\m3508.o" --omf_browse "mecanum wheel moving project 1\m3508.crf" --depend "mecanum wheel moving project 1\m3508.d")
 I (../Core/Inc/main.h)(0x69283CF2)
@@ -259,10 +368,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
-
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
 I (../Core/Inc/M3508.h)(0x69283CF2)
@@ -289,10 +397,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
 I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
 I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
 I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
@@ -319,10 +426,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (D:\useless\ARM\ARMCC\include\math.h)(0x588B8344)
 I (../Core/Inc/Remote.h)(0x69283CF2)
 I (../Core/Inc/CToC.h)(0x69283CF2)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
 F (..\Core\Inc\pid.h)(0x69283CF2)()
 F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c)(0x68CFEBC4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
+
 -I.\RTE\_Mecanum_Wheel_moving_project_1

 -ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
@@ -349,10 +455,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
@@ -379,10 +484,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
 I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
 I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
@@ -409,10 +513,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
 I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
-
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
+I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
 I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
 I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
@@ -439,10 +542,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)

 -I.\RTE\_Mecanum_Wheel_moving_project_1

-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
 -ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

 -o "mecanum wheel moving project 1\stm32f4xx_hal_flash.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_hal_flash.crf" --depend "mecanum wheel moving project 1\stm32f4xx_hal_flash.d")
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
@@ -469,10 +571,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
-I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
 F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c)(0x68CFEBC4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include

@@ -499,10 +600,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
 I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
@@ -529,10 +629,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
 I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
-
 I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
 I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
-I (../Core/Inc/stm32f4xx_hal_conf.h)(0x6908ACBD)
+I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
 I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
@@ -559,10 +658,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

 -o "mecanum wheel moving project 1\stm32f4xx_hal_gpio.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_hal_gpio.crf" --depend "mecanum wheel moving project 1\stm32f4xx_hal_gpio.d")
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
 I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
-I.\RTE\_Mecanum_Wheel_moving_project_1
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
@@ -589,10 +687,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
 F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c)(0x68CFEBC4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)

 -I.\RTE\_Mecanum_Wheel_moving_project_1
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
+
 -ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include

 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
@@ -619,10 +716,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
@@ -649,38 +745,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
 I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
-I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
-I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
-I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
-I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
-F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c)(0x68CFEBC4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-
-I.\RTE\_Mecanum_Wheel_moving_project_1
-
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
 I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
@@ -691,7 +756,7 @@ I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
-I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
+I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
@@ -709,4 +774,3 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
 I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
-I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -30,4 +30,3 @@ mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f
 mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -0,0 +1,38 @@
+mecanum wheel moving project 1\ctoc.o: ..\Core\Src\CToC.c
+mecanum wheel moving project 1\ctoc.o: ../Core/Inc/main.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
+mecanum wheel moving project 1\ctoc.o: ../Core/Inc/stm32f4xx_hal_conf.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Include/core_cm4.h
+mecanum wheel moving project 1\ctoc.o: D:\useless\ARM\ARMCC\Bin\..\include\stdint.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Include/cmsis_version.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Include/mpu_armv7.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
+mecanum wheel moving project 1\ctoc.o: D:\useless\ARM\ARMCC\Bin\..\include\stddef.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
+mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+mecanum wheel moving project 1\ctoc.o: ../Core/Inc/can.h
+mecanum wheel moving project 1\ctoc.o: ../Core/Inc/gpio.h
+mecanum wheel moving project 1\ctoc.o: ../Core/Inc/CToC.h
+mecanum wheel moving project 1\ctoc.o: ../Core/Inc/M3508.h
+mecanum wheel moving project 1\ctoc.o: ../Core/Inc/PID.h
+mecanum wheel moving project 1\ctoc.o: ../Core/Inc/RefreeSystem.h
+mecanum wheel moving project 1\ctoc.o: ../Core/Inc/Remote.h
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -30,4 +30,3 @@ mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32
 mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -0,0 +1,40 @@
+mecanum wheel moving project 1\m3508.o: ..\Core\Src\M3508.c
+mecanum wheel moving project 1\m3508.o: ../Core/Inc/main.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
+mecanum wheel moving project 1\m3508.o: ../Core/Inc/stm32f4xx_hal_conf.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Include/core_cm4.h
+mecanum wheel moving project 1\m3508.o: D:\useless\ARM\ARMCC\Bin\..\include\stdint.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Include/cmsis_version.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Include/mpu_armv7.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
+mecanum wheel moving project 1\m3508.o: D:\useless\ARM\ARMCC\Bin\..\include\stddef.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
+mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+mecanum wheel moving project 1\m3508.o: ../Core/Inc/M3508.h
+mecanum wheel moving project 1\m3508.o: ../Core/Inc/PID.h
+mecanum wheel moving project 1\m3508.o: ../Core/Inc/can.h
+mecanum wheel moving project 1\m3508.o: ../Core/Inc/gpio.h
+mecanum wheel moving project 1\m3508.o: D:\useless\ARM\ARMCC\Bin\..\include\string.h
+mecanum wheel moving project 1\m3508.o: D:\useless\ARM\ARMCC\Bin\..\include\stdlib.h
+mecanum wheel moving project 1\m3508.o: D:\useless\ARM\ARMCC\Bin\..\include\math.h
+mecanum wheel moving project 1\m3508.o: ../Core/Inc/Remote.h
+mecanum wheel moving project 1\m3508.o: ../Core/Inc/CToC.h
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -29,11 +29,10 @@ mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32
 mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
 mecanum wheel moving project 1\main.o: ../Core/Inc/can.h
-mecanum wheel moving project 1\main.o: ../Core/Inc/dma.h
-mecanum wheel moving project 1\main.o: ../Core/Inc/usart.h
 mecanum wheel moving project 1\main.o: ../Core/Inc/gpio.h
-mecanum wheel moving project 1\main.o: D:\useless\ARM\ARMCC\Bin\..\include\string.h
-mecanum wheel moving project 1\main.o: D:\useless\ARM\ARMCC\Bin\..\include\stdlib.h
-mecanum wheel moving project 1\main.o: D:\useless\ARM\ARMCC\Bin\..\include\math.h
+mecanum wheel moving project 1\main.o: ../Core/Inc/CToC.h
+mecanum wheel moving project 1\main.o: ../Core/Inc/M3508.h
+mecanum wheel moving project 1\main.o: ../Core/Inc/PID.h
+mecanum wheel moving project 1\main.o: ../Core/Inc/RefreeSystem.h
+mecanum wheel moving project 1\main.o: ../Core/Inc/Remote.h
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -0,0 +1,36 @@
+mecanum wheel moving project 1\pid.o: ..\Core\Src\PID.c
+mecanum wheel moving project 1\pid.o: ../Core/Inc/PID.h
+mecanum wheel moving project 1\pid.o: ../Core/Inc/main.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
+mecanum wheel moving project 1\pid.o: ../Core/Inc/stm32f4xx_hal_conf.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
+mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
+mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
+mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Include/core_cm4.h
+mecanum wheel moving project 1\pid.o: D:\useless\ARM\ARMCC\Bin\..\include\stdint.h
+mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Include/cmsis_version.h
+mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
+mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
+mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Include/mpu_armv7.h
+mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
+mecanum wheel moving project 1\pid.o: D:\useless\ARM\ARMCC\Bin\..\include\stddef.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
+mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+mecanum wheel moving project 1\pid.o: ../Core/Inc/M3508.h
+mecanum wheel moving project 1\pid.o: D:\useless\ARM\ARMCC\Bin\..\include\math.h
+mecanum wheel moving project 1\pid.o: ../Core/Inc/Remote.h
+mecanum wheel moving project 1\pid.o: ../Core/Inc/CToC.h
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/refreesystem.crf
+++ b/1/refreesystem.crf
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -0,0 +1,32 @@
+mecanum wheel moving project 1\refreesystem.o: ..\Core\Src\RefreeSystem.c
+mecanum wheel moving project 1\refreesystem.o: ../Core/Inc/RefreeSystem.h
+mecanum wheel moving project 1\refreesystem.o: ../Core/Inc/main.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
+mecanum wheel moving project 1\refreesystem.o: ../Core/Inc/stm32f4xx_hal_conf.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Include/core_cm4.h
+mecanum wheel moving project 1\refreesystem.o: D:\useless\ARM\ARMCC\Bin\..\include\stdint.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Include/cmsis_version.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Include/mpu_armv7.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
+mecanum wheel moving project 1\refreesystem.o: D:\useless\ARM\ARMCC\Bin\..\include\stddef.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
+mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
@@ -0,0 +1,32 @@
+mecanum wheel moving project 1\remote.o: ..\Core\Src\Remote.c
+mecanum wheel moving project 1\remote.o: ../Core/Inc/main.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
+mecanum wheel moving project 1\remote.o: ../Core/Inc/stm32f4xx_hal_conf.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
+mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
+mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
+mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Include/core_cm4.h
+mecanum wheel moving project 1\remote.o: D:\useless\ARM\ARMCC\Bin\..\include\stdint.h
+mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Include/cmsis_version.h
+mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
+mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
+mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Include/mpu_armv7.h
+mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
+mecanum wheel moving project 1\remote.o: D:\useless\ARM\ARMCC\Bin\..\include\stddef.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
+mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+mecanum wheel moving project 1\remote.o: ../Core/Inc/Remote.h
--- a/1/MDK-ARM/Mecanum
+++ b/1/MDK-ARM/Mecanum
--- a/1/startup_stm32f407xx.o
+++ b/1/startup_stm32f407xx.o
--- a/1/stm32f4xx_hal.crf
+++ b/1/stm32f4xx_hal.crf
--- a/1/stm32f4xx_hal.d
+++ b/1/stm32f4xx_hal.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/
 mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal.o
+++ b/1/stm32f4xx_hal.o
--- a/1/stm32f4xx_hal_can.crf
+++ b/1/stm32f4xx_hal_can.crf
--- a/1/stm32f4xx_hal_can.d
+++ b/1/stm32f4xx_hal_can.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Dri
 mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_can.o
+++ b/1/stm32f4xx_hal_can.o
--- a/1/stm32f4xx_hal_cortex.crf
+++ b/1/stm32f4xx_hal_cortex.crf
--- a/1/stm32f4xx_hal_cortex.d
+++ b/1/stm32f4xx_hal_cortex.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_
 mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_cortex.o
+++ b/1/stm32f4xx_hal_cortex.o
--- a/1/stm32f4xx_hal_dma.crf
+++ b/1/stm32f4xx_hal_dma.crf
--- a/1/stm32f4xx_hal_dma.d
+++ b/1/stm32f4xx_hal_dma.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Dri
 mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_dma.o
+++ b/1/stm32f4xx_hal_dma.o
--- a/1/stm32f4xx_hal_dma_ex.crf
+++ b/1/stm32f4xx_hal_dma_ex.crf
--- a/1/stm32f4xx_hal_dma_ex.d
+++ b/1/stm32f4xx_hal_dma_ex.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_
 mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_dma_ex.o
+++ b/1/stm32f4xx_hal_dma_ex.o
--- a/1/stm32f4xx_hal_exti.crf
+++ b/1/stm32f4xx_hal_exti.crf
--- a/1/stm32f4xx_hal_exti.d
+++ b/1/stm32f4xx_hal_exti.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Dr
 mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_exti.o
+++ b/1/stm32f4xx_hal_exti.o
--- a/1/stm32f4xx_hal_flash.crf
+++ b/1/stm32f4xx_hal_flash.crf
--- a/1/stm32f4xx_hal_flash.d
+++ b/1/stm32f4xx_hal_flash.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_D
 mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_flash.o
+++ b/1/stm32f4xx_hal_flash.o
--- a/1/stm32f4xx_hal_flash_ex.crf
+++ b/1/stm32f4xx_hal_flash_ex.crf
--- a/1/stm32f4xx_hal_flash_ex.d
+++ b/1/stm32f4xx_hal_flash_ex.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HA
 mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_flash_ex.o
+++ b/1/stm32f4xx_hal_flash_ex.o
--- a/1/stm32f4xx_hal_flash_ramfunc.crf
+++ b/1/stm32f4xx_hal_flash_ramfunc.crf
--- a/1/stm32f4xx_hal_flash_ramfunc.d
+++ b/1/stm32f4xx_hal_flash_ramfunc.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4
 mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_flash_ramfunc.o
+++ b/1/stm32f4xx_hal_flash_ramfunc.o
--- a/1/stm32f4xx_hal_gpio.crf
+++ b/1/stm32f4xx_hal_gpio.crf
--- a/1/stm32f4xx_hal_gpio.d
+++ b/1/stm32f4xx_hal_gpio.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Dr
 mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_gpio.o
+++ b/1/stm32f4xx_hal_gpio.o
--- a/1/stm32f4xx_hal_msp.crf
+++ b/1/stm32f4xx_hal_msp.crf
--- a/1/stm32f4xx_hal_msp.d
+++ b/1/stm32f4xx_hal_msp.d
@@ -29,4 +29,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Dri
 mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_msp.o
+++ b/1/stm32f4xx_hal_msp.o
--- a/1/stm32f4xx_hal_pwr.crf
+++ b/1/stm32f4xx_hal_pwr.crf
--- a/1/stm32f4xx_hal_pwr.d
+++ b/1/stm32f4xx_hal_pwr.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Dri
 mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_pwr.o
+++ b/1/stm32f4xx_hal_pwr.o
--- a/1/stm32f4xx_hal_pwr_ex.crf
+++ b/1/stm32f4xx_hal_pwr_ex.crf
--- a/1/stm32f4xx_hal_pwr_ex.d
+++ b/1/stm32f4xx_hal_pwr_ex.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_
 mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_pwr_ex.o
+++ b/1/stm32f4xx_hal_pwr_ex.o
--- a/1/stm32f4xx_hal_rcc.crf
+++ b/1/stm32f4xx_hal_rcc.crf
--- a/1/stm32f4xx_hal_rcc.d
+++ b/1/stm32f4xx_hal_rcc.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Dri
 mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/1/stm32f4xx_hal_rcc.o
+++ b/1/stm32f4xx_hal_rcc.o
--- a/1/stm32f4xx_hal_rcc_ex.crf
+++ b/1/stm32f4xx_hal_rcc_ex.crf
--- a/1/stm32f4xx_hal_rcc_ex.d
+++ b/1/stm32f4xx_hal_rcc_ex.d
@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_
 mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
--- a/Show More
+++ b/Show More