Merge pull request #1 from RoboMaster-Club/development

2024 RMUL

.vscode/launch.json

@@ -4,7 +4,7 @@
         {
             "name": "dap (Win)",
             "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}\\build\\control-base.elf",
+            "executable": "${workspaceRoot}\\build\\wlb.elf",
             "request": "launch",
             "type": "cortex-debug",
             "svdFile": "STM32F407.svd",
@@ -23,7 +23,7 @@
         {
             "name": "stlink (Win)",
             "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}\\build\\control-base.elf",
+            "executable": "${workspaceRoot}\\build\\wlb.elf",
             "request": "launch",
             "type": "cortex-debug",
             "svdFile": "STM32F407.svd",
@@ -42,7 +42,7 @@
         {
             "name": "dap",
             "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}/build/control-base.elf",
+            "executable": "${workspaceRoot}/build/wlb.elf",
             "request": "launch",
             "type": "cortex-debug",
             "svdFile": "STM32F407.svd",
@@ -61,7 +61,7 @@
         {
             "name": "stlink",
             "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}\\build\\control-base.elf",
+            "executable": "${workspaceRoot}\\build\\wlb.elf",
             "request": "launch",
             "type": "cortex-debug",
             "svdFile": "STM32F407.svd",

Makefile

@@ -1,7 +1,7 @@
 ######################################
 # target
 ######################################
-TARGET = control-base
+TARGET = wlb
 
 BOARD = typec
 
@@ -113,8 +113,12 @@ src/algo/src/MahonyAHRS.c \
 src/algo/src/pid.c \
 src/algo/src/Swerve_Locomotion.c \
 src/algo/src/wheel_legged_locomotion.c \
-src/algo/src/leg.c \
+src/algo/src/five_bar_leg.c \
 src/algo/src/kalman_filter.c \
+src/algo/src/wlb_lqr_controller.c \
+src/algo/src/FusionAhrs.c \
+src/algo/src/FusionCompass.c \
+src/algo/src/FusionOffset.c \
 src/bsp/src/bsp_can.c \
 src/bsp/src/bsp_delay.c \
 src/bsp/src/bsp_daemon.c \
@@ -142,6 +146,7 @@ src/app/src/launch_task.c \
 src/app/src/debug_task.c \
 src/app/src/robot.c \
 src/app/src/ui_task.c \
+src/app/src/board_comm_task.c \
 src/ui/src/ui_interface.c \
 src/ui/src/ui_indicator_0_0.c \
 src/ui/src/ui_indicator_0_1.c \
@@ -154,7 +159,9 @@ src/ui/src/ui_indicator_0_7.c \
 src/ui/src/ui_indicator_0_8.c \
 src/ui/src/ui_indicator_0_9.c \
 src/ui/src/ui_indicator_0_10.c \
-src/ui/src/ui_indicator_1_0.c 
+src/ui/src/ui_indicator_0_11.c \
+src/ui/src/ui_indicator_1_0.c \
+src/ui/src/ui_indicator_1_1.c 
 
 # ASM sources
 ASM_SOURCES =  \