清理编码器+死代码+可读性整理: 删除ENCODER类(含UB析构), MotorController简化为PWM+GPIO裸控制器, 移除mortor_kp/ki/kd全局变量, 排除vl53l0x/zebra_detect死代码, 修复image_cv行列写反, 清理无关include

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>

CMakeLists.txt

@@ -6,45 +6,30 @@ cmake_minimum_required(VERSION 3.5.0)
 
 # 设置 C++ 标准
 set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -pthread -Wall -march=loongarch64 -mtune=loongarch64 -ffast-math -funroll-loops -fomit-frame-pointer")  # 对于 C++ 编译器
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -Wall")              # 对于 C 编译器
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -pthread -Wall -march=loongarch64 -mtune=loongarch64 -ffast-math -funroll-loops -fomit-frame-pointer")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -Wall")
 
-# 定义项目名称和版本，并指定使用C和C++语言
+# 定义项目名称和版本
 project(smartcar_demo2 VERSION 0.1.0 LANGUAGES C CXX)
 
-# 设置OpenCV的安装路径
+# OpenCV 设备端路径
 set(OpenCV_DIR /mnt/d/PPPProgram/smartcar/opencv_device/lib/cmake/opencv4)
-
-# 查找OpenCV库，确保安装了所需的依赖
 find_package(OpenCV REQUIRED)
-
-# 包含OpenCV的头文件路径
 include_directories(${OpenCV_INCLUDE_DIRS})
-include_directories(src)
 message(STATUS "OpenCV Include Directories: ${OpenCV_INCLUDE_DIRS}")
 
-# 包含项目的自定义库路径
+# 项目头文件路径
+include_directories(src)
 include_directories(lib)
 
-# 查找源文件所在的目录
+# 收集 src 下所有 .cpp (自动发现)
 aux_source_directory(src DIR_SRCS)
 
-# 将 src 目录下的源文件编译为静态库
-add_library(common_lib STATIC ${DIR_SRCS})
+# 排除暂不使用的模块（源文件保留）
+#   vl53l0x.cpp   — 激光测距, 硬件未接
+#   zebra_detect.cpp — 经典斑马线检测, 已由 nanodet 模型替代
+list(FILTER DIR_SRCS EXCLUDE REGEX "(vl53l0x\\.cpp|zebra_detect\\.cpp)")
 
-# 添加子目录
-add_subdirectory(main)   # 主程序
-add_subdirectory(demo1)  # demo1
-add_subdirectory(framebuffer_demo)
-add_subdirectory(opencv_demo1)
-add_subdirectory(opencv_demo2)
-add_subdirectory(opencv_demo3)
-add_subdirectory(encoder_demo)
-add_subdirectory(jy62_demo)
-add_subdirectory(key_demo)
-add_subdirectory(wonderEcho_demo)
-add_subdirectory(udp_receive)
-add_subdirectory(image_test)
-# add_subdirectory(zebra_demo)
-add_subdirectory(gd13_demo)
-add_subdirectory(screenshot_demo)
+# 静态库 + 主程序
+add_library(common_lib STATIC ${DIR_SRCS})
+add_subdirectory(main)