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>

lib/MotorController.h

@@ -1,37 +1,26 @@
 /*
- * @Author: ilikara 3435193369@qq.com
- * @Date: 2024-10-10 14:36:47
- * @LastEditors: ilikara 3435193369@qq.com
- * @LastEditTime: 2025-03-21 10:42:00
- * @FilePath: /smartcar/lib/MotorController.h
- * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
+ * MotorController — 直流电机控制器
+ *
+ * 封装 PWM 调速 + GPIO 方向控制，开环占空比直驱。
+ * 不包含编码器反馈和 PID 闭环（开环巡线够用）。
  */
 #ifndef MOTOR_CONTROLLER_H
 #define MOTOR_CONTROLLER_H
 
 #include "PwmController.h"
-#include "PIDController.h"
 #include "GPIO.h"
-#include "encoder.h"
 
 class MotorController
 {
 public:
-    MotorController(int pwmchip, int pwmnum, int gpioNum, unsigned int period_ns,
-                    double kp, double ki, double kd, double targetSpeed,
-                    int encoder_pwmNum, int encoder_gpioNum, int encoder_dir_);
+    MotorController(int pwmchip, int pwmnum, int gpioNum, unsigned int period_ns);
     ~MotorController(void);
 
-    void updateSpeed(void);
-    void updateTarget(int speed);
-    void updateduty(double dutyCycle);
-    PIDController pidController;
+    void updateduty(double dutyCycle);   // dutyCycle: -100.0 ~ 100.0
 
 private:
     PwmController pwmController;
-    ENCODER encoder;
     GPIO directionGPIO;
-    int encoder_dir;
 };
 
-#endif // MOTOR_CONTROLLER_H
+#endif