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/global.h

@@ -2,18 +2,12 @@
 #define GLOBAL_H
 
 #include <string>
-#include <iostream>
-#include <fstream>
-#include <atomic>
 
+// ── 参数文件名 ──
 const std::string kp_file = "./kp";
 const std::string ki_file = "./ki";
 const std::string kd_file = "./kd";
 
-const std::string mortor_kp_file = "./mortor_kp";
-const std::string mortor_ki_file = "./mortor_ki";
-const std::string mortor_kd_file = "./mortor_kd";
-
 const std::string start_file = "./start";
 const std::string showImg_file = "./showImg";
 const std::string destfps_file = "./destfps";
@@ -24,14 +18,25 @@ const std::string speed_file = "./speed";
 const std::string deadband_file = "./deadband";
 const std::string steer_gain_file = "./steer_gain";
 const std::string center_bias_file = "./center_bias";
+const std::string debug_file = "./debug";
 
-// 从文件读取双精度值
 double readDoubleFromFile(const std::string &filename);
+bool   readFlag(const std::string &filename);
+void   cfg_load_all();
 
-// 从文件中读取标志
-bool readFlag(const std::string &filename);
-
-extern std::atomic<double> PID_rotate;
+// ── 启动时缓存的运行参数 ──
+struct CfgCache {
+    double speed       = 60;     // 目标速度(占空比 %)
+    double foresee     = 80;     // 前瞻行
+    double zebrasee    = 60;     // 斑马线触发距离阈值
+    double deadband    = 5;      // 舵机死区
+    double steer_gain  = 1.0;    // 舵机增益
+    double center_bias = 0;      // 中线偏移修正
+    int    start       = 0;      // 1=启动 0=停止
+    int    showImg     = 0;      // LCD 预览开关
+    int    debug       = 0;      // debug 模式
+};
+extern CfgCache g_cfg;
 
 extern double target_speed;