spdis/Loongson_2k0300_SmartCar
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

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

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
This commit is contained in:
spdis
2026-06-10 15:15:34 +08:00
parent d284e18407
commit 114d93cec7
16 changed files with 264 additions and 519 deletions
Download Patch File Download Diff File Expand all files Collapse all files
main/main.cpp
+11 -13
View File
@@ -24,31 +24,29 @@ int main(void)
double dest_fps = readDoubleFromFile(destfps_file);
if (dest_fps <= 0) dest_fps = 30.0;
cfg_load_all();
if (CameraInit(0, dest_fps, 320, 240) < 0) {
std::cerr << "CameraInit failed" << std::endl;
return -1;
}
ControlInit();
std::cout << "All services started (single-thread mode)" << std::endl;
std::cout << "All services started" << std::endl;
int tick = 0;
while (running.load())
{
if (CameraHandler() < 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(5));
continue;
CameraHandler();
if (++tick % 7 == 0) {
g_cfg.debug = readFlag(debug_file);
}
if (++tick % 15 == 0)
{
target_speed = readDoubleFromFile(speed_file);
mortor_kp = readDoubleFromFile(mortor_kp_file);
mortor_ki = readDoubleFromFile(mortor_ki_file);
mortor_kd = readDoubleFromFile(mortor_kd_file);
kp = readDoubleFromFile(kp_file);
ki = readDoubleFromFile(ki_file);
kd = readDoubleFromFile(kd_file);
if (g_cfg.debug) {
cfg_load_all();
}
target_speed = g_cfg.speed;
}
std::cout << "Stopping..." << std::endl;