spdis/Loongson_2k0300_SmartCar
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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

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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
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src/global.cpp
+17 -20
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@@ -1,37 +1,34 @@
#include "global.h"
#include <fstream>
CfgCache g_cfg;
double target_speed;
// 从文件读取双精度值
double readDoubleFromFile(const std::string &filename)
{
std::ifstream file(filename);
double value = 0.0;
if (file.is_open())
{
file >> value; // 读取文件中的值
file.close();
}
else
{
std::cerr << "Failed to open " << filename << std::endl;
}
if (file.is_open()) { file >> value; file.close(); }
return value;
}
// 从文件中读取标志
bool readFlag(const std::string &filename)
{
std::ifstream file(filename);
int flag = 0;
if (file.is_open())
{
file >> flag; // 读取文件中的更新标志
file.close();
}
else
{
std::cerr << "Failed to open " << filename << std::endl;
}
if (file.is_open()) { file >> flag; file.close(); }
return flag;
}
void cfg_load_all()
{
g_cfg.speed = readDoubleFromFile(speed_file);
g_cfg.foresee = readDoubleFromFile(foresee_file);
g_cfg.zebrasee = readDoubleFromFile(zebrasee_file);
g_cfg.deadband = readDoubleFromFile(deadband_file);
g_cfg.steer_gain = readDoubleFromFile(steer_gain_file);
g_cfg.center_bias = readDoubleFromFile(center_bias_file);
g_cfg.start = readFlag(start_file);
g_cfg.showImg = readFlag(showImg_file);
g_cfg.debug = readFlag(debug_file);
}