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替换 Mild v12 模型 + 同事编码器刹车红绿灯状态机合并

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spdis
2026-06-13 13:05:18 +08:00
parent 457d608621
commit b9e32c5a40
66 changed files with 1698 additions and 5625 deletions
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ctl.sh
+13 -2
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@@ -15,14 +15,13 @@ init_pins() {
echo out > /sys/class/gpio/gpio12/direction 2>/dev/null
echo out > /sys/class/gpio/gpio13/direction 2>/dev/null
echo out > /sys/class/gpio/gpio66/direction 2>/dev/null
echo out > /sys/class/gpio/gpio67/direction 2>/dev/null
echo in > /sys/class/gpio/gpio67/direction 2>/dev/null
echo out > /sys/class/gpio/gpio75/direction 2>/dev/null
echo in > /sys/class/gpio/gpio72/direction 2>/dev/null
echo 1 > /sys/class/gpio/gpio73/value 2>/dev/null
echo 0 > /sys/class/gpio/gpio12/value 2>/dev/null
echo 0 > /sys/class/gpio/gpio13/value 2>/dev/null
echo 0 > /sys/class/gpio/gpio66/value 2>/dev/null
echo 0 > /sys/class/gpio/gpio67/value 2>/dev/null
for ch in 1 2; do
echo $ch > /sys/class/pwm/pwmchip${PWMCHIP}/export 2>/dev/null
@@ -47,6 +46,18 @@ init_pins() {
echo 0 > "$DIR/mortor_kd" 2>/dev/null
echo 40 > "$DIR/foresee" 2>/dev/null
echo 0 > "$DIR/start" 2>/dev/null
echo 0.3 > "$DIR/cone_avoid_gain" 2>/dev/null
echo 30 > "$DIR/cone_avoid_range" 2>/dev/null
echo 0.5 > "$DIR/cone_speed" 2>/dev/null
echo 3 > "$DIR/cone_min_frames" 2>/dev/null
echo 0 > "$DIR/cone_margin" 2>/dev/null
echo 0.80 > "$DIR/cone_thresh" 2>/dev/null
echo 30 > "$DIR/cone_hold_frames" 2>/dev/null
echo 10 > "$DIR/brake_scale" 2>/dev/null
echo 10000 > "$DIR/brake_max" 2>/dev/null
echo "[demo] 引脚初始化完成"
}