Initial commit: SmartCar Framework v0.1 — 龙芯2K0300智能车开发框架\n\n- HAL: GPIO/PWM/Encoder/Framebuffer 驱动\n- Control: PID/IMU/Motor/Servo 控制\n- Vision: HSV双Otsu→4点标定IPM→洪泛填充→逐行搜线\n- Strategy: 三区前瞻偏差+速度策略\n- Debug: 文件热调参+LCD预览+cv截帧\n- Scheduler: 5ms timerfd+epoll 中央调度器

control/servo.hpp

@@ -0,0 +1,12 @@
+#pragma once
+#include "types.hpp"
+#include "control/pid.hpp"
+
+void servo_init();
+void servo_set_angle(float deviation);
+void servo_center();
+void servo_set_deadband(float v);
+void servo_set_steer_gain(float v);
+void servo_set_pid(double kp, double ki, double kd);
+
+inline float servo_get_duty_ns() { return SERVO_CENTER_NS; }