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DGStandard 2026 By steven - #161
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m2rt1n88
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Oct 20, 2026
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- DGStandard 2026 的电机控制与调试输出，切换板载串口并补充关键状态打印，方便现场调试与比赛部署。
- 重新整定云台和拨盘转向 PID，增加自瞄目标有效性检查，重构自瞄开关与发射逻辑，减少误触发并统一手动/自瞄射击控制。
- 为底盘输入增加平滑处理和速度差分，调整小陀螺初始速度；单个底盘电机掉线时不再直接关闭整个底盘，避免偶发掉线导致整车停摆。
- 精简比赛 UI，移除底盘速度圆盘、云台小坦克、超级电容、BOOST 和自瞄状态等冗余元素，新增无弹提示，更新摩擦轮/模式显示，并适配 VT13 键盘与剩余弹量数据。
- 修复裁判系统弹量字段符号和 VT13 鼠标包位偏移，提升遥控与裁判数据解析可靠性。
…erge_DGStandard2026
电机驱动框架重构后，`MotorCANBase` 被拆分为 `CanMotorBase`/`DjiMotorBase` 并统一了前馈接口，因此云台任务需同步调整： - 速度前馈接口由 `SetSpeedOffset` 改为 `SetSpeedFeedforward` - 电机模式与 PID 枚举改用 `DjiMotorBase::THETA/OMEGA/ABSOLUTE`，替换原 `MotorCANBase` 命名空间
本次改动仅涉及格式调整，不包含任何逻辑变更： - 超长函数调用（`LineDraw`、`GraphRefresh`、`print` 等）的参数按行拆分并重新缩进 - `switch/case`、`if` 大括号与 `public:` 等采用 clang-format 默认风格 - 对齐 PID 初始化结构体的末尾注释，清理多余空行与行尾空格
准星 UI 的 `Init` 已不再接收坐标参数，因此 Hero 与 Neo 云台 UI 任务中的调用同步改为无参形式，避免继续传入已废弃的参数。
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