From 3f9460e36f8dbc343610c9da7be3dd4ee3ecdd1b Mon Sep 17 00:00:00 2001 From: zhanli <719901725@qq.com> Date: Wed, 17 Jan 2024 14:31:53 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../驱动固件的配置与使用.md | 6 - .../PiRobot_Firmware v1.0/.gitignore | 0 .../STM32/BSPLIB/adc_dac.c | 0 .../STM32/BSPLIB/adc_dac.h | 0 .../STM32/BSPLIB/bsplib.h | 0 .../STM32/BSPLIB/delay.c | 0 .../STM32/BSPLIB/delay.h | 0 .../STM32/BSPLIB/encoder.c | 0 .../STM32/BSPLIB/encoder.h | 0 .../STM32/BSPLIB/flash.c | 0 .../STM32/BSPLIB/flash.h | 0 .../PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.c | 0 .../PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.h | 0 .../PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.c | 0 .../PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.h | 0 .../STM32/BSPLIB/pwm_in.c | 0 .../STM32/BSPLIB/pwm_in.h | 0 .../STM32/BSPLIB/pwm_out.c | 0 .../STM32/BSPLIB/pwm_out.h | 0 .../PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.c 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.../PiRobot_Firmware v1.0/STM32/pibot.uvprojx | 0 .../Pibot官方配置教程.md | 346 ++++++++++++++++++ .../README.md | 0 Hardware/Pibot驱动底盘/png/get_params.png | Bin 0 -> 78553 bytes .../Pibot驱动底盘/png/get_version.png | Bin 0 -> 71156 bytes Hardware/Pibot驱动底盘/png/init_odom.png | Bin 0 -> 67372 bytes .../Pibot驱动底盘/png/params_body.png | Bin 0 -> 30509 bytes Hardware/Pibot驱动底盘/png/rqt.png | Bin 0 -> 110042 bytes .../Pibot驱动底盘/png/version_body.png | Bin 0 -> 20569 bytes .../驱动固件的配置与使用.md | 35 ++ 155 files changed, 381 insertions(+), 6 deletions(-) delete mode 100644 Hardware/Firmware/PiRobot_Firmware v1.0/驱动固件的配置与使用.md rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/.gitignore (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.c (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/BSPLIB/bsplib.h (100%) rename Hardware/{Firmware => 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v1.0/STM32/FWlib/src/stm32f10x_flash.c (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_fsmc.c (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_gpio.c (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_i2c.c (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_iwdg.c (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_pwr.c (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rcc.c (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rtc.c (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_sdio.c (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_spi.c (100%) rename Hardware/{Firmware => 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Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY65.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY65.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY85.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY85.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/HMC5883L.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/HMC5883L.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/ITG3200.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/ITG3200.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/MPU6050.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/MPU6050.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/IMU/imu.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Joystick/joystick.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Joystick/joystick.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/differential.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/model.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Motor/common_motor_controller.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Motor/common_motor_controller.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Motor/motor_controller.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/PID/README.txt (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/PID/pid.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/PID/pid.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/PS2/pstwo.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/PS2/pstwo.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Transport/dataframe.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Transport/queue.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Transport/transport.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Transport/usart_transport.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Transport/usart_transport.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/Lib/Transport/variable_queue.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/RTE/RTE_Components.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/RTE/_Target_1/RTE_Components.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/User/main.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/User/robot.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/User/robot.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/User/stm32f10x_conf.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.cpp (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.h (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/params.mk (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/pibot.uvoptx (100%) rename Hardware/{Firmware => Pibot驱动底盘}/PiRobot_Firmware v1.0/STM32/pibot.uvprojx (100%) create mode 100644 Hardware/Pibot驱动底盘/Pibot官方配置教程.md rename Hardware/{Firmware/PiRobot_Firmware v1.0 => Pibot驱动底盘}/README.md (100%) create mode 100644 Hardware/Pibot驱动底盘/png/get_params.png create mode 100644 Hardware/Pibot驱动底盘/png/get_version.png create mode 100644 Hardware/Pibot驱动底盘/png/init_odom.png create mode 100644 Hardware/Pibot驱动底盘/png/params_body.png create mode 100644 Hardware/Pibot驱动底盘/png/rqt.png create mode 100644 Hardware/Pibot驱动底盘/png/version_body.png create mode 100644 Hardware/Pibot驱动底盘/驱动固件的配置与使用.md diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/驱动固件的配置与使用.md b/Hardware/Firmware/PiRobot_Firmware v1.0/驱动固件的配置与使用.md deleted file mode 100644 index 21dedaa..0000000 --- a/Hardware/Firmware/PiRobot_Firmware v1.0/驱动固件的配置与使用.md +++ /dev/null @@ -1,6 +0,0 @@ -# 驱动固件的配置与使用 - -#### 一、下位机驱动板的通信 - -​ 小车驱动底板主要采用是串口通信，接口上支持`USB`通信。小车与`ROS`交互使用的是`uart3`(小车底板上的`micro usb`接口)，小车打印log采用是`uart1`(小车底板上的排针)。 - diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/.gitignore b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/.gitignore similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/.gitignore rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/.gitignore diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/adc_dac.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/bsplib.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/bsplib.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/bsplib.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/bsplib.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/delay.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/encoder.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/flash.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/i2c.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/nvic.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_in.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/rtc.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/spi.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/timer.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/usart.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/wdg_wkup.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/core_cm3.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_cl.s b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_cl.s similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_cl.s rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_cl.s diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd.s b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd.s similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd.s rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd.s diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd_vl.s b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd_vl.s similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd_vl.s rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_hd_vl.s diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld.s b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld.s similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld.s rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld.s diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld_vl.s b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld_vl.s similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld_vl.s rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_ld_vl.s diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md.s b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md.s similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md.s rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md.s diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md_vl.s b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md_vl.s similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md_vl.s rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_md_vl.s diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_xl.s b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_xl.s similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_xl.s rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/startup/startup_stm32f10x_xl.s diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/stm32f10x.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/stm32f10x.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/stm32f10x.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/stm32f10x.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/CMSIS/system_stm32f10x.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/misc.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/misc.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/misc.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/misc.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_adc.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_adc.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_adc.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_adc.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_bkp.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_bkp.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_bkp.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_bkp.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_can.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_can.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_can.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_can.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_cec.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_cec.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_cec.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_cec.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_crc.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_crc.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_crc.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_crc.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dac.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dac.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dac.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dac.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dbgmcu.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dbgmcu.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dbgmcu.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dbgmcu.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dma.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dma.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dma.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_dma.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_exti.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_exti.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_exti.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_exti.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_flash.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_flash.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_flash.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_flash.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_fsmc.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_fsmc.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_fsmc.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_fsmc.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_gpio.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_gpio.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_gpio.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_gpio.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_i2c.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_i2c.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_i2c.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_i2c.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_iwdg.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_iwdg.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_iwdg.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_iwdg.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_pwr.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_pwr.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_pwr.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_pwr.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rcc.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rcc.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rcc.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rcc.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rtc.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rtc.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rtc.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_rtc.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_sdio.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_sdio.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_sdio.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_sdio.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_spi.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_spi.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_spi.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_spi.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_tim.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_tim.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_tim.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_tim.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_usart.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_usart.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_usart.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_usart.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_wwdg.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_wwdg.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_wwdg.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/inc/stm32f10x_wwdg.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/misc.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/misc.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/misc.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/misc.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_adc.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_adc.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_adc.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_adc.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_bkp.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_bkp.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_bkp.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_bkp.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_can.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_can.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_can.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_can.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_cec.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_cec.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_cec.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_cec.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_crc.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_crc.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_crc.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_crc.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dac.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dac.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dac.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dac.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dbgmcu.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dbgmcu.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dbgmcu.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dbgmcu.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dma.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dma.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dma.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_dma.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_exti.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_exti.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_exti.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_exti.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_flash.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_flash.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_flash.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_flash.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_fsmc.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_fsmc.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_fsmc.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_fsmc.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_gpio.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_gpio.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_gpio.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_gpio.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_i2c.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_i2c.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_i2c.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_i2c.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_iwdg.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_iwdg.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_iwdg.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_iwdg.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_pwr.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_pwr.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_pwr.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_pwr.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rcc.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rcc.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rcc.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rcc.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rtc.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rtc.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rtc.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_rtc.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_sdio.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_sdio.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_sdio.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_sdio.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_spi.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_spi.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_spi.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_spi.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_tim.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_tim.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_tim.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_tim.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_usart.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_usart.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_usart.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_usart.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_wwdg.c b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_wwdg.c similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_wwdg.c rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/FWlib/src/stm32f10x_wwdg.c diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/JLinkSettings.ini b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/JLinkSettings.ini similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/JLinkSettings.ini rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/JLinkSettings.ini diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/board.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/board.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/board.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/board.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/print.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/print.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Board/print.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/print.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/DataHolder/data_holder.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Encoder/encoder_implement.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/ADXL345.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY65.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY65.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY65.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY65.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY65.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY65.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY65.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY65.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY85.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY85.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY85.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY85.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY85.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY85.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY85.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY85.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/HMC5883L.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/HMC5883L.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/HMC5883L.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/HMC5883L.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/HMC5883L.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/HMC5883L.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/HMC5883L.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/HMC5883L.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/ITG3200.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/ITG3200.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/ITG3200.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/ITG3200.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/ITG3200.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/ITG3200.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/ITG3200.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/ITG3200.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/MPU6050.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/MPU6050.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/MPU6050.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/MPU6050.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/MPU6050.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/MPU6050.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/MPU6050.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/MPU6050.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/imu.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/imu.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/imu.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/imu.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Joystick/joystick.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Joystick/joystick.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Joystick/joystick.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Joystick/joystick.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Joystick/joystick.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Joystick/joystick.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Joystick/joystick.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Joystick/joystick.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/differential.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/differential.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/differential.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/differential.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/model.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/model.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/model.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/model.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Motor/common_motor_controller.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Motor/common_motor_controller.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Motor/common_motor_controller.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Motor/common_motor_controller.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Motor/common_motor_controller.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Motor/common_motor_controller.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Motor/common_motor_controller.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Motor/common_motor_controller.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Motor/motor_controller.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Motor/motor_controller.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Motor/motor_controller.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Motor/motor_controller.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/PID/README.txt b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/PID/README.txt similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/PID/README.txt rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/PID/README.txt diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/PID/pid.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/PID/pid.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/PID/pid.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/PID/pid.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/PID/pid.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/PID/pid.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/PID/pid.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/PID/pid.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/PS2/pstwo.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/PS2/pstwo.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/PS2/pstwo.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/PS2/pstwo.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/PS2/pstwo.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/PS2/pstwo.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/PS2/pstwo.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/PS2/pstwo.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/dataframe.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/dataframe.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/dataframe.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/dataframe.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/queue.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/queue.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/queue.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/queue.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/simple_dataframe_slave.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/transport.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/transport.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/transport.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/transport.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/usart_transport.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/usart_transport.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/usart_transport.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/usart_transport.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/usart_transport.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/usart_transport.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/usart_transport.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/usart_transport.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/variable_queue.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/variable_queue.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/Transport/variable_queue.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Transport/variable_queue.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/RTE/RTE_Components.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/RTE/RTE_Components.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/RTE/RTE_Components.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/RTE/RTE_Components.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/RTE/_Target_1/RTE_Components.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/RTE/_Target_1/RTE_Components.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/RTE/_Target_1/RTE_Components.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/RTE/_Target_1/RTE_Components.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/main.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/main.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/main.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/main.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/robot.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/robot.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/robot.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/robot.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/robot.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/robot.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/robot.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/robot.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/stm32f10x_conf.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/stm32f10x_conf.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/stm32f10x_conf.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/stm32f10x_conf.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.cpp b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.cpp similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.cpp rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.cpp diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.h b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.h similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.h rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.h diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/params.mk b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/params.mk similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/params.mk rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/params.mk diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvoptx b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/pibot.uvoptx similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvoptx rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/pibot.uvoptx diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvprojx b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/pibot.uvprojx similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvprojx rename to Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/pibot.uvprojx diff --git a/Hardware/Pibot驱动底盘/Pibot官方配置教程.md b/Hardware/Pibot驱动底盘/Pibot官方配置教程.md new file mode 100644 index 0000000..a877c9e --- /dev/null +++ b/Hardware/Pibot驱动底盘/Pibot官方配置教程.md @@ -0,0 +1,346 @@ +# 1. 说明 +[PIBOT]()底盘驱动板[Ardunio Mega2560](https://item.taobao.com/item.htm?spm=a1z10.1-c-s.w4004-17455972993.12.35194b0c7otbLp&id=569238818315)/[STM32F1](https://item.taobao.com/item.htm?spm=a1z10.1-c-s.w4004-17455972993.12.35194b0c7otbLp&id=569238818315)/[STMF32F4](https://item.taobao.com/item.htm?spm=a1z10.1-c-s.w4004-17455972993.12.35194b0c7otbLp&id=569238818315)与上位机([树莓派](www.raspberrypi.org/)/[Jetson nano](https://www.nvidia.cn/autonomous-machines/embedded-systems/jetson-nano/)/[RK3399](https://item.taobao.com/item.htm?spm=a1z10.3-c.w4002-13059377851.22.800c49d67CTEbR&id=635166853727)等)通过串口通讯 + +- 通讯数据格式： + - 波特率: `STM32F1/Arduino: 115200`, `STM32F4:921600` + - 起始位： 1 位 + - 数据位： 8 位 + - 奇偶位： 无 + - 停止位： 1 位 + +# 2. 硬件板卡通讯协议定义 + 板卡通讯协议使用串口进行通信,每条消息包含消息头和消息体校验码三部分,所有数字采用小端序传递 +## 2.1 消息定义 +每条消息都由 [消息头]+[消息体]+[校验码] 三部分组成,每条消息最大长度为3+255+1字节,消息体最大255字节 +| | 消息头 | 消息体 |校验 | +| :-----:| :----: | :----: |:----: | +| 大小(字节） | 3 | N(0-255) | 1| + +### 2.1.1 消息头 + 消息头C风格定义如下: +``` C +struct head +{ + unsigned char flag;// 头部标记,固定帧头:0X5A + unsigned char msg_id;// 消息ID,表示消息具体作用,决定消息体具体格式 + unsigned char length;// 消息体长度 +} +``` +### 2.1.2 消息体 +消息体为具体数据内容长度由消息头的消息体长度决定 + +### 2.1.3 校验码 + 校验码固定占一个字节空间,为消息头+消息体 每个字节相加得到的结果取低8位的值 + +# 3. 消息详细定义 +## 3.1 命令ID +| id | description | +| :------: | :--------------: | +| 0 | 读取固件版本 | +| 1 | 设置机器人配置参数 | +| 2 | 读取机器人配置参数 | +| 3 | 初始化里程 | +| 4 | 设置机器人实时速度 | +| 5 | 获取里程计信息 | +| 6 | 获取PID调速数据 | +| 7 | 获取IMU数据 | +| 8 | 获取编码器的计数 | +| 9 | 电机控制(调试用) | + +## 3.2 详细消息 +- Master: + PC/树莓派等上位机 +- Board: + STM32F1/F4/Arduino主板 +### 3.2.1 查询固件版本信息 +- 请求:Master->Board + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x00 | 0x00|-|1字节和校验码| +- 回复:Board->Master + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x00 | 0x20|具体信息(见下面定义)|1字节和校验码| +```C +{ + char version[16]; //固件版本 + char time[16]; //构建时间 +} + ``` +- 交互数据测试 + - 发送(十六进制): `5a 00 00 5a` + - 接收(十六进制): `5a 00 20 76 32 2e 30 2e 30 00 00 00 00 00 00 00 00 00 00 32 30 32 30 30 31 30 39 2d 6d 33 65 33 00 00 00 d1` + ![get version](png/get_version.png) +``` +固定帧头:0x5a +消息id:0x00 +消息体长度:0x20(32) +消息体:76 32 2e 30 2e 30 00 00 00 00 00 00 00 00 00 00 32 30 32 30 30 31 30 39 2d 6d 33 65 33 00 00 00 +校验码: d1 +``` +![version body](png/version_body.png) + +### 3.2.2 设置机器人配置参数 +- 请求:Master->Board + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x01 | 0x40|具体信息(见下面定义)|1字节和校验码| +```C +{ + union { + char buff[64]; + struct + { + unsigned short wheel_diameter; //轮子直径 mm + unsigned short wheel_track; //差分：轮距， 三全向轮：直径，四全向：前后轮距+左右轮距 mm + unsigned short encoder_resolution; //编码器分辨率 + unsigned char do_pid_interval; //pid间隔 (ms) + unsigned short kp; + unsigned short ki; + unsigned short kd; + unsigned short ko; //pid参数比例 + unsigned short cmd_last_time; //命令持久时间ms 超过该时间会自动停止运动 + unsigned short max_v_liner_x; // 最大x线速度 + unsigned short max_v_liner_y; // 最大y线速度 + unsigned short max_v_angular_z; // 最大角速度 + unsigned char imu_type; // imu类型 gy85: 69, gy87:71,gy65:49 + unsigned short motor_ratio; // 电机减速比 + unsigned char model_type; // 运动模型类型 2wd-diff:1, 4wd-diff:2, 3wd-omni:101, 4wd-omni:102,4wd-mecanum:201 + unsigned char motor_nonexchange_flag; // 电机标志参数 1 正接 0 反接(相当于电机线交换) + unsigned char encoder_nonexchange_flag; // 编码器标志参数 1 正接 0 反接(相当于编码器ab相交换) + } + } +} +``` +- 回复:Board->Master + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x01 | 0x00|-|1字节和校验码| + +### 3.2.3 读取机器人配置参数 +- 请求:Master->Board + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x02 | 0x00|-|1字节和校验码| +- 回复:Board->Master + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x02 | 0x40|具体信息(同设置参数的消息体)|1字节和校验码| + +- 交互数据测试 + - 发送(十六进制): `5a 02 00 5c` + - 接收(十六进制): `5a 02 40 41 00 af 00 2c 00 0a 40 01 8c 0a 00 00 0a 00 fa 00 32 00 00 00 c8 00 47 5a 00 01 0f 0f 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 82` +![get params](png/get_params.png) +``` +固定帧头:0x5a +消息id:0x02 +消息体长度:0x40(64) +消息体:41 00 af 00 2c 00 0a 40 01 8c 0a 00 00 0a 00 fa 00 32 00 00 00 c8 00 47 5a 00 01 0f 0f 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 +校验码: 82 +``` +![params_body](png/params_body.png) + +消息体内容对应参数已经`pibot_configure`命令结果如下: +``` + wheel_diameter=0x0041; // (65mm) //轮子直径 mm + wheel_track=0x00af; // (175mm) //差分：轮距， 三全向轮：直径，四全向：前后轮距+左右轮距 mm + encoder_resolution=0x002c; // 44 //编码器分辨率 + do_pid_interval=0x0a; // 10 //pid间隔 (ms) + kp=0x0140; // 320 + ki=0x0a8c; // 2700 + kd=0x0000; // 0 + ko=0x000a; // 0 + cmd_last_time=0x00fa;// 250 //命令持久时间ms 超过该时间会自动停止运动 + max_v_liner_x=0x0032; // 50 // 最大x线速度 + max_v_liner_x=0x0000; // 0 // 最大y线速度 + max_v_liner_x=0x00c8;// 200 // 最大角速度 + imu_type=0x47; //71 (GY87) // imu类型 参见gy85: 69, gy87:71,gy65:49 + motor_ratio=0x005a; //90 // 电机减速比 + model_type=0x01; //1(2wd-diff) // 运动模型类型 2wd-diff:1, 4wd-diff:2, 3wd-omni:101, 4wd-omni:102,4wd-mecanum:201 + model_type=0x0f; // 0b1111(全部正接) // 电机标志参数 1 正接 0 反接(相当于电机线交换) + encoder_nonexchange_flag=0x0f; // 0b1111(全部正接) // 编码器标志参数 1 正接 0 反接(相当于编码 +``` +![](png/rqt.png) + +### 3.2.4 初始化里程 +- 请求:Master->Board + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x03 | 0x00|-|1字节和校验码| +- 回复:Board->Master + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x03 | 0x00|-|1字节和校验码| +![init_odom](png/init_odom.png) + +### 3.2.5 设置机器人实时速度 +> 设置机器人速度为激励模式， 即需要一直发送，超过设定时间未接收到该命令，机器人会自动停止 +- 请求:Master->Board + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x04 | 0x06|速度(见下面定义)|1字节和校验码| + ```C + { + short v_liner_x; //线速度 前>0 cm/s + short v_liner_y; //差分轮 为0 cm/s + short v_angular_z; //角速度 左>0 0.01rad/s 100 means 1 rad/s + } + ``` +- 回复:Board->Master + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x04 | 0x00|-|1字节和校验码| + + +- 交互数据测试 + - 发送(十六进制): `5a 04 06 14 00 00 00 00 00 78 ` + - 接收(十六进制): `5a 04 00 5e ` +``` + v_liner_x=0x0014; //20cm/s 0.2m/s //线速度 前>0 cm/s + v_liner_y=0x0000; //0cm/s //线速度 前>0 cm/s + v_angular_z=0x0000; //0rad/s //角速度 左>0 0.01rad/s 100 means 1 rad/s +``` +### 3.2.6 获取里程计信息 +- 请求:Master->Board + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x05 | 0x00|-|1字节和校验码| + +- 回应::Board->MASTER + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x05 | 0x10|里程计信息(见下面说明)|1字节和校验码| + ```C + { + short v_liner_x; //线速度 前>0 后<0 cm/s + short v_liner_y; //差分轮 为0 cm/s + short v_angular_z; //角速度 左>0 右<0 0.01rad/s 100 means 1 rad/s + long x; //里程计坐标x cm (这里long为4字节，下同) + long y; //里程计坐标y cm + short yaw; //里程计航角 0.01rad 100 means 1 rad + } + ``` +- 交互数据测试 + - 发送(十六进制): `5a 05 00 5f` + - 接收(十六进制): `5a 05 10 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 6f` +``` +固定帧头:0x5a +消息id:0x05 +消息体长度:0x10(2+2+2+4+4+2=16) +消息体:00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 //初始化后全为0 +校验码: 6f +``` + +### 3.2.7 获取PID调速数据 +- 请求:Master->Board + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x06 | 0x00|-|1字节和校验码| + +- 回应::Board->MASTER + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x06 | 0x20|PID信息(见下面说明)|1字节和校验码| + + ```C + { + long input[4]; //各轮子驱动输入值 + long output[4]; //个轮子输出值 + } + ``` + +### 3.2.8 获取IMU数据 +- 请求:Master->Board + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x07 | 0x00|-|1字节和校验码| + +- 回应::Board->MASTER + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x07 | 0x24|9轴IMU信息(见下面说明)|1字节和校验码| + + ```C + { + float ax, ay, az; // 三轴加速度计值 m/s2 + float gx, gy, gz;// 三轴陀螺仪计值 rad/s + float mx, my, mz;// 三轴磁力计计值mg（0.001GAUSS) + } + ``` +- 交互数据测试 + - 发送(十六进制): `5A 07 00 61` + - 接收(十六进制): `5a 07 24 49 32 8e 3d 4e a6 5c 3e 1e fc 12 41 58 a0 0b 3c 7e b6 c8 bc 58 a0 8b bb e1 7a 04 c2 8f 42 81 43 7b 94 94 c3 17` +``` +固定帧头:0x5a +消息id:0x07 +消息体长度:0x24(4*9=36) +消息体:49 32 8e 3d 4e a6 5c 3e 1e fc 12 41 58 a0 0b 3c 7e b6 c8 bc 58 a0 8b bb e1 7a 04 c2 8f 42 81 43 7b 94 94 c3 +校验码: 17 + +// 三轴加速度计值 m/s2 +ax=[49 32 8e 3d] // 0.0694318488 +ay=[4E A6 5C 3E] // 0.215478152 +az=[1E FC 12 41] // 9.18655205 + +// 三轴陀螺仪计值 rad/s +gx=[58 A0 0B 3C] // 0.00852211565 +gy=[7E B6 C8 BC] // -0.0245010816 +gz=[58 A0 8B BB] // -0.00426105782 + +// 三轴磁力计计值mg（0.001GAUSS) +mx=[E1 7A 04 C2] // -33.1199989 +my=[8F 42 81 43] // 258.519989 +mz=[7B 94 94 C3] // -297.160004 +``` + +### 3.2.9 获取编码器的计数数据 +- 请求:Master->Board + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x08 | 0x00|-|1字节和校验码| + +- 回应::Board->MASTER + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x08 | 0x10|编码器计数(见下面说明)|1字节和校验码| + + ```C + { + float encoder_count[4]; // 各电机编码器计数 + } +``` + +### 3.2.10 电机控制 +- 请求:Master->Board + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x09 | pwm(见下面说明)|-|1字节和校验码| +```C + { + short pwm[4]; // 各输出控制电机的pwm + } +``` +- 回应::Board->MASTER + +| | 固定帧头 | id | 消息体长度 |消息体 |校验 | +| :-----:| :----: | :----: |:----: |:----: |:----: | +| 内容 | 0x5a | 0x09 | 0x00|-|1字节和校验码| diff --git a/Hardware/Firmware/PiRobot_Firmware v1.0/README.md b/Hardware/Pibot驱动底盘/README.md similarity index 100% rename from Hardware/Firmware/PiRobot_Firmware v1.0/README.md rename to Hardware/Pibot驱动底盘/README.md diff --git a/Hardware/Pibot驱动底盘/png/get_params.png b/Hardware/Pibot驱动底盘/png/get_params.png new file 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usb`接口)，小车打印log采用是`uart1`(小车底板上的排针)。 + +#### 1.1 硬件的连接 + +​ 我们将`Pibot`的核心板的`micro usb`连接到电脑，如果驱动正确的情况下，通过串口调试助手可以打开对应的COM口，如下图所示： + +#### 1.2 检查串口通信 + +​ 为了测试小车的功能，我们可以在串口发送`5a 00 00 5a`命令，这个命令会返回小车的固件版本和构建时间信息。其定义如下所示。如果为我们发送命令后，小车有数据返回则说明串口通信正常。 + +```c +{ + char version[16]; // 固件版本 + char time[16]; // 构建时间 +} +``` + +- 发送(十六进制): `5a 00 00 5a` +- 接收(十六进制): `5a 00 20 76 32 2e 30 2e 30 00 00 00 00 00 00 00 00 00 00 32 30 32 30 30 31 30 39 2d 6d 33 65 33 00 00 00 d1` + +#### 1.3、驱动板的初始化配置 + +​ 由于不同的小车的轮子种类和传感器的种类不同，所以需要对小车进行初始化配置。 + +​ 打开串口助手，设置115200波特率。下面的命令是配置小车的基本信息的。 + +```shell +5A 01 40 41 00 AF 00 2C 00 0A 40 01 8C 0A 00 00 0A 00 FA 00 32 00 00 00 C8 00 47 5A 00 01 0F 0F 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 81 +``` + +​ \ No newline at end of file

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