Steering hero sp vision 25 by dwx5 · Pull Request #66 · Alliance-Algorithm/RMCS

dwx5 · 2026-05-02T15:40:43Z

No description provided.

Co-authored-by: zhzy-star <2807406212@qq.com> Co-authored-by: floatpigeon <floatpigeon@proton.me> Co-authored-by: fan <enbofan663@gmail.com>

Co-authored-by: zhzy-star <2807406212@qq.com> Co-authored-by: floatpigeon <floatpigeon@proton.me>

…hotogate

…oder mode.

…to steering-hero_sp_vision_25

…nce-Algorithm/RMCS into steering-hero_sp_vision_25

coderabbitai · 2026-05-02T15:40:51Z

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📒 Files selected for processing (245)

.script/identification/fit_gravity_torque.py
.script/identification/fit_sweep_graybox.py
librmcs-firmware-c_board-3.0.1-0.dev.4.gbaf538b.dfu
librmcs-firmware-c_board-3.1.0.dfu
rmcs_ws/src/hikcamera
rmcs_ws/src/rmcs_bringup/config/steering-hero-little.yaml
rmcs_ws/src/rmcs_bringup/config/steering-hero.yaml
rmcs_ws/src/rmcs_core/CMakeLists.txt
rmcs_ws/src/rmcs_core/librmcs
rmcs_ws/src/rmcs_core/plugins.xml
rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_climber_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_power_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/steering_wheel_status.cpp
rmcs_ws/src/rmcs_core/src/controller/gimbal/dual_yaw_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/gimbal/hero_gimbal_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/gimbal/precise_two_axis_gimbal_solver.hpp
rmcs_ws/src/rmcs_core/src/controller/pid/friction_wheel_pid_recorder.cpp
rmcs_ws/src/rmcs_core/src/controller/shooting/bullet_feeder_controller_42mm.cpp
rmcs_ws/src/rmcs_core/src/controller/shooting/friction_wheel_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/shooting/heat_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/shooting/putter_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/shooting/shooting_recorder.cpp
rmcs_ws/src/rmcs_core/src/hardware/device/lk_motor.hpp
rmcs_ws/src/rmcs_core/src/hardware/steering-hero-little.cpp
rmcs_ws/src/rmcs_core/src/hardware/steering-hero.cpp
rmcs_ws/src/rmcs_core/src/identification/static_torque_test_controller.cpp
rmcs_ws/src/rmcs_core/src/identification/swept_frequency_controller.cpp
rmcs_ws/src/rmcs_core/src/referee/app/ui/hero.cpp
rmcs_ws/src/rmcs_core/src/referee/app/ui/shape/shape.hpp
rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/shoot_condiction.hpp
rmcs_ws/src/rmcs_utility/include/rmcs_utility/csv_writer.hpp
rmcs_ws/src/sp_vision_25/.gitignore
rmcs_ws/src/sp_vision_25/AGENTS.md
rmcs_ws/src/sp_vision_25/CMakeLists.txt
rmcs_ws/src/sp_vision_25/LICENSE
rmcs_ws/src/sp_vision_25/assets/best2-sim.onnx
rmcs_ws/src/sp_vision_25/assets/demo/demo.txt
rmcs_ws/src/sp_vision_25/assets/tiny_resnet.onnx
rmcs_ws/src/sp_vision_25/assets/yolo11.xml
rmcs_ws/src/sp_vision_25/assets/yolo11_buff_int8.xml
rmcs_ws/src/sp_vision_25/assets/yolov5.xml
rmcs_ws/src/sp_vision_25/assets/yolov8.xml
rmcs_ws/src/sp_vision_25/autostart.sh
rmcs_ws/src/sp_vision_25/buff_layout.xml
rmcs_ws/src/sp_vision_25/calibration/calibrate_camera.cpp
rmcs_ws/src/sp_vision_25/calibration/calibrate_handeye.cpp
rmcs_ws/src/sp_vision_25/calibration/calibrate_robotworld_handeye.cpp
rmcs_ws/src/sp_vision_25/calibration/capture.cpp
rmcs_ws/src/sp_vision_25/calibration/split_video.cpp
rmcs_ws/src/sp_vision_25/configs/ascento.yaml
rmcs_ws/src/sp_vision_25/configs/calibration.yaml
rmcs_ws/src/sp_vision_25/configs/camera.yaml
rmcs_ws/src/sp_vision_25/configs/demo.yaml
rmcs_ws/src/sp_vision_25/configs/example.yaml
rmcs_ws/src/sp_vision_25/configs/mvs.yaml
rmcs_ws/src/sp_vision_25/configs/sentry.yaml
rmcs_ws/src/sp_vision_25/configs/standard3.yaml
rmcs_ws/src/sp_vision_25/configs/standard4.yaml
rmcs_ws/src/sp_vision_25/configs/uav.yaml
rmcs_ws/src/sp_vision_25/docs/mpc_formulation.md
rmcs_ws/src/sp_vision_25/docs/planner_benchmark.md
rmcs_ws/src/sp_vision_25/docs/standard_mpc_control_chain.md
rmcs_ws/src/sp_vision_25/io/CMakeLists.txt
rmcs_ws/src/sp_vision_25/io/camera.cpp
rmcs_ws/src/sp_vision_25/io/camera.hpp
rmcs_ws/src/sp_vision_25/io/cboard.cpp
rmcs_ws/src/sp_vision_25/io/cboard.hpp
rmcs_ws/src/sp_vision_25/io/command.hpp
rmcs_ws/src/sp_vision_25/io/dm_imu/dm_imu.cpp
rmcs_ws/src/sp_vision_25/io/dm_imu/dm_imu.hpp
rmcs_ws/src/sp_vision_25/io/gimbal/gimbal.cpp
rmcs_ws/src/sp_vision_25/io/gimbal/gimbal.hpp
rmcs_ws/src/sp_vision_25/io/hikrobot/hikrobot.cpp
rmcs_ws/src/sp_vision_25/io/hikrobot/hikrobot.hpp
rmcs_ws/src/sp_vision_25/io/hikrobot/include/CameraParams.h
rmcs_ws/src/sp_vision_25/io/hikrobot/include/MvCameraControl.h
rmcs_ws/src/sp_vision_25/io/hikrobot/include/MvErrorDefine.h
rmcs_ws/src/sp_vision_25/io/hikrobot/include/MvISPErrorDefine.h
rmcs_ws/src/sp_vision_25/io/hikrobot/include/MvObsoleteInterfaces.h
rmcs_ws/src/sp_vision_25/io/hikrobot/include/ObsoleteCamParams.h
rmcs_ws/src/sp_vision_25/io/hikrobot/include/PixelType.h
rmcs_ws/src/sp_vision_25/io/mindvision/include/CameraApi.h
rmcs_ws/src/sp_vision_25/io/mindvision/include/CameraDefine.h
rmcs_ws/src/sp_vision_25/io/mindvision/include/CameraStatus.h
rmcs_ws/src/sp_vision_25/io/mindvision/mindvision.cpp
rmcs_ws/src/sp_vision_25/io/mindvision/mindvision.hpp
rmcs_ws/src/sp_vision_25/io/ros2/publish2nav.cpp
rmcs_ws/src/sp_vision_25/io/ros2/publish2nav.hpp
rmcs_ws/src/sp_vision_25/io/ros2/ros2.cpp
rmcs_ws/src/sp_vision_25/io/ros2/ros2.hpp
rmcs_ws/src/sp_vision_25/io/ros2/subscribe2nav.cpp
rmcs_ws/src/sp_vision_25/io/ros2/subscribe2nav.hpp
rmcs_ws/src/sp_vision_25/io/serial/CMakeLists.txt
rmcs_ws/src/sp_vision_25/io/serial/include/serial/impl/unix.h
rmcs_ws/src/sp_vision_25/io/serial/include/serial/impl/win.h
rmcs_ws/src/sp_vision_25/io/serial/include/serial/serial.h
rmcs_ws/src/sp_vision_25/io/serial/include/serial/v8stdint.h
rmcs_ws/src/sp_vision_25/io/serial/src/impl/list_ports/list_ports_linux.cc
rmcs_ws/src/sp_vision_25/io/serial/src/impl/list_ports/list_ports_osx.cc
rmcs_ws/src/sp_vision_25/io/serial/src/impl/list_ports/list_ports_win.cc
rmcs_ws/src/sp_vision_25/io/serial/src/impl/unix.cc
rmcs_ws/src/sp_vision_25/io/serial/src/impl/win.cc
rmcs_ws/src/sp_vision_25/io/serial/src/serial.cc
rmcs_ws/src/sp_vision_25/io/socketcan.hpp
rmcs_ws/src/sp_vision_25/io/usbcamera/usbcamera.cpp
rmcs_ws/src/sp_vision_25/io/usbcamera/usbcamera.hpp
rmcs_ws/src/sp_vision_25/mpc_layout.xml
rmcs_ws/src/sp_vision_25/package.xml
rmcs_ws/src/sp_vision_25/plugins.xml
rmcs_ws/src/sp_vision_25/readme.md
rmcs_ws/src/sp_vision_25/src/.gitkeep
rmcs_ws/src/sp_vision_25/src/auto_aim_debug_mpc.cpp
rmcs_ws/src/sp_vision_25/src/auto_buff_debug.cpp
rmcs_ws/src/sp_vision_25/src/auto_buff_debug_mpc.cpp
rmcs_ws/src/sp_vision_25/src/hero_auto_aim_bridge.cpp
rmcs_ws/src/sp_vision_25/src/mt_auto_aim_debug.cpp
rmcs_ws/src/sp_vision_25/src/mt_standard.cpp
rmcs_ws/src/sp_vision_25/src/sentry.cpp
rmcs_ws/src/sp_vision_25/src/sentry_bp.cpp
rmcs_ws/src/sp_vision_25/src/sentry_debug.cpp
rmcs_ws/src/sp_vision_25/src/sentry_multithread.cpp
rmcs_ws/src/sp_vision_25/src/sp_vision_response_test_bridge.cpp
rmcs_ws/src/sp_vision_25/src/standard.cpp
rmcs_ws/src/sp_vision_25/src/standard_mpc.cpp
rmcs_ws/src/sp_vision_25/src/uav.cpp
rmcs_ws/src/sp_vision_25/src/uav_debug.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/CMakeLists.txt
rmcs_ws/src/sp_vision_25/tasks/auto_aim/aimer.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/aimer.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/armor.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/armor.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/classifier.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/classifier.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/detector.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/detector.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/multithread/commandgener.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/multithread/commandgener.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/multithread/mt_detector.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/multithread/mt_detector.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/planner.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/planner.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/CMakeLists.txt
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/admm.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/admm.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/codegen.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/codegen.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/error.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/rho_benchmark.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/rho_benchmark.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/tiny_api.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/tiny_api.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/tiny_api_constants.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/planner/tinympc/types.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/shooter.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/shooter.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/solver.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/solver.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/target.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/target.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/tracker.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/tracker.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/voter.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/voter.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/yolo.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/yolo.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/yolos/yolo11.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/yolos/yolo11.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/yolos/yolov5.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/yolos/yolov5.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/yolos/yolov8.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_aim/yolos/yolov8.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/CMakeLists.txt
rmcs_ws/src/sp_vision_25/tasks/auto_buff/buff_aimer.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/buff_aimer.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/buff_detector.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/buff_detector.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/buff_predict.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/buff_solver.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/buff_solver.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/buff_target.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/buff_target.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/buff_type.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/buff_type.hpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/yolo11_buff.cpp
rmcs_ws/src/sp_vision_25/tasks/auto_buff/yolo11_buff.hpp
rmcs_ws/src/sp_vision_25/tasks/omniperception/CMakeLists.txt
rmcs_ws/src/sp_vision_25/tasks/omniperception/decider.cpp
rmcs_ws/src/sp_vision_25/tasks/omniperception/decider.hpp
rmcs_ws/src/sp_vision_25/tasks/omniperception/detection.hpp
rmcs_ws/src/sp_vision_25/tasks/omniperception/perceptron.cpp
rmcs_ws/src/sp_vision_25/tasks/omniperception/perceptron.hpp
rmcs_ws/src/sp_vision_25/tests/.gitkeep
rmcs_ws/src/sp_vision_25/tests/auto_aim_test.cpp
rmcs_ws/src/sp_vision_25/tests/auto_buff_test.cpp
rmcs_ws/src/sp_vision_25/tests/camera_detect_test.cpp
rmcs_ws/src/sp_vision_25/tests/camera_test.cpp
rmcs_ws/src/sp_vision_25/tests/camera_thread_test.cpp
rmcs_ws/src/sp_vision_25/tests/cboard_test.cpp
rmcs_ws/src/sp_vision_25/tests/detector_video_test.cpp
rmcs_ws/src/sp_vision_25/tests/dm_test.cpp
rmcs_ws/src/sp_vision_25/tests/fire_test.cpp
rmcs_ws/src/sp_vision_25/tests/gimbal_response_test.cpp
rmcs_ws/src/sp_vision_25/tests/gimbal_test.cpp
rmcs_ws/src/sp_vision_25/tests/handeye_test.cpp
rmcs_ws/src/sp_vision_25/tests/minimum_vision_system.cpp
rmcs_ws/src/sp_vision_25/tests/multi_usbcamera_test.cpp
rmcs_ws/src/sp_vision_25/tests/planner_benchmark.cpp
rmcs_ws/src/sp_vision_25/tests/planner_test.cpp
rmcs_ws/src/sp_vision_25/tests/planner_test_offline.cpp
rmcs_ws/src/sp_vision_25/tests/publish_test.cpp
rmcs_ws/src/sp_vision_25/tests/subscribe_test.cpp
rmcs_ws/src/sp_vision_25/tests/topic_loop_test.cpp
rmcs_ws/src/sp_vision_25/tests/usbcamera_detect_test.cpp
rmcs_ws/src/sp_vision_25/tests/usbcamera_test.cpp
rmcs_ws/src/sp_vision_25/tools/CMakeLists.txt
rmcs_ws/src/sp_vision_25/tools/crc.cpp
rmcs_ws/src/sp_vision_25/tools/crc.hpp
rmcs_ws/src/sp_vision_25/tools/exiter.cpp
rmcs_ws/src/sp_vision_25/tools/exiter.hpp
rmcs_ws/src/sp_vision_25/tools/extended_kalman_filter.cpp
rmcs_ws/src/sp_vision_25/tools/extended_kalman_filter.hpp
rmcs_ws/src/sp_vision_25/tools/img_tools.cpp
rmcs_ws/src/sp_vision_25/tools/img_tools.hpp
rmcs_ws/src/sp_vision_25/tools/logger.cpp
rmcs_ws/src/sp_vision_25/tools/logger.hpp
rmcs_ws/src/sp_vision_25/tools/math_tools.cpp
rmcs_ws/src/sp_vision_25/tools/math_tools.hpp
rmcs_ws/src/sp_vision_25/tools/pid.cpp
rmcs_ws/src/sp_vision_25/tools/pid.hpp
rmcs_ws/src/sp_vision_25/tools/plotter.cpp
rmcs_ws/src/sp_vision_25/tools/plotter.hpp
rmcs_ws/src/sp_vision_25/tools/ransac_sine_fitter.cpp
rmcs_ws/src/sp_vision_25/tools/ransac_sine_fitter.hpp
rmcs_ws/src/sp_vision_25/tools/recorder.cpp
rmcs_ws/src/sp_vision_25/tools/recorder.hpp
rmcs_ws/src/sp_vision_25/tools/thread_pool.hpp
rmcs_ws/src/sp_vision_25/tools/thread_safe_queue.hpp
rmcs_ws/src/sp_vision_25/tools/trajectory.cpp
rmcs_ws/src/sp_vision_25/tools/trajectory.hpp
rmcs_ws/src/sp_vision_25/tools/yaml.hpp
tools/pid_tuning/README.md
tools/pid_tuning/friction_wheel_pid_recorder.example.yaml
tools/pid_tuning/identify_plant.py
tools/pid_tuning/tune_pid.py

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QingZhuC and others added 30 commits March 15, 2026 21:57

Pick steering hero resources from branch steering-hero

7e16876

Co-authored-by: zhzy-star <2807406212@qq.com> Co-authored-by: floatpigeon <floatpigeon@proton.me> Co-authored-by: fan <enbofan663@gmail.com>

Update to librmcs v3.1.0b0

a276525

Fixed board match, test AC

5b219ae

Co-authored-by: zhzy-star <2807406212@qq.com> Co-authored-by: floatpigeon <floatpigeon@proton.me>

Fixed gimbal pitch control error and Update climber controller

cef01f4

Fixed friction direction error and Update putter controller without p…

901055a

…hotogate

Auto Climber Demo!

6bbeed2

AUTO CLIMB STABLE

040b4c4

Fixed putter controller : add photoelectric_sensor(demo)

7bf9b01

Fixed dual_yaw; add new putter_controller.

cf68ff7

dd

eafda5f

fixed putter controller

8eb58c3

Update putter_controller: demo

65e7038

Putter _controller : stable

fefdd17

Fixed supercap, climber

c076f80

Putter_controller : Stable ,stable...

f15fb2a

Add chassis reserve mode

aa71f6e

Shooting Test

afae5ce

Add ui

295c155

Fixed : heat_controller, ui

6e960be

Fixed : putter_controller, solve endless circle.

855a695

Fixed correct parameters for pitch,top yaw and bottom yaw.Blocked enc…

0be7dc7

…oder mode.

Fixed ui kaka, friction detect

0dd6722

auto_aim

37f88c4

update

1ae9419

Fixed putter controller: Use grayscale_sensor to automate.

cbaa182

update_stable_planner

335272e

Add foreraked detect.

f5522fd

Add new keyboard operation

72202a0

Add chassis auto mode slowly return

4d08d70

stable version

1f73861

floatpigeon and others added 17 commits April 22, 2026 04:17

Add steering chassis status

02a3955

Change pitch encode mode to angle shift control

8d86d62

Merge remote-tracking branch 'origin/refactor/merge-steering-hero' in…

e12004d

…to steering-hero_sp_vision_25

parameter change

2ed481d

Fixed parameter

b3b5c77

Fixed yaw

bbbafa7

add identification

bc6cff9

Fixed pitch torque logic

d78057a

mouse

6501c36

Merge branch 'steering-hero_sp_vision_25' of https://github.com/Allia…

f6fbf89

…nce-Algorithm/RMCS into steering-hero_sp_vision_25

Fixed putter_controller

06d2bf3

Merge branch 'steering-hero_sp_vision_25' of https://github.com/Allia…

d619dcc

…nce-Algorithm/RMCS into steering-hero_sp_vision_25

Bug: add steering-hero_test, but steering not well

b5ffc3b

Fix can id error and update parameters

b052d9a

view color

bce59cc

update cmake

27f8608

clean for RMUC

202fa39

github-project-automation Bot added this to RMCS May 2, 2026

github-project-automation Bot moved this to Todo in RMCS May 2, 2026

dwx5 and others added 2 commits May 4, 2026 22:38

parameter changes and outline check

395808e

fixed : top_board

d090494

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Steering hero sp vision 25#66

Steering hero sp vision 25#66
dwx5 wants to merge 49 commits intomainfrom
steering-hero_sp_vision_25

dwx5 commented May 2, 2026

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dwx5 commented May 2, 2026

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coderabbitai Bot commented May 2, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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coderabbitai Bot commented May 2, 2026 •

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