开源声明：本代码工程为第十七届全国智能车竞赛————平衡单车组代码，仅提供交流学习，请勿用于商业用途
代码是当初打比赛是边写边上传的，这个并不是国赛代码（国赛代码重装系统忘记保存了），但与国赛代码相似度高达90%以上，仅多了一个AS5047P磁编码器金和修改了控制部分代码
不用提交Issue了，我不会也没时间看的，在此开源也仅仅是因为被倒卖代码不爽。
我是负责运动控制部分代码编写的，另一部分是我队友写的。我也只是一个学生，代码肯定是有很多问题的，现在已经找到的大问题有平衡PID结构部分有问题、和FOC自启部分没有写。看的时候自己推一下吧。
Tip: If you are paying to get this project, it means you are being cheated
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