修复HT电机解算bug，待添加零位校准。修复bsp_can module id未初始化问题

modules/algorithm/controller.h

@@ -28,7 +28,7 @@
 // PID 优化环节使能标志位
 typedef enum
 {
-    NONE = 0b00000000,                        // 0000 0000
+    PID_IMPROVE_NONE = 0b00000000,                        // 0000 0000
     Integral_Limit = 0b00000001,              // 0000 0001
     Derivative_On_Measurement = 0b00000010,   // 0000 0010
     Trapezoid_Intergral = 0b00000100,         // 0000 0100

modules/master_machine/master_process.h

@@ -52,13 +52,14 @@ typedef enum
 
 typedef enum
 {
-	MODE_AIM = 0,
-	MODE_SMALL_BUFF = 1,
-	MODE_BIG_BUFF = 2
+	VISION_MODE_AIM = 0,
+	VISION_MODE_SMALL_BUFF = 1,
+	VISION_MODE_BIG_BUFF = 2
 } Work_Mode_e;
 
 typedef enum
 {
+	BULLET_SPEED_NONE = 0,
 	BIG_AMU_10 = 10,
 	SMALL_AMU_15 = 15,
 	BIG_AMU_16 = 16,

modules/motor/HT04.c

@@ -50,14 +50,14 @@ static void HTMotorDecode(CANInstance *motor_can)
     measure->last_angle = measure->total_angle;
 
     tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
-    measure->total_angle = RAD_2_ANGLE * uint_to_float(tmp, P_MAX, P_MIN, 16);
+    measure->total_angle = RAD_2_ANGLE * uint_to_float(tmp, P_MIN, P_MAX, 16);
 
     tmp = (uint16_t)((rxbuff[3] << 4) | (rxbuff[4] >> 4));
-    measure->speed_aps = RAD_2_ANGLE * SPEED_SMOOTH_COEF * uint_to_float(tmp, V_MAX, V_MIN, 12) +
+    measure->speed_aps = RAD_2_ANGLE * SPEED_SMOOTH_COEF * uint_to_float(tmp, V_MIN, V_MAX, 12) +
                          (1 - SPEED_SMOOTH_COEF) * measure->speed_aps;
 
     tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
-    measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MAX, T_MIN, 12) +
+    measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MIN, T_MAX, 12) +
                             (1 - CURRENT_SMOOTH_COEF) * measure->real_current;
 }
 

modules/motor/motor_def.h

@@ -45,7 +45,7 @@ typedef enum
 /* 反馈来源设定,若设为OTHER_FEED则需要指定数据来源指针,详见Motor_Controller_s*/
 typedef enum
 {
-    MOTOR_FEED,
+    MOTOR_FEED=0,
     OTHER_FEED,
 } Feedback_Source_e;
 
@@ -94,11 +94,12 @@ typedef struct
 /* 电机类型枚举 */
 typedef enum
 {
-    GM6020 = 0,
-    M3508 = 1,
-    M2006 = 2,
-    LK9025 = 3,
-    HT04 = 4,
+    MOTOR_TYPE_NONE = 0,
+    GM6020,
+    M3508,
+    M2006,
+    LK9025,
+    HT04,
 } Motor_Type_e;
 
 /**