修复电机反馈的bug,通信bug,ps2手柄支持,舵机的修复,cmdbug的修复

HAL_N_Middlewares/Src/freertos.c

@@ -30,7 +30,7 @@
 #include "led_task.h"
 #include "daemon.h"
 #include "robot.h"
-
+#include "ps_handle.h"
 
 /* USER CODE END Includes */
 
@@ -133,7 +133,7 @@ void MX_FREERTOS_Init(void) {
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
-
+ 
 }
 
 /* USER CODE BEGIN Header_StartDefaultTask */

HAL_N_Middlewares/Src/main.c

@@ -83,7 +83,7 @@ int main(void)
 	/* MCU Configuration--------------------------------------------------------*/
 
 	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-	HAL_Init();
+	   HAL_Init();
 
 	/* USER CODE BEGIN Init */
 

HAL_N_Middlewares/Src/usart.c

@@ -46,7 +46,7 @@ void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 115200;
+  huart1.Init.BaudRate = 921600;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;