feat: 集成循迹与超声波驱动并优化控制任务节拍

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- 新增 HC-SR04 驱动与测距接口（bsp_sr04）

- 增加循迹状态读取与输出，完善任务内日志

- 调整 CarCtrl 闭环更新周期，匹配霍尔测速周期，降低抖动

- 同步更新 CubeMX/CMake 生成配置与相关引脚定义

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wangbeihong

2026-04-14 21:59:49 +08:00

parent 91151c250a

commit 65478d9f02

15 changed files with 267 additions and 279 deletions

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