feat: 修正红外循迹方向符号，解决循迹偏差越修越偏问题

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- 反转了循迹P控制输出的角速度修正方向，保证检测到黑线时车辆向正确方向修正
- 同步修正丢线回找时的转向方向
- 相关代码在 track_ir_algo.c
- 编译通过，功能已现场验证

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wangbeihong

2026-04-16 00:44:01 +08:00

parent e5b2ad20a3

commit a5f8e8149a

8 changed files with 242 additions and 54 deletions

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