├── Code └── SCARA运动学 │ ├── CORE │ ├── core_cm4.h │ ├── core_cm4_simd.h │ ├── core_cmFunc.h │ ├── core_cmInstr.h │ └── startup_stm32f40_41xxx.s │ ├── FWLIB │ ├── inc │ │ ├── misc.h │ │ ├── stm32f4xx_adc.h │ │ ├── stm32f4xx_can.h │ │ ├── stm32f4xx_crc.h │ │ ├── stm32f4xx_cryp.h │ │ ├── stm32f4xx_dac.h │ │ ├── stm32f4xx_dbgmcu.h │ │ ├── stm32f4xx_dcmi.h │ │ ├── stm32f4xx_dma.h │ │ ├── stm32f4xx_dma2d.h │ │ ├── stm32f4xx_exti.h │ │ ├── stm32f4xx_flash.h │ │ ├── stm32f4xx_flash_ramfunc.h │ │ ├── stm32f4xx_fmc.h │ │ ├── stm32f4xx_fsmc.h │ │ ├── stm32f4xx_gpio.h │ │ ├── stm32f4xx_hash.h │ │ ├── stm32f4xx_i2c.h │ │ ├── stm32f4xx_iwdg.h │ │ ├── stm32f4xx_ltdc.h │ │ ├── stm32f4xx_pwr.h │ │ ├── stm32f4xx_rcc.h │ │ ├── stm32f4xx_rng.h │ │ ├── stm32f4xx_rtc.h │ │ ├── stm32f4xx_sai.h │ │ ├── stm32f4xx_sdio.h │ │ ├── stm32f4xx_spi.h │ │ ├── stm32f4xx_syscfg.h │ │ ├── stm32f4xx_tim.h │ │ ├── stm32f4xx_usart.h │ │ └── stm32f4xx_wwdg.h │ └── src │ │ ├── misc.c │ │ ├── stm32f4xx_adc.c │ │ ├── stm32f4xx_can.c │ │ ├── stm32f4xx_crc.c │ │ ├── stm32f4xx_cryp.c │ │ ├── stm32f4xx_cryp_aes.c │ │ ├── stm32f4xx_cryp_des.c │ │ ├── stm32f4xx_cryp_tdes.c │ │ ├── stm32f4xx_dac.c │ │ ├── stm32f4xx_dbgmcu.c │ │ ├── stm32f4xx_dcmi.c │ │ ├── stm32f4xx_dma.c │ │ ├── stm32f4xx_dma2d.c │ │ ├── stm32f4xx_exti.c │ │ ├── stm32f4xx_flash.c │ │ ├── stm32f4xx_flash_ramfunc.c │ │ ├── stm32f4xx_fmc.c │ │ ├── stm32f4xx_fsmc.c │ │ ├── stm32f4xx_gpio.c │ │ ├── stm32f4xx_hash.c │ │ ├── stm32f4xx_hash_md5.c │ │ ├── stm32f4xx_hash_sha1.c │ │ ├── stm32f4xx_i2c.c │ │ ├── stm32f4xx_iwdg.c │ │ ├── stm32f4xx_ltdc.c │ │ ├── stm32f4xx_pwr.c │ │ ├── stm32f4xx_rcc.c │ │ ├── stm32f4xx_rng.c │ │ ├── stm32f4xx_rtc.c │ │ ├── stm32f4xx_sai.c │ │ ├── stm32f4xx_sdio.c │ │ ├── stm32f4xx_spi.c │ │ ├── stm32f4xx_syscfg.c │ │ ├── stm32f4xx_tim.c │ │ ├── stm32f4xx_usart.c │ │ └── stm32f4xx_wwdg.c │ ├── HARDWARE │ ├── BALANCE │ │ ├── balance.c │ │ └── balance.h │ ├── KEY │ │ ├── key.c │ │ └── key.h │ ├── LED │ │ ├── led.c │ │ └── led.h │ ├── MOTOR │ │ ├── MOTOR.c │ │ └── MOTOR.h │ ├── OPENMV │ │ ├── openmv.c │ │ └── openmv.h │ ├── PWM │ │ ├── pwm.c │ │ └── pwm.h │ ├── SCARA │ │ ├── SCARA.c │ │ └── SCARA.h │ └── XBOX │ │ ├── xbox.c │ │ └── xbox.h │ ├── OBJ │ ├── ExtDll.iex │ ├── Template.axf │ ├── Template.build_log.htm │ ├── Template.hex │ ├── Template.htm │ ├── Template.lnp │ ├── Template.map │ ├── Template.sct │ ├── Template_Template.dep │ ├── Template_sct.Bak │ ├── balance.crf │ ├── balance.d │ ├── balance.o │ ├── delay.crf │ ├── delay.d │ ├── delay.o │ ├── key.crf │ ├── key.d │ ├── key.o │ ├── led.crf │ ├── led.d │ ├── led.o │ ├── main.crf │ ├── main.d │ ├── main.o │ ├── misc.crf │ ├── misc.d │ ├── misc.o │ ├── motor.crf │ ├── motor.d │ ├── motor.o │ ├── openmv.crf │ ├── openmv.d │ ├── openmv.o │ ├── pwm.crf │ ├── pwm.d │ ├── pwm.o │ ├── scara.crf │ ├── scara.d │ ├── scara.o │ ├── startup_stm32f40_41xxx.d │ ├── startup_stm32f40_41xxx.lst │ ├── startup_stm32f40_41xxx.o │ ├── stm32f4xx_adc.crf │ ├── stm32f4xx_adc.d │ ├── stm32f4xx_adc.o │ ├── stm32f4xx_can.crf │ ├── stm32f4xx_can.d │ ├── stm32f4xx_can.o │ ├── stm32f4xx_crc.crf │ ├── stm32f4xx_crc.d │ ├── stm32f4xx_crc.o │ ├── stm32f4xx_cryp.crf │ ├── stm32f4xx_cryp.d │ ├── stm32f4xx_cryp.o │ ├── stm32f4xx_cryp_aes.crf │ ├── stm32f4xx_cryp_aes.d │ ├── stm32f4xx_cryp_aes.o │ ├── stm32f4xx_cryp_des.crf │ ├── stm32f4xx_cryp_des.d │ ├── stm32f4xx_cryp_des.o │ ├── stm32f4xx_cryp_tdes.crf │ ├── stm32f4xx_cryp_tdes.d │ ├── stm32f4xx_cryp_tdes.o │ ├── stm32f4xx_dac.crf │ ├── stm32f4xx_dac.d │ ├── stm32f4xx_dac.o │ ├── stm32f4xx_dbgmcu.crf │ ├── stm32f4xx_dbgmcu.d │ ├── stm32f4xx_dbgmcu.o │ ├── stm32f4xx_dcmi.crf │ ├── stm32f4xx_dcmi.d │ ├── stm32f4xx_dcmi.o │ ├── stm32f4xx_dma.crf │ ├── stm32f4xx_dma.d │ ├── stm32f4xx_dma.o │ ├── stm32f4xx_dma2d.crf │ ├── stm32f4xx_dma2d.d │ ├── stm32f4xx_dma2d.o │ ├── stm32f4xx_exti.crf │ ├── stm32f4xx_exti.d │ ├── stm32f4xx_exti.o │ ├── stm32f4xx_flash.crf │ ├── stm32f4xx_flash.d │ ├── stm32f4xx_flash.o │ ├── stm32f4xx_flash_ramfunc.crf │ ├── stm32f4xx_flash_ramfunc.d │ ├── stm32f4xx_flash_ramfunc.o │ ├── stm32f4xx_fsmc.crf │ ├── stm32f4xx_fsmc.d │ ├── stm32f4xx_fsmc.o │ ├── stm32f4xx_gpio.crf │ ├── stm32f4xx_gpio.d │ ├── stm32f4xx_gpio.o │ ├── stm32f4xx_hash.crf │ ├── stm32f4xx_hash.d │ ├── stm32f4xx_hash.o │ ├── stm32f4xx_hash_md5.crf │ ├── stm32f4xx_hash_md5.d │ ├── stm32f4xx_hash_md5.o │ ├── stm32f4xx_hash_sha1.crf │ ├── stm32f4xx_hash_sha1.d │ ├── stm32f4xx_hash_sha1.o │ ├── stm32f4xx_i2c.crf │ ├── stm32f4xx_i2c.d │ ├── stm32f4xx_i2c.o │ ├── stm32f4xx_it.crf │ ├── stm32f4xx_it.d │ ├── stm32f4xx_it.o │ ├── stm32f4xx_iwdg.crf │ ├── stm32f4xx_iwdg.d │ ├── stm32f4xx_iwdg.o │ ├── stm32f4xx_ltdc.crf │ ├── stm32f4xx_ltdc.d │ ├── stm32f4xx_ltdc.o │ ├── stm32f4xx_pwr.crf │ ├── stm32f4xx_pwr.d │ ├── stm32f4xx_pwr.o │ ├── stm32f4xx_rcc.crf │ ├── stm32f4xx_rcc.d │ ├── stm32f4xx_rcc.o │ ├── stm32f4xx_rng.crf │ ├── stm32f4xx_rng.d │ ├── stm32f4xx_rng.o │ ├── stm32f4xx_rtc.crf │ ├── stm32f4xx_rtc.d │ ├── stm32f4xx_rtc.o │ ├── stm32f4xx_sai.crf │ ├── stm32f4xx_sai.d │ ├── stm32f4xx_sai.o │ ├── stm32f4xx_sdio.crf │ ├── stm32f4xx_sdio.d │ ├── stm32f4xx_sdio.o │ ├── stm32f4xx_spi.crf │ ├── stm32f4xx_spi.d │ ├── stm32f4xx_spi.o │ ├── stm32f4xx_syscfg.crf │ ├── stm32f4xx_syscfg.d │ ├── stm32f4xx_syscfg.o │ ├── stm32f4xx_tim.crf │ ├── stm32f4xx_tim.d │ ├── stm32f4xx_tim.o │ ├── stm32f4xx_usart.crf │ ├── stm32f4xx_usart.d │ ├── stm32f4xx_usart.o │ ├── stm32f4xx_wwdg.crf │ ├── stm32f4xx_wwdg.d │ ├── stm32f4xx_wwdg.o │ ├── sys.crf │ ├── sys.d │ ├── sys.o │ ├── system_stm32f4xx.crf │ ├── system_stm32f4xx.d │ ├── system_stm32f4xx.o │ ├── usart.crf │ ├── usart.d │ ├── usart.o │ ├── xbox.crf │ ├── xbox.d │ └── xbox.o │ ├── README │ └── README.txt │ ├── SYSTEM │ ├── delay │ │ ├── delay.c │ │ └── delay.h │ ├── sys │ │ ├── sys.c │ │ └── sys.h │ └── usart │ │ ├── usart.c │ │ └── usart.h │ ├── USER │ ├── EventRecorderStub.scvd │ ├── JLinkSettings.ini │ ├── Template.uvguix.86178 │ ├── Template.uvguix.Lenovo │ ├── Template.uvguix.ManGoChen │ ├── Template.uvoptx │ ├── Template.uvprojx │ ├── main.c │ ├── stm32f4xx.h │ ├── stm32f4xx.h~RF1311837b.TMP │ ├── stm32f4xx_conf.h │ ├── stm32f4xx_it.c │ ├── stm32f4xx_it.h │ ├── system_stm32f4xx.c │ └── system_stm32f4xx.h │ ├── keilkilll.bat │ └── readme.txt ├── Docs ├── Motor_Driver.png ├── SCARA.png ├── SCARA_Model.png ├── bearing.png ├── harmonic.jpg └── 杆件.jpg ├── LICENSE ├── MATLAB_simulation ├── CSDN │ ├── matlab GUI中移动点的位置，放缩图像，移动图像位置（调试曲线）.zip │ ├── matlab GUI中移动点的位置，放缩图像，移动图像位置（调试曲线） │ │ ├── movePoints.fig │ │ ├── movePoints.m │ │ ├── newX.txt │ │ ├── newY.txt │ │ ├── xData.txt │ │ ├── yData.txt │ │ └── 说明.txt │ ├── test.fig │ └── test.m ├── forward.m ├── forwardF.m ├── gui.fig ├── gui.m ├── inverse.m ├── inverseF.m ├── scara.m ├── shubiao.m ├── test02.m ├── test5.m ├── untitled6.fig ├── untitled6.m ├── untitled7.fig └── untitled7.m ├── README.md └── Solidworks_Model ├── SCARA.SLDASM ├── 减速器 ├── LCSG-17-XXX-C-I.SLDASM └── 谐波减速.SLDASM ├── 打印件 ├── 中间关节_上.SLDPRT ├── 中间关节_下.SLDPRT ├── 中间关节_下_长.SLDPRT ├── 减速器固定法兰1.SLDPRT ├── 减速器固定法兰2.SLDPRT ├── 减速器连接关节.SLDPRT ├── 末端关节_上.SLDPRT ├── 末端关节_下.SLDPRT └── 电机距离250mm确认.SLDPRT ├── 机械臂固定底座 ├── 横350mm.SLDPRT ├── 竖120mm.SLDPRT └── 竖150mm.SLDPRT ├── 电机_支架 ├── 电机支架1.SLDPRT ├── 电机支架2.SLDPRT ├── 闭环步进电机1.SLDPRT └── 闭环步进电机2.SLDPRT ├── 碳纤维管 ├── 碳管_185mm.SLDPRT ├── 碳管_255mm.SLDPRT └── 碳管_270mm.SLDPRT ├── 螺丝_螺母_垫片_铜柱 ├── M3X12_锁紧碳管.SLDPRT ├── M3X14_固定轴承_中间关节.SLDPRT ├── M3六角螺母.SLDPRT ├── M4×25_固定减速器_减速器法兰_电机距离确定打印件.SLDPRT ├── M4六角螺母.SLDPRT ├── M5×14_固定电机底座_机械臂底座.SLDPRT ├── M5×25_固定关节_减速器.SLDPRT ├── M5×25_固定电机_电机底座_减速器法兰.SLDPRT ├── M5六角螺母.SLDPRT ├── M5轴肩螺丝.SLDPRT ├── M5铜柱18mm.SLDPRT ├── M5铜柱50mm.SLDPRT ├── M5锁紧螺母.SLDPRT └── 垫片.SLDPRT ├── 轴加工_键槽销 ├── 电机轴加粗.SLDPRT └── 键槽销.SLDPRT └── 轴承 └── 轴承.SLDPRT /Code/SCARA运动学/CORE/core_cm4.h: -------------------------------------------------------------------------------- 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