├── .gitattributes ├── LICENSE ├── README.md ├── firmware ├── .cproject ├── .mxproject ├── .project ├── .settings │ ├── language.settings.xml │ ├── org.eclipse.core.resources.prefs │ └── stm32cubeide.project.prefs ├── Core │ ├── Inc │ │ ├── Emm_can.h │ │ ├── FK.h │ │ ├── FreeRTOSConfig.h │ │ ├── IK.h │ │ ├── alto_config.h │ │ ├── command.h │ │ ├── error.h │ │ ├── main.h │ │ ├── matmul.h │ │ ├── robot_behavior.h │ │ ├── stm32f4xx_hal_conf.h │ │ ├── stm32f4xx_it.h │ │ └── transform.h │ ├── Src │ │ ├── Emm_can.c │ │ ├── FK.c │ │ ├── IK.c │ │ ├── alto_config.c │ │ ├── command.c │ │ ├── error.c │ │ ├── freertos.c │ │ ├── main.c │ │ ├── matmul.c │ │ ├── robot_behavior.c │ │ ├── stm32f4xx_hal_msp.c │ │ ├── stm32f4xx_hal_timebase_tim.c │ │ ├── stm32f4xx_it.c │ │ ├── syscalls.c │ │ ├── sysmem.c │ │ ├── system_stm32f4xx.c │ │ └── transform.c │ └── Startup │ │ └── startup_stm32f407vgtx.s ├── Debug │ ├── Core │ │ ├── Src │ │ │ ├── Emm_can.cyclo │ │ │ ├── Emm_can.d │ │ │ ├── Emm_can.o │ │ │ ├── Emm_can.su │ │ │ ├── FK.cyclo │ │ │ ├── FK.d │ │ │ ├── FK.o │ │ │ ├── FK.su │ │ │ ├── IK.cyclo │ │ │ ├── IK.d │ │ │ ├── IK.o │ │ │ ├── IK.su │ │ │ ├── alto_config.cyclo │ │ │ ├── alto_config.d │ │ │ ├── alto_config.o │ │ │ ├── alto_config.su │ │ │ ├── command.cyclo │ │ │ ├── command.d │ │ │ ├── command.o │ │ │ ├── command.su │ │ │ ├── error.cyclo │ │ │ ├── error.d │ │ │ ├── error.o │ │ │ ├── error.su │ │ │ ├── freertos.cyclo │ │ │ ├── freertos.d │ │ │ ├── freertos.o │ │ │ ├── freertos.su │ │ │ ├── main.cyclo │ │ │ ├── main.d │ │ │ ├── main.o │ │ │ ├── main.su │ │ │ ├── matmul.cyclo │ │ │ ├── matmul.d │ │ │ ├── matmul.o │ │ │ ├── matmul.su │ │ │ ├── robot_behavior.cyclo │ │ │ ├── robot_behavior.d │ │ │ ├── robot_behavior.o │ │ │ ├── robot_behavior.su │ │ │ ├── stm32f4xx_hal_msp.cyclo │ │ │ ├── stm32f4xx_hal_msp.d │ │ │ ├── stm32f4xx_hal_msp.o │ │ │ ├── stm32f4xx_hal_msp.su │ │ │ ├── stm32f4xx_hal_timebase_tim.cyclo │ │ │ ├── stm32f4xx_hal_timebase_tim.d │ │ │ ├── stm32f4xx_hal_timebase_tim.o │ │ │ ├── stm32f4xx_hal_timebase_tim.su │ │ │ ├── stm32f4xx_it.cyclo │ │ │ ├── stm32f4xx_it.d │ │ │ ├── stm32f4xx_it.o │ │ │ ├── stm32f4xx_it.su │ │ │ ├── subdir.mk │ │ │ ├── syscalls.cyclo │ │ │ ├── syscalls.d │ │ │ ├── syscalls.o │ │ │ ├── syscalls.su │ │ │ ├── sysmem.cyclo │ │ │ ├── sysmem.d │ │ │ ├── sysmem.o │ │ │ ├── sysmem.su │ │ │ ├── system_stm32f4xx.cyclo │ │ │ ├── system_stm32f4xx.d │ │ │ ├── system_stm32f4xx.o │ │ │ ├── system_stm32f4xx.su │ │ │ ├── transform.cyclo │ │ │ ├── transform.d │ │ │ ├── transform.o │ │ │ └── transform.su │ │ └── Startup │ │ │ ├── startup_stm32f407vgtx.d │ │ │ ├── startup_stm32f407vgtx.o │ │ │ └── subdir.mk │ ├── Drivers │ │ └── STM32F4xx_HAL_Driver │ │ │ └── Src │ │ │ ├── stm32f4xx_hal.cyclo │ │ │ ├── stm32f4xx_hal.d │ │ │ ├── stm32f4xx_hal.o │ │ │ ├── stm32f4xx_hal.su │ │ │ ├── stm32f4xx_hal_can.cyclo │ │ │ ├── stm32f4xx_hal_can.d │ │ │ ├── stm32f4xx_hal_can.o │ │ │ ├── stm32f4xx_hal_can.su │ │ │ ├── stm32f4xx_hal_cortex.cyclo │ │ │ ├── stm32f4xx_hal_cortex.d │ │ │ ├── stm32f4xx_hal_cortex.o │ │ │ ├── stm32f4xx_hal_cortex.su │ │ │ ├── stm32f4xx_hal_dma.cyclo │ │ │ ├── stm32f4xx_hal_dma.d │ │ │ ├── stm32f4xx_hal_dma.o │ │ │ ├── stm32f4xx_hal_dma.su │ │ │ ├── stm32f4xx_hal_dma_ex.cyclo │ │ │ ├── stm32f4xx_hal_dma_ex.d │ │ │ ├── stm32f4xx_hal_dma_ex.o │ │ │ ├── stm32f4xx_hal_dma_ex.su │ │ │ ├── stm32f4xx_hal_exti.cyclo │ │ │ ├── stm32f4xx_hal_exti.d │ │ │ ├── stm32f4xx_hal_exti.o │ │ │ ├── stm32f4xx_hal_exti.su │ │ │ ├── stm32f4xx_hal_flash.cyclo │ │ │ ├── stm32f4xx_hal_flash.d │ │ │ ├── stm32f4xx_hal_flash.o │ │ │ ├── stm32f4xx_hal_flash.su │ │ │ ├── stm32f4xx_hal_flash_ex.cyclo │ │ │ ├── stm32f4xx_hal_flash_ex.d │ │ │ ├── stm32f4xx_hal_flash_ex.o │ │ │ ├── stm32f4xx_hal_flash_ex.su │ │ │ ├── stm32f4xx_hal_flash_ramfunc.cyclo │ │ │ ├── stm32f4xx_hal_flash_ramfunc.d │ │ │ ├── stm32f4xx_hal_flash_ramfunc.o │ │ │ ├── stm32f4xx_hal_flash_ramfunc.su │ │ │ ├── stm32f4xx_hal_gpio.cyclo │ │ │ ├── stm32f4xx_hal_gpio.d │ │ │ ├── stm32f4xx_hal_gpio.o │ │ │ ├── stm32f4xx_hal_gpio.su │ │ │ ├── stm32f4xx_hal_pcd.cyclo │ │ │ ├── stm32f4xx_hal_pcd.d │ │ │ ├── stm32f4xx_hal_pcd.o │ │ │ ├── stm32f4xx_hal_pcd.su │ │ │ ├── stm32f4xx_hal_pcd_ex.cyclo │ │ │ ├── stm32f4xx_hal_pcd_ex.d │ │ │ ├── stm32f4xx_hal_pcd_ex.o │ │ │ ├── stm32f4xx_hal_pcd_ex.su │ │ │ ├── stm32f4xx_hal_pwr.cyclo │ │ │ ├── stm32f4xx_hal_pwr.d │ │ │ ├── stm32f4xx_hal_pwr.o │ │ │ ├── stm32f4xx_hal_pwr.su │ │ │ ├── stm32f4xx_hal_pwr_ex.cyclo │ │ │ ├── stm32f4xx_hal_pwr_ex.d │ │ │ ├── stm32f4xx_hal_pwr_ex.o │ │ │ ├── stm32f4xx_hal_pwr_ex.su │ │ │ ├── stm32f4xx_hal_rcc.cyclo │ │ │ ├── stm32f4xx_hal_rcc.d │ │ │ ├── stm32f4xx_hal_rcc.o │ │ │ ├── stm32f4xx_hal_rcc.su │ │ │ ├── stm32f4xx_hal_rcc_ex.cyclo │ │ │ ├── stm32f4xx_hal_rcc_ex.d │ │ │ ├── stm32f4xx_hal_rcc_ex.o │ │ │ ├── stm32f4xx_hal_rcc_ex.su │ │ │ ├── stm32f4xx_hal_tim.cyclo │ │ │ ├── stm32f4xx_hal_tim.d │ │ │ ├── stm32f4xx_hal_tim.o │ │ │ ├── stm32f4xx_hal_tim.su │ │ │ ├── stm32f4xx_hal_tim_ex.cyclo │ │ │ ├── stm32f4xx_hal_tim_ex.d │ │ │ ├── stm32f4xx_hal_tim_ex.o │ │ │ ├── stm32f4xx_hal_tim_ex.su │ │ │ ├── stm32f4xx_ll_usb.cyclo │ │ │ ├── stm32f4xx_ll_usb.d │ │ │ ├── stm32f4xx_ll_usb.o │ │ │ ├── stm32f4xx_ll_usb.su │ │ │ └── subdir.mk │ ├── Middlewares │ │ ├── ST │ │ │ └── STM32_USB_Device_Library │ │ │ │ ├── Class │ │ │ │ └── CDC │ │ │ │ │ └── Src │ │ │ │ │ ├── subdir.mk │ │ │ │ │ ├── usbd_cdc.cyclo │ │ │ │ │ ├── usbd_cdc.d │ │ │ │ │ ├── usbd_cdc.o │ │ │ │ │ └── usbd_cdc.su │ │ │ │ └── Core │ │ │ │ └── Src │ │ │ │ ├── subdir.mk │ │ │ │ ├── usbd_core.cyclo │ │ │ │ ├── usbd_core.d │ │ │ │ ├── usbd_core.o │ │ │ │ ├── usbd_core.su │ │ │ │ ├── usbd_ctlreq.cyclo │ │ │ │ ├── usbd_ctlreq.d │ │ │ │ ├── usbd_ctlreq.o │ │ │ │ ├── usbd_ctlreq.su │ │ │ │ ├── usbd_ioreq.cyclo │ │ │ │ ├── usbd_ioreq.d │ │ │ │ ├── usbd_ioreq.o │ │ │ │ └── usbd_ioreq.su │ │ └── Third_Party │ │ │ └── FreeRTOS │ │ │ └── Source │ │ │ ├── CMSIS_RTOS │ │ │ ├── cmsis_os.cyclo │ │ │ ├── cmsis_os.d │ │ │ ├── cmsis_os.o │ │ │ ├── cmsis_os.su │ │ │ └── subdir.mk │ │ │ ├── croutine.cyclo │ │ │ ├── croutine.d │ │ │ ├── croutine.o │ │ │ ├── croutine.su │ │ │ ├── event_groups.cyclo │ │ │ ├── event_groups.d │ │ │ ├── event_groups.o │ │ │ ├── event_groups.su │ │ │ ├── list.cyclo │ │ │ ├── list.d │ │ │ ├── list.o │ │ │ ├── list.su │ │ │ ├── portable │ │ │ ├── GCC │ │ │ │ └── ARM_CM4F │ │ │ │ │ ├── port.cyclo │ │ │ │ │ ├── port.d │ │ │ │ │ ├── port.o │ │ │ │ │ ├── port.su │ │ │ │ │ └── subdir.mk │ │ │ └── MemMang │ │ │ │ ├── heap_4.cyclo │ │ │ │ ├── heap_4.d │ │ │ │ ├── heap_4.o │ │ │ │ ├── heap_4.su │ │ │ │ └── subdir.mk │ │ │ ├── queue.cyclo │ │ │ ├── queue.d │ │ │ ├── queue.o │ │ │ ├── queue.su │ │ │ ├── stream_buffer.cyclo │ │ │ ├── stream_buffer.d │ │ │ ├── stream_buffer.o │ │ │ ├── stream_buffer.su │ │ │ ├── subdir.mk │ │ │ ├── tasks.cyclo │ │ │ ├── tasks.d │ │ │ ├── tasks.o │ │ │ ├── tasks.su │ │ │ ├── timers.cyclo │ │ │ ├── timers.d │ │ │ ├── timers.o │ │ │ └── timers.su │ ├── USB_DEVICE │ │ ├── App │ │ │ ├── subdir.mk │ │ │ ├── usb_device.cyclo │ │ │ ├── usb_device.d │ │ │ ├── usb_device.o │ │ │ ├── usb_device.su │ │ │ ├── usbd_cdc_if.cyclo │ │ │ ├── usbd_cdc_if.d │ │ │ ├── usbd_cdc_if.o │ │ │ ├── usbd_cdc_if.su │ │ │ ├── usbd_desc.cyclo │ │ │ ├── usbd_desc.d │ │ │ ├── usbd_desc.o │ │ │ └── usbd_desc.su │ │ └── Target │ │ │ ├── subdir.mk │ │ │ ├── usbd_conf.cyclo │ │ │ ├── usbd_conf.d │ │ │ ├── usbd_conf.o │ │ │ └── usbd_conf.su │ ├── alto_can.elf │ ├── alto_can.list │ ├── alto_can.map │ ├── makefile │ ├── objects.list │ ├── objects.mk │ └── sources.mk ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ ├── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ │ │ └── LICENSE.txt │ │ ├── Include │ │ │ ├── cachel1_armv7.h │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_armclang_ltm.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv81mml.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm35p.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm55.h │ │ │ ├── core_cm7.h │ │ │ ├── core_cm85.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── core_starmc1.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ ├── pac_armv81.h │ │ │ ├── pmu_armv8.h │ │ │ └── tz_context.h │ │ └── LICENSE.txt │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_can.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pcd.h │ │ ├── stm32f4xx_hal_pcd_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ ├── stm32f4xx_ll_bus.h │ │ ├── stm32f4xx_ll_cortex.h │ │ ├── stm32f4xx_ll_dma.h │ │ ├── stm32f4xx_ll_exti.h │ │ ├── stm32f4xx_ll_gpio.h │ │ ├── stm32f4xx_ll_pwr.h │ │ ├── stm32f4xx_ll_rcc.h │ │ ├── stm32f4xx_ll_system.h │ │ ├── stm32f4xx_ll_usb.h │ │ └── stm32f4xx_ll_utils.h │ │ ├── LICENSE.txt │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_can.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pcd.c │ │ ├── stm32f4xx_hal_pcd_ex.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ └── stm32f4xx_ll_usb.c ├── Middlewares │ ├── ST │ │ └── STM32_USB_Device_Library │ │ │ ├── Class │ │ │ └── CDC │ │ │ │ ├── Inc │ │ │ │ └── usbd_cdc.h │ │ │ │ └── Src │ │ │ │ └── usbd_cdc.c │ │ │ ├── Core │ │ │ ├── Inc │ │ │ │ ├── usbd_core.h │ │ │ │ ├── usbd_ctlreq.h │ │ │ │ ├── usbd_def.h │ │ │ │ └── usbd_ioreq.h │ │ │ └── Src │ │ │ │ ├── usbd_core.c │ │ │ │ ├── usbd_ctlreq.c │ │ │ │ └── usbd_ioreq.c │ │ │ └── LICENSE.txt │ └── Third_Party │ │ └── FreeRTOS │ │ └── Source │ │ ├── CMSIS_RTOS │ │ ├── cmsis_os.c │ │ └── cmsis_os.h │ │ ├── LICENSE │ │ ├── croutine.c │ │ ├── event_groups.c │ │ ├── include │ │ ├── FreeRTOS.h │ │ ├── StackMacros.h │ │ ├── atomic.h │ │ ├── croutine.h │ │ ├── deprecated_definitions.h │ │ ├── event_groups.h │ │ ├── list.h │ │ ├── message_buffer.h │ │ ├── mpu_prototypes.h │ │ ├── mpu_wrappers.h │ │ ├── portable.h │ │ ├── projdefs.h │ │ ├── queue.h │ │ ├── semphr.h │ │ ├── stack_macros.h │ │ ├── stream_buffer.h │ │ ├── task.h │ │ └── timers.h │ │ ├── list.c │ │ ├── portable │ │ ├── GCC │ │ │ └── ARM_CM4F │ │ │ │ ├── port.c │ │ │ │ └── portmacro.h │ │ └── MemMang │ │ │ └── heap_4.c │ │ ├── queue.c │ │ ├── stream_buffer.c │ │ ├── tasks.c │ │ └── timers.c ├── STM32F407VGTX_FLASH.ld ├── STM32F407VGTX_RAM.ld ├── USB_DEVICE │ ├── App │ │ ├── usb_device.c │ │ ├── usb_device.h │ │ ├── usbd_cdc_if.c │ │ ├── usbd_cdc_if.h │ │ ├── usbd_desc.c │ │ └── usbd_desc.h │ └── Target │ │ ├── usbd_conf.c │ │ └── usbd_conf.h ├── alto_can Debug (1).launch ├── alto_can Debug.launch └── alto_can.ioc ├── hardware ├── alto_bom.xlsx ├── alto_t_3 v108.f3z ├── alto_t_3 v108.step ├── control box v13.f3z └── control box v13.step ├── image ├── 3D_view.png ├── controller.png ├── controller_preview.jpg ├── controller_preview_open.jpg ├── preview1.jpg ├── preview2.jpg └── side_view.png └── software ├── FK_test.py ├── IK_test.py ├── alto.py ├── alto_command.xlsx ├── alto_keyboard_jog.py ├── 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