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作者姓名：谢世轩
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最终版，全国赛上场版本
硬件资源：
底盘电机和云台用CAN1
拨盘电机用CAN2
摩擦轮电机用PA6,PA7
弹仓舵机用的是PE11 TIM1
裁判系统用UART5
视觉用UART4
遥控用UART2
红外用PD9
电容: 控制充电电流PA4 读取电容电压PA0 放电PA5 充电PA2
调试LED用PC10 PC11 PC13 PC14
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littzhi/Infantry_X
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