修改了黑金源码的串口通讯问题，是AGV的通讯部分程序-Modify the source of black gold serial communication problem, communication is part of the program AGV

采用ALTERA FPGA，nios ii内核的AGV控制程序，里面包含了PID算法及相关AGV控制逻辑-Using ALTERA FPGA, nios ii kernel AGV control program, which includes a PID algorithm and control logic associated AGV