该代码为2016年RoboMaster比赛中步兵机器人的开源代码的后半部分，对之后的步兵机器人控制代码的编写具有借鉴意义。(The code is the second half of the open source code of infantry robot in the 2016 RoboMaster competition, and it has reference significance for the subsequent control of the infantry robot