controlturn是使用RS485驱动电机的; serialPort是读取GPS信息的,主要包括坐标和航向角度; controldis是自己写的纯跟踪算法，有基于GPS和视觉的； readCAN是通过CAN进行读写操作的；
这些代码可能写的比较乱，但应该也没啥人看得到。。。。。。。。。。。
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