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README.md

@@ -1,3 +1,28 @@
+# 流程图
+
+```mermaid
+graph TB
+subgraph RBcore
+RBCORE_CMD_STOP_ALL
+end
+subgraph motor
+MOTOR_POWER_ENABLE
+MOTOR_POWER_DISABLE
+m0(电机断电)
+end
+subgraph custom
+CUSTOM_GET_MK32
+CUSTOM_GET_MOTOR_OK
+c0((电机初始化完毕))
+c1((按下急停))
+end
+a((Read_MK32))-->CUSTOM_GET_MK32-->MOTOR_POWER_ENABLE-->CUSTOM_GET_MOTOR_OK-->c0
+c1-->MOTOR_POWER_DISABLE-->m0
+c1-->RBCORE_CMD_STOP_ALL-->COMMON_CMD_STOP_ALL
+```
+
+
+
 # robot
 
 ## 关于开启打印与Lua终端的编译宏