1
00:00:00,000 --> 00:00:03,000
先看初始化，采样和通信先准备好。

2
00:00:03,000 --> 00:00:06,000
然后按当前类型选择解算。

3
00:00:06,000 --> 00:00:09,000
直线模式走直线分支。

4
00:00:09,000 --> 00:00:12,000
角度模式走角度分支，每轮只选一条。

5
00:00:12,000 --> 00:00:15,000
再处理协议，继续下一轮。

6
00:00:15,000 --> 00:00:18,000
采样硬件持续工作，不会每轮重启。