29 lines
544 B
C
29 lines
544 B
C
#ifndef CHASSIS_H
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#define CHASSIS_H
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#include "robot_def.h"
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#include "dji_motor.h"
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#include "super_cap.h"
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#ifdef CHASSIS_BOARD //使用板载IMU获取底盘转动角速度
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#include "ins_task.h"
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#endif // CHASSIS_BOARD
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typedef struct
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{
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#ifdef CHASSIS_BOARD
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IMU_Data_t Chassis_IMU_data;
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#endif // CHASSIS_BOARD
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// SuperCAP cap;
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dji_motor_instance lf; //left right forward
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dji_motor_instance rf;
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dji_motor_instance lb;
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dji_motor_instance rb;
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} chassis;
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void ChassisInit();
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void ChassisTask();
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#endif //CHASSIS_H
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