25 lines
945 B
C++
25 lines
945 B
C++
#ifndef _CHASSIS_BOARD_CMD_H_
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#define _CHASSIS_BOARD_CMD_H_
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#include <buzzer.h>
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#include <can_recv.h>
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#include <can_send.h>
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#include <robot_def.h>
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#include <stdint.h>
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class chassis_board_cmd {
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private:
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Robot_mode robot_mode; //机器人状态
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cmd_chassis chassis_control; //发送给底盘的控制量
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upload_chassis* chassis_upload_data; //底盘模块回传数据
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chassis_board_send board_send; //发送给云台主控的数据
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can_send<chassis_board_send> sender; //板间通信发送
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can_recv<gimbal_board_send> recver; //板间通信接收
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gimbal_board_send* board_recv; //板间通信接收数据指针
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void* referee; //裁判系统（尚未完成）
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buzzer board_buzzer; //蜂鸣器
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uint8_t robot_ready; //底盘板是否准备好
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public:
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chassis_board_cmd();
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void update();
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};
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#endif |