确定双板/单板兼容的整体框架

application/chassis/chassis.c

@@ -0,0 +1,14 @@
+#include "chassis.h"
+
+
+
+
+void ChassisInit()
+{
+
+}
+
+void ChassisTask()
+{
+
+}

application/chassis/chassis.h

@@ -0,0 +1,29 @@
+#ifndef CHASSIS_H
+#define CHASSIS_H
+
+#include "robot_def.h"
+#include "dji_motor.h"
+#include "super_cap.h"
+
+#ifdef CHASSIS_BOARD //使用板载IMU获取底盘转动角速度
+#include "ins_task.h"
+#endif // CHASSIS_BOARD
+
+typedef struct 
+{
+#ifdef CHASSIS_BOARD
+    IMU_Data_t Chassis_IMU_data;
+#endif // CHASSIS_BOARD
+    // SuperCAP cap;
+    dji_motor_instance lf; //left right forward 
+    dji_motor_instance rf;
+    dji_motor_instance lb;
+    dji_motor_instance rb;
+    
+} chassis;
+
+void ChassisInit();
+
+void ChassisTask();
+
+#endif //CHASSIS_H