确定双板/单板兼容的整体框架

application/cmd/chassis_cmd.h

@@ -0,0 +1,25 @@
+#ifndef _CHASSIS_BOARD_CMD_H_
+#define _CHASSIS_BOARD_CMD_H_
+#include <buzzer.h>
+#include <can_recv.h>
+#include <can_send.h>
+#include <robot_def.h>
+#include <stdint.h>
+class chassis_board_cmd {
+   private:
+    Robot_mode robot_mode;                //机器人状态
+    cmd_chassis chassis_control;          //发送给底盘的控制量
+    upload_chassis* chassis_upload_data;  //底盘模块回传数据
+    chassis_board_send board_send;        //发送给云台主控的数据
+    can_send<chassis_board_send> sender;  //板间通信发送
+    can_recv<gimbal_board_send> recver;   //板间通信接收
+    gimbal_board_send* board_recv;        //板间通信接收数据指针
+    void* referee;                        //裁判系统（尚未完成）
+    buzzer board_buzzer;                  //蜂鸣器
+    uint8_t robot_ready;                  //底盘板是否准备好
+   public:
+    chassis_board_cmd();
+    void update();
+};
+
+#endif