TuxMonkey/bf_original_balance_chassis
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为每个应用设定了框架

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This commit is contained in:
NeoZng
2022-12-02 22:17:10 +08:00
parent f579796383
commit 648de9f370
17 changed files with 294 additions and 530 deletions
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22
application/chassis/chassis.c
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@@ -1,5 +1,25 @@
#include "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"
IMU_Data_t* Chassis_IMU_data;
#endif // CHASSIS_BOARD
// SuperCAP cap;
static dji_motor_instance* lf; //left right forward back
static dji_motor_instance* rf;
static dji_motor_instance* lb;
static dji_motor_instance* rb;
static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
static Chassis_Upload_Data_s chassis_feedback_data;
static void mecanum_calculate()
{
}
@@ -8,7 +28,7 @@ void ChassisInit()
}
void ChassisTask()
void ChassisTask()
{
}

21
application/chassis/chassis.h
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@@ -1,27 +1,6 @@
#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();