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

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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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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();