Merge branch 'master' into referee

application/robot.c

@@ -10,7 +10,6 @@
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
 #include "chassis.h"
-#include "referee.h"
 #endif
 
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
@@ -19,6 +18,11 @@
 #include "robot_cmd.h"
 #endif
 
+#ifdef BALANCE_BAORD
+#include "balance.h"
+#endif // BALANCE_BOARD
+
+
 void RobotInit()
 {  
     // 关闭中断,防止在初始化过程中发生中断
@@ -35,9 +39,13 @@ void RobotInit()
 #endif
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-
-    // ChassisInit();
+    ChassisInit();
 #endif
+
+#ifdef BALANCE_BAORD
+    BalanceInit();
+#endif // BALANCE_BA
+
     // 初始化完成,开启中断
     __enable_irq();
     Referee_Interactive_init();
@@ -52,7 +60,10 @@ void RobotTask()
 #endif
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-    // ChassisTask();
-    // Referee_Interactive_task();
+    ChassisTask();
 #endif
+
+#ifdef BALANCE_BAORD
+    BalanceTask();
+#endif // BALANCE_BA
 }