TuxMonkey/bf_original_balance_chassis
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chenfu
2023-12-03 18:41:36 +08:00
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application/chassis/chassis.md
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# chassis
@Todo 使用条件编译，选择麦轮(全向轮),舵轮,平衡底盘
## 工作流程
首先进行初始化，`ChasissInit()`会被`RobotInit()`调用，进行裁判系统、底盘电机的初始化。如果为双板模式，则还会初始化IMU，并且将消息订阅者和发布者的初始化改为`CANComm`的初始化。