mirror of
https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-24 03:27:45 +08:00
41 lines
1.5 KiB
C
41 lines
1.5 KiB
C
#include "robot_def.h"
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#include "chassis_cmd.h"
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#include "referee.h"
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#include "message_center.h"
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/* chassis_cmd应用包含的模块和信息存储 */
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static referee_info_t *referee_data; // 裁判系统的数据
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#ifndef ONE_BOARD
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#include "can_comm.h"
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static CANCommInstance *chasiss_can_comm; // 双板通信CAN comm
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#endif // !ONE_BOARD
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//和chassis应用的交互
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static Publisher_t* chassis_cmd_pub;
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static Chassis_Ctrl_Cmd_s chassis_cmd; // 发送给chassis应用的控制信息
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static Subscriber_t* chassis_feed_sub;
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static Chassis_Upload_Data_s chassis_fetch_data; // chassis反馈的数据
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//和gimbal_cmd的交互
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static Publisher_t* chassis2gimbal_pub;
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static Chassis2Gimbal_Data_s data_to_gimbal_cmd; // 发送给gimbal_cmd的数据,包括热量限制,底盘功率等
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static Subscriber_t* gimbal2chassis_sub;
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static Gimbal2Chassis_Data_s data_from_gimbal_cmd; // 来自gimbal_cmd的数据,主要是底盘控制量
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void ChassisCMDInit()
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{
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referee_data= RefereeInit(&huart6);
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chassis_cmd_pub=PubRegister("chassis_cmd",sizeof(Chassis_Ctrl_Cmd_s));
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chassis_feed_sub=SubRegister("chassis_feed",sizeof(Chassis_Upload_Data_s));
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chassis2gimbal_pub=PubRegister("chassis2gimbal",sizeof(Chassis2Gimbal_Data_s));
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gimbal2chassis_sub=SubRegister("gimbal2chassis",sizeof(Gimbal2Chassis_Data_s));
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}
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void ChassisCMDTask()
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{
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SubGetMessage(chassis_feed_sub,&chassis_fetch_data);
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SubGetMessage(gimbal2chassis_sub,&data_from_gimbal_cmd);
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}
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