#pragma once

#include "main.h"
#include "bsp/can.h"
#include "device/motor.h"
#include "device/motor_rm.h"

class Chassis {
public:
    Chassis();
    void init();
    void operator()();
private:
    void update_motors();
    void calc_chassis();
    void calc_pid();
    void send_control();
    MOTOR_RM_Param_t motors_param[4];
    MOTOR_RM_t chassis_motors[4];
};