22 lines
370 B
C++
22 lines
370 B
C++
#pragma once
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#include "main.h"
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#include "bsp/can.h"
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#include "device/motor.h"
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#include "device/motor_rm.h"
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class Chassis {
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public:
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Chassis();
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void init();
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void operator()();
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private:
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void update_motors();
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void calc_chassis();
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void calc_pid();
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void send_control();
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MOTOR_RM_Param_t motors_param[4];
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MOTOR_RM_t chassis_motors[4];
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};
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