

#ifndef CHASSIS_CONTROL_H
#define CHASSIS_CONTROL_H

#include "main.h"

#include "component/at9s_pro_cmd.h"
/* ŷ���ǣ�Euler angle�� */
typedef struct {
	float chassis_mech_zero_yaw;
	float chassis_encoder_yaw;
} chassis_ctrl_eulr_t;

void Inverse_resolve(float vx,float vy,float w);
void Motor_Init(float freq);
void chassis_control(chassis_ctrl_eulr_t eulr, COMP_AT9S_CMD_t cmd_rc);
#endif



