22 lines
409 B
C
22 lines
409 B
C
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#ifndef CHASSIS_CONTROL_H
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#define CHASSIS_CONTROL_H
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#include "main.h"
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#include "component/at9s_pro_cmd.h"
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/* ŷ<><C5B7><EFBFBD>ǣ<EFBFBD>Euler angle<6C><65> */
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typedef struct {
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float chassis_mech_zero_yaw;
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float chassis_encoder_yaw;
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} chassis_ctrl_eulr_t;
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void Inverse_resolve(float vx,float vy,float w);
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void Motor_Init(float freq);
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void chassis_control(chassis_ctrl_eulr_t eulr, COMP_AT9S_CMD_t cmd_rc);
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#endif
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