Some more update about chassis. (e02f2c85) · Commits · Wenxi XU / Mambo

include/zephyr/drivers/chassis.h

+3 −11

Original line number	Diff line number	Diff line
		@@ -46,16 +46,6 @@ struct pos_data {
		};

		typedef struct {
		float targetYaw;

		float targetGyro;
		float currentGyro;

		float targetXSpeed;
		float targetYSpeed;
		float currentXSpeed;
		float currentYSpeed;

		uint32_t currTime;
		uint32_t prevTime;

		@@ -65,6 +55,8 @@ typedef struct {
		float distance_to_center[CHASSIS_WHEEL_COUNT];

		chassis_status_t chassis_status;
		chassis_status_t set_status;
		chassis_status_t target_status;

		bool track_angle;
		bool enabled;
		@@ -164,7 +156,7 @@ static void chassis_set_enabled(const struct device *dev, bool enabled)
		data->enabled = enabled;
		if (!enabled) {
		for (int i = 0; i < CHASSIS_WHEEL_COUNT; i++) {
		struct device *wheel = cfg->wheels[i];
		const struct device *wheel = cfg->wheels[i];
		wheel_disable(wheel);
		}
		}