Chassis task
In chassis task, we create a struct called "chassis_move_t", and almost all of the work are changing ways to deal with a variable("chassis_move") of that type.
The flow is:
- firstly we create 4 motor objects of the chassis, and get the pointer of controller
- the add these pointers to "chassis_move"
- and directly use the analog of the controller to map the movement behaviour
TODO:
- add PID
- add a ramp function of controller to achieve more stable control
how to start:
- initialize the devices you need in "chassis_init" function.
- create a new funtion to achieve your feature.
- add your function to "chassis_task_fn"