#ifndef CHASSIS_H #define CHASSIS_H #define hcan void // This is a placeholder for the CAN handle

// You can use the constant below to implement kinetic conversions #define WHEEL_RADIUS 0.05 #define WHEEL_DISTANCE 0.3 // Distance between wheels and center of the chassis

typedef struct { float current_speed; // Current speed of the motor //Code Omitted }Motor_t;

typedef struct { float kp; float ki; float kd; float max_out; }PIDConfig_t;

typedef struct { Motor_t *motor; PIDConfig_t speed_PID; float send_data; // Current in mA }driver_t;

void Chassis_Init(void); void Chassis_Task(void);

#endif