33 lines
682 B
C
33 lines
682 B
C
#ifndef ROBOT_H
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#define ROBOT_H
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#include <stdbool.h>
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#include "i2c/headers/gyro.h"
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#include "i2c/headers/mcp23017.h"
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#include "headers/motion_control.h"
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#include "headers/servos.h"
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#include "wifi/headers/udp_client.h"
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typedef struct robot_t {
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gyro_data_t gyro_data;
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mcp23017_data_t mcp23017_data;
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motion_control_data_t motion_control_data;
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servos_data_t servos_data;
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udp_client_t udp_client;
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bool is_running;
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float delta_time_ms;
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} robot_t;
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extern robot_t robot;
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// Init all robot's components
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void robot_init(void);
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// Handle inputs and outputs
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void robot_update(void);
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// Deinit all robot's components
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void robot_deinit(void);
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#endif // ROBOT_H
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