#include?“main.h“
#include?“stdio.h“

static?uint32_t?can_count?=?0;

volatile?Encoder?CM1Encoder?=?{000000000};
volatile?Encoder?CM2Encoder?=?{000000000};
volatile?Encoder?CM3Encoder?=?{000000000};
volatile?Encoder?CM4Encoder?=?{000000000};
volatile?Encoder?GMYawEncoder?=?{000000000};
volatile?Encoder?GMPitchEncoder?=?{000000000};
float?ZGyroModuleAngle?=?0.0f;
/*
***********************************************************************************************
*Name??????????:GetEncoderBias
*Input?????????:can?message
*Return????????:void
*Description???:to?get?the?initiatial?encoder?of?the?chassis?motor?201?202?203?204
*
*
***********************************************************************************************
*/

void?GetEncoderBias（volatile?Encoder?*v?CanRxMsg?*?msg）
{

????????????v->ecd_bias?=?（msg->Data[0]<<8）|msg->Data[1];??//保存初始編碼器值作為偏差??
????????????v->ecd_value?=?v->ecd_bias;
????????????v->la