diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c index e6b7f1f..959a88e 100644 --- a/Core/Src/freertos.c +++ b/Core/Src/freertos.c @@ -58,7 +58,7 @@ const osThreadAttr_t defaultTask_attributes = { osThreadId_t initTaskHandle; const osThreadAttr_t initTask_attributes = { .name = "initTask", - .stack_size = 128 * 4, + .stack_size = 256 * 4, .priority = (osPriority_t) osPriorityLow, }; diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index eccce91..f8f7f68 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -30,3 +30,5 @@ [info] Log at : 2025/6/13|19:56:03|GMT+0800 +[info] Log at : 2025/6/15|11:17:22|GMT+0800 + diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json index 3b49383..bb6a2f9 100644 --- a/MDK-ARM/.vscode/settings.json +++ b/MDK-ARM/.vscode/settings.json @@ -2,6 +2,8 @@ "files.associations": { "djimotor.h": "c", "user_math.h": "c", - "buzzer.h": "c" + "buzzer.h": "c", + "calc_lib.h": "c", + "usertask.h": "c" } } \ No newline at end of file diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index 950b1a5..7d1a725 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -2,7 +2,7 @@ Build target 'R1' compiling calc_lib.c... linking... -Program Size: Code=31512 RO-data=1884 RW-data=5820 ZI-data=33276 +Program Size: Code=30644 RO-data=1884 RW-data=5816 ZI-data=33280 FromELF: creating hex file... "R1\R1.axf" - 0 Error(s), 0 Warning(s). Build Time Elapsed: 00:00:03 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index 5ab4faf..3525872 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/6/14 19:24:55 \ No newline at end of file +2025/6/14 22:01:44 \ No newline at end of file diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx index 799a22c..e4aa1d1 100644 --- a/MDK-ARM/R1.uvoptx +++ b/MDK-ARM/R1.uvoptx @@ -153,7 +153,24 @@ -U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) - + + + 0 + 0 + 82 + 1 +
0
+ 0 + 0 + 0 + 0 + 0 + 0 + ../Core/Src/main.c + + + + 0 @@ -190,6 +207,11 @@ 1 knob_increment + + 7 + 1 + task_struct,0x0A + 0 diff --git a/R1.ioc b/R1.ioc index a000341..a12ab7a 100644 --- a/R1.ioc +++ b/R1.ioc @@ -109,7 +109,7 @@ FREERTOS.INCLUDE_xSemaphoreGetMutexHolder=1 FREERTOS.INCLUDE_xTaskAbortDelay=1 FREERTOS.INCLUDE_xTaskGetHandle=1 FREERTOS.IPParameters=Tasks01,INCLUDE_pcTaskGetTaskName,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_vTaskCleanUpResources,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_uxTaskGetStackHighWaterMark2,INCLUDE_xTaskGetHandle,INCLUDE_xTaskAbortDelay,configCHECK_FOR_STACK_OVERFLOW,configTOTAL_HEAP_SIZE,FootprintOK -FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;initTask,8,128,initFunction,As weak,NULL,Dynamic,NULL,NULL +FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;initTask,8,256,initFunction,As weak,NULL,Dynamic,NULL,NULL FREERTOS.configCHECK_FOR_STACK_OVERFLOW=1 FREERTOS.configTOTAL_HEAP_SIZE=0x6000 File.Version=6 diff --git a/User/lib/calc_lib.c b/User/lib/calc_lib.c index 577fab2..f6e80d8 100644 --- a/User/lib/calc_lib.c +++ b/User/lib/calc_lib.c @@ -1,7 +1,7 @@ #include "calc_lib.h" #include -//΢ʱ +//΢ÃëÑÓʱ void user_delay_us(uint16_t us) { for(; us > 0; us--) @@ -13,7 +13,7 @@ void user_delay_us(uint16_t us) } } -//ʱ +//ºÁÃëÑÓʱ void user_delay_ms(uint16_t ms) { for(; ms > 0; ms--) @@ -22,7 +22,7 @@ void user_delay_ms(uint16_t ms) } } -//Χ +//¸¡µãÊý·¶Î§ÏÞÖÆ void abs_limit_fp(fp32 *num, fp32 Limit) { if (*num > Limit) @@ -35,7 +35,7 @@ void abs_limit_fp(fp32 *num, fp32 Limit) } } -//Χ +//ÕûÊý·¶Î§ÏÞÖÆ void abs_limit_int(int64_t *num, int64_t Limit) { if (*num > Limit) @@ -48,7 +48,7 @@ void abs_limit_int(int64_t *num, int64_t Limit) } } -//ѭ޷ +//Ñ­»·ÏÞ·ù fp32 loop_fp32_constrain(fp32 Input, fp32 minValue, fp32 maxValue) { if (maxValue < minValue) @@ -102,12 +102,12 @@ int32_t loop_int32_constrain(int32_t Input, int32_t minValue, int32_t maxValue) return Input; } -int map(int x, int in_min, int in_max, int out_min, int out_max) //ӳ亯 +int map(int x, int in_min, int in_max, int out_min, int out_max) //Ó³É亯Êý { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } -fp32 map_fp32(fp32 x, fp32 in_min, fp32 in_max, fp32 out_min, fp32 out_max) //ӳ亯 +fp32 map_fp32(fp32 x, fp32 in_min, fp32 in_max, fp32 out_min, fp32 out_max) //Ó³É亯Êý { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } @@ -117,3 +117,23 @@ float expo_map(float value, float expo_factor) { return value * (1 - expo_factor) + value * fabs(value) * expo_factor; } + +bool is_reached_multiple(float current1, float current2, float current3, float target1, float target2, float target3, float mistake, int threshold) { + static int count = 0; // 满足条件的计数 + + if (count >= threshold) { + count=0;//重置 + return true; // 如果已经满足条件，返回 1 + + } + + // 判断三个值是否都满足条件 + bool all_reached = (fabs(current1 - target1) < mistake) && + (fabs(current2 - target2) < mistake) && + (fabs(current3 - target3) < mistake); + + if (all_reached) { + count++; // 所有条件都满足，计数加 1 + } + return false; // 未满足条件达到阈值，返回 0 +} diff --git a/User/lib/calc_lib.h b/User/lib/calc_lib.h index 3e01c4d..3b4ef5a 100644 --- a/User/lib/calc_lib.h +++ b/User/lib/calc_lib.h @@ -7,6 +7,7 @@ extern "C"{ #include "struct_typedef.h" #include +#include #define rad(code) ((code)*MOTOR_ECD_TO_RAD) @@ -30,6 +31,9 @@ int32_t loop_int32_constrain(int32_t Input, int32_t minValue, int32_t maxValue); int map(int x, int in_min, int in_max, int out_min, int out_max); fp32 map_fp32(fp32 x, fp32 in_min, fp32 in_max, fp32 out_min, fp32 out_max); float expo_map(float value, float expo_factor); + +bool is_reached_multiple(float current1, float current2, float current3, float target1, float target2, float target3, float mistake, int threshold); + #ifdef __cplusplus } #endif diff --git a/User/module/ball.cpp b/User/module/ball.cpp index 9b20c47..b55f97d 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -6,8 +6,6 @@ #include "user_math.h" #include "shoot.hpp" -//int jy=1; - extern RC_ctrl_t rc_ctrl; extern int key; extern int16_t M2006_result; @@ -15,18 +13,23 @@ extern int16_t M2006_result; // C键 sw[5]👆 1800 中1000 👇200 // D键 sw[6]👆 200 👇1800 +//伸缩 #define M_SPEED 4000 #define I_ANGLE1 180 #define I_ANGLE2 -75 #define O_ANGLE1 340 #define O_ANGLE2 -240 +// 三摩擦轮电机 +#define M_SPEED1 3000 +#define M_BACK -4000 + #if HANDLING3 == 1 //三摩擦轮运球！！！ //添加平移3508 得跑位置吧 -const fp32 Ball:: M3508_speed_PID[3] = {15, 0.03, 0}; -const fp32 Ball:: Extend_speed_PID[3] = { 25, 0.0, 0.1}; +const fp32 Ball:: M3508_speed_PID[3] = {30, 0.03, 0}; +const fp32 Ball:: Extend_speed_PID[3] = { 40, 0.0, 0.1}; const fp32 Ball:: Extend_angle_PID[3]= { 25, 0.1, 0}; //摩擦轮转速 @@ -74,43 +77,6 @@ Ball ::Ball() } -// void Ball ::Extend_control(int angle) -// { -// int16_t delta; -// angleSet = angle/2; - -// fp32 angle_get; -// angle_get=motor_angle_change(Extern_Motor->real_round, angleSet); - -// delta = PID_calc(&extend_angle_pid, angle_get, angleSet); -// e_result = PID_calc(&extend_speed_pid, Extern_Motor->speed_rpm, delta); - -// CAN_cmd_1FF(0,0,e_result,0,&hcan1); -// osDelay(1); - -// } - -//左0 右1 -//real_round 外 176 240 内 89 326 - -// void Ball ::Extend_mcontrol(int angle1,int angle2) -// { -// int16_t delta[2]; -// angleSet[0] = angle1/2; -// angleSet[1] = angle2/2; - -// fp32 angle_get[2]; -// angle_get[0] = motor_angle_change(Extern_Motor[0]->real_round, angleSet[0]); -// angle_get[1] = motor_angle_change(Extern_Motor[1]->real_round, angleSet[1]); - -// delta[0] = PID_calc(&extend_angle_pid[0], angle_get[0] , angleSet[0]); -// e_result[0] = PID_calc(&extend_speed_pid[0], Extern_Motor[0]->speed_rpm, delta[0]); - -// delta[1] = PID_calc(&extend_angle_pid[1], angle_get[1] , angleSet[1]); -// e_result[1] = PID_calc(&extend_speed_pid[1], Extern_Motor[1]->speed_rpm, delta[1]); - -// } - void Ball ::Extend_mcontrol(int angle1,int angle2) { @@ -130,31 +96,17 @@ void Ball ::Extend_mcontrol(int angle1,int angle2) } -void Ball ::Extend_control(int angle) -{ - int16_t delta[2]; - angleSet[0] = angle; - angleSet[1] = -angle; - delta[0] = PID_calc(&extend_angle_pid[0],Extern_Motor[0]->total_angle , angleSet[0]); - e_result[0] = PID_calc(&extend_speed_pid[0], Extern_Motor[0]->speed_rpm, delta[0]); - - delta[1] = PID_calc(&extend_angle_pid[1], Extern_Motor[1]->total_angle , angleSet[1]); - e_result[1] = PID_calc(&extend_speed_pid[1], Extern_Motor[1]->speed_rpm, delta[1]); - -} - - -void Ball ::Spin(float speed) +void Ball ::Spin() { - speedSet[MOTOR_1] = -speed; + speedSet[MOTOR_1] = speed_set; result[MOTOR_1] = PID_calc(&speed_pid[MOTOR_1],hand_Motor[MOTOR_1]->speed_rpm,speedSet[MOTOR_1]); - speedSet[MOTOR_2] = speed; + speedSet[MOTOR_2] = speed_set; result[MOTOR_2] = PID_calc(&speed_pid[MOTOR_2],hand_Motor[MOTOR_2]->speed_rpm,speedSet[MOTOR_2]); - speedSet[MOTOR_3] = speed; + speedSet[MOTOR_3] = speed_set; result[MOTOR_3] = PID_calc(&speed_pid[MOTOR_3],hand_Motor[MOTOR_3]->speed_rpm,speedSet[MOTOR_3]); } @@ -162,14 +114,7 @@ void Ball ::Spin(float speed) void Ball::ballDown(void) { HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);//确保闭合气缸 - speedm=-500; - -} - -void Ball::ballStop(void) -{ - HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保闭合气缸 - speedm=0; + speed_set=500; } @@ -189,73 +134,127 @@ void Ball::Move_Extend(void) } } - -void Ball::ballHadling(void) +// C键 sw[5]👆 200 中1000 👇1800 +// D键 sw[6]👆 200 👇1800 +void Ball::rc_mode() +{ + if(rc_ctrl.sw[5]==200) + { + rc_key=UP2; + } + if(rc_ctrl.sw[5]==1000) + { + rc_key=MIDDLE2; + } + if(rc_ctrl.sw[5]==1800) + { + rc_key=DOWN2; + } + + if(rc_ctrl.sw[6]==200) + { + extern_key=IN; + } + if(rc_ctrl.sw[6]==1800) + { + extern_key=OUT; + } + +} + + +void Ball::ball_control() { - static int last_sw5 = 0; // 保存上一次拨杆状态 ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 有球 1 无球 0 - switch (currentState1) - { - case BALL_IDLE: - HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保闭合气缸 - // 只在拨杆从非200切到200时触发 - if ((rc_ctrl.sw[5] == 200 && last_sw5 != 200) || key > 0) + Move_Extend(); + + switch (rc_key){ + case MIDDLE2: + speed_set=0; + HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);//确保闭合气缸 + if (currentState1 == BALL_FINISH) { - speedm = -4000; - currentState1 = BALL_FORWARD; // 切换到正转状态 + currentState1 = BALL_IDLE; + } + else { + currentState1 = BALL_IDLE; // 默认回到空闲状态 } break; - case BALL_FORWARD: - if (hand_Motor[MOTOR_1]->speed_rpm >= 3980 && hand_Motor[MOTOR_1]->speed_rpm <= 4020 && - hand_Motor[MOTOR_2]->speed_rpm <= -3980 && hand_Motor[MOTOR_2]->speed_rpm >= -4020 && - hand_Motor[MOTOR_3]->speed_rpm <= -3980 && hand_Motor[MOTOR_3]->speed_rpm >= -4020) - { - HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸 - currentState1 = BALL_DROP; // 切换到球下落状态 - } + case UP2: + Three_Handing(); break; + case DOWN2: + ballDown(); + + break; + + } + + Spin(); + + Send_control(); + +} + +void Ball::Three_Handing() +{ + switch (currentState1){ + case BALL_IDLE: + HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);//确保闭合气缸 + currentState1 = BALL_FORWARD; // 切换到正转状态 + + break; + case BALL_FORWARD: + speed_set=M_SPEED1; + if(is_reached_multiple(hand_Motor[MOTOR_1]->speed_rpm, + hand_Motor[MOTOR_2]->speed_rpm, + hand_Motor[MOTOR_3]->speed_rpm, + speed_set, + speed_set, + speed_set, + 50.f,50)) + { + currentState1 = BALL_DROP; // 切换到球下落状态 + } + break; + case BALL_DROP: - if (ball_state == 0) // 读光电 有球 1 无球 0 + HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸 + if (ball_state == 0) // 读光电 有球 1 无球 0 { osDelay(200); // 延时200ms - speedm = 3500; + speed_set = M_BACK; currentState1 = BALL_REVERSE; // 切换到反转状态 } break; - case BALL_REVERSE: if (ball_state == 1) { - speedm = 0; // 停止电机 + speed_set = 0; currentState1 = BALL_CLOSE; // 切换到完成状态 } break; - case BALL_CLOSE: - if (ball_state == 1) + if(ball_state == 1) { HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); currentState1 = BALL_FINISH; // 切换到完成状态 - } - break; + } case BALL_FINISH: - osDelay(200); // 延时200ms key = 0; // 重置按键状态 - speedm = 0; + speed_set = 0; osThreadFlagsSet(task_struct.thread.shoot, BALL_OK); - currentState1 = BALL_IDLE; // 直接回到空闲状态 - break; - + //currentState1 = BALL_IDLE; // 直接回到空闲状态 + break; default: - currentState1 = BALL_IDLE; // 默认回到空闲状态 - break; - } + currentState1 = BALL_IDLE; // 默认回到空闲状态 + break; - last_sw5 = rc_ctrl.sw[5]; // 更新上一次拨杆状态 + } } void Ball::Send_control() diff --git a/User/module/ball.hpp b/User/module/ball.hpp index fbd81b3..4c10aa3 100644 --- a/User/module/ball.hpp +++ b/User/module/ball.hpp @@ -9,7 +9,7 @@ #include "djiMotor.h" #include "pid.h" #include "filter.h" - +#include "calc_lib.h" // 定义状态枚举 typedef enum { @@ -36,11 +36,14 @@ typedef enum MOTOR_NUM }motorhangd_e; - /* 滤波器 */ - typedef struct { - LowPassFilter2p_t *in; /* 反馈值滤波器 */ - LowPassFilter2p_t *out; /* 输出值滤波器 */ - } Filter; +typedef enum +{ + UP2=1, + MIDDLE2, + DOWN2, + IN, + OUT +}ball_rc_mode; // 定义光电传感器检测宏 #define IS_PHOTOELECTRIC_BALL() (HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin) == GPIO_PIN_RESET) @@ -49,14 +52,16 @@ class Ball { public: Ball(); - void Spin(float speed); + void Spin(void); void ballHadling(void); void ballDown(void); void Send_control(void); void ballStop(void); void Move_Extend(void); - void Extend_control(int angle); + void rc_mode(void); void Extend_mcontrol(int angle1,int angle2); + void Three_Handing(void); + void ball_control(void); BallState_t currentState1; // 当前状态 int flag;//暂时还没用到 @@ -66,9 +71,12 @@ public: int16_t e_result[2]; motor_measure_t * Extern_Motor[2]; + float speed_set; int16_t result[MOTOR_NUM]; motor_measure_t *hand_Motor[MOTOR_NUM]; //==========================公共变量==========================// + int16_t rc_key; //遥控器按键 + int16_t extern_key; //用于传接球,运球后通知 volatile BallState_t ballStatus;//是否有球 volatile uint32_t flag_thread;//接收传回的线程通知 diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp index 1c1110f..9d52357 100644 --- a/User/module/shoot.cpp +++ b/User/module/shoot.cpp @@ -198,7 +198,7 @@ void Shoot::shoot_control() { } // 发送数据到蓄力电机 - //GO_SendData(go1.Pos, 5.0f); + GO_SendData(go1.Pos, 5.0f); // 控制扳机电机 trigger_control(); @@ -235,7 +235,7 @@ void Shoot :: shoot_Current() if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR) { BSP_Buzzer_Start(); // BSP_Buzzer_Set(1,5000); - see_you_again(); + // see_you_again(); //currentState = SHOOT_WAIT; // 等待发射信号 //在拨杆切换时触发了 } diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp index 2c8e5de..e1609af 100644 --- a/User/task/ballTask.cpp +++ b/User/task/ballTask.cpp @@ -39,45 +39,9 @@ void FunctionBall(void *argument) abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); - -// if(rc_ctrl.sw[6] == 200) -// { -// angle1=85; -// } -// if(rc_ctrl.sw[6]==1800) -// { -// angle1=10; - -// } - -// //运球 -// if(rc_ctrl.sw[5]==200) -// { -// //👇 -// ball.ballHadling(); // 处理摩擦轮转动 -// } -// //下球 -// if(rc_ctrl.sw[5]==1800) -// { -// //👆 -// ball.ballDown(); -// } -// //中间 -// if(rc_ctrl.sw[7]==200) -// { -// if(rc_ctrl.sw[5]==1000) -// { -// //中 -// ball.ballStop(); -// ball.ballHadling(); // 处理摩擦轮转动 -// } -// } - - //ball.Extend_control(test111); - ball.Move_Extend(); - // ball.Extend_mcontrol(angle1,angle2); // 内伸 - ball.Spin(speedm); - ball.Send_control(); + ball.rc_mode(); // 遥控器模式 + + ball.ball_control(); // 控制球的动作 // vofa[0] = -speedm; // 发送电机角度数据 // vofa[1] = ball.hand_Motor[0]->speed_rpm; // 发送电机角度数据 diff --git a/User/task/initTask.c b/User/task/initTask.c index 4dad5d3..f34e78a 100644 --- a/User/task/initTask.c +++ b/User/task/initTask.c @@ -17,8 +17,6 @@ void initFunction(void *argument) osKernelLock(); /* 创建任务 */ - task_struct.thread.gimbal = - osThreadNew(FunctionGimbal, NULL, &attr_gimbal); task_struct.thread.shoot = osThreadNew(FunctionShoot, NULL, &attr_shoot); task_struct.thread.can = diff --git a/User/task/userTask.h b/User/task/userTask.h index 3d11067..fa0f2fa 100644 --- a/User/task/userTask.h +++ b/User/task/userTask.h @@ -19,7 +19,7 @@ extern "C" { #define TASK_FREQ_MONITOR (2u) #define TASK_FREQ_CAN (1500u) #define TASK_FREQ_AI (500u) -#define TASK_FREQ_BALL (500u) +#define TASK_FREQ_BALL (700u) #define TASK_INIT_DELAY_INFO (500u) #define TASK_INIT_DELAY_MONITOR (10) @@ -99,7 +99,6 @@ typedef struct /* Exported functions ------------------------------------------------------- */ extern task_t task_struct; /* 任务结构体实例化 */ extern const osThreadAttr_t attr_shoot; -extern const osThreadAttr_t attr_gimbal; extern const osThreadAttr_t attr_can; extern const osThreadAttr_t attr_ball; extern const osThreadAttr_t attr_nuc; @@ -108,7 +107,6 @@ extern const osEventFlagsAttr_t attr_event; /* Exported functions prototypes -------------------------------------------- */ void FunctionTake(void *argument); -void FunctionGimbal(void *argument); void FunctionShoot(void *argument); void FunctionCan(void *argument); void FunctionRc(void *argument);