51 lines
1.0 KiB
C++
51 lines
1.0 KiB
C++
#include "TopDefine.h"
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#include "FreeRTOS.h"
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#include "userTask.h"
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#include <cmsis_os2.h>
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#include "shootTask.hpp"
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#include "shoot.hpp"
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#include "remote_control.h"
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#include "nuc.h"
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extern RC_ctrl_t rc_ctrl;
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Shoot shoot;
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NUC_t nucData; // 自瞄
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int aaaxxx=0;
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void FunctionShoot(void *argument)
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{
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(void)argument; /* 未使用argument，消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_SHOOT;
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osDelay(3000);//等待M2006电机启动
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uint32_t tick = osKernelGetTickCount();
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while(1)
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{
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#ifdef DEBUG
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task_struct.stack_water_mark.shoot = osThreadGetStackSpace(osThreadGetId());
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#endif
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shoot.rc_mode(); //遥控器模式
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if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
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{
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shoot.distanceGet(nucData);
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}
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shoot.shoot_control();
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// shoot.t_posSet=aaaxxx;
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// shoot.trigger_control();
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// shoot.GO_SendData(goangle,5);
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// shoot.shoot_control();
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// shoot.t_posSet=goangle;
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// shoot.trigger_control();
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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osDelayUntil(tick);
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}
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}
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