64 lines
1.2 KiB
C++
64 lines
1.2 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 shoot_flag = 0;
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int a2;
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int goangle=0;
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//E键 sw[0]👆 200 中 1000 👇1800
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//F键 sw[1]👆 1800 👇200
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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_CTRL_SHOOT;
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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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//我放的任务通知 运球成功放置过来后
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shoot.flag_thread=osThreadFlagsGet();
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if(shoot.flag_thread & BALL_OK)
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{
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a2=2;
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}
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shoot_flag=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
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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.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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