50 lines
1.1 KiB
C++
50 lines
1.1 KiB
C++
#include "ballTask.hpp"
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#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 "ball.hpp"
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#include "remote_control.h"
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#include "vofa.h"
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extern RC_ctrl_t rc_ctrl;
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Ball ball;
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//float vofa[8];
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//检查光电
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int abc=0;
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int aaaa=146;
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extern int speedm;
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void FunctionBall(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_BALL;
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osDelay(6000);//等待极致控制板启动
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XiaomiWait_init(1,&hcan2); //小米电机初始化
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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.ball = osThreadGetStackSpace(osThreadGetId());
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#endif
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abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
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ball.rc_mode(); // 遥控器模式
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ball.ball_control(); // 控制球的动作
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// ball.xiaomi.position = aaaa;
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// CAN_XiaoMi(1,&ball.xiaomi,&hcan2);
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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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