#include "TopDefine.h"
#include "FreeRTOS.h"
#include "userTask.h"
#include <cmsis_os2.h>
#include "shootTask.hpp"
#include "shoot.hpp"
#include "motor.hpp"
#include "remote_control.h"
extern RC_ctrl_t rc_ctrl;
Shoot shoot;
int k=0;

// sw[0]2 下306上1694 sw[5]3前306后1694 sw[4]4前1694后306 sw[1]xuan1 sw[3]xuan2 

void FunctionShoot(void *argument)
{
	(void)argument; /* 未使用argument，消除警告 */

    const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_SHOOT;

	uint32_t tick = osKernelGetTickCount();

while(1)
{
#ifdef DEBUG
	task_struct.stack_water_mark.shoot = osThreadGetStackSpace(osThreadGetId());  
#endif

    k++;
	shoot.shootThree();
	shoot.shootBack();

	osDelay(2);

	tick += delay_tick; /* 计算下一个唤醒时刻 */
	osDelayUntil(tick);		

	}
}