86 lines
1.6 KiB
C++
86 lines
1.6 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 "motor.hpp"
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#include "remote_control.h"
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extern RC_ctrl_t rc_ctrl;
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Shoot shoot;
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int shoot_flag = 0;
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int anglexiaomi = 0;
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int xxxxx;
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int speed5 = 0;
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int a2;
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// 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
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//F键 sw[0]👆 1800 中 1000 👇200
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//E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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HAL_Delay(500); //一定时间延时 等待电机初始化完成
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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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//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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CAN_VESC_Control(2,speed5,&hcan2);
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xxxxx++;
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CAN_cmd(1,&shoot.JZ_xiaomi);
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HAL_Delay (100);
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// if(shoot.flag_thread & BALL_OK)
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// {
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// a2=2;
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// // shoot.shootThree();
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// }
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// shoot_flag=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
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// if(rc_ctrl.sw[1]>1000)
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// {
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// shoot.shootStateMachine();
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// if(rc_ctrl.sw[0]==200)
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// {
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// shoot.shootBack();
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// }
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// if(rc_ctrl.sw[0]==1000)
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// {
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// shoot.shootStop();
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// }
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// }
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// if(rc_ctrl.sw[1]==200)
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// {
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// shoot.shootStop();
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// }
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// shoot.trigger_control();
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// osDelay(2);
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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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