39 lines
756 B
C++
39 lines
756 B
C++
#ifndef SHOOT_HPP
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#define SHOOT_HPP
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#include "djiMotor.h"
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// 定义状态枚举
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typedef enum {
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SHOOT_IDLE, // 空闲状态
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SHOOT_FIRE, // 发射状态
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SHOOT_TRIGGERED, // 光电触发状态
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SHOOT_RETURN // 自动返回状态
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} ShootState_t;
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// 光电传感器读取宏
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#define IS_PHOTOELECTRIC_TRIGGERED() (HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin) == GPIO_PIN_RESET)
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class Shoot
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{
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public:
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Shoot();
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void shootThree(void);
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void shootStop(void);
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void shootBack(void);
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void shootControl(void);
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void shootStateMachine(void);
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float speed_5065;
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private:
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float accelLeft;
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float accelRight;
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float accelZero;
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uint8_t flagRightShoot;
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uint8_t flagLeftShoot;
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};
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#endif
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