49 lines
1.3 KiB
C++
49 lines
1.3 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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int abc=0;
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extern int speedm;
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extern int speedm1;
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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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// 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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//abc=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
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ball.ballHadling(); // 处理摩擦轮转动
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// speedm=4000;
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// speedm1=4000;
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// ball.Spin(speedm,speedm1);
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// ball.Send_control();
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// vofa[0] = speedm; // 发送电机角度数据
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// vofa[1] = -ball.hand_Motor[0]->speed_rpm; // 发送电机角度数据
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// vofa[2] = ball.hand_Motor[1]->speed_rpm; // 发送电机速度数据
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// vofa[3] = ball.hand_Motor[2]->speed_rpm; // 发送电机速度数据
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// vofa_tx_main(vofa); // 发送数据到虚拟串口
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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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