41 lines
625 B
C++
41 lines
625 B
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 "takeTask.hpp"
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#include "remote_control.h"
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#include "take.hpp"
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#include "motor.hpp"
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extern RC_ctrl_t rc_ctrl;
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Take take;
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Trigger trigger;
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int pos=1600;
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void FunctionTake(void *argument)
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{
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//osDelay(2000);
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while(1)
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{
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if(rc_ctrl.sw[4]==306)
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{
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trigger.triggerFlow(pos);
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}
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else if(rc_ctrl.sw[4]==1694)
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{
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//trigger.triggerZero();
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trigger.result=0;
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}
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else if(rc_ctrl.sw[4]==0)
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{
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//trigger.triggerZero();
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trigger.result=0;
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}
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CAN_cmd_200(0,trigger.result,0,0,&hcan1);
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osDelay(1);
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}
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}
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