shoot/User/task/shoot_task.c

#include "shoot_task.h"
#include "TopDefine.h"
#include "FreeRTOS.h"
#include "attrTask.h"
#include <cmsis_os2.h>
#include "remote_control.h"
#include "shoot.h"
#include "odrive_shoot.h"
#include "read_spi.h"
#include "dji_task.h"

extern RC_mess_t RC_mess;
extern Encoder_t encoder;
extern motor_measure_t *trigger_motor_data;//3508电机数据
extern int mode;

#define GO1_SHOOT 0
#define ODRIVE_SHOOT 1

//odrive发射
#define SHOOT3 12
#define TOP 8
#define MIDDLE 4
#define BOTTOM 0

void Task_Shoot(void *argument)
{
    (void)argument; /* 未使用argument，消除警告 */
   const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
   
   #if GO1_SHOOT == 1   
   shooterInit();
   #endif

 uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */

    while(1)
    {
     #if GO1_SHOOT == 1
   
    shoot_ball(0);

     #elif ODRIVE_SHOOT == 1
    if(mode == THREE)
    {
      shoot_odrive(SHOOT3);    
    }	
    else if(mode == DZ)
    {
      if(trigger_motor_data->total_angle ==0)//扳机已闭合
      {
        shoot_odrive(BOTTOM);   
      }
     
    }

     #endif
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */
    }

}