shoot/User/task/ball_task.c

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2025-03-13 19:23:24 +08:00
#include "ball_task.h"
#include "TopDefine.h"
#include "FreeRTOS.h"
#include "attrTask.h"
#include <cmsis_os2.h>
#include "remote_control.h"
#include "ball.h"
extern RC_mess_t RC_mess;
BASKETBALL basketball;
void Task_Ball(void *argument)
{
(void)argument; /* 未使用argument消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
basketball.hand=0;
basketball.paw=0;
while(1)
{
handling_ball(basketball.hand, basketball.paw);
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 */
}
}