shoot/User/task/shoot_task.c

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#include "shoot_task.h"
#include "TopDefine.h"
#include "FreeRTOS.h"
#include "attrTask.h"
#include <cmsis_os2.h>
#include "remote_control.h"
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#include "shoot.h"
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#include "odrive_shoot.h"
#include "read_spi.h"
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extern RC_mess_t RC_mess;
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Encoder_t encoder;
double angles;
int32_t rounds;
int angleo = 0; //发射角度
#define GO1_SHOOT 0
#define ODRIVE_SHOOT 1
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void Task_Shoot(void *argument)
{
(void)argument; /* 未使用argument消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
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Encoder_Init(&encoder);
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#if GO1_SHOOT == 1
shooterInit();
#endif
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
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while(1)
{
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#if GO1_SHOOT == 1
shoot_ball(0);
#elif ODRIVE_SHOOT == 1
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shootStep();
//shoot_odrive(angleo);
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#endif
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// 更新编码器数据
Update_Encoder(&encoder);
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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 */
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}
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}