50 lines
1019 B
C
50 lines
1019 B
C
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#include "odrive_shoot.h"
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#include "remote_control.h"
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#include "FreeRTOS.h"
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#include <cmsis_os2.h>
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#include "read_spi.h"
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extern RC_mess_t RC_mess;
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extern float angle_encoder;
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extern volatile int32_t multi_turn_angle ;
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extern volatile uint16_t last_angle ;
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#define POS_SET -10.6
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#define POS_ZERO 2.705
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#define ACCEL_SEND 10//梯形加速度
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#define ACCEL_BACK 5//返回时的加速度
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#define DELAY 1000
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fp32 shoot = 10;
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void shootStep(void)
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{
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angle_encoder=AS5047_read(ANGLEUNC);
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Update_MultiTurn_Angle();
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odrive_accel_cmd(AXIS0_NODE,ACCEL_SEND,ACCEL_SEND);
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// osDelay(2);//不知道为什么要延时
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odrive_pos_cmd(AXIS0_NODE,shoot);
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// osDelay(5000);
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// odrive_accel_cmd(AXIS0_NODE,5,5);
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// odrive_pos_cmd(AXIS0_NODE,10);
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// osDelay(DELAY);
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// odrive_accel_cmd(AXIS1_NODE,ACCEL_BACK,ACCEL_BACK);
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// odrive_pos_cmd(AXIS1_NODE,POS_ZERO);
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}
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void shootBack(void)
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{
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odrive_accel_cmd(AXIS0_NODE,ACCEL_BACK,ACCEL_BACK);
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osDelay(2);
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odrive_pos_cmd(AXIS0_NODE,POS_ZERO);
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}
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