shoot/User/task/shoot_task.c

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2025-03-12 23:04:18 +08:00
#include "shoot_task.h"
#include "TopDefine.h"
#include "FreeRTOS.h"
#include "attrTask.h"
#include <cmsis_os2.h>
#include "shoot_task.h"
#include "odrive_shoot.h"
#include "remote_control.h"
extern RC_mess_t RC_mess;
const odrive_msg_t *odrive_msg1;
void Task_Shoot(void *argument)
{
(void)argument; /* 未使用argument消除警告 */
// const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
// odrive_CB();
// uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
while(1)
{
shootStep();
odrive_get_encode(AXIS0_NODE);
odrive_msg1 = Get_Odrive_Point();
osDelay(2);
// 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 */
}
}