#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"

extern RC_mess_t RC_mess;
Encoder_t encoder;
double angles;
int32_t rounds;
int angleo = 0;  //发射角度
#define GO1_SHOOT 0
#define ODRIVE_SHOOT 1

void Task_Shoot(void *argument)
{
    (void)argument; /* 未使用argument，消除警告 */
   const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
   Encoder_Init(&encoder);
   #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
			shootStep();
    //shoot_odrive(angleo);
     #endif
  // 更新编码器数据
  Update_Encoder(&encoder);

     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 */
    }

}