63 lines
1.0 KiB
C
63 lines
1.0 KiB
C
#include "dji_task.h"
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#include "TopDefine.h"//事件组的一些东西
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#include "FreeRTOS.h"
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#include "attrTask.h"
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#include <cmsis_os2.h>
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#include "remote_control.h"
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#include "dji.h"
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#include "read_spi.h"
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#include "vofa.h"
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#include "buzzer.h"
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extern RC_mess_t RC_mess;
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extern int16_t t_result;
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extern motor_measure_t *trigger_motor_data;
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Encoder_t encoder;
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int shoot_f=0;
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int pos2006=0;
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/**
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* \brief 电机任务
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*
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* \param argument 未使用
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*/
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void Task_Motor(void *argument)
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{
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(void)argument; /* 未使用argument，消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CHASSIS;
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motor_init();
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Encoder_Init(&encoder);
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uint32_t tick = osKernelGetTickCount();
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while(1)
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{
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if(RC_mess.RC_data.sw[4]==306||shoot_f==3)
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{
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pos2006=200;
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trigger_pos(pos2006);
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}
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else if(RC_mess.RC_data.sw[4]==1694)
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{
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pos2006=0;
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trigger_pos(pos2006);
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}
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CAN_cmd_1FF(t_result,0,0,0,&hcan1);
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osDelay(1);
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tick += delay_tick;
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osDelayUntil(tick);
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}
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}
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