88 lines
2.0 KiB
C
88 lines
2.0 KiB
C
#include "shoot_task.h"
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#include "TopDefine.h"
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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 "shoot.h"
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#include "odrive_shoot.h"
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#include "read_spi.h"
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#include "dji.h"
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#include "go.h"
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extern RC_mess_t RC_mess;
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extern Encoder_t encoder;
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extern motor_measure_t *trigger_motor_data;//3508电机数据
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extern GO go;
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int shoot_flag = 0;
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int trigger_flag = 0;
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int pos=0;
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int gopos=0;
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int speed_5065=0;
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#define VESC_SHOOT 1
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void Task_Shoot(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_CAN;
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#if GO1_SHOOT == 1
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shooterInit();
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#endif
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
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//go.angleSetgo[0] = 0; //id暂时未知
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GO_TURN_ball(TURN,go,gopos); //发射舵机位置
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osDelay(500);
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while(1)
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{
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#if VESC_SHOOT == 1
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gopos=35;//云台位置
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GO_TURN_ball(GIMBAL,go,gopos); //锁云台
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if(shoot_flag==1||RC_mess.RC_data.sw[0]==306)//加速
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{
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if(HAL_GPIO_ReadPin(ball_in1_GPIO_Port, ball_in1_Pin) == GPIO_PIN_RESET)
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{
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CAN_VESC_HEAD(1);
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CAN_VESC_HEAD(2);
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}
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else
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{
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speed_5065=35000;
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CAN_VESC_RPM(1, speed_5065); //发射电机转速
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CAN_VESC_RPM(2, speed_5065); //发射电机转速
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}
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}
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else if(shoot_flag == 2 || RC_mess.RC_data.sw[5]==1694)//返回//不拨动为306
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{
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speed_5065=-5000;
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CAN_VESC_RPM(1, speed_5065); //发射电机转速
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CAN_VESC_RPM(2, speed_5065); //发射电机转速
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}
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else if(shoot_flag == 0)
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{
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CAN_VESC_RPM(1, 0); //发射电机转速
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CAN_VESC_RPM(2, 0); //发射电机转速
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}
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#endif
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */
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}
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}
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