99 lines
2.0 KiB
C
99 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 int mode;
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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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#define GO1_SHOOT 0
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#define ODRIVE_SHOOT 0
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#define VESC_SHOOT 1
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//odrive发射
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#define SHOOT3 12
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#define TOP 6
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#define MIDDLE 3
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#define BOTTOM 0
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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(1000);
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while(1)
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{
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#if GO1_SHOOT == 1
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shoot_ball(0);
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#elif ODRIVE_SHOOT == 1
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if(mode == THREE)
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{
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shoot_odrive(SHOOT3);
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}
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else if(mode == DZ)
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{
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if(trigger_motor_data->total_angle ==0)//扳机已闭合
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{
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shoot_back(DZ);
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}
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}
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#endif
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#if VESC_SHOOT == 1
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gopos=35;
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GO_TURN_ball(TURN,go,gopos); //发射舵机位置
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if(shoot_flag==1)
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{
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CAN_VESC_RPM(0, 10000); //发射电机转速
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CAN_VESC_RPM(1, 10000); //发射电机转速
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if(trigger_flag == 1)
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{
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trigger_pos(pos); //扳机电机转速
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trigger_flag = 0;
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}
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}
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else if(shoot_flag == 0)
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{
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CAN_VESC_RPM(0, 0); //发射电机转速
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CAN_VESC_RPM(1, 0); //发射电机转速
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trigger_pos(0); //扳机电机转速
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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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