48 lines
1.0 KiB
C
48 lines
1.0 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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extern RC_mess_t RC_mess;
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Encoder_t encoder;
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double angles;
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int32_t rounds;
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int angleo = 0; //发射角度
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#define GO1_SHOOT 0
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#define ODRIVE_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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Encoder_Init(&encoder);
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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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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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shootStep();
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//shoot_odrive(angleo);
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#endif
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// 更新编码器数据
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Update_Encoder(&encoder);
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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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