32 lines
804 B
C
32 lines
804 B
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 "shoot_task.h"
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#include "odrive_shoot.h"
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#include "remote_control.h"
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extern RC_mess_t RC_mess;
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const odrive_msg_t *odrive_msg1;
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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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// odrive_CB();
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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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shootStep();
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odrive_get_encode(AXIS0_NODE);
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odrive_msg1 = Get_Odrive_Point();
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osDelay(2);
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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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