32 lines
804 B
C
32 lines
804 B
C
#include "shoot_task.h"
|
||
#include "TopDefine.h"
|
||
#include "FreeRTOS.h"
|
||
#include "attrTask.h"
|
||
#include <cmsis_os2.h>
|
||
#include "shoot_task.h"
|
||
#include "odrive_shoot.h"
|
||
#include "remote_control.h"
|
||
|
||
extern RC_mess_t RC_mess;
|
||
const odrive_msg_t *odrive_msg1;
|
||
void Task_Shoot(void *argument)
|
||
{
|
||
(void)argument; /* 未使用argument,消除警告 */
|
||
// const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
|
||
// odrive_CB();
|
||
// uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
|
||
while(1)
|
||
{
|
||
shootStep();
|
||
|
||
odrive_get_encode(AXIS0_NODE);
|
||
|
||
odrive_msg1 = Get_Odrive_Point();
|
||
osDelay(2);
|
||
|
||
|
||
// tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||
// osDelayUntil(tick); /* 运行结束,等待下一个周期唤醒 */
|
||
}
|
||
}
|