78 lines
1.4 KiB
C
78 lines
1.4 KiB
C
#include "dji_task.h"
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#include "TopDefine.h"//事件组的一些东西
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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 "dji.h"
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#include "read_spi.h"
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#include "vofa.h"
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extern RC_mess_t RC_mess;
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extern int16_t result;
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extern int16_t t_result;
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extern motor_measure_t *trigger_motor_data;
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Encoder_t encoder;
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float vofa[8];
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int speed=0;
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float m=0;
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float trigger_angle_o=0;
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int mode=0;
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/**
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* \brief 电机任务
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*
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* \param argument 未使用
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*/
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void Task_Motor(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_CTRL_CHASSIS;
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motor_init();
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Encoder_Init(&encoder);
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uint32_t tick = osKernelGetTickCount();
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while(1)
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{
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//收到消息队列新数据
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// 更新编码器数据
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Update_Encoder(&encoder);
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m=trigger_angle_o*(8191/360);
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if( mode == THREE )
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{
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//当最高点时进入离合
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if(encoder.round_cnt>=8)
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{
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trigger_angle_o=2;
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trigger_pos(m);
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}
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}
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else if( mode == DZ )
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{
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//退出离合
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trigger_angle_o=0;
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trigger_pos(m);
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}
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CAN_cmd_200(t_result,0,0,0,&hcan1);
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osDelay(2);
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// vofa[0]=motor_3508_data->speed_rpm;
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// vofa[1]=speed;
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// vofa_tx_main(vofa);
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tick += delay_tick;
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osDelayUntil(tick);
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}
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}
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