44 lines
817 B
C
44 lines
817 B
C
#include "go_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 "go.h"
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#include "main.h"
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#include "remote_control.h"
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#include "led.h"
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#include "djiMotor.h"
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#define GOUSE 1
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extern RC_mess_t RC_mess;
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int anglexiaomi = 0;
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void Task_Go(void *argument)
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{
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#if GOUSE==1
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HAL_Delay(500); //一定时间延时 等待电机初始化完成
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init_cybergear(&mi_motor[0], 0x01, Motion_mode);//小米电机 启动!
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//HAL_Delay(2000);
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// gimbalInit();
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//HAL_GPIO_WritePin(ledGreen_GPIO_Port,ledGreen_Pin,GPIO_PIN_RESET);
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while(1)
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{
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LED_green();
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LED_bule();
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motor_controlmode(&mi_motor[0], 0.5, anglexiaomi, 4, 0.5 , 0.5); //小米暂时锁住就行
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// gimbalFlow();
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osDelay(1);
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}
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#else
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while(1)
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{
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}
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#endif
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}
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