76 lines
2.4 KiB
C
76 lines
2.4 KiB
C
/*
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ctrl_chassis Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "bsp/can.h"
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#include "device/motor.h"
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#include "device/motor_lk.h"
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#include "device/motor_lz.h"
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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MOTOR_LK_Param_t chassis_motor_params[4] = {
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{BSP_CAN_1, 0x201, MOTOR_LK_MF9025, false},
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{BSP_CAN_1, 0x202, MOTOR_LK_MF9025, false},
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{BSP_CAN_1, 0x203, MOTOR_LK_MF9025, false},
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{BSP_CAN_1, 0x204, MOTOR_LK_MF9025, false}
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};
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MOTOR_LK_t *chassis_motors[4] = {NULL, NULL, NULL, NULL};
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_ctrl_chassis(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_CHASSIS_FREQ;
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osDelay(CTRL_CHASSIS_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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BSP_CAN_Init();
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// 注册所有底盘电机
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for (int i = 0; i < 4; i++) {
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MOTOR_LK_Register(&chassis_motor_params[i]);
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}
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// 延时等待电机稳定
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osDelay(100);
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// 开启所有电机
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for (int i = 0; i < 4; i++) {
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MOTOR_LK_MotorOn(&chassis_motor_params[i]);
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}
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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// 更新所有电机数据
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for (int i = 0; i < 4; i++) {
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MOTOR_LK_Update(&chassis_motor_params[i]);
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}
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// 设置电机输出
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MOTOR_LK_SetOutput(&chassis_motor_params[0], 0.5f);
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MOTOR_LK_SetOutput(&chassis_motor_params[1], 0.5f);
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MOTOR_LK_SetOutput(&chassis_motor_params[2], 0.5f);
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MOTOR_LK_SetOutput(&chassis_motor_params[3], 0.5f);
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |