diff --git a/User/module/config.c b/User/module/config.c index ab8599e..5c5606b 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -142,7 +142,7 @@ int8_t Config_ShootInit(void) { .id = 0x201 + i, .module = MOTOR_M3508, /*设置电机反装；example*********************** - .reverse = (i == 0||1||3||5) ? true : false,*/ + .reverse = (i == 0||i == 2) ? true : false,*/ .reverse = (i == 1) ? true : false, .gear = false, }; diff --git a/User/module/shoot_control.c b/User/module/shoot_control.c index 99ba723..7b468ea 100644 --- a/User/module/shoot_control.c +++ b/User/module/shoot_control.c @@ -1,10 +1,40 @@ /* * far♂蛇模块 */ - -/********************************* 使用示例 **********************************/ + +/****************************************************************************/ +/********************************* 新手教程 **********************************/ + /*1.配置config参数以及Config_ShootInit函数参数*/ -/*2. +/*2.在cmd任务中获取遥控器数据，如下解析后发送给shoot任务 +DEVICE_AT9S_t at9s_from_rc; +Shoot_CMD_t cmd_for_shoot; +osMessageQueueGet(task_runtime.msgq.cmd.rc, &at9s_from_rc, NULL, 0); + + switch (at9s_from_rc.data.key_C) { + case AT9S_CMD_SW_DOWN: + cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.ready = true; + cmd_for_shoot.firecmd = true; + break; + case AT9S_CMD_SW_MID: + cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.ready = true; + cmd_for_shoot.firecmd = false; + break; + case AT9S_CMD_SW_UP: + cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.ready = false; + cmd_for_shoot.firecmd = false; + break; + default: + cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.ready = false; + cmd_for_shoot.firecmd = false; + break; + } + osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 0, 0);*/ +/*3.在shoot任务中完成初始化，接收控制指令以及控制函数调用 COMP_AT9S_CMD_t shoot_ctrl_cmd_rc; Shoot_t shoot; Shoot_CMD_t shoot_cmd; @@ -13,22 +43,18 @@ void Task(void *argument) { Config_ShootInit(); Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ); - Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); 初始化一个模式 + /*关于模式切换，有两种方式：1.初始化一个模式 + Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); while (1) { - - shoot_cmd.online =shoot_ctrl_cmd_rc.online; - shoot_cmd.ready =shoot_ctrl_cmd_rc.shoot.ready; - shoot_cmd.firecmd =shoot_ctrl_cmd_rc.shoot.firecmd; - - shoot.mode =shoot_ctrl_cmd_rc.mode; 或者用遥控器随时切换模式；二选一 - - Chassis_UpdateFeedback(&shoot); - Shoot_Control(&shoot,&shoot_cmd); + /*关于模式切换，有两种方式：2.或者用遥控器某一摇杆随时切换模式 + shoot.mode =shoot_ctrl_cmd_rc.mode; + osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0); + Shoot_UpdateFeedback(&shoot); + Shoot_Control(&shoot,&shoot_cmd); } -} -*******************************************************************************/ - +}*/ +/****************************************************************************/ /* Includes ----------------------------------------------------------------- */ #include @@ -39,7 +65,6 @@ void Task(void *argument) { #include "component/user_math.h" /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ -#define WONDERFUL_COMPENSATION_FORHERO 0.010478f//给英雄做的补偿 /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ static bool last_firecmd; @@ -184,8 +209,6 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd) { s->anglecalu.time_last_shoot=s->now; CircleAdd(&s->target_variable.target_angle, M_2PI/s->param->num_trig_tooth, M_2PI); - if(s->param->trig_motor_param.module==MOTOR_M3508){ - s->target_variable.target_angle+=WONDERFUL_COMPENSATION_FORHERO;} s->anglecalu.num_to_shoot--; } return SHOOT_OK; diff --git a/User/task/cmd.c b/User/task/cmd.c new file mode 100644 index 0000000..b23992e --- /dev/null +++ b/User/task/cmd.c @@ -0,0 +1,74 @@ +/* + cmd Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ +#include "device/at9s_pro.h" +#include "module/config.h" +#include "module/shoot.h" + +//#define DEAD_AREA 0.05f +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ +DEVICE_AT9S_t at9s_from_rc; +Shoot_CMD_t cmd_for_shoot; +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +void Task_cmd(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + /* 计算任务运行到指定频率需要等待的tick数 */ + const uint32_t delay_tick = osKernelGetTickFreq() / CMD_FREQ; + + osDelay(CMD_INIT_DELAY); /* 延时一段时间再开启任务 */ + + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ + /* USER CODE INIT BEGIN */ + + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + osMessageQueueGet(task_runtime.msgq.cmd.rc, &at9s_from_rc, NULL, 0); + + switch (at9s_from_rc.data.key_C) { + case AT9S_CMD_SW_DOWN: + cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.ready = true; + cmd_for_shoot.firecmd = true; + break; + case AT9S_CMD_SW_MID: + cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.ready = true; + cmd_for_shoot.firecmd = false; + break; + case AT9S_CMD_SW_UP: + cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.ready = false; + cmd_for_shoot.firecmd = false; + break; + default: + cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.ready = false; + cmd_for_shoot.firecmd = false; + break; + } + osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 0, 0); + + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} \ No newline at end of file