revert^2_T-T

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,
         };

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) {
-  
+    /*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_cmd.online	=shoot_ctrl_cmd_rc.online;
+	shoot.mode		=shoot_ctrl_cmd_rc.mode;
-	  shoot_cmd.ready	=shoot_ctrl_cmd_rc.shoot.ready;
+	osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
-	  shoot_cmd.firecmd	=shoot_ctrl_cmd_rc.shoot.firecmd;
+	Shoot_UpdateFeedback(&shoot);
-	  
+	Shoot_Control(&shoot,&shoot_cmd);
-	  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);
   }
-}
+}*/
-*******************************************************************************/
+/****************************************************************************/
-
 
 /* Includes ----------------------------------------------------------------- */
 #include <string.h>
@@ -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;

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 */
+  }
+  
+}