写入了发弹检测模块，并为电流环控制

2026-10-12 20:19:45 +08:00
parent 67eea77789
commit 4427157df7
14 changed files with 760 additions and 83 deletions
@@ -12,6 +12,7 @@
 #include "shoot.h"
 #include "c_comm.h"
 #include "dr16.h"
+#include "shoot_detect_task.h"

 /* shoot_task(云台板,2ms):摩擦轮/拨弹控制
 * 发射机构上电状态来自底盘 0x019(ctoc_shooter_power) */
@@ -20,6 +21,8 @@ void shoot_task(void const * argument)
 {
    TickType_t last_wake = xTaskGetTickCount();

+    shoot_detect_init();
+
    while (!app_ready)
        osDelay(2);

@@ -30,6 +33,7 @@ void shoot_task(void const * argument)
            shoot_control(cmd_robot.friction_on, cmd_robot.fire, cmd_robot.eject,
                          ctoc_shooter_power);
            shoot_send_cmd();
+            shoot_detect_update();
        }
        else
        {