27 lines
815 B
C
27 lines
815 B
C
#ifndef SHOOT_H
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#define SHOOT_H
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#include <stdint.h>
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/* 发射机构:摩擦轮 2×M3508(0x200 CAN1 槽1/2)+ 拨弹 M2006(0x200 CAN2 槽1)
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* 摩擦轮开启时联动激光(PC8,经 TIM3 CH3 PWM) */
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/* 初始化摩擦轮/拨弹 PID(can_start 之后调用) */
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extern void shoot_init(void);
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/* 发射控制(2ms 调用)
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* friction_on:摩擦轮开关;fire:发射;eject:退弹
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* shooter_power_on:发射机构上电状态(来自底盘 0x019) */
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extern void shoot_control(uint8_t friction_on, uint8_t fire, uint8_t eject, uint8_t shooter_power_on);
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/* 发送摩擦轮(0x200 CAN1)与拨弹(0x200 CAN2)电流帧 */
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extern void shoot_send_cmd(void);
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/* 摩擦轮输出清零 */
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extern void shoot_output_zero(void);
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/* 摩擦轮当前开关状态(供激光联动与调试) */
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extern uint8_t shoot_friction_flag;
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#endif
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