TuxMonkey/bf_original_balance_chassis
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云台跟随，连续发射

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chenfu
2024-05-20 22:22:24 +08:00
parent 4f80821435
commit 0c0d1201ea
12 changed files with 658 additions and 193 deletions
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2
application/robot_task.h
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@@ -93,14 +93,12 @@ __attribute__((noreturn)) void StartDAEMONTASK(void const *argument)
{
static float daemon_dt;
static float daemon_start;
BuzzerInit();
LOGINFO("[freeRTOS] Daemon Task Start");
for (;;)
{
// 100Hz
daemon_start = DWT_GetTimeline_ms();
DaemonTask();
BuzzerTask();
daemon_dt = DWT_GetTimeline_ms() - daemon_start;
if (daemon_dt > 10)
LOGERROR("[freeRTOS] Daemon Task is being DELAY! dt = [%f]", &daemon_dt);