task_updown.c

本人s12的一部分机器人巡线程序

#include "includes.h"
#define EXT extern
#include "main.h"


#pragma CODE_SEG Task_UpdownCode	//save Task1 code in banked flash
//#pragma STRING_SEG Task1Code	//save Task1 string in banked flash
void Task_Updown(TASKDATA* pdata); //手臂升降动作任务

void Task_Updown(TASKDATA* pdata)
{
	#if OS_CRITICAL_METHOD == 3
	OS_CPU_SR cpu_sr;
	#endif

	INT8U err;	
	uchar i=0;
	for(;;)
	{
	      OSTimeDlyHMSM(0,0,0,200);
	   if(Key_TaskUpdown_EN==TRUE)
	    {
	      
	      Key_TaskUpdown_EN=FALSE;
	      Key_TaskStart_EN=TRUE;
	    }
	 }
	
}
#pragma CODE_SEG DEFAULT
//#pragma STRING_SEG DEFAULT