task_snatch.c

来自「本人s12的一部分机器人巡线程序」· C语言 代码 · 共 39 行

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


#pragma CODE_SEG Task_SnatchCode	//save Task1 code in banked flash
//#pragma STRING_SEG Task1Code	//save Task1 string in banked flash
void Task_Snatch(TASKDATA* pdata); //手臂抓取动作任务
void Task_Snatch(TASKDATA* pdata)
{
	#if OS_CRITICAL_METHOD == 3
	OS_CPU_SR cpu_sr;
	#endif

	INT8U err;	
	uchar i=0;
	for(;;)
	{
		OSTimeDlyHMSM(0,0,1,0);
    if(i>=100)i=0;

	   if(Key_TaskSnatch_EN==TRUE)
	    {
	      OSTimeDlyHMSM(0,0,2,0);
	      PORTB=i++;
	    }
	   if(i==10)
	    {
	      i=0;
	      Key_TaskSnatch_EN=FALSE;
	      OSTimeDlyHMSM(0,0,2,0);
	      Key_TaskStart_EN=TRUE;
	    }
//	   PORTB=i++;		                            	
	}
	
}
#pragma CODE_SEG DEFAULT
//#pragma STRING_SEG DEFAULT