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103 lines
1.9 KiB
103 lines
1.9 KiB
3 weeks ago
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/*
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* paint_gun_action.c
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*
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* Created on: 2025年8月7日
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* Author: xsq
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*/
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#include "paint_gun_action.h"
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#include "Handset_Status_Setting.h"
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#include "msp_strain_gauge.h"
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#include "fsm_state.h"
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#include "BHBF_ROBOT.h"
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transition_t current_paintgun_state; /*transition_t 成员是 指针的 transition_state_t */
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transition_state_t paintgun_on_state={PaintGun_ON_Enter,PaintGun_ON_Do,NULL}; /* State 成员，它会被默认初始化为 0 */
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transition_state_t paintgun_off_state={PaintGun_OFF_Enter,PaintGun_OFF_Do,NULL};
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char Paint_Gun_ButtonReset_Flag = 0; //喷枪开启 1yes
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/* 喷枪控制 */
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void PaintGun_ON_Do()
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{
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GF_BSP_GPIO_SetIO(PaintGun_IO_CTL, K_ON_PaintGun);//0开
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}
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void PaintGun_OFF_Do()
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{
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GF_BSP_GPIO_SetIO(PaintGun_IO_CTL, K_OFF_PaintGun);//1关
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}
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void PaintGun_ON_Enter()
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{
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}
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void PaintGun_ON_Exit()
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{
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}
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void PaintGun_OFF_Enter()
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{
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}
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void PaintGun_OFF_Exit()
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{
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}
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IO_State curr_io_state;
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//无压力传感器数值下控制推杆函数
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void PaintGun_Contronl()
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{
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GV.Now_press=strainGaugeValue->Pressure;
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curr_io_state = GetIOState();
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if(curr_io_state==IO_STATE_RISE)
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{
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strainGaugeValue->MotorControl=1;
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}
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else if(curr_io_state==IO_STATE_DESCEND)
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{
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strainGaugeValue->MotorControl=2;
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}
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else
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{
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strainGaugeValue->MotorControl=0;
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}
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}
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//有压力传感器数值下控制推杆函数
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void PaintGun_Contronl_Press()
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{
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GV.Now_press=strainGaugeValue->Pressure;
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curr_io_state = GetIOState();
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if(curr_io_state==IO_STATE_RISE)
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{
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// if(strainGaugeValue->Pressure>(-GV.PV.Robot_Press_Set))
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// {
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// strainGaugeValue->MotorControl=1;
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// }
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strainGaugeValue->MotorControl=1;
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}
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else if(curr_io_state==IO_STATE_DESCEND)
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{
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if(strainGaugeValue->Pressure<=(GV.PV.Robot_Press_Set*10))
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{
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strainGaugeValue->MotorControl=2;
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}
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else
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{
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strainGaugeValue->MotorControl=0;
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}
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}
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else
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{
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strainGaugeValue->MotorControl=0;
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}
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}
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