/*
 * paint_gun_action.c
 *
 *  Created on: 2025年8月7日
 *      Author: xsq
 */
#include "paint_gun_action.h"
#include "Handset_Status_Setting.h"
#include "msp_strain_gauge.h"

#include "fsm_state.h"
#include "BHBF_ROBOT.h"
transition_t   current_paintgun_state;   	 /*transition_t 成员是 指针的 transition_state_t */

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 */
transition_state_t   paintgun_off_state={PaintGun_OFF_Enter,PaintGun_OFF_Do,NULL};

char Paint_Gun_ButtonReset_Flag = 0;		//喷枪开启 1yes

/* 喷枪控制 */
void PaintGun_ON_Do()
{
	GF_BSP_GPIO_SetIO(PaintGun_IO_CTL, K_ON_PaintGun);//0开
}

void PaintGun_OFF_Do()
{
	GF_BSP_GPIO_SetIO(PaintGun_IO_CTL, K_OFF_PaintGun);//1关
}

void PaintGun_ON_Enter()
{

}
void PaintGun_ON_Exit()
{

}
void PaintGun_OFF_Enter()
{


}
void PaintGun_OFF_Exit()
{

}

IO_State   curr_io_state;
//无压力传感器数值下控制推杆函数
void PaintGun_Contronl()
{
	GV.Now_press=strainGaugeValue->Pressure;
	curr_io_state  = GetIOState();
	if(curr_io_state==IO_STATE_RISE)
	{
		strainGaugeValue->MotorControl=1;

	}
	else if(curr_io_state==IO_STATE_DESCEND)
	{
		strainGaugeValue->MotorControl=2;

	}
	else
	{
		strainGaugeValue->MotorControl=0;
	}
}


//有压力传感器数值下控制推杆函数
void PaintGun_Contronl_Press()
{
	GV.Now_press=strainGaugeValue->Pressure;
	curr_io_state  = GetIOState();
	if(curr_io_state==IO_STATE_RISE)
	{

//		if(strainGaugeValue->Pressure>(-GV.PV.Robot_Press_Set))
//		{
//			strainGaugeValue->MotorControl=1;
//		}
		strainGaugeValue->MotorControl=1;
	}
	else if(curr_io_state==IO_STATE_DESCEND)
	{

		if(strainGaugeValue->Pressure<=(GV.PV.Robot_Press_Set*10))
		{
			strainGaugeValue->MotorControl=2;
		}
		else
		{
			strainGaugeValue->MotorControl=0;
		}
	}
	else
	{
		strainGaugeValue->MotorControl=0;
	}
}