【调通打标】刀具支持步进模式和刀位置显示，需要先手动将到移动到最高点直到位置显示为0后，SB拨到最下边，推右摇杆一次即可前进屏幕配置的步进距离

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/FSM.h

@@ -25,8 +25,9 @@ typedef enum _Front_MoveSTATE_t
 	Manual_UP_STATE,
 	Manual_DOWN_STATE,
 	MANUAL_LOW_SPEED_UP_STATE,
-	MANUAL_LOW_SPEED_DOWN_STATE
+	MANUAL_LOW_SPEED_DOWN_STATE,
-
+    MANUAL_STEP_UP_STATE,
+    MANUAL_STEP_DOWN_STATE
 } Front_MoveSTATE_t;
 
 typedef enum _Strong_Grinding_Machine_MoveSTATE_t

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/robot_state.h

@@ -27,6 +27,8 @@ extern void Manual_Down_State_Do(void);
 extern void FrontEnd_Halt_State_Do(void);
 extern void Manual_Low_Speed_Up_State_Do(void);
 extern void Manual_low_speed_Down_State_Do(void);
+extern void Manual_step_Up_State_Do(void);
+extern void Manual_step_Down_State_Do(void);
 
 // ********强磨机运动控制***********
 extern void Strong_Grinding_Machine_Halt_State_Do(void);

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -46,7 +46,8 @@ transition_t FrontendMoveTransitions[] =
 	{ Manual_DOWN_STATE, Manual_Down_State_Do},
 	{ MANUAL_LOW_SPEED_UP_STATE, Manual_Low_Speed_Up_State_Do},
 	{ MANUAL_LOW_SPEED_DOWN_STATE, Manual_low_speed_Down_State_Do},
-
+    { MANUAL_STEP_UP_STATE, Manual_step_Up_State_Do},
+    { MANUAL_STEP_DOWN_STATE, Manual_step_Down_State_Do}
 };
 
 transition_t StrongGrindingMachineTransitions[] =
@@ -164,15 +165,16 @@ void IO_Control()
 
 }
 
-uint8_t IsAllowRotation_AutoMode = 0; // 是否允许转刀
+#define knife_rising_height 500 // 自动作业停止后默认上升高度为5mm
-int32_t knife_descent_height = 0; // 屏幕配置值转换后
-int32_t knife_rising_height = 500; // 自动作业停止后默认上升高度为5mm
-int32_t knife_current_altitude = 0; // 激光1读数
 uint8_t auto_work_mode_states = 5;
 uint8_t auto_work_halt_states = 10; 
 
 void Automatic_Operation()
 {
+    int32_t knife_descent_height = 0; // 屏幕配置值转换后    
+    int32_t knife_current_altitude = 0; // 激光1读数
+    uint8_t IsAllowRotation_AutoMode = 0; // 是否允许转刀
+
 	knife_descent_height = GV.PV.knife_descending_height * 100;
 
 	if(GV.MK32_Key.CH7_SD == -1000)
@@ -291,8 +293,11 @@ int Knife_Detection(void)
 
 }
 
+extern int32_t KinfePosition;
+
 void Frontend_Control()
 {
+    static int SingleShotFlag = 0;
 	int angle;
 	angle = atan2(GV.MK32_Key.CH1_RY_V, GV.MK32_Key.CH0_RY_H) * 180 / M_PI;
 
@@ -366,7 +371,47 @@ void Frontend_Control()
 
 	}
 	else{
+        // 前进
+		if((angle >= 45) && (angle <= 135))
+		{
+		    if (SingleShotFlag == 0)
+            {
+                CurrentFrontEndState = MANUAL_STEP_UP_STATE;            
+                KinfePosition -= GV.PV.step_len;
+                SingleShotFlag = 1;
+            }      
+			return;
+		}
+		else if(P_MK32->CH3_LY_H > 100)
+		{
+			// 右转
+			if((angle >= -45) && (angle <=45))
+			{
+
+			return;
+			}
+		}
+		// 后退
+		else if((angle >= -135) && (angle < -45))
+		{
+		    if (SingleShotFlag == 0)
+            {
+                CurrentFrontEndState = MANUAL_STEP_DOWN_STATE;
+                KinfePosition += GV.PV.step_len;   
+                SingleShotFlag = 1;
+            }      
+			return;
+		}
+		// 左转
+		else if(((angle > 135) && (angle <= 180)) || (angle < -135) && (angle >= -179))
+		{
 
+			return;
+		}
+		else {
+			CurrentFrontEndState = HALT_STATE;
+            SingleShotFlag = 0;
+		}
 	}
 
 
@@ -375,6 +420,7 @@ void Frontend_Control()
 
 
 double real_speed;
+
 void IV_Control()
 {
 	real_speed = (Act_Speed*360/100/101/6*3.1415926*0.325);
@@ -385,6 +431,7 @@ void IV_Control()
 	IV.laser_sensor_2_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance;
 	IV.laser_sensor_3_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance;
 	IV.kinfe_complete_signal = IsAllowRotation;
+    IV.kinfe_position = KinfePosition;
 }
 
 void Robot_Control()

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c

@@ -231,6 +231,8 @@ const uint8_t down_limit = 0;
 uint8_t Pin2 = -1; //上限位，为0表示限位触发 
 uint8_t Pin3 = -1; //下限位，为0表示限位触发 
 
+int32_t KinfePosition = 1000; // 初始化为一个不合理的大值，等于1000时显示为未标定
+
 void Manual_Up_State_Do(void)
 {
 	int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(SliderSpeed);
@@ -247,6 +249,11 @@ void Manual_Up_State_Do(void)
     if (!Pin2)
     {
         GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+        KinfePosition = 0;
+    }
+    else
+    {
+        KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
     }
 }
 
@@ -267,6 +274,10 @@ void Manual_Down_State_Do(void)
     {
 		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
     }
+    else
+    {
+        KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
+    }
 }
 
 // 定义前端升降电机速度，单位0.1mm/s
@@ -288,6 +299,11 @@ void Manual_Low_Speed_Up_State_Do(void)
     if (!Pin2)
     {
         GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+        KinfePosition = 0;
+    }
+    else
+    {
+        KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
     }
 }
 
@@ -308,11 +324,59 @@ void Manual_low_speed_Down_State_Do(void)
     {
 		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
     }
+    else
+    {
+        KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
+    }
 }
 
+#define STEP_LEN_COUNT 18000 // 位置环每18000个count对应1mm
+
+void Manual_step_Up_State_Do(void)
+{
+	int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(leisai_low_speed);
+	GV.LS_FrontEnd_Motor.Target_Position = GV.LS_FrontEnd_Motor.Real_Position - (GV.PV.step_len * STEP_LEN_COUNT);
+    GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
+
+	/*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance >= up_limit)
+		|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance >= up_limit)
+		|| (GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance >= up_limit))
+	{
+		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+	}*/
+
+    if (!Pin2)
+    {
+        GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+        KinfePosition = 0;
+    }
+    else
+    {
+            }
+}
 
+void Manual_step_Down_State_Do(void)
+{
+	int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(leisai_low_speed);
+	GV.LS_FrontEnd_Motor.Target_Position = GV.LS_FrontEnd_Motor.Real_Position + (GV.PV.step_len * STEP_LEN_COUNT);
+	GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
 
+	/*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance <= down_limit)
+		|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance <= down_limit)
+		|| (GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance <= down_limit))
+	{
+		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+	}*/
 
+    if (!Pin3)
+    {
+		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+    }
+    else
+    {
+             
+    }
+}
 
 void FrontEnd_Halt_State_Do(void)
 {

diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java

@@ -358,7 +358,14 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
                 activityPolish.mainBinding.kinfeSignal.setTextColor(activityPolish.getResources().getColor(android.R.color.holo_red_light));
             }
 
-            activityPolish.mainBinding.kinfePosition.setText(_toReceiveIV1.getKinfePosition());
+            if (_toReceiveIV1.getKinfePosition() == 1000)
+            {
+                activityPolish.mainBinding.kinfePosition.setText("未标定");
+            }
+            else
+            {
+                activityPolish.mainBinding.kinfePosition.setText(String.format("%d", _toReceiveIV1.getKinfePosition()));
+            }
         }
     }