From 2948c5fcafd041180f1bf9ebef0f4094c7de7288 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Fri, 22 May 2026 11:17:54 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E8=B0=83=E9=80=9A=E6=89=93=E6=A0=87?=
 =?UTF-8?q?=E3=80=91?=
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---
 diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c   |  2 +-
 .../BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c   | 13 ++++++++++++-
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index 4b32245..ba52fad 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -101,7 +101,7 @@ void Mode_Control()
 {
     if (0 == Mode_Init)
     {
-        Mode_Select_State = MANUAL_OPERATION;
+        Mode_Select_State = INIT_OPERATION;
     }
     else
     {
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
index 3f84ae9..5e1f638 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
@@ -424,9 +424,20 @@ void Strong_Grinding_Machine_Halt_State_Do(void)
 	strong_grinding_machine_cmd = 0;
 }
 
+extern uint8_t IsAllowRotation;
+extern int Knife_Detection(void);
+
 void Strong_Grinding_Machine_Motion_State_Do(void)
 {
-	strong_grinding_machine_cmd = 1;
+    IsAllowRotation = Knife_Detection();
+	if(IsAllowRotation == 1)
+    {
+        strong_grinding_machine_cmd = 1;
+    }
+    else
+    {
+        strong_grinding_machine_cmd = 0;
+    }
 }
 
 void auto_forward_state_do(void)