【调通打标】

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
     {

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)