From 32cededb2c28150ddc2f6afce2704207ab2abf07 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Sat, 9 May 2026 16:52:24 +0800
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---
 diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index 9e6cf6f..8d223a9 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -240,6 +240,14 @@ void Automatic_Laser_Scanning()
         }
         #endif
     }
+    else if (GV.MK32_Key.CH7_SD == -1000)
+    {
+        ScanTimeCount = HAL_GetTick();
+        ScanState = RISE_KINFE_STATE;
+        CurrentMoveState = Move_HALT;
+        CurrentFrontEndState = HALT_STATE;
+        MaxLaserSensor = 10000;// 恢复非法值
+    }
     else
     {
         ScanTimeCount = HAL_GetTick();
@@ -254,11 +262,11 @@ void Automatic_Laser_Scanning()
 #define knife_rising_height 500 // 自动作业停止后默认上升高度为5mm
 uint8_t auto_work_mode_states = 5;
 uint8_t auto_work_halt_states = 10; 
+int32_t knife_current_altitude = 0; // 激光1读数
 
 void Automatic_Operation()
 {
     static int knife_flag = 1;
-    int32_t knife_current_altitude = 0; // 激光1读数
     uint8_t IsAllowRotation_AutoMode = 0; // 是否允许转刀
 
     if (-255 == knife_descent_height)