回退之前的临时修改

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -102,7 +102,7 @@ void Mode_Control()
 {
     if (0 == Mode_Init)
     {
-        Mode_Select_State = INIT_OPERATION;
+        Mode_Select_State = MANUAL_OPERATION;
     }
     else
     {
@@ -145,34 +145,28 @@ void Mode_Control()
 }
 
 extern uint8_t Pin2;
-extern uint8_t Test1;
+extern uint8_t Pin3;
+
 
 void IO_Control()
 {
-	//GF_BSP_GPIO_SetIO(4, 1);
+	GF_BSP_GPIO_SetIO(4, 1);
 
 	if(StrongGrindingMachineCurrentState == STRONG_GRINDING_MACHINE_MOTION_STATE)
 	{
-		//GF_BSP_GPIO_SetIO(5, 0);
+		GF_BSP_GPIO_SetIO(5, 0);
 	}
 	else if(StrongGrindingMachineCurrentState == STRONG_GRINDING_MACHINE_HALT_STATE)
 	{
-		//GF_BSP_GPIO_SetIO(5, 1);
+		GF_BSP_GPIO_SetIO(5, 1);
 	}
 	else{
 
 	}
 
     Pin2 = GF_BSP_GPIO_ReadIO(2);
-    Test1 = GF_BSP_GPIO_ReadIO(3);
-    if (!Test1)
-    {
-        GF_BSP_GPIO_SetIO(5, 0);
-    }
-    else
-    {
-        GF_BSP_GPIO_SetIO(5, 1);
-    }
+    Pin3 = GF_BSP_GPIO_ReadIO(3);
+
 }
 
 void Automatic_Init()

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c

@@ -154,7 +154,7 @@ int main(void)
   MX_LPUART1_UART_Init();
   MX_ADC2_Init();
   /* USER CODE BEGIN 2 */
-  //GF_BSP_GPIO_SetIO(5,1);
+  GF_BSP_GPIO_SetIO(5,1);
   DLT_LOG_ENABLE_LEVEL=0;//7 send all information  0 send nothing
   Error_Detect_Intialzie(3000);//every 1 seconds
   HAL_Delay(5000);
@@ -276,9 +276,9 @@ void CV_GV_Init()
 	strong_grinding_machine_cmd = 0;
 	// 电��默认关闭
     GF_BSP_GPIO_SetIO(3, 1);
-    //GF_BSP_GPIO_SetIO(4, 1);
+    GF_BSP_GPIO_SetIO(4, 1);
 	// 冷�通气�默认关闭，动作与主轴�步
-	//GF_BSP_GPIO_SetIO(5, 1);
+	GF_BSP_GPIO_SetIO(5, 1);
 
 	//Error Config
 	SystemErrorData= &GV.SystemErrorData;//send to upper computer

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c

@@ -360,7 +360,7 @@ const uint32_t up_limit = 6200;
 const uint8_t down_limit = 0;
 
 uint8_t Pin2 = -1; //上限位，为0表示限位触发 
-uint8_t Test1 = 0;
+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
 int StrongSingleShotFlag = 0;
@@ -371,6 +371,11 @@ extern uint8_t Mode_Init;// 初始化时第一次升刀的流程
 
 static void LimitDownPosition(void)
 {
+    if (!Pin3)
+    {
+		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+    }
+
     if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
     {
         GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停