diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_Strong_grinding_machine.h b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_Strong_grinding_machine.h
new file mode 100644
index 0000000..e1ac9fa
--- /dev/null
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_Strong_grinding_machine.h
@@ -0,0 +1,20 @@
+/*
+ * msp_Strong_grinding_machine.h
+ *
+ * Created on: 2026年3月27日
+ * Author: 13752
+ */
+
+#ifndef BASE_INC_MSP_MSP_STRONG_GRINDING_MACHINE_H_
+#define BASE_INC_MSP_MSP_STRONG_GRINDING_MACHINE_H_
+
+#include "bsp_UART.h"
+#include "BHBF_ROBOT.h"
+#include "msp_zhr29_200_laser_sensor.pb.h"
+#include "bsp_MB_host.h"
+
+extern uint8_t strong_grinding_machine_cmd;
+
+extern void strong_grinding_machine_intialize(struct UARTHandler *Handler);
+
+#endif /* BASE_INC_MSP_MSP_STRONG_GRINDING_MACHINE_H_ */
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c
new file mode 100644
index 0000000..1bd9ca6
--- /dev/null
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c
@@ -0,0 +1,88 @@
+/*
+ * msp_Strong_grinding_machine.c
+ *
+ * Created on: 2026年3月27日
+ * Author: 13752
+ */
+
+
+#include "msp_Strong_grinding_machine.h"
+
+static struct UARTHandler *Strong_grinding_machine_handler;
+static DispacherController *Strong_grinding_machine_dispacherController;
+
+static void Strong_grinding_machine_cmd(void);
+//static void decode_Strong_grinding_machine(uint8_t *buffer, uint16_t length);
+
+static const uint8_t inquiry_interval = 50;
+
+void strong_grinding_machine_intialize(struct UARTHandler *Handler)
+{
+ Strong_grinding_machine_handler = Handler;
+
+ Strong_grinding_machine_handler->Wait_time = 10;
+
+ Strong_grinding_machine_dispacherController = Handler->dispacherController;
+ Strong_grinding_machine_dispacherController->Dispacher_Enable = 1;
+ Strong_grinding_machine_dispacherController->DispacherCallTime = 100;
+ Strong_grinding_machine_dispacherController->Add_Dispatcher_List(Strong_grinding_machine_dispacherController,
+ Strong_grinding_machine_cmd);
+}
+
+// 测试，转速20rpm
+const uint8_t strong_grinding_machine_set_speed_cmd[8] = {0x01, 0x06, 0x00, 0x02, 0x00, 0x14, 0x28, 0x05};
+const uint8_t strong_grinding_machine_start_cmd[8] = {0x01, 0x06, 0x00, 0x01, 0x08, 0x82, 0x5F, 0xAB};
+const uint8_t strong_grinding_machine_stop_cmd[8] = {0x01, 0x06, 0x00, 0x01, 0x08, 0x81, 0x1F, 0xAA};
+
+static uint8_t strong_grinding_machine_cmd_flag = 0;
+uint8_t strong_grinding_machine_cmd = 0;
+const uint16_t strong_grinding_machine_speed = 20;
+
+void Strong_grinding_machine_cmd(void)
+{
+ switch(strong_grinding_machine_cmd_flag)
+ {
+ case 0:
+
+ MB_WriteHoldingReg(&Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+ 0x01, 0x0002, strong_grinding_machine_speed);
+// Strong_grinding_machine_handler->TxCount = 8;
+// memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_set_speed_cmd, Strong_grinding_machine_handler->TxCount);
+ Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+ inquiry_interval, NULL);
+ strong_grinding_machine_cmd_flag = 1;
+ break;
+ case 1:
+ if(strong_grinding_machine_cmd == 0)
+ {
+ Strong_grinding_machine_handler->TxCount = 8;
+ memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_stop_cmd, Strong_grinding_machine_handler->TxCount);
+ Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+ inquiry_interval, NULL);
+ }
+ else if(strong_grinding_machine_cmd == 1)
+ {
+ Strong_grinding_machine_handler->TxCount = 8;
+ memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_start_cmd, Strong_grinding_machine_handler->TxCount);
+ Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+ inquiry_interval, NULL);
+ }
+ else{
+
+ }
+ strong_grinding_machine_cmd_flag = 0;
+ break;
+ }
+
+}
+
+
+
+
+
+
+
+
+
+
+
diff --git a/diaoerqiege/雷赛CAN指令.txt b/diaoerqiege/雷赛CAN指令.txt
deleted file mode 100644
index 0e0f735..0000000
--- a/diaoerqiege/雷赛CAN指令.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-CAN指令
-
-81 00 00 00 00 00 00 00 复位所有节点
-
-01 00 00 00 00 00 00 00 启动所有节点的远程控制
-
-
-步骤1（复位节点）和步骤2（启动节点）的帧ID是“0x0000”，其余的步骤的帧ID为SDO的地址0X0600+节点号
-
-
-2b 40 60 00 06 00 00 00 写控制字06H，状态机切换状态
-
-2b 40 60 00 07 00 00 00 写控制字07H，状态机切换状态
-
-2b 40 60 00 0f 00 00 00 写控制字0FH，状态机切换状态
-
-
-一、速度模式发以下指令
-
-2f 60 60 00 03 00 00 00 速度模式
-
-23 ff 60 00 A0 86 01 00 正转
-
-23 ff 60 00 60 79 FE FF 反转
-
-23 ff 60 00 00 00 00 00 停车
-
-
-
-
-二、位置模式发以下指令
-2f 60 60 00 01 00 00 00 位置模式
-
-23 81 60 00 A0 86 01 00 写速度
-
-23 7a 60 00 A0 86 01 00 正转10圈（5mm）
-
-23 7a 60 00 60 79 FE FF 反转10圈（5mm）
-
-23 7a 60 00 C0 D4 01 00 正转12圈（6mm）
-
-23 7a 60 00 40 2B FE FF 反转12圈（6mm）
-
-2b 40 60 00 4f 00 00 00 设置为相对运动模式
-
-2b 40 60 00 5f 00 00 00 电机开始运动
-
diff --git a/guohuafengdian/Paint----6(1)/Paint_(1)/.settings/language.settings.xml b/guohuafengdian/Paint----6(1)/Paint_(1)/.settings/language.settings.xml
index c4e0419..a0c1f28 100644
--- a/guohuafengdian/Paint----6(1)/Paint_(1)/.settings/language.settings.xml
+++ b/guohuafengdian/Paint----6(1)/Paint_(1)/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/guohuafengdian/Paint----6(1)/Paint_(1)/.settings/stm32cubeide.project.prefs b/guohuafengdian/Paint----6(1)/Paint_(1)/.settings/stm32cubeide.project.prefs
index c3eed36..c6876fe 100644
--- a/guohuafengdian/Paint----6(1)/Paint_(1)/.settings/stm32cubeide.project.prefs
+++ b/guohuafengdian/Paint----6(1)/Paint_(1)/.settings/stm32cubeide.project.prefs
@@ -1,6 +1,6 @@
-2F62501ED4689FB349E356AB974DBE57=1E2381E617183AADF4456CCD6D53D61D
+2F62501ED4689FB349E356AB974DBE57=A84465D0AB7FC85C43037569F99B7E82
635E684B79701B039C64EA45C3F84D30=0A24CDD2C9C910977CCC6D7CA9CB0612
66BE74F758C12D739921AEA421D593D3=0
-8DF89ED150041C4CBC7CB9A9CAA90856=1E2381E617183AADF4456CCD6D53D61D
-DC22A860405A8BF2F2C095E5B6529F12=BFAB4159B488818C3ED3C0C9D5058F5A
+8DF89ED150041C4CBC7CB9A9CAA90856=A84465D0AB7FC85C43037569F99B7E82
+DC22A860405A8BF2F2C095E5B6529F12=87EF6E86AD82C44D77A3A904E01D2A08
eclipse.preferences.version=1
diff --git a/jueyuanzijiance/Insulator_Inspection/.settings/language.settings.xml b/jueyuanzijiance/Insulator_Inspection/.settings/language.settings.xml
index aa5b143..645d148 100644
--- a/jueyuanzijiance/Insulator_Inspection/.settings/language.settings.xml
+++ b/jueyuanzijiance/Insulator_Inspection/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/jueyuanzijiance/Insulator_Inspection/.settings/stm32cubeide.project.prefs b/jueyuanzijiance/Insulator_Inspection/.settings/stm32cubeide.project.prefs
index 3aa0975..b373cf1 100644
--- a/jueyuanzijiance/Insulator_Inspection/.settings/stm32cubeide.project.prefs
+++ b/jueyuanzijiance/Insulator_Inspection/.settings/stm32cubeide.project.prefs
@@ -1,6 +1,6 @@
-2F62501ED4689FB349E356AB974DBE57=C1FAD6334016FA4DBFEEBFD567ADCF8D
+2F62501ED4689FB349E356AB974DBE57=072A9A3C3EA2FF5DA5BFC344F13F526F
635E684B79701B039C64EA45C3F84D30=0A24CDD2C9C910977CCC6D7CA9CB0612
66BE74F758C12D739921AEA421D593D3=0
-8DF89ED150041C4CBC7CB9A9CAA90856=C1FAD6334016FA4DBFEEBFD567ADCF8D
-DC22A860405A8BF2F2C095E5B6529F12=68A7121F69F6593E9817CACB2B0CB8AF
+8DF89ED150041C4CBC7CB9A9CAA90856=072A9A3C3EA2FF5DA5BFC344F13F526F
+DC22A860405A8BF2F2C095E5B6529F12=87EF6E86AD82C44D77A3A904E01D2A08
eclipse.preferences.version=1