【编译通过】刀具步进距离改成0.1mm，车速增加了向后拨SA两倍速

diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1176489531039869698" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1285086684231165940" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1176489531039869698" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1285086684231165940" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/FSM.h

@@ -15,6 +15,7 @@ typedef enum _MoveSTATE_t
 	Move_HALT=0,
 	Manual_State,
 	low_Speed_Manual_State,
+    high_Speed_Manual_State,
 	AUTO_FORWARD,
     AUTO_BACKWARD
 } MoveSTATE_t;

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/robot_state.h

@@ -17,6 +17,7 @@ extern double Act_Speed;
 //  ********机器人本体***********
 extern void Manual_State_Do(void);
 extern void low_Speed_Manual_State_Do(void);
+extern void high_Speed_Manual_State_Do(void);
 extern void HALT_State_Do(void);
 extern void auto_forward_state_do(void);
 extern void auto_backward_state_do(void);

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -35,6 +35,7 @@ transition_t MoveTransitions[] =
 	{ Move_HALT, HALT_State_Do },
 	{ Manual_State, Manual_State_Do },
 	{ low_Speed_Manual_State, low_Speed_Manual_State_Do},
+	{ high_Speed_Manual_State, high_Speed_Manual_State_Do},
 	{ AUTO_FORWARD, auto_forward_state_do},
     { AUTO_BACKWARD, auto_backward_state_do}
 };
@@ -583,6 +584,10 @@ void Robot_Control()
 	{
 		CurrentMoveState = low_Speed_Manual_State;
 	}
+    else
+    {
+        CurrentMoveState = high_Speed_Manual_State;
+    }
 }
 
 

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c

@@ -244,6 +244,98 @@ void low_Speed_Manual_State_Do(void)
 	GV.RightBackMotor.Target_Velcity = R2_Speed_Con * Ref_Speed;
 }
 
+void high_Speed_Manual_State_Do(void)
+{
+	double Rocker_Range=2000;		//摇杆范围
+	double X_Value_1=0;
+	double Y_Value_1=0;
+	double X_Value_2=0;
+	double Y_Value_2=0;
+
+	//右前电机
+	double R1_Speed_Con=0;
+	//左前电机
+	double L1_Speed_Con=0;
+	//右后电机
+	double R2_Speed_Con=0;
+	//左后电机
+	double L2_Speed_Con=0;
+
+	//CH0_RY_H [-1000,1000]
+	X_Value_1=GV.MK32_Key.CH3_LY_H+0.00001;
+	//CH1_RY_V [-1000,1000]
+	Y_Value_1=GV.MK32_Key.CH2_LY_V+0.00001;
+	//归一化
+	X_Value_2=X_Value_1 / Rocker_Range;
+	Y_Value_2=Y_Value_1 / Rocker_Range;
+
+	//摇杆角度
+	double Rocker_angle  = atan(Y_Value_2 / X_Value_2);
+
+	if((GV.MK32_Key.CH10_LD1 >= -1000) && (GV.MK32_Key.CH10_LD1 <= 1000))
+	{
+		speedAdj = -995.0f + (GV.MK32_Key.CH10_LD1 + 1000.0f) * 0.005f;
+		Speed_Ctrl =  ((speedAdj + 1000) * 360 / 1000);
+	}
+
+	Ref_Speed =   Speed_Ctrl;
+	Act_Speed = 2*Speed_Ctrl;
+	if(Ref_Speed >= 5000) Ref_Speed = 5000;
+
+	if(fabs(Rocker_angle) > PI*0.35)
+	{
+		//前后行驶
+		if(GV.MK32_Key.CH2_LY_V > 0)
+		{
+			//前进
+			R1_Speed_Con = -1;
+			L1_Speed_Con = 1;
+			R2_Speed_Con = -1;
+			L2_Speed_Con = 1;
+		}
+		else if(GV.MK32_Key.CH2_LY_V < 0)
+		{
+			//后退
+			R1_Speed_Con = 1;
+			L1_Speed_Con = -1;
+			R2_Speed_Con = 1;
+			L2_Speed_Con = -1;
+		}
+	}
+	else if(fabs(Rocker_angle) < PI*0.15)
+	{
+		if(GV.MK32_Key.CH3_LY_H > 0)
+		{
+
+			//右转前行
+			R1_Speed_Con = -0.35;
+			L1_Speed_Con = 1;
+			R2_Speed_Con = -0.35;
+			L2_Speed_Con = 1;
+		}
+		else if(GV.MK32_Key.CH3_LY_H <= 0)
+		{
+			//左转前行
+			R1_Speed_Con = -1;
+			L1_Speed_Con = 0.35;
+			R2_Speed_Con = -1;
+			L2_Speed_Con = 0.35;
+		}
+	}
+	else
+	{
+		R1_Speed_Con = 0;
+		L1_Speed_Con = 0;
+		R2_Speed_Con = 0;
+		L2_Speed_Con = 0;
+	}
+	GV.LeftFrontMotor.Target_Velcity = L1_Speed_Con * Ref_Speed;
+	GV.RightFrontMotor.Target_Velcity = R1_Speed_Con * Ref_Speed;
+	GV.LeftBackMotor.Target_Velcity = L2_Speed_Con * Ref_Speed;
+	GV.RightBackMotor.Target_Velcity = R2_Speed_Con * Ref_Speed;
+}
+
+
 void HALT_State_Do(void)
 {
 	GV.LeftFrontMotor.Target_Velcity = 0;
@@ -367,7 +459,7 @@ void Manual_low_speed_Down_State_Do(void)
     LimitDownPosition();
 }
 
-#define STEP_LEN_COUNT 20000 // 位置环每20000个count对应1mm
+#define STEP_LEN_COUNT 2000 // 位置环每2000个count对应0.1mm
 
 void Manual_step_Up_State_Do(void)
 {

diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml

@@ -683,7 +683,7 @@
                                 android:layout_height="match_parent"
                                 android:layout_weight="1"
                                 android:gravity="center"
-                                android:text="mm"
+                                android:text="10⁻¹ mm"
                                 android:textColor="@color/dark_ink_blue"
                                 android:textSize="15dp" />
                         </LinearLayout>