From 49087f56056308e2d041bd8f0a30a3bb753686eb Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 29 Oct 2026 11:21:27 +0800
Subject: [PATCH] =?UTF-8?q?=E5=90=8A=E8=80=B3=E5=88=87=E5=89=B2=E3=80=90?=
 =?UTF-8?q?=E8=B0=83=E9=80=9A=E6=89=93=E6=A0=87=E3=80=91=E7=94=A8IO?=
 =?UTF-8?q?=E6=8E=A7=E5=88=B6=E6=B0=B4=E5=B9=B3=E6=BB=91=E5=8F=B0=EF=BC=8C?=
 =?UTF-8?q?=E5=8F=96=E6=B6=88=E5=8E=9F=E6=9C=89=E6=8E=A7=E5=88=B6=E9=80=BB?=
 =?UTF-8?q?=E8=BE=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../BHBF_Robot_Lifting_Lug/Core/Src/FSM.c     | 40 +++++--------------
 1 file changed, 10 insertions(+), 30 deletions(-)

diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index 4fe1f57..56c4170 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -149,6 +149,10 @@ void Mode_Control()
 extern uint8_t Pin2;
 extern uint8_t Test1;
 
+int IsLeft = 0;
+int IsRight = 0;
+int Frontend_Speed = 0;
+
 void IO_Control()
 {
 	//GF_BSP_GPIO_SetIO(4, 1);
@@ -175,6 +179,12 @@ void IO_Control()
     {
         GF_BSP_GPIO_SetIO(3, 1);
     }
+
+    IsLeft = GF_BSP_GPIO_ReadIO(0);
+    IsRight = GF_BSP_GPIO_ReadIO(1);
+    if (0 == IsLeft) LS_485Motors_Speed = -Frontend_Speed;
+    else if (0 == IsRight) LS_485Motors_Speed = Frontend_Speed;
+    else LS_485Motors_Speed = 0;
 }
 
 void Automatic_Init()
@@ -421,33 +431,8 @@ void Strong_Grinding_Machine_Control()
 uint8_t loosening_knife_signal = 0;
 uint8_t clamping_knife_signal = 0;
 
-int Knife_Detection(void)
-{
-//	 uint8_t loosening_knife_signal = 1;
-//	 uint8_t clamping_knife_signal = 1;
-
-	// 夹刀信号检测
-	clamping_knife_signal = GF_BSP_GPIO_ReadIO(0);
-	// 松刀信号检测
-	loosening_knife_signal = GF_BSP_GPIO_ReadIO(1);
-
-	if(loosening_knife_signal == 0)
-	{
-		return 0;
-	}
-	else if(clamping_knife_signal == 0)
-	{
-		return 1;
-	}
-	else{
-		return 0;
-	}
-
-}
-
 extern int32_t KinfePosition;
 extern int StrongSingleShotFlag;
-int Frontend_Speed = 0;
 
 void Frontend_Control()
 {
@@ -477,7 +462,6 @@ void Frontend_Control()
 			// 右转
 			if((angle >= -45) && (angle <=45))
 			{
-				LS_485Motors_Speed = Frontend_Speed;
 				return;
 			}
 		}
@@ -490,18 +474,15 @@ void Frontend_Control()
 		// 左转
 		else if(((angle > 135) && (angle <= 180)) || (angle < -135) && (angle >= -179))
 		{
-			LS_485Motors_Speed = -Frontend_Speed;
 			return;
 		}
 		else {
-			LS_485Motors_Speed = 0;
 			CurrentFrontEndState = HALT_STATE;
 		}
 	}
 	// 低速控制前端雷赛电机
 	else if(GV.MK32_Key.CH5_SB == -1000)
 	{
-		LS_485Motors_Speed = 0;
 		// 前进
 		if((angle >= 45) && (angle <= 135))
 		{
@@ -535,7 +516,6 @@ void Frontend_Control()
 
 	}
 	else{
-		LS_485Motors_Speed = 0;
         // 前进
 		if((angle >= 45) && (angle <= 135))
 		{