From 4e4d003c99ef176e71f8421b46298e8ff1fab78b Mon Sep 17 00:00:00 2001
From: "HJB\\13752" <13752551070@163.com>
Date: Wed, 25 Mar 2026 13:40:36 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=8D=95=E6=AC=A1=E6=A3=80?=
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---
 .../Core/FSM/Src/fsm_state_control.c          | 68 ++++++++++++-------
 1 file changed, 42 insertions(+), 26 deletions(-)

diff --git a/DetectionThickness/DetectionWithThickness/Core/FSM/Src/fsm_state_control.c b/DetectionThickness/DetectionWithThickness/Core/FSM/Src/fsm_state_control.c
index 163ab7f..0e36be7 100644
--- a/DetectionThickness/DetectionWithThickness/Core/FSM/Src/fsm_state_control.c
+++ b/DetectionThickness/DetectionWithThickness/Core/FSM/Src/fsm_state_control.c
@@ -292,13 +292,27 @@ int thicknessDataCollection_Continuous_control()
 
 }
 
+
+
 int thicknessDataCollection_Single_control()
 {
+	static uint8_t Single_thickness_flag = 0;
+	uint8_t Single_thickness_res = 1;
 
-	if (P_MK32->CH9_SF == 1000) //按下
+	if (P_MK32->CH4_SA == 1000) //按下
 	{
-		thicknessDataCollection_Single_Sensor();
-		return 1;
+		Single_thickness_flag = 1;
+	}
+
+	if(Single_thickness_flag == 1)
+	{
+		Single_thickness_res = thicknessDataCollection_Single_Sensor();
+		if(Single_thickness_res == 0)
+		{
+			Single_thickness_flag = 0;
+			Single_thickness_res = 1;
+			return 1;
+		}
 	}
 	else
 	{
@@ -308,14 +322,16 @@ int thicknessDataCollection_Single_control()
 
 
 
-
-
-
-
-
-
-
-
+//	if (P_MK32->CH9_SF == 1000) //按下
+//	{
+//		thicknessDataCollection_Single_Sensor();
+//		return 1;
+//	}
+//	else
+//	{
+//		thicknessDataCollection_Single_Reset();
+//		return 0;
+//	}
 
 }
 
@@ -395,21 +411,21 @@ int LGUB500_Distance_Limit_Handle()
 //		return 0;
 //	}
 
-
-	if(GV.sensor_lgub500.InstanceDistance/10.0 > GV.PV.LGUB500_UpperLimit_mm)/*大于上限停*/
-	{
-		IV.RunMode = Move_Halt;
-		IV.RobotMoveSpeed = 0;
-		fsm_state_set(&current_robot_move_state, &robot_halt_state);
-		return 1;
-	}
-	else if(GV.sensor_lgub500.InstanceDistance/10.0 < GV.PV.LGUB500_LowerLimit_mm)/*小于下线停*/
-	{
-		IV.RunMode = Move_Halt;
-		IV.RobotMoveSpeed = 0;
-		fsm_state_set(&current_robot_move_state, &robot_halt_state);
-		return 1;
-	}
+//  注释以下代码，删除手动模式下探边功能
+//	if(GV.sensor_lgub500.InstanceDistance/10.0 > GV.PV.LGUB500_UpperLimit_mm)/*大于上限停*/
+//	{
+//		IV.RunMode = Move_Halt;
+//		IV.RobotMoveSpeed = 0;
+//		fsm_state_set(&current_robot_move_state, &robot_halt_state);
+//		return 1;
+//	}
+//	else if(GV.sensor_lgub500.InstanceDistance/10.0 < GV.PV.LGUB500_LowerLimit_mm)/*小于下线停*/
+//	{
+//		IV.RunMode = Move_Halt;
+//		IV.RobotMoveSpeed = 0;
+//		fsm_state_set(&current_robot_move_state, &robot_halt_state);
+//		return 1;
+//	}
 	else
 	{
 		return 0;