【编译通过】增加第一次初始化时刀升到最高位置的逻辑。

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="-63235014752314356" 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="-1256539702914033922" 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="-63235014752314356" 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="-1256539702914033922" 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/Src/FSM.c

@@ -108,13 +108,25 @@ void Limit_Detection()
 
 
 uint8_t Mode_Select_State = MANUAL_OPERATION;
+uint8_t Mode_Init = 0;// 初始化时第一次升刀的流程
 
 void Mode_Control()
 {
-	Mode_Select_State = GV.PV.robot_operation_mode;
+    if (0 == Mode_Init)
+    {
+        Mode_Select_State = -255;// 这里单纯是为了区分正常值，对无符号类型赋值为负会使其变为一个大值
+    }
+    else
+    {
+        Mode_Select_State = GV.PV.robot_operation_mode;                
+    }
 
 	switch(Mode_Select_State)
 	{
+	    case -255:
+            // 上电时刀具先回到最高位置
+            Automatic_Init();
+            break;
 		case MANUAL_OPERATION:
 			// 机器人本体控制
 			Robot_Control();
@@ -169,6 +181,13 @@ void IO_Control()
 
 }
 
+void Automatic_Init()
+{
+    CurrentMoveState = Move_HALT;
+    CurrentFrontEndState = Manual_UP_STATE;
+    StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
+}
+
 #define RISE_KINFE_STATE -11
 #define FORWARD_STATE 11
 #define BACKWARD_STATE 21
@@ -185,10 +204,10 @@ void Automatic_Laser_Scanning()
     CurrentFrontEndState = HALT_STATE;
     knife_descent_height = 0;
 
+    StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE; //刀具不转动
+
     if(GV.MK32_Key.CH7_SD == 1000)
     {
-        StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE; //刀具不转动
-
         int32_t a = GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance;
         int32_t b = GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance;
         int32_t c = GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance;
@@ -245,7 +264,7 @@ void Automatic_Laser_Scanning()
         ScanTimeCount = HAL_GetTick();
         ScanState = RISE_KINFE_STATE;
         CurrentMoveState = Move_HALT;
-        CurrentFrontEndState = HALT_STATE;
+        CurrentFrontEndState = HALT_STATE;        
         MaxLaserSensor = 10000;// 恢复非法值
     }
     else
@@ -253,7 +272,7 @@ void Automatic_Laser_Scanning()
         ScanTimeCount = HAL_GetTick();
         ScanState = RISE_KINFE_STATE;
         CurrentMoveState = Move_HALT;
-        CurrentFrontEndState = HALT_STATE;
+        CurrentFrontEndState = HALT_STATE;        
     }
     
     

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c

@@ -236,6 +236,8 @@ int StrongSingleShotFlag = 0;
 
 #define SAFE_MOTOR_COUNT (67*20000) // 电机脉冲安全保护，防止光电限位失效后导致的意外情况
 
+extern uint8_t Mode_Init;// 初始化时第一次升刀的流程
+
 void Manual_Up_State_Do(void)
 {
 	int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(SliderSpeed);
@@ -253,6 +255,7 @@ void Manual_Up_State_Do(void)
     {
         GV.LS_FrontEnd_Motor.Target_Velcity = 0;
         KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
+        Mode_Init = 1;// 表示自动初始化完成
     }
 
     if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
@@ -305,6 +308,7 @@ void Manual_Low_Speed_Up_State_Do(void)
     {
         GV.LS_FrontEnd_Motor.Target_Velcity = 0;
         KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
+        Mode_Init = 1;// 表示自动初始化完成
     }
 
     if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
@@ -360,6 +364,7 @@ void Manual_step_Up_State_Do(void)
     {
         GV.LS_FrontEnd_Motor.Target_Velcity = 0;
         KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
+        Mode_Init = 1;// 表示自动初始化完成
     }
 
     if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)