From 6c6529716adcaeb501f4a93571ad2131f92caa08 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Fri, 23 Oct 2026 10:27:07 +0800
Subject: [PATCH] =?UTF-8?q?=E5=90=8A=E8=80=B3=E5=88=87=E5=89=B2=E3=80=90?=
=?UTF-8?q?=E7=BC=96=E8=AF=91=E9=80=9A=E8=BF=87=E3=80=91=E7=94=A8=E5=8F=B3?=
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---
.../.settings/language.settings.xml | 4 ++--
.../BHBF_Robot_Lifting_Lug/Core/Src/FSM.c | 17 ++++++++++++++---
.../example/diaoerqiegeapp/MainActivity.java | 2 +-
.../services/USBSerialPortHelper.java | 8 ++++----
.../app/src/main/res/layout/activity_polish.xml | 4 ++--
.../app/src/main/res/values/strings.xml | 2 +-
6 files changed, 24 insertions(+), 13 deletions(-)
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
index 9ed3a24..185ecb5 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index 1ecf7d4..8bdbd5c 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -86,6 +86,7 @@ void EmergencyStopControl()
{
if((GV.MK32_Key.CH8_SE == -1000) && GV.MK32_Key.CH9_SF == -1000)
{
+ LS_485Motors_Speed = 0;
CurrentMoveState = Move_HALT;
CurrentFrontEndState = HALT_STATE;
StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
@@ -446,9 +447,19 @@ int Knife_Detection(void)
extern int32_t KinfePosition;
extern int StrongSingleShotFlag;
+int Frontend_Speed = 0;
void Frontend_Control()
{
+ int val = GV.MK32_Key.CH11_RD1 + 1000;
+ if (val > 0 && val <= 286) Frontend_Speed = 120;
+ else if (val > 286 && val <= 571) Frontend_Speed = 180;
+ else if (val > 571 && val <= 857) Frontend_Speed = 240;
+ else if (val > 857 && val <= 1143) Frontend_Speed = 300;
+ else if (val > 1143 && val <= 1429) Frontend_Speed = 360;
+ else if (val > 1429 && val <= 1714) Frontend_Speed = 420;
+ else if (val > 1714 && val <= 2000) Frontend_Speed = 480;
+
int angle;
angle = atan2(GV.MK32_Key.CH1_RY_V, GV.MK32_Key.CH0_RY_H) * 180 / M_PI;
@@ -466,7 +477,7 @@ void Frontend_Control()
// 右转
if((angle >= -45) && (angle <=45))
{
- LS_485Motors_Speed = 100;
+ LS_485Motors_Speed = Frontend_Speed;
return;
}
}
@@ -479,7 +490,7 @@ void Frontend_Control()
// 左转
else if(((angle > 135) && (angle <= 180)) || (angle < -135) && (angle >= -179))
{
- LS_485Motors_Speed = -100;
+ LS_485Motors_Speed = -Frontend_Speed;
return;
}
else {
@@ -579,7 +590,7 @@ void IV_Control()
}
IV.kinfe_position = (KinfePosition == 1000) ? KinfePosition : (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition);// 这里上传的是原始数据，需要APP上缩小20000倍
- IV.max_laser_sensor = MaxLaserSensor;
+ IV.max_laser_sensor = Frontend_Speed*100/120;
}
void Robot_Control()
diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java
index 5017e3d..6fbe7a4 100644
--- a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java
+++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java
@@ -87,7 +87,7 @@ public class MainActivity extends AppCompatActivity {
}
else
{
- _toSendPV = _toSendPV.toBuilder().setKnifeDescendingHeight(0).build();
+ _toSendPV = _toSendPV.toBuilder().setKnifeDescendingHeight(1).build();
}
// 强磨机主轴速度
diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
index 778e17b..d6e09e7 100644
--- a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
+++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
@@ -367,11 +367,11 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
activityPolish.mainBinding.kinfePosition.setText(String.format("%.2f", (double)_toReceiveIV1.getKinfePosition() / 20000));
}
- if (_toReceiveIV1.getMaxLaserSensor() == 10000) {
- activityPolish.mainBinding.maxLaserSensor.setText("未扫描");
- } else {
+// if (_toReceiveIV1.getMaxLaserSensor() == 10000) {
+// activityPolish.mainBinding.maxLaserSensor.setText("未扫描");
+// } else {
activityPolish.mainBinding.maxLaserSensor.setText((String.format("%.1f", _toReceiveIV1.getMaxLaserSensor() / 100.0)));
- }
+// }
}
}
diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml
index d9f09be..cb5f127 100644
--- a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml
+++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml
@@ -350,7 +350,7 @@
android:layout_width="35dp"
android:layout_height="match_parent"
android:gravity="center"
- android:text="mm"
+ android:text="mm/s"
android:textColor="@color/dark_ink_blue"
android:textSize="10dp" />
@@ -520,7 +520,6 @@
android:layout_gravity="center"
android:layout_weight="1"
android:gravity="left|center"
- android:checked="true"
android:text="立面铣"
android:textColor="@color/blue_green"
android:textSize="20dp"
@@ -533,6 +532,7 @@
android:layout_gravity="center"
android:layout_weight="1"
android:gravity="left|center"
+ android:checked="true"
android:text="平面铣"
android:textColor="@color/blue_green"
android:textSize="20dp"
diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml
index ece3c7c..6e8605b 100644
--- a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml
+++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml
@@ -12,7 +12,7 @@
作业\n模式
车体\n速度
刀具\n位置
- 扫描\n极值\n
+ 滑台\n速度\n
夹刀\n信号
右侧\n补偿