吊耳切割【编译通过】用右旋钮控制滑台速度并在界面显示，默认平面铣

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="2006509065231787417" 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="-293606493875896057" 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="2006509065231787417" 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="-293606493875896057" 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

@@ -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()

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

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) {
+//            if (_toReceiveIV1.getMaxLaserSensor() == 10000) {
-                activityPolish.mainBinding.maxLaserSensor.setText("未扫描");
+//                activityPolish.mainBinding.maxLaserSensor.setText("未扫描");
-            } else {
+//            } else {
                 activityPolish.mainBinding.maxLaserSensor.setText((String.format("%.1f", _toReceiveIV1.getMaxLaserSensor() / 100.0)));
-            }
+//            }
         }
     }
 

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"

diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml

@@ -12,7 +12,7 @@
     <string name="OperateMode">作业\n模式</string>
     <string name="RobotSpeed">车体\n速度</string>
     <string name="KnifePosition">刀具\n位置</string>
-    <string name="MaxLaserSensor">扫描\n极值\n</string>
+    <string name="MaxLaserSensor">滑台\n速度\n</string>
     <string name="KnifeReadyComplete">夹刀\n信号</string>
     <string name="RightCompensation">右侧\n补偿</string>