【调通打标】初始化添加单独模式；之前遗留代码全部调通；解决初始化完毕时零位显示为负数的问题

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/FSM.h

@@ -39,7 +39,8 @@ typedef enum _Strong_Grinding_Machine_MoveSTATE_t
 
 typedef enum _Robot_Operation_Mode_t
 {
-	MANUAL_OPERATION = 1,
+	INIT_OPERATION = 1,
+	MANUAL_OPERATION,
 	AUTO_OPERATION,
     AUTO_LASER_SCAN
 } Robot_Operation_Mode_t;

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -114,7 +114,7 @@ void Mode_Control()
 {
     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
+        Mode_Select_State = INIT_OPERATION;
     }
     else
     {
@@ -123,7 +123,7 @@ void Mode_Control()
 
 	switch(Mode_Select_State)
 	{
-	    case -255:
+	    case INIT_OPERATION:
             // 上电时刀具先回到最高位置
             Automatic_Init();
             break;
@@ -299,7 +299,7 @@ void Automatic_Operation()
     if (knife_flag)
     {
         // 由于这里是循环，每次开自动作业只执行一次
-        knife_descent_height += GV.PV.knife_descending_height * 100;
+        knife_descent_height += GV.PV.step_len * 100;
         knife_flag = 0;           
     }
 
@@ -556,6 +556,12 @@ void IV_Control()
 	IV.laser_sensor_2_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance;
 	IV.laser_sensor_3_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance;
 	IV.kinfe_complete_signal = IsAllowRotation;
+
+    if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition < 0)
+    {
+        KinfePosition = GV.LS_FrontEnd_Motor.Real_Position; // 这里是确保不会出现负值
+    }
+    
     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;
 }

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c

@@ -238,6 +238,19 @@ int StrongSingleShotFlag = 0;
 
 extern uint8_t Mode_Init;// 初始化时第一次升刀的流程
 
+static void LimitDownPosition(void)
+{
+    if (!Pin3)
+    {
+		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+    }
+
+    if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
+    {
+        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
+    }
+}
+
 void Manual_Up_State_Do(void)
 {
 	int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(SliderSpeed);
@@ -257,11 +270,6 @@ void Manual_Up_State_Do(void)
         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)
-    {
-        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
-    }
 }
 
 void Manual_Down_State_Do(void)
@@ -277,15 +285,7 @@ void Manual_Down_State_Do(void)
 		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
 	}*/
 
-    if (!Pin3)
+    LimitDownPosition();
-    {
-		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
-    }
-
-    if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
-    {
-        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
-    }
 }
 
 // 定义前端升降电机速度，单位0.1mm/s
@@ -310,11 +310,6 @@ void Manual_Low_Speed_Up_State_Do(void)
         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)
-    {
-        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
-    }
 }
 
 void Manual_low_speed_Down_State_Do(void)
@@ -330,15 +325,7 @@ void Manual_low_speed_Down_State_Do(void)
 		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
 	}*/
 
-    if (!Pin3)
+    LimitDownPosition();
-    {
-		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
-    }
-
-    if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
-    {
-        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
-    }
 }
 
 #define STEP_LEN_COUNT 20000 // 位置环每20000个count对应1mm
@@ -366,11 +353,6 @@ void Manual_step_Up_State_Do(void)
         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)
-    {
-        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
-    }
 }
 
 void Manual_step_Down_State_Do(void)
@@ -390,15 +372,7 @@ void Manual_step_Down_State_Do(void)
 		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
 	}*/
 
-    if (!Pin3)
+    LimitDownPosition();
-    {
-		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
-    }
-
-    if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
-    {
-        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
-    }
 }
 
 void FrontEnd_Halt_State_Do(void)

jueyuanzijiance/Insulator_Inspection/.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="-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">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="864805031195199761" 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="-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">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="864805031195199761" 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>