【编译通过】当前雷赛电机速度全局还没赋值

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c

@@ -42,7 +42,7 @@ void LS_485Motor_loop()
 			        &LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x6208, 0x02);//PR1为速度模式
 
 		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
-				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, OneLineWaitTime,
+				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, 50,
 				NULL);
 
 		speedModeSet=0;
@@ -52,14 +52,14 @@ void LS_485Motor_loop()
 			        &LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x620B, LS_485Motors_Speed);//PR1速度
 
 		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
-				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, OneLineWaitTime,
+				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, 50,
 				NULL);
 
 		MB_WriteHoldingReg(&LS_485Motors_handler->Tx_Buf,
 				&LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x6002, 0x11);//PR1运行
 
 		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
-				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, OneLineWaitTime,
+				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, 50,
 				NULL);
 
 

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -145,28 +145,34 @@ void Mode_Control()
 }
 
 extern uint8_t Pin2;
-extern uint8_t Pin3;
-
+extern uint8_t Test1;
 
 void IO_Control()
 {
-	GF_BSP_GPIO_SetIO(4, 1);
+	//GF_BSP_GPIO_SetIO(4, 1);
 
 	if(StrongGrindingMachineCurrentState == STRONG_GRINDING_MACHINE_MOTION_STATE)
 	{
-		GF_BSP_GPIO_SetIO(5, 0);
+		//GF_BSP_GPIO_SetIO(5, 0);
 	}
 	else if(StrongGrindingMachineCurrentState == STRONG_GRINDING_MACHINE_HALT_STATE)
 	{
-		GF_BSP_GPIO_SetIO(5, 1);
+		//GF_BSP_GPIO_SetIO(5, 1);
 	}
 	else{
 
 	}
 
     Pin2 = GF_BSP_GPIO_ReadIO(2);
-    Pin3 = GF_BSP_GPIO_ReadIO(3);
-
+    Test1 = GF_BSP_GPIO_ReadIO(3);
+    if (!Test1)
+    {
+        GF_BSP_GPIO_SetIO(5, 0);
+    }
+    else
+    {
+        GF_BSP_GPIO_SetIO(5, 1);
+    }
 }
 
 void Automatic_Init()

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c

@@ -154,7 +154,7 @@ int main(void)
   MX_LPUART1_UART_Init();
   MX_ADC2_Init();
   /* USER CODE BEGIN 2 */
-  GF_BSP_GPIO_SetIO(5,1);
+  //GF_BSP_GPIO_SetIO(5,1);
   DLT_LOG_ENABLE_LEVEL=0;//7 send all information  0 send nothing
   Error_Detect_Intialzie(3000);//every 1 seconds
   HAL_Delay(5000);
@@ -276,9 +276,9 @@ void CV_GV_Init()
 	strong_grinding_machine_cmd = 0;
 	// 电��默认关闭
     GF_BSP_GPIO_SetIO(3, 1);
-    GF_BSP_GPIO_SetIO(4, 1);
+    //GF_BSP_GPIO_SetIO(4, 1);
 	// 冷�通气�默认关闭，动作与主轴�步
-	GF_BSP_GPIO_SetIO(5, 1);
+	//GF_BSP_GPIO_SetIO(5, 1);
 
 	//Error Config
 	SystemErrorData= &GV.SystemErrorData;//send to upper computer
@@ -338,10 +338,13 @@ void GF_Robot_Init()
 
 
 
-	SlideMotor_Controller_intialize_CAN2(&FD_CAN_2_Handler);//雷赛电机
+	//SlideMotor_Controller_intialize_CAN2(&FD_CAN_2_Handler);//雷赛电机
 
 	// �?光测�传感器�?115200
-	zhr29_200_laser_sensor_intialize(&RS_485_3_UART_Handler);
+	//zhr29_200_laser_sensor_intialize(&RS_485_3_UART_Handler);
+
+    // 雷赛485电机
+	LS_485Motors_intialize(&RS_485_3_UART_Handler);
 
 	// 强磨�
 	strong_grinding_machine_intialize(&RS_485_2_UART_Handler);

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c

@@ -360,7 +360,7 @@ const uint32_t up_limit = 6200;
 const uint8_t down_limit = 0;
 
 uint8_t Pin2 = -1; //上限位，为0表示限位触发 
-uint8_t Pin3 = -1; //下限位，为0表示限位触发 
+uint8_t Test1 = 0;
 
 int32_t KinfePosition = 1000; // 初始化为一个不合理的大值，等于1000时显示为未标定
 int StrongSingleShotFlag = 0;
@@ -371,11 +371,6 @@ 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