From 877e1baa0dfae5e4c571fc809632e700ddd31955 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 30 Apr 2026 09:53:04 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E9=99=90=E4=BD=8D=E5=BC=80?=
=?UTF-8?q?=E5=85=B3=E5=88=A4=E6=96=AD=E5=88=B0=E8=BE=BE=E4=BD=8D=E7=BD=AE?=
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---
.../.settings/language.settings.xml | 4 +-
.../BHBF_Robot_Lifting_Lug Debug.launch | 6 +--
.../BHBF_Robot_Lifting_Lug/Core/Src/FSM.c | 23 +++++++-----
.../Core/Src/robot_state.c | 37 +++++++++++++++----
4 files changed, 48 insertions(+), 22 deletions(-)
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
index 07f8dd5..15fa460 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/BHBF_Robot_Lifting_Lug Debug.launch b/diaoerqiege/BHBF_Robot_Lifting_Lug/BHBF_Robot_Lifting_Lug Debug.launch
index 6578262..72a57fa 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/BHBF_Robot_Lifting_Lug Debug.launch
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/BHBF_Robot_Lifting_Lug Debug.launch
@@ -7,7 +7,7 @@
-
+
@@ -60,12 +60,12 @@
-
+
-
+
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index d399277..ef2c2d0 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -139,6 +139,10 @@ void Mode_Control()
}
+extern uint8_t Pin2;
+extern uint8_t Pin3;
+
+
void IO_Control()
{
GF_BSP_GPIO_SetIO(4, 1);
@@ -155,16 +159,17 @@ void IO_Control()
}
+ Pin2 = GF_BSP_GPIO_ReadIO(2);
+ Pin3 = GF_BSP_GPIO_ReadIO(3);
+
}
-uint8_t IsAllowRotation_AutoMode = 0;
-int32_t knife_descent_height = 0;
-// 自动作业停止后默认上升高度为5mm
-int32_t knife_rising_height = 500;
-int32_t knife_current_altitude = 0;
-uint16_t delay_counts = 0;
+uint8_t IsAllowRotation_AutoMode = 0; // 是否允许转刀
+int32_t knife_descent_height = 0; // 屏幕配置值转换后
+int32_t knife_rising_height = 500; // 自动作业停止后默认上升高度为5mm
+int32_t knife_current_altitude = 0; // 激光1读数
uint8_t auto_work_mode_states = 5;
-uint8_t auto_work_halt_states = 10;
+uint8_t auto_work_halt_states = 10;
void Automatic_Operation()
{
@@ -174,12 +179,12 @@ void Automatic_Operation()
{
switch(auto_work_mode_states)
{
- case 5:
+ case 5: // 读一下激光高度
knife_current_altitude = GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance;
auto_work_mode_states = 10;
auto_work_halt_states = 10;
break;
- case 10:
+ case 10: // 下刀
IsAllowRotation_AutoMode = Knife_Detection();
if(IsAllowRotation_AutoMode == 1)
{
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
index 85127c0..f99f151 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
@@ -228,18 +228,26 @@ static const int32_t SliderSpeed = 50;
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
+
void Manual_Up_State_Do(void)
{
int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(SliderSpeed);
GV.LS_FrontEnd_Motor.Target_Position = -10000000;
GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
- if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance >= up_limit)
+ /*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance >= up_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance >= up_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance >= up_limit))
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
- }
+ }*/
+
+ if (!Pin2)
+ {
+ GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+ }
}
void Manual_Down_State_Do(void)
@@ -248,13 +256,17 @@ void Manual_Down_State_Do(void)
GV.LS_FrontEnd_Motor.Target_Position = 10000000;
GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
- if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance <= down_limit)
+ /*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance <= down_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance <= down_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance <= down_limit))
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
- }
+ }*/
+ if (!Pin3)
+ {
+ GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+ }
}
// 定义前端升降电机速度，单位0.1mm/s
@@ -266,12 +278,17 @@ void Manual_Low_Speed_Up_State_Do(void)
GV.LS_FrontEnd_Motor.Target_Position = -10000000;
GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
- if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance >= up_limit)
+ /*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance >= up_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance >= up_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance >= up_limit))
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
- }
+ }*/
+
+ if (!Pin2)
+ {
+ GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+ }
}
void Manual_low_speed_Down_State_Do(void)
@@ -280,13 +297,17 @@ void Manual_low_speed_Down_State_Do(void)
GV.LS_FrontEnd_Motor.Target_Position = 10000000;
GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
- if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance <= down_limit)
+ /*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance <= down_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance <= down_limit)
|| (GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance <= down_limit))
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
- }
+ }*/
+ if (!Pin3)
+ {
+ GV.LS_FrontEnd_Motor.Target_Velcity = 0;
+ }
}