吊耳切割【调通打标】左右滑台用右摇杆左右控制，速度为1mm/s

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="37924580691053414" 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="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">
 				<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="37924580691053414" 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="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">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

diaoerqiege/BHBF_Robot_Lifting_Lug/BHBF_Robot_Lifting_Lug.ioc

@@ -878,7 +878,7 @@ USART3.FIFOMode=FIFOMODE_ENABLE
 USART3.IPParameters=VirtualMode-Asynchronous,DMADisableonRxErrorParam,OverrunDisableParam,FIFOMode,BaudRate
 USART3.OverrunDisableParam=ADVFEATURE_OVERRUN_DISABLE
 USART3.VirtualMode-Asynchronous=VM_ASYNC
-USART6.BaudRate=115200
+USART6.BaudRate=9600
 USART6.DMADisableonRxErrorParam=ADVFEATURE_DMA_ENABLEONRXERROR
 USART6.FIFOMode=FIFOMODE_ENABLE
 USART6.IPParameters=VirtualMode,OverrunDisableParam,FIFOMode,DMADisableonRxErrorParam,BaudRate,SwapParam

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_LeiSai_485.h

@@ -11,6 +11,6 @@
 
 
 
-extern uint8_t LS_485Motors_Speed;
+extern int16_t LS_485Motors_Speed;
 
 #endif /* BASE_INC_MSP_MSP_LEISAI_485_H_ */

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

@@ -12,8 +12,8 @@
 
 struct UARTHandler *LS_485Motors_handler;
 DispacherController *LS_485Motors_dispacherController;
-uint8_t LS_485Motors_slave_id = 0x00; //默认为0 广播形式
+uint8_t LS_485Motors_slave_id = 0x01; //默认为0 广播形式
-uint8_t LS_485Motors_Speed=0;
+int16_t LS_485Motors_Speed=0;
 uint8_t speedModeSet=1;
 
 void LS_485Motor_loop();

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -13,6 +13,7 @@
 #include "robot_state.h"
 #include "bsp_TIMER.h"
 #include "msp_Strong_grinding_machine.h"
+#include "msp_LeiSai_485.h"
 
 
 void action_perfrom(transition_t transitions[], int length, int state);
@@ -460,12 +461,12 @@ void Frontend_Control()
 			CurrentFrontEndState = Manual_UP_STATE;
 			return;
 		}
-		else if(P_MK32->CH3_LY_H > 100)
+		else if(P_MK32->CH0_RY_H > 100)
 		{
 			// 右转
 			if((angle >= -45) && (angle <=45))
 			{
-
+				LS_485Motors_Speed = 100;
 				return;
 			}
 		}
@@ -478,16 +479,18 @@ void Frontend_Control()
 		// 左转
 		else if(((angle > 135) && (angle <= 180)) || (angle < -135) && (angle >= -179))
 		{
-
+			LS_485Motors_Speed = -100;
 			return;
 		}
 		else {
+			LS_485Motors_Speed = 0;
 			CurrentFrontEndState = HALT_STATE;
 		}
 	}
 	// 低速控制前端雷赛电机
 	else if(GV.MK32_Key.CH5_SB == -1000)
 	{
+		LS_485Motors_Speed = 0;
 		// 前进
 		if((angle >= 45) && (angle <= 135))
 		{
@@ -521,6 +524,7 @@ void Frontend_Control()
 
 	}
 	else{
+		LS_485Motors_Speed = 0;
         // 前进
 		if((angle >= 45) && (angle <= 135))
 		{

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/usart.c

@@ -372,7 +372,7 @@ void MX_USART6_UART_Init(void)
 
   /* USER CODE END USART6_Init 1 */
   huart6.Instance = USART6;
-  huart6.Init.BaudRate = 115200;
+  huart6.Init.BaudRate = 9600;
   huart6.Init.WordLength = UART_WORDLENGTH_8B;
   huart6.Init.StopBits = UART_STOPBITS_1;
   huart6.Init.Parity = UART_PARITY_NONE;