diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
index e214779..3f35568 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/.settings/stm32cubeide.project.prefs b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/stm32cubeide.project.prefs
index 7550b9d..28437e9 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/stm32cubeide.project.prefs
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/stm32cubeide.project.prefs
@@ -1,6 +1,6 @@
-2F62501ED4689FB349E356AB974DBE57=21135FF466FE4A58D648DD3E92D999B0
+2F62501ED4689FB349E356AB974DBE57=A51B388F95FF70235E6E67C14544C50F
635E684B79701B039C64EA45C3F84D30=4EFF5836660CD2DC8E70993B25E2A49D
66BE74F758C12D739921AEA421D593D3=1
-8DF89ED150041C4CBC7CB9A9CAA90856=21135FF466FE4A58D648DD3E92D999B0
-DC22A860405A8BF2F2C095E5B6529F12=F08B3E54D888488C3B7E755B1A9A5DE6
+8DF89ED150041C4CBC7CB9A9CAA90856=A51B388F95FF70235E6E67C14544C50F
+DC22A860405A8BF2F2C095E5B6529F12=87EF6E86AD82C44D77A3A904E01D2A08
eclipse.preferences.version=1
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_zhr29_laser_sensor.h b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_zhr29_laser_sensor.h
index b84e215..dac21c5 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_zhr29_laser_sensor.h
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_zhr29_laser_sensor.h
@@ -15,6 +15,7 @@
extern int32_t* g_zhr29_200_laser_sensor_1;
extern int32_t* g_zhr29_200_laser_sensor_2;
+extern int32_t* g_zhr29_200_laser_sensor_3;
extern void zhr29_200_laser_sensor_intialize(struct UARTHandler *Handler);
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c
index ee246e9..65a9984 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c
@@ -11,6 +11,7 @@
int32_t* g_zhr29_200_laser_sensor_1;
int32_t* g_zhr29_200_laser_sensor_2;
+int32_t* g_zhr29_200_laser_sensor_3;
static struct UARTHandler *zhr29_200_laser_sensor;
static DispacherController *laser_sensor_dispacherController;
@@ -97,6 +98,10 @@ void decode_laser_sensor(uint8_t *buffer, uint16_t length)
{
*g_zhr29_200_laser_sensor_2 = (buffer[3] << 8) | (buffer[4] << 8) | (buffer[5] << 8) | buffer[6];
}
+ else if((buffer[0] == 0x03) && (buffer[1] == 0x04) && (buffer[2] == 0x04))
+ {
+ *g_zhr29_200_laser_sensor_3 = (buffer[3] << 8) | (buffer[4] << 8) | (buffer[5] << 8) | buffer[6];
+ }
else{
}
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_GV.pb.h b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_GV.pb.h
index c8301bb..84df05a 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_GV.pb.h
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_GV.pb.h
@@ -106,7 +106,7 @@ extern const pb_msgdesc_t GV_struct_define_msg;
/* Maximum encoded size of messages (where known) */
#define BSP_GV_PB_H_MAX_SIZE GV_struct_define_size
-#define GV_struct_define_size 1623
+#define GV_struct_define_size 1634
#ifdef __cplusplus
} /* extern "C" */
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/msp_zhr29_200_laser_sensor.pb.h b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/msp_zhr29_200_laser_sensor.pb.h
index 321b0f2..e8f0cff 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/msp_zhr29_200_laser_sensor.pb.h
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/msp_zhr29_200_laser_sensor.pb.h
@@ -13,6 +13,7 @@
typedef struct _zhr29_200_struct_define {
int32_t laser_sensor_1_measure_distance;
int32_t laser_sensor_2_measure_distance;
+ int32_t laser_sensor_3_measure_distance;
} zhr29_200_struct_define;
@@ -21,17 +22,19 @@ extern "C" {
#endif
/* Initializer values for message structs */
-#define zhr29_200_struct_define_init_default {0, 0}
-#define zhr29_200_struct_define_init_zero {0, 0}
+#define zhr29_200_struct_define_init_default {0, 0, 0}
+#define zhr29_200_struct_define_init_zero {0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define zhr29_200_struct_define_laser_sensor_1_measure_distance_tag 1
#define zhr29_200_struct_define_laser_sensor_2_measure_distance_tag 2
+#define zhr29_200_struct_define_laser_sensor_3_measure_distance_tag 3
/* Struct field encoding specification for nanopb */
#define zhr29_200_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, laser_sensor_1_measure_distance, 1) \
-X(a, STATIC, SINGULAR, INT32, laser_sensor_2_measure_distance, 2)
+X(a, STATIC, SINGULAR, INT32, laser_sensor_2_measure_distance, 2) \
+X(a, STATIC, SINGULAR, INT32, laser_sensor_3_measure_distance, 3)
#define zhr29_200_struct_define_CALLBACK NULL
#define zhr29_200_struct_define_DEFAULT NULL
@@ -42,7 +45,7 @@ extern const pb_msgdesc_t zhr29_200_struct_define_msg;
/* Maximum encoded size of messages (where known) */
#define MSP_ZHR29_200_LASER_SENSOR_PB_H_MAX_SIZE zhr29_200_struct_define_size
-#define zhr29_200_struct_define_size 22
+#define zhr29_200_struct_define_size 33
#ifdef __cplusplus
} /* extern "C" */
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/msp_zhr29_200_laser_sensor.proto b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/msp_zhr29_200_laser_sensor.proto
index 5b9ff68..f9ffd80 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/msp_zhr29_200_laser_sensor.proto
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/msp_zhr29_200_laser_sensor.proto
@@ -3,5 +3,6 @@ syntax = "proto3";
message zhr29_200_struct_define{
int32 laser_sensor_1_measure_distance = 1;
int32 laser_sensor_2_measure_distance = 2;
+ int32 laser_sensor_3_measure_distance = 3;
}
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index 3f57ec4..687a545 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -104,7 +104,6 @@ void Frontend_Control()
}
-
double real_speed;
void IV_Control()
{
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c
index 5a8f22e..dce004a 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c
@@ -267,8 +267,10 @@ void CV_GV_Init()
P_MK32 = &GV.MK32_Key;
+ // 激光测距传感器指针同步
g_zhr29_200_laser_sensor_1 = &GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance;
g_zhr29_200_laser_sensor_2 = &GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance;
+ g_zhr29_200_laser_sensor_3 = &GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance;
//Error Config
SystemErrorData= &GV.SystemErrorData;//send to upper computer
@@ -328,7 +330,7 @@ void GF_Robot_Init()
SlideMotor_Controller_intialize_CAN2(&FD_CAN_2_Handler);//雷赛电机
- // 激光测距传感器，待测试，2026.03.09
+ // 激光测距传感器，115200，待测试，2026.03.09
// zhr29_200_laser_sensor_intialize(&RS_485_4_UART_Handler);
Fsm_Init();