From 96ccad10ecd607f1a335d16ea990dee9497dfa33 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Tue, 12 May 2026 15:50:39 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E8=B0=83=E9=80=9A=E6=89=93=E6=A0=87?=
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---
 .../BHBF_Robot_Lifting_Lug/Core/Src/FSM.c     | 39 +++++++++++--------
 1 file changed, 22 insertions(+), 17 deletions(-)

diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index e4ef2f8..ba52fad 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -70,10 +70,6 @@ void GF_Dispatch()
 	IV_Control();
 	IO_Control();
 
-	Mode_Control();
-
-	// 限位安全检测
-	Limit_Detection();
 	// 急停
 	EmergencyStopControl();
 
@@ -92,21 +88,12 @@ void EmergencyStopControl()
 		CurrentFrontEndState = HALT_STATE;
 		StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
 	}
-	else{
-
+	else
+    {
+        Mode_Control();
 	}
 }
 
-uint8_t upper_limit_position = 0;
-uint8_t lower_limit_position = 0;
-
-void Limit_Detection()
-{
-//	upper_limit_position = GF_BSP_GPIO_ReadIO(2);
-//	lower_limit_position = GF_BSP_GPIO_ReadIO(3);
-}
-
-
 uint8_t Mode_Select_State = MANUAL_OPERATION;
 uint8_t Mode_Init = 0;// 初始化时第一次升刀的流程
 
@@ -285,7 +272,8 @@ int32_t knife_current_altitude = 0; // 激光1读数
 
 void Automatic_Operation()
 {
-    MaxLaserSensor = 2000;
+#if 0
+    MaxLaserSensor = 2000;//临时加的保护
 
     static int knife_flag = 1;
     uint8_t IsAllowRotation_AutoMode = 0; // 是否允许转刀
@@ -379,6 +367,23 @@ void Automatic_Operation()
         CurrentFrontEndState = HALT_STATE;
 	    StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
     }
+#else
+    CurrentFrontEndState = HALT_STATE;
+    StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
+
+    if(GV.MK32_Key.CH7_SD == -1000)
+    {
+        CurrentMoveState = AUTO_FORWARD;
+    }
+    else if(GV.MK32_Key.CH7_SD == 1000)
+    {
+        CurrentMoveState = AUTO_BACKWARD;
+    }
+    else
+    {
+        CurrentMoveState = Move_HALT;
+    }
+#endif
 }