From 98ac55ad353ccc5bf09b62f7c96568d738ad8c0e Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Fri, 30 Oct 2026 15:35:48 +0800
Subject: [PATCH] =?UTF-8?q?=E5=90=8A=E8=80=B3=E5=88=87=E5=89=B2=E3=80=90?=
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---
 .../Core/Src/robot_state.c                    | 63 ++++++++++++++++---
 1 file changed, 55 insertions(+), 8 deletions(-)

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 d33bbad..d78382a 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
@@ -60,6 +60,10 @@ void SetMoveMotorSpeed(float Speed)
 	}
 }
 
+#define ONCE_MOVE_COUNT 45
+int g_iMoveCount = 0;
+int g_iMoveOnce = 0;
+
 void Manual_State_Do(void)
 {
 	double Rocker_Range = 2000;		//摇杆范围
@@ -233,15 +237,58 @@ void low_Speed_Manual_State_Do(void)
 	}
 	else
 	{
-		R1_Speed_Con = 0;
-		L1_Speed_Con = 0;
-		R2_Speed_Con = 0;
-		L2_Speed_Con = 0;
+		int iTargetTimeCount = (int)(ONCE_MOVE_COUNT / 1 * 45);//车速写死1m/min
+	    if (GV.MK32_Key.CH5_SB == -1000)
+        {
+            if (g_iMoveOnce == 0)
+            {
+                g_iMoveOnce = 1;
+                g_iMoveCount = HAL_GetTick();
+            }
+            R1_Speed_Con = -1;
+			L1_Speed_Con = 1;
+			R2_Speed_Con = -1;
+			L2_Speed_Con = 1;
+            if (HAL_GetTick() - g_iMoveCount > iTargetTimeCount)
+            {
+                R1_Speed_Con = 0;
+        		L1_Speed_Con = 0;
+        		R2_Speed_Con = 0;
+        		L2_Speed_Con = 0;
+            }
+        }
+        else if (GV.MK32_Key.CH5_SB == 1000)
+        {
+            if (g_iMoveOnce == 0)
+            {
+                g_iMoveOnce = 1;
+                g_iMoveCount = HAL_GetTick();
+            }
+            R1_Speed_Con = 1;
+			L1_Speed_Con = -1;
+			R2_Speed_Con = 1;
+			L2_Speed_Con = -1;
+            if (HAL_GetTick() - g_iMoveCount > iTargetTimeCount)
+            {
+                R1_Speed_Con = 0;
+        		L1_Speed_Con = 0;
+        		R2_Speed_Con = 0;
+        		L2_Speed_Con = 0;
+            }
+        }
+        else
+        {
+            g_iMoveOnce = 0;
+            R1_Speed_Con = 0;
+    		L1_Speed_Con = 0;
+    		R2_Speed_Con = 0;
+    		L2_Speed_Con = 0;
+        }
 	}
-	GV.LeftFrontMotor.Target_Velcity = L1_Speed_Con * Ref_Speed;
-	GV.RightFrontMotor.Target_Velcity = R1_Speed_Con * Ref_Speed;
-	GV.LeftBackMotor.Target_Velcity = L2_Speed_Con * Ref_Speed;
-	GV.RightBackMotor.Target_Velcity = R2_Speed_Con * Ref_Speed;
+	GV.LeftFrontMotor.Target_Velcity = L1_Speed_Con * 166;//166对应1m/min
+	GV.RightFrontMotor.Target_Velcity = R1_Speed_Con * 166;
+	GV.LeftBackMotor.Target_Velcity = L2_Speed_Con * 166;
+	GV.RightBackMotor.Target_Velcity = R2_Speed_Con * 166;
 }
 
 void high_Speed_Manual_State_Do(void)