吊耳切割【调通打标】增加步进进车速度写死1m/min（改速度需要监控IV.Robot_Move_Speed和Ref_Speed）

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
@@ -232,16 +236,59 @@ void low_Speed_Manual_State_Do(void)
 		}
 	}
 	else
+	{
+		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;
             }
-	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;
+        }
+        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 * 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)