From ec4f53b003b200a2aaf164b80241c22670acf57e Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Sat, 9 May 2026 12:16:43 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=B4=E6=97=B6=E4=BF=AE=E6=94=B9=E7=94=A8?=
 =?UTF-8?q?=E4=BA=8E=E6=B5=8B=E8=AF=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index b29a3cf..cc2ba46 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -181,13 +181,8 @@ double real_speed = 0;
 
 void Automatic_Laser_Scanning()
 {
-    static int OnceFlag = 1;
-
-    if (OnceFlag)
-    {
-        
-        OnceFlag = 0;
-    }
+    CurrentMoveState = Manual_State;
+    CurrentFrontEndState = HALT_STATE;
 
     if(GV.MK32_Key.CH7_SD == -1000)
     {
@@ -201,13 +196,14 @@ void Automatic_Laser_Scanning()
 
         MaxLaserSensor = (max > MaxLaserSensor) ? max : MaxLaserSensor; // 取出激光雷达最大值
 
+        #if 0
         if (RISE_KINFE_STATE == ScanState)
         {
             CurrentFrontEndState = Manual_UP_STATE; //刀上升至最高点
             if (!Pin2)
             {
                 CurrentFrontEndState = HALT_STATE; //刀上升至最高点
-                ScanState == FORWARD_STATE;
+                ScanState = FORWARD_STATE;
             }
         }
         else if (FORWARD_STATE == ScanState)
@@ -239,11 +235,14 @@ void Automatic_Laser_Scanning()
                 CurrentMoveState = AUTO_FORWARD;
             }
         }
+        #endif
     }
     else
     {
         ScanTimeCount = HAL_GetTick();
         ScanState = RISE_KINFE_STATE;
+        CurrentMoveState = Move_HALT;
+        CurrentFrontEndState = HALT_STATE;
     }