临时修改用于测试

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;
+    CurrentMoveState = Manual_State;
-
+    CurrentFrontEndState = HALT_STATE;
-    if (OnceFlag)
-    {
-        
-        OnceFlag = 0;
-    }
 
     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;
     }