【调通打标】解决步进时单步标志位失效问题。

diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-63235014752314356" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1256539702914033922" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-63235014752314356" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1256539702914033922" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -340,10 +340,10 @@ int Knife_Detection(void)
 }
 
 extern int32_t KinfePosition;
+extern int StrongSingleShotFlag;
 
 void Frontend_Control()
 {
-    static int SingleShotFlag = 0;
 	int angle;
 	angle = atan2(GV.MK32_Key.CH1_RY_V, GV.MK32_Key.CH0_RY_H) * 180 / M_PI;
 
@@ -419,13 +419,8 @@ void Frontend_Control()
 	else{
         // 前进
 		if((angle >= 45) && (angle <= 135))
-		{
-		    if (SingleShotFlag == 0)
 		{
             CurrentFrontEndState = MANUAL_STEP_UP_STATE;            
-                KinfePosition -= GV.PV.step_len;
-                SingleShotFlag = 1;
-            }      
 			return;
 		}
 		else if(P_MK32->CH3_LY_H > 100)
@@ -439,13 +434,8 @@ void Frontend_Control()
 		}
 		// 后退
 		else if((angle >= -135) && (angle < -45))
-		{
-		    if (SingleShotFlag == 0)
 		{
             CurrentFrontEndState = MANUAL_STEP_DOWN_STATE;
-                KinfePosition += GV.PV.step_len;   
-                SingleShotFlag = 1;
-            }      
 			return;
 		}
 		// 左转
@@ -456,7 +446,7 @@ void Frontend_Control()
 		}
 		else {
 			CurrentFrontEndState = HALT_STATE;
-            SingleShotFlag = 0;
+            StrongSingleShotFlag = 0;
 		}
 	}
 

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c

@@ -232,6 +232,7 @@ uint8_t Pin2 = -1; //上限位，为0表示限位触发
 uint8_t Pin3 = -1; //下限位，为0表示限位触发 
 
 int32_t KinfePosition = 1000; // 初始化为一个不合理的大值，等于1000时显示为未标定
+int StrongSingleShotFlag = 0;
 
 void Manual_Up_State_Do(void)
 {
@@ -333,10 +334,15 @@ void Manual_low_speed_Down_State_Do(void)
 #define STEP_LEN_COUNT 18000 // 位置环每18000个count对应1mm
 
 void Manual_step_Up_State_Do(void)
+{
+	if (StrongSingleShotFlag == 0)
 	{
 		int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(leisai_low_speed);
 		GV.LS_FrontEnd_Motor.Target_Position = GV.LS_FrontEnd_Motor.Real_Position - (GV.PV.step_len * STEP_LEN_COUNT);
 		GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
+        KinfePosition -= GV.PV.step_len;
+        StrongSingleShotFlag = 1;
+	}
 
 	/*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance >= up_limit)
 		|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance >= up_limit)
@@ -353,10 +359,15 @@ void Manual_step_Up_State_Do(void)
 }
 
 void Manual_step_Down_State_Do(void)
+{
+	if (StrongSingleShotFlag == 0)
 	{
 		int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(leisai_low_speed);
 		GV.LS_FrontEnd_Motor.Target_Position = GV.LS_FrontEnd_Motor.Real_Position + (GV.PV.step_len * STEP_LEN_COUNT);
 		GV.LS_FrontEnd_Motor.Target_Velcity = SliderSpeed_PPS;
+        KinfePosition += GV.PV.step_len;
+        StrongSingleShotFlag = 1;
+	}
 
 	/*if((GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance <= down_limit)
 		|| (GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance <= down_limit)