From f5d0e9108cb62a6ff5965e8a80dff287cf0ee2f2 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 7 May 2026 15:36:50 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E7=BC=96=E8=AF=91=E9=80=9A=E8=BF=87?=
=?UTF-8?q?=E3=80=91=E5=B0=86=E5=88=80=E5=85=B7=E4=BD=8D=E7=BD=AE=E4=BF=AE?=
=?UTF-8?q?=E6=94=B9=E4=B8=BA=E8=AF=BB=E5=8F=96=E4=BD=8D=E7=BD=AE?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.../.settings/language.settings.xml | 4 +--
.../BHBF_Robot_Lifting_Lug/Core/Src/FSM.c | 2 +-
.../Core/Src/robot_state.c | 26 +++----------------
.../services/USBSerialPortHelper.java | 2 +-
4 files changed, 8 insertions(+), 26 deletions(-)
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
index 07f8dd5..15fa460 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index 4cfdfbe..8fc97c5 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -467,7 +467,7 @@ void IV_Control()
IV.laser_sensor_2_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance;
IV.laser_sensor_3_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance;
IV.kinfe_complete_signal = IsAllowRotation;
- IV.kinfe_position = KinfePosition;
+ IV.kinfe_position = (KinfePosition == 1000) ? KinfePosition : (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition);// 这里上传的是原始数据，需要APP上缩小20000倍
}
void Robot_Control()
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 1979377..11b6e54 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
@@ -250,11 +250,7 @@ void Manual_Up_State_Do(void)
if (!Pin2)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
- KinfePosition = 0;
- }
- else
- {
- KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
+ KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
}
}
@@ -275,10 +271,6 @@ void Manual_Down_State_Do(void)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
- else
- {
- KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
- }
}
// 定义前端升降电机速度，单位0.1mm/s
@@ -300,11 +292,7 @@ void Manual_Low_Speed_Up_State_Do(void)
if (!Pin2)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
- KinfePosition = 0;
- }
- else
- {
- KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
+ KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
}
}
@@ -325,13 +313,9 @@ void Manual_low_speed_Down_State_Do(void)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
}
- else
- {
- KinfePosition = 1000; //只要不是在步进模式下移动了主轴，且未在限位就恢复为未标定状态
- }
}
-#define STEP_LEN_COUNT 18000 // 位置环每18000个count对应1mm
+#define STEP_LEN_COUNT 20000 // 位置环每20000个count对应1mm
void Manual_step_Up_State_Do(void)
{
@@ -340,7 +324,6 @@ void Manual_step_Up_State_Do(void)
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;
}
@@ -354,7 +337,7 @@ void Manual_step_Up_State_Do(void)
if (!Pin2)
{
GV.LS_FrontEnd_Motor.Target_Velcity = 0;
- KinfePosition = 0;
+ KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
}
}
@@ -365,7 +348,6 @@ void Manual_step_Down_State_Do(void)
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;
}
diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
index 2d613b9..79b26d5 100644
--- a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
+++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
@@ -364,7 +364,7 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
}
else
{
- activityPolish.mainBinding.kinfePosition.setText(String.format("%d", _toReceiveIV1.getKinfePosition()));
+ activityPolish.mainBinding.kinfePosition.setText(String.format("%.2f", (double)_toReceiveIV1.getKinfePosition() / 20000));
}
}
}