From f78d27fe359153b8d956fff1233d9d936fcbeb47 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Mon, 26 Oct 2026 11:21:51 +0800
Subject: [PATCH] =?UTF-8?q?=E5=90=8A=E8=80=B3=E5=88=87=E5=89=B2=E3=80=90?=
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---
 .../BASE/Src/MSP/msp_Strong_grinding_machine.c   |  6 +++---
 .../BHBF_Robot_Lifting_Lug/Core/Src/FSM.c        | 14 +++++++-------
 .../Core/Src/robot_state.c                       | 16 ++++++++--------
 3 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c
index b02a256..aeceb96 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c
@@ -31,8 +31,8 @@ void strong_grinding_machine_intialize(struct UARTHandler *Handler)
 
 // 测试，转速20rpm
 const uint8_t strong_grinding_machine_set_speed_cmd[8] = {0x01, 0x06, 0x00, 0x02, 0x00, 0x14, 0x28, 0x05};
-const uint8_t strong_grinding_machine_start_cmd[8] = {0x01, 0x06, 0x00, 0x01, 0x08, 0x82, 0x5F, 0xAB};
-const uint8_t strong_grinding_machine_stop_cmd[8] = {0x01, 0x06, 0x00, 0x01, 0x08, 0x81, 0x1F, 0xAA};
+const uint8_t strong_grinding_machine_start_cmd[8] = {0x01, 0x06, 0x20, 0x00, 0x00, 0x01, 0x43, 0xCA};
+const uint8_t strong_grinding_machine_stop_cmd[8] = {0x01, 0x06, 0x20, 0x00, 0x00, 0x00, 0x82, 0x0A};
 
 static uint8_t strong_grinding_machine_cmd_flag = 0;
 uint8_t strong_grinding_machine_cmd = 0;
@@ -48,7 +48,7 @@ void Strong_grinding_machine_cmd(void)
 		case 0:
 
 			MB_WriteHoldingReg(&Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
-					0x01, 0x0002, strong_grinding_machine_speed);
+					0x01, 0x4000, strong_grinding_machine_speed);
 //			Strong_grinding_machine_handler->TxCount = 8;
 //			memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_set_speed_cmd, Strong_grinding_machine_handler->TxCount);
 			Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index 8bdbd5c..ac818b5 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -399,9 +399,9 @@ void Automatic_Operation()
 uint8_t IsAllowRotation = 1;
 void Strong_Grinding_Machine_Control()
 {
-	IsAllowRotation = Knife_Detection();
-	if(IsAllowRotation == 1)
-	{
+//	IsAllowRotation = Knife_Detection();
+//	if(IsAllowRotation == 1)
+//	{
 		if(GV.MK32_Key.CH6_SC == -1000)
 		{
 			StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_MOTION_STATE;
@@ -410,10 +410,10 @@ void Strong_Grinding_Machine_Control()
 			StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
 		}
 
-	}
-	else{
-		StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
-	}
+//	}
+//	else{
+//		StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
+//	}
 
 }
 
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 6ccb4ea..d33bbad 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
@@ -516,15 +516,15 @@ extern int Knife_Detection(void);
 
 void Strong_Grinding_Machine_Motion_State_Do(void)
 {
-    IsAllowRotation = Knife_Detection();
-	if(IsAllowRotation == 1)
-    {
+//    IsAllowRotation = Knife_Detection();
+//	if(IsAllowRotation == 1)
+//    {
         strong_grinding_machine_cmd = 1;
-    }
-    else
-    {
-        strong_grinding_machine_cmd = 0;
-    }
+//    }
+//    else
+//    {
+//        strong_grinding_machine_cmd = 0;
+//    }
 }
 
 void auto_forward_state_do(void)