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39 lines
1.0 KiB
39 lines
1.0 KiB
3 weeks ago
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/*
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* StateManager.h
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*
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* Created on: Mar 24, 2025
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* Author: bihon
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*/
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#ifndef INC_STATEMANAGER_H_
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#define INC_STATEMANAGER_H_
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// 定义状态枚举
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typedef enum {
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STATE_MANUAL_CONTROL, //手动模式
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STATE_PAINTING, //作业模式
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STATE_STANDBY, //待机模式
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STATE_ABNORMAL //异常状态
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} Paint_Mode;
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typedef enum
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{
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INVALID_CMD, //无效指令
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GOTO_STARTPOSITION, //机械臂前往初始位置
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TRIAL_POSITION, //试运行
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GOTO_DESENDPAINTING_STARTPOSITION, //机械臂前往"下降喷涂"起点
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GOTO_ASCENDPAINTING_STARTPOSITION, //机械臂前往"上升喷涂"起点
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START_PAINTING, //机械臂开始喷涂
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FINISH_PAINTING, //机械臂结束喷涂
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GOTO_STOPPOSITION, //机械臂前往停机位置
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GOTO_WASH_GUN_POSITION //机械臂前往洗枪位置
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}Paint_Control;
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void stateMachineLoop();
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uint8_t InverseStartFlag();
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uint8_t StopPainting();
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extern Paint_Mode currentModeCMD;
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extern Paint_Control currentControlCMD;
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#endif /* INC_STATEMANAGER_H_ */
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