From 0092e193002025e713e85e290999dfea4a80e5b3 Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Fri, 18 Sep 2026 11:34:12 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8F=AA=E6=9C=89=E5=BC=80=E8=BF=87=E6=9E=AA?= =?UTF-8?q?=E6=89=8D=E7=94=9F=E6=95=88=E5=BB=B6=E6=97=B6=E5=81=9C=E8=BD=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- RBcore/include/BHBF.h | 1 + project/paint_robot_new/paint_robot_new.c | 14 +++++++++++--- project/paint_robot_new/paint_robot_new_motors.c | 5 ++++- 3 files changed, 16 insertions(+), 4 deletions(-) diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h index 511f876..31ad17d 100644 --- a/RBcore/include/BHBF.h +++ b/RBcore/include/BHBF.h @@ -103,6 +103,7 @@ typedef enum { CUSTOM_CMD_STRAIGHT_DRIVE, // RBCORE_CMD_STRAIGHT_DRIVE命令停止后回调 CUSTOM_CMD_TURN_ANGLE, // RBCORE_CMD_TURN_ANGLE命令停止后回调 CUSTOM_SET_STOP_OFF_PAINT, // 停车关枪标志位置1 + CUSTOM_RESET_PAINT, // 停车关枪逻辑中用于重置开枪状态 SENDIV_START = 0x0400, // *IV发送线程命令（一般低优先级事项也放到这）* SENDIV_SET_IV, // 设置IV diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c index e881fb2..5b277bc 100644 --- a/project/paint_robot_new/paint_robot_new.c +++ b/project/paint_robot_new/paint_robot_new.c @@ -114,8 +114,14 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) static int iRight_Compensation = 0; static int iVehicleSpeed = 1; static int iIsStopOffPaint = 0; + static int iPaint = 1; switch (pstMsg->m_uiMsgID) { + case CUSTOM_RESET_PAINT: + { + iPaint = 1; + break; + } case CUSTOM_SET_STOP_OFF_PAINT: { iIsStopOffPaint = 1; @@ -257,6 +263,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) RD_MEMCPY(&paintstate, pstMsg->m_aucData, sizeof(paintstate)); HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, paintstate); } + if (0 == paintstate) iPaint = 0; break; } case CUSTOM_GET_MK32: @@ -439,9 +446,10 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) // 【注意!!!】摇杆行程死区判断开始，除摇杆以外按键在上边都处理完，不然走不下去 if (abs(g_stMK32.CH2_LY_V) <= g_stCV.Joy_Sticker_Value_Allowance && abs(g_stMK32.CH3_LY_H) <= g_stCV.Joy_Sticker_Value_Allowance) { - if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3) + if ((g_stPV.RunMode == 2 || g_stPV.RunMode == 3) && 0 == iPaint) { MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_STOP_AFTER, NULL, 0); + log_e("MOTOR_CMD_STOP_AFTER"); } else { @@ -530,8 +538,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) lua_print("PV Info\n"); lua_print("{%d, %d, %d, %d, %d, %ld}\n", g_stPV.RunMode, g_stPV.RobotSpeed, g_stPV.LaneChangeDistance, (int)g_stPV.Vertical_Calibration, g_stPV.IV_IsRestart_Notified, (long long)g_stPV.TimeStamp); - lua_print("\ng_Paint_State = %d\ng_angle_protect_lock = %d\ng_ipaintOffCount = %d\ng_Is_All_Button_Reset = %d\n", - g_Paint_State, g_angle_protect_lock, g_ipaintOffCount, g_Is_All_Button_Reset); + lua_print("\niPaint = %d\ng_Paint_State = %d\ng_angle_protect_lock = %d\ng_ipaintOffCount = %d\ng_Is_All_Button_Reset = %d\n", + iPaint, g_Paint_State, g_angle_protect_lock, g_ipaintOffCount, g_Is_All_Button_Reset); break; } default: diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c index 089e494..5f05600 100644 --- a/project/paint_robot_new/paint_robot_new_motors.c +++ b/project/paint_robot_new/paint_robot_new_motors.c @@ -62,6 +62,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg) } int iSpeed = 1; + static uint32_t uiLastTime = 0; switch (pstMsg->m_uiMsgID) { case MOTOR_SET_SPEED: @@ -81,6 +82,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg) { g_iLastVehicleMove = 1; } + uiLastTime = Rd_GetTime(); break; } case MOTOR_POWER_ENABLE: @@ -103,7 +105,6 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg) } case MOTOR_CMD_STOP_AFTER: { - static uint32_t uiLastTime = 0; static int iIsDelayStop = 0; if (1 == g_iLastVehicleMove) @@ -121,6 +122,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg) { memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed)); iIsDelayStop = 0; + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_RESET_PAINT, NULL, 0); } break; } @@ -133,6 +135,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg) case COMMON_CMD_STOP_ALL: { memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed)); + uiLastTime = Rd_GetTime(); break; } default: