From 5b11afe3840dfc2078b59735737e62f5760c38b1 Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Thu, 17 Sep 2026 14:19:14 +0800 Subject: [PATCH] =?UTF-8?q?Revert=20"=E6=95=B4=E7=90=86=E5=A4=9A=E4=BD=99?= =?UTF-8?q?=E5=8F=98=E9=87=8F=E5=B9=B6=E5=B0=86=E5=81=9C=E6=AD=A2=E9=80=BB?= =?UTF-8?q?=E8=BE=91=E5=BD=92=E4=B8=80=E5=8C=96"?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit This reverts commit a71799675ba27d5d2fdc9e757d5c1ba7995679b2. --- RBcore/BHBF.c | 5 +-- RBcore/include/BHBF.h | 1 + project/paint_robot_new/paint_robot_new.c | 39 +++++++++++++++---- .../paint_robot_new/paint_robot_new_motors.c | 5 +++ 4 files changed, 40 insertions(+), 10 deletions(-) diff --git a/RBcore/BHBF.c b/RBcore/BHBF.c index d6ad62a..255870a 100644 --- a/RBcore/BHBF.c +++ b/RBcore/BHBF.c @@ -61,9 +61,8 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg) { case RBCORE_CMD_STOP_ALL: { - aiMotorSpeed[0] = 0; - aiMotorSpeed[1] = 0; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0); break; } case RBCORE_CMD_MANUAL_FORWARD: diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h index 16575a8..ab5f3e6 100644 --- a/RBcore/include/BHBF.h +++ b/RBcore/include/BHBF.h @@ -76,6 +76,7 @@ extern "C"{ typedef enum { COMMON_CMD_SHOW_INFO, // 终端信息展示 + COMMON_CMD_STOP_ALL, // 机器人停止（建议各个控制硬件的模块都要实现） MOTOR_START = 0x0100, // *电机命令开始* MOTOR_SET_SPEED, // 设置速度 MOTOR_POWER_ENABLE, // 电机上电 diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c index 530b1b9..2cdcfe7 100644 --- a/project/paint_robot_new/paint_robot_new.c +++ b/project/paint_robot_new/paint_robot_new.c @@ -47,6 +47,7 @@ static uint32_t g_uiCustomModuleID = 0; static SP_MSP_MK32_Button g_stMK32; static PV_struct_define g_stPV; static IV_struct_define g_stIV; +static int g_RB_State = 0; // 机器人状态，1表示处于竖直行走模式下 static int g_Paint_State = -1; // 喷枪状态，0表示打开，1表示关闭 static int g_angle_protect_lock = 0; // 为1表示角度异常，触发停车逻辑Move_Halt_AngleError static int g_ipaintOffCount = 0; // Move_Halt_AngleError中的计时，即角度偏移超过多少时间触发停枪 @@ -75,11 +76,16 @@ static void Move_Halt_AngleError(void) return; } + if (0 == g_RB_State) + { + return; + } + if (1 == g_angle_protect_lock) { if (Rd_GetTime() - uiLastTime >= 600 * g_stCV.Paint_Gun_Shutdown_Distance / g_stIV.RobotMoveSpeed) { - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0); } return; } @@ -92,8 +98,7 @@ static void Move_Halt_AngleError(void) { if(Rd_GetTime() - g_ipaintOffCount > 1000) { - g_Paint_State = 1; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0);//先关枪 g_angle_protect_lock = 1; return; } @@ -240,6 +245,12 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) } break; } + case COMMON_CMD_STOP_ALL: + { + HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, 1); + g_Paint_State = 1; + break; + } case CUSTOM_CMD_PAINTGUN: { int paintstate = -1; @@ -279,6 +290,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) { MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0); MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); + g_RB_State = 0; g_Is_All_Button_Reset = 0; break; } @@ -323,6 +335,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) iTargetAngle = g_stCV.RobotRightAngleValue; MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } + g_RB_State = 0; break; } else if (g_stMK32.CH4_SA == -1000) @@ -337,6 +350,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) iTargetAngle = g_stCV.RobotLeftAngleValue; MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } + g_RB_State = 0; break; } else // 重置前进计时器以便下一次换道重新计数 @@ -344,6 +358,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3) { MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_RESET_STRAIGHT, NULL, 0); + g_RB_State = 0; } } @@ -362,6 +377,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) g_Paint_State = 1; MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int)); } + g_RB_State = 0; } else if(g_stPV.RunMode == 2 || g_stPV.RunMode == 3) { @@ -375,6 +391,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) } } CH13_S2_Value = g_stMK32.CH13_S2; + g_RB_State = 0; } } @@ -397,6 +414,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) }; MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } + g_RB_State = 1; } break; } @@ -418,6 +436,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) }; MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } + g_RB_State = 1; } break; } @@ -425,7 +444,8 @@ 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) { - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0); + g_RB_State = 0; break; } // 【注意!!!】摇杆行程死区判断结束，摇杆处理都放在这以后，否则行程死区可能不生效 @@ -451,6 +471,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) }; MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } + g_RB_State = 1; } } else if (abs(angle - (-90)) <= g_stCV.Joy_Sticker_Angle_Allowance) @@ -471,19 +492,23 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) }; MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } + g_RB_State = 1; } } else if (abs(angle - 0) <= g_stCV.Joy_Sticker_Angle_Allowance) { MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_TURNRIGHT, NULL, 0); + g_RB_State = 0; } else if (abs(angle - 180) <= g_stCV.Joy_Sticker_Angle_Allowance || abs(angle - (-180)) <= g_stCV.Joy_Sticker_Angle_Allowance) { MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_TURNLEFT, NULL, 0); + g_RB_State = 0; } else { - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0); + g_RB_State = 0; } break; } @@ -509,8 +534,8 @@ 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("g_RB_State = %d\ng_Paint_State = %d\ng_angle_protect_lock = %d\ng_ipaintOffCount = %d\ng_Is_All_Button_Reset = %d\n", + g_RB_State, 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 5697d7d..d17cb9b 100644 --- a/project/paint_robot_new/paint_robot_new_motors.c +++ b/project/paint_robot_new/paint_robot_new_motors.c @@ -83,6 +83,11 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg) HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 1); break; } + case COMMON_CMD_STOP_ALL: + { + memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed)); + break; + } default: break; }