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删除多余变量

paint_robot_new-v1.5
Lizongdi 2 weeks ago
parent
5b11afe384
commit
69b8ad2511
1 changed files with 2 additions and 22 deletions
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  1. 24
      project/paint_robot_new/paint_robot_new.c

24
project/paint_robot_new/paint_robot_new.c
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@ -47,7 +47,6 @@ 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
@ -76,11 +75,6 @@ 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)
@ -290,7 +284,6 @@ 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;
}
@ -335,7 +328,6 @@ 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)
@ -350,7 +342,6 @@ 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
@ -358,7 +349,6 @@ 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;
}
}
@ -377,7 +367,6 @@ 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)
{
@ -391,7 +380,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
}
}
CH13_S2_Value = g_stMK32.CH13_S2;
g_RB_State = 0;
}
}
@ -414,7 +402,6 @@ 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;
}
@ -436,7 +423,6 @@ 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;
}
@ -445,7 +431,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
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_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
@ -471,7 +456,6 @@ 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)
@ -492,23 +476,19 @@ 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_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0);
g_RB_State = 0;
}
break;
}
@ -534,8 +514,8 @@ 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("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);
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);
break;
}
default:

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