解决手动模式下停车关枪逻辑导致的喷枪开关抖动

project/paint_robot_new/paint_robot_new.c

@@ -114,8 +114,13 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
     static int iLeft_Compensation = 0;
     static int iRight_Compensation = 0;
 	static int iVehicleSpeed = 1;
+	static int iIsStopOffPaint = 0;
     switch (pstMsg->m_uiMsgID)
     {
+		case CUSTOM_SET_STOP_OFF_PAINT:
+		{
+			iIsStopOffPaint = 1;
+		}
     	case CUSTOM_GET_DAEMON_CODE:
 		{
 			if (pstMsg->m_uiDataLen >= sizeof(int32_t))
@@ -358,12 +363,16 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				if (g_stPV.RunMode == 1)
 				{
 					if (g_stMK32.CH6_SC == -1000)
+					{
+						if (0 == iIsStopOffPaint)
 						{
 							g_Paint_State = 0;
 							MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int));
 						}
+					}
 					else
 					{
+						iIsStopOffPaint = 0;
 						g_Paint_State = 1;
 						MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int));
 					}

project/paint_robot_new/paint_robot_new_motors.c

@@ -83,6 +83,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
 			}
 			if (0 == iVehicleMove && 1 == g_iLastVehicleMove)
 			{
+				MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_SET_STOP_OFF_PAINT, NULL, 0);
 				MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0);//先关枪
 			}
 			g_iLastVehicleMove = iVehicleMove;
@@ -104,6 +105,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
             iVehicleMove = 0;
             if (1 == g_iLastVehicleMove)
 			{
+				MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_SET_STOP_OFF_PAINT, NULL, 0);
 				MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0);//先关枪
 			}
 			g_iLastVehicleMove = 0;