去掉一个全局

project_old/paint_robot_old/FSM/Inc/fsm_state_control.h

@@ -18,7 +18,7 @@ void GF_Dispatch();
 
 void IV_control();
 void MoveControl();
-int32_t GetVehicleSpeed( );
+
 extern int32_t speed_selection;
 extern char is_upper_computer_take_over_control;
 #endif /* FSM_INC_FSM_STATE_CONTROL_H_ */

project_old/paint_robot_old/FSM/Inc/robot_move_actions.h

@@ -36,7 +36,7 @@ extern void Move_Head_To_Right_Do(transition_t *p_this);
 extern void HALT_State_Enter(transition_t *p_this);
 extern void HALT_State_Exit(transition_t *p_this);
 
-extern int32_t GetVehicleSpeed(int speed_selection);
+extern int32_t GetVehicleSpeed();
 
 extern int32_t* DHRoughening_Speed[10];
 

project_old/paint_robot_old/FSM/Src/fsm_state_control.c

@@ -35,7 +35,6 @@ void paint_joysticker_manual_control();
 int AbnormalDetect();//异常检测);
 char is_upper_computer_take_over_control=0;
 int CH13_S2_Value ;
-int32_t speed_selection=0; //旋钮速度0-30
 int paintOffCount=0; //5° 计数 超过1s 关枪
 uint8_t angle_protect_lock=0; //作业时角度偏差过5°，停车标记位
 int32_t power_on_lock = 0;   /*上电锁*/
@@ -169,9 +168,8 @@ void MoveControl()
 	}
 
 		/* 速度选择索引 0-30 */
-		speed_selection = 3 * (P_MK32->CH11_RD1 + 1000) / 200;
+		GV.Robot_Move_Speed = speed_M_min_toE01_M_min( GetVehicleSpeed() );/*获取旋钮速度*/
-		GV.Robot_Move_Speed = speed_M_min_toE01_M_min( GetVehicleSpeed(speed_selection) );/*获取旋钮速度*/
+		IV.RobotMoveSpeed= GetVehicleSpeed();
-		IV.RobotMoveSpeed= GetVehicleSpeed(speed_selection);
 
 		//换道优先级优于普通的运行;
 		if (LaneChangeControl_Paint() == 1)
@@ -367,7 +365,7 @@ void IV_control()
 	/* 返回值是脉冲/s     P*60/10000/70/(Πd)=V */
 	IV.CurrentSpeed=GV.LeftMotor.Real_Velcity*60.0/CV.pulse_Per_Circle/CV.wheel_Reduction_Ratio*M_PI*CV.wheel_Diameter_m;
 
-	IV.RobotMoveSpeed=GetVehicleSpeed(speed_selection);
+	IV.RobotMoveSpeed=GetVehicleSpeed();
 	IV.CurrentAngle = GV.Robot_Angle;
 	IV.SBUS_State=GV.P_MK32.IsOnline;
 	IV.SystemError = GV.SystemErrorData.Com_Error_Code; /* 	SystemErrorCode = &GV.SystemErrorData.Com_Error_Code; */

project_old/paint_robot_old/FSM/Src/robot_move_actions.c

@@ -89,7 +89,7 @@ void HALT_State_Do(transition_t *p_this)
 		}
 
 		if (CompareTimer(
-				600 * CV.Paint_Gun_Shutdown_Distance / GetVehicleSpeed( speed_selection),
+				600 * CV.Paint_Gun_Shutdown_Distance / GetVehicleSpeed(),
 				&timer_handler_3))  //喷枪开 计时停  关 直接停
 		{
 			IsRobotHaltSateChangedFlag = 0;
@@ -302,8 +302,9 @@ void Calbrate_Robot_Positon(int Target_Angle)
 
 
 /* 车体速度选择  具体车速在配置结构体CV 0.01m/min  */
-int32_t GetVehicleSpeed(int speed_selection)
+int32_t GetVehicleSpeed(void)
 {
+    int speed_selection = 3 * (P_MK32->CH11_RD1 + 1000) / 200;
 	if(speed_selection==0)
 	{
 		return 1;