From e98eae080e70b5fd77106393da9c466acdc91b48 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Mon, 7 Sep 2026 17:13:42 +0800
Subject: [PATCH] =?UTF-8?q?paint=5Frobot=5Fnew=20v1.1=20build=20[Sep=20=20?=
 =?UTF-8?q?7=202026=2017:12:12]=20by=20BINGOOPRO=20=E5=A2=9E=E5=8A=A0?=
 =?UTF-8?q?=E5=96=B7=E6=9E=AA=E6=8E=A7=E5=88=B6?=
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---
 RBcore/include/BHBF.h                     |  1 +
 project/paint_robot_new/paint_robot_new.c | 21 +++++++++++++++++++++
 2 files changed, 22 insertions(+)

diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h
index 205e79a..c97ad1a 100644
--- a/RBcore/include/BHBF.h
+++ b/RBcore/include/BHBF.h
@@ -95,6 +95,7 @@ typedef enum {
 	CUSTOM_GET_PV,				 // 获取PV
 	CUSTOM_SET_IV,				 // 设置IV
 	CUSTOM_GET_MK32,		     // 获取MK32
+	CUSTOM_CMD_PAINTGUN,         // 控制喷枪
 	CUSTOM_CMD_END = 0x0300,
 } Motor_Cmd_e;
     
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index 4a95813..7bd4188 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -75,6 +75,16 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			}
 			break;
 		}
+		case CUSTOM_CMD_PAINTGUN:
+		{
+			int paintstate = -1;
+			if (pstMsg->m_uiDataLen >= sizeof(paintstate))
+			{
+				RD_MEMCPY(&paintstate, pstMsg->m_aucData, sizeof(paintstate));
+				HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, paintstate);
+			}
+			break;
+		}
 		case CUSTOM_GET_MK32:
 		{
 			if (pstMsg->m_uiDataLen >= sizeof(g_stMK32))
@@ -91,6 +101,17 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			g_stIV.RobotMoveSpeed = iVehicleSpeed;
 			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_GET_VEHICLE_SPEED, (void *)&iVehicleSpeed, sizeof(int));
 
+			if (g_stMK32.CH6_SC == -1000)
+			{
+				int paintstate = 0;
+				MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int));
+			}
+			else
+			{
+				int paintstate = 1;
+				MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int));
+			}
+
 			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, CMD_STOP_ALL, NULL, 0);