paint_robot_new v1.1 build [Sep 7 2026 17:12:12] by BINGOOPRO 增加喷枪控制

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;
     

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);