优化按键逻辑

project/paint_robot_new/paint_robot_new.c

@@ -288,16 +288,19 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 					g_Is_All_Button_Reset = 1;
 				}
 			}
-			else if (g_Is_All_Button_Reset == 1)
+			else
 			{
 				MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_BUTTON_RESET, NULL, 0);
 			}
 
+			if (iMotorOK == 0) // 电机还没初始化完，不执行后边
+			{
+				break;
+			}
+
 			// 急停或者遥控器失联
 			if ((g_stMK32.CH8_SE == -1000 && g_stMK32.CH9_SF == -1000)
-			 || (g_stMK32.IsOnline == 0 && (g_stMK32.CH8_SE == -1000 || g_stMK32.CH8_SE == 1000 || g_stMK32.CH8_SE == 0) 
-			                            && (g_stMK32.CH9_SF == -1000 || g_stMK32.CH9_SF == 1000 || g_stMK32.CH9_SF == 0))
-			 || g_stIV.Left_Motor_Err != 0 || g_stIV.Right_Motor_Err != 0)
+			 || g_stMK32.IsOnline == 0 || g_stIV.Left_Motor_Err != 0 || g_stIV.Right_Motor_Err != 0)
 			{
 				if (g_stIV.Left_Motor_Err != 0 || g_stIV.Right_Motor_Err != 0)
 				{
@@ -310,16 +313,11 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				break;
 			}
 
-			if (iMotorOK == 0) // 电机还没初始化完，不执行后边
-			{
-				break;
-			}
-
 			// 按键处于默认位置安卓界面可控
 			if ((fabs(g_stMK32.CH2_LY_V) <= 200) && (fabs(g_stMK32.CH3_LY_H) <= 200)
 				&& (fabs(g_stMK32.CH0_RY_H) <= 200) && (fabs(g_stMK32.CH1_RY_V) <= 200)
-				&& (g_stMK32.CH4_SA ==0) && (g_stMK32.CH5_SB == 0)
-				&& (g_stMK32.CH6_SC != -1000) )
+				&& (g_stMK32.CH4_SA == 0) && (g_stMK32.CH5_SB == 0)
+				&& (g_stMK32.CH6_SC == 0) && (g_stMK32.CH7_SD == 0))
 			{
 				g_stIV.IsWorking = 0;
 				g_stAngleError_Ctl.m_iAnglelock = 0; // 遥控器复位认为打开角度锁