BHBF_SWING/Core/FSM/Src/swing_action.c

/*
 * swing_action.c
 *
 *  Created on: Mar 4, 2026
 *      Author: 42961
 */
#include "swing_action.h"
#include "Handset_Status_Setting.h"

#include "fsm_state.h"
#include "BHBF_ROBOT.h"


#define TT_One_Deg_Count 	11014///32768*121/360(减速比121)=11014
#define LEFT_LIMIT 1
#define RIGHT_LIMIT 2
float Swing_Speed_Deg_Sencond=201.7;//HJ32-121
int middle_position=-944334;
//int center_angle;
//int offset_angle;
//int center_position;    //中间位置-944334
int limit_record=0;
float left_compare_value;
float right_compare_value;

int lef_positon=-569580;
int Right_positon=-1230420;

void Robot_Swing_Operation_Function()
{
	if(P_MK32->CH0_RY_H>300)
	{
		GV.SwingMotor.Position_immediately1_Lag2=1;
		GV.SwingMotor.Tar_Position_angle=90;
		GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;

	}
	else if(P_MK32->CH0_RY_H<-300)
	{
		GV.SwingMotor.Position_immediately1_Lag2=1;
		GV.SwingMotor.Tar_Position_angle=-90;
		GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
	}
	else
	{
		Move_Swing_Halt_Func_Do();
	}
}



//摆臂电机左转延时生效
void Move_Swing_Left_Func_Do_lay(void)
{
	GV.SwingMotor.Position_immediately1_Lag2=2;
	GV.SwingMotor.Tar_Position_angle=left_compare_value;
	GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
}

//摆臂电机右转延时生效
void Move_Swing_Right_Func_Do_lay(void)
{

	GV.SwingMotor.Position_immediately1_Lag2=2;
	GV.SwingMotor.Tar_Position_angle=right_compare_value;
	GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;
}

//摆臂电机左转立即执行
void Move_Swing_Left_Func_Do_imm(void)
{

	GV.SwingMotor.Position_immediately1_Lag2=1;
    GV.SwingMotor.Tar_Position_angle=left_compare_value;
    GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;


}

//摆臂电机右转立即执行
void Move_Swing_Right_Func_Do_imm(void)
{

	GV.SwingMotor.Position_immediately1_Lag2=1;
	GV.SwingMotor.Tar_Position_angle=right_compare_value;
	GV.SwingMotor.Tar_Position_Velcity_Degree_S=GV.PV.Robot_Swing_Speed;

}

void Move_Swing_Halt_Func_Do(void)
{
	GV.SwingMotor.Position_immediately1_Lag2=1;
	GV.SwingMotor.Tar_Position_count=0;
	GV.SwingMotor.Tar_Position_Velcity_Degree_S=0;

}