youxian-swing-stm32/Core/FSM/Src/paint_gun_action.c

/*
 * paint_gun_action.c
 *
 *  Created on: 2025年8月7日
 *      Author: xsq
 */
#include "paint_gun_action.h"
#include "Handset_Status_Setting.h"
#include "msp_strain_gauge.h"

#include "fsm_state.h"
#include "BHBF_ROBOT.h"
transition_t   current_paintgun_state;   	 /*transition_t 成员是 指针的 transition_state_t */

transition_state_t   paintgun_on_state={PaintGun_ON_Enter,PaintGun_ON_Do,NULL};   /* State 成员，它会被默认初始化为 0 */
transition_state_t   paintgun_off_state={PaintGun_OFF_Enter,PaintGun_OFF_Do,NULL};

char Paint_Gun_ButtonReset_Flag = 0;		//喷枪开启 1yes

/* 喷枪控制 */
void PaintGun_ON_Do()
{
	GF_BSP_GPIO_SetIO(PaintGun_IO_CTL, K_ON_PaintGun);//0开
}

void PaintGun_OFF_Do()
{
	GF_BSP_GPIO_SetIO(PaintGun_IO_CTL, K_OFF_PaintGun);//1关
}

void PaintGun_ON_Enter()
{

}
void PaintGun_ON_Exit()
{

}
void PaintGun_OFF_Enter()
{


}
void PaintGun_OFF_Exit()
{

}

IO_State   curr_io_state;
//手动控制下控制推杆函数
void PaintGun_Contronl()
{
	GV.Now_press=strainGaugeValue->Pressure;
	curr_io_state  = GetIOState();
	if(GV.PV.Robot_Press_Set==0)  //不受任何限制控制推杆
	{
		if(curr_io_state==IO_STATE_RISE)
		{
			strainGaugeValue->MotorControl=1;

		}
		else if(curr_io_state==IO_STATE_DESCEND)
		{
			strainGaugeValue->MotorControl=2;
		}
		else
		{
			strainGaugeValue->MotorControl=0;
		}
	}
	else    //受到限制控制推杆
	{
		if(GV.Now_press>6000)   //若压力太大则强制抬起
		{
			strainGaugeValue->MotorControl=1;
		}
		else if(curr_io_state==IO_STATE_RISE)   //上升
		{
			strainGaugeValue->MotorControl=1;

		}
		else if(curr_io_state==IO_STATE_DESCEND)    //下降
		{
			if(strainGaugeValue->Pressure<=(GV.PV.Robot_Press_Set*10))
			{
				strainGaugeValue->MotorControl=2;
			}
			else
			{
				strainGaugeValue->MotorControl=0;
			}
		}
		else
		{
			strainGaugeValue->MotorControl=0;
		}
	}
}


//自动作业状态下控制推杆函数
void PaintGun_Contronl_Press()
{
	GV.Now_press=strainGaugeValue->Pressure;
	curr_io_state  = GetIOState();
	if(curr_io_state==IO_STATE_RISE||(GV.Now_press>6000))
	{
		strainGaugeValue->MotorControl=1;
	}
	else if(curr_io_state==IO_STATE_DESCEND)
	{

		if(strainGaugeValue->Pressure<=(GV.PV.Robot_Press_Set*10))
		{
			strainGaugeValue->MotorControl=2;
		}
		else
		{
			strainGaugeValue->MotorControl=0;
		}
	}
	else
	{
		strainGaugeValue->MotorControl=0;
	}
}


int autoing_flag=0;
int auto_count=0;
int up_down=1;
int auto_time=0;
void tuigan_auto()
{
	if(autoing_flag==0)  //筛选时间
	{
		auto_time=(rand() % 6 + 1)*1000;
		autoing_flag=1;
		if(up_down==1)
		{
			up_down=2;
		}
		else if(up_down==2)
		{
			up_down=1;
		}
	}
	else if(autoing_flag==1)   //执行推杆运动
	{
		if(P_MK32->CH11_RD1>0)
		{
			auto_count=auto_count+2;
			if(up_down==1)
			{
				strainGaugeValue->MotorControl=1;
			}
			else if(up_down==2)
			{
				strainGaugeValue->MotorControl=2;
			}

			if(auto_count>auto_time)
			{
				auto_count=0;
				autoing_flag=0;
			}
		}
	}
}