删除了SA下拨的换道功能

Core/FSM/Src/change_line_control.c

@@ -133,43 +133,6 @@ int LaneChangeControl_Rough()
 
 	}
 
-	if (P_MK32->CH4_SA == 1000) //竖直下换道
-	{
-
-		// 防止无模式下，SB按下后，之后按下SA，SA抢占SB控制权
-		if (GV.PV.RunMode == Move_Manual)
-		{
-			return 0;
-		}
-//		if (GV.PV.RunMode != Move_Vertical_Move_To_Left && GV.PV.RunMode != Move_Vertical_Move_To_Right)/*竖直换道*/
-//		{
-//			return 0;
-//		}
-
-		if (GV.PV.RunMode != Move_Vertical_Move_To_Left
-		        && GV.PV.RunMode != Move_Vertical_Move_To_Right)
-		{
-			return 1;
-		}
-
-		if (VerticalLaneChangeState != Lane_Change_Start) /*换道结束了*/
-		{
-			fsm_state_set(&current_robot_move_state, &robot_halt_state);
-			return 1;
-		}
-		if (LaneChangeFlage == Veritical_To_Left_Flag) /*向左作业*/
-		{
-			Vertical_Lane_Change_From_Right_To_Left_Down_Control(); /*竖直下换道*/
-			return 1;
-		}
-		if (LaneChangeFlage == Veritical_To_Right_Flag) /*向右作业*/
-		{
-			Vertical_Lane_Change_From_Left_To_Right_Down_Control(); /*竖直下换道*/
-			return 1;
-		}
-		return 1;
-	}
-
 	return 0;
 
 }

Core/FSM/Src/fsm_state_control.c

@@ -765,13 +765,7 @@ int AbnormalDetect()
 		fsm_state_set(&current_roughening_state, &roughening_halt_state); /*关闭拉毛盘*/
 		return 1;
 	}
-	// 预留：初次上电时，检测压力传感器值是否在零位附近如【-50，+50】
-//	if (IV.Press >= -50 && IV.Press <= 50)
-//	{
-////		fsm_state_set(&current_robot_move_state, &robot_halt_state); /*停止机器人*/
-//		fsm_state_set(&current_roughening_state, &roughening_halt_state); /*关闭拉毛盘*/
-//		return 1;
-//	}
+
 
 
 

Debug/Core/FSM/Src/change_line_control.su

@@ -1,8 +0,0 @@
-../Core/FSM/Src/change_line_control.c:32:5:LaneChangeControl_Rough	8	static
-../Core/FSM/Src/change_line_control.c:188:6:Horizontal_Lane_Change_Turn_To_Right_Control	8	static
-../Core/FSM/Src/change_line_control.c:259:6:Horizontal_Lane_Change_Turn_To_Left_Control	8	static
-../Core/FSM/Src/change_line_control.c:338:6:Vertical_Lane_Change_From_Left_To_Right_UP_Control	8	static
-../Core/FSM/Src/change_line_control.c:409:6:Vertical_Lane_Change_From_Left_To_Right_Down_Control	8	static
-../Core/FSM/Src/change_line_control.c:484:6:Vertical_Lane_Change_From_Right_To_Left_UP_Control	8	static
-../Core/FSM/Src/change_line_control.c:556:6:Vertical_Lane_Change_From_Right_To_Left_Down_Control	8	static
-../Core/FSM/Src/change_line_control.c:635:9:RunTime_DistanceCm_SpeedE_2MPMin	4	static