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443 lines
11 KiB
443 lines
11 KiB
/*
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* fsm.c
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*状态机：通过遥控器的指令，判断机器人的运动状态。
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* Created on: Oct 18, 2024
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* Author: akeguo
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*/
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#include "fsm.h"
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#include "BHBF_ROBOT.h"
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#include "bsp_include.h"
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#include "robot_state.h"
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int32_t *RobotSpeed;
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//int32_t JontSwingSpeed;
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//int32_t JontTiltSpeed;
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int32_t JontSwingSpeed=400;
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int32_t JontTiltSpeed=400;
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void action_perfrom(transition_t transitions[], int length, int state);
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void GF_Dispatch();
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void action_perfrom();
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MoveSTATE_t CurrentMoveState;
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SwingSTATE_t CurrentSwingState;
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TiltSTATE_t CurrentTiltState; //点头，抬头
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SetSTATE_t CurrentSetState; //设置
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int index_counter = 0;
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int Polish_Flag=0;//打磨标志
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int Polish_Count = 0;//打磨启停上升沿计数
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int Polish_lock = 0; // 打磨锁定标志（非自锁）
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int Spray_Flag=0;//喷漆标志
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int Spray_Count=0;
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int Spray_lock = 0;// 喷漆打磨锁定标志（非自锁）
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//int Vacuum_Flag = 0;
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//int Vacuum_Count = 0;
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int Vacuum_Delay_Count = 0; // Polish和Vacuum之间的延迟计数器
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int emergency_lock_count = 0;// 急停：锁定计数器
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int Operation_lock = 0; // 通用锁定标志
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int process_state = 0; // 后台处理状态（0:空闲 1:开启中 2:关闭中）
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//手动下 机器人运动
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transition_t MoveTransitions[] =
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{
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{ Move_Forwards, Forwards_State_Do },
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{ Move_Backwards, Backwards_State_Do },
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{ Move_TurnLeft, TurnLeft_State_Do },
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{ Move_TurnRight, TurnRight_State_Do },
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{ Move_HALT, HALT_State_Do },
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{ Move_AutoForward, Auto},
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{ Move_AutoBackward, Auto},
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{ Move_ChgLeft, ChgLeft},
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{ Move_ChgRight, ChgRight},
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{ Move_ChgUp, ChgUp},
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{ Move_ChgDown, ChgDown},
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{ Move_ChgFinish, ChgFinish},
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{ Move_Reset, Reset},
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};
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transition_t SwingTransitions[] =
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{
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{ SwingHALT, SwingHALT_State_Do },
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{ SwingLeft, SwingLeft_State_Do },
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{ SwingRight, SwingRight_State_Do },
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{ SwingHome, SwingHome_Do }, };
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transition_t SetTransitions[] =
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{
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{ OtherMode, OtherMode_State_Do },
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{ SetLaneChangeDistance, LaneChangeDistance_Setting_State_Do },
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{ SetBackwardsDistance, BackWardsDistance_Setting_State_Do },
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};
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transition_t TiltTransitions[] =
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{
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{ TiltHALT, TiltHalt_Do },
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{ TiltUP, TiltUp_Do },
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{ TiltDown, TiltDown_Do },
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{ TiltHome, TiltHome_Do },
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{ TiltCurrentModeDown, TiltCurrentModeDown_Do },
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};
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void Fsm_Init()
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{
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GF_BSP_Interrupt_Add_CallBack(
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DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Dispatch);
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}
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//状态迁移
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//double Y_Value_1;
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//double X_Value_1;
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//double Rocker_angle;
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int JJ_Flag;
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void Robot_Move()
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{
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CurrentMoveState = Move_HALT;
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if(!(P_U7->M2 == -1000 && P_U7->M1 == -1000
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&& P_U7->M6 == -1000 && P_U7->M5 == -1000
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&& P_U7->RU_Three == 0)
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&& (P_U7->CH1_LYB_H >= -300 && P_U7->CH1_LYB_H <= 300)
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&& (P_U7->CH0_LYB_V >= -300 && P_U7->CH0_LYB_V <= 300))
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{
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if(P_U7->RU_Three != 0
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&& P_U7->M2 == -1000 && P_U7->M1 == -1000
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&& P_U7->M6 == -1000 && P_U7->M5 == -1000) //自动作业与换道互斥
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{
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if(P_U7->RU_Three == 1000)
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{
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CurrentMoveState = Move_AutoForward;
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if(GV.AuTo_Flag == 0)
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{
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GV.AuTo_Flag=1;
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}
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}
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else if(P_U7->RU_Three == -1000)
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{
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CurrentMoveState = Move_AutoBackward;
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if(GV.AuTo_Flag == 0)
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{
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GV.AuTo_Flag=3;
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}
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}
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}
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else if(!(P_U7->M2 == -1000 && P_U7->M1 == -1000
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&& P_U7->M6 == -1000 && P_U7->M5 == -1000)
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&& P_U7->RU_Three == 0)
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{
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if(GV.Chg_Flag == 1 && (P_U7->M1 == 1000 || P_U7->M2 == 1000
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|| P_U7->M5 == 1000 || P_U7->M6 == 1000))
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{
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CurrentMoveState = Move_ChgFinish;
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}
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else if(P_U7->M1 == 1000
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&& P_U7->M2 == -1000 && P_U7->M6 == -1000 && P_U7->M5 == -1000)
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{
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CurrentMoveState = Move_ChgUp;
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}
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else if(P_U7->M2 == 1000
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&& P_U7->M1 == -1000 && P_U7->M6 == -1000 && P_U7->M5 == -1000)
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{
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CurrentMoveState = Move_ChgDown;
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}
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else if(P_U7->M5 == 1000
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&& P_U7->M1 == -1000 && P_U7->M2 == -1000 && P_U7->M6 == -1000)
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{
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CurrentMoveState = Move_ChgLeft;
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}
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else if(P_U7->M6 == 1000
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&& P_U7->M1 == -1000 && P_U7->M2 == -1000 && P_U7->M5 == -1000)
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{
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CurrentMoveState = Move_ChgRight;
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}
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}
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}
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else if( !((P_U7->CH1_LYB_H >= -300 && P_U7->CH1_LYB_H <= 300)
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&&(P_U7->CH0_LYB_V >= -300 && P_U7->CH0_LYB_V <= 300))
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&& P_U7->M2 == -1000 && P_U7->M1 == -1000
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&& P_U7->M6 == -1000 && P_U7->M5 == -1000
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&& P_U7->RU_Three == 0)
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{
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if (P_U7->CH1_LYB_H >= -300 && P_U7->CH1_LYB_H <= 300)//前进周围300范围内才继续检测前进是否按下
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{
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if (P_U7->CH0_LYB_V > 300)//前进
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{
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CurrentMoveState = Move_Forwards;
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}
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else if (P_U7->CH0_LYB_V < -300)
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{
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CurrentMoveState = Move_Backwards; //后退
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}
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else
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{
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CurrentMoveState = Move_HALT;//停车
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}
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}
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else if (P_U7->CH0_LYB_V >= -300 && P_U7->CH0_LYB_V <= 300)
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{
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if (P_U7->CH1_LYB_H > 300)
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{
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CurrentMoveState = Move_TurnRight; //右转
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}
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else if (P_U7->CH1_LYB_H < -300)
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{
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CurrentMoveState = Move_TurnLeft; //左转
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}
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else
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{
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CurrentMoveState = Move_HALT; //停车
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}
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}
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}
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else
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{
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CurrentMoveState = Move_HALT; //停车
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}
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}
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void Front_End()
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{
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// 版本二：LU_Single 控制打磨电机和吸尘器（非自锁版本）
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if (P_U7->LU_Single == 1000 && Polish_lock == 0 && process_state == 0)
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{
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Polish_lock = 1; // 立即锁定，防止重复触发
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if (Polish_Flag == 0)
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{
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process_state = 1; // 准备开俩设备
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Vacuum_Delay_Count = 0; // 开吸尘器前，提前重置上一轮计数
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}
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else
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{
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process_state = 2; // 准备关闭俩设备
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Polish_Count = 100; // 从100开始倒计时
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}
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}
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else if (P_U7->LU_Single == -1000)
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{
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Polish_lock = 0;
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}
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if (process_state == 1)
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{
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GF_BSP_GPIO_SetIO(Out_Vacuum, 0);
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if (Vacuum_Delay_Count < 200)
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{
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Vacuum_Delay_Count++;
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}
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else
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{
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GF_BSP_GPIO_SetIO(Out_Polish, 0);
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if (Polish_Count >= 100)
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{
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GF_BSP_GPIO_SetIO(Out_Polish, 1);
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Polish_Flag = 1;
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process_state = 0; // 跑完耗时操作就退回初始状态
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Polish_Count = 0; // 重置计数
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}
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else
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{
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Polish_Count++;
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}
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}
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}
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else if (process_state == 2)
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{
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GF_BSP_GPIO_SetIO(Out_Vacuum, 1);
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GF_BSP_GPIO_SetIO(Out_Polish, 0);
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if (Polish_Count <= 0)
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{
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GF_BSP_GPIO_SetIO(Out_Polish, 1);
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Polish_Flag = 0;
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// GF_BSP_GPIO_SetIO(Out_Vacuum, 1);
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process_state = 0; // 跑完退回
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}
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else
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{
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Polish_Count--;
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}
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}
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//LU_Three控制打磨推杆升降
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if(P_U7->LU_Three==1000)
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{
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GF_BSP_GPIO_SetIO(Out_Lift_2,0);
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GF_BSP_GPIO_SetIO(Out_Lift_1,1);
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}
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else if(P_U7->LU_Three==-1000 && GV.Robot_ForceValue < 100)
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{
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GF_BSP_GPIO_SetIO(Out_Lift_2,1);
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GF_BSP_GPIO_SetIO(Out_Lift_1,0);
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}
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else
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{
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GF_BSP_GPIO_SetIO(Out_Lift_2,1);
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GF_BSP_GPIO_SetIO(Out_Lift_1,1);
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}
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// 控制电磁阀喷枪（非自锁版本）
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// 功能：按一下开启，再按一下关闭，长按不会反复切换
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// Flag管当前喷枪状态、Lock管长短按问题
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if (P_U7->RU_Single == 1000)
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{
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if (Spray_lock == 0) // 未锁定时才处理
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{
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if (Spray_Flag == 0)// 当前关闭，切换为开启
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{
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GF_BSP_GPIO_SetIO(Out_Spray, 0);
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Spray_Flag = 1;
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Spray_lock = 1; // 上锁。一旦按下实现状态切换就锁定。
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}
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else // 当前开启，切换为关闭
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{
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GF_BSP_GPIO_SetIO(Out_Spray, 1);
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Spray_Flag = 0;
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Spray_lock = 1; // 上锁关闭后锁定，防止长按再次触发
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}
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}
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}
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else
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{
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// 松开时复位锁定，允许下次按键触发
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Spray_lock = 0;
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}
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}
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void Emergency()
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{
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/*急停版本2：手动复位按键版
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* 急停：同时按下S3、S4则触发急停；
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* 退出急停：极短的一段时间后，按下S3、S4任意键则解除
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*
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* 急停一旦触发即锁定，并关闭全部设备；退出急停后，需手动复位所有被按下按键才能恢复控制
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*
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* 优先级：
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* 急停且自动锁定、急停退出但且自动锁定、急停退出且解除自动锁定
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* */
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if(P_U7->S3 == 1000 && P_U7->S4 == 1000)
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{
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GV.Emergency = 1;
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Operation_lock = 1; // 急停时自动锁定
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Reset_Flag = 0;
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}
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// 2急停锁定计时（仅在急停状态下计数，解决松手不同时问题）
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if (GV.Emergency == 1)
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{
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if (emergency_lock_count < 500)
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{
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emergency_lock_count++;
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}
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}
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else
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{
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emergency_lock_count = 0; // 非急停状态重置
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}
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if (GV.Emergency == 1 && emergency_lock_count >= 500)
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{
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if ((P_U7->S3 == 1000 && P_U7->S4 == -1000) ||
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(P_U7->S3 == -1000 && P_U7->S4 == 1000))
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{
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GV.Emergency = 0;
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emergency_lock_count = 0;
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// 退出后保持锁定（Operation_lock仍为1），需手动解锁
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}
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}
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// 解锁条件：按键全部复位：即，三键的推杆回中（0）且两键恢复默认状态（-1000）
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// 仅在已退出急停（GV.Emergency==0）但仍锁定时生效
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if (GV.Emergency == 0 && Operation_lock)
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{
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// if (P_U7->LU_Three == 0 && P_U7->LU_Single == -1000 && P_U7->RU_Single == -1000)
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if (P_U7->LU_Three == 0)
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{
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Operation_lock = 0; // 满足条件，解锁
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Reset_Flag = 0;
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}
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GF_BSP_GPIO_SetIO(0,0);
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}
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// 急停
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if(GV.Emergency == 1
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|| (GV.Emergency == 0 && Operation_lock == 1))
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{
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Polish_Flag = 0;
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Spray_Flag = 0;
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GF_BSP_GPIO_SetIO(Out_Spray,1);
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GF_BSP_GPIO_SetIO(Out_Vacuum, 1);
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GF_BSP_GPIO_SetIO(Out_Lift_2,1);
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GF_BSP_GPIO_SetIO(Out_Lift_1,1);
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GF_BSP_GPIO_SetIO(0,1);
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CurrentMoveState = Move_Emergency;
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}
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}
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void GF_Dispatch()//2ms调用一次 给车体速度等赋值
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{
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// 如果处于复位模式，直接停车，不再执行运动逻辑
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if (system_mode == SYSTEM_RESET) {
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action_perfrom(MoveTransitions, sizeof(MoveTransitions) / sizeof(transition_t), CurrentMoveState);//结构体数组/大小/当前状态
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return;
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}
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//运动部分 Move Region
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//左补偿、右补偿
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Lcompensation_control();
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Rcompensation_control();
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Robot_Move();
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Front_End();
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Emergency();
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/****************************************/
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//Robot Speed 指向的是GV.movespeed
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GV.Robot_ManualSpeed = abs((GV.PV.Robot_ManualSpeedBase* 186.9 * (P_U7->CH0_LYB_V))/ 1000);//RobotSpeed指向GV的移动车体速度 这是整体车速 不是单个轮的
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CV.TurnLeftRightSpeed = abs((2 * 186.9 * (P_U7->CH1_LYB_H))/ 1000);//RobotSpeed指向GV的移动车体速度 这是整体车速 不是单个轮的
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GV.Robot_AutoSpeed = GV.PV.Robot_AutoSpeedBase* 186.9;
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IV.Robot_AngleRoll = GV.Robot_Angle.RF_Angle_Roll;
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IV.Robot_ForceValue = GV.Robot_ForceValue;
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IV.Robot_DynamometerValue = GV.Robot_DynamometerValue;
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IV.Robot_Current_Left = GV.LeftFrontMotor.Current;
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IV.Robot_Current_Right = GV.RightFrontMotor.Current;
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IV.Robot_Compensation_Left = GV.Left_Compensation;
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IV.Robot_Compensation_Right = GV.Right_Compensation;
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IV.Robot_Error_Left = GV.LeftFrontMotor.ERROR_Flag;
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IV.Robot_Error_Right = GV.RightFrontMotor.ERROR_Flag;
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IV.Robot_CurrentState = CurrentMoveState;
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action_perfrom(MoveTransitions, sizeof(MoveTransitions) / sizeof(transition_t), CurrentMoveState);//结构体数组/大小/当前状态
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}
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void action_perfrom(transition_t transitions[], int length, int state)
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{
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for (index_counter = 0; index_counter < length; index_counter++)
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{
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if (transitions[index_counter].State == state)
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{
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if (transitions[index_counter].robotRun != NULL)//函数不为空
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{
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transitions[index_counter].robotRun();
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}
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break;
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//return;
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}
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}
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}
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