【paint2.03】第一次提交，修改竖直作业模式下，行走、开枪、并立刻停下，枪有时不关。

Paint_UDPV2_02/Core/FSM/Src/fsm_state_control.c

@@ -72,10 +72,7 @@ void GF_Dispatch()
 	fsm_state_run(&current_paintgun_state);
 	fsm_state_run(&current_motor_power_state);
 
-	if (current_robot_move_state.p_state != &robot_halt_state)
+
-	{
-		IsRobotHaltSateChangedFlag = 1; //机器人动了就是1
-	}
 	PV_Data_Reading(); ////按钮复位时 app数据生效
 
 	GV.LaneChangeDistance = GV.PV.LaneChangeDistance;

Paint_UDPV2_02/Core/FSM/Src/robot_move_actions.c

@@ -39,7 +39,7 @@ void Calbrate_Robot_Positon(int Target_Angle);
 
 
 static int dletAngle = 0;
-char IsRobotHaltSateChangedFlag = 0;
+
 
 void Forwards_State_Do(transition_t *p_this)
 {
@@ -77,33 +77,30 @@ void TurnRight_State_Do(transition_t *p_this)
  * 零速停止，不关闭抱闸
  * */
 void HALT_State_Do(transition_t *p_this)
-{
-	if (IsRobotHaltSateChangedFlag == 1)//机器人为运动状态
 {
 
-		if (current_paintgun_state.p_state == &paintgun_on_state) //停车看喷枪状态  开了关喷枪计时停车
+
+		if (Paint_Gun_ButtonReset_Flag == 1) // SC开枪，直接停
+		{
+			GV.LeftMotor.Target_Velcity = 0;
+			GV.RightMotor.Target_Velcity = 0;
+		}
+		else if(current_paintgun_state.p_state == &paintgun_on_state) //S2开枪 先关枪 等会停
 		{
 			fsm_state_set(&current_paintgun_state, &paintgun_off_state);
 			timer_handler_3.start_timer = 1; //开始计时
 			return;
 		}
 
+
 		if (CompareTimer(
 				600 * CV.Paint_Gun_Shutdown_Distance / GetVehicleSpeed( speed_selection),
 				&timer_handler_3))  //喷枪开 计时停  关 直接停
 		{
-			IsRobotHaltSateChangedFlag = 0;
-			GV.LeftMotor.Target_Velcity = 0;
-			GV.RightMotor.Target_Velcity = 0;
-
-		}
 
-	}
-	else
-	{
 			GV.LeftMotor.Target_Velcity = 0;
 			GV.RightMotor.Target_Velcity = 0;
-		IsRobotHaltSateChangedFlag=0;
+
 		}
 
 }

Paint_UDPV2_02/Debug/Core/FSM/Src/fsm_state_control.su

@@ -1,13 +1,13 @@
 ../Core/FSM/Src/fsm_state_control.c:50:6:Fsm_Init	8	static
 ../Core/FSM/Src/fsm_state_control.c:69:6:GF_Dispatch	8	static
-../Core/FSM/Src/fsm_state_control.c:186:6:MoveControl	8	static
+../Core/FSM/Src/fsm_state_control.c:183:6:MoveControl	8	static
-../Core/FSM/Src/fsm_state_control.c:220:9:MotorErrorDetect	4	static
+../Core/FSM/Src/fsm_state_control.c:217:9:MotorErrorDetect	4	static
-../Core/FSM/Src/fsm_state_control.c:238:6:paintrobot_forwards	8	static
+../Core/FSM/Src/fsm_state_control.c:235:6:paintrobot_forwards	8	static
-../Core/FSM/Src/fsm_state_control.c:257:6:paintrobot_backwards	8	static
+../Core/FSM/Src/fsm_state_control.c:254:6:paintrobot_backwards	8	static
-../Core/FSM/Src/fsm_state_control.c:280:6:paint_joysticker_manual_control	16	static
+../Core/FSM/Src/fsm_state_control.c:277:6:paint_joysticker_manual_control	16	static
-../Core/FSM/Src/fsm_state_control.c:318:6:serial_udp_disconnect_control	16	static
+../Core/FSM/Src/fsm_state_control.c:315:6:serial_udp_disconnect_control	16	static
-../Core/FSM/Src/fsm_state_control.c:356:5:Move_Halt_AngleError	8	static
+../Core/FSM/Src/fsm_state_control.c:353:5:Move_Halt_AngleError	8	static
-../Core/FSM/Src/fsm_state_control.c:402:6:PV_Data_Reading	12	static
+../Core/FSM/Src/fsm_state_control.c:399:6:PV_Data_Reading	12	static
-../Core/FSM/Src/fsm_state_control.c:420:6:IV_control	16	static
+../Core/FSM/Src/fsm_state_control.c:417:6:IV_control	16	static
-../Core/FSM/Src/fsm_state_control.c:437:6:PaintGunControl	8	static
+../Core/FSM/Src/fsm_state_control.c:434:6:PaintGunControl	8	static
-../Core/FSM/Src/fsm_state_control.c:459:6:AbnormalDetect	8	static
+../Core/FSM/Src/fsm_state_control.c:456:6:AbnormalDetect	8	static

Paint_UDPV2_02/Debug/Core/FSM/Src/robot_move_actions.su

@@ -3,19 +3,19 @@
 ../Core/FSM/Src/robot_move_actions.c:59:6:TurnLeft_State_Do	16	static
 ../Core/FSM/Src/robot_move_actions.c:69:6:TurnRight_State_Do	16	static
 ../Core/FSM/Src/robot_move_actions.c:79:6:HALT_State_Do	24	static
-../Core/FSM/Src/robot_move_actions.c:113:6:Move_Vertical_Task_Forwards_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:110:6:Move_Vertical_Task_Forwards_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:121:6:Move_Vertical_Task_Backwards_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:118:6:Move_Vertical_Task_Backwards_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:127:6:HALT_State_Enter	16	static
+../Core/FSM/Src/robot_move_actions.c:124:6:HALT_State_Enter	16	static
-../Core/FSM/Src/robot_move_actions.c:131:6:HALT_State_Exit	16	static
+../Core/FSM/Src/robot_move_actions.c:128:6:HALT_State_Exit	16	static
-../Core/FSM/Src/robot_move_actions.c:140:6:Move_Horizontal_Task_Forwards_Right_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:137:6:Move_Horizontal_Task_Forwards_Right_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:147:6:Move_Horizontal_Task_Backwards_Right_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:144:6:Move_Horizontal_Task_Backwards_Right_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:154:6:Move_Horizontal_Task_Forwards_Left_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:151:6:Move_Horizontal_Task_Forwards_Left_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:163:6:Move_Horizontal_Task_Backwards_Left_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:160:6:Move_Horizontal_Task_Backwards_Left_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:172:6:Move_Head_To_UP_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:169:6:Move_Head_To_UP_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:181:6:Move_Head_To_Down_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:178:6:Move_Head_To_Down_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:189:6:Move_Head_To_Left_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:186:6:Move_Head_To_Left_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:197:6:Move_Head_To_Right_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:194:6:Move_Head_To_Right_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:209:6:Move_Forwards_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:206:6:Move_Forwards_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:247:6:Move_Backwards_Do	16	static
+../Core/FSM/Src/robot_move_actions.c:244:6:Move_Backwards_Do	16	static
-../Core/FSM/Src/robot_move_actions.c:278:6:Calbrate_Robot_Positon	16	static
+../Core/FSM/Src/robot_move_actions.c:275:6:Calbrate_Robot_Positon	16	static
-../Core/FSM/Src/robot_move_actions.c:304:9:GetVehicleSpeed	16	static
+../Core/FSM/Src/robot_move_actions.c:301:9:GetVehicleSpeed	16	static