From 92395b9bb7f6ee698d4d05f8a26b41068408128d Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Sun, 2 Jun 2024 18:25:28 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E5=A2=9E=E5=8A=A0=E7=81=AF=E6=9D=A1?=
 =?UTF-8?q?=E4=B8=8E=E8=9C=82=E9=B8=A3=E5=99=A8=E6=8E=A5=E5=8F=A3?=
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---
 app/by_messy.c     | 39 +++++++++++++++++++++++++++++++--------
 project/src/main.c | 14 +++++---------
 2 files changed, 36 insertions(+), 17 deletions(-)

diff --git a/app/by_messy.c b/app/by_messy.c
index 2944a64..da7e56f 100644
--- a/app/by_messy.c
+++ b/app/by_messy.c
@@ -74,69 +74,92 @@ void by_messy_loop(void)
         buff_t_u8[1] = 5; // 设置复位速度 5
         by_can_send_stdd(0x008, buff_t_u8, 1, 100);
         break;
+
       case 0x43:                  // 设置转台末端执行器复位
         by_frame_send(cmd, buff); // 正确接收后直接返回原文
         buff_t_u8[0] = 0;
         by_can_send_stdd(0x009, buff_t_u8, 1, 100);
         break;
-      case 0x44: // 设置x轴位置 (增量)
+
+      case 0x44: // 设置 x 轴位置 (增量)
         by_frame_send(cmd, buff);
         buff_t_u8[0] = 1;                               // 增量模式
-        buff_t_u8[1] = buff[0];                         // 拷贝设置速度
+        buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF);       // 拷贝设置速度
         memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
         by_can_send_stdd(0x006, buff_t_u8, 8, 100);
         break;
-      case 0x46: // 设置z轴位置 (增量)
+
+      case 0x46: // 设置 z 轴位置 (增量)
         by_frame_send(cmd, buff);
         buff_t_u8[0] = 1;                               // 增量模式
-        buff_t_u8[1] = buff[0];                         // 拷贝设置速度
+        buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF);       // 拷贝设置速度
         memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
         by_can_send_stdd(0x008, buff_t_u8, 8, 100);
         break;
-      case 0x47: // 设置x轴位置 (绝对)
+
+      case 0x47: // 设置 x 轴位置 (绝对)
         by_frame_send(cmd, buff);
         buff_t_u8[0] = 0;                               // 位置模式
-        buff_t_u8[1] = buff[0];                         // 拷贝设置速度
+        buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF);       // 拷贝设置速度
         memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
         by_can_send_stdd(0x006, buff_t_u8, 8, 100);
         break;
-      case 0x49: // 设置z轴位置 (绝对)
+
+      case 0x49: // 设置 z 轴位置 (绝对)
         by_frame_send(cmd, buff);
         buff_t_u8[0] = 0;                               // 增量模式
-        buff_t_u8[1] = buff[0];                         // 拷贝设置速度
+        buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF);       // 拷贝设置速度
         memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
         by_can_send_stdd(0x008, buff_t_u8, 8, 100);
         break;
+
       case 0x50: // 设置夹爪摇臂角度
         by_frame_send(cmd, buff);
         memcpy(buff_t_f, buff, sizeof(float));
         buff_t_u16[0] = (int16_t)(buff_t_f[0]);
         by_can_send_stdd(0x009, (uint8_t *)&buff_t_u16, 2, 100);
         break;
+
       case 0x51: // 设置夹爪角度
         by_frame_send(cmd, buff);
         memcpy(buff_t_f, buff, sizeof(float));
         buff_t_u16[0] = (int16_t)(buff_t_f[0]);
         by_can_send_stdd(0x00A, (uint8_t *)&buff_t_u16, 2, 100);
         break;
+
       case 0x52: // 设置摄像头角度
         by_frame_send(cmd, buff);
         memcpy(buff_t_f, buff, sizeof(float));
         buff_t_u16[0] = (int16_t)(buff_t_f[0]);
         by_can_send_stdd(0x00B, (uint8_t *)&buff_t_u16, 2, 100);
         break;
+
       case 0x53: // 设置顶端抓取机构角度
         by_frame_send(cmd, buff);
         memcpy(buff_t_f, buff, sizeof(float));
         buff_t_u16[0] = (int16_t)(buff_t_f[0]);
         by_can_send_stdd(0x00C, (uint8_t *)&buff_t_u16, 2, 100);
         break;
+
       case 0x54: // 设置托盘角度
         by_frame_send(cmd, buff);
         memcpy(buff_t_f, buff, sizeof(float));
         buff_t_u16[0] = (int16_t)(buff_t_f[0]);
         by_can_send_stdd(0x00D, (uint8_t *)&buff_t_u16, 2, 100);
         break;
+
+      case 0x61: // 设置闪灯
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_u8, buff, sizeof(buff[1]));
+        gpio_bits_write(GPIOC, GPIO_PINS_3, buff_t_u8[0] ? FALSE : TRUE); // 灯条
+        break;
+
+      case 0x62: // 设置蜂鸣器
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_u8, buff, sizeof(buff[1]));
+        gpio_bits_write(GPIOC, GPIO_PINS_2, buff_t_u8[0] ? FALSE : TRUE); // 灯条
+        break;
+
       default:
         break;
     }
diff --git a/project/src/main.c b/project/src/main.c
index 43e05aa..96cae07 100644
--- a/project/src/main.c
+++ b/project/src/main.c
@@ -69,10 +69,10 @@
 /* add user code end 0 */
 
 /**
-  * @brief main function.
-  * @param  none
-  * @retval none
-  */
+ * @brief main function.
+ * @param  none
+ * @retval none
+ */
 int main(void)
 {
   /* add user code begin 1 */
@@ -152,12 +152,8 @@ int main(void)
 
   /* add user code end 2 */
 
-  while(1)
-  {
+  while (1) {
     /* add user code begin 3 */
-    // gpio_bits_write(GPIOC, GPIO_PINS_3, !gpio_output_data_bit_read(GPIOC, GPIO_PINS_3));
-    // gpio_bits_write(GPIOC, GPIO_PINS_2, !gpio_output_data_bit_read(GPIOC, GPIO_PINS_2));
-    // DWT_Delay(1000000);
     by_messy_loop();
     by_motion_loop();
     /* add user code end 3 */