1、更改了寻脉流程，先中间寻脉，自动停止，然后左寻脉，停止，再右寻脉，停止

2、提升的过程中，先左右提升，再提升中间的，这样在下次寻脉时，可以中间找到脉后停止，其他两个开始找脉
2026-02-26 22:59:29 +08:00 · 2026-02-26 22:59:29 +08:00 · d539601d50
parent 557dcffd18
commit d539601d50
29 changed files with 892 additions and 855 deletions
--- a/OBJ/USART.axf
+++ b/OBJ/USART.axf
--- a/OBJ/USART.build_log.htm
+++ b/OBJ/USART.build_log.htm
@ -21,15 +21,15 @@ Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V2.0.18.0
 Dialog DLL:      TCM.DLL V1.21.0.0
 
 <h2>Project:</h2>
-E:\CGY_2026\GIT\sensor_2026 - 副本\USER\USART.uvprojx
-Project File Date:  02/22/2026
+E:\CGY_2026\GIT\sensor_2026\USER\USART.uvprojx
+Project File Date:  02/26/2026

 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 4 (build 422)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
 Build target 'USART'
 compiling main.c...
 linking...
-Program Size: Code=6820 RO-data=424 RW-data=120 ZI-data=1024  
+Program Size: Code=6920 RO-data=424 RW-data=120 ZI-data=1024  
 FromELF: creating hex file...
 "..\OBJ\USART.axf" - 0 Error(s), 0 Warning(s).

--- a/OBJ/USART.htm
+++ b/OBJ/USART.htm
@ -3,7 +3,7 @@
 <title>Static Call Graph - [..\OBJ\USART.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image ..\OBJ\USART.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060422: Last Updated: Wed Feb 25 11:07:10 2026
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060422: Last Updated: Thu Feb 26 22:22:58 2026
 <BR><P>
 <H3>Maximum Stack Usage =        124 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@ -780,7 +780,7 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[5c]"></a>main</STRONG> (Thumb, 742 bytes, Stack size 16 bytes, main.o(i.main))
+<P><STRONG><a name="[5c]"></a>main</STRONG> (Thumb, 842 bytes, Stack size 16 bytes, main.o(i.main))
 <BR><BR>[Stack]<UL><LI>Max Depth = 124<LI>Call Chain = main &rArr; uart6_init &rArr; USART_Init &rArr; RCC_GetClocksFreq
 </UL>
 <BR>[Calls]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart6_init
--- a/OBJ/USART_USART.dep
+++ b/OBJ/USART_USART.dep
--- a/OBJ/adc.crf
+++ b/OBJ/adc.crf
--- a/OBJ/beep.crf
+++ b/OBJ/beep.crf
--- a/OBJ/delay.crf
+++ b/OBJ/delay.crf
--- a/OBJ/elemachinery.crf
+++ b/OBJ/elemachinery.crf
--- a/OBJ/key.crf
+++ b/OBJ/key.crf
--- a/OBJ/led.crf
+++ b/OBJ/led.crf
--- a/OBJ/main.crf
+++ b/OBJ/main.crf
--- a/OBJ/misc.crf
+++ b/OBJ/misc.crf
--- a/OBJ/motor_driver.crf
+++ b/OBJ/motor_driver.crf
--- a/OBJ/spi.crf
+++ b/OBJ/spi.crf
--- a/OBJ/stm32f4xx_adc.crf
+++ b/OBJ/stm32f4xx_adc.crf
--- a/OBJ/stm32f4xx_gpio.crf
+++ b/OBJ/stm32f4xx_gpio.crf
--- a/OBJ/stm32f4xx_it.crf
+++ b/OBJ/stm32f4xx_it.crf
--- a/OBJ/stm32f4xx_rcc.crf
+++ b/OBJ/stm32f4xx_rcc.crf
--- a/OBJ/stm32f4xx_spi.crf
+++ b/OBJ/stm32f4xx_spi.crf
--- a/OBJ/stm32f4xx_syscfg.crf
+++ b/OBJ/stm32f4xx_syscfg.crf
--- a/OBJ/stm32f4xx_tim.crf
+++ b/OBJ/stm32f4xx_tim.crf
--- a/OBJ/stm32f4xx_usart.crf
+++ b/OBJ/stm32f4xx_usart.crf
--- a/OBJ/sys.crf
+++ b/OBJ/sys.crf
--- a/OBJ/system_stm32f4xx.crf
+++ b/OBJ/system_stm32f4xx.crf
--- a/OBJ/timer.crf
+++ b/OBJ/timer.crf
--- a/OBJ/usart.crf
+++ b/OBJ/usart.crf
--- a/USER/USART.uvguix.baiba
+++ b/USER/USART.uvguix.baiba
--- a/USER/main.c
+++ b/USER/main.c
@ -218,6 +218,8 @@ int main(void)
 	int16_t adc2_current =0;
 	int16_t adc3_current =0;   //三路脉的当前值
 	
+	u8 ch =0;    //诊脉动作通道选择
+	
  uint8_t frame_updata[6] = {0x30,0x30,0x30,0x30,0x30,0x30};   
 	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
 	delay_init(168);		//延时初始化 
@ -249,9 +251,10 @@ int main(void)
    __enable_irq();
 	//=======================================================================
 	L_Motor_Control(MOTOR_REVERSE);
-	M_Motor_Control(MOTOR_REVERSE);
 	R_Motor_Control(MOTOR_REVERSE);  
-	delay_ms(2000);
+	delay_ms(500);
+	M_Motor_Control(MOTOR_REVERSE);
+	delay_ms(500);
 	L_Motor_Control(MOTOR_STOP);
 	M_Motor_Control(MOTOR_STOP);
 	R_Motor_Control(MOTOR_STOP); //上电初始化后，先将电机提升到上位，不一定是到顶，这个可以后期待定
@ -425,6 +428,7 @@ int main(void)
 						if(g_usart6_rx_buf[3]==0xaa)
             {
 							  start_vein_flg =1;    //寻脉启动标志
+							  ch = 0;               //从中间开始寻
 						 } 
 						if(g_usart6_rx_buf[3]==0x55)
             {
@ -432,7 +436,7 @@ int main(void)
 						 }
            if(g_usart6_rx_buf[3]==0xff)
             {
-							  start_vein_flg =0;    //停止诊脉，电机提升后停止
+							  start_vein_flg =3;    //停止诊脉，电机提升后停止
 						 }
 						                         //可以增加指令，指导电机在诊脉过程中进行浮中沉脉的动作
 					}   					
@ -441,43 +445,70 @@ int main(void)
    //以下是自动控制部分，是否要转移到定制中断中处理？
      if(start_vein_flg == 1)
      {
-				if((adc1_current-adc1_zoo)<= D_value)
+				switch(ch)
 			 {
-				L_Motor_Control(MOTOR_FORWARD);    //电机1正传
-			 }
-			 else
-       {
-				 L_Motor_Control(MOTOR_STOP);      //电机1停止
-			 }
+					case 0:
 						
-			 if((adc2_current-adc2_zoo)<= D_value)
-			 {
-				M_Motor_Control(MOTOR_FORWARD);    //电机2正传
-			 }
-			 else
-       {
-				M_Motor_Control(MOTOR_STOP);      //电机2停止
-			 }
+					if((adc2_current-adc2_zoo)<= D_value)
+				 {
+					M_Motor_Control(MOTOR_FORWARD);    //电机2正传
+				 }
+				 else
+				 {
+					M_Motor_Control(MOTOR_STOP);      //电机2停止
+					 ch = 1;
+				 }
+			   break;
 					
-			 	if((adc1_current-adc1_zoo)<= D_value)
-			 {
-				R_Motor_Control(MOTOR_FORWARD);    //电机3正传
-			 }
-			 else
-       {
-				 R_Motor_Control(MOTOR_STOP);      //电机3停止
+				 //-------------------------------------------------------
+				 
+					case 1:
+						if((adc1_current-adc1_zoo)<= D_value)
+				 {
+					L_Motor_Control(MOTOR_FORWARD);    //电机1正传
+				 }
+				 else
+				 {
+					 L_Motor_Control(MOTOR_STOP);      //电机1停止
+					 ch = 2;
+				 }
+			   break;
+				 //--------------------------------------------------------
+				 
+					case 2:
+						
+					if((adc3_current-adc3_zoo)<= D_value)
+				 {
+					R_Motor_Control(MOTOR_FORWARD);    //电机3正传
+				 }
+				 else
+				 {
+					 R_Motor_Control(MOTOR_STOP);      //电机3停止
+					 ch = 3;
+					 
+				 }
+				 break; 
 			 }
 			}
-     if(start_vein_flg == 0)	//停止		
+     if(start_vein_flg == 3)	//停止	 停诊时，应左右两个电机回的高，中间的回的少，使中间突出一些	
 		 {
 			 L_Motor_Control(MOTOR_REVERSE);
-	     M_Motor_Control(MOTOR_REVERSE);
 	     R_Motor_Control(MOTOR_REVERSE);
-	     delay_ms(2000);
+			 delay_ms(500);
+       M_Motor_Control(MOTOR_REVERSE); 			 
+	     delay_ms(1000); 
 	     L_Motor_Control(MOTOR_STOP);
 	     M_Motor_Control(MOTOR_STOP);
-	     R_Motor_Control(MOTOR_STOP); //停止诊脉后电机提升
+	     R_Motor_Control(MOTOR_STOP); //停止诊脉后电机提升后，slide 也做提升动作  
+			 start_vein_flg =0; 
 		 }
+			//-------------------------------------------------------------------------------
+		  //工作流程 
+		  //1、启动诊脉过程，左右，前后移动 通过slide板 控制X轴和Y轴的动作，（通过摄像头找位置)
+		  //2、找到大概位置后，slide板控制Z轴向下，找到中间位置的脉后，Z轴停止
+		  //3、开始左找脉，sensor板控制电机向下，slide 控制姿态电机，找到正确脉
+		  //4、左找到脉后，右脉就已经定位了
+		  //5、开始诊脉
 		 
 		//==============================================================
 		//以下是ADC采集	
--- a/readme.txt
+++ b/readme.txt
@ -3,6 +3,12 @@
 3、完成通过ADC值控制电机的向下运行，并停止
 4、问题：PWM控制电机的过程中，单步可以运转，全速不动作，中断发现，停止的时间比运行的时间长，这个有待进一步调试	

+2026.02.26
+
+1、更改了寻脉流程，先中间寻脉，自动停止，然后左寻脉，停止，再右寻脉，停止
+2、提升的过程中，先左右提升，再提升中间的，这样在下次寻脉时，可以中间找到脉后停止，其他两个开始找脉
+				
+