diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c
index aeceb96..7d7c077 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c
@@ -34,47 +34,37 @@ const uint8_t strong_grinding_machine_set_speed_cmd[8] = {0x01, 0x06, 0x00, 0x02
 const uint8_t strong_grinding_machine_start_cmd[8] = {0x01, 0x06, 0x20, 0x00, 0x00, 0x01, 0x43, 0xCA};
 const uint8_t strong_grinding_machine_stop_cmd[8] = {0x01, 0x06, 0x20, 0x00, 0x00, 0x00, 0x82, 0x0A};
 
-static uint8_t strong_grinding_machine_cmd_flag = 0;
 uint8_t strong_grinding_machine_cmd = 0;
 // 测试，转速20rpm
 int32_t strong_grinding_machine_speed = 10;
 
 void Strong_grinding_machine_cmd(void)
 {
-	strong_grinding_machine_speed = GV.PV.main_axis_speed;
+	strong_grinding_machine_speed = GV.PV.main_axis_speed / 15;//公式是转速除以60/p,是极对数，极对数是极数的一半。当前电机极数是8，所以是除以15
 
-	switch(strong_grinding_machine_cmd_flag)
+    //发速度
+	MB_WriteHoldingReg(&Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+			0x01, 0x4000, strong_grinding_machine_speed);
+	Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+			inquiry_interval, NULL);
+
+   //发是否旋转
+	if(strong_grinding_machine_cmd == 0)
+	{
+		Strong_grinding_machine_handler->TxCount = 8;
+		memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_stop_cmd, Strong_grinding_machine_handler->TxCount);
+		Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+				inquiry_interval, NULL);
+	}
+	else if(strong_grinding_machine_cmd == 1)
 	{
-		case 0:
-
-			MB_WriteHoldingReg(&Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
-					0x01, 0x4000, strong_grinding_machine_speed);
-//			Strong_grinding_machine_handler->TxCount = 8;
-//			memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_set_speed_cmd, Strong_grinding_machine_handler->TxCount);
-			Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
-					inquiry_interval, NULL);
-			strong_grinding_machine_cmd_flag = 1;
-			break;
-		case 1:
-			if(strong_grinding_machine_cmd == 0)
-			{
-				Strong_grinding_machine_handler->TxCount = 8;
-				memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_stop_cmd, Strong_grinding_machine_handler->TxCount);
-				Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
-						inquiry_interval, NULL);
-			}
-			else if(strong_grinding_machine_cmd == 1)
-			{
-				Strong_grinding_machine_handler->TxCount = 8;
-				memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_start_cmd, Strong_grinding_machine_handler->TxCount);
-				Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
-						inquiry_interval, NULL);
-			}
-			else{
-
-			}
-			strong_grinding_machine_cmd_flag = 0;
-			break;
+		Strong_grinding_machine_handler->TxCount = 8;
+		memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_start_cmd, Strong_grinding_machine_handler->TxCount);
+		Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+				inquiry_interval, NULL);
+	}
+	else{
+
 	}
 
 }