From cfc74a361d9952cbb736e0177e67e0f9fad594fb Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Tue, 27 Oct 2026 15:40:21 +0800
Subject: [PATCH] =?UTF-8?q?=E5=90=8A=E8=80=B3=E5=88=87=E5=89=B2=20?=
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---
 .../Core/BASE/Src/MSP/msp_LeiSai_485.c        | 32 ++++++++++++-------
 1 file changed, 20 insertions(+), 12 deletions(-)

diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c
index 53c25ac..4909672 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c
@@ -34,22 +34,33 @@ void LS_485Motors_intialize(struct UARTHandler *Handler)
 
 void LS_485Motor_loop()
 {
+	static uint32_t uiLastSendTick = 0;
+	static int IsInit = 1;
+	if (IsInit)
+	{
+		uiLastSendTick = HAL_GetTick();
+		IsInit = 0;
+	}
 
 	/*雷赛485电机控制*/
 	if(speedModeSet==1)
 	{
-		MB_WriteHoldingReg(&LS_485Motors_handler->Tx_Buf,
-			        &LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x6208, 0x02);//PR1为速度模式
+		if ((int32_t)(HAL_GetTick() - uiLastSendTick) >= 5000)
+		{
+			MB_WriteHoldingReg(&LS_485Motors_handler->Tx_Buf,
+						&LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x6208, 0x02);//PR1为速度模式
 
-		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
-				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, 50,
-				NULL);
+			LS_485Motors_handler->AddSendList(LS_485Motors_handler,
+					LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, 50,
+					NULL);
 
-		speedModeSet=0;
+			speedModeSet=0;
+		}
 	}
-
+	else
+	{
 		MB_WriteHoldingReg(&LS_485Motors_handler->Tx_Buf,
-			        &LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x620B, LS_485Motors_Speed);//PR1速度
+					&LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x620B, LS_485Motors_Speed);//PR1速度
 
 		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
 				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, 50,
@@ -61,10 +72,7 @@ void LS_485Motor_loop()
 		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
 				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, 50,
 				NULL);
-
-
-
-
+	}
 }