From dd3c95fedf22115b659860f0c8c14d6409e41545 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Fri, 29 May 2026 15:04:28 +0800
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---
 kelaifen/Kelaifen_V6.0/trajectory_program.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/kelaifen/Kelaifen_V6.0/trajectory_program.py b/kelaifen/Kelaifen_V6.0/trajectory_program.py
index 5333774..5d70b78 100644
--- a/kelaifen/Kelaifen_V6.0/trajectory_program.py
+++ b/kelaifen/Kelaifen_V6.0/trajectory_program.py
@@ -980,9 +980,10 @@ def program12(sock):
 
 def program100(sock, ser, stop_cmd_bytes, turn_on_relay_start, turn_off_relay_start, ex_turn_on_relay_start, ex_turn_off_relay_start, delay):
     global sample_time, lookahead_time
-    sample_time = 20          # 采样时间 (ms)
     lookahead_time = 300      # 前瞻时间 (ms)
-    sleep_time = sample_time * 0.001   # 休眠时间 (秒)
+
+    sample_time = (int)(SAMP_TIME*velocity_coefficient/serial_handler.speed_adjustment)
+    sleep_time = sample_time*0.001
 
     #0.点位平移操作
     # 1.假设 Off_Set_Value 已由外部传入（示例值）