From ec2dae1c83cd8667365d8a1553bc836557addc96 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 21 May 2026 08:58:24 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E7=AB=8B=E9=9D=A2=E5=B9=B3?=
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---
 .../Core/Src/robot_state.c                    | 24 +++++++++++++++++--
 1 file changed, 22 insertions(+), 2 deletions(-)

diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
index 7fc0942..3f84ae9 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
@@ -448,7 +448,17 @@ void auto_forward_state_do(void)
 	Act_Speed =Speed_Ctrl;
 	if(Ref_Speed >= 5000) Ref_Speed = 5000;
 
-    SetMoveMotorSpeed(Ref_Speed);
+    if (0 == GV.PV.knife_descending_height)
+    {
+        SetMoveMotorSpeed(Ref_Speed);
+    }
+    else
+    {
+        GV.LeftFrontMotor.Target_Velcity = Ref_Speed;
+    	GV.RightFrontMotor.Target_Velcity = -Ref_Speed;
+    	GV.LeftBackMotor.Target_Velcity = Ref_Speed;
+    	GV.RightBackMotor.Target_Velcity = -Ref_Speed;        
+    }
 }
 
 void auto_backward_state_do(void)
@@ -470,7 +480,17 @@ void auto_backward_state_do(void)
 	Act_Speed =Speed_Ctrl;
 	if(Ref_Speed >= 5000) Ref_Speed = 5000;
 
-    SetMoveMotorSpeed(-Ref_Speed);
+    if (0 == GV.PV.knife_descending_height)
+    {
+        SetMoveMotorSpeed(-Ref_Speed);
+    }
+    else
+    {
+        GV.LeftFrontMotor.Target_Velcity = -Ref_Speed;
+        GV.RightFrontMotor.Target_Velcity = Ref_Speed;
+        GV.LeftBackMotor.Target_Velcity = -Ref_Speed;
+        GV.RightBackMotor.Target_Velcity = Ref_Speed;        
+    }
 }