diff --git a/bspMCU/bsp_pin.c b/bspMCU/bsp_pin.c
index 204a522..39cc2ac 100644
--- a/bspMCU/bsp_pin.c
+++ b/bspMCU/bsp_pin.c
@@ -50,11 +50,12 @@ void delay_us(int nus)
 
 void hard_fault_handler_c(unsigned int *hardfault_args)
 {
+	unsigned int stacked_lr = hardfault_args[5];
     unsigned int stacked_pc = hardfault_args[6];  // 程序计数器
     unsigned int stacked_psr = hardfault_args[7]; // 状态寄存器
     uint32_t sp   = (uint32_t)hardfault_args;
 
     // 打印寄存器现场
-    log_a("====== HardFault Detected ======\nPC = 0x%08X, PSR= 0x%08X\nHFSR = 0x%08X\tCFSR = 0x%08X\nBFAR = 0x%08X\tMMFAR= 0x%08X\nsp = 0x%08X\n",
-    		stacked_pc, stacked_psr, SCB->HFSR, SCB->CFSR, SCB->BFAR, SCB->MMFAR, sp);
+    log_a("====== HardFault Detected ======\nPSR= 0x%08X\nPC = 0x%08X, LR = 0x%08X\nHFSR = 0x%08X\tCFSR = 0x%08X\nBFAR = 0x%08X\tMMFAR= 0x%08X\nsp = 0x%08X\n",
+    		stacked_psr, stacked_pc, stacked_lr, SCB->HFSR, SCB->CFSR, SCB->BFAR, SCB->MMFAR, sp);
 }
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index e6d3ada..99f4fad 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -50,7 +50,7 @@ static PV_struct_define g_stPV;
 static IV_struct_define g_stIV;
 static int g_Is_All_Button_Reset = 0; // 1表示按钮正常工作，0表示需要复位
 static int g_ichangLineState = 0; // 换道状态，0表示起始状态，1表示第一次旋转完成，2表示计时行走	完成
-static int g_bNotTable = 0;
+static int g_iRobot_Move_State = 0; // 机器人状态0表示默认，1表示调用TIMER_CMD_STRAIGHT_DRIVE
 
 static int g_iLeft_Compensation = 0;
 static int g_iRight_Compensation = 0;
@@ -498,7 +498,7 @@ static void Move_Halt_AngleError(void)
 
 void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 {
-	if (0 == g_bNotTable) g_bNotTable = 1;
+	g_iRobot_Move_State = 0;
 	// 急停
 	if (_pstMK32->CH8_SE == -1000 && _pstMK32->CH9_SF == -1000)
 	{
@@ -562,22 +562,6 @@ void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 				MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int));
 			}
 		}
-		else if(_iMode == 2 || _iMode == 3)
-		{
-			if (_pstMK32->CH13_S2 != g_iS2LastValue)
-			{
-				if(g_stIV.CurrentSpeed != 0)
-				{
-					g_stAngleError_Ctl.m_iPaintState = 0;
-					MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int));
-				}
-				else
-				{
-					//log_w("cannot open paint with 0 move speed !");
-				}
-			}
-		}
-		g_iS2LastValue = _pstMK32->CH13_S2;
 	}
 
 	int aiMotorSpeed[2] = {0}; //0索引表示左，1索引表示右，多轮时到对应motor的MOTOR_CMD_SET_SPEED命令自行处理
@@ -595,6 +579,8 @@ void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 		}
 		else if (_iMode == 2 || _iMode == 3)
 		{
+			g_iRobot_Move_State = 1;
+			Robot_Paint_SP();
 			if (0 == g_stAngleError_Ctl.m_iAnglelock)
 			{
 				BHBF_straight_drive_Cmd stCmd = {
@@ -621,6 +607,8 @@ void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 		}
 		else if (_iMode == 2 || _iMode == 3)
 		{
+			g_iRobot_Move_State = 1;
+			Robot_Paint_SP();
 			if (0 == g_stAngleError_Ctl.m_iAnglelock)
 			{
 				BHBF_straight_drive_Cmd stCmd = {
@@ -666,6 +654,8 @@ void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 		}
 		else if (_iMode == 2 || _iMode == 3)
 		{
+			g_iRobot_Move_State = 1;
+			Robot_Paint_SP();
 			if (0 == g_stAngleError_Ctl.m_iAnglelock)
 			{
 				BHBF_straight_drive_Cmd stCmd = {
@@ -691,6 +681,8 @@ void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 		}
 		else if (_iMode == 2 || _iMode == 3)
 		{
+			g_iRobot_Move_State = 1;
+			Robot_Paint_SP();
 			if (0 == g_stAngleError_Ctl.m_iAnglelock)
 			{
 				BHBF_straight_drive_Cmd stCmd = {
@@ -931,8 +923,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			lua_print("PV Info\n");
 			lua_print("{%d, %d, %d, %d, %d, %ld}\n",
 					g_stPV.RunMode, g_stPV.RobotSpeed, g_stPV.LaneChangeDistance, (int)g_stPV.Vertical_Calibration, g_stPV.IV_IsRestart_Notified, (long long)g_stPV.TimeStamp);
-			lua_print("\niPaint = %d\ng_stAngleError_Ctl.m_iPaintState = %d\ng_stAngleError_Ctl.m_iAnglelock = %d\ng_stAngleError_Ctl.m_ipaintOffCount = %d\ng_Is_All_Button_Reset = %d\ng_bNotTable = %d\n",
-					g_iPaint, g_stAngleError_Ctl.m_iPaintState, g_stAngleError_Ctl.m_iAnglelock, g_stAngleError_Ctl.m_ipaintOffCount, g_Is_All_Button_Reset, g_bNotTable);
+			lua_print("\niPaint = %d\ng_stAngleError_Ctl.m_iPaintState = %d\ng_stAngleError_Ctl.m_iAnglelock = %d\ng_stAngleError_Ctl.m_ipaintOffCount = %d\ng_Is_All_Button_Reset = %d\n",
+					g_iPaint, g_stAngleError_Ctl.m_iPaintState, g_stAngleError_Ctl.m_iAnglelock, g_stAngleError_Ctl.m_ipaintOffCount, g_Is_All_Button_Reset);
 			break;
 		}
         default: