diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h
index 5c17eb8..6ef0cdf 100644
--- a/RBcore/include/BHBF.h
+++ b/RBcore/include/BHBF.h
@@ -78,6 +78,7 @@ typedef enum {
     COMMON_CMD_STOP_ALL,         // 机器人停止（建议各个控制硬件的模块都要实现）
     MOTOR_START = 0x0100,        // *电机命令开始*
     MOTOR_SET_SPEED,		     // 设置速度
+	MOTOR_POWER_ENABLE,		     // 电机上电
 	MOTOR_POWER_DISABLE,		 // 电机失电
     RBCORE_START = 0x0200,       // *机器人共性命令开始*
 
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index 030457e..b675162 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -268,6 +268,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				if (g_stMK32.CH4_SA == 0 && g_stMK32.CH5_SB == 0 && g_stMK32.CH6_SC == 0
 						&& g_stMK32.CH7_SD == 0 && g_stMK32.IsOnline == 1)
 				{
+					MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_ENABLE, NULL, 0);
 					g_Is_All_Button_Reset = 1;
 				}
 			}
diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c
index a48a418..f4d0a1d 100644
--- a/project/paint_robot_new/paint_robot_new_motors.c
+++ b/project/paint_robot_new/paint_robot_new_motors.c
@@ -43,6 +43,7 @@
 static Motor_Instance_t *g_apstMotors[MOTOR_INSTANCE_MAX] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
 static uint32_t g_uiMotorModuleID = 0;
 static int g_aiMotorSpeed[MOTOR_INSTANCE_MAX] = {0};
+static int g_isMotorInit = -1; // -1表示还在等待遥控器初始化完毕，0表示可以进行电机初始化，1表示电机初始化完毕，运行电机主循环
 
 /*----------------------------------------------*
  * 常量定义                                     *
@@ -72,6 +73,11 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
             g_aiMotorSpeed[1] = MotorMgr_SpeedConvert(g_apstMotors[1], aiMotorSpeed[1]);
             break;
         }
+        case MOTOR_POWER_ENABLE:
+		{
+			g_isMotorInit = 0;
+			break;
+		}
         case MOTOR_POWER_DISABLE:
 		{
 			HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 1);
@@ -125,83 +131,88 @@ static void decode_LeiSaiMotor(const char *_pBuffer, uint32_t _iSize)
 
 void MotorTask(void *argument)
 {
-	// 此时消息中心还未就绪，直接调用HAL库接口给电机上电
-	HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 0);
-	// 初始化FDCAN1，使用雷赛电机的回调
-	TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 32, 0);
-	g_ptCAN1 = rd_ComCreate(check_LeiSaiMotor, decode_LeiSaiMotor, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
-	CAN_IT_init(g_ptCAN1);
-
-    // 初始化电机管理模块
-    MotorMgr_Init();
-
-    // 配置左轮电机
-    Motor_Config_t stLeftMotorConfig = {
-        .m_ucMotorID = 1,
-        .m_uiPulsePerRound = g_stCV.pulse_Per_Circle,
-        .m_uiReductionRatio = g_stCV.wheel_Reduction_Ratio,
-        .m_fWheelDiameter = g_stCV.wheel_Diameter_m
-    };
-    g_apstMotors[0] = MotorMgr_Create(&stLeftMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
-
-    // 配置右轮电机
-    Motor_Config_t stRightMotorConfig = {
-        .m_ucMotorID = 2,
-        .m_uiPulsePerRound = g_stCV.pulse_Per_Circle,
-        .m_uiReductionRatio = g_stCV.wheel_Reduction_Ratio,
-        .m_fWheelDiameter = g_stCV.wheel_Diameter_m
-    };
-    g_apstMotors[1] = MotorMgr_Create(&stRightMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
-
-    g_uiMotorModuleID = MsgCenter_Register(MODULE_NAME_MOTOR, Motor_ModuleHandler);
-
-	MotorMgr_ResetAll(g_apstMotors[0]);
-	Rd_Delay(500);
-	MotorMgr_ResetAll(g_apstMotors[1]);
-	Rd_Delay(500);
-
-	int iCount = 6;
-	while(iCount--)
-	{
-		MotorMgr_ActivateAll(g_apstMotors[0]);
-		Rd_Delay(500);
-		MotorMgr_ActivateAll(g_apstMotors[1]);
-		Rd_Delay(500);
-	}
-
-	MotorMgr_SetHome(g_apstMotors[0]);
-	MotorMgr_SetHome(g_apstMotors[1]);
-	MotorMgr_SpeedModeInit(g_apstMotors[0]);
-	MotorMgr_SpeedModeInit(g_apstMotors[1]);
-
+	g_uiMotorModuleID = MsgCenter_Register(MODULE_NAME_MOTOR, Motor_ModuleHandler);
     while(1)
     {
-    	static int LS_Motor_Config_Count = 0;
-    	if (LS_Motor_Config_Count <= 200)
-		{
-			LS_Motor_Config_Count++;
-			MotorMgr_SetWatchdog(g_apstMotors[0], 1000);
+    	// 处理消息
+    	MsgCenter_ProcessWait(g_uiMotorModuleID, 2);
+
+    	if (0 == g_isMotorInit)
+    	{
+    		HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 0);
+			// 初始化FDCAN1，使用雷赛电机的回调
+			TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 32, 0);
+			g_ptCAN1 = rd_ComCreate(check_LeiSaiMotor, decode_LeiSaiMotor, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
+			CAN_IT_init(g_ptCAN1);
+
+			// 初始化电机管理模块
+			MotorMgr_Init();
+
+			// 配置左轮电机
+			Motor_Config_t stLeftMotorConfig = {
+				.m_ucMotorID = 1,
+				.m_uiPulsePerRound = g_stCV.pulse_Per_Circle,
+				.m_uiReductionRatio = g_stCV.wheel_Reduction_Ratio,
+				.m_fWheelDiameter = g_stCV.wheel_Diameter_m
+			};
+			g_apstMotors[0] = MotorMgr_Create(&stLeftMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
+
+			// 配置右轮电机
+			Motor_Config_t stRightMotorConfig = {
+				.m_ucMotorID = 2,
+				.m_uiPulsePerRound = g_stCV.pulse_Per_Circle,
+				.m_uiReductionRatio = g_stCV.wheel_Reduction_Ratio,
+				.m_fWheelDiameter = g_stCV.wheel_Diameter_m
+			};
+			g_apstMotors[1] = MotorMgr_Create(&stRightMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
+
+			MotorMgr_ResetAll(g_apstMotors[0]);
+			Rd_Delay(500);
+			MotorMgr_ResetAll(g_apstMotors[1]);
+			Rd_Delay(500);
+
+			int iCount = 6;
+			while(iCount--)
+			{
+				MotorMgr_ActivateAll(g_apstMotors[0]);
+				Rd_Delay(500);
+				MotorMgr_ActivateAll(g_apstMotors[1]);
+				Rd_Delay(500);
+			}
+
+			MotorMgr_SetHome(g_apstMotors[0]);
+			MotorMgr_SetHome(g_apstMotors[1]);
+			MotorMgr_SpeedModeInit(g_apstMotors[0]);
+			MotorMgr_SpeedModeInit(g_apstMotors[1]);
+    		g_isMotorInit = 1;
+    	}
+    	else if (g_isMotorInit > 0)
+    	{
+    		static int LS_Motor_Config_Count = 0;
+			if (LS_Motor_Config_Count <= 200)
+			{
+				LS_Motor_Config_Count++;
+				MotorMgr_SetWatchdog(g_apstMotors[0], 1000);
+				Rd_Delay(4);
+				MotorMgr_SetWatchdog(g_apstMotors[1], 1000);
+				Rd_Delay(4);
+			}
+			MotorMgr_RequestPosition(g_apstMotors[0]);
 			Rd_Delay(4);
-			MotorMgr_SetWatchdog(g_apstMotors[1], 1000);
+			MotorMgr_RequestPosition(g_apstMotors[1]);
 			Rd_Delay(4);
-		}
-        // 处理消息
-        MsgCenter_ProcessWait(g_uiMotorModuleID, 2);
-		MotorMgr_RequestPosition(g_apstMotors[0]);
-		Rd_Delay(4);
-		MotorMgr_RequestPosition(g_apstMotors[1]);
-		Rd_Delay(4);
-		MotorMgr_RequestFault(g_apstMotors[0]);
-		Rd_Delay(4);
-		MotorMgr_RequestFault(g_apstMotors[1]);
-		Rd_Delay(4);
-		MotorMgr_RequestVelocity(g_apstMotors[0]);
-		Rd_Delay(4);
-		MotorMgr_RequestVelocity(g_apstMotors[1]);
-		Rd_Delay(4);
-		MotorMgr_SetTargetSpeed(g_apstMotors[0], g_aiMotorSpeed[0]);
-		Rd_Delay(4);
-		MotorMgr_SetTargetSpeed(g_apstMotors[1], g_aiMotorSpeed[1]);
-        Rd_Delay(4);
+			MotorMgr_RequestFault(g_apstMotors[0]);
+			Rd_Delay(4);
+			MotorMgr_RequestFault(g_apstMotors[1]);
+			Rd_Delay(4);
+			MotorMgr_RequestVelocity(g_apstMotors[0]);
+			Rd_Delay(4);
+			MotorMgr_RequestVelocity(g_apstMotors[1]);
+			Rd_Delay(4);
+			MotorMgr_SetTargetSpeed(g_apstMotors[0], g_aiMotorSpeed[0]);
+			Rd_Delay(4);
+			MotorMgr_SetTargetSpeed(g_apstMotors[1], g_aiMotorSpeed[1]);
+			Rd_Delay(4);
+    	}
     }
 }