diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index a826664..3138ad9 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -48,9 +48,9 @@ static SP_MSP_MK32_Button g_stMK32;
 static PV_struct_define g_stPV;
 static IV_struct_define g_stIV;
 static int g_RB_State = 0; // 机器人状态，1表示处于竖直行走模式下
-static int g_Paint_State = 0; // 喷枪状态，0表示打开，1表示关闭
+static int g_Paint_State = -1; // 喷枪状态，0表示打开，1表示关闭
 static int angle_protect_lock = 0; // 为1表示角度异常，触发停车逻辑Move_Halt_AngleError
-static int g_ipaintOffCount = 0; // Move_Halt_AngleError中的计时，即角度便宜超过多少时间触发停枪
+static int g_ipaintOffCount = 0; // Move_Halt_AngleError中的计时，即角度偏移超过多少时间触发停枪
 
 /*----------------------------------------------*
  * 常量定义                                     *
@@ -82,11 +82,11 @@ static void Move_Halt_AngleError(void)
 
 	if (1 == angle_protect_lock)
 	{
-		if (Rd_GetTime() - uiLastTime >= 600 * g_stCV.Paint_Gun_Shutdown_Distance / g_stIV.RobotMoveSpeed)
+		if (Rd_GetTime() - uiLastTime >= 6000 * g_stCV.Paint_Gun_Shutdown_Distance / g_stIV.RobotMoveSpeed)
 		{
 			MsgCenter_SendTo(MODULE_NAME_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0);
-			return;
 		}
+		return;
 	}
 	else 
 	{
@@ -95,7 +95,7 @@ static void Move_Halt_AngleError(void)
 
 	if ((abs(g_stIV.CurrentAngle - g_stCV.RobotUpAngleValue) > g_stCV.Robot_Permitted_Angler_Error_Value_E_2D) && 0 == g_Paint_State)
 	{
-		if(++g_ipaintOffCount > 500)
+		if(g_ipaintOffCount++ > 500)
 		{
 			MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0);//先关枪
 			angle_protect_lock = 1;
@@ -242,6 +242,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 		case COMMON_CMD_STOP_ALL:
 		{
 			HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, 1);
+			g_Paint_State = 1;
 			break;
 		}
 		case CUSTOM_CMD_PAINTGUN: