From 2ec1dc60686d6c282b356199198049db8ed3bbae Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Sun, 20 Sep 2026 14:41:21 +0800
Subject: [PATCH] =?UTF-8?q?=E8=A7=A3=E5=86=B3=E9=A6=96=E6=AC=A1=E4=B8=8A?=
 =?UTF-8?q?=E7=94=B5=E6=89=93=E5=8D=B0=E9=80=9F=E5=BA=A6=E4=B8=BA0?=
 =?UTF-8?q?=E4=B8=8D=E8=83=BD=E5=BC=80=E6=9E=AA=E7=9A=84=E9=97=AE=E9=A2=98?=
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---
 project/paint_robot_new/paint_robot_new.c | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index 7896d82..5159f86 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -116,6 +116,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 	static int iIsStopOffPaint = 0;
 	static int iPaint = 1;
 	static int iMotorOK = 0;
+	static int CH13_S2_Value = 0;
     switch (pstMsg->m_uiMsgID)
     {
 		case CUSTOM_RESET_PAINT:
@@ -277,6 +278,7 @@ 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)
 				{
+					CH13_S2_Value = g_stMK32.CH13_S2; //防止第一次值不正确
 					MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_ENABLE, NULL, 0);
 					g_Is_All_Button_Reset = 1;
 				}
@@ -292,6 +294,11 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			                            && (g_stMK32.CH9_SF == -1000 || g_stMK32.CH9_SF == 1000 || g_stMK32.CH9_SF == 0))
 			 || g_stIV.Left_Motor_Err != 0 || g_stIV.Right_Motor_Err != 0)
 			{
+				if (g_stIV.Left_Motor_Err != 0 || g_stIV.Right_Motor_Err != 0)
+				{
+					log_a("Motor Error ! error code: left [%d] right [%d]", g_stIV.Left_Motor_Err, g_stIV.Right_Motor_Err);
+				}
+				
 				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0);
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
 				g_Is_All_Button_Reset = 0;
@@ -390,7 +397,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				}
 				else if(g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
 				{
-					static int CH13_S2_Value = 0;
 					if (g_stMK32.CH13_S2 != CH13_S2_Value)
 					{
 						if(g_stIV.CurrentSpeed != 0)
@@ -403,8 +409,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 							log_w("cannot open paint with 0 move speed !");
 						}
 					}
-					CH13_S2_Value = g_stMK32.CH13_S2;
 				}
+				CH13_S2_Value = g_stMK32.CH13_S2;
 			}
 
 			// 自动巡航