From 3fcef59348353fb505692a56af5d18101a8b551d Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Fri, 18 Sep 2026 16:50:43 +0800
Subject: [PATCH] =?UTF-8?q?=E7=94=B5=E6=9C=BA=E5=8F=AA=E5=88=9D=E5=A7=8B?=
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---
 project/paint_robot_new/paint_robot_new_motors.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c
index 985d6b6..0a1689a 100644
--- a/project/paint_robot_new/paint_robot_new_motors.c
+++ b/project/paint_robot_new/paint_robot_new_motors.c
@@ -46,6 +46,7 @@ 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
 static int g_iLastVehicleMove = 0;
+static int g_iInitOnce = 0; // 防止重复初始化标志
 
 /*----------------------------------------------*
  * 常量定义                                     *
@@ -195,7 +196,7 @@ void MotorTask(void *argument)
     	// 处理消息
     	MsgCenter_ProcessWait(g_uiMotorModuleID, 2);
 
-    	if (0 == g_isMotorInit)
+    	if (0 == g_isMotorInit && 0 == g_iInitOnce)
     	{
     		HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 0);
 			// 初始化FDCAN1，使用雷赛电机的回调
@@ -243,6 +244,7 @@ void MotorTask(void *argument)
 			MotorMgr_SpeedModeInit(g_apstMotors[0]);
 			MotorMgr_SpeedModeInit(g_apstMotors[1]);
     		g_isMotorInit = 1;
+			g_iInitOnce = 1;
     	}
     	else if (g_isMotorInit > 0)
     	{