diff --git a/RBcore/BHBF.c b/RBcore/BHBF.c
index 3476b6f..e235e7a 100644
--- a/RBcore/BHBF.c
+++ b/RBcore/BHBF.c
@@ -68,6 +68,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
 		case RBCORE_CMD_STOP_ALL:
 		{
     		MsgCenter_SendTo(MODULE_NAME_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0);
+    		MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0);
 			break;
 		}
 		case RBCORE_GET_TL720D_ROLL:
diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h
index 64a37df..fab37b8 100644
--- a/RBcore/include/BHBF.h
+++ b/RBcore/include/BHBF.h
@@ -78,7 +78,6 @@ typedef enum {
     MOTOR_START = 0x0100,        // *电机命令开始*
     MOTOR_SET_SPEED,		     // 设置速度
 	MOTOR_POWER_DISABLE,		 // 电机失电
-	MOTOR_POWER_ENABLE,		     // 电机上电
     RBCORE_START = 0x0200,       // *机器人共性命令开始*
 
 	RBCORE_CMD_STOP_ALL,		 // 此命令统一调用机器人各个模块的COMMON_CMD_STOP_ALL
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index 510c9b4..dde4e8e 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -183,6 +183,11 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			}
 			break;
 		}
+		case COMMON_CMD_STOP_ALL:
+		{
+			HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, 1);
+			break;
+		}
 		case CUSTOM_CMD_PAINTGUN:
 		{
 			int paintstate = -1;
@@ -218,16 +223,45 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			g_stIV.RobotMoveSpeed = iVehicleSpeed;
 			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_GET_VEHICLE_SPEED, (void *)&iVehicleSpeed, sizeof(int));
 
-			// 开关喷枪
-			if (g_stMK32.CH6_SC == -1000)
+			// 按键处于默认位置安卓界面可控
+			if ((fabs(g_stMK32.CH2_LY_V) <= 200) && (fabs(g_stMK32.CH3_LY_H) <= 200)
+				&& (fabs(g_stMK32.CH0_RY_H) <= 200) && (fabs(g_stMK32.CH1_RY_V) <= 200)
+				&& (g_stMK32.CH4_SA ==0) && (g_stMK32.CH5_SB == 0)
+				&& (g_stMK32.CH6_SC != -1000) )
 			{
-				int paintstate = 0;
-				MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int));
+				g_stIV.IsWorking = 0;
 			}
 			else
 			{
-				int paintstate = 1;
-				MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int));
+				g_stIV.IsWorking = 1;
+			}
+
+			// 开关喷枪
+			if (g_stPV.RunMode == 1)
+			{
+				if (g_stMK32.CH6_SC == -1000)
+				{
+					int paintstate = 0;
+					MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int));
+				}
+				else
+				{
+					int paintstate = 1;
+					MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int));
+				}
+			}
+			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)
+					{
+						int paintstate = 0;
+						MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &paintstate, sizeof(int));
+					}
+				}
+				CH13_S2_Value = g_stMK32.CH13_S2;
 			}
 
 			int iTargetAngle = 0;
@@ -271,12 +305,36 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			// 自动巡航
 			if (g_stMK32.CH5_SB == -1000)
 			{
-				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
+				if (g_stPV.RunMode == 1)
+				{
+					MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
+				}
+				else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
+				{
+					BHBF_straight_drive_Cmd stCmd = {
+						.m_iMode = 1,
+						.m_iAngle = g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration,
+						.m_iTime = -1
+						};
+					MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd));
+				}
 				break;
 			}
 			else if(g_stMK32.CH5_SB == 1000)
 			{
-				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
+				if (g_stPV.RunMode == 1)
+				{
+					MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
+				}
+				else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
+				{
+					BHBF_straight_drive_Cmd stCmd = {
+						.m_iMode = -1,
+						.m_iAngle = g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration,
+						.m_iTime = -1
+						};
+					MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd));
+				}
 				break;
 			}
 
@@ -297,7 +355,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				{
 					MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
 				}
-				else
+				else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
 				{
 					BHBF_straight_drive_Cmd stCmd = {
 						.m_iMode = 1,
@@ -313,7 +371,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				{
 					MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
 				}
-				else
+				else if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
 				{
 					BHBF_straight_drive_Cmd stCmd = {
 						.m_iMode = -1,
diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c
index 083f022..0499cf8 100644
--- a/project/paint_robot_new/paint_robot_new_motors.c
+++ b/project/paint_robot_new/paint_robot_new_motors.c
@@ -72,11 +72,6 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
             g_aiMotorSpeed[1] = MotorMgr_SpeedConvert(g_apstMotors[1], aiMotorSpeed[1]);
             break;
         }
-        case MOTOR_POWER_ENABLE:
-		{
-			HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 0);
-			break;
-		}
         case MOTOR_POWER_DISABLE:
 		{
 			HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 1);
@@ -84,10 +79,6 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
 		}
         case COMMON_CMD_STOP_ALL:
         {
-            for (int i = 0; i < 2; i++)
-            {
-            	MotorMgr_SetTargetSpeed(g_apstMotors[i], 0);
-            }
             memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed));
             break;
         }
@@ -177,24 +168,32 @@ void MotorTask(void *argument)
 
     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);
+			Rd_Delay(4);
+			MotorMgr_SetWatchdog(g_apstMotors[1], 1000);
+			Rd_Delay(4);
+		}
         // 处理消息
         MsgCenter_ProcessWait(g_uiMotorModuleID, 2);
-        Rd_Delay(10);
 		MotorMgr_RequestPosition(g_apstMotors[0]);
-		Rd_Delay(10);
+		Rd_Delay(4);
 		MotorMgr_RequestPosition(g_apstMotors[1]);
-		Rd_Delay(10);
+		Rd_Delay(4);
 		MotorMgr_RequestFault(g_apstMotors[0]);
-		Rd_Delay(10);
+		Rd_Delay(4);
 		MotorMgr_RequestFault(g_apstMotors[1]);
-		Rd_Delay(10);
+		Rd_Delay(4);
 		MotorMgr_RequestVelocity(g_apstMotors[0]);
-		Rd_Delay(10);
+		Rd_Delay(4);
 		MotorMgr_RequestVelocity(g_apstMotors[1]);
-		Rd_Delay(10);
+		Rd_Delay(4);
 		MotorMgr_SetTargetSpeed(g_apstMotors[0], g_aiMotorSpeed[0]);
-		Rd_Delay(10);
+		Rd_Delay(4);
 		MotorMgr_SetTargetSpeed(g_apstMotors[1], g_aiMotorSpeed[1]);
-        Rd_Delay(10);
+        Rd_Delay(4);
     }
 }