改为角度偏差1秒后触发角度锁，关枪后停车时间缩短10倍（之前的数值是为了调试好看现象）

project/paint_robot_new/paint_robot_new.c

@@ -82,7 +82,7 @@ static void Move_Halt_AngleError(void)
 
 	if (1 == angle_protect_lock)
 	{
-		if (Rd_GetTime() - uiLastTime >= 6000 * g_stCV.Paint_Gun_Shutdown_Distance / g_stIV.RobotMoveSpeed)
+		if (Rd_GetTime() - uiLastTime >= 600 * g_stCV.Paint_Gun_Shutdown_Distance / g_stIV.RobotMoveSpeed)
 		{
 			MsgCenter_SendTo(MODULE_NAME_MOTOR, COMMON_CMD_STOP_ALL, NULL, 0);
 		}
@@ -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(Rd_GetTime() - g_ipaintOffCount > 1000)
 		{
 			MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0);//先关枪
 			angle_protect_lock = 1;
@@ -105,7 +105,7 @@ static void Move_Halt_AngleError(void)
 	else
 	{
 		//计数器清零
-		g_ipaintOffCount = 0;
+		g_ipaintOffCount = Rd_GetTime();
 	}
 }