From ae8b3a25127c98821480cd1c0a3cf43cb524f884 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 17 Sep 2026 16:10:36 +0800
Subject: [PATCH] =?UTF-8?q?=E9=81=97=E6=BC=8F=E4=B8=8A=E4=BC=A0=E5=92=8C?=
 =?UTF-8?q?=E4=BF=AE=E6=94=B9IV=E4=B8=8A=E6=8A=A5=E5=91=A8=E6=9C=9F?=
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---
 RBcore/include/BHBF.h                     | 1 +
 project/paint_robot_new/paint_robot_new.c | 3 +--
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h
index ab5f3e6..0ffb18f 100644
--- a/RBcore/include/BHBF.h
+++ b/RBcore/include/BHBF.h
@@ -100,6 +100,7 @@ typedef enum {
 	CUSTOM_CMD_PAINTGUN,         // 控制喷枪
 	CUSTOM_CMD_STRAIGHT_DRIVE,   // RBCORE_CMD_STRAIGHT_DRIVE命令停止后回调
 	CUSTOM_CMD_TURN_ANGLE,       // RBCORE_CMD_TURN_ANGLE命令停止后回调
+	CUSTOM_SET_STOP_OFF_PAINT,   // 停车关枪标志位置1
 	SENDIV_START = 0x0400,       // *IV发送线程命令（一般低优先级事项也放到这）*
 
     SENDIV_SET_IV,				 // 设置IV
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index 117d681..c386ea1 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -60,7 +60,7 @@ static int g_Is_All_Button_Reset = 0; // 1表示按钮正常工作，0表示需
  * 宏定义                                       *
  *----------------------------------------------*/
 
-#define IV_SEND_TIME 500 // IV上报周期（单位毫秒）
+#define IV_SEND_TIME 50 // IV上报周期（单位毫秒）
 
 static int32_t RunTime_DistanceCm_SpeedE_2MPMin(void)
 {
@@ -99,7 +99,6 @@ static void Move_Halt_AngleError(void)
 	}
 	else
 	{
-		//计数器清零
 		g_ipaintOffCount = Rd_GetTime();
 	}
 }