From baebe9bf561516a5fa6fb3c16b0d7cb614b2f92f Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Sun, 20 Sep 2026 15:05:06 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E9=83=A8=E5=88=86=E5=8F=98?=
 =?UTF-8?q?=E9=87=8F?=
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---
 RBcore/BHBF.c           | 2 +-
 RBcore/client_setting.c | 4 ++--
 RBcore/msp_PID.c        | 5 +----
 RBcore/msp_Timer.c      | 6 +++---
 4 files changed, 7 insertions(+), 10 deletions(-)

diff --git a/RBcore/BHBF.c b/RBcore/BHBF.c
index 255870a..9902ea5 100644
--- a/RBcore/BHBF.c
+++ b/RBcore/BHBF.c
@@ -56,7 +56,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
     }
 
     static int iSpeed = -1; // 表示由RD1转换来的速度值
-    static int aiMotorSpeed[2] = {0}; //0索引表示左，1索引表示右，多轮时到对应motor的MOTOR_CMD_SET_SPEED命令自行处理
+    int aiMotorSpeed[2] = {0}; //0索引表示左，1索引表示右，多轮时到对应motor的MOTOR_CMD_SET_SPEED命令自行处理
     switch (pstMsg->m_uiMsgID)
     {
 		case RBCORE_CMD_STOP_ALL:
diff --git a/RBcore/client_setting.c b/RBcore/client_setting.c
index a6266d2..c5854a5 100644
--- a/RBcore/client_setting.c
+++ b/RBcore/client_setting.c
@@ -44,9 +44,7 @@
  * 模块级变量                                   *
  *----------------------------------------------*/
 static uint32_t g_uiIVModuleID = 0;
-static PV_struct_define decoded_PV_variable = { 0 };
 static PV_struct_define decoded_PV = { 0 };
-static IV_struct_define IV = { 0 };
 static char g_IV_buffer[1024] = {0};
 /*----------------------------------------------*
  * 常量定义                                     *
@@ -74,6 +72,7 @@ int check_PV(char *_pBuffer, uint32_t _iSize)
 
 void decode_PV(const char *_pBuffer, uint32_t _iSize)
 {
+    PV_struct_define decoded_PV_variable = { 0 };
     if (_pBuffer[2] == 0x01 && _pBuffer[3] == 0x01) //01 01 设置PV
     {
         pb_istream_t i_pv_stream;
@@ -114,6 +113,7 @@ static void SendIV_ModuleHandler(const Msg_t *pstMsg)
     {
 		case SENDIV_SET_IV:
 		{
+			IV_struct_define IV = { 0 };
 			if (pstMsg->m_uiDataLen >= sizeof(IV))
 			{
 				RD_MEMCPY(&IV, pstMsg->m_aucData, sizeof(IV));
diff --git a/RBcore/msp_PID.c b/RBcore/msp_PID.c
index ed39f12..fb0d6ce 100644
--- a/RBcore/msp_PID.c
+++ b/RBcore/msp_PID.c
@@ -10,11 +10,7 @@
 
 void Speedl_PID(double CurrentValue, double TargetValue, double Sys_T,
         double *Gain_speed);
-double Desire_Angle = 0;
-double PID_KP = 50;
-double PID_KD = 12;
 //double Sys_T=0.01;//System time
-double k_1_error = 0;
 
 
 /* PID
@@ -62,6 +58,7 @@ double Angle_Tune_PID(double CurrentAngle, double TargetAngle, double Position_K
 int32_t PositionalPID(double pidTargetValue, double pidCurrentValue, double Kp,
         double Kd)
 {
+	static double k_1_error = 0;
 	double Error = 0;
 	double P_Error = 0;
 	double D_Error = 0;
diff --git a/RBcore/msp_Timer.c b/RBcore/msp_Timer.c
index 1475da1..0e57f6e 100644
--- a/RBcore/msp_Timer.c
+++ b/RBcore/msp_Timer.c
@@ -58,7 +58,7 @@ static void Timer_ModuleHandler(const Msg_t *pstMsg)
         return;
     }
 
-    static int aiMotorSpeed[2] = {0};
+    int aiMotorSpeed[2] = {0};
 
     static int g_dletAngle = 0; //PID最终计算补偿值
     static uint32_t uiLastSendTick = 0; //上一次时间戳，用于控制直线行驶距离
@@ -74,8 +74,8 @@ static void Timer_ModuleHandler(const Msg_t *pstMsg)
         	break;
         }
         case TIMER_CMD_STRAIGHT_DRIVE:
-		{
-			static BHBF_straight_drive_Cmd stCmd = {0};
+        {
+        	BHBF_straight_drive_Cmd stCmd = {0};
 			if (pstMsg->m_uiDataLen >= sizeof(stCmd))
 			{
 				if (1 == bstrgightfinish) // 这里换道完成认为第一步旋转已经完成不再根据计时卡状态