From cef919640e24d8c09534be2330467504829037a5 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Fri, 18 Sep 2026 13:50:03 +0800
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---
 project/paint_robot_new/paint_robot_new.c        |  5 ++++-
 project/paint_robot_new/paint_robot_new_motors.c | 10 +++++++++-
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index 5b277bc..52392f4 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -394,6 +394,10 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 							g_Paint_State = 0;
 							MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int));
 						}
+						else
+						{
+							log_w("cannot open paint with 0 move speed !");
+						}
 					}
 					CH13_S2_Value = g_stMK32.CH13_S2;
 				}
@@ -449,7 +453,6 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				if ((g_stPV.RunMode == 2 || g_stPV.RunMode == 3) && 0 == iPaint)
 				{
 					MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_STOP_AFTER, NULL, 0);
-					log_e("MOTOR_CMD_STOP_AFTER");
 				}
 				else
 				{
diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c
index 5f05600..985d6b6 100644
--- a/project/paint_robot_new/paint_robot_new_motors.c
+++ b/project/paint_robot_new/paint_robot_new_motors.c
@@ -20,6 +20,7 @@
 #include "motor_manager.h"
 #include "msp_motor_leisai.h"
 #include "msg_center.h"
+#include "lua_base.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -61,7 +62,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
         return;
     }
 
-    int iSpeed = 1;
+    static int iSpeed = 1;
 	static uint32_t uiLastTime = 0;
     switch (pstMsg->m_uiMsgID)
     {
@@ -136,6 +137,13 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
 		{
 			memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed));
 			uiLastTime = Rd_GetTime();
+			g_iLastVehicleMove = 0;
+			break;
+		}
+		case COMMON_CMD_SHOW_INFO:
+		{
+			lua_print("iSpeed = %d\nuiLastTime = %d\ng_isMotorInit = %d\ng_iLastVehicleMove = %d\n",
+				iSpeed, uiLastTime, g_isMotorInit, g_iLastVehicleMove);
 			break;
 		}
         default: