From d4c63a7305590d5ebe1e92178c28028beacda92e Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Wed, 9 Sep 2026 11:17:57 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8F=91=E6=8C=87=E4=BB=A4=E6=97=B6=E4=B8=8D?= =?UTF-8?q?=E5=9C=A8=E5=B7=A6=E5=8F=B3=E8=BD=AE=E8=AF=A2=EF=BC=8C=E8=A7=A3?= =?UTF-8?q?=E5=86=B3=E8=BD=AE=E5=AD=90=E6=AD=A5=E8=B0=83=E4=B8=8D=E4=B8=80?= =?UTF-8?q?=E8=87=B4=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../paint_robot_new/paint_robot_new_motors.c | 20 ++++++++----------- 1 file changed, 8 insertions(+), 12 deletions(-) diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c index 3a76e3c..b2bff73 100644 --- a/project/paint_robot_new/paint_robot_new_motors.c +++ b/project/paint_robot_new/paint_robot_new_motors.c @@ -167,17 +167,13 @@ void MotorTask(void *argument) { // 处理消息 MsgCenter_ProcessWait(g_uiMotorModuleID, 2); - - for (int i = 0; i < MOTOR_INSTANCE_MAX; i++) - { - if (g_apstMotors[i] != NULL) - { - // 读取位置、速度、故障 - MotorMgr_RequestPosition(g_apstMotors[i]); - MotorMgr_RequestFault(g_apstMotors[i]); - MotorMgr_RequestVelocity(g_apstMotors[i]); - MotorMgr_SetTargetSpeed(g_apstMotors[i], g_aiMotorSpeed[i]); - } - } + MotorMgr_RequestPosition(g_apstMotors[0]); + MotorMgr_RequestPosition(g_apstMotors[1]); + MotorMgr_RequestFault(g_apstMotors[0]); + MotorMgr_RequestFault(g_apstMotors[1]); + MotorMgr_RequestVelocity(g_apstMotors[0]); + MotorMgr_RequestVelocity(g_apstMotors[1]); + MotorMgr_SetTargetSpeed(g_apstMotors[0], g_aiMotorSpeed[0]); + MotorMgr_SetTargetSpeed(g_apstMotors[1], g_aiMotorSpeed[1]); } }