From dff95dee9e677e42a0dd5c5c51a800a1aca86b39 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 17 Sep 2026 15:53:35 +0800
Subject: [PATCH] =?UTF-8?q?=E8=A7=A3=E5=86=B3=E6=89=8B=E5=8A=A8=E6=A8=A1?=
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---
 project/paint_robot_new/paint_robot_new.c        | 13 +++++++++++--
 project/paint_robot_new/paint_robot_new_motors.c |  2 ++
 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 489db45..117d681 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -114,8 +114,13 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
     static int iLeft_Compensation = 0;
     static int iRight_Compensation = 0;
 	static int iVehicleSpeed = 1;
+	static int iIsStopOffPaint = 0;
     switch (pstMsg->m_uiMsgID)
     {
+		case CUSTOM_SET_STOP_OFF_PAINT:
+		{
+			iIsStopOffPaint = 1;
+		}
     	case CUSTOM_GET_DAEMON_CODE:
 		{
 			if (pstMsg->m_uiDataLen >= sizeof(int32_t))
@@ -359,11 +364,15 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				{
 					if (g_stMK32.CH6_SC == -1000)
 					{
-						g_Paint_State = 0;
-						MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int));
+						if (0 == iIsStopOffPaint)
+						{
+							g_Paint_State = 0;
+							MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int));
+						}
 					}
 					else
 					{
+						iIsStopOffPaint = 0;
 						g_Paint_State = 1;
 						MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_Paint_State, sizeof(int));
 					}
diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c
index 740d48c..aca475a 100644
--- a/project/paint_robot_new/paint_robot_new_motors.c
+++ b/project/paint_robot_new/paint_robot_new_motors.c
@@ -83,6 +83,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
 			}
 			if (0 == iVehicleMove && 1 == g_iLastVehicleMove)
 			{
+				MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_SET_STOP_OFF_PAINT, NULL, 0);
 				MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0);//先关枪
 			}
 			g_iLastVehicleMove = iVehicleMove;
@@ -104,6 +105,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
             iVehicleMove = 0;
             if (1 == g_iLastVehicleMove)
 			{
+				MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_SET_STOP_OFF_PAINT, NULL, 0);
 				MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0);//先关枪
 			}
 			g_iLastVehicleMove = 0;