主逻辑需要感知遥控器状态，防止日志刷屏，增加初始化日志

RBcore/drv_interface.c

@@ -309,4 +309,5 @@ void Drv_InterfaceInit(void)
 	daemon_Init();
 
 	Timer_Init();
+	log_i("BingooRobot Init success\nversion: %s", Rd_GetBuildTime());
 }

RBcore/include/BHBF.h

@@ -99,6 +99,7 @@ typedef enum {
     CUSTOM_GET_SPEED,            // 获取速度（电机回码）
     CUSTOM_GET_FAULT_CODE,       // 获取错误码（电机回码）
 	CUSTOM_GET_DAEMON_CODE,      // 获取daemon错误码
+	CUSTOM_GET_MOTOR_OK,         // 获取电机初始化完毕
 	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

library/log/elog.c

@@ -244,7 +244,7 @@ void elog_start(void) {
 #endif
 
     /* show version */
-    log_i("EasyLogger V%s is initialize success.", ELOG_SW_VERSION);
+//    log_i("EasyLogger V%s is initialize success.", ELOG_SW_VERSION);
 }
 
 /**

project/paint_robot_new/paint_robot_new.c

@@ -115,6 +115,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 	static int iVehicleSpeed = 1;
 	static int iIsStopOffPaint = 0;
 	static int iPaint = 1;
+	static int iMotorOK = 0;
     switch (pstMsg->m_uiMsgID)
     {
 		case CUSTOM_RESET_PAINT:
@@ -174,6 +175,11 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			}
 			break;
 		}
+		case CUSTOM_GET_MOTOR_OK:
+		{
+			iMotorOK = 1;
+			break;
+		}
 		case CUSTOM_CMD_STRAIGHT_DRIVE:
 		{
 			MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_TURN_UP, NULL, 0);
@@ -292,6 +298,11 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				break;
 			}
 
+			if (iMotorOK == 0) // 电机还没初始化完，不执行后边
+			{
+				break;
+			}
+
 			// 按键处于默认位置安卓界面可控
 			if ((fabs(g_stMK32.CH2_LY_V) <= 200) && (fabs(g_stMK32.CH3_LY_H) <= 200)
 				&& (fabs(g_stMK32.CH0_RY_H) <= 200) && (fabs(g_stMK32.CH1_RY_V) <= 200)

project/paint_robot_new/paint_robot_new_motors.c

@@ -245,6 +245,7 @@ void MotorTask(void *argument)
 			MotorMgr_SpeedModeInit(g_apstMotors[1]);
     		g_isMotorInit = 1;
 			g_iInitOnce = 1;
+			MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_MOTOR_OK, NULL, 0);
     	}
     	else if (g_isMotorInit > 0)
     	{