From e16f6257d2ab1dd2a3b70901f9425542b2a6d76d Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 17 Sep 2026 09:52:41 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E5=BE=85=E4=BC=98=E5=8C=96=E3=80=91?=
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---
 project/paint_robot_new/paint_robot_new.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index b675162..7f2062f 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -279,7 +279,9 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 
 			// 急停或者遥控器失联
 			if ((g_stMK32.CH8_SE == -1000 && g_stMK32.CH9_SF == -1000)
-			 || g_stMK32.IsOnline == 0 || g_stIV.Left_Motor_Err != 0 || g_stIV.Right_Motor_Err != 0)
+			 || (g_stMK32.IsOnline == 0 && (g_stMK32.CH8_SE == -1000 || g_stMK32.CH8_SE == 1000 || g_stMK32.CH8_SE == 0) 
+			                            && (g_stMK32.CH9_SF == -1000 || g_stMK32.CH9_SF == 1000 || g_stMK32.CH9_SF == 0))
+			 || g_stIV.Left_Motor_Err != 0 || g_stIV.Right_Motor_Err != 0)
 			{
 				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0);
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);