From 8d8474adb2c8fb3994714a04954244001b9bb7de Mon Sep 17 00:00:00 2001
From: sunbeam <fcb1995@163.com>
Date: Thu, 21 Mar 2024 15:12:04 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8DBUG:1.=E8=BF=90=E5=8A=A8?=
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---
 BCZT/user/MotorCtrl.c | 14 ++++++++++----
 BCZT/user/appTask.c   |  3 ++-
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/BCZT/user/MotorCtrl.c b/BCZT/user/MotorCtrl.c
index 8039445..de793d9 100644
--- a/BCZT/user/MotorCtrl.c
+++ b/BCZT/user/MotorCtrl.c
@@ -141,8 +141,14 @@ void setMotorState(uint8_t motorid,uint8_t act)
 uint16_t MotorTarget[6] = {0};
 void setMotorTarget(uint8_t motorid,uint16_t target)
 {
-    
-    MotorTarget[motorid] = target;
+    if (MotorHardStop1[motorid]!=0 && MotorHardStop2[motorid]!=0)
+    {
+        MotorTarget[motorid] = target;
+    }
+    else
+    {
+        MotorTarget[motorid] = 0;
+    }
 }
  
 
@@ -379,7 +385,7 @@ void AutoCalCtrl(void)
         wait2++;
         if (wait2 > 50)
         {
-	    MotorArr2state++;
+	        MotorArr2state++;
             setMotorState(MOTOR4,ACT_XQ);
             autocalcounter[1] = 0;
         }
@@ -658,7 +664,7 @@ void MotorCtrl(void)//10ms
     if (flagMotorMemoryKeyStart == 1)
     {
         countMotorMemoryKeyStart++;
-        if (countMotorMemoryKeyStart > 500)//5S
+        if (countMotorMemoryKeyStart > 300)//5S
         {
             flagMotorMemoryKeyStart = 0;
             countMotorMemoryKeyStart = 0;
diff --git a/BCZT/user/appTask.c b/BCZT/user/appTask.c
index 1863acd..826cde2 100644
--- a/BCZT/user/appTask.c
+++ b/BCZT/user/appTask.c
@@ -231,7 +231,7 @@ void KeyPressLogic(uint8_t keyid)
         break;
     }
 }
-
+extern uint8_t flagMotorMemoryKeyStart;
 void KeyReleaseLogic(uint8_t keyid)
 {
     switch (keyid)
@@ -287,6 +287,7 @@ void KeyReleaseLogic(uint8_t keyid)
     default:
         break;
     }
+    flagMotorMemoryKeyStart = 0;
 }