From a46acb9bf37f4621baa4ce65bc0bcbbd8bb63fd5 Mon Sep 17 00:00:00 2001
From: sunbeam <fcb1995@163.com>
Date: Sat, 31 Aug 2024 15:42:56 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E7=94=B5=E6=9C=BA=E9=94=99?=
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---
 BCZT/user/MotorCtrl.c | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/BCZT/user/MotorCtrl.c b/BCZT/user/MotorCtrl.c
index de793d9..6e5c86c 100644
--- a/BCZT/user/MotorCtrl.c
+++ b/BCZT/user/MotorCtrl.c
@@ -141,7 +141,7 @@ void setMotorState(uint8_t motorid,uint8_t act)
 uint16_t MotorTarget[6] = {0};
 void setMotorTarget(uint8_t motorid,uint16_t target)
 {
-    if (MotorHardStop1[motorid]!=0 && MotorHardStop2[motorid]!=0)
+    if (MotorHardStop1[motorid]!=0 && MotorHardStop2[motorid]!=0 && MotorErr[motorid] != 0)
     {
         MotorTarget[motorid] = target;
     }
@@ -765,6 +765,11 @@ void MotorCtrl(void)//10ms
         MotorStateReal[i] = MotorState[i];
         if (MotorState[i] == ACT_NOACT  && MotorHardStop1[i] != 0 && MotorHardStop2[i] != 0 )
         {
+            if (MotorErr[i] != 0)
+            {
+                MotorTarget[i] = 0;
+            }
+            
             if (MotorTarget[i]!=0 && MotorHardStop1[i] > MotorTarget[i] && MotorTarget[i] > MotorHardStop2[i])
             {
                 if (MotorTarget[i] > MotorHallLoc[i]+10)
@@ -970,6 +975,7 @@ void HallDetecte(void)
                 {
                     HallErrorCount[i] = 500;
                     MotorErr[i] = 1;
+                    MotorTarget[i] = 0;
                 }
                 
             }