修

2025-10-04 22:46:02 +08:00 · 2025-10-04 22:46:02 +08:00 · 01ea1a9e78
commit 01ea1a9e78
parent 81a5306962
1 changed files with 4 additions and 0 deletions
--- a/User/task/ctrl_lz.c
+++ b/User/task/ctrl_lz.c
@ -45,6 +45,10 @@ void Task_ctrl_lz(void *argument) {
  // 注册CAN接收ID
  BSP_CAN_RegisterId(BSP_CAN_1, 121, 0); // 使能命令
  BSP_CAN_RegisterId(BSP_CAN_1, 122, 0); // 力矩控制命令
+
+    for (int i = 0; i < 4; i++) {
+      MOTOR_LZ_Enable(&Config_GetRobotParam()->joint_param[i]);
+  }
  /* USER CODE INIT END */
  
  while (1) {