From 600568fcff085d641ce0b006f1aa23543be17f11 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 5 Oct 2025 17:41:45 +0800
Subject: [PATCH] =?UTF-8?q?=E7=A5=9E=E7=A7=98=E5=B0=8F=E5=BB=B6=E6=97=B6?=
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---
 User/module/balance_chassis.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 483b238..2b19c33 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -79,7 +79,7 @@ static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
             MOTOR_LZ_MotionControl(&chassis->param.joint_param[i], &motion_param);
         }
     }
-    
+    BSP_TIME_Delay_us(500); // 确保CAN总线有足够时间处理消息
     // 检查ID 128 - 左轮控制命令 (与电机发送格式一致)
     if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_LEFT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
         wheel_command_received[0] = true;
@@ -98,7 +98,7 @@ static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
         chassis->output.wheel[1] = right_out;
         MOTOR_LK_SetOutput(&chassis->param.wheel_param[1], right_out);
     }
-    BSP_TIME_Delay_us(400); // 确保CAN总线有足够时间处理消息
+    BSP_TIME_Delay_us(500);
     return DEVICE_OK;
 }