From 799ad45397abcdeb8a74d08d17ef39fcae3dd454 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Mon, 29 Sep 2025 20:11:16 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=BA=86can=E5=8F=91?=
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---
 MDK-ARM/DevC.uvprojx          | 2 +-
 User/module/balance_chassis.c | 6 +-----
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/MDK-ARM/DevC.uvprojx b/MDK-ARM/DevC.uvprojx
index f03a6b2..e01fb9b 100644
--- a/MDK-ARM/DevC.uvprojx
+++ b/MDK-ARM/DevC.uvprojx
@@ -138,7 +138,7 @@
             <DriverSelection>4101</DriverSelection>
           </Flash1>
           <bUseTDR>1</bUseTDR>
-          <Flash2>BIN\UL2V8M.DLL</Flash2>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
           <Flash3>"" ()</Flash3>
           <Flash4></Flash4>
           <pFcarmOut></pFcarmOut>
diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index c9ca0b9..c1319c1 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -337,16 +337,12 @@ void Chassis_Output(Chassis_t *c) {
         param.torque = c->output.joint[i].torque;
         MOTOR_LZ_MotionControl(&c->param->joint_motors[i], &param);
     }
-    BSP_TIME_Delay_us(200); // 等待CAN总线空闲，确保前面的命令发送完成
+    BSP_TIME_Delay_us(400); // 等待CAN总线空闲，确保前面的命令发送完成
     for (int i = 0; i < 2; i++) {
         MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
         // MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
     }
     
-
-    // 这个函数已经在各个模式中直接调用了电机输出函数
-    // 如果需要统一输出，可以在这里实现
-    // 现在的设计是在控制逻辑中直接输出，所以这里留空
 }
 
 int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {