From 9f59072aba707d38b7b545559346581e19bb3764 Mon Sep 17 00:00:00 2001
From: xxxxm <2389287465@qq.com>
Date: Wed, 18 Mar 2026 09:01:14 +0800
Subject: [PATCH] =?UTF-8?q?=E6=AD=A3=E8=A7=A3=E4=B8=8D=E5=AF=B9?=
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---
 User/device/buzzer.c   | 16 ++++++++--------
 User/task/arm_main.cpp |  2 +-
 User/task/blink.c      |  4 ++--
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/User/device/buzzer.c b/User/device/buzzer.c
index 925ab63..1ed6639 100644
--- a/User/device/buzzer.c
+++ b/User/device/buzzer.c
@@ -21,14 +21,14 @@ const Tone_t RM[] = {
     {NOTE_B, 5, 400},
     {NOTE_G, 4, 200},
     {NOTE_B, 5, 400},
-    {NOTE_G, 4, 200},
-    {NOTE_D, 5, 400},
-    {NOTE_G, 4, 200},
-    {NOTE_C, 5, 200},
-    {NOTE_C, 5, 200},
-    {NOTE_G, 4, 200},
-    {NOTE_B, 5, 200},
-    {NOTE_C, 5, 200}
+    // {NOTE_G, 4, 200},
+    // {NOTE_D, 5, 400},
+    // {NOTE_G, 4, 200},
+    // {NOTE_C, 5, 200},
+    // {NOTE_C, 5, 200},
+    // {NOTE_G, 4, 200},
+    // {NOTE_B, 5, 200},
+    // {NOTE_C, 5, 200}
 };
 
 // Nokia 经典铃声音符
diff --git a/User/task/arm_main.cpp b/User/task/arm_main.cpp
index 206d19d..3825a1c 100644
--- a/User/task/arm_main.cpp
+++ b/User/task/arm_main.cpp
@@ -75,7 +75,7 @@ Arm_CMD_t arm_cmd;  // 当前机械臂控制命令（含 target_pose / set_targe
 //   2 = 全部六轴输出（完整重力补偿，GRAVITY_COMP模式）
 //   3 = 笛卡尔空间控制（旧版满秩库代数雅可比算法）
 //   4 = 2.5D 解析降维控制（专为比赛设计的无奇异点稳定版，推荐！）
-uint8_t test_stage = 1;
+uint8_t test_stage = 0;
 Arm6dof_JointAngles_t current_angles;  // 调试观察：当前各关节角度 (rad)
 // 重力补偿力矩观察数组（对应关节1~6，单位 N·m）
 float gravity_torques_dbg[6] = {0.0f};
diff --git a/User/task/blink.c b/User/task/blink.c
index 92a9085..3fb08c7 100644
--- a/User/task/blink.c
+++ b/User/task/blink.c
@@ -42,8 +42,8 @@ void Task_blink(void *argument) {
   BSP_PWM_SetComp(BSP_PWM_TIM5_CH3, 0.0f);
   BSP_PWM_Start(BSP_PWM_TIM5_CH3);
 
-  BUZZER_Init(&buzzer, BSP_PWM_BUZZER);
-  BUZZER_PlayMusic(&buzzer, MUSIC_NOKIA);
+  // BUZZER_Init(&buzzer, BSP_PWM_BUZZER);
+  BUZZER_PlayMusic(&buzzer, MUSIC_RM);
 
   /* USER CODE INIT END */