From e9e2d62662e356b1a168948bbdc78003f21da9fe Mon Sep 17 00:00:00 2001
From: xxxxm <2389287465@qq.com>
Date: Wed, 18 Mar 2026 01:51:56 +0800
Subject: [PATCH] fix enable

---
 User/module/arm_oop.hpp | 1 +
 User/module/config.c    | 8 ++++----
 User/task/arm_main.cpp  | 9 +++------
 3 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/User/module/arm_oop.hpp b/User/module/arm_oop.hpp
index b1e4641..5a74643 100644
--- a/User/module/arm_oop.hpp
+++ b/User/module/arm_oop.hpp
@@ -212,6 +212,7 @@ public:
         // 更新每个关节
         for (Joint* joint : joints_) {  // 遍历关节数组
             if (joint) {
+                joint->Enable();
                 joint->Update();
             }
         }
diff --git a/User/module/config.c b/User/module/config.c
index e25d07c..46b987b 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -23,28 +23,28 @@ Config_RobotParam_t robot_config = {
     /* DJI3508µç»ú*/
         .motor_param = {
       { 
-			.can = BSP_CAN_2, 
+			.can = BSP_CAN_1, 
 			.id = 0x201, 
 			.module = MOTOR_M3508, 
 			.reverse = false,
 			.gear =  true
 			},
       { 
-			.can = BSP_CAN_2,
+			.can = BSP_CAN_1,
 			.id = 0x202, 
 			.module = MOTOR_M3508, 
 			.reverse = false,
 			.gear =  true
 			},
       { 
-			.can = BSP_CAN_2, 
+			.can = BSP_CAN_1, 
 			.id = 0x203, 
 			.module = MOTOR_M3508, 
 			.reverse = false,
 			.gear =  true				
 			},
       { 
-			.can = BSP_CAN_2,
+			.can = BSP_CAN_1,
 			.id = 0x204, 
 			.module = MOTOR_M3508, 
 			.reverse = false,
diff --git a/User/task/arm_main.cpp b/User/task/arm_main.cpp
index e59abc8..206d19d 100644
--- a/User/task/arm_main.cpp
+++ b/User/task/arm_main.cpp
@@ -285,14 +285,11 @@ void Task_arm_main(void* argument) {
     robot_arm->Update();
 
     osMessageQueueGet(task_runtime.msgq.arm.cmd, &arm_cmd, NULL, 0);  
-
-    // 使能状态变化沿处理：仅在变化时下发使能，减少冗余调用
-    static bool last_enable = false;
-    if (arm_cmd.enable != last_enable) {
-      robot_arm->Enable(arm_cmd.enable);
-    }
+    
+    robot_arm->Enable(arm_cmd.enable);
 
     // 使能上升沿自动同步：避免使能时 target_pose 与当前实际位姿不一致导致初始跳变
+    static bool last_enable = false;
     if (arm_cmd.enable && !last_enable) {
       SyncCommandTargetFromCurrent();
     }