From cf5a698eb99058a0251542444a1f6faf4e2d4a6b Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Fri, 9 Jan 2026 10:02:25 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=BB=9A=E5=88=B7=E6=8E=A8?=
 =?UTF-8?q?=E6=9D=86=E4=B8=8D=E4=B8=8B=E6=B2=89=E7=9A=84bug?=
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---
 src/base/mc/include/mc/can_struct.h | 30 ++++++++++++++---------------
 src/base/mc/src/timer_tasks.cpp     |  7 ++++---
 2 files changed, 19 insertions(+), 18 deletions(-)

diff --git a/src/base/mc/include/mc/can_struct.h b/src/base/mc/include/mc/can_struct.h
index b7f7b5f..1089fea 100644
--- a/src/base/mc/include/mc/can_struct.h
+++ b/src/base/mc/include/mc/can_struct.h
@@ -293,43 +293,43 @@ struct can_VCU_motor1_cmd
     // 设置Byte1
     void setByte1(int8_t value)
     {
-        data[1] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[1] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte2
     void setByte2(int8_t value)
     {
-        data[2] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[2] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte3
     void setByte3(int8_t value)
     {
-        data[3] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[3] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte4
     void setByte4(int8_t value)
     {
-        data[4] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[4] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte5
     void setByte5(int8_t value)
     {
-        data[5] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[5] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte6
     void setByte6(int8_t value)
     {
-        data[6] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[6] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte7
     void setByte7(int8_t value)
     {
-        data[7] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[7] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     CANFrame toFrame() const
@@ -356,49 +356,49 @@ struct can_VCU_motor2_cmd
     // 设置Byte0
     void setByte0(int8_t value)
     {
-        data[0] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[0] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte1
     void setByte1(int8_t value)
     {
-        data[1] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[1] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte2
     void setByte2(int8_t value)
     {
-        data[2] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[2] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte3
     void setByte3(int8_t value)
     {
-        data[3] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[3] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte4
     void setByte4(int8_t value)
     {
-        data[4] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[4] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte5
     void setByte5(int8_t value)
     {
-        data[5] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[5] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte6
     void setByte6(int8_t value)
     {
-        data[6] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[6] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     // 设置Byte7
     void setByte7(int8_t value)
     {
-        data[7] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
+        data[7] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
     }
 
     CANFrame toFrame() const
diff --git a/src/base/mc/src/timer_tasks.cpp b/src/base/mc/src/timer_tasks.cpp
index a5468f6..34728e7 100644
--- a/src/base/mc/src/timer_tasks.cpp
+++ b/src/base/mc/src/timer_tasks.cpp
@@ -55,15 +55,16 @@ void vcuTimerTask(CANDriver &canctl)
   if (sweep_state_changed)
   {
     // 根据清扫状态设置所有部件
-    uint8_t target_value = msg.sweep ? 100 : 0; // 100表示启动，0表示停止
+    int8_t target_value = msg.sweep ? 100 : 0;     // 100表示启动，0表示停止
+    int8_t target_value2 = msg.sweep ? -100 : 100; // -100表示下沉，100表示抬升
 
     // ===== 控制0x211报文 (电机M1-M7) =====
     vcu_motor1_cmd.setByte0(msg.sweep ? 1 : 0); // 1表示正向运行，0表示停止
     vcu_motor1_cmd.setByte1(target_value);
     vcu_motor1_cmd.setByte2(target_value);
     vcu_motor1_cmd.setByte3(target_value);
-    vcu_motor1_cmd.setByte4(target_value);
-    vcu_motor1_cmd.setByte5(target_value);
+    vcu_motor1_cmd.setByte4(target_value2);
+    vcu_motor1_cmd.setByte5(target_value2);
     vcu_motor1_cmd.setByte6(target_value);
     vcu_motor1_cmd.setByte7(target_value);
     canctl.sendFrame(vcu_motor1_cmd.toFrame());