剎把检测前确定电机已停止，避免误判。

Welling_Motor_Debug_Tool/mainForm.Designer.cs

@@ -101,6 +101,11 @@ namespace Welling_Motor_Debug_Tool
             this.toolStripTextBox_MOS2 = new System.Windows.Forms.ToolStripTextBox();
             this.mOS3ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.toolStripTextBox_MOS3 = new System.Windows.Forms.ToolStripTextBox();
+            this.位置校准偏差范围ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.平均偏差最大值ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.toolStripTextBox_AngleAvgMax = new System.Windows.Forms.ToolStripTextBox();
+            this.零点偏差最大值ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.toolStripTextBox_AngleZeroMax = new System.Windows.Forms.ToolStripTextBox();
             this.toolStripSeparator5 = new System.Windows.Forms.ToolStripSeparator();
             this.协议类型ToolStripMenuItem1 = new System.Windows.Forms.ToolStripMenuItem();
             this.cANToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -649,11 +654,6 @@ namespace Welling_Motor_Debug_Tool
             this.label124 = new System.Windows.Forms.Label();
             this.label46 = new System.Windows.Forms.Label();
             this.pictureBox2 = new System.Windows.Forms.PictureBox();
-            this.位置校准偏差范围ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.平均偏差最大值ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.零点偏差最大值ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.toolStripTextBox_AngleAvgMax = new System.Windows.Forms.ToolStripTextBox();
-            this.toolStripTextBox_AngleZeroMax = new System.Windows.Forms.ToolStripTextBox();
             this.menuStrip_Set.SuspendLayout();
             this.statusStrip1.SuspendLayout();
             this.groupBox1.SuspendLayout();
@@ -752,7 +752,7 @@ namespace Welling_Motor_Debug_Tool
             // 刷新ToolStripMenuItem
             // 
             this.刷新ToolStripMenuItem.Name = "刷新ToolStripMenuItem";
-            this.刷新ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.刷新ToolStripMenuItem.Size = new System.Drawing.Size(160, 26);
             this.刷新ToolStripMenuItem.Text = "刷新";
             this.刷新ToolStripMenuItem.Click += new System.EventHandler(this.刷新ToolStripMenuItem_Click);
             // 
@@ -761,7 +761,7 @@ namespace Welling_Motor_Debug_Tool
             this.端口号ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.toolStripComboBox_ComNum});
             this.端口号ToolStripMenuItem.Name = "端口号ToolStripMenuItem";
-            this.端口号ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.端口号ToolStripMenuItem.Size = new System.Drawing.Size(160, 26);
             this.端口号ToolStripMenuItem.Text = "端口号";
             this.端口号ToolStripMenuItem.Click += new System.EventHandler(this.ConfigFileSave_Click);
             // 
@@ -779,7 +779,7 @@ namespace Welling_Motor_Debug_Tool
             this.波特率ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.toolStripComboBox_Baudrate});
             this.波特率ToolStripMenuItem.Name = "波特率ToolStripMenuItem";
-            this.波特率ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.波特率ToolStripMenuItem.Size = new System.Drawing.Size(160, 26);
             this.波特率ToolStripMenuItem.Text = "波特率";
             // 
             // toolStripComboBox_Baudrate
@@ -798,14 +798,14 @@ namespace Welling_Motor_Debug_Tool
             // 连接ToolStripMenuItem
             // 
             this.连接ToolStripMenuItem.Name = "连接ToolStripMenuItem";
-            this.连接ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.连接ToolStripMenuItem.Size = new System.Drawing.Size(160, 26);
             this.连接ToolStripMenuItem.Text = "连接";
             this.连接ToolStripMenuItem.Click += new System.EventHandler(this.连接ToolStripMenuItem_Click);
             // 
             // toolStripSeparator1
             // 
             this.toolStripSeparator1.Name = "toolStripSeparator1";
-            this.toolStripSeparator1.Size = new System.Drawing.Size(177, 6);
+            this.toolStripSeparator1.Size = new System.Drawing.Size(157, 6);
             // 
             // 其它配置项ToolStripMenuItem
             // 
@@ -814,7 +814,7 @@ namespace Welling_Motor_Debug_Tool
             this.断开关机ToolStripMenuItem,
             this.识别通讯盒ToolStripMenuItem});
             this.其它配置项ToolStripMenuItem.Name = "其它配置项ToolStripMenuItem";
-            this.其它配置项ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.其它配置项ToolStripMenuItem.Size = new System.Drawing.Size(160, 26);
             this.其它配置项ToolStripMenuItem.Text = "其它配置项";
             // 
             // 连接开机ToolStripMenuItem
@@ -857,14 +857,14 @@ namespace Welling_Motor_Debug_Tool
             // 开机ToolStripMenuItem
             // 
             this.开机ToolStripMenuItem.Name = "开机ToolStripMenuItem";
-            this.开机ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.开机ToolStripMenuItem.Size = new System.Drawing.Size(112, 26);
             this.开机ToolStripMenuItem.Text = "开机";
             this.开机ToolStripMenuItem.Click += new System.EventHandler(this.开机ToolStripMenuItem_Click);
             // 
             // 关机ToolStripMenuItem
             // 
             this.关机ToolStripMenuItem.Name = "关机ToolStripMenuItem";
-            this.关机ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.关机ToolStripMenuItem.Size = new System.Drawing.Size(112, 26);
             this.关机ToolStripMenuItem.Text = "关机";
             this.关机ToolStripMenuItem.Click += new System.EventHandler(this.关机ToolStripMenuItem_Click);
             // 
@@ -919,7 +919,7 @@ namespace Welling_Motor_Debug_Tool
             this.存储路径ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.toolStripTextBox_ServerPath});
             this.存储路径ToolStripMenuItem.Name = "存储路径ToolStripMenuItem";
-            this.存储路径ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.存储路径ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.存储路径ToolStripMenuItem.Text = "存储路径";
             // 
             // toolStripTextBox_ServerPath
@@ -934,7 +934,7 @@ namespace Welling_Motor_Debug_Tool
             // 
             this.重置ToolStripMenuItem.ForeColor = System.Drawing.SystemColors.ControlText;
             this.重置ToolStripMenuItem.Name = "重置ToolStripMenuItem";
-            this.重置ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.重置ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.重置ToolStripMenuItem.Text = "重置";
             this.重置ToolStripMenuItem.Click += new System.EventHandler(this.重置ToolStripMenuItem_Click);
             // 
@@ -959,7 +959,7 @@ namespace Welling_Motor_Debug_Tool
             this.生产商ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.toolStripTextBox_MAC});
             this.生产商ToolStripMenuItem.Name = "生产商ToolStripMenuItem";
-            this.生产商ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.生产商ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.生产商ToolStripMenuItem.Text = "生产商";
             // 
             // toolStripTextBox_MAC
@@ -975,7 +975,7 @@ namespace Welling_Motor_Debug_Tool
             this.生产地ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.toolStripTextBoxMACAddr});
             this.生产地ToolStripMenuItem.Name = "生产地ToolStripMenuItem";
-            this.生产地ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.生产地ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.生产地ToolStripMenuItem.Text = "生产地";
             // 
             // toolStripTextBoxMACAddr
@@ -991,7 +991,7 @@ namespace Welling_Motor_Debug_Tool
             this.生产日期ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.toolStripTextBox_MACDate});
             this.生产日期ToolStripMenuItem.Name = "生产日期ToolStripMenuItem";
-            this.生产日期ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.生产日期ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.生产日期ToolStripMenuItem.Text = "生产日期";
             // 
             // toolStripTextBox_MACDate
@@ -1007,7 +1007,7 @@ namespace Welling_Motor_Debug_Tool
             this.产品标识ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.toolStripTextBox_MACPD});
             this.产品标识ToolStripMenuItem.Name = "产品标识ToolStripMenuItem";
-            this.产品标识ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.产品标识ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.产品标识ToolStripMenuItem.Text = "产品标识";
             // 
             // toolStripTextBox_MACPD
@@ -1032,14 +1032,14 @@ namespace Welling_Motor_Debug_Tool
             this.中置电机ToolStripMenuItem.Checked = true;
             this.中置电机ToolStripMenuItem.CheckState = System.Windows.Forms.CheckState.Checked;
             this.中置电机ToolStripMenuItem.Name = "中置电机ToolStripMenuItem";
-            this.中置电机ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.中置电机ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.中置电机ToolStripMenuItem.Text = "中置电机";
             this.中置电机ToolStripMenuItem.Click += new System.EventHandler(this.中置电机ToolStripMenuItem_Click);
             // 
             // 轮毂电机ToolStripMenuItem
             // 
             this.轮毂电机ToolStripMenuItem.Name = "轮毂电机ToolStripMenuItem";
-            this.轮毂电机ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.轮毂电机ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.轮毂电机ToolStripMenuItem.Text = "轮毂电机";
             this.轮毂电机ToolStripMenuItem.Click += new System.EventHandler(this.轮毂电机ToolStripMenuItem_Click);
             // 
@@ -1246,7 +1246,7 @@ namespace Welling_Motor_Debug_Tool
             this.mOS1ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.toolStripTextBox_MOS1});
             this.mOS1ToolStripMenuItem.Name = "mOS1ToolStripMenuItem";
-            this.mOS1ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.mOS1ToolStripMenuItem.Size = new System.Drawing.Size(127, 26);
             this.mOS1ToolStripMenuItem.Text = "MOS1";
             // 
             // toolStripTextBox_MOS1
@@ -1262,7 +1262,7 @@ namespace Welling_Motor_Debug_Tool
             this.mOS2ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.toolStripTextBox_MOS2});
             this.mOS2ToolStripMenuItem.Name = "mOS2ToolStripMenuItem";
-            this.mOS2ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.mOS2ToolStripMenuItem.Size = new System.Drawing.Size(127, 26);
             this.mOS2ToolStripMenuItem.Text = "MOS2";
             // 
             // toolStripTextBox_MOS2
@@ -1278,7 +1278,7 @@ namespace Welling_Motor_Debug_Tool
             this.mOS3ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.toolStripTextBox_MOS3});
             this.mOS3ToolStripMenuItem.Name = "mOS3ToolStripMenuItem";
-            this.mOS3ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.mOS3ToolStripMenuItem.Size = new System.Drawing.Size(127, 26);
             this.mOS3ToolStripMenuItem.Text = "MOS3";
             // 
             // toolStripTextBox_MOS3
@@ -1289,6 +1289,47 @@ namespace Welling_Motor_Debug_Tool
             this.toolStripTextBox_MOS3.Text = "2500,3500";
             this.toolStripTextBox_MOS3.KeyDown += new System.Windows.Forms.KeyEventHandler(this.ConfigFileSave_KeyDown);
             // 
+            // 位置校准偏差范围ToolStripMenuItem
+            // 
+            this.位置校准偏差范围ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.平均偏差最大值ToolStripMenuItem,
+            this.零点偏差最大值ToolStripMenuItem});
+            this.位置校准偏差范围ToolStripMenuItem.Name = "位置校准偏差范围ToolStripMenuItem";
+            this.位置校准偏差范围ToolStripMenuItem.Size = new System.Drawing.Size(214, 26);
+            this.位置校准偏差范围ToolStripMenuItem.Text = "位置校准偏差范围";
+            // 
+            // 平均偏差最大值ToolStripMenuItem
+            // 
+            this.平均偏差最大值ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.toolStripTextBox_AngleAvgMax});
+            this.平均偏差最大值ToolStripMenuItem.Name = "平均偏差最大值ToolStripMenuItem";
+            this.平均偏差最大值ToolStripMenuItem.Size = new System.Drawing.Size(192, 26);
+            this.平均偏差最大值ToolStripMenuItem.Text = "平均偏差最大值";
+            // 
+            // toolStripTextBox_AngleAvgMax
+            // 
+            this.toolStripTextBox_AngleAvgMax.Font = new System.Drawing.Font("Microsoft YaHei UI", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.toolStripTextBox_AngleAvgMax.Name = "toolStripTextBox_AngleAvgMax";
+            this.toolStripTextBox_AngleAvgMax.Size = new System.Drawing.Size(100, 28);
+            this.toolStripTextBox_AngleAvgMax.Text = "10";
+            this.toolStripTextBox_AngleAvgMax.KeyDown += new System.Windows.Forms.KeyEventHandler(this.toolStripTextBox_AngleAvgMax_KeyDown);
+            // 
+            // 零点偏差最大值ToolStripMenuItem
+            // 
+            this.零点偏差最大值ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.toolStripTextBox_AngleZeroMax});
+            this.零点偏差最大值ToolStripMenuItem.Name = "零点偏差最大值ToolStripMenuItem";
+            this.零点偏差最大值ToolStripMenuItem.Size = new System.Drawing.Size(192, 26);
+            this.零点偏差最大值ToolStripMenuItem.Text = "零点偏差最大值";
+            // 
+            // toolStripTextBox_AngleZeroMax
+            // 
+            this.toolStripTextBox_AngleZeroMax.Font = new System.Drawing.Font("Microsoft YaHei UI", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.toolStripTextBox_AngleZeroMax.Name = "toolStripTextBox_AngleZeroMax";
+            this.toolStripTextBox_AngleZeroMax.Size = new System.Drawing.Size(100, 28);
+            this.toolStripTextBox_AngleZeroMax.Text = "5";
+            this.toolStripTextBox_AngleZeroMax.KeyDown += new System.Windows.Forms.KeyEventHandler(this.toolStripTextBox_AngleZeroMax_KeyDown);
+            // 
             // toolStripSeparator5
             // 
             this.toolStripSeparator5.Name = "toolStripSeparator5";
@@ -1360,28 +1401,28 @@ namespace Welling_Motor_Debug_Tool
             // 运行信息记录ToolStripMenuItem
             // 
             this.运行信息记录ToolStripMenuItem.Name = "运行信息记录ToolStripMenuItem";
-            this.运行信息记录ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.运行信息记录ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
             this.运行信息记录ToolStripMenuItem.Text = "自动记录";
             this.运行信息记录ToolStripMenuItem.Click += new System.EventHandler(this.记录数据ToolStripMenuItem_Click);
             // 
             // 计算器ToolStripMenuItem
             // 
             this.计算器ToolStripMenuItem.Name = "计算器ToolStripMenuItem";
-            this.计算器ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.计算器ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
             this.计算器ToolStripMenuItem.Text = "计算器";
             this.计算器ToolStripMenuItem.Click += new System.EventHandler(this.计算器ToolStripMenuItem_Click);
             // 
             // 页面保存ToolStripMenuItem
             // 
             this.页面保存ToolStripMenuItem.Name = "页面保存ToolStripMenuItem";
-            this.页面保存ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.页面保存ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
             this.页面保存ToolStripMenuItem.Text = "页面保存";
             this.页面保存ToolStripMenuItem.Click += new System.EventHandler(this.页面保存ToolStripMenuItem_Click);
             // 
             // 屏幕键盘ToolStripMenuItem
             // 
             this.屏幕键盘ToolStripMenuItem.Name = "屏幕键盘ToolStripMenuItem";
-            this.屏幕键盘ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.屏幕键盘ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
             this.屏幕键盘ToolStripMenuItem.Text = "屏幕键盘";
             this.屏幕键盘ToolStripMenuItem.Click += new System.EventHandler(this.屏幕键盘ToolStripMenuItem_Click);
             // 
@@ -1391,7 +1432,7 @@ namespace Welling_Motor_Debug_Tool
             this.生产配置文件ToolStripMenuItem,
             this.样机测试记录ToolStripMenuItem});
             this.删除远程文件ToolStripMenuItem.Name = "删除远程文件ToolStripMenuItem";
-            this.删除远程文件ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.删除远程文件ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
             this.删除远程文件ToolStripMenuItem.Text = "删除远程文件";
             // 
             // 生产配置文件ToolStripMenuItem
@@ -1429,14 +1470,14 @@ namespace Welling_Motor_Debug_Tool
             // 指令调试ToolStripMenuItem
             // 
             this.指令调试ToolStripMenuItem.Name = "指令调试ToolStripMenuItem";
-            this.指令调试ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.指令调试ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
             this.指令调试ToolStripMenuItem.Text = "指令窗口";
             this.指令调试ToolStripMenuItem.Click += new System.EventHandler(this.指令调试ToolStripMenuItem_Click);
             // 
             // 发送指令ToolStripMenuItem
             // 
             this.发送指令ToolStripMenuItem.Name = "发送指令ToolStripMenuItem";
-            this.发送指令ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.发送指令ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
             this.发送指令ToolStripMenuItem.Text = "发送指令";
             this.发送指令ToolStripMenuItem.Click += new System.EventHandler(this.发送指令ToolStripMenuItem_Click);
             // 
@@ -1453,14 +1494,14 @@ namespace Welling_Motor_Debug_Tool
             // 调试记录数据ToolStripMenuItem
             // 
             this.调试记录数据ToolStripMenuItem.Name = "调试记录数据ToolStripMenuItem";
-            this.调试记录数据ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.调试记录数据ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
             this.调试记录数据ToolStripMenuItem.Text = "调试记录数据";
             this.调试记录数据ToolStripMenuItem.Click += new System.EventHandler(this.调试记录数据ToolStripMenuItem_Click);
             // 
             // 生产记录数据ToolStripMenuItem
             // 
             this.生产记录数据ToolStripMenuItem.Name = "生产记录数据ToolStripMenuItem";
-            this.生产记录数据ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.生产记录数据ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
             this.生产记录数据ToolStripMenuItem.Text = "生产记录数据";
             this.生产记录数据ToolStripMenuItem.Click += new System.EventHandler(this.生产记录数据ToolStripMenuItem_Click);
             // 
@@ -1480,7 +1521,7 @@ namespace Welling_Motor_Debug_Tool
             // 版本ToolStripMenuItem
             // 
             this.版本ToolStripMenuItem.Name = "版本ToolStripMenuItem";
-            this.版本ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.版本ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.版本ToolStripMenuItem.Text = "版本信息";
             this.版本ToolStripMenuItem.Click += new System.EventHandler(this.版本ToolStripMenuItem_Click);
             // 
@@ -1490,7 +1531,7 @@ namespace Welling_Motor_Debug_Tool
             this.打开ToolStripMenuItem,
             this.关闭ToolStripMenuItem});
             this.自动更新ToolStripMenuItem.Name = "自动更新ToolStripMenuItem";
-            this.自动更新ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.自动更新ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.自动更新ToolStripMenuItem.Text = "自动更新";
             // 
             // 打开ToolStripMenuItem
@@ -1498,28 +1539,28 @@ namespace Welling_Motor_Debug_Tool
             this.打开ToolStripMenuItem.Checked = true;
             this.打开ToolStripMenuItem.CheckState = System.Windows.Forms.CheckState.Checked;
             this.打开ToolStripMenuItem.Name = "打开ToolStripMenuItem";
-            this.打开ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.打开ToolStripMenuItem.Size = new System.Drawing.Size(112, 26);
             this.打开ToolStripMenuItem.Text = "打开";
             this.打开ToolStripMenuItem.Click += new System.EventHandler(this.打开ToolStripMenuItem_Click);
             // 
             // 关闭ToolStripMenuItem
             // 
             this.关闭ToolStripMenuItem.Name = "关闭ToolStripMenuItem";
-            this.关闭ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.关闭ToolStripMenuItem.Size = new System.Drawing.Size(112, 26);
             this.关闭ToolStripMenuItem.Text = "关闭";
             this.关闭ToolStripMenuItem.Click += new System.EventHandler(this.关闭ToolStripMenuItem_Click);
             // 
             // 本机信息ToolStripMenuItem
             // 
             this.本机信息ToolStripMenuItem.Name = "本机信息ToolStripMenuItem";
-            this.本机信息ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.本机信息ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.本机信息ToolStripMenuItem.Text = "本机信息";
             this.本机信息ToolStripMenuItem.Click += new System.EventHandler(this.本机信息ToolStripMenuItem_Click);
             // 
             // 帮助ToolStripMenuItem
             // 
             this.帮助ToolStripMenuItem.Name = "帮助ToolStripMenuItem";
-            this.帮助ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.帮助ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.帮助ToolStripMenuItem.Text = "查看帮助";
             // 
             // 累计运行时间ToolStripMenuItem
@@ -1527,7 +1568,7 @@ namespace Welling_Motor_Debug_Tool
             this.累计运行时间ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.toolStripMenuItem_RunTime});
             this.累计运行时间ToolStripMenuItem.Name = "累计运行时间ToolStripMenuItem";
-            this.累计运行时间ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.累计运行时间ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.累计运行时间ToolStripMenuItem.Text = "运行时间";
             this.累计运行时间ToolStripMenuItem.MouseHover += new System.EventHandler(this.累计运行时间ToolStripMenuItem_MouseHover);
             // 
@@ -1957,7 +1998,8 @@ namespace Welling_Motor_Debug_Tool
             "3",
             "4",
             "5",
-            "6"});
+            "6",
+            "7"});
             this.comboBox_TailLightMode.Location = new System.Drawing.Point(932, 14);
             this.comboBox_TailLightMode.Name = "comboBox_TailLightMode";
             this.comboBox_TailLightMode.Size = new System.Drawing.Size(55, 29);
@@ -7389,47 +7431,6 @@ namespace Welling_Motor_Debug_Tool
             this.pictureBox2.TabIndex = 16;
             this.pictureBox2.TabStop = false;
             // 
-            // 位置校准偏差范围ToolStripMenuItem
-            // 
-            this.位置校准偏差范围ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
-            this.平均偏差最大值ToolStripMenuItem,
-            this.零点偏差最大值ToolStripMenuItem});
-            this.位置校准偏差范围ToolStripMenuItem.Name = "位置校准偏差范围ToolStripMenuItem";
-            this.位置校准偏差范围ToolStripMenuItem.Size = new System.Drawing.Size(214, 26);
-            this.位置校准偏差范围ToolStripMenuItem.Text = "位置校准偏差范围";
-            // 
-            // 平均偏差最大值ToolStripMenuItem
-            // 
-            this.平均偏差最大值ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
-            this.toolStripTextBox_AngleAvgMax});
-            this.平均偏差最大值ToolStripMenuItem.Name = "平均偏差最大值ToolStripMenuItem";
-            this.平均偏差最大值ToolStripMenuItem.Size = new System.Drawing.Size(192, 26);
-            this.平均偏差最大值ToolStripMenuItem.Text = "平均偏差最大值";
-            // 
-            // 零点偏差最大值ToolStripMenuItem
-            // 
-            this.零点偏差最大值ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
-            this.toolStripTextBox_AngleZeroMax});
-            this.零点偏差最大值ToolStripMenuItem.Name = "零点偏差最大值ToolStripMenuItem";
-            this.零点偏差最大值ToolStripMenuItem.Size = new System.Drawing.Size(192, 26);
-            this.零点偏差最大值ToolStripMenuItem.Text = "零点偏差最大值";
-            // 
-            // toolStripTextBox_AngleAvgMax
-            // 
-            this.toolStripTextBox_AngleAvgMax.Font = new System.Drawing.Font("Microsoft YaHei UI", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.toolStripTextBox_AngleAvgMax.Name = "toolStripTextBox_AngleAvgMax";
-            this.toolStripTextBox_AngleAvgMax.Size = new System.Drawing.Size(100, 28);
-            this.toolStripTextBox_AngleAvgMax.Text = "10";
-            this.toolStripTextBox_AngleAvgMax.KeyDown += new System.Windows.Forms.KeyEventHandler(this.toolStripTextBox_AngleAvgMax_KeyDown);
-            // 
-            // toolStripTextBox_AngleZeroMax
-            // 
-            this.toolStripTextBox_AngleZeroMax.Font = new System.Drawing.Font("Microsoft YaHei UI", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.toolStripTextBox_AngleZeroMax.Name = "toolStripTextBox_AngleZeroMax";
-            this.toolStripTextBox_AngleZeroMax.Size = new System.Drawing.Size(100, 28);
-            this.toolStripTextBox_AngleZeroMax.Text = "5";
-            this.toolStripTextBox_AngleZeroMax.KeyDown += new System.Windows.Forms.KeyEventHandler(this.toolStripTextBox_AngleZeroMax_KeyDown);
-            // 
             // mainForm
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(10F, 21F);

Welling_Motor_Debug_Tool/mainForm.cs

@@ -7609,6 +7609,29 @@ namespace Welling_Motor_Debug_Tool
                         }
                     }
                 } while (false);
+                //测试前先确定电机已停止
+                UInt16 WaitTime = 10;
+                do
+                {
+                    WaitTime--;
+                    if (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 100)
+                    {
+                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机停止，开始进行剎把检测，进入WALK" + "\r\n");
+                        break;
+                    }
+                    if (WaitTime == 0)
+                    {
+                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机无法停止，剎把检测异常" + "\r\n");
+                        label_FacModeStatus.Text = "存在故障！";
+                        label_FacModeResult.BackColor = Color.Red;
+                        label_FacModeResult.Text = "测试异常";
+                        Delay_ms(500);
+                        //存储异常并上传
+                        FacMode_Stop(false);
+                        return;
+                    }
+                    Delay_ms(500);
+                } while (true);   
                 //设置转速100%
                 var Data = new byte[1];
                 Data[0] = (byte)100;
@@ -7625,19 +7648,19 @@ namespace Welling_Motor_Debug_Tool
                 WriteCnt = 0;
                 ACK_WaitCnt = 0;
                 while (ACK_WaitCnt <= 2) ; //1s
-                if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 200))
+                if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 500))
                 {
                     richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入WALK，第1次重发" + "\r\n");                    
                     mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);                    
                     ACK_WaitCnt = 0;
                     while (ACK_WaitCnt <= 2) ; //1s
-                    if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 200))
+                    if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 500))
                     {
                         richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入WALK，第2次重发" + "\r\n");
                         mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                         ACK_WaitCnt = 0;
                         while (ACK_WaitCnt <= 2) ; //1s
-                        if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 200))
+                        if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 500))
                         {
                             richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入WALK异常" + "\r\n");
                             label_FacModeStatus.Text = "存在故障！";

Welling_Motor_Debug_Tool/obj/Debug/Welling_Motor_Debug_Tool.csproj.CoreCompileInputs.cache

@@ -1 +1 @@
-78d5d63bfb50008328d896ae1656d70761c00f9d
+58d3cb272047d5072673ad501420abcc76397cc9aa216011137f3a7027cd45a3