From f13d7eb6861a8e23a9f8b2beaec147a0ea231771 Mon Sep 17 00:00:00 2001
From: nitiantuhao <2062405236@qq.com>
Date: Sat, 28 Mar 2026 18:55:41 +0800
Subject: [PATCH] 1.0

---
 Core/Src/motor.c | 74 +++++++++++++++++++++++++-----------------------
 1 file changed, 38 insertions(+), 36 deletions(-)

diff --git a/Core/Src/motor.c b/Core/Src/motor.c
index a794417..0fc9e36 100644
--- a/Core/Src/motor.c
+++ b/Core/Src/motor.c
@@ -119,6 +119,7 @@ void Set_Motor_Output(Motor_ID_t id, int16_t control_out)
     int32_t hw_command = (int32_t)control_out;
     bool forward;
     uint16_t pwm_val;
+    uint16_t in1_pwm, in2_pwm;
 
     if ((id == MOTOR_FL) || (id == MOTOR_RL))
     {
@@ -128,50 +129,50 @@ void Set_Motor_Output(Motor_ID_t id, int16_t control_out)
     forward = (hw_command < 0);
     pwm_val = Motor_ClampAbsToPwm(hw_command);
 
+    /*
+     * --- 慢衰减 (Slow Decay) 实现 ---
+     * 正转：IN1 = 100% (常高), IN2 = 100% - PWM
+     * 反转：IN1 = 100% - PWM, IN2 = 100% (常高)
+     * 此时 PWM 关断期间的状态均为 IN1=1, IN2=1 (短接刹车)
+     */
+    if (forward)
+    {
+        in1_pwm = MAX_PWM_DUTY;
+        in2_pwm = MAX_PWM_DUTY - pwm_val;
+    }
+    else
+    {
+        in1_pwm = MAX_PWM_DUTY - pwm_val;
+        in2_pwm = MAX_PWM_DUTY;
+    }
+
+    /*
+     * 选配：如果希望目标速度为 0 时芯片进入低功耗待机(Standby)让电机自由滑行，
+     * 可以取消下面这段注释。如果不取消，速度为 0 时电机将被死死刹住。
+     */
+    /*
+    if (pwm_val == 0) {
+        in1_pwm = 0U;
+        in2_pwm = 0U;
+    }
+    */
+
     switch (id)
     {
         case MOTOR_FL:
-            if (forward)
-            {
-                Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, pwm_val, 0U);
-            }
-            else
-            {
-                Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, pwm_val);
-            }
+            Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, in1_pwm, in2_pwm);
             break;
 
         case MOTOR_RL:
-            if (forward)
-            {
-                Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, pwm_val, 0U);
-            }
-            else
-            {
-                Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, pwm_val);
-            }
+            Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, in1_pwm, in2_pwm);
             break;
 
         case MOTOR_FR:
-            if (forward)
-            {
-                Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, pwm_val, 0U);
-            }
-            else
-            {
-                Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, pwm_val);
-            }
+            Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, in1_pwm, in2_pwm);
             break;
 
         case MOTOR_RR:
-            if (forward)
-            {
-                Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, pwm_val, 0U);
-            }
-            else
-            {
-                Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, pwm_val);
-            }
+            Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, in1_pwm, in2_pwm);
             break;
 
         default:
@@ -181,10 +182,11 @@ void Set_Motor_Output(Motor_ID_t id, int16_t control_out)
 
 void Motor_Brake_All(void)
 {
-    Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, 0U);
-    Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, 0U);
-    Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, 0U);
-    Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, 0U);
+    /* AT8236 的主动刹车 (慢衰减) 逻辑为 IN1=1, IN2=1，因此传入最大占空比 */
+    Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, MAX_PWM_DUTY, MAX_PWM_DUTY);
+    Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, MAX_PWM_DUTY, MAX_PWM_DUTY);
+    Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, MAX_PWM_DUTY, MAX_PWM_DUTY);
+    Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, MAX_PWM_DUTY, MAX_PWM_DUTY);
 }
 
 void Motor_Update_RPM(float dt_s)