From a2328edbd7f4d301d70802adcf56b6d8bb189754 Mon Sep 17 00:00:00 2001
From: wangbeihong <beihongwang@qq.com>
Date: Tue, 14 Apr 2026 19:32:06 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E4=BF=AE=E6=AD=A3=E5=B7=A6=E5=8F=B3?=
 =?UTF-8?q?=E7=94=B5=E6=9C=BA=E7=89=A9=E7=90=86=E6=96=B9=E5=90=91=E5=B7=AE?=
 =?UTF-8?q?=E5=BC=82?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Core/Bsp/bsp_motor.c | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Core/Bsp/bsp_motor.c b/Core/Bsp/bsp_motor.c
index 4ef1e09..a73d7fe 100644
--- a/Core/Bsp/bsp_motor.c
+++ b/Core/Bsp/bsp_motor.c
@@ -71,6 +71,11 @@ void motor_set_speed(motor_id_t motor_id, int16_t speed)
         default: return;
     }
 
+    /* 纠正左右电机物理方向差异 */
+    if (motor_id == MOTOR_3 || motor_id == MOTOR_4) {
+        speed = -speed;
+    }
+
     /* 限制速度范围 (ARR=3599) */
     if (speed > 3599) speed = 3599;
     if (speed < -3599) speed = -3599;