测试了挖掘机的行走可以使用

build/include/version.h

@@ -2,5 +2,5 @@
 #define PROJECT_VERSION_MINOR 1
 #define PROJECT_VERSION_PATCH 7
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-06-06T09:12:32"
+#define BUILD_TIMESTAMP "2025-06-09T07:19:20"
 #define BUILD_USER "orangepi"

device_judg/device_exit/device_exit.c

@@ -18,7 +18,7 @@ void car_exit_0102() {
 }
 
 void car_exit_0103() {
-   car0103_middle();
+    car0103_middle();
     pin_all_default();
 }
 

src/mqtt.c

 #include "common.h"
 #include "gpio_pwm_carship.h"
 #include "gpio_pwm_car0102.h"
+#include "gpio_pwm_car0103.h"
 #include "gpio_pwm_ptz.h"
 #include "gpio_pwm_tank0202.h"
 #include "ip.h"
@@ -181,6 +182,7 @@ void message_3(cJSON *body){//message_type为3，控制pwm
 
     if(AppExit_pin_pwm == 101) speed_change(gvalt) ;
     if(AppExit_pin_pwm == 102) car0102_speed_change(gvalt) ;
+    if(AppExit_pin_pwm == 103 ) car0103_change(gvalt) ;
     if(AppExit_pin_pwm == 202) tank0202_change(gvalt);
     if(AppExit_pin_pwm == 301) ship_speed_change(gvalt) ;
     if(AppExit_pin_pwm == 401) PTZ_pwm_change(gvalt);

system/gpio/gpio_pwm_car0103.c

@@ -172,14 +172,13 @@ void mode_car0103_right_back(unsigned char gval) {
 int  car0103_change(unsigned char *buf) {
     unsigned char mode = buf[1];
     unsigned char val = buf[2];
-	
     if(mode == 1 ) {
         //mode_lift_flont(val);
-        mode_car0103_right_flont(val);
+        mode_car0103_right_back(val);
 		modecount_car0103=0;
     }else if(mode == 2 ) {
         //mode_lift_back(val);
-        mode_car0103_right_back(val);
+        mode_car0103_right_flont(val);
 		modecount_car0103=1;
     }