diff --git a/app/by_fan_control.c b/app/by_fan_control.c
index 2ba11c5..52f7a47 100644
--- a/app/by_fan_control.c
+++ b/app/by_fan_control.c
@@ -48,7 +48,7 @@ void by_pwm_init(void)
     pwm_init(FAN_LL_PWM_PIN, 50, 500);
     pwm_init(FAN_RL_PWM_PIN, 50, 500);
 
-#if FIX_DRIVE==1
+#if FIX_DRIVE == 1
     pwm_init(FAN_LS_PWM_A_PIN, 12000, 1000);
     pwm_init(FAN_LS_PWM_B_PIN, 12000, 1000);
     pwm_init(FAN_RS_PWM_A_PIN, 12000, 1000);
@@ -58,16 +58,25 @@ void by_pwm_init(void)
     pwm_init(FAN_RB_PWM_A_PIN, 12000, 1000);
     pwm_init(FAN_RB_PWM_B_PIN, 12000, 1000);
     while (1);
-#endif
-    pwm_init(FAN_LS_PWM_A_PIN, 12000, 0);
+#elif FIX_DRIVE == 2
+    pwm_init(FAN_LS_PWM_A_PIN, 12000, 1000);
     pwm_init(FAN_LS_PWM_B_PIN, 12000, 0);
-    pwm_init(FAN_RS_PWM_A_PIN, 12000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 12000, 1000);
     pwm_init(FAN_RS_PWM_B_PIN, 12000, 0);
-    pwm_init(FAN_LB_PWM_A_PIN, 12000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 12000, 1000);
     pwm_init(FAN_LB_PWM_B_PIN, 12000, 0);
-    pwm_init(FAN_RB_PWM_A_PIN, 12000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 12000, 1000);
     pwm_init(FAN_RB_PWM_B_PIN, 12000, 0);
-
+    while(1);
+#endif
+    pwm_init(FAN_LS_PWM_A_PIN, 14000, 0);
+    pwm_init(FAN_LS_PWM_B_PIN, 14000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 14000, 0);
+    pwm_init(FAN_RS_PWM_B_PIN, 14000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 14000, 0);
+    pwm_init(FAN_LB_PWM_B_PIN, 14000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 14000, 0);
+    pwm_init(FAN_RB_PWM_B_PIN, 14000, 0);
 }
 
 /**
diff --git a/app/jj_motion.c b/app/jj_motion.c
index 90ae354..1f25b00 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -164,28 +164,28 @@ void sport_motion()
         }
         if (cnt2 >= 10) {
             in_speed = sport_get_speed();
+
+            cnt2 = 0;
+        }
+        if (cnt5 >= 20) {
             PID_Compute(&speed_pid);
             PID_Compute(&far_angle_pid);
             PID_Compute(&str_angle_pid);
             PID_Compute(&tur_cal_pid);
-            cnt2 = 0;
-        }
-        if (cnt5 >= 50) {
-
             cnt5 = 0;
         }
         // 输出限幅
         if (in_state == 0 || in_state == 2) {
-            pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 6000.f);
-            pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 6000.f);
+            pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 6500.f);
+            pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 6500.f);
             pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
             pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
         } else if (in_state == 1 || in_state == 3) {
 
-            pwm_duty_ls = (int32_t)myclip_f(-out_cal, -5000.0f, 6000.f);
-            pwm_duty_rs = (int32_t)myclip_f(out_cal, -5000.0f, 6000.f);
-            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, -6000.0f, 6000.f);
-            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, -6000.0f, 6000.f);
+            pwm_duty_ls = (int32_t)myclip_f(-out_cal, 0.0f, 8000.f);
+            pwm_duty_rs = (int32_t)myclip_f(out_cal, 0.0f, 8000.f);
+            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
+            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
         }
 
         by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
@@ -197,7 +197,7 @@ void sport_motion()
         by_pwm_update_duty(0 + 500, 0 + 500);
     } else {
         if ((in_state == 1 || in_state == 3) && cnt3_flag == 1) {
-            float tt = 3  * fabs(in_pos);
+            float tt = 3 * fabs(in_pos);
             by_pwm_update_duty(bt_fly + 500 - tt, bt_fly + 500 - tt);
             cnt3++;
             if (in_state == 3) {
@@ -230,27 +230,27 @@ void sport_pid_init()
     /* 角度控制 */
     PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
     PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
-    PID_SetSampleTime(&far_angle_pid, 10);
+    PID_SetSampleTime(&far_angle_pid, 20);
     PID_SetOutputLimits(&far_angle_pid, -4000.0f, 4000.0f);
     // 直道侧面位置环
     PID(&str_angle_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
     PID_SetMode(&str_angle_pid, _PID_MODE_AUTOMATIC);
-    PID_SetSampleTime(&str_angle_pid, 10);
+    PID_SetSampleTime(&str_angle_pid, 20);
     PID_SetOutputLimits(&str_angle_pid, -6000.0f, 6000.0f);
     // 弯道侧面曲率环
-    PID(&tur_cal_pid, &in_pos, &out_cal, &set_pos, cn_Kp1, cn_Ki1, cn_Kd1, _PID_P_ON_E, _PID_CD_DIRECT);
+    PID(&tur_cal_pid, &in_angle, &out_cal, &set_pos, cn_Kp1, cn_Ki1, cn_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
     PID_SetMode(&tur_cal_pid, _PID_MODE_AUTOMATIC);
-    PID_SetSampleTime(&tur_cal_pid, 10);
-    PID_SetOutputLimits(&tur_cal_pid, -6000.0f, 6000.0f);
+    PID_SetSampleTime(&tur_cal_pid, 20);
+    PID_SetOutputLimits(&tur_cal_pid, -8000.0f, 8000.0f);
     /* 角速度控制 */
     PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量
     PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
-    PID_SetSampleTime(&far_gyro_pid, 10);
+    PID_SetSampleTime(&far_gyro_pid, 20);
     PID_SetOutputLimits(&far_gyro_pid, -6000.0f, 6000.0f);
 
     /* 速度控制 */
     PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
     PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
-    PID_SetSampleTime(&speed_pid, 10);
+    PID_SetSampleTime(&speed_pid, 20);
     PID_SetOutputLimits(&speed_pid, -2000.0f, 5000.0f);
 }
diff --git a/app/main.c b/app/main.c
index 61812bc..0b85a39 100644
--- a/app/main.c
+++ b/app/main.c
@@ -35,11 +35,7 @@
 #include "by_frame.h"
 #include "by_rt_button.h"
 #include "by_fan_control.h"
-static float myclip_f(float x, float low, float up)
-{
-    return (x > up ? up : x < low ? low
-                                  : x);
-}
+
 int main(void)
 {
     TYPE_UNION test_data[BY_FRAME_DATA_NUM];
@@ -70,7 +66,7 @@ int main(void)
         Page_Run();
         by_frame_parse(&test_data[0].u32);
         jj_bt_run();
-        in_pos   = myclip_f(1000.f* test_data[1].f32,-50.f,50.f);
+        in_pos   =1000.f* test_data[1].f32;
         in_angle = test_data[0].f32;
         in_state = test_data[2].u8[0];
         in_stop  = test_data[2].u8[1];
diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c
index 3e5b242..4d0169f 100644
--- a/app/page/page_dparam.c
+++ b/app/page/page_dparam.c
@@ -63,14 +63,14 @@ static void Loop()
     ips200_show_string(0, 180, "outcal");
     ips200_show_float(80, 180, out_cal, 4, 1);
 
-    ips200_show_string(100, 0, "ls");
-    ips200_show_float(180, 0, pwm_duty_ls, 4, 1);
-    ips200_show_string(100, 20, "rs");
-    ips200_show_float(180, 20, pwm_duty_rs, 4, 1);
-    ips200_show_string(100, 40, "lb");
-    ips200_show_float(180, 40, pwm_duty_lb, 4, 1);
-    ips200_show_string(100, 60, "rb");
-    ips200_show_float(180, 60, pwm_duty_rb, 4, 1);
+    ips200_show_string(180, 0, "ls");
+    ips200_show_float(220, 0, pwm_duty_ls, 4, 1);
+    ips200_show_string(180, 20, "rs");
+    ips200_show_float(220, 20, pwm_duty_rs, 4, 1);
+    ips200_show_string(180, 40, "lb");
+    ips200_show_float(220, 40, pwm_duty_lb, 4, 1);
+    ips200_show_string(180, 60, "rb");
+    ips200_show_float(220, 60, pwm_duty_rb, 4, 1);
 }
 /**
  * @brief  页面事件