diff --git a/app/jj_motion.c b/app/jj_motion.c
index 4951998..91d0a0a 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -76,10 +76,10 @@ uint8_t in_state   = 0;
 uint8_t in_stop    = 0;
 uint8_t last_state = 0;
 uint8_t stop_flag  = 0;
-uint32_t pwm_duty_ls;
-uint32_t pwm_duty_rs;
-uint32_t pwm_duty_lb;
-uint32_t pwm_duty_rb;
+int32_t pwm_duty_ls;
+int32_t pwm_duty_rs;
+int32_t pwm_duty_lb;
+int32_t pwm_duty_rb;
 
 static float myclip_f(float x, float low, float up)
 {
@@ -108,10 +108,12 @@ void sport_motion()
     imu660ra_get_gyro();
     imu660ra_get_acc();
     in_gyro = imu660ra_gyro_z;
-    // 停车
+    // 抖动停车
     if (imu660ra_acc_z <= 1000) {
+
         bt_fly_flag = bt_run_flag = 0;
     }
+    // 斑马线停车
     if (1 == in_stop) {
         stop_flag = 1;
     }
@@ -128,7 +130,7 @@ void sport_motion()
         cnt5++;
         // pid参数切换
         if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
-            cnt3_flag = 0;
+            cnt3_flag = 1;
             cnt3      = 0;
             bt_printf("to 直道");
             set_speed = set_speed1;
@@ -156,53 +158,37 @@ void sport_motion()
             PID_SetTunings(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1);
         }
         last_state = in_state;
-        if (cnt3_flag == 1 && (in_state == 1 || in_state == 3)) {
-            cnt3++;
-            if (in_state == 3) {
-                if (cnt3 >= 1500) // 200ms
-                {
-                    bt_printf("to 环内");
-                    cnt3_flag = 2;
-                    cnt3      = 0;
-                }
-            } else {
-                if (cnt3 >= 500) // 200ms
-                {
-                    bt_printf("to 环内");
-                    cnt3_flag = 2;
-                    cnt3      = 0;
-                }
-            }
-        }
-
+        // pid计算
         if (cnt1 >= 2) {
             PID_Compute(&far_gyro_pid);
             cnt1 = 0;
         }
         if (cnt2 >= 10) {
             in_speed = sport_get_speed();
-
-            cnt2 = 0;
-        }
-        if (cnt5 >= 20) {
             PID_Compute(&speed_pid);
             PID_Compute(&far_angle_pid);
             PID_Compute(&angle_pid);
+            cnt2 = 0;
+        }
+        if (cnt5 >= 20) {
+
             cnt5 = 0;
         }
+        // 输出限幅
         if (in_state == 0 || in_state == 2) {
-            pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 7000.f);
-            pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 7000.f);
-            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 5000.f);
-            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 5000.f);
+            pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 5000.f);
+            pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 5000.f);
+            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 7000.f);
+            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 7000.f);
         } else if (in_state == 1 || in_state == 3) {
-            pwm_duty_ls = (int32_t)myclip_f(-out_pos, -7000.0f, 7000.f);
-            pwm_duty_rs = (int32_t)myclip_f(out_pos, -7000.0f, 7000.f);
-            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 5000.f);
-            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 5000.f);
+
+            pwm_duty_ls = (int32_t)myclip_f(-out_pos, -8000.0f, 8000.f);
+            pwm_duty_rs = (int32_t)myclip_f(out_pos, -8000.0f, 8000.f);
+            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, -7000.0f, 7000.f);
+            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, -7000.0f, 7000.f);
         }
 
-        by_pwm_power_duty((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb);
+        by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
     } else {
         by_pwm_power_duty(0, 0, 0, 0);
     }
@@ -211,9 +197,24 @@ void sport_motion()
         by_pwm_update_duty(0 + 500, 0 + 500);
     } else {
         if ((in_state == 1 || in_state == 3) && cnt3_flag == 1) {
-            float tt =0;//60 * fabs(tanf(myclip_f(in_angle, -60.f, 60.f) / 180 * PI));
+            float tt = 100 * fabs(tanf(myclip_f(in_angle, -60.f, 60.f) / 180 * PI));
             by_pwm_update_duty(bt_fly + 500 - tt, bt_fly + 500 - tt);
-
+            cnt3++;
+            if (in_state == 3) {
+                if (cnt3 >= 1200) // 200ms
+                {
+                    bt_printf("to 环内");
+                    cnt3_flag = 2;
+                    cnt3      = 0;
+                }
+            } else {
+                if (cnt3 >= 400) // 200ms
+                {
+                    bt_printf("to 弯道");
+                    cnt3_flag = 2;
+                    cnt3      = 0;
+                }
+            }
         } else {
             by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
         }
@@ -229,23 +230,23 @@ 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, 20);
+    PID_SetSampleTime(&far_angle_pid, 10);
     PID_SetOutputLimits(&far_angle_pid, -4000.0f, 4000.0f);
 
     PID(&angle_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
     PID_SetMode(&angle_pid, _PID_MODE_AUTOMATIC);
-    PID_SetSampleTime(&angle_pid, 20);
-    PID_SetOutputLimits(&angle_pid, -7000.0f, 7000.0f);
+    PID_SetSampleTime(&angle_pid, 10);
+    PID_SetOutputLimits(&angle_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, 20);
-    PID_SetOutputLimits(&far_gyro_pid, -5000.0f, 5000.0f);
+    PID_SetSampleTime(&far_gyro_pid, 10);
+    PID_SetOutputLimits(&far_gyro_pid, -7000.0f, 7000.0f);
 
     /* 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, 20);
-    PID_SetOutputLimits(&speed_pid, -2000.0f, 4000.0f);
+    PID_SetSampleTime(&speed_pid, 10);
+    PID_SetOutputLimits(&speed_pid, -4000.0f, 6000.0f);
 }
diff --git a/app/jj_motion.h b/app/jj_motion.h
index 5aad5bb..e962f3a 100644
--- a/app/jj_motion.h
+++ b/app/jj_motion.h
@@ -45,10 +45,10 @@ extern float set_speed0;
 extern float set_speed1;
 extern float set_speed2;
 extern float set_speed ;
-extern uint32_t pwm_duty_ls;
-extern uint32_t pwm_duty_rs;
-extern uint32_t pwm_duty_lb;
-extern uint32_t pwm_duty_rb;
+extern int32_t pwm_duty_ls;
+extern int32_t pwm_duty_rs;
+extern int32_t pwm_duty_lb;
+extern int32_t pwm_duty_rb;
 
 extern uint8_t in_state;
 extern uint8_t in_stop;
diff --git a/app/jj_voltage.c b/app/jj_voltage.c
new file mode 100644
index 0000000..e40e582
--- /dev/null
+++ b/app/jj_voltage.c
@@ -0,0 +1 @@
+#include "jj_voltage.h"
diff --git a/app/jj_voltage.h b/app/jj_voltage.h
new file mode 100644
index 0000000..fd12a51
--- /dev/null
+++ b/app/jj_voltage.h
@@ -0,0 +1,7 @@
+#ifndef _JJ_VOLTAGE_H_
+#define _JJ_VOLTAGE_H_
+
+#include "stdio.h"
+#include "zf_driver_uart.h"
+
+#endif
\ No newline at end of file