diff --git a/app/by_fan_control.c b/app/by_fan_control.c
index 7137bd5..3ffe818 100644
--- a/app/by_fan_control.c
+++ b/app/by_fan_control.c
@@ -12,11 +12,11 @@
 #define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右后
 #define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14 // 右后
 // M3
-#define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // 左侧
-#define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧
+#define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH3_D5 // 左侧
+#define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧
 // M2
-#define FAN_RS_PWM_A_PIN TIM4_PWM_MAP1_CH4_D15 // 右侧
-#define FAN_RS_PWM_B_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧
+#define FAN_RS_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 右侧
+#define FAN_RS_PWM_A_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧
 
 int32_t pwm_duty_ls_g;
 int32_t pwm_duty_rs_g;
@@ -49,25 +49,25 @@ void by_pwm_init(void)
     pwm_init(FAN_RL_PWM_PIN, 50, 500);
 
 #if FIX_DRIVE == 1
-    pwm_init(FAN_LS_PWM_A_PIN, 30000, 1000);
-    pwm_init(FAN_LS_PWM_B_PIN, 30000, 1000);
-    pwm_init(FAN_RS_PWM_A_PIN, 12000, 1000);
-    pwm_init(FAN_RS_PWM_B_PIN, 12000, 1000);
-    pwm_init(FAN_LB_PWM_A_PIN, 12000, 1000);
-    pwm_init(FAN_LB_PWM_B_PIN, 12000, 1000);
-    pwm_init(FAN_RB_PWM_A_PIN, 30000, 1000);
-    pwm_init(FAN_RB_PWM_B_PIN, 30000, 1000);
+    pwm_init(FAN_LS_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_LS_PWM_B_PIN, 20000, 7000);
+    pwm_init(FAN_RS_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_RS_PWM_B_PIN, 20000, 7000);
+    pwm_init(FAN_LB_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_LB_PWM_B_PIN, 20000, 7000);
+    pwm_init(FAN_RB_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_RB_PWM_B_PIN, 20000, 7000);
     while (1);
 #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, 1000);
-    pwm_init(FAN_RS_PWM_B_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, 1000);
-    pwm_init(FAN_RB_PWM_B_PIN, 12000, 0);
-    while(1);
+    pwm_init(FAN_LS_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_LS_PWM_B_PIN, 20000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_RS_PWM_B_PIN, 20000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_LB_PWM_B_PIN, 20000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_RB_PWM_B_PIN, 20000, 0);
+    while (1);
 #endif
     pwm_init(FAN_LS_PWM_A_PIN, 20000, 0);
     pwm_init(FAN_LS_PWM_B_PIN, 20000, 0);
diff --git a/app/jj_motion.c b/app/jj_motion.c
index 950a603..ed31480 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -2,7 +2,7 @@
 #include <math.h>
 #include "zf_common_headfile.h"
 #include "pid.h"
-
+#include "jj_voltage.h"
 #include "jj_blueteeth.h"
 #include "by_fan_control.h"
 #include "by_imu.h"
@@ -88,6 +88,7 @@ int32_t pwm_duty_ls;
 int32_t pwm_duty_rs;
 int32_t pwm_duty_lb;
 int32_t pwm_duty_rb;
+float qd_down = 0.0f;
 
 /*
 0:无状态
@@ -123,6 +124,7 @@ void sport_motion()
 
     imu660ra_get_gyro();
     imu660ra_get_acc();
+    get_vol();
     in_gyro = imu660ra_gyro_z;
     // 抖动停车
     if (imu660ra_acc_z <= 600) {
@@ -149,6 +151,7 @@ void sport_motion()
         if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
             cnt3_flag = 1;
             cnt3      = 0;
+
             bt_printf("to 直道");
             set_speed = set_speed1;
             PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
@@ -165,6 +168,7 @@ void sport_motion()
         if ((last_state != in_state) && in_state == 3) { // 圆环
             bt_printf("to 圆环");
             set_speed = set_speed2;
+
             cnt3_flag = 1;
             PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0);
             PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0);
@@ -181,10 +185,11 @@ void sport_motion()
             cnt2 = 0;
         }
         if (cnt5 >= 20) {
-            PID_Compute(&speed_pid);
+
             PID_Compute(&far_angle_pid);
             PID_Compute(&str_angle_pid);
             PID_Compute(&tur_cal_pid);
+            PID_Compute(&speed_pid);
             cnt5 = 0;
         }
         // 输出限幅
@@ -234,8 +239,12 @@ void sport_motion()
                     cnt3      = 0;
                 }
             }
-            float tt = 6 * fabs(in_pos);
-            by_pwm_update_duty(bt_fly + 500 - tt, bt_fly + 500 - tt);
+            if (in_speed > set_speed - 100) {
+                qd_down = 6 * fabs(in_pos);
+            } else {
+                qd_down = 0;
+            }
+            by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
         } else {
             if (in_state == 4) {
                 by_pwm_update_duty(bt_fly + 515, bt_fly + 515);
@@ -277,7 +286,7 @@ void sport_pid_init()
     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, -5500.0f, 5500.0f);
+    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);
diff --git a/app/jj_voltage.c b/app/jj_voltage.c
index e40e582..e1454f3 100644
--- a/app/jj_voltage.c
+++ b/app/jj_voltage.c
@@ -1 +1,13 @@
 #include "jj_voltage.h"
+#include "zf_driver_adc.h"
+
+#define GET_VOL_PIN ADC2_IN5_A5
+float now_vol;
+void vol_init(void)
+{
+    adc_init(GET_VOL_PIN,ADC_12BIT);
+}
+void get_vol()
+{
+    now_vol=0.003377f*adc_convert(GET_VOL_PIN)+0.16f;
+}
\ No newline at end of file
diff --git a/app/jj_voltage.h b/app/jj_voltage.h
index fd12a51..fdf763c 100644
--- a/app/jj_voltage.h
+++ b/app/jj_voltage.h
@@ -3,5 +3,7 @@
 
 #include "stdio.h"
 #include "zf_driver_uart.h"
-
+extern float now_vol;
+void vol_init();
+void get_vol();
 #endif
\ No newline at end of file
diff --git a/app/main.c b/app/main.c
index 0b85a39..b84f829 100644
--- a/app/main.c
+++ b/app/main.c
@@ -28,6 +28,7 @@
 #include "jj_param.h"
 #include "jj_motion.h"
 #include "jj_blueteeth.h"
+#include "jj_voltage.h"
 
 #include "by_imu.h"
 #include "by_vofa.h"
@@ -49,6 +50,7 @@ int main(void)
         ;
     jj_param_eeprom_init();
     jj_bt_init();
+    vol_init();
     by_rb_init();
     by_pwm_init();
     by_buzzer_init();
diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c
index 4d0169f..0a597a6 100644
--- a/app/page/page_dparam.c
+++ b/app/page/page_dparam.c
@@ -2,7 +2,7 @@
 #include "page_ui_widget.h"
 #include "jj_motion.h"
 #include "page.h"
-
+#include"jj_voltage.h"
 #include <math.h>
 
 #define LINE_HEAD 0
@@ -62,6 +62,8 @@ static void Loop()
     ips200_show_float(80, 160, out_pos, 4, 1);
     ips200_show_string(0, 180, "outcal");
     ips200_show_float(80, 180, out_cal, 4, 1);
+    ips200_show_string(0, 200, "vol");
+    ips200_show_float(80, 200, (float)now_vol, 4,2);
 
     ips200_show_string(180, 0, "ls");
     ips200_show_float(220, 0, pwm_duty_ls, 4, 1);