diff --git a/app/gl_barrier.c b/app/gl_barrier.c
index 3abf1dc..d2aada9 100644
--- a/app/gl_barrier.c
+++ b/app/gl_barrier.c
@@ -8,6 +8,7 @@ float (*mid_track_s)[2];
 int32_t mid_track_count_s;
 int temp_min_s;
 int temp_max_s;
+int barrier_begin_flag = 0;
 
 void CheckBarrier()
 {
@@ -23,48 +24,100 @@ void RunBarrier()
 {
     if (barrier_type == BARRIER_LEFT_BEGIN) {
         track_type = TRACK_RIGHT;
-        if (Lpt0_found) {
-            Lpt0_found_count++;
-        }
-        if (Lpt0_found_count >= 1) {
-            Lpt0_found_count = 0;
-            barrier_type     = BARRIER_LEFT_RUNNING;
-            track_type       = TRACK_RIGHT;
+        if (barrier_begin_flag == 0)
+        {
             timer_clear(TIM_3);
             timer_start(TIM_3);
+            barrier_begin_flag = 1;
         }
-    } else if (barrier_type == BARRIER_LEFT_RUNNING) {
-        track_type   = TRACK_RIGHT;
-        time_barrier = timer_get(TIM_3);
-        if (time_barrier >= 220) {
-            barrier_type = BARRIER_NONE;
-            track_type   = TRACK_RIGHT;
-            timer_start(TIM_3);
-            timer_clear(TIM_3);
+
+        if (barrier_begin_flag == 1)
+        {
+            barrier_type = BARRIER_LEFT_BEGIN;
+            time_barrier = timer_get(TIM_3);
+            if (time_barrier >= 1000 && time_barrier < 2000)
+            {
+                barrier_type = BARRIER_LEFT_RUNNING;
+            }
+            else if (time_barrier >= 2000)
+                {
+                    barrier_type = BARRIER_NONE;
+                    barrier_begin_flag = 0;
+                    timer_stop(TIM_3);
+                    timer_clear(TIM_3);
+                }
+            
         }
+        
+        
+    //     if (Lpt0_found) {
+    //         Lpt0_found_count++;
+    //     }
+    //     if (Lpt0_found_count >= 1) {
+    //         Lpt0_found_count = 0;
+    //         barrier_type     = BARRIER_LEFT_RUNNING;
+    //         track_type       = TRACK_RIGHT;
+    //         timer_clear(TIM_3);
+    //         timer_start(TIM_3);
+    //     }
+    // } else if (barrier_type == BARRIER_LEFT_RUNNING) {
+    //     track_type   = TRACK_RIGHT;
+    //     time_barrier = timer_get(TIM_3);
+    //     if (time_barrier >= 220) {
+    //         barrier_type = BARRIER_NONE;
+    //         track_type   = TRACK_RIGHT;
+    //         timer_start(TIM_3);
+    //         timer_clear(TIM_3);
+    //     }
     }
 
     if (barrier_type == BARRIER_RIGHT_BEGIN) {
         track_type = TRACK_LEFT;
-        if (Lpt1_found) {
-            Lpt1_found_count++;
-        }
-        if (Lpt1_found_count >= 1) {
-            Lpt1_found_count = 0;
-            barrier_type     = BARRIER_RIGHT_RUNNING;
-            track_type       = TRACK_LEFT;
+        if (barrier_begin_flag == 0)
+        {
             timer_clear(TIM_3);
             timer_start(TIM_3);
+            barrier_begin_flag = 1;
         }
-    } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
-        track_type   = TRACK_LEFT;
-        time_barrier = timer_get(TIM_3);
-        if (time_barrier >= 220) {
-            timer_start(TIM_3);
-            timer_clear(TIM_3);
-            barrier_type = BARRIER_NONE;
-            track_type   = TRACK_LEFT;
+
+        if (barrier_begin_flag == 1)
+        {
+            barrier_type = BARRIER_RIGHT_BEGIN;
+            time_barrier = timer_get(TIM_3);
+            if (time_barrier >= 1000)
+            {
+                barrier_type = BARRIER_RIGHT_RUNNING;
+                if (time_barrier >= 2000)
+                {
+                    barrier_type = BARRIER_NONE;
+                    barrier_begin_flag = 0;
+                    timer_stop(TIM_3);
+                    timer_clear(TIM_3);
+                }
+                
+            }
+            
         }
+
+    //     if (Lpt1_found) {
+    //         Lpt1_found_count++;
+    //     }
+    //     if (Lpt1_found_count >= 1) {
+    //         Lpt1_found_count = 0;
+    //         barrier_type     = BARRIER_RIGHT_RUNNING;
+    //         track_type       = TRACK_LEFT;
+    //         timer_clear(TIM_3);
+    //         timer_start(TIM_3);
+    //     }
+    // } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
+    //     track_type   = TRACK_LEFT;
+    //     time_barrier = timer_get(TIM_3);
+    //     if (time_barrier >= 220) {
+    //         timer_start(TIM_3);
+    //         timer_clear(TIM_3);
+    //         barrier_type = BARRIER_NONE;
+    //         track_type   = TRACK_LEFT;
+    //     }
     }
 }
 
diff --git a/app/gl_tracking.c b/app/gl_tracking.c
index 05b1b18..9dba0d7 100644
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -270,12 +270,19 @@ void MidLineTrack()
         float dy        = cy - rptsn[aim_idx][0]; // + 0.2f * PIXPERMETER;
         float dn        = (dx * dx + dy * dy);
         float temp_near = 0;
-        if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
-            dx_near    = mid_track[aim_idx_near][1] - cx + barrier_offset;
-            pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f - 25;
-        } else if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
-            dx_near    = mid_track[aim_idx_near][1] - cx - barrier_offset;
-            pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f + 25;
+        if (barrier_type == BARRIER_LEFT_BEGIN) {
+            //dx_near    = mid_track[aim_idx_near][1] - cx + barrier_offset;
+            pure_angle = -25.f;
+        }else if (barrier_type == BARRIER_LEFT_RUNNING)
+        {
+            pure_angle = 25.f;
+        }else if (barrier_type == BARRIER_RIGHT_BEGIN)
+        {
+            pure_angle = 25.f;
+        }
+         else if (barrier_type == BARRIER_RIGHT_RUNNING) {
+            //dx_near    = mid_track[aim_idx_near][1] - cx - barrier_offset;
+            pure_angle = -25.f;
         } else {
             // pure_angle  = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
             if (dy > 0) {