diff --git a/subtask.py b/subtask.py
index 0ed534a..75a4dac 100644
--- a/subtask.py
+++ b/subtask.py
@@ -787,7 +787,7 @@ class get_rball():
         # by_cmd.send_distance_y(-15, 40)
         # time.sleep(1.5)
         # 891 参数
-        by_cmd.send_distance_y(-15, 30)
+        by_cmd.send_distance_y(-15, 40)
         time.sleep(0.3)
         calibrate_new(tlabel.RBALL,offset = 44, run = True)
         time.sleep(1)
diff --git a/subtask_8822.py b/subtask_8822.py
index 0480bea..1669413 100644
--- a/subtask_8822.py
+++ b/subtask_8822.py
@@ -10,7 +10,6 @@ import toml
 import zmq
 import time
 import variable as var
-import action as act
 import re
 import math
 import json
@@ -116,7 +115,7 @@ def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
             ret, error = filter.aim_right(label)
         error += offset
         # if ret:
-        if abs(error) <= 8:
+        if abs(error) <= 10:
             car_stop()
             logger.info("calibrate_right_new:行进时 误差小于 8 直接停车")
             ret, error = filter.aim_right(label)
@@ -233,10 +232,10 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
                 car_stop()
                 logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
                 
-                ret, box = filter.get(label)
-                while not ret:
-                    ret, box = filter.get(label)
-                error = (box[0][2] + box[0][0] - 320) / 2 + offset
+                # ret, box = filter.get(label)
+                # while not ret:
+                #     ret, box = filter.get(label)
+                # error = (box[0][2] + box[0][0] - 320) / 2 + offset
                 logger.info(f"停车后像素误差:{error}")
                 
                 # logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
@@ -288,10 +287,10 @@ def hanoi_calibrate(target_label, error_label, offset, run_direc ,run_speed = 3.
                 car_stop()
                 logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
                 
-                ret, box = filter.get(target_label)
-                while not ret:
-                    ret, box = filter.get(target_label)
-                error = (box[0][2] + box[0][0] - 320) / 2 + offset
+                # ret, box = filter.get(target_label)
+                # while not ret:
+                #     ret, box = filter.get(target_label)
+                # error = (box[0][2] + box[0][0] - 320) / 2 + offset
                 logger.info(f"停车后像素误差:{error}")
                 break
     return True
@@ -426,8 +425,7 @@ class task_queuem(task):
 class get_block1():
     def init(self):
         var.task_speed = 15
-        act.cmd.camera(0)
-        act.cmd.z2(20, 60, 0)
+        by_cmd.send_angle_camera(0)
         filter.switch_camera(1)
         # if cfg['get_block']['first_block'] == "blue":
         #     self.target_label = tlabel.BBLOCK
@@ -464,7 +462,7 @@ class get_block1():
         logger.info("抓取块")
 
         by_cmd.send_position_axis_z(30, 80)
-        time.sleep(1)
+        time.sleep(1.5)
         by_cmd.send_angle_claw(63)
         by_cmd.send_position_axis_x(1, 20)
         time.sleep(1)
@@ -557,7 +555,7 @@ class put_block():
         ret, box = filter.get(tlabel.HOSPITAL)
         if ret > 0:
             width = box[0][2] - box[0][0]
-            if width > 130:
+            if width > 130: #FIXME maybe 125 batter
                 return True
         return False
     def exec(self):
@@ -651,6 +649,7 @@ class get_bball():
         car_stop()
         time.sleep(0.5)
         for _ in range(3):
+            by_cmd.send_position_axis_z(30, 155)
             calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5)
             logger.info("抓蓝色球")
             time.sleep(0.5)
@@ -672,7 +671,7 @@ class get_bball():
             time.sleep(0.5)
             by_cmd.send_angle_claw_arm(45)
             time.sleep(1)
-            by_cmd.send_position_axis_z(30, 155)
+            # by_cmd.send_position_axis_z(30, 155)
             # 继续向前走
             # by_cmd.send_speed_x(4)
         pass
@@ -710,10 +709,10 @@ class up_tower():
         calibrate_new(tlabel.TOWER, offset = 20, run = True)
         time.sleep(1)
         # calibrate(tlabel.TOWER, 27, False, 6)
-        by_cmd.send_distance_x(-10, 120)
+        by_cmd.send_distance_x(-10, 100) # used to be 120
         time.sleep(1)
         # 上古參數
-        by_cmd.send_distance_y(-10, 50) # 80
+        # by_cmd.send_distance_y(-10, 50) # 80
         # 6_9 模型參數
         # by_cmd.send_distance_y(-10, 40)
         # 7_12_3 模型參數
@@ -724,6 +723,12 @@ class up_tower():
         # time.sleep(3)
         # by_cmd.send_speed_y(-10)
         # time.sleep(0.15)
+        # 8822
+        by_cmd.send_distance_y(-10, 50)
+        time.sleep(0.3)
+        # 891
+        # by_cmd.send_distance_y(-10, 35)
+        # time.sleep(0.3)
         
         by_cmd.send_angle_zhuan(10)
         time.sleep(12)
@@ -781,7 +786,10 @@ class get_rball():
         # car_stop()
         # 8822 参数
         by_cmd.send_distance_y(-15, 40)
-        time.sleep(1.5)
+        time.sleep(0.5)
+        # 891 参数
+        # by_cmd.send_distance_y(-15, 40)
+        # time.sleep(0.3)
         calibrate_new(tlabel.RBALL,offset = 44, run = True)
         time.sleep(1)
         logger.info("抓红球")
@@ -1105,7 +1113,7 @@ class put_hanoi2():
             time.sleep(1)
             pass
         # ret = explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
-        ret = hanoi_calibrate(tlabel.LPILLER, tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5)
+        ret = hanoi_calibrate(tlabel.LPILLER, [tlabel.TPLATFORM], offset = self.offset, run_direc = -1, run_speed = 5)
         if not ret:
             logger.error("在放中平台的时候出现问题 跳过物资盘点 2 exec")
             return
@@ -1166,7 +1174,7 @@ class put_hanoi2():
             time.sleep(2)
             pass
         # ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
-        ret = hanoi_calibrate(tlabel.MPILLER, tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
+        ret = hanoi_calibrate(tlabel.MPILLER, [tlabel.LPILLER, tlabel.TPLATFORM], offset = self.offset, run_direc = -1, run_speed = 5)
         if not ret:
             logger.error("在放小平台的时候出现问题 跳过物资盘点 2 exec")
             return
diff --git a/subtask_891.py b/subtask_891.py
index d463086..75a4dac 100644
--- a/subtask_891.py
+++ b/subtask_891.py
@@ -10,7 +10,6 @@ import toml
 import zmq
 import time
 import variable as var
-import action as act
 import re
 import math
 import json
@@ -116,7 +115,7 @@ def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
             ret, error = filter.aim_right(label)
         error += offset
         # if ret:
-        if abs(error) <= 8:
+        if abs(error) <= 10:
             car_stop()
             logger.info("calibrate_right_new:行进时 误差小于 8 直接停车")
             ret, error = filter.aim_right(label)
@@ -233,10 +232,10 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
                 car_stop()
                 logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
                 
-                ret, box = filter.get(label)
-                while not ret:
-                    ret, box = filter.get(label)
-                error = (box[0][2] + box[0][0] - 320) / 2 + offset
+                # ret, box = filter.get(label)
+                # while not ret:
+                #     ret, box = filter.get(label)
+                # error = (box[0][2] + box[0][0] - 320) / 2 + offset
                 logger.info(f"停车后像素误差:{error}")
                 
                 # logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
@@ -288,10 +287,10 @@ def hanoi_calibrate(target_label, error_label, offset, run_direc ,run_speed = 3.
                 car_stop()
                 logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
                 
-                ret, box = filter.get(target_label)
-                while not ret:
-                    ret, box = filter.get(target_label)
-                error = (box[0][2] + box[0][0] - 320) / 2 + offset
+                # ret, box = filter.get(target_label)
+                # while not ret:
+                #     ret, box = filter.get(target_label)
+                # error = (box[0][2] + box[0][0] - 320) / 2 + offset
                 logger.info(f"停车后像素误差:{error}")
                 break
     return True
@@ -426,8 +425,7 @@ class task_queuem(task):
 class get_block1():
     def init(self):
         var.task_speed = 15
-        act.cmd.camera(0)
-        act.cmd.z2(20, 60, 0)
+        by_cmd.send_angle_camera(0)
         filter.switch_camera(1)
         # if cfg['get_block']['first_block'] == "blue":
         #     self.target_label = tlabel.BBLOCK
@@ -464,7 +462,7 @@ class get_block1():
         logger.info("抓取块")
 
         by_cmd.send_position_axis_z(30, 80)
-        time.sleep(1)
+        time.sleep(1.5)
         by_cmd.send_angle_claw(63)
         by_cmd.send_position_axis_x(1, 20)
         time.sleep(1)
@@ -557,7 +555,7 @@ class put_block():
         ret, box = filter.get(tlabel.HOSPITAL)
         if ret > 0:
             width = box[0][2] - box[0][0]
-            if width > 128: #135 130
+            if width > 125: #135 130 128
                 return True
         return False
     def exec(self):
@@ -651,6 +649,7 @@ class get_bball():
         car_stop()
         time.sleep(0.5)
         for _ in range(3):
+            by_cmd.send_position_axis_z(30, 155)
             calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5)
             logger.info("抓蓝色球")
             time.sleep(0.5)
@@ -672,7 +671,7 @@ class get_bball():
             time.sleep(0.5)
             by_cmd.send_angle_claw_arm(45)
             time.sleep(1)
-            by_cmd.send_position_axis_z(30, 155)
+            # by_cmd.send_position_axis_z(30, 155)
             # 继续向前走
             # by_cmd.send_speed_x(4)
         pass
@@ -710,7 +709,7 @@ class up_tower():
         calibrate_new(tlabel.TOWER, offset = 20, run = True)
         time.sleep(1)
         # calibrate(tlabel.TOWER, 27, False, 6)
-        by_cmd.send_distance_x(-10, 120)
+        by_cmd.send_distance_x(-10, 100)
         time.sleep(1)
         # 上古參數
         # by_cmd.send_distance_y(-10, 50) # 80
@@ -788,7 +787,7 @@ class get_rball():
         # by_cmd.send_distance_y(-15, 40)
         # time.sleep(1.5)
         # 891 参数
-        by_cmd.send_distance_y(-15, 30)
+        by_cmd.send_distance_y(-15, 40)
         time.sleep(0.3)
         calibrate_new(tlabel.RBALL,offset = 44, run = True)
         time.sleep(1)
diff --git a/subtask_raw.py b/subtask_raw.py
index ff32c6d..deb0f70 100644
--- a/subtask_raw.py
+++ b/subtask_raw.py
@@ -10,7 +10,6 @@ import toml
 import zmq
 import time
 import variable as var
-import action as act
 import re
 import math
 import json
@@ -116,7 +115,7 @@ def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
             ret, error = filter.aim_right(label)
         error += offset
         # if ret:
-        if abs(error) <= 8:
+        if abs(error) <= 10:
             car_stop()
             logger.info("calibrate_right_new:行进时 误差小于 8 直接停车")
             ret, error = filter.aim_right(label)
@@ -233,10 +232,10 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
                 car_stop()
                 logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
                 
-                ret, box = filter.get(label)
-                while not ret:
-                    ret, box = filter.get(label)
-                error = (box[0][2] + box[0][0] - 320) / 2 + offset
+                # ret, box = filter.get(label)
+                # while not ret:
+                #     ret, box = filter.get(label)
+                # error = (box[0][2] + box[0][0] - 320) / 2 + offset
                 logger.info(f"停车后像素误差:{error}")
                 
                 # logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
@@ -288,10 +287,10 @@ def hanoi_calibrate(target_label, error_label, offset, run_direc ,run_speed = 3.
                 car_stop()
                 logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
                 
-                ret, box = filter.get(target_label)
-                while not ret:
-                    ret, box = filter.get(target_label)
-                error = (box[0][2] + box[0][0] - 320) / 2 + offset
+                # ret, box = filter.get(target_label)
+                # while not ret:
+                #     ret, box = filter.get(target_label)
+                # error = (box[0][2] + box[0][0] - 320) / 2 + offset
                 logger.info(f"停车后像素误差:{error}")
                 break
     return True
@@ -426,8 +425,7 @@ class task_queuem(task):
 class get_block1():
     def init(self):
         var.task_speed = 15
-        act.cmd.camera(0)
-        act.cmd.z2(20, 60, 0)
+        by_cmd.send_angle_camera(0)
         filter.switch_camera(1)
         # if cfg['get_block']['first_block'] == "blue":
         #     self.target_label = tlabel.BBLOCK
@@ -464,7 +462,7 @@ class get_block1():
         logger.info("抓取块")
 
         by_cmd.send_position_axis_z(30, 80)
-        time.sleep(1)
+        time.sleep(1.5)
         by_cmd.send_angle_claw(63)
         by_cmd.send_position_axis_x(1, 20)
         time.sleep(1)
@@ -651,6 +649,7 @@ class get_bball():
         car_stop()
         time.sleep(0.5)
         for _ in range(3):
+            by_cmd.send_position_axis_z(30, 155)
             calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5)
             logger.info("抓蓝色球")
             time.sleep(0.5)
@@ -672,7 +671,7 @@ class get_bball():
             time.sleep(0.5)
             by_cmd.send_angle_claw_arm(45)
             time.sleep(1)
-            by_cmd.send_position_axis_z(30, 155)
+            # by_cmd.send_position_axis_z(30, 155)
             # 继续向前走
             # by_cmd.send_speed_x(4)
         pass
@@ -710,10 +709,11 @@ class up_tower():
         calibrate_new(tlabel.TOWER, offset = 20, run = True)
         time.sleep(1)
         # calibrate(tlabel.TOWER, 27, False, 6)
-        by_cmd.send_distance_x(-10, 120)
+        by_cmd.send_distance_x(-10, 100)
         time.sleep(1)
         # 上古參數
         by_cmd.send_distance_y(-10, 50) # 80
+        time.sleep(0.5)
         # 6_9 模型參數
         # by_cmd.send_distance_y(-10, 40)
         # 7_12_3 模型參數
@@ -724,6 +724,11 @@ class up_tower():
         # time.sleep(3)
         # by_cmd.send_speed_y(-10)
         # time.sleep(0.15)
+        # 8822
+        # by_cmd.send_distance_y(-10, 50)
+        # 891
+        # by_cmd.send_distance_y(-10, 35)
+        # time.sleep(0.3)
         
         by_cmd.send_angle_zhuan(10)
         time.sleep(12)
@@ -770,8 +775,8 @@ class get_rball():
         by_cmd.send_angle_scoop(20)
         # 上古參數
         # by_cmd.send_distance_y(-15, 50) # 50 # 70
-        by_cmd.send_distance_y(-15, 40) # 50 # 70
-        time.sleep(1.5)
+        by_cmd.send_istance_y(-15, 40) # 50 # 70
+        time.sleep(0.5)
         # 6_9 參數
         # by_cmd.send_distance_y(-15, 35)
         # time.sleep(2)
@@ -779,6 +784,12 @@ class get_rball():
         # by_cmd.send_distance_y(-15, 45)
         # time.sleep(2)
         # car_stop()
+        # 8822 参数
+        # by_cmd.send_distance_y(-15, 40)
+        # time.sleep(1.5)
+        # 891 参数
+        # by_cmd.send_distance_y(-15, 40)
+        # time.sleep(0.3)
         calibrate_new(tlabel.RBALL,offset = 44, run = True)
         time.sleep(1)
         logger.info("抓红球")
@@ -826,14 +837,14 @@ class put_bball():
         calibrate_new(tlabel.BASKET,offset = -40, run = True, run_speed = 6)
         # by_cmd.send_distance_x(10, 10)
         # 向左运动
-        by_cmd.send_distance_y(-10, 35)
+        # by_cmd.send_distance_y(-10, 35)
         # by_cmd.send_angle_storage(10)
         # time.sleep(1)
 
         by_cmd.send_angle_storage(50)
         logger.info("把球放篮筐里")
 
-        time.sleep(1)
+        time.sleep(2)
         # by_cmd.send_distance_y(10, 55)
         by_cmd.send_angle_storage(20)
         # time.sleep(1)
@@ -1102,7 +1113,7 @@ class put_hanoi2():
             time.sleep(1)
             pass
         # ret = explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
-        ret = hanoi_calibrate(tlabel.LPILLER, tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5)
+        ret = hanoi_calibrate(tlabel.LPILLER, [tlabel.TPLATFORM], offset = self.offset, run_direc = -1, run_speed = 5)
         if not ret:
             logger.error("在放中平台的时候出现问题 跳过物资盘点 2 exec")
             return
@@ -1163,7 +1174,7 @@ class put_hanoi2():
             time.sleep(2)
             pass
         # ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
-        ret = hanoi_calibrate(tlabel.MPILLER, tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
+        ret = hanoi_calibrate(tlabel.MPILLER, [tlabel.LPILLER, tlabel.TPLATFORM], offset = self.offset, run_direc = -1, run_speed = 5)
         if not ret:
             logger.error("在放小平台的时候出现问题 跳过物资盘点 2 exec")
             return
@@ -1537,14 +1548,6 @@ class move_area2():
                 if len(resp_commands) == 0:
                     return
                 action_list = resp_commands
-                # 先检查一下 action 是否生成正确，如果不正确直接跳过
-                actions_keys = self.action_dict.keys()
-                try:
-                    for action in action_list:
-                        if not (action.get('action') in actions_keys):
-                            return
-                except:
-                    return
                 # 进入停车区域
                 by_cmd.send_distance_y(10, 450)
                 time.sleep((450 * 5 / 1000) + 0.5)
@@ -1656,6 +1659,8 @@ class kick_ass():
         # by_cmd.send_speed_x(25)
         # time.sleep(4)
         pass
+        
+       
     def nexec(self):
         pass
     def after(self):