diff --git a/cfg_subtask.toml.raw.bak b/cfg_subtask.toml.raw.bak
index 1d0c998..8a02906 100644
--- a/cfg_subtask.toml.raw.bak
+++ b/cfg_subtask.toml.raw.bak
@@ -1,5 +1,5 @@
 [get_block]
-pid_kp = 1.2
+pid_kp = 1.0
 pid_ki = 0
 pid_kd = 0
 first_block = "blue"
@@ -20,17 +20,17 @@ pid_ki = 0
 pid_kd = 0
 
 [get_rball]
-pid_kp = 1.2
+pid_kp = 1.0
 pid_ki = 0
 pid_kd = 0
 
 [put_bball]
-pid_kp = 1.8
+pid_kp = 1.5
 pid_ki = 0
 pid_kd = 0
 
 [put_hanoi1]
-pid_kp = 0.7
+pid_kp = 0.5
 pid_ki = 0
 pid_kd = 0
 
@@ -50,7 +50,7 @@ pid_kd = 0
 pid_kp = 1.2
 pid_ki = 0
 pid_kd = 0
-llm_enable = false
+llm_enable = true
 
 [kick_ass]
 pid_kp = 0.8
diff --git a/subtask.py b/subtask.py
index a986fb1..1eed6a0 100644
--- a/subtask.py
+++ b/subtask.py
@@ -666,7 +666,7 @@ class get_bball():
             time.sleep(0.5)
             by_cmd.send_distance_axis_z(30, -40)
             time.sleep(0.5)
-            by_cmd.send_angle_claw_arm(80)
+            by_cmd.send_angle_claw_arm(90)
             time.sleep(0.5)
             by_cmd.send_angle_claw(54)
             time.sleep(0.5)
@@ -1018,7 +1018,7 @@ class put_hanoi2():
         time.sleep(0.5)
         logger.info("抓大平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 150)
             by_cmd.send_angle_claw(63)
             time.sleep(2)
@@ -1030,7 +1030,7 @@ class put_hanoi2():
             time.sleep(1)
             pass
         else:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 40)
             by_cmd.send_angle_claw(63)
             time.sleep(2)
@@ -1078,7 +1078,7 @@ class put_hanoi2():
         time.sleep(0.5)
         logger.info("抓中平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 150)
             by_cmd.send_angle_claw(55)
             time.sleep(2)
@@ -1090,7 +1090,7 @@ class put_hanoi2():
             time.sleep(1)
             pass
         else:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 40)
             by_cmd.send_angle_claw(55)
             time.sleep(2)
@@ -1139,7 +1139,7 @@ class put_hanoi2():
         time.sleep(0.5)
         logger.info("抓小平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 150)
             by_cmd.send_angle_claw(50)
             time.sleep(2)
@@ -1151,7 +1151,7 @@ class put_hanoi2():
             time.sleep(2)
             pass
         else:
-            by_cmd.send_position_axis_z(30, 30)
+            by_cmd.send_position_axis_z(30, 40)
             by_cmd.send_position_axis_x(1, 40)
             by_cmd.send_angle_claw(50)
             time.sleep(2)