diff --git a/app.py b/app.py
index 3f50389..f32521f 100644
--- a/app.py
+++ b/app.py
@@ -47,12 +47,15 @@ handler = WebSocketHandler()
 logger.add(handler, format="{time:MM-DD HH:mm:ss} {message}", level="DEBUG")
 
 fileOptions_path = '/home/evan/Workplace/project_main'
-fileOptions_list = ['cfg_main.toml', 'cfg_subtask.toml']
+fileOptions_list = ['cfg_args.toml','cfg_main.toml', 'cfg_subtask.toml']
 
 @app.route('/')
 def index():
     return render_template('index.html')
 
+@app.route('/csdn')
+def csdn():
+    return render_template('csdn.html')
 
 @socketio.on('operate')
 def operate_handle(data):
@@ -141,6 +144,23 @@ def thread_function():
 
     
 if __name__ == '__main__':
+
+    log_file = "server_processes.log"
+    log = open(log_file, "w")
+    time.sleep(2)
+    # 启动所有脚本
+    for i, env_info in enumerate(server_command):
+        env_path = env_info["path"]
+        script = env_info["script"]
+        env = os.environ.copy() 
+        if i == 0:
+            process = subprocess.Popen([script], cwd=env_path, env=env, stdout=log, stderr=subprocess.STDOUT)
+            processes.append(process)
+            time.sleep(2)
+        
+        process = subprocess.Popen(['python', script], cwd=env_path, env=env, stdout=log, stderr=subprocess.STDOUT)
+        processes.append(process)
+
     thread1 = threading.Thread(target=thread_function, daemon = True)
     thread1.start()
     socketio.run(app, host='0.0.0.0', port=5001, allow_unsafe_werkzeug=True)
diff --git a/cfg_args.toml b/cfg_args.toml
new file mode 100644
index 0000000..5b963e1
--- /dev/null
+++ b/cfg_args.toml
@@ -0,0 +1,14 @@
+[kick_ass]
+target_person = 3
+
+[task]
+Subtask_enable = true
+GetBlock_enable = true
+PutBlock_enable = true
+GetBBall_enable = true
+UpTower_enable = true
+GetRBall_enable = true
+PutBBall_enable = true
+PutHanoi_enable = true
+MoveArea_enable = false
+KickAss_enable = true
diff --git a/cfg_main.toml b/cfg_main.toml
index b57b206..a845f5d 100644
--- a/cfg_main.toml
+++ b/cfg_main.toml
@@ -2,27 +2,17 @@
 logger_filename = "log/file_{time}.log"
 logger_format = "{time} {level} {message}"
 
-[task]
-Subtask_enable = true
-GetBlock_enable = true
-PutBlock_enable = true
-GetBBall_enable = true
-UpTower_enable = true
-GetRBall_enable = true
-PutBBall_enable = true
-PutHanoi_enable = true
-MoveArea_enable = true
-KickAss_enable = true
+
 
 [find_counts]
 GetBlock_counts = 5
-PutBlock_counts = 5
+PutBlock_counts = 8
 GetBBall_counts = 1
 UpTower_counts = 3
 GetRBall_counts = 10
 PutBBall_counts = 15
-PutHanoi1_counts = 10
-PutHanoi2_counts = 5
+PutHanoi1_counts = 7
+PutHanoi2_counts = 2
 PutHanoi3_counts = 2
 MoveArea1_counts = 6
 MoveArea2_counts = 1700
diff --git a/cfg_subtask.toml b/cfg_subtask.toml
index d71c095..e04a701 100644
--- a/cfg_subtask.toml
+++ b/cfg_subtask.toml
@@ -1,5 +1,5 @@
 [get_block]
-pid_kp = 1
+pid_kp = 0.9
 pid_ki = 0
 pid_kd = 0
 first_block = "blue"
@@ -20,42 +20,42 @@ pid_ki = 0
 pid_kd = 0
 
 [get_rball]
-pid_kp = 0.5
+pid_kp = 0.6
 pid_ki = 0
 pid_kd = 0
 
 [put_bball]
-pid_kp = 0.7
+pid_kp = 1.2
 pid_ki = 0
 pid_kd = 0
 
 [put_hanoi1]
-pid_kp = 1
+pid_kp = 0.7
 pid_ki = 0
 pid_kd = 0
 
 [put_hanoi2]
-pid_kp = 0.7
+pid_kp = 1.0
 pid_ki = 0
 pid_kd = 0
 pos_gap = 160
 first_target = "mp"
 
 [put_hanoi3]
-pid_kp = 1.2
+pid_kp = 1.3
 pid_ki = 0
 pid_kd = 0
 
 [move_area]
-pid_kp = 1.4
+pid_kp = 1.2
 pid_ki = 0
 pid_kd = 0
-llm_enable = true
+llm_enable = false
 
 [kick_ass]
-pid_kp = 1.2
+pid_kp = 0.8
 pid_ki = 0
 pid_kd = 0
 pos_gap1 = 150
 pos_gap2 = 80
-target_person = 2
+target_person = 1
diff --git a/main_upper.py b/main_upper.py
index 16157aa..1507330 100644
--- a/main_upper.py
+++ b/main_upper.py
@@ -29,12 +29,13 @@ def main_func(_queue, _skip_queue):
 
 
     cmd_py_obj = by_cmd_py(_queue)
-    sb.import_obj(cmd_py_obj)
+    sb.import_obj(cmd_py_obj, _skip_queue)
     act.import_obj(cmd_py_obj)
 
     # 读取配置
     cfg_main = toml.load('/home/evan/Workplace/project_main/cfg_main.toml')
-    logger.info(cfg_main)
+    cfg_args = toml.load('/home/evan/Workplace/project_main/cfg_args.toml')
+    # logger.info(cfg_main)
     cfg_subtask = toml.load('/home/evan/Workplace/project_main/cfg_subtask.toml')
 
     # 配置日志输出
@@ -50,21 +51,21 @@ def main_func(_queue, _skip_queue):
     
     # 向任务队列添加任务
     task_queue = queue.Queue()
-    if cfg_main['task']['Subtask_enable'] is True:
-        task_queue.put(sb.task("人员施救第一块", sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-        task_queue.put(sb.task("人员施救第二块", sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-        task_queue.put(sb.task("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
-        task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable'])) 
+    if cfg_args['task']['Subtask_enable'] is True:
+        task_queue.put(sb.task("人员施救第一块", sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_args['task']['GetBlock_enable'])) 
+        task_queue.put(sb.task("人员施救第二块", sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_args['task']['GetBlock_enable'])) 
+        task_queue.put(sb.task("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_args['task']['GetBlock_enable'])) 
+        task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_args['task']['GetBBall_enable'])) 
         # # TODO 添加一个空任务用于提前降 z 轴
-        task_queue.put(sb.task("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable'])) 
-        task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable'])) 
-        task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable'])) 
+        task_queue.put(sb.task("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_args['task']['UpTower_enable'])) 
+        task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_args['task']['GetRBall_enable'])) 
+        task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_args['task']['GetBBall_enable'] and cfg_args['task']['PutBBall_enable'])) 
         task_queue.put(sb.task("物资盘点一阶段", sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], enable = True))  # 无论是否进行任务，检测标识并转向都是必须进行的
-        task_queue.put(sb.task("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable'])) 
+        task_queue.put(sb.task("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_args['task']['PutHanoi_enable'])) 
         task_queue.put(sb.task("物资盘点三阶段", sb.put_hanoi3, cfg_main['find_counts']['PutHanoi3_counts'], enable = True))
-        task_queue.put(sb.task("应急避险一阶段", sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable'])) 
-        task_queue.put(sb.task("应急避险二阶段", sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable'])) 
-        task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable'])) 
+        task_queue.put(sb.task("应急避险一阶段", sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_args['task']['MoveArea_enable'])) 
+        task_queue.put(sb.task("应急避险二阶段", sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_args['task']['MoveArea_enable'])) 
+        task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_args['task']['KickAss_enable'])) 
     # 将任务队列传入调度模块中
     task_queuem_t = sb.task_queuem(task_queue)
     # 创建任务队列的工作线程
@@ -101,4 +102,6 @@ def main_func(_queue, _skip_queue):
         time.sleep(0.1)
     logger.info("Main thread exit")
 if __name__ == '__main__':
-    main_func(None)
\ No newline at end of file
+    from multiprocessing import Queue
+    temp = Queue()
+    main_func(None, temp)
\ No newline at end of file
diff --git a/majtask.py b/majtask.py
index 1efbcfe..e1e642b 100644
--- a/majtask.py
+++ b/majtask.py
@@ -62,17 +62,17 @@ class main_task():
             error_abs = abs(self.lane_error)
 
             if error_abs > 50:
-                speed = 11
-            elif error_abs > 45:
                 speed = 13
+            elif error_abs > 45:
+                speed = 15
             elif error_abs > 35:
-                speed = 15
+                speed = 17
             elif error_abs > 25:
-                speed = 15
-            elif error_abs > 15:
-                speed = 15
-            else:
                 speed = 18
+            elif error_abs > 15:
+                speed = 19
+            else:
+                speed = 21
 
             # lane_model initial
             # if error_abs > 50:
diff --git a/static/csdn.png b/static/csdn.png
new file mode 100644
index 0000000..805bed4
Binary files /dev/null and b/static/csdn.png differ
diff --git a/subtask.py b/subtask.py
index fb1489b..d9bc461 100644
--- a/subtask.py
+++ b/subtask.py
@@ -1,7 +1,3 @@
-'''
-待办事项：
-- 第一二個方塊自動識別，hanoi2 識別到物塊即停車，不需手動輸入第一個物塊（修改 fliter 使其能一次請求過濾多個標籤)
-'''
 from enum import Enum
 from loguru import logger
 from utils import label_filter
@@ -18,7 +14,7 @@ import re
 import threading
 import ctypes
 cfg = None
-
+cfg_args = None
 by_cmd = None
 filter = None
 llm_bot = None
@@ -30,12 +26,14 @@ socket = None
 context1 = None
 ocr_socket = None
 
+global_skip_queue = None
+
 '''
 description: main.py 里执行 引入全局变量
 param {*} _by_cmd 控制器对象
 return {*}
 '''
-def import_obj(_by_cmd):
+def import_obj(_by_cmd, skip_queue):
 
     global by_cmd
     global filter
@@ -48,9 +46,12 @@ def import_obj(_by_cmd):
     global ocr_socket
 
     global cfg
-    
+    global cfg_args
+    global global_skip_queue
     cfg = toml.load('/home/evan/Workplace/project_main/cfg_subtask.toml') # 加载任务配置
+    cfg_args = toml.load('/home/evan/Workplace/project_main/cfg_args.toml')
     by_cmd = _by_cmd
+    global_skip_queue = skip_queue
 
     # 目标检测 socket 客户端
     context = zmq.Context()
@@ -59,10 +60,10 @@ def import_obj(_by_cmd):
     logger.info("subtask yolo client init")
 
     # ocr socket 客户端
-    context1 = zmq.Context()
-    ocr_socket = context1.socket(zmq.REQ)
-    ocr_socket.connect("tcp://localhost:6668")
-    logger.info("subtask ocr client init")
+    # context1 = zmq.Context()
+    # ocr_socket = context1.socket(zmq.REQ)
+    # ocr_socket.connect("tcp://localhost:6668")
+    # logger.info("subtask ocr client init")
 
     filter = label_filter(socket)
     if cfg['move_area']['llm_enable']:
@@ -192,25 +193,34 @@ def calibrate_new(label, offset, run = True, run_speed = 3.5):
                     else:
                         by_cmd.send_distance_x(10, int(-error))
                 break
-
+# 弃用 distance 校准
 def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
     # run_direc == 1 向前
+    stop_error = 0
     if run_direc == 1:
         by_cmd.send_speed_x(run_speed)
     else:
         by_cmd.send_speed_x(-run_speed)
-
+        
+    if label == tlabel.TPLATFORM:
+        stop_error = 10
+    else:
+        stop_error = 15
     while True:
         ret, box = filter.get(label)
         while not ret:
+            if not global_skip_queue.empty():
+                _ = global_skip_queue.get()
+                logger.error("跳过 explore_calibrate_new")
+                return False
             ret, box = filter.get(label)
         
         error = (box[0][2] + box[0][0] - 320) / 2 + offset
         if ret:
-            # 校准速度越大 停车的条件越宽泛
-            if abs(error) <= 20:
+            # 校准速度越大 停车的条件越宽泛 20 15
+            if abs(error) <= stop_error:
                 car_stop()
-                logger.info("explore_calibrate_new:行进时 误差小于 10 直接停车")
+                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:
@@ -218,17 +228,18 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
                 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")
-                if abs(error) < 8:
-                    error = error * 3
-                else:
-                    error = error * 2
-                if error > 0:
-                    by_cmd.send_distance_x(-10, int(error))
-                else:
-                    by_cmd.send_distance_x(10, int(-error))
+                # logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
+                # if abs(error) < 8:
+                #     error = error * 3
+                # else:
+                # error = error * 2
+                # if error > 0:
+                #     by_cmd.send_distance_x(-10, int(error))
+                # else:
+                #     by_cmd.send_distance_x(10, int(-error))
                 
                 break
+    return True
 
 # 任务类
 class task:  
@@ -326,24 +337,24 @@ class task_queuem(task):
         elif self.status is task_queuem_status.EXECUTING:
             if self.task_now.enable is True:
                 logger.info(f"[TaskM]# Start execute task function")
-                self.exec_thread = threading.Thread(target=self.task_now.exec)
-                # 启动线程
-                self.exec_thread.start()
-                while True:
-                    if not self.exec_thread.is_alive():
-                        break
-                    else:
-                        if not skip_queue.empty():
-                            car_stop()
-                            thread_id = self.exec_thread.ident
-                            res = ctypes.pythonapi.PyThreadState_SetAsyncExc(thread_id, ctypes.py_object(SystemExit))
-                            _ = skip_queue.get()
-                            logger.error(f"{self.task_now.name} 任务在 exec 中已经被手动跳过")
-                            self.status = task_queuem_status.IDEL   # 空动作不需要阻塞巡线，直接置位
-                            self.task_now.after()                   # 执行任务后处理
-                            self.queue.task_done()                  # 弹出已执行的任务
-                            return True
-                # self.task_now.exec()                    # 执行当前任务函数
+                # self.exec_thread = threading.Thread(target=self.task_now.exec)
+                # # 启动线程
+                # self.exec_thread.start()
+                # while True:
+                #     if not self.exec_thread.is_alive():
+                #         break
+                #     else:
+                #         if not skip_queue.empty():
+                #             car_stop()
+                #             thread_id = self.exec_thread.ident
+                #             res = ctypes.pythonapi.PyThreadState_SetAsyncExc(thread_id, ctypes.py_object(SystemExit))
+                #             _ = skip_queue.get()
+                #             logger.error(f"{self.task_now.name} 任务在 exec 中已经被手动跳过")
+                #             self.status = task_queuem_status.IDEL   # 空动作不需要阻塞巡线，直接置位
+                #             self.task_now.after()                   # 执行任务后处理
+                #             self.queue.task_done()                  # 弹出已执行的任务
+                #             return True
+                self.task_now.exec()                    # 执行当前任务函数
                 self.status = task_queuem_status.IDEL   # 执行完成后为退出巡线阻塞
                 self.task_now.after()                   # 执行任务后处理
                 self.queue.task_done()                  # 弹出已执行的任务
@@ -405,12 +416,12 @@ class get_block1():
         time.sleep(1)
         by_cmd.send_angle_claw(25)
         time.sleep(0.5)
-        by_cmd.send_position_axis_z(30, 80)
+        by_cmd.send_position_axis_z(30, 90)
         time.sleep(0.5)
 
         by_cmd.send_angle_claw_arm(175)
         time.sleep(0.1)
-        by_cmd.send_position_axis_x(1, 110)
+        by_cmd.send_position_axis_x(1, 120)
         time.sleep(1)
         by_cmd.send_position_axis_z(30, 70)
         time.sleep(0.1)
@@ -423,12 +434,14 @@ class get_block1():
         by_cmd.send_angle_claw_arm(220)
         time.sleep(0.5)
         by_cmd.send_angle_storage(55)
+        time.sleep(1)
 
         pass
     def nexec(self):
         # TODO 完成不执行任务的空动作
         pass
     def after(self):
+        var.pid_turning.set(cfg["get_block"]["pid_kp"], cfg["get_block"]["pid_ki"], cfg["get_block"]["pid_kd"])
         pass
 
 class get_block2():
@@ -460,9 +473,6 @@ class get_block2():
         by_cmd.send_position_axis_x(1, 20)
         time.sleep(1)
         by_cmd.send_angle_claw(25)
-        by_cmd.send_beep(1)
-        time.sleep(0.5)
-        by_cmd.send_beep(0)
         time.sleep(0.5)
         by_cmd.send_position_axis_x(1, 100)
         
@@ -503,7 +513,7 @@ class put_block():
         by_cmd.send_distance_x(10, 100)
         by_cmd.send_position_axis_z(30, 0)
         time.sleep(0.5)
-        by_cmd.send_position_axis_x(1, 40)
+        by_cmd.send_position_axis_x(1, 20)
         time.sleep(1)
         by_cmd.send_angle_claw(63)
         time.sleep(1)
@@ -528,9 +538,10 @@ class put_block():
         time.sleep(1)
         by_cmd.send_position_axis_z(30, 0)
         time.sleep(0.5)
-        by_cmd.send_position_axis_x(1, 40)
+        by_cmd.send_position_axis_x(1, 20)
         time.sleep(1.5)
         by_cmd.send_angle_claw(45)
+        time.sleep(1)
         pass
     def nexec(self):
         pass
@@ -590,14 +601,12 @@ class get_bball():
             by_cmd.send_angle_claw_arm(36)
             by_cmd.send_angle_claw(54)
             by_cmd.send_position_axis_x(1, 160)
-            time.sleep(1)
-            by_cmd.send_angle_claw(60)
-            time.sleep(1)
+            time.sleep(1.5)
             by_cmd.send_angle_claw(25)
             time.sleep(1)
             by_cmd.send_distance_axis_z(30, 20)
             time.sleep(1)
-            by_cmd.send_position_axis_x(1, 30)
+            by_cmd.send_position_axis_x(1, 60)
             time.sleep(0.5)
             by_cmd.send_distance_axis_z(30, -40)
             time.sleep(0.5)
@@ -650,9 +659,10 @@ class up_tower():
         by_cmd.send_distance_y(-10, 50)
         time.sleep(3)
         by_cmd.send_angle_zhuan(10)
-        time.sleep(11)
+        time.sleep(12)
         by_cmd.send_distance_y(10, 60)
         time.sleep(1)
+        car_stop()
         by_cmd.send_angle_zhuan(0)
         # while True:
         #     pass
@@ -691,7 +701,7 @@ class get_rball():
         time.sleep(0.5)
         # 靠近塔
         by_cmd.send_angle_scoop(20)
-        by_cmd.send_distance_y(-15, 50) # 50
+        by_cmd.send_distance_y(-15, 45) # 50
         time.sleep(2)
         calibrate_new(tlabel.RBALL,offset = 44, run = True)
         time.sleep(1)
@@ -699,12 +709,13 @@ class get_rball():
         # by_cmd.send_angle_scoop(15)
         time.sleep(0.5)
         by_cmd.send_position_axis_z(30, 170)
-        time.sleep(3)
+        time.sleep(2.5)
         by_cmd.send_angle_scoop(7)
         time.sleep(0.5)
         by_cmd.send_distance_y(15, 70)
         time.sleep(1)
-        by_cmd.send_angle_omega(-55,30)
+        car_stop()
+        # by_cmd.send_angle_omega(-55,30)
         # while True:
         #     pass
         pass
@@ -737,18 +748,18 @@ class put_bball():
         calibrate_new(tlabel.BASKET,offset = -21, run = True, run_speed = 6)
         by_cmd.send_distance_x(10, 20)
         # 向左运动
-        by_cmd.send_distance_y(-10, 35)
-        by_cmd.send_angle_storage(15)
-        time.sleep(1)
+        # by_cmd.send_distance_y(-10, 35)
+        # by_cmd.send_angle_storage(10)
+        # time.sleep(1)
 
-        by_cmd.send_angle_storage(55)
+        by_cmd.send_angle_storage(50)
         logger.info("把球放篮筐里")
 
         time.sleep(1)
-        by_cmd.send_distance_y(10, 55)
+        # by_cmd.send_distance_y(10, 55)
         by_cmd.send_angle_storage(20)
-        time.sleep(1)
-        car_stop()
+        # time.sleep(1)
+        # car_stop()
         pass
     def nexec(self):
         pass
@@ -761,7 +772,6 @@ class put_bball():
 # 物资盘点
 class put_hanoi1():
     def init(self):
-        var.pid_turning.set(cfg["put_bball"]["pid_kp"], cfg["put_bball"]["pid_ki"], cfg["put_bball"]["pid_kd"])
         logger.info("物资盘点 1 初始化")
         filter.switch_camera(2)
     def find(self):
@@ -805,17 +815,19 @@ class put_hanoi1():
             logger.info("应该向左转")
 
 
-        # 校准 omega
-        if error > 0:
-            by_cmd.send_angle_omega(-20,abs(var.lane_error))
-        else:
-            by_cmd.send_angle_omega(20,abs(var.lane_error))
-        time.sleep(0.5)
-        car_stop()
-        time.sleep(0.5)
+        # # 校准 omega
+        # if error > 0:
+        #     by_cmd.send_angle_omega(-20,abs(var.lane_error))
+        # else:
+        #     by_cmd.send_angle_omega(20,abs(var.lane_error))
+        # time.sleep(0.5)
+        # car_stop()
+        # time.sleep(0.5)
         # by_cmd.send_distance_x(10, 200)
+
         by_cmd.send_distance_x(10, 180)
-        time.sleep(0.5)
+        time.sleep(1)
+        car_stop()
         
         # 根据方向初始化执行器位置
         if utils.direction is tlabel.RMARK:
@@ -825,11 +837,11 @@ class put_hanoi1():
             by_cmd.send_angle_storage(0)
         else:
             by_cmd.send_position_axis_x(1, 150)
-            by_cmd.send_angle_claw_arm(217)
+            by_cmd.send_angle_claw_arm(220)
             by_cmd.send_angle_storage(55)
-        time.sleep(1.5)
+        time.sleep(1)
 
-        by_cmd.send_position_axis_z(30, 0)
+        by_cmd.send_position_axis_z(30, 10)
 
         if utils.direction_right > utils.direction_left:
             utils.direction = tlabel.RMARK
@@ -852,7 +864,7 @@ class put_hanoi1():
     def nexec(self):
         pass
     def after(self):
-        var.pid_turning.set(0.8, 0, 0)
+        var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"], cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
         pass
 
 class put_hanoi2():
@@ -866,11 +878,14 @@ class put_hanoi2():
     def init(self):
         logger.info("物资盘点 2 初始化")
         if utils.direction == tlabel.RMARK:
-            self.offset = 22
-            self.platform_offset = -29
+            # 15
+            self.offset = 19
+            # self.platform_offset = -25
+            self.platform_offset = -10
         else:
             self.offset = 10
-            self.platform_offset = -39
+            #self.platform_offset = -30
+            self.platform_offset = -15
     def find(self):
         # ret, box = filter.get(self.target_label)
         ret, box = filter.get(tlabel.TPLATFORM)
@@ -884,21 +899,29 @@ class put_hanoi2():
         logger.info(f"direction:{utils.direction.name}")
         var.task_speed = 0
         car_stop()
-        time.sleep(0.5)
+
+        # if utils.direction is tlabel.RMARK:
+        #     by_cmd.send_distance_y(10, 50)
+        #     time.sleep(1)
+
+        # time.sleep(0.5)
         # by_cmd.send_distance_x(-8, cfg['put_hanoi2']['pos_gap'] - 30)
-        time.sleep(1)
-        explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
-        time.sleep(1)
+        # time.sleep(1)
+        ret = explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
+        if not ret:
+            logger.error("跳过物资盘点 2 exec")
+            return
+        time.sleep(0.5)
         logger.info("抓大平台")
         if utils.direction is tlabel.RMARK:
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 130)
             by_cmd.send_angle_claw(63)
             time.sleep(1)
-            by_cmd.send_angle_claw(81)
-            time.sleep(1.5)
-            by_cmd.send_angle_claw(40)
+            by_cmd.send_angle_claw(78)
             time.sleep(1)
+            by_cmd.send_angle_claw(40)
+            time.sleep(0.5)
             by_cmd.send_distance_axis_z(30, 20)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 10)
@@ -909,17 +932,20 @@ class put_hanoi2():
             by_cmd.send_position_axis_x(1, 40)
             by_cmd.send_angle_claw(63)
             time.sleep(1)
-            by_cmd.send_angle_claw(81)
-            time.sleep(1.5)
-            by_cmd.send_angle_claw(40)
+            by_cmd.send_angle_claw(78)
             time.sleep(1)
+            by_cmd.send_angle_claw(40)
+            time.sleep(0.5)
             by_cmd.send_distance_axis_z(30, 20)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1)
             pass
-        explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5)
-        time.sleep(1)
+        ret = explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5)
+        if not ret:
+            logger.error("跳过物资盘点 2 exec")
+            return
+        time.sleep(0.5)
         logger.info("放大平台")
         if utils.direction is tlabel.RMARK:
             by_cmd.send_position_axis_x(1, 130)
@@ -945,18 +971,21 @@ class put_hanoi2():
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1)
 
-        explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = 1, run_speed =  5)
-        time.sleep(1)
+        ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = 1, run_speed =  5)
+        if not ret:
+            logger.error("跳过物资盘点 2 exec")
+            return
+        time.sleep(0.5)
         logger.info("抓中平台")
         if utils.direction is tlabel.RMARK:
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 130)
             by_cmd.send_angle_claw(63)
             time.sleep(1)
-            by_cmd.send_angle_claw(75)
+            by_cmd.send_angle_claw(70)
             time.sleep(1)
             by_cmd.send_angle_claw(35)
-            time.sleep(1)
+            time.sleep(0.5)
             by_cmd.send_distance_axis_z(30, 20)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 10)
@@ -967,17 +996,20 @@ class put_hanoi2():
             by_cmd.send_position_axis_x(1, 40)
             by_cmd.send_angle_claw(63)
             time.sleep(1)
-            by_cmd.send_angle_claw(75)
+            by_cmd.send_angle_claw(70)
             time.sleep(1)
             by_cmd.send_angle_claw(35)
-            time.sleep(1)
+            time.sleep(0.5)
             by_cmd.send_distance_axis_z(30, 20)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1)
             pass
-        explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
-        time.sleep(1)
+        ret = explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
+        if not ret:
+            logger.error("跳过物资盘点 2 exec")
+            return
+        time.sleep(0.5)
         logger.info("放中平台")
         if utils.direction is tlabel.RMARK:
             by_cmd.send_position_axis_z(30, 100)
@@ -1003,15 +1035,18 @@ class put_hanoi2():
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1)
 
-        explore_calibrate_new(tlabel.SPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
-        time.sleep(1)
+        ret = explore_calibrate_new(tlabel.SPILLER, offset = self.offset, run_direc = 1, run_speed = 5)
+        if not ret:
+            logger.error("跳过物资盘点 2 exec")
+            return
+        time.sleep(0.5)
         logger.info("抓小平台")
         if utils.direction is tlabel.RMARK:
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 130)
-            by_cmd.send_angle_claw(63)
+            by_cmd.send_angle_claw(50)
             time.sleep(1)
-            by_cmd.send_angle_claw(70)
+            by_cmd.send_angle_claw(58)
             time.sleep(1)
             by_cmd.send_angle_claw(27)
             time.sleep(1)
@@ -1023,9 +1058,9 @@ class put_hanoi2():
         else:
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 40)
-            by_cmd.send_angle_claw(63)
+            by_cmd.send_angle_claw(50)
             time.sleep(1)
-            by_cmd.send_angle_claw(70)
+            by_cmd.send_angle_claw(58)
             time.sleep(1)
             by_cmd.send_angle_claw(27)
             time.sleep(1)
@@ -1034,8 +1069,11 @@ class put_hanoi2():
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1)
             pass
-        explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
-        time.sleep(1)
+        ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
+        if not ret:
+            logger.error("跳过物资盘点 2 exec")
+            return
+        time.sleep(0.5)
         logger.info("放小平台")
         if utils.direction is tlabel.RMARK:
             by_cmd.send_position_axis_z(30, 170)
@@ -1044,8 +1082,8 @@ class put_hanoi2():
             time.sleep(2)
             by_cmd.send_distance_axis_z(30, -20)
             time.sleep(0.5)
-            by_cmd.send_angle_claw(90)
-            time.sleep(1)
+            by_cmd.send_angle_claw(80)
+            time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 10)
             time.sleep(1.5)
             pass
@@ -1056,8 +1094,8 @@ class put_hanoi2():
             time.sleep(2)
             by_cmd.send_distance_axis_z(30, -20)
             time.sleep(0.5)
-            by_cmd.send_angle_claw(90)
-            time.sleep(1)
+            by_cmd.send_angle_claw(80)
+            time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1.5)
         # while True:
@@ -1294,6 +1332,8 @@ class move_area2():
         # by_cmd.send_distance_y(-15, 300)
         pass
     def nexec(self):
+        logger.warning("正在跳過大模型任務")
+        time.sleep(2)
         pass
     def after(self):
         var.pid_turning.set(cfg["move_area"]["pid_kp"], cfg["move_area"]["pid_ki"], cfg["move_area"]["pid_kd"])
@@ -1310,7 +1350,7 @@ class kick_ass():
         logger.info("扫黑除暴初始化")
         self.pos_gap1 = cfg['kick_ass']['pos_gap1']
         self.pos_gap2 = cfg['kick_ass']['pos_gap2']
-        self.target_person = cfg['kick_ass']['target_person']
+        self.target_person = cfg_args['kick_ass']['target_person']
 
         # by_cmd.send_angle_claw(15)
         by_cmd.send_position_axis_x(1, 160)
@@ -1328,25 +1368,23 @@ class kick_ass():
         calibrate_new(tlabel.SIGN, offset = 8, run = True)
         time.sleep(0.5)
         by_cmd.send_position_axis_z(30, 60)
+        by_cmd.send_position_axis_x(1, 120)
 
         if self.target_person == 1:
             target_distance = self.pos_gap1
         else:
             target_distance = self.pos_gap1 + (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10
         by_cmd.send_distance_x(10, target_distance)
-        time.sleep(4)
+        logger.info(f"target distance {target_distance}")
+        time.sleep(1.5 + (self.target_person - 1) * 0.7 )
+        car_stop()
         
-        while by_cmd.send_angle_claw_arm(220) == -1:
-            pass
-        while by_cmd.send_angle_claw(15) == -1:
-            pass
-        while by_cmd.send_position_axis_x(1, 160) == -1:
-            pass
-        time.sleep(2)
-        by_cmd.send_position_axis_x(1, 0)
+        by_cmd.send_angle_claw_arm(220)
+        by_cmd.send_angle_claw(15)
+        by_cmd.send_position_axis_x(1, 20)
         time.sleep(3)
-        by_cmd.send_position_axis_x(1, 160)
-        time.sleep(2)
+        by_cmd.send_position_axis_x(1, 120)
+        time.sleep(1)
         pass
     def nexec(self):
         pass
diff --git a/templates/csdn.html b/templates/csdn.html
new file mode 100644
index 0000000..2bd1cb3
--- /dev/null
+++ b/templates/csdn.html
@@ -0,0 +1,112 @@
+
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>第十九届全国大学生智能汽车竞赛 百度智慧交通创意组 “风雨同舟”比赛规则_全国大学生智能汽车竞赛 智慧交通创意-CSDN博客</title>
+    <script src="/static/vue.js"></script>
+    <script src="static/socket.io.js"></script>
+    <style>
+        body, html {
+            margin: 0;
+            padding: 0;
+            height: 100%;
+            overflow: hidden;
+        }
+        #app {
+            width: 100vw;
+            height: 100vh;
+            overflow: hidden;
+            position: relative;
+        }
+        .background-container {
+            width: 100%;
+            height: 100%;
+            background-size: cover;
+            background-position: center;
+            transition: background-position 0.1s ease-out;
+        }
+        .floating-buttons {
+            position: fixed;
+            bottom: 20px;
+            left: 0;
+            right: 0;
+            display: flex;
+            justify-content: center;
+            gap: 20px;
+            z-index: 10;
+        }
+        .floating-button {
+            width: 160px;
+            height: 40px;
+            border-radius: 20px;
+            background-color: #fc5531;
+            border: none;
+            color: white;
+            font-size: 16px;
+            cursor: pointer;
+            transition: background-color 0.3s;
+        }
+        .floating-button:hover {
+            background-color: #fc5531;
+        }
+    </style>
+</head>
+<body>
+    <div id="app">
+        <div class="background-container" 
+             :style="backgroundStyle" 
+             @mousemove="handleMouseMove" 
+             ref="container">
+        </div>
+        <div class="floating-buttons">
+            <button class="floating-button" @click="handleButton1Click">打开 CSDN APP</button>
+            <button class="floating-button" @click="handleButton2Click">小程序看全文</button>
+        </div>
+    </div>
+
+    <script>
+        new Vue({
+            el: '#app',
+            data: {
+                imageSrc: '/static/csdn.png',  // 使用大尺寸占位图片
+                backgroundPosition: '0%'
+            },
+            computed: {
+                backgroundStyle() {
+                    return {
+                        backgroundImage: `url(${this.imageSrc})`,
+                        backgroundPosition: `center ${this.backgroundPosition}`
+                    };
+                }
+            },
+            methods: {
+                handleMouseMove(event) {
+                    const containerRect = this.$refs.container.getBoundingClientRect();
+                    const mouseY = event.clientY - containerRect.top;
+                    const scrollPercent = (mouseY / containerRect.height) * 100;
+                    this.backgroundPosition = `${scrollPercent}%`;
+                },
+                handleButton1Click() {
+                    // alert('按钮 1 被点击了');
+                },
+                handleButton2Click() {
+                    this.socket.emit('operate', { type: 'skip_task', content: '' });
+                },
+                onImageLoad() {
+                    console.log('背景图片加载完成');
+                    // 这里可以添加图片加载完成后的额外操作
+                }
+            },
+            mounted() {
+                const img = new Image();
+                img.onload = this.onImageLoad;
+                img.src = this.imageSrc;
+                this.socket = io('http://' + document.domain + ':5001');
+
+            }
+        });
+    </script>
+</body>
+</html>
\ No newline at end of file
diff --git a/templates/index.html b/templates/index.html
index 0f4e624..a9359e2 100644
--- a/templates/index.html
+++ b/templates/index.html
@@ -123,9 +123,9 @@
                     </el-option>
                 </el-select>
                 
-                <el-button v-if="showConfigForm" @click="toggleConfigForm" type="primary" style="margin-bottom: 20px;">
+                <!-- <el-button v-if="showConfigForm" @click="toggleConfigForm" type="primary" style="margin-bottom: 20px;">
                     {{ showConfigForm ? '关闭' : '打开' }} 配置
-                </el-button>
+                </el-button> -->
                 
                 <el-form v-if="showConfigForm && config" class="config-form">
                     <div v-for="(section, sectionName) in config" :key="sectionName">
@@ -133,6 +133,14 @@
                         <el-row :gutter="20">
                             <el-col v-for="(value, key) in section" :key="key" :xs="24" :sm="12" :md="8" :lg="6">
                                 <el-form-item :label="key">
+                                    <el-select v-if="sectionName === 'kick_ass'" v-model="config[sectionName][key]">
+                                        <el-option
+                                          v-for="item in target_person_options"
+                                          :key="item.value"
+                                          :label="item.label"
+                                          :value="item.value">
+                                        </el-option>
+                                    </el-select>
                                     <el-switch
                                         v-if="typeof value === 'boolean'"
                                         v-model="config[sectionName][key]">
@@ -155,6 +163,9 @@
                         </el-row>
                     </div>
                     <el-button @click="saveConfig" type="primary" style="margin-top: 20px;">保存配置</el-button>
+                    <el-button v-if="showConfigForm" @click="toggleConfigForm" type="primary" style="margin-bottom: 20px;">
+                        {{ showConfigForm ? '关闭' : '打开' }} 配置
+                    </el-button>
                 </el-form>
 
                 <h2 class="section-title">Log Display</h2>
@@ -183,7 +194,20 @@
                 files: {},
                 ServerLog: "",
                 showServerLogFlag: false,
-                timer: null
+                timer: null,
+                target_person_options: [{
+                  value: 1,
+                  label: '模式 1'
+                }, {
+                  value: 2,
+                  label: '模式 2'
+                }, {
+                  value: 3,
+                  label: '模式 3'
+                }, {
+                  value: 4,
+                  label: '模式 4'
+                }],
             },
             methods: {
                 loadConfig() {
diff --git a/test/test_filter.py b/test/test_filter.py
index ee5f9eb..0fca1f3 100644
--- a/test/test_filter.py
+++ b/test/test_filter.py
@@ -20,8 +20,9 @@ filter.switch_camera(1)
 
 
 find_counts = 0
-offset = 22
+offset = 19
 label = [tlabel.LPILLER, tlabel.MPILLER, tlabel.SPILLER]
+label = tlabel.TPLATFORM
 while True:
     time.sleep(0.2)
     ret, box = filter.get(tlabel.TPLATFORM)