diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index ec37fb1..a6a444e 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>4</nTsel>
+        <nTsel>3</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>Segger\JL2CM3.dll</pMon>
+        <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
@@ -225,6 +225,61 @@
           <WinNumber>1</WinNumber>
           <ItemText>App.EmergencyDelay1mSCnt,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>14</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>App.ADTrack.Slope_VPT,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>15</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>App.RightUpCS1237_SlopeArray[0],0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>16</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>App.ADTrack.Stop_VPT,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>17</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Olu_diff1,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>18</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Oru_diff1,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>19</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Olu_diff2,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>20</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Oru_diff2,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>21</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Olu_diff3,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>22</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Oru_diff3,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>23</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>App.LeftUpCS1237_SlopeArray[0],0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>24</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>App.RightUpCS1237_SlopeArray[0],0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
diff --git a/Project/HC32F460/MDK/HC32F460.uvprojx b/Project/HC32F460/MDK/HC32F460.uvprojx
index 233d7a2..a610f11 100644
--- a/Project/HC32F460/MDK/HC32F460.uvprojx
+++ b/Project/HC32F460/MDK/HC32F460.uvprojx
@@ -10,6 +10,7 @@
       <TargetName>Debug</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
+      <pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
       <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
diff --git a/Project/HC32F460/source/User/Inc/main.h b/Project/HC32F460/source/User/Inc/main.h
index 41ac002..52fd958 100644
--- a/Project/HC32F460/source/User/Inc/main.h
+++ b/Project/HC32F460/source/User/Inc/main.h
@@ -11,12 +11,13 @@
 #define 	SLOPE_CNT			  20
 
 #define 	SLOPE_VPT				1000
+#define		PRESS_VPT				10
 #define		FOLLOW_VPT			20
 #define		SHIELD_VPT			5000
 #define		EME_STOP_VPT		4000
 #define		CENTRE_VPT			2000
 
-#define 	STOP_TIME_MS		1000
+#define 	STOP_TIME_MS		500
 #define 	RUN_TIME_MS			0
 #define		EME_START_MS		0
 #define		EME_STOP_MS			2000
@@ -112,6 +113,8 @@ typedef struct {
 	uint32_t SlopeCollDelay1mSCnt;
 	uint8_t FeedDogDlyCnt;
 	
+	bool CaliZeroFlag;//校零标志位
+	bool SideFlag;//侧压标志位
 	bool UpFlag;//上升标志位
 	bool DownFlag;//下降标志位
 	bool StopFlag;//停止标志位
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index 91cc6bc..764c262 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -220,12 +220,16 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 	PeakValleyCheck ru_K = check_peaks_valleys(App.RightUpCS1237_SlopeArray, SLOPE_CNT);
 	PeakValleyCheck rl_K = check_peaks_valleys(App.RightLowCS1237_SlopeArray, SLOPE_CNT);
 	
-	int32_t LeftSlopeSum = abs(App.LeftUpCS1237_SlopeArray[0]) + abs(App.LeftLowCS1237_SlopeArray[0]);
-	int32_t RightSlopeSum = abs(App.RightUpCS1237_SlopeArray[0]) + abs(App.RightLowCS1237_SlopeArray[0]);
-	int32_t LeftDiff = abs(Oll_diff1) + abs(Olu_diff1);
-	int32_t RightDiff = abs(Orl_diff1) + abs(Oru_diff1);
-	int32_t LeftDiffSum = abs(lu_diff[0]) + abs(ll_diff[0]);
-	int32_t RightDiffSum = abs(ru_diff[0]) + abs(rl_diff[0]);
+	int32_t LeftSlopeSum = abs(App.LeftUpCS1237_SlopeArray[0]) + abs(App.LeftLowCS1237_SlopeArray[0]) + abs(App.LeftUpCS1237_SlopeArray[1]) + abs(App.LeftLowCS1237_SlopeArray[1]) + abs(App.LeftUpCS1237_SlopeArray[2]) + abs(App.LeftLowCS1237_SlopeArray[2]);
+	int32_t RightSlopeSum = abs(App.RightUpCS1237_SlopeArray[0]) + abs(App.RightLowCS1237_SlopeArray[0]) + abs(App.RightUpCS1237_SlopeArray[1]) + abs(App.RightLowCS1237_SlopeArray[1]) + abs(App.RightUpCS1237_SlopeArray[2]) + abs(App.RightLowCS1237_SlopeArray[2]);
+	int32_t LeftDiffSum = abs(lu_diff[0]) + abs(lu_diff[1]) + abs(lu_diff[2]);
+	int32_t RightDiffSum = abs(ru_diff[0]) + abs(ru_diff[1]) + abs(ru_diff[2]);
+	int32_t LeftDiff = abs(Oll_diff1) + abs(Olu_diff1) + abs(Oll_diff2) + abs(Olu_diff2) + abs(Oll_diff3) + abs(Olu_diff3);
+	int32_t RightDiff = abs(Orl_diff1) + abs(Oru_diff1) + abs(Orl_diff2) + abs(Oru_diff2) + abs(Orl_diff3) + abs(Oru_diff3);
+	int32_t LuSideDiff = lu_ad[0] - lu_ad[5];
+	int32_t LlSideDiff = ll_ad[0] - ll_ad[5];
+	int32_t RuSideDiff = ru_ad[0] - ru_ad[5];
+	int32_t RlSideDiff = rl_ad[0] - rl_ad[5];
 	
 	if(App.EmeFlag == true)
 	{
@@ -282,18 +286,24 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			if(LeftDiff > RightDiff)
 			{
 				App.LeftRunFalg = true;
-				if((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
+				if((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT)
+				&& ((Olu_diff2+Oru_diff2) < -(App.ADTrack.Stop_VPT))
+				&& ((Olu_diff3+Oru_diff3) < -(App.ADTrack.Stop_VPT)))
 				{
 					BDC_UP();
+					App.CaliZeroFlag = false;
 					App.UpFlag = true;
 					App.StopFlag = false;
 					App.DownFlag = false;
 					App.EmeFlag = false;
 					App.RunCollDelay1mSCnt = RUN_TIME_MS;
 				}
-				if((Oll_diff1+Orl_diff1) > (App.ADTrack.Stop_VPT))
+				if((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT)
+				&& (Olu_diff2+Oru_diff2) > (App.ADTrack.Stop_VPT)
+				&& (Olu_diff3+Oru_diff3) > (App.ADTrack.Stop_VPT))
 				{
 					BDC_DOWN();
+					App.CaliZeroFlag = false;
 					App.UpFlag = false;
 					App.StopFlag = false;
 					App.DownFlag = true;
@@ -304,18 +314,24 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			else if(RightDiff > LeftDiff)
 			{
 				App.RightRunFalg = true;
-				if((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
+				if((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT)
+				&& (Olu_diff2+Oru_diff2) < -(App.ADTrack.Stop_VPT)
+				&& (Olu_diff3+Oru_diff3) < -(App.ADTrack.Stop_VPT))
 				{
 					BDC_UP();
+					App.CaliZeroFlag = false;
 					App.UpFlag = true;
 					App.StopFlag = false;
 					App.DownFlag = false;
 					App.EmeFlag = false;
 					App.RunCollDelay1mSCnt = RUN_TIME_MS;
 				}
-				if((Oll_diff1+Orl_diff1) > (App.ADTrack.Stop_VPT))
+				if((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT)
+				&& (Olu_diff2+Oru_diff2) > (App.ADTrack.Stop_VPT)
+				&& (Olu_diff3+Oru_diff3) > (App.ADTrack.Stop_VPT))
 				{
 					BDC_DOWN();
+					App.CaliZeroFlag = false;					
 					App.UpFlag = false;
 					App.StopFlag = false;
 					App.DownFlag = true;
@@ -324,123 +340,199 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				}
 			}
 		}
-		else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum))////判断左边操作
+		else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum))//判断左边操作
 		{
 			App.LeftRunFalg = true;
-			if(((App.SlopeCollDelay1mSCnt <= 0)
-			&& (App.LeftUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) //判断正面按压
-			&& (App.LeftUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT) 
-			&& (App.LeftUpCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT) 
-			&& (App.LeftLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
-			&& (App.LeftLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
-			&& (App.LeftLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT))
-			|| ((Oll_diff1 <= -(App.ADTrack.LeftLowVPT*5/6))
-			&& (Oll_diff2 <= -(App.ADTrack.LeftLowVPT*5/6))
-			&& (Oll_diff3 <= -(App.ADTrack.LeftLowVPT*5/6))
-			&& (Olu_diff1 >= (App.ADTrack.LeftUpVPT*5/6))
+			if((
+//				(App.SlopeCollDelay1mSCnt <= 0)
+//			&& (App.LeftUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) //通过斜率判断上下拉方向
+//			&& (App.LeftUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT) 
+//			&& (App.LeftUpCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT) 
+//			&& (App.LeftLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
+//			&& (App.LeftLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
+//			&& (App.LeftLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)) || (
+			(Olu_diff1 >= (App.ADTrack.LeftUpVPT*5/6))	//通过差值判断上下拉方向
 			&& (Olu_diff2 >= (App.ADTrack.LeftUpVPT*5/6))
 			&& (Olu_diff3 >= (App.ADTrack.LeftUpVPT*5/6))))
 			{
-				if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)//判断侧面推拉
-				&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
-				&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
-				&& (abs(Olu_diff1) > abs(Oru_diff1) + App.ADTrack.LeftUpShieldVPT)
-				)
+				if((App.LeftUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
+				&& (App.LeftUpCS1237_SlopeArray[1] <= -PRESS_VPT) 
+				&& (App.LeftUpCS1237_SlopeArray[2] <= -PRESS_VPT) 
+				&& (App.LeftLowCS1237_SlopeArray[0] >= PRESS_VPT)	
+				&& (App.LeftLowCS1237_SlopeArray[1] >= PRESS_VPT)
+				&& (App.LeftLowCS1237_SlopeArray[2] >= PRESS_VPT))
 				{
-					BDC_UP();
-					App.UpFlag = true;
-					App.StopFlag = false;
-					App.DownFlag = false;
-					App.EmeFlag = false;
-					App.RunCollDelay1mSCnt = RUN_TIME_MS;
+					if(App.CaliZeroFlag == true)//判断是否校零
+					{
+						if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)//判断是否不是侧面推拉
+						&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
+						&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
+						&& (abs(Olu_diff1) > abs(Oru_diff1) + App.ADTrack.LeftUpShieldVPT))
+						{
+							BDC_DOWN();
+							App.CaliZeroFlag = false;
+							App.UpFlag = false;
+							App.DownFlag = true;
+							App.StopFlag = false;
+							App.EmeFlag = false;
+							App.RunCollDelay1mSCnt = RUN_TIME_MS;
+						}
+					}
+					else
+					{
+							BDC_DOWN();
+							App.CaliZeroFlag = false;
+							App.UpFlag = false;
+							App.DownFlag = true;
+							App.StopFlag = false;
+							App.EmeFlag = false;
+							App.RunCollDelay1mSCnt = RUN_TIME_MS;
+					}
 				}
 			}
-			else if(((App.SlopeCollDelay1mSCnt <= 0)
-			&& (App.LeftUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)  //判断上下拉方向
-			&& (App.LeftUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT) 
-			&& (App.LeftUpCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT) 
-			&& (App.LeftLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
-			&& (App.LeftLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
-			&& (App.LeftLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT))
-			|| ((Oll_diff1 >= (App.ADTrack.LeftLowVPT*5/6))
-			&& (Oll_diff2 >= (App.ADTrack.LeftLowVPT*5/6))
-			&& (Oll_diff3 >= (App.ADTrack.LeftLowVPT*5/6))
-			&& (Olu_diff1 <= -(App.ADTrack.LeftUpVPT*5/6))
+			else if((
+//				(App.SlopeCollDelay1mSCnt <= 0)
+//			&& (App.LeftUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)  //通过斜率判断上下拉方向
+//			&& (App.LeftUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT) 
+//			&& (App.LeftUpCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT) 
+//			&& (App.LeftLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
+//			&& (App.LeftLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
+//			&& (App.LeftLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT)) || (
+			(Olu_diff1 <= -(App.ADTrack.LeftUpVPT*5/6))//通过差值判断上下拉方向
 			&& (Olu_diff2 <= -(App.ADTrack.LeftUpVPT*5/6))
 			&& (Olu_diff3 <= -(App.ADTrack.LeftUpVPT*5/6))))
 			{
-				if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)//判断侧面推拉
-				&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
-				&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
-				&& (abs(Olu_diff1) > abs(Oru_diff1) + App.ADTrack.LeftUpShieldVPT)
-				)
+				if((App.LeftUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
+				&& (App.LeftUpCS1237_SlopeArray[1] >= PRESS_VPT) 
+				&& (App.LeftUpCS1237_SlopeArray[2] >= PRESS_VPT) 
+				&& (App.LeftLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
+				&& (App.LeftLowCS1237_SlopeArray[1] <= -PRESS_VPT)
+				&& (App.LeftLowCS1237_SlopeArray[2] <= -PRESS_VPT))
 				{
-					BDC_DOWN();
-					App.UpFlag = false;
-					App.DownFlag = true;
-					App.StopFlag = false;
-					App.EmeFlag = false;
-					App.RunCollDelay1mSCnt = RUN_TIME_MS;
+					if(App.CaliZeroFlag == true)//判断是否校零
+					{
+						if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)//判断是否不是侧面推拉
+						&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
+						&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
+						&& (abs(Olu_diff1) > abs(Oru_diff1) + App.ADTrack.LeftUpShieldVPT))
+						{
+							BDC_UP();
+							App.CaliZeroFlag = false;
+							App.UpFlag = true;
+							App.DownFlag = false;
+							App.StopFlag = false;
+							App.EmeFlag = false;
+							App.RunCollDelay1mSCnt = RUN_TIME_MS;
+						}
+					}
+					else
+					{
+							BDC_UP();
+							App.CaliZeroFlag = false;
+							App.UpFlag = true;
+							App.DownFlag = false;
+							App.StopFlag = false;
+							App.EmeFlag = false;
+							App.RunCollDelay1mSCnt = RUN_TIME_MS;
+					}
 				}
 			}
 		}
-		else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum)//上下拉屏幕右边
+		else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum)//判断右边操作
 		{
 			App.RightRunFalg = true;
-			if(((App.SlopeCollDelay1mSCnt <= 0)
-			&& (App.RightUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)  //判断上下拉方向
-			&& (App.RightUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT) 
-			&& (App.RightUpCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT) 
-			&& (App.RightLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
-			&& (App.RightLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
-			&& (App.RightLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT))
-			|| ((Orl_diff1 <= -(App.ADTrack.RightLowVPT*5/6))
-			&& (Orl_diff2 <= -(App.ADTrack.RightLowVPT*5/6))
-			&& (Orl_diff3 <= -(App.ADTrack.RightLowVPT*5/6))
-			&& (Oru_diff1 >= (App.ADTrack.RightUpVPT*5/6))
+			if((
+//				(App.SlopeCollDelay1mSCnt <= 0)
+//			&& (App.RightUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)   //通过斜率判断上下拉方向
+//			&& (App.RightUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT) 
+//			&& (App.RightUpCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT) 
+//			&& (App.RightLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
+//			&& (App.RightLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
+//			&& (App.RightLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)) || (
+			(Oru_diff1 >= (App.ADTrack.RightUpVPT*5/6))				//通过差值判断上下拉方向
 			&& (Oru_diff2 >= (App.ADTrack.RightUpVPT*5/6))
 			&& (Oru_diff3 >= (App.ADTrack.RightUpVPT*5/6))))
 			{
-				if((abs(Orl_diff1) > abs(Oll_diff1) + App.ADTrack.RightLowShieldVPT)//判断侧面推拉
-				&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
-				&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
-				&& (abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT)
-				)
+				if((App.RightUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
+				&& (App.RightUpCS1237_SlopeArray[1] <= -PRESS_VPT) 
+				&& (App.RightUpCS1237_SlopeArray[2] <= -PRESS_VPT) 
+				&& (App.RightLowCS1237_SlopeArray[0] >= PRESS_VPT)	
+				&& (App.RightLowCS1237_SlopeArray[1] >= PRESS_VPT)
+				&& (App.RightLowCS1237_SlopeArray[2] >= PRESS_VPT))
 				{
-					BDC_UP();
-					App.UpFlag = true;
-					App.StopFlag = false;
-					App.DownFlag = false;
-					App.EmeFlag = false;
-					App.RunCollDelay1mSCnt = RUN_TIME_MS;
+					if(App.CaliZeroFlag == true)//判断是否校零
+					{
+						if((abs(Orl_diff1) > abs(Oll_diff1) + App.ADTrack.RightLowShieldVPT)//判断是否不是侧面推拉
+						&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
+						&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
+						&& (abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT))
+						{
+							BDC_DOWN();		
+							App.CaliZeroFlag = false;
+							App.DownFlag = true;
+							App.StopFlag = false;
+							App.UpFlag = false;
+							App.EmeFlag = false;
+							App.RunCollDelay1mSCnt = RUN_TIME_MS;
+						}
+					}
+					else
+					{
+						BDC_DOWN();		
+						App.CaliZeroFlag = false;
+						App.DownFlag = true;
+						App.StopFlag = false;
+						App.UpFlag = false;
+						App.EmeFlag = false;
+						App.RunCollDelay1mSCnt = RUN_TIME_MS;
+					}
 				}
 			}
-			else if(((App.SlopeCollDelay1mSCnt <= 0)
-			&& (App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)  //判断上下拉方向
-			&& (App.RightUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT) 
-			&& (App.RightUpCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT) 
-			&& (App.RightLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
-			&& (App.RightLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
-			&& (App.RightLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT))
-			|| ((Orl_diff1 >= (App.ADTrack.RightLowVPT*5/6))
-			&& (Orl_diff2 >= (App.ADTrack.RightLowVPT*5/6))
-			&& (Orl_diff3 >= (App.ADTrack.RightLowVPT*5/6))
-			&& (Oru_diff1 <= -(App.ADTrack.RightUpVPT*5/6))
+			else if((
+//				(App.SlopeCollDelay1mSCnt <= 0)
+//			&& (App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)  //通过斜率判断上下拉方向
+//			&& (App.RightUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT) 
+//			&& (App.RightUpCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT) 
+//			&& (App.RightLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
+//			&& (App.RightLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
+//			&& (App.RightLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT))|| (
+			 (Oru_diff1 <= -(App.ADTrack.RightUpVPT*5/6))		//通过差值判断上下拉方向
 			&& (Oru_diff2 <= -(App.ADTrack.RightUpVPT*5/6))
 			&& (Oru_diff3 <= -(App.ADTrack.RightUpVPT*5/6))))
 			{
-				if((abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT)//判断侧面推拉
-				&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
-				&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
-				&& (abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT)
-				)
+				if((App.RightUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
+				&& (App.RightUpCS1237_SlopeArray[1] >= PRESS_VPT) 
+				&& (App.RightUpCS1237_SlopeArray[2] >= PRESS_VPT) 
+				&& (App.RightLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
+				&& (App.RightLowCS1237_SlopeArray[1] <= -PRESS_VPT)
+				&& (App.RightLowCS1237_SlopeArray[2] <= -PRESS_VPT))
 				{
-					BDC_DOWN();		
-					App.DownFlag = true;
-					App.StopFlag = false;
-					App.UpFlag = false;
-					App.EmeFlag = false;
-					App.RunCollDelay1mSCnt = RUN_TIME_MS;
+					if(App.CaliZeroFlag == true)//判断是否校零
+					{
+						if((abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT)//判断是否不是侧面推拉
+						&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
+						&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
+						&& (abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT))
+						{
+							BDC_UP();
+							App.CaliZeroFlag = false;
+							App.UpFlag = true;
+							App.StopFlag = false;
+							App.DownFlag = false;
+							App.EmeFlag = false;
+							App.RunCollDelay1mSCnt = RUN_TIME_MS;
+						}
+					}
+					else
+					{
+						BDC_UP();
+						App.CaliZeroFlag = false;
+						App.UpFlag = true;
+						App.StopFlag = false;
+						App.DownFlag = false;
+						App.EmeFlag = false;
+						App.RunCollDelay1mSCnt = RUN_TIME_MS;
+					}
 				}
 			}
 		}
@@ -449,7 +541,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 	{
 		if(App.LeftRunFalg == true)
 		{
-			if(((App.CentreRunFalg == false ) && (ll_slope > App.ADTrack.Slope_VPT))
+			if(((App.CentreRunFalg == false ) && (lu_slope > App.ADTrack.Slope_VPT))
 			|| ((App.CentreRunFalg == true ) && ((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT) && (App.SlopeCollDelay1mSCnt <= 0)))
 			{
 				BDC_STOP();
@@ -461,11 +553,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
-			else if(((App.CentreRunFalg == false ) && (Oll_diff1 < App.ADTrack.Stop_VPT))
+			else if(((App.CentreRunFalg == false ) && (Olu_diff1 < App.ADTrack.Stop_VPT) && (Olu_diff2 < App.ADTrack.Stop_VPT) && (Olu_diff3 < App.ADTrack.Stop_VPT))
 				|| ((App.CentreRunFalg == true) 
-				&& ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff2 + Orl_diff2) < (App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff3 + Orl_diff3) < (App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff2 + Oru_diff2) < (App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff3 + Oru_diff3) < (App.ADTrack.Stop_VPT*2/3))
 				))
 			{
 				BDC_STOP();
@@ -478,12 +570,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if((abs(Oll_diff1) + EME_STOP_VPT) < abs(Orl_diff1) 
-					&& (abs(Oll_diff2) + EME_STOP_VPT) < abs(Orl_diff2) 
-					&& (abs(Oll_diff3) + EME_STOP_VPT) < abs(Orl_diff3) 
-					&& (abs(Olu_diff1) + EME_STOP_VPT) < abs(Oru_diff1) 
-					&& (abs(Olu_diff2) + EME_STOP_VPT) < abs(Oru_diff2) 
-					&& (abs(Olu_diff3) + EME_STOP_VPT) < abs(Oru_diff3) 
-				  && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
+				&& (abs(Oll_diff2) + EME_STOP_VPT) < abs(Orl_diff2) 
+				&& (abs(Oll_diff3) + EME_STOP_VPT) < abs(Orl_diff3) 
+				&& (abs(Olu_diff1) + EME_STOP_VPT) < abs(Oru_diff1) 
+				&& (abs(Olu_diff2) + EME_STOP_VPT) < abs(Oru_diff2) 
+				&& (abs(Olu_diff3) + EME_STOP_VPT) < abs(Oru_diff3) 
+				&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
 				BDC_STOP();
 				App.EmeFlag = true;
@@ -492,8 +584,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 		}
 		else if(App.RightRunFalg == true)
 		{
-			if(((App.CentreRunFalg == false ) && (rl_slope > App.ADTrack.Slope_VPT))
-			|| ((App.CentreRunFalg == true ) && ((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) < -App.ADTrack.Slope_VPT) && (App.SlopeCollDelay1mSCnt <= 0)))
+			if(((App.CentreRunFalg == false ) && (ru_slope > App.ADTrack.Slope_VPT))
+			|| ((App.CentreRunFalg == true ) && ((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT) && (App.SlopeCollDelay1mSCnt <= 0)))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -504,11 +596,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
-			else if(((App.CentreRunFalg == false ) && (Orl_diff1 < App.ADTrack.Stop_VPT))
+			else if(((App.CentreRunFalg == false ) && (Oru_diff1 < App.ADTrack.Stop_VPT) && (Oru_diff2 < App.ADTrack.Stop_VPT) && (Oru_diff3 < App.ADTrack.Stop_VPT))
 				|| ((App.CentreRunFalg == true) 
-				&& ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff2 + Orl_diff2) < (App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff3 + Orl_diff3) < (App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff2 + Oru_diff2) < (App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff3 + Oru_diff3) < (App.ADTrack.Stop_VPT*2/3))
 				))
 			{
 				BDC_STOP();
@@ -521,12 +613,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if(abs(Oll_diff1) > (abs(Orl_diff1) + EME_STOP_VPT) 
-					&& abs(Oll_diff2) > (abs(Orl_diff2) + EME_STOP_VPT) 
-					&& abs(Oll_diff3) > (abs(Orl_diff3) + EME_STOP_VPT) 
-					&& abs(Olu_diff1) > (abs(Oru_diff1) + EME_STOP_VPT) 
-					&& abs(Olu_diff2) > (abs(Oru_diff2) + EME_STOP_VPT) 
-					&& abs(Olu_diff3) > (abs(Oru_diff3) + EME_STOP_VPT) 
-				  && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
+				&& abs(Oll_diff2) > (abs(Orl_diff2) + EME_STOP_VPT) 
+				&& abs(Oll_diff3) > (abs(Orl_diff3) + EME_STOP_VPT) 
+				&& abs(Olu_diff1) > (abs(Oru_diff1) + EME_STOP_VPT) 
+				&& abs(Olu_diff2) > (abs(Oru_diff2) + EME_STOP_VPT) 
+				&& abs(Olu_diff3) > (abs(Oru_diff3) + EME_STOP_VPT) 
+				&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
 				BDC_STOP();
 				App.EmeFlag = true;
@@ -538,7 +630,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 	{
 		if(App.LeftRunFalg == true)
 		{
-			if(((App.CentreRunFalg == false ) && (ll_slope < -App.ADTrack.Slope_VPT))
+			if(((App.CentreRunFalg == false ) && (lu_slope < -App.ADTrack.Slope_VPT))
 			|| ((App.CentreRunFalg == true ) && ((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT) && (App.SlopeCollDelay1mSCnt <= 0)))
 			{
 				BDC_STOP();
@@ -550,11 +642,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
-			else if(((App.CentreRunFalg == false ) && (Oll_diff1 > -App.ADTrack.Stop_VPT))
+			else if(((App.CentreRunFalg == false ) && (Olu_diff1 > -App.ADTrack.Stop_VPT) && (Olu_diff2 > -App.ADTrack.Stop_VPT) && (Olu_diff3 > -App.ADTrack.Stop_VPT))
 				|| ((App.CentreRunFalg == true) 
-				&& ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff2 + Orl_diff2) > -(App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff3 + Orl_diff3) > -(App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff2 + Oru_diff2) > -(App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff3 + Oru_diff3) > -(App.ADTrack.Stop_VPT*2/3))
 				))
 			{
 				BDC_STOP();
@@ -567,12 +659,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if((abs(Oll_diff1) + EME_STOP_VPT) < abs(Orl_diff1) 
-					&& (abs(Oll_diff2) + EME_STOP_VPT) < abs(Orl_diff2) 
-					&& (abs(Oll_diff3) + EME_STOP_VPT) < abs(Orl_diff3) 
-					&& (abs(Olu_diff1) + EME_STOP_VPT) < abs(Oru_diff1) 
-					&& (abs(Olu_diff2) + EME_STOP_VPT) < abs(Oru_diff2) 
-					&& (abs(Olu_diff3) + EME_STOP_VPT) < abs(Oru_diff3) 
-				  && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
+				&& (abs(Oll_diff2) + EME_STOP_VPT) < abs(Orl_diff2) 
+				&& (abs(Oll_diff3) + EME_STOP_VPT) < abs(Orl_diff3) 
+				&& (abs(Olu_diff1) + EME_STOP_VPT) < abs(Oru_diff1) 
+				&& (abs(Olu_diff2) + EME_STOP_VPT) < abs(Oru_diff2) 
+				&& (abs(Olu_diff3) + EME_STOP_VPT) < abs(Oru_diff3) 
+				&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
 				BDC_STOP();
 				App.EmeFlag = true;
@@ -581,7 +673,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 		}
 		else if(App.RightRunFalg == true)
 		{
-			if(((App.CentreRunFalg == false ) && (rl_slope < -App.ADTrack.Slope_VPT))
+			if(((App.CentreRunFalg == false ) && (ru_slope < -App.ADTrack.Slope_VPT))
 			|| ((App.CentreRunFalg == true ) && ((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT) && (App.SlopeCollDelay1mSCnt <= 0)))
 			{
 				BDC_STOP();
@@ -593,11 +685,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
-			else if(((App.CentreRunFalg == false ) && (Orl_diff1 > -App.ADTrack.Stop_VPT))
+			else if(((App.CentreRunFalg == false ) && (Oru_diff1 > -App.ADTrack.Stop_VPT) && (Oru_diff2 > -App.ADTrack.Stop_VPT) && (Oru_diff3 > -App.ADTrack.Stop_VPT))
 				|| ((App.CentreRunFalg == true) 
-				&& ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff2 + Orl_diff2) > -(App.ADTrack.Stop_VPT*2/3))
-				&& ((Oll_diff3 + Orl_diff3) > -(App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff2 + Oru_diff2) > -(App.ADTrack.Stop_VPT*2/3))
+				&& ((Olu_diff3 + Oru_diff3) > -(App.ADTrack.Stop_VPT*2/3))
 				))
 			{
 				BDC_STOP();
@@ -610,12 +702,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if(abs(Oll_diff1) > (abs(Orl_diff1) + EME_STOP_VPT) 
-				   && abs(Oll_diff2) > (abs(Orl_diff2) + EME_STOP_VPT) 
-				   && abs(Oll_diff3) > (abs(Orl_diff3) + EME_STOP_VPT) 
-					 && abs(Olu_diff1) > (abs(Oru_diff1) + EME_STOP_VPT) 
-				   && abs(Olu_diff2) > (abs(Oru_diff2) + EME_STOP_VPT) 
-				   && abs(Olu_diff3) > (abs(Oru_diff3) + EME_STOP_VPT) 
-				   && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
+				&& abs(Oll_diff2) > (abs(Orl_diff2) + EME_STOP_VPT) 
+				&& abs(Oll_diff3) > (abs(Orl_diff3) + EME_STOP_VPT) 
+				&& abs(Olu_diff1) > (abs(Oru_diff1) + EME_STOP_VPT) 
+				&& abs(Olu_diff2) > (abs(Oru_diff2) + EME_STOP_VPT) 
+				&& abs(Olu_diff3) > (abs(Oru_diff3) + EME_STOP_VPT) 
+				&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
 				BDC_STOP();
 				App.EmeFlag = true;
@@ -663,6 +755,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			App.ADTrack.LeftLow_Org_AdZero = ll_ad[0];
 			App.ADTrack.RightUp_Org_AdZero = ru_ad[0];
 			App.ADTrack.RightLow_Org_AdZero = rl_ad[0];
+			App.CaliZeroFlag = true;
 		}
 	}
 }
@@ -897,6 +990,8 @@ static void AppLoopHandler(void)
 			if(App.TD1mSDelayCnt <= 0)
 			{
 				App.WaitFlag = true;
+				App.SideFlag = false;
+				App.CaliZeroFlag = false;
 				App.UpFlag = false;
 				App.DownFlag = false;
 				App.EmeFlag = false;