diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index 4212ed3..fc47953 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -140,7 +140,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("") -D00(00000000) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -1079,7 +1079,7 @@
 
   <Group>
     <GroupName>dc_motor</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/Project/HC32F460/source/User/Inc/main.h b/Project/HC32F460/source/User/Inc/main.h
index cb6d967..2782bae 100644
--- a/Project/HC32F460/source/User/Inc/main.h
+++ b/Project/HC32F460/source/User/Inc/main.h
@@ -17,7 +17,7 @@
 
 #define 	STOP_TIME_MS		500
 #define 	RUN_TIME_MS			0
-#define		EME_START_MS		500
+#define		EME_START_MS		3000
 #define		EME_STOP_MS			3000
 
 #define		TRAVEL_TIME_MS	30000
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index 9d55dd2..a7b6021 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -250,7 +250,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.LeftRunFalg = true;
 //				if((App.LeftLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3))
 //				{
-					if(Oll_diff1 < -App.ADTrack.LeftLowVPT/3)
+					if((Oll_diff1+Orl_diff1) < -App.ADTrack.LeftLowVPT/3)
 					{
 						BDC_UP();
 						App.UpFlag = true;
@@ -258,12 +258,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						App.DownFlag = false;
 						App.EmeFlag = false;
 						App.RunCollDelay1mSCnt = RUN_TIME_MS;
-						App.EmergencyDelay1mSCnt = EME_START_MS;
+						//App.EmergencyDelay1mSCnt = EME_START_MS;
 					}
 //				}
 //				else if((App.LeftLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3))
 //				{
-					if(Oll_diff1 > App.ADTrack.LeftLowVPT/3)
+					if((Oll_diff1+Orl_diff1) > App.ADTrack.LeftLowVPT/3)
 					{
 						BDC_DOWN();
 						App.UpFlag = false;
@@ -271,7 +271,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						App.DownFlag = true;
 						App.EmeFlag = false;
 						App.RunCollDelay1mSCnt = RUN_TIME_MS;
-						App.EmergencyDelay1mSCnt = EME_START_MS;
+						//App.EmergencyDelay1mSCnt = EME_START_MS;
 					}
 //				}
 			}
@@ -280,7 +280,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.RightRunFalg = true;
 				if((App.RightLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3))
 				{
-					if(Orl_diff1 < -App.ADTrack.RightLowVPT/3)
+					if((Oll_diff1+Orl_diff1) < -App.ADTrack.RightLowVPT/3)
 					{
 						BDC_UP();
 						App.UpFlag = true;
@@ -288,12 +288,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						App.DownFlag = false;
 						App.EmeFlag = false;
 						App.RunCollDelay1mSCnt = RUN_TIME_MS;
-						App.EmergencyDelay1mSCnt = EME_START_MS;
+						//App.EmergencyDelay1mSCnt = EME_START_MS;
 					}
 				}
 				else if((App.RightLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3))
 				{
-					if(Orl_diff1 > App.ADTrack.RightLowVPT/3)
+					if((Oll_diff1+Orl_diff1) > App.ADTrack.RightLowVPT/3)
 					{
 						BDC_DOWN();
 						App.UpFlag = false;
@@ -301,7 +301,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						App.DownFlag = true;
 						App.EmeFlag = false;
 						App.RunCollDelay1mSCnt = RUN_TIME_MS;
-						App.EmergencyDelay1mSCnt = EME_START_MS;
+						//App.EmergencyDelay1mSCnt = EME_START_MS;
 					}
 				}
 			}
@@ -333,7 +333,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					App.DownFlag = false;
 					App.EmeFlag = false;
 					App.RunCollDelay1mSCnt = RUN_TIME_MS;
-					App.EmergencyDelay1mSCnt = EME_START_MS;
+					//App.EmergencyDelay1mSCnt = EME_START_MS;
 				}
 			}
 			else if(((App.LeftUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) 
@@ -360,7 +360,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					App.StopFlag = false;
 					App.EmeFlag = false;
 					App.RunCollDelay1mSCnt = RUN_TIME_MS;
-					App.EmergencyDelay1mSCnt = EME_START_MS;
+					//App.EmergencyDelay1mSCnt = EME_START_MS;
 				}
 			}
 		}
@@ -390,7 +390,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					App.DownFlag = false;
 					App.EmeFlag = false;
 					App.RunCollDelay1mSCnt = RUN_TIME_MS;
-					App.EmergencyDelay1mSCnt = EME_START_MS;
+					//App.EmergencyDelay1mSCnt = EME_START_MS;
 				}
 			}
 			else if(((App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) 
@@ -417,7 +417,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					App.UpFlag = false;
 					App.EmeFlag = false;
 					App.RunCollDelay1mSCnt = RUN_TIME_MS;
-					App.EmergencyDelay1mSCnt = EME_START_MS;
+					//App.EmergencyDelay1mSCnt = EME_START_MS;
 				}
 			}
 		}
@@ -427,7 +427,7 @@ 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))
-			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) < -App.ADTrack.Slope_VPT))
+			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -435,6 +435,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.EmeFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if(((App.CentreRunFalg == false ) && (Oll_diff1 < App.ADTrack.Stop_VPT))
 				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT))))
@@ -445,6 +446,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.EmeFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if((LeftLowDiff + EME_STOP_VPT) < RightLowDiff && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
@@ -464,9 +466,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.EmeFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if(((App.CentreRunFalg == false ) && (Orl_diff1 < App.ADTrack.Stop_VPT))
-				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT))))
+				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) < (-App.ADTrack.Stop_VPT))))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -474,6 +477,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.EmeFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if(LeftLowDiff > (RightLowDiff + EME_STOP_VPT) && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
@@ -488,7 +492,7 @@ 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))
-			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT))
+			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > -App.ADTrack.Slope_VPT))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -496,9 +500,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.EmeFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if(((App.CentreRunFalg == false ) && (Oll_diff1 > -App.ADTrack.Stop_VPT))
-				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1)> -(App.ADTrack.Stop_VPT))))
+				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT))))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -506,6 +511,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.EmeFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if((LeftLowDiff + EME_STOP_VPT) < RightLowDiff && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
@@ -525,6 +531,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.EmeFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if(((App.CentreRunFalg == false ) && (Orl_diff1 > -App.ADTrack.Stop_VPT))
 				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT))))
@@ -535,6 +542,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.UpFlag = false;
 				App.EmeFlag = false;
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if(LeftLowDiff > (RightLowDiff + EME_STOP_VPT) && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
@@ -618,10 +626,10 @@ static void AppInit(void)
 	RIGHTUP_CS1237_Init();
 	RIGHTLOW_CS1237_Init();
 	
-//	App.Status = APP_STATUS_WAIT;
-//	App.TD1mSDelayCnt = 1000;
-	App.Status = APP_STATUS_UP1;
-	App.TD1mSDelayCnt = TRAVEL_TIME_MS;
+	App.Status = APP_STATUS_WAIT;
+	App.TD1mSDelayCnt = 1000;
+//	App.Status = APP_STATUS_UP1;
+//	App.TD1mSDelayCnt = TRAVEL_TIME_MS;
 	App.RStatus = READ_STATUS_START;
 	GradeControl(App.Para.Layout.ControlLevel);//µÈ¼¶¿ØÖÆ
 	
@@ -882,7 +890,7 @@ int main(void)
 		#endif
 		ReadLoopHandler();
 		DcmotorLoopHandler();
-        AdcLoopHander();
+    AdcLoopHander();
 		AppLoopHandler();
 	}
 }