diff --git a/Project/HC32F460/source/User/Inc/main.h b/Project/HC32F460/source/User/Inc/main.h
index 6e94e63..e1e4bc3 100644
--- a/Project/HC32F460/source/User/Inc/main.h
+++ b/Project/HC32F460/source/User/Inc/main.h
@@ -9,10 +9,10 @@
 
 
 #define OSC_CNT    			40
-#define SLOPE_CNT				20
+#define SLOPE_CNT				40
 
 #define STOP_TIME_MS		500
-#define RUN_TIME_MS			10
+#define RUN_TIME_MS			500
 
 #define	BDC_STOP()			Motor_Control(MOTOR_CMD_STOP)
 #define BDC_UP()				Motor_Control(MOTOR_CMD_FORWARD)
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index 79183d7..f4f2696 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -140,6 +140,15 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			App.RightRunFalg = false;
 			if(LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum)
 			{
+				uint32_t UpSlopeSum = abs(App.LeftUpCS1237_SlopeArray[0]) + abs(App.RightUpCS1237_SlopeArray[0]);
+				uint32_t LowSlopeSum  = abs(App.LeftLowCS1237_SlopeArray[0]) + abs(App.RightUpCS1237_SlopeArray[0]);
+				uint32_t UpDiffSum = abs(lu_diff[0]) + abs(ru_diff[0]);
+				uint32_t LowDiffSum = abs(ll_diff[0]) + abs(rl_diff[0]);
+				
+//				if(UpSlopeSum > LowSlopeSum && UpDiffSum > LowDiffSum)
+//				{
+//					
+//				}
 				App.LeftRunFalg = true;
 				if(((App.LeftUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) 
 				&& (App.LeftUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT) 
@@ -147,12 +156,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (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)
-//				&& (Olu_diff2 >= App.ADTrack.LeftUpVPT)
-//				&& (Olu_diff3 >= App.ADTrack.LeftUpVPT)
-//				&& (Oll_diff1 <= -App.ADTrack.LeftLowVPT)
-//				&& (Oll_diff2 <= -App.ADTrack.LeftLowVPT)
-//				&& (Oll_diff3 <= -App.ADTrack.LeftLowVPT))
+				|| ((Olu_diff1 >= App.ADTrack.LeftUpVPT)
+				&& (Olu_diff2 >= App.ADTrack.LeftUpVPT)
+				&& (Olu_diff3 >= App.ADTrack.LeftUpVPT)
+				&& (Oll_diff1 <= -App.ADTrack.LeftLowVPT)
+				&& (Oll_diff2 <= -App.ADTrack.LeftLowVPT)
+				&& (Oll_diff3 <= -App.ADTrack.LeftLowVPT))
 				)
 				{
 					BDC_UP();
@@ -167,12 +176,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (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) 
-//				&& (Olu_diff1 <= -App.ADTrack.LeftUpVPT)
-//				&& (Olu_diff1 <= -App.ADTrack.LeftUpVPT)
-//				&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)
-//				&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)
-//				&& (Oll_diff1 >= App.ADTrack.LeftLowVPT))
+				|| ((Olu_diff1 <= -App.ADTrack.LeftUpVPT) 
+				&& (Olu_diff1 <= -App.ADTrack.LeftUpVPT)
+				&& (Olu_diff1 <= -App.ADTrack.LeftUpVPT)
+				&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)
+				&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)
+				&& (Oll_diff1 >= App.ADTrack.LeftLowVPT))
 				)
 				{
 					BDC_DOWN();
@@ -191,12 +200,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (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)
-//				&& (Oru_diff2 >= App.ADTrack.RightUpVPT)
-//				&& (Oru_diff3 >= App.ADTrack.RightUpVPT)
-//				&& (Orl_diff1 <= -App.ADTrack.RightLowVPT)
-//				&& (Orl_diff2 <= -App.ADTrack.RightLowVPT)
-//				&& (Orl_diff3 <= -App.ADTrack.RightLowVPT))
+				|| ((Oru_diff1 >= App.ADTrack.RightUpVPT)
+				&& (Oru_diff2 >= App.ADTrack.RightUpVPT)
+				&& (Oru_diff3 >= App.ADTrack.RightUpVPT)
+				&& (Orl_diff1 <= -App.ADTrack.RightLowVPT)
+				&& (Orl_diff2 <= -App.ADTrack.RightLowVPT)
+				&& (Orl_diff3 <= -App.ADTrack.RightLowVPT))
 				)
 				{
 					BDC_UP();
@@ -211,12 +220,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (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) 
-//				&& (Oru_diff2 <= -App.ADTrack.RightUpVPT)
-//				&& (Oru_diff3 <= -App.ADTrack.RightUpVPT)
-//				&& (Orl_diff1 >= App.ADTrack.RightLowVPT)
-//				&& (Orl_diff2 >= App.ADTrack.RightLowVPT)
-//				&& (Orl_diff3 >= App.ADTrack.RightLowVPT))
+				|| ((Oru_diff1 <= -App.ADTrack.RightUpVPT) 
+				&& (Oru_diff2 <= -App.ADTrack.RightUpVPT)
+				&& (Oru_diff3 <= -App.ADTrack.RightUpVPT)
+				&& (Orl_diff1 >= App.ADTrack.RightLowVPT)
+				&& (Orl_diff2 >= App.ADTrack.RightLowVPT)
+				&& (Orl_diff3 >= App.ADTrack.RightLowVPT))
 				)
 				{
 					BDC_DOWN();		
@@ -256,7 +265,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			else if(App.RightRunFalg == true)
 			{
 				if(ru_slope < -App.ADTrack.Slope_VPT
-				//&& rl_slope > App.ADTrack.Slope_VPT
+				&& rl_slope > App.ADTrack.Slope_VPT
 				)
 				{
 					BDC_STOP();
@@ -265,16 +274,15 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					App.UpFlag = false;
 					App.StopCollDelay1mSCnt = STOP_TIME_MS;
 				}
-//				else if(Oru_diff1 > -(App.ADTrack.RightUpVPT / 2)
-//				//&& Orl_diff1 < (App.ADTrack.RightLowVPT / 2)
-//				)
-//				{
-//					BDC_STOP();
-//					App.StopFlag = true;
-//					App.DownFlag = false;
-//					App.UpFlag = false;
-//					App.StopCollDelay1mSCnt = STOP_TIME_MS;
-//				}
+				else if(Oru_diff1 > -(App.ADTrack.RightUpVPT / 2)
+				&& Orl_diff1 < (App.ADTrack.RightLowVPT / 2))
+				{
+					BDC_STOP();
+					App.StopFlag = true;
+					App.DownFlag = false;
+					App.UpFlag = false;
+					App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				}
 			}
 		}
 	}
@@ -306,7 +314,17 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			else if(App.RightRunFalg == true)
 			{
 				if(ru_slope > App.ADTrack.Slope_VPT
-				//&& rl_slope < -App.ADTrack.Slope_VPT
+				&& rl_slope < -App.ADTrack.Slope_VPT
+				)
+				{
+					BDC_STOP();
+					App.StopFlag = true;
+					App.DownFlag = false;
+					App.UpFlag = false;
+					App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				}
+				else if(Oru_diff1 < (App.ADTrack.RightUpVPT / 2)
+				&& Orl_diff1 > -(App.ADTrack.RightLowVPT / 2)
 				)
 				{
 					BDC_STOP();
@@ -315,16 +333,6 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					App.UpFlag = false;
 					App.StopCollDelay1mSCnt = STOP_TIME_MS;
 				}
-//				else if(Oru_diff1 < (App.ADTrack.RightUpVPT / 2)
-//				&& Orl_diff1 > -(App.ADTrack.RightLowVPT / 2)
-//				)
-//				{
-//					BDC_STOP();
-//					App.StopFlag = true;
-//					App.DownFlag = false;
-//					App.UpFlag = false;
-//					App.StopCollDelay1mSCnt = STOP_TIME_MS;
-//				}
 			}
 		}
 	}
@@ -534,7 +542,7 @@ static void AppLoopHandler(void)
 				App.StopFlag = true;
 				App.EvenRunning = false;
 				
-				App.ADTrack.Slope_VPT = 1500;
+				App.ADTrack.Slope_VPT = 2000;
 				App.ADTrack.LeftUpVPT = 10000;
 				App.ADTrack.LeftLowVPT = 10000;
 				App.ADTrack.RightUpVPT = 10000;