diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index 175c4ce..ec37fb1 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -120,7 +120,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>JL2CM3</Key>
-          <Name>-U2147483647 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -TO18 -TC10000000 -TP21 -TDS8027 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -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>-U2147483647 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8027 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -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>
@@ -213,12 +213,17 @@
         <Ww>
           <count>11</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.EmergencyDelay1mSCnt,0x0A</ItemText>
+          <ItemText>App.StopCollDelay1mSCnt,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>12</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.ADTrack.LeftLowShieldVPT,0x0A</ItemText>
+          <ItemText>App.SlopeCollDelay1mSCnt,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>13</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>App.EmergencyDelay1mSCnt,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
diff --git a/Project/HC32F460/source/Module/dc_motor/dc_motor.c b/Project/HC32F460/source/Module/dc_motor/dc_motor.c
index da01ae2..56b8e46 100644
--- a/Project/HC32F460/source/Module/dc_motor/dc_motor.c
+++ b/Project/HC32F460/source/Module/dc_motor/dc_motor.c
@@ -358,10 +358,10 @@ void AdcLoopHander(void)
             DMA_Cmd(M4_DMA1, Disable);
             calc_adc_val(g_adc_val);                  /* 计算ADC的平均值 */
             
-            DCMOTOR_DBG_LOG("ADC1_IN1 value %d.\t Temp:%.1fC \r\n", g_adc_val[0u], get_temp((float)g_adc_val[0]*Adc));
-            DCMOTOR_DBG_LOG("ADC2_IN2 value %d.\t Valtage:%.1fV \r\n", g_adc_val[1u], (float)g_adc_val[1]*ADC2VBUS);
-            temp_c = (g_adc_val[2]-init_adc_val)*ADC2CURT;
-            DCMOTOR_DBG_LOG("ADC3_IN3 value %d.\t Current:%.1fmA \r\n", g_adc_val[2u], temp_c);
+//            DCMOTOR_DBG_LOG("ADC1_IN1 value %d.\t Temp:%.1fC \r\n", g_adc_val[0u], get_temp((float)g_adc_val[0]*Adc));
+//            DCMOTOR_DBG_LOG("ADC2_IN2 value %d.\t Valtage:%.1fV \r\n", g_adc_val[1u], (float)g_adc_val[1]*ADC2VBUS);
+//            temp_c = (g_adc_val[2]-init_adc_val)*ADC2CURT;
+//            DCMOTOR_DBG_LOG("ADC3_IN3 value %d.\t Current:%.1fmA \r\n", g_adc_val[2u], temp_c);
             
 //            g_motor_data.current = temp_c;
             
@@ -370,7 +370,7 @@ void AdcLoopHander(void)
             {
                 g_motor_data.current = 0.0;
             }
-            DCMOTOR_DBG_LOG("\t\t\t g_motor_data.current:%.1fmA \r\n", g_motor_data.current);
+ //           DCMOTOR_DBG_LOG("\t\t\t g_motor_data.current:%.1fmA \r\n", g_motor_data.current);
             DMA_Cmd(M4_DMA1, Enable);
         }
       }
diff --git a/Project/HC32F460/source/User/Inc/main.h b/Project/HC32F460/source/User/Inc/main.h
index 8707242..41ac002 100644
--- a/Project/HC32F460/source/User/Inc/main.h
+++ b/Project/HC32F460/source/User/Inc/main.h
@@ -8,16 +8,17 @@
 #define		SDCARD_BLOCK_MAX								(10000)
 
 #define 	OSC_CNT    			40
-#define 	SLOPE_CNT			  30
+#define 	SLOPE_CNT			  20
 
 #define 	SLOPE_VPT				1000
 #define		FOLLOW_VPT			20
-#define		SHIELD_VPT			4000
+#define		SHIELD_VPT			5000
 #define		EME_STOP_VPT		4000
+#define		CENTRE_VPT			2000
 
-#define 	STOP_TIME_MS		0
+#define 	STOP_TIME_MS		1000
 #define 	RUN_TIME_MS			0
-#define		EME_START_MS		2000
+#define		EME_START_MS		0
 #define		EME_STOP_MS			2000
 #define		SLOPE_START_MS	3000
 
diff --git a/Project/HC32F460/source/User/Src/bsp.c b/Project/HC32F460/source/User/Src/bsp.c
index c52c53c..350a495 100644
--- a/Project/HC32F460/source/User/Src/bsp.c
+++ b/Project/HC32F460/source/User/Src/bsp.c
@@ -449,6 +449,8 @@ static void GPIO_Config(void)
 	stcPortInit.enPullUp = Enable;//上拉
 	PORT_Init(TWIN_BIT0_PORTx, TWIN_BIT0_PINx, &stcPortInit);
 	PORT_Init(TWIN_BIT1_PORTx, TWIN_BIT1_PINx, &stcPortInit);
+	SET_TWIN_BIT0();
+	SET_TWIN_BIT1();
 }
 /*********************************左上传感器
  *******************************************************************************
@@ -1356,7 +1358,7 @@ void BSP_Init(void)
 	ExtiCh06_Init();
 	ExtiCh04_Init();
 	
-	DbgUart_Config(500000);
+	DbgUart_Config(700000);
 	//RS485Uart_Config(9600);
 	
 	//Rtc_Config();
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index 4de1d89..91cc6bc 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -36,10 +36,10 @@ static void show(uint8_t ch,int32_t ad)
 }
 void LEFTUP_CS1237AinADataProcessCallBack(int32_t AD)
 {
-	if(abs(AD - App.LeftUpCS1237_TrendArray[0]) > 2000000)
-	{
-		AD = App.LeftUpCS1237_TrendArray[0];
-	}
+//	if(abs(AD - App.LeftUpCS1237_TrendArray[0]) > 2000000)
+//	{
+//		AD = App.LeftUpCS1237_TrendArray[0];
+//	}
 	show(1,AD);
 	for(int i = OSC_CNT-1; i > 0; i--)
 	{
@@ -51,10 +51,10 @@ void LEFTUP_CS1237AinADataProcessCallBack(int32_t AD)
 void LEFTLOW_CS1237AinADataProcessCallBack(int32_t AD)
 {
 	
-	if(abs(AD - App.LeftLowCS1237_TrendArray[0]) > 2000000)
-	{
-		AD = App.LeftLowCS1237_TrendArray[0];
-	}
+//	if(abs(AD - App.LeftLowCS1237_TrendArray[0]) > 2000000)
+//	{
+//		AD = App.LeftLowCS1237_TrendArray[0];
+//	}
 	show(2,AD);
 	for(int i = OSC_CNT-1; i > 0; i--)
 	{
@@ -65,10 +65,10 @@ void LEFTLOW_CS1237AinADataProcessCallBack(int32_t AD)
 }
 void RIGHTUP_CS1237AinADataProcessCallBack(int32_t AD)
 {
-	if(abs(AD - App.RightUpCS1237_TrendArray[0]) > 2000000)
-	{
-		AD = App.RightUpCS1237_TrendArray[0];
-	}
+//	if(abs(AD - App.RightUpCS1237_TrendArray[0]) > 2000000)
+//	{
+//		AD = App.RightUpCS1237_TrendArray[0];
+//	}
 	show(3,AD);
 	for(int i = OSC_CNT-1; i > 0; i--)
 	{
@@ -79,10 +79,10 @@ void RIGHTUP_CS1237AinADataProcessCallBack(int32_t AD)
 }
 void RIGHTLOW_CS1237AinADataProcessCallBack(int32_t AD)
 {
-	if(abs(AD - App.RightLowCS1237_TrendArray[0]) > 2000000)
-	{
-		AD = App.RightLowCS1237_TrendArray[0];
-	}
+//	if(abs(AD - App.RightLowCS1237_TrendArray[0]) > 2000000)
+//	{
+//		AD = App.RightLowCS1237_TrendArray[0];
+//	}
 	show(4,AD);
 	for(int i = OSC_CNT-1; i > 0; i--)
 	{
@@ -222,10 +222,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 	
 	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 LeftLowDiff = abs(Oll_diff1);
-	int32_t RightLowDiff = abs(Orl_diff1);
-	int32_t LeftDiffSum = abs(lu_diff[0]);
-	int32_t RightDiffSum = abs(ru_diff[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]);
 	
 	if(App.EmeFlag == true)
 	{
@@ -253,76 +253,98 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 		App.LeftRunFalg = false;
 		App.RightRunFalg = false;
 		App.CentreRunFalg = false;
-		if(((lu_ad[0] < App.ADTrack.LeftUp_Org_AdZero-1000)
-		&& (ll_ad[0] > App.ADTrack.LeftLow_Org_AdZero+1000)
-		&& (ru_ad[0] < App.ADTrack.RightUp_Org_AdZero-1000)
-		&& (rl_ad[0] > App.ADTrack.RightLow_Org_AdZero+1000))
-		|| ((lu_ad[0] > App.ADTrack.LeftUp_Org_AdZero+1000)
-		&& (ll_ad[0] < App.ADTrack.LeftLow_Org_AdZero-1000)
-		&& (ru_ad[0] > App.ADTrack.RightUp_Org_AdZero+1000)
-		&& (rl_ad[0] < App.ADTrack.RightLow_Org_AdZero-1000)))
+		if(((lu_ad[0] < App.ADTrack.LeftUp_Org_AdZero-CENTRE_VPT)//判断中间操作
+		&& (ll_ad[0] > App.ADTrack.LeftLow_Org_AdZero+CENTRE_VPT)
+		&& (ru_ad[0] < App.ADTrack.RightUp_Org_AdZero-CENTRE_VPT)
+		&& (rl_ad[0] > App.ADTrack.RightLow_Org_AdZero+CENTRE_VPT)
+		&& (lu_ad[1] < App.ADTrack.LeftUp_Org_AdZero-CENTRE_VPT)
+		&& (ll_ad[1] > App.ADTrack.LeftLow_Org_AdZero+CENTRE_VPT)
+		&& (ru_ad[1] < App.ADTrack.RightUp_Org_AdZero-CENTRE_VPT)
+		&& (rl_ad[1] > App.ADTrack.RightLow_Org_AdZero+CENTRE_VPT)
+		&& (lu_ad[2] < App.ADTrack.LeftUp_Org_AdZero-CENTRE_VPT)
+		&& (ll_ad[2] > App.ADTrack.LeftLow_Org_AdZero+CENTRE_VPT)
+		&& (ru_ad[2] < App.ADTrack.RightUp_Org_AdZero-CENTRE_VPT)
+		&& (rl_ad[2] > App.ADTrack.RightLow_Org_AdZero+CENTRE_VPT))
+		|| ((lu_ad[0] > App.ADTrack.LeftUp_Org_AdZero+CENTRE_VPT)
+		&& (ll_ad[0] < App.ADTrack.LeftLow_Org_AdZero-CENTRE_VPT)
+		&& (ru_ad[0] > App.ADTrack.RightUp_Org_AdZero+CENTRE_VPT)
+		&& (rl_ad[0] < App.ADTrack.RightLow_Org_AdZero-CENTRE_VPT)
+		&& (lu_ad[1] > App.ADTrack.LeftUp_Org_AdZero+CENTRE_VPT)
+		&& (ll_ad[1] < App.ADTrack.LeftLow_Org_AdZero-CENTRE_VPT)
+		&& (ru_ad[1] > App.ADTrack.RightUp_Org_AdZero+CENTRE_VPT)
+		&& (rl_ad[1] < App.ADTrack.RightLow_Org_AdZero-CENTRE_VPT)
+		&& (lu_ad[2] > App.ADTrack.LeftUp_Org_AdZero+CENTRE_VPT)
+		&& (ll_ad[2] < App.ADTrack.LeftLow_Org_AdZero-CENTRE_VPT)
+		&& (ru_ad[2] > App.ADTrack.RightUp_Org_AdZero+CENTRE_VPT)
+		&& (rl_ad[2] < App.ADTrack.RightLow_Org_AdZero-CENTRE_VPT)))
 		{
 			App.CentreRunFalg = true;
-			if(abs(Oll_diff1) > abs(Orl_diff1))
+			if(LeftDiff > RightDiff)
 			{
 				App.LeftRunFalg = true;
-					if((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
-					{
-						BDC_UP();
-						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))
-					{
-						BDC_DOWN();
-						App.UpFlag = false;
-						App.StopFlag = false;
-						App.DownFlag = true;
-						App.EmeFlag = false;
-						App.RunCollDelay1mSCnt = RUN_TIME_MS;
-					}
+				if((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
+				{
+					BDC_UP();
+					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))
+				{
+					BDC_DOWN();
+					App.UpFlag = false;
+					App.StopFlag = false;
+					App.DownFlag = true;
+					App.EmeFlag = false;
+					App.RunCollDelay1mSCnt = RUN_TIME_MS;
+				}
 			}
-			else if(abs(Oll_diff1) < abs(Orl_diff1))
+			else if(RightDiff > LeftDiff)
 			{
 				App.RightRunFalg = true;
-					if((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
-					{
-						BDC_UP();
-						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))
-					{
-						BDC_DOWN();
-						App.UpFlag = false;
-						App.StopFlag = false;
-						App.DownFlag = true;
-						App.EmeFlag = false;
-						App.RunCollDelay1mSCnt = RUN_TIME_MS;
-					}
+				if((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
+				{
+					BDC_UP();
+					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))
+				{
+					BDC_DOWN();
+					App.UpFlag = false;
+					App.StopFlag = false;
+					App.DownFlag = true;
+					App.EmeFlag = false;
+					App.RunCollDelay1mSCnt = RUN_TIME_MS;
+				}
 			}
 		}
-		else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum))
+		else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum))////判断左边操作
 		{
 			App.LeftRunFalg = true;
-			if(((App.LeftUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) 
+			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)
-			&& (App.SlopeCollDelay1mSCnt <= 0)) 
+			&& (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))))
+			&& (Oll_diff3 <= -(App.ADTrack.LeftLowVPT*5/6))
+			&& (Olu_diff1 >= (App.ADTrack.LeftUpVPT*5/6))
+			&& (Olu_diff2 >= (App.ADTrack.LeftUpVPT*5/6))
+			&& (Olu_diff3 >= (App.ADTrack.LeftUpVPT*5/6))))
 			{
-				if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)
+				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)
 				)
 				{
 					BDC_UP();
@@ -333,18 +355,24 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					App.RunCollDelay1mSCnt = RUN_TIME_MS;
 				}
 			}
-			else if(((App.LeftUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) 
+			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)
-			&& ((App.SlopeCollDelay1mSCnt <= 0)))
-			|| ((Oll_diff1 >= App.ADTrack.LeftLowVPT)
-			&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)
-			&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)))
+			&& (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))
+			&& (Olu_diff2 <= -(App.ADTrack.LeftUpVPT*5/6))
+			&& (Olu_diff3 <= -(App.ADTrack.LeftUpVPT*5/6))))
 			{
-				if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)
+				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)
 				)
 				{
 					BDC_DOWN();
@@ -356,21 +384,27 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				}
 			}
 		}
-		else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum)
+		else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum)//上下拉屏幕右边
 		{
 			App.RightRunFalg = true;
-			if(((App.RightUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) 
+			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)
-			&& (App.SlopeCollDelay1mSCnt <= 0)) 
+			&& (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))))
+			&& (Orl_diff3 <= -(App.ADTrack.RightLowVPT*5/6))
+			&& (Oru_diff1 >= (App.ADTrack.RightUpVPT*5/6))
+			&& (Oru_diff2 >= (App.ADTrack.RightUpVPT*5/6))
+			&& (Oru_diff3 >= (App.ADTrack.RightUpVPT*5/6))))
 			{
-				if((abs(Orl_diff1) > abs(Oll_diff1) + App.ADTrack.RightLowShieldVPT)
+				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)
 				)
 				{
 					BDC_UP();
@@ -381,19 +415,24 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					App.RunCollDelay1mSCnt = RUN_TIME_MS;
 				}
 			}
-			else if(((App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) 
+			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)
-			&& (App.SlopeCollDelay1mSCnt <= 0))
-			|| ((Orl_diff1 >= App.ADTrack.RightLowVPT)
-			&& (Orl_diff2 >= App.ADTrack.RightLowVPT)
-			&& (Orl_diff3 >= App.ADTrack.RightLowVPT))
-			)
+			&& (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))
+			&& (Oru_diff2 <= -(App.ADTrack.RightUpVPT*5/6))
+			&& (Oru_diff3 <= -(App.ADTrack.RightUpVPT*5/6))))
 			{
-				if((abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT)
+				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)
 				)
 				{
 					BDC_DOWN();		
@@ -441,6 +480,9 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			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)
 			{
 				BDC_STOP();
@@ -481,6 +523,9 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			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)
 			{
 				BDC_STOP();
@@ -524,6 +569,9 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			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)
 			{
 				BDC_STOP();
@@ -564,6 +612,9 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			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)
 			{
 				BDC_STOP();
@@ -573,32 +624,33 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 		}
 	}
 	
-	if (lu_K.peaks_positive 
-		&& lu_K.valleys_negative 
-		&& App.LeftUpCS1237_SlopeArray[0] < FOLLOW_VPT
+	if (
+//		lu_K.peaks_positive 
+//		&& lu_K.valleys_negative 
+		App.LeftUpCS1237_SlopeArray[0] < FOLLOW_VPT
 		&& App.LeftUpCS1237_SlopeArray[0] > -FOLLOW_VPT
 		&& App.LeftUpCS1237_SlopeArray[1] < FOLLOW_VPT
 		&& App.LeftUpCS1237_SlopeArray[1] > -FOLLOW_VPT
 		&& App.LeftUpCS1237_SlopeArray[2] < FOLLOW_VPT
 		&& App.LeftUpCS1237_SlopeArray[2] > -FOLLOW_VPT
-		&& ll_K.peaks_positive 
-		&& ll_K.valleys_negative 
+//		&& ll_K.peaks_positive 
+//		&& ll_K.valleys_negative 
 		&& App.LeftLowCS1237_SlopeArray[0] < FOLLOW_VPT
 		&& App.LeftLowCS1237_SlopeArray[0] > -FOLLOW_VPT
 		&& App.LeftLowCS1237_SlopeArray[1] < FOLLOW_VPT
 		&& App.LeftLowCS1237_SlopeArray[1] > -FOLLOW_VPT
 		&& App.LeftLowCS1237_SlopeArray[2] < FOLLOW_VPT
 		&& App.LeftLowCS1237_SlopeArray[2] > -FOLLOW_VPT
-		&& ru_K.peaks_positive 
-		&& ru_K.valleys_negative 
+//		&& ru_K.peaks_positive 
+//		&& ru_K.valleys_negative 
 		&& App.RightUpCS1237_SlopeArray[0] < FOLLOW_VPT
 		&& App.RightUpCS1237_SlopeArray[0] > -FOLLOW_VPT
 		&& App.RightUpCS1237_SlopeArray[1] < FOLLOW_VPT
 		&& App.RightUpCS1237_SlopeArray[1] > -FOLLOW_VPT
 		&& App.RightUpCS1237_SlopeArray[2] < FOLLOW_VPT
 		&& App.RightUpCS1237_SlopeArray[2] > -FOLLOW_VPT
-		&& rl_K.peaks_positive 
-		&& rl_K.valleys_negative 
+//		&& rl_K.peaks_positive 
+//		&& rl_K.valleys_negative 
 		&& App.RightLowCS1237_SlopeArray[0] < FOLLOW_VPT
 		&& App.RightLowCS1237_SlopeArray[0] > -FOLLOW_VPT
 		&& App.RightLowCS1237_SlopeArray[1] < FOLLOW_VPT
@@ -646,6 +698,8 @@ static void AppInit(void)
 	RIGHTUP_CS1237_Init();
 	RIGHTLOW_CS1237_Init();
 	
+	BDC_STOP();
+	
 	App.Status = APP_STATUS_WAIT;
 	App.TD1mSDelayCnt = 1000;
 //	App.Status = APP_STATUS_UP1;
@@ -892,7 +946,7 @@ void FeedDogHandler(void)
 int main(void) 
 {
 	BSP_Init();
-   AppInit();
+  AppInit();
 	while(1) {
 #if(USE_WDT == 1)
 		FeedDogHandler();