diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index df0776c..c738b1b 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -225,11 +225,6 @@
           <WinNumber>1</WinNumber>
           <ItemText>App.CentreRunFalg,0x0A</ItemText>
         </Ww>
-        <Ww>
-          <count>14</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>App.EvenRunDelay1mSCnt</ItemText>
-        </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
diff --git a/Project/HC32F460/source/User/Inc/main.h b/Project/HC32F460/source/User/Inc/main.h
index 3e3526b..82d5c43 100644
--- a/Project/HC32F460/source/User/Inc/main.h
+++ b/Project/HC32F460/source/User/Inc/main.h
@@ -14,7 +14,7 @@
 #define		FOLLOW_VPT			20
 #define		SHIELD_VPT			2500
 
-#define 	STOP_TIME_MS		500
+#define 	STOP_TIME_MS		0
 #define 	RUN_TIME_MS			0
 
 #define		TRAVEL_TIME_MS	30000
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index c122142..742f3c3 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -217,37 +217,67 @@ 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(((ll_ad[0] > App.ADTrack.LeftLow_Org_AdZero)
-			&& (rl_ad[0] > App.ADTrack.RightLow_Org_AdZero))
-		  || ((ll_ad[0] < App.ADTrack.LeftLow_Org_AdZero)
-			&& (rl_ad[0] < App.ADTrack.RightLow_Org_AdZero)))
+			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)))
 			{
 				App.CentreRunFalg = true;
 				if(abs(Oll_diff1) > abs(Orl_diff1))
 				{
 					App.LeftRunFalg = true;
+					if((App.LeftLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3))
+					{
+						if(Oll_diff1 < -App.ADTrack.LeftLowVPT/2)
+						{
+							BDC_UP();
+							App.UpFlag = true;
+							App.StopFlag = false;
+							App.DownFlag = false;
+							App.RunCollDelay1mSCnt = RUN_TIME_MS;
+						}
+					}
+					else if((App.LeftLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3))
+					{
+						if(Oll_diff1 > App.ADTrack.LeftLowVPT/2)
+						{
+							BDC_DOWN();
+							App.UpFlag = false;
+					App.StopFlag = false;
+					App.DownFlag = true;
+							App.RunCollDelay1mSCnt = RUN_TIME_MS;
+						}
+					}
 				}
 				else if(abs(Oll_diff1) < abs(Orl_diff1))
 				{
 					App.RightRunFalg = true;
-				}
-				if(((Oll_diff1 + Orl_diff1) < -(App.ADTrack.LeftLowVPT + App.ADTrack.RightLowVPT)/2)
-				&& (((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) < -App.ADTrack.Slope_VPT/4)))
-				{
-					BDC_UP();
-					App.UpFlag = true;
-					App.StopFlag = false;
-					App.DownFlag = false;
-					App.RunCollDelay1mSCnt = RUN_TIME_MS;
-				}
-				else if(((Oll_diff1 + Orl_diff1) > (App.ADTrack.LeftLowVPT + App.ADTrack.RightLowVPT)/2)
-				&& (((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT/4)))
-				{
-					BDC_DOWN();
-					App.UpFlag = false;
-					App.StopFlag = false;
-					App.DownFlag = true;
-					App.RunCollDelay1mSCnt = RUN_TIME_MS;
+					if((App.RightLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3))
+					{
+						if(Orl_diff1 < -App.ADTrack.RightLowVPT/2)
+						{
+							BDC_UP();
+							App.UpFlag = true;
+							App.StopFlag = false;
+							App.DownFlag = false;
+							App.RunCollDelay1mSCnt = RUN_TIME_MS;
+						}
+					}
+					else if((App.RightLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3))
+					{
+						if(Orl_diff1 > App.ADTrack.RightLowVPT/2)
+						{
+							BDC_DOWN();
+							App.UpFlag = false;
+							App.StopFlag = false;
+							App.DownFlag = true;
+							App.RunCollDelay1mSCnt = RUN_TIME_MS;
+						}
+					}
 				}
 			}
 			else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum))
@@ -360,7 +390,7 @@ 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/3))
+			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) < -App.ADTrack.Slope_VPT))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -380,8 +410,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 		}
 		else if(App.RightRunFalg == true)
 		{
-			if(((App.CentreRunFalg == false ) && (ll_slope > App.ADTrack.Slope_VPT))
-			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) < -App.ADTrack.Slope_VPT/3))
+			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))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -405,7 +435,7 @@ 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/3))
+			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -426,7 +456,7 @@ 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))
-			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT/3))
+			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -538,10 +568,10 @@ 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