diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index 2db777c..40c03b3 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -118,7 +118,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"" -O206 -S0 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JEUA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JEUA$FlashARM\HC32F460_otp.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S9 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JEUA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JEUA$FlashARM\HC32F460_otp.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -228,6 +228,16 @@
           <WinNumber>1</WinNumber>
           <ItemText>RightDiffSum,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>15</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>KeyASta</ItemText>
+        </Ww>
+        <Ww>
+          <count>16</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>KeyBSta</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -275,7 +285,7 @@
         <Enable>1</Enable>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
-        <DbgClock>1000000</DbgClock>
+        <DbgClock>5000000</DbgClock>
       </DebugDescription>
     </TargetOption>
   </Target>
@@ -441,7 +451,7 @@
       <GroupNumber>1</GroupNumber>
       <FileNumber>2</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\..\..\mcu\common\system_hc32f460.c</PathWithFileName>
@@ -453,7 +463,7 @@
 
   <Group>
     <GroupName>driver</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/Project/HC32F460/MDK/HC32F460.uvprojx b/Project/HC32F460/MDK/HC32F460.uvprojx
index 4fcfdad..ef55ad3 100644
--- a/Project/HC32F460/MDK/HC32F460.uvprojx
+++ b/Project/HC32F460/MDK/HC32F460.uvprojx
@@ -320,13 +320,13 @@
             <PlainCh>0</PlainCh>
             <Ropi>0</Ropi>
             <Rwpi>0</Rwpi>
-            <wLevel>0</wLevel>
+            <wLevel>2</wLevel>
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
             <useXO>0</useXO>
             <v6Lang>3</v6Lang>
-            <v6LangP>5</v6LangP>
+            <v6LangP>3</v6LangP>
             <vShortEn>1</vShortEn>
             <vShortWch>1</vShortWch>
             <v6Lto>0</v6Lto>
@@ -1359,8 +1359,8 @@
   <RTE>
     <apis/>
     <components>
-      <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.5.0" condition="ARMv6_7_8-M Device">
-        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0"/>
+      <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.0.1" condition="ARMv6_7_8-M Device">
+        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.0.1"/>
         <targetInfos>
           <targetInfo name="Debug"/>
           <targetInfo name="Release"/>
diff --git a/Project/HC32F460/source/Module/dc_motor/dc_motor.c b/Project/HC32F460/source/Module/dc_motor/dc_motor.c
index f1d056d..18f1913 100644
--- a/Project/HC32F460/source/Module/dc_motor/dc_motor.c
+++ b/Project/HC32F460/source/Module/dc_motor/dc_motor.c
@@ -335,10 +335,21 @@ void Motor_SetDirection(uint8_t dir) {
 	
 }
 
-
+uint8_t KeyASta;
+uint8_t KeyBSta;
+uint8_t RunSta;
 // 电机控制接口
 void Motor_Control(MotorCommand cmd) {
     g_motorCmd = cmd;
+		if(cmd == MOTOR_CMD_REVERSE)
+			KeyASta =true;
+		else if(cmd == MOTOR_CMD_FORWARD)
+			KeyBSta = true;
+		else 
+		{
+			KeyASta = false;
+			KeyBSta = false;
+		}
 }
 
 // 获取电机当前方向
@@ -388,9 +399,7 @@ void Dcmotor1msRoutine(void)
 
 
 
-uint8_t KeyASta;
-uint8_t KeyBSta;
-uint8_t RunSta;
+
 void DcmotorLoopHandler(void)
 {
     
@@ -418,7 +427,7 @@ void DcmotorLoopHandler(void)
                 {
                     RunSta = true;
                     Timer61B_Init();
-                    g_motorSpeed = 8000;
+                    g_motorSpeed = 9500;
                     Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed);
                     Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed);
                     Timer6_StartCount(M4_TMR61);
@@ -430,7 +439,7 @@ void DcmotorLoopHandler(void)
                 {
                     RunSta = true;
                     Timer61A_Init();
-                    g_motorSpeed = 8000;
+                    g_motorSpeed = 9500;
                     Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed);
                     Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed);
                     Timer6_StartCount(M4_TMR61);
diff --git a/Project/HC32F460/source/User/Inc/main.h b/Project/HC32F460/source/User/Inc/main.h
index 6c4fae2..6e94e63 100644
--- a/Project/HC32F460/source/User/Inc/main.h
+++ b/Project/HC32F460/source/User/Inc/main.h
@@ -9,8 +9,15 @@
 
 
 #define OSC_CNT    			40
-#define SLOPE_CNT				30
+#define SLOPE_CNT				20
 
+#define STOP_TIME_MS		500
+#define RUN_TIME_MS			10
+
+#define	BDC_STOP()			Motor_Control(MOTOR_CMD_STOP)
+#define BDC_UP()				Motor_Control(MOTOR_CMD_FORWARD)
+#define	BDC_DOWN()			Motor_Control(MOTOR_CMD_REVERSE)
+					
 typedef struct{
 	int32_t Slope_VPT;
 	
@@ -66,6 +73,7 @@ typedef struct {
 	uint32_t Read1mSDelayCnt;
 	uint32_t Uart1Delay1mSCnt;
 	uint32_t StopCollDelay1mSCnt;
+	uint32_t RunCollDelay1mSCnt;
 	uint32_t EvenRunDelay1mSCnt;
 	uint8_t FeedDogDlyCnt;
 	
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index 029679b..79183d7 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -147,18 +147,19 @@ 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();
-					Motor_Control(MOTOR_CMD_FORWARD);
+					BDC_UP();
 					App.UpFlag = true;
 					App.StopFlag = false;
 					App.DownFlag = false;
+					App.RunCollDelay1mSCnt = RUN_TIME_MS;
 				}
 				else if(((App.LeftUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) 
 				&& (App.LeftUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT) 
@@ -166,18 +167,19 @@ 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();
-					Motor_Control(MOTOR_CMD_REVERSE);
+					BDC_DOWN();
 					App.DownFlag = true;
 					App.StopFlag = false;
 					App.UpFlag = false;
+					App.RunCollDelay1mSCnt = RUN_TIME_MS;
 				}
 			}
 			else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum)
@@ -189,18 +191,19 @@ 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();
-					Motor_Control(MOTOR_CMD_FORWARD);
+					BDC_UP();
 					App.UpFlag = true;
 					App.StopFlag = false;
 					App.DownFlag = false;
+					App.RunCollDelay1mSCnt = RUN_TIME_MS;
 				}
 				else if(((App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) 
 				&& (App.RightUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT) 
@@ -208,117 +211,120 @@ 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();
-					Motor_Control(MOTOR_CMD_REVERSE);
+					BDC_DOWN();		
 					App.DownFlag = true;
 					App.StopFlag = false;
 					App.UpFlag = false;
+					App.RunCollDelay1mSCnt = RUN_TIME_MS;
 				}
 			}
 		}
 	}
 	else if(App.DownFlag == true)
 	{
-		if(App.LeftRunFalg == true)
+		if(App.RunCollDelay1mSCnt <= 0)
 		{
-			if(lu_slope < -App.ADTrack.Slope_VPT
-			&& ll_slope > App.ADTrack.Slope_VPT)
+			if(App.LeftRunFalg == true)
 			{
-				//BDC_STOP();
-				Motor_Control(MOTOR_CMD_STOP);
-				App.StopFlag = true;
-				App.DownFlag = false;
-				App.UpFlag = false;
-				App.StopCollDelay1mSCnt = 1000;
+				if(lu_slope < -App.ADTrack.Slope_VPT
+				&& ll_slope > App.ADTrack.Slope_VPT)
+				{
+					BDC_STOP();
+					App.StopFlag = true;
+					App.DownFlag = false;
+					App.UpFlag = false;
+					App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				}
+				else if(Olu_diff1 > -(App.ADTrack.LeftUpVPT / 2)
+				&& Oll_diff1 < (App.ADTrack.LeftLowVPT / 2))
+				{
+					BDC_STOP();
+					App.StopFlag = true;
+					App.DownFlag = false;
+					App.UpFlag = false;
+					App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				}
 			}
-			else if(Olu_diff1 > -(App.ADTrack.LeftUpVPT / 2)
-			&& Oll_diff1 < (App.ADTrack.LeftLowVPT / 2))
+			else if(App.RightRunFalg == true)
 			{
-				//BDC_STOP();
-				Motor_Control(MOTOR_CMD_STOP);
-				App.StopFlag = true;
-				App.DownFlag = false;
-				App.UpFlag = false;
-				App.StopCollDelay1mSCnt = 1000;
-			}
-		}
-		else if(App.RightRunFalg == true)
-		{
-			if(ru_slope < -App.ADTrack.Slope_VPT
-			&& rl_slope > App.ADTrack.Slope_VPT)
-			{
-				//BDC_STOP();
-				Motor_Control(MOTOR_CMD_STOP);
-				App.StopFlag = true;
-				App.DownFlag = false;
-				App.UpFlag = false;
-				App.StopCollDelay1mSCnt = 1000;
-			}
-			else if(Oru_diff1 > -(App.ADTrack.RightUpVPT / 2)
-			&& Orl_diff1 < (App.ADTrack.RightLowVPT / 2))
-			{
-				//BDC_STOP();
-				Motor_Control(MOTOR_CMD_STOP);
-				App.StopFlag = true;
-				App.DownFlag = false;
-				App.UpFlag = false;
-				App.StopCollDelay1mSCnt = 1000;
+				if(ru_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();
+//					App.StopFlag = true;
+//					App.DownFlag = false;
+//					App.UpFlag = false;
+//					App.StopCollDelay1mSCnt = STOP_TIME_MS;
+//				}
 			}
 		}
 	}
 	else if(App.UpFlag == true)
 	{
-		if(App.LeftRunFalg == true)
+		if(App.RunCollDelay1mSCnt <= 0)
 		{
-			if(lu_slope > App.ADTrack.Slope_VPT
-			&& ll_slope < -App.ADTrack.Slope_VPT)
+			if(App.LeftRunFalg == true)
 			{
-					//BDC_STOP();
-				Motor_Control(MOTOR_CMD_STOP);
+				if(lu_slope > App.ADTrack.Slope_VPT
+				&& ll_slope < -App.ADTrack.Slope_VPT)
+				{
+					BDC_STOP();
 					App.StopFlag = true;
 					App.DownFlag = false;
 					App.UpFlag = false;
-					App.StopCollDelay1mSCnt = 1000;
+					App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				}
+				else if(Olu_diff1 < (App.ADTrack.LeftUpVPT / 2)
+				&& Oll_diff1 > -(App.ADTrack.LeftLowVPT / 2))
+				{
+					BDC_STOP();
+					App.StopFlag = true;
+					App.DownFlag = false;
+					App.UpFlag = false;
+					App.StopCollDelay1mSCnt = STOP_TIME_MS;
+				}
 			}
-			else if(Olu_diff1 < (App.ADTrack.LeftUpVPT / 2)
-			&& Oll_diff1 > -(App.ADTrack.LeftLowVPT / 2))
+			else if(App.RightRunFalg == true)
 			{
-				//BDC_STOP();
-				Motor_Control(MOTOR_CMD_STOP);
-				App.StopFlag = true;
-				App.DownFlag = false;
-				App.UpFlag = false;
-				App.StopCollDelay1mSCnt = 1000;
-			}
-		}
-		else if(App.RightRunFalg == true)
-		{
-			if(ru_slope > App.ADTrack.Slope_VPT
-			&& rl_slope < -App.ADTrack.Slope_VPT)
-			{
-					//BDC_STOP();
-				Motor_Control(MOTOR_CMD_STOP);
-				App.StopFlag = true;
-				App.DownFlag = false;
-				App.UpFlag = false;
-				App.StopCollDelay1mSCnt = 1000;
-			}
-			else if(Oru_diff1 < (App.ADTrack.RightUpVPT / 2)
-			&& Orl_diff1 > -(App.ADTrack.RightLowVPT / 2))
-			{
-				//BDC_STOP();
-				Motor_Control(MOTOR_CMD_STOP);
-				App.StopFlag = true;
-				App.DownFlag = false;
-				App.UpFlag = false;
-				App.StopCollDelay1mSCnt = 1000;
+				if(ru_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();
+//					App.StopFlag = true;
+//					App.DownFlag = false;
+//					App.UpFlag = false;
+//					App.StopCollDelay1mSCnt = STOP_TIME_MS;
+//				}
 			}
 		}
 	}
@@ -521,18 +527,18 @@ static void AppLoopHandler(void)
 		
 		case APP_STATUS_WAIT:{
 			if(App.TD1mSDelayCnt <= 0)
-			{				
+			{
 				App.WaitFlag = true;
 				App.UpFlag = false;
 				App.DownFlag = false;
 				App.StopFlag = true;
 				App.EvenRunning = false;
 				
-				App.ADTrack.Slope_VPT = 1000;
-				App.ADTrack.LeftUpVPT = 20000;
-				App.ADTrack.LeftLowVPT = 20000;
-				App.ADTrack.RightUpVPT = 20000;
-				App.ADTrack.RightLowVPT = 20000;			
+				App.ADTrack.Slope_VPT = 1500;
+				App.ADTrack.LeftUpVPT = 10000;
+				App.ADTrack.LeftLowVPT = 10000;
+				App.ADTrack.RightUpVPT = 10000;
+				App.ADTrack.RightLowVPT = 10000;			
 				
 				App.ADTrack.LeftUp_Org_AdZero = App.LeftUpCS1237_TrendArray[0];
 				App.ADTrack.LeftLow_Org_AdZero = App.LeftLowCS1237_TrendArray[0];
@@ -558,6 +564,8 @@ static void App1mSRoutine(void)
 		App.Uart1Delay1mSCnt--;
 	if(App.StopCollDelay1mSCnt > 0)
 		App.StopCollDelay1mSCnt--;
+	if(App.RunCollDelay1mSCnt > 0)
+		App.RunCollDelay1mSCnt--;
 	
 	if(App.EvenRunning == true)
 		App.EvenRunDelay1mSCnt++;