diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index 5b7904c..470fd12 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -153,7 +153,24 @@
           <Name>UL2CM3(-S0 -C0 -P0 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K -FS00 -FL080000 -FF1HC32F460_otp -FS13000C00 -FL13FC -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM))</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>504</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>32426</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\source\User\Src\main.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\BombSensor\../source/User/Src/main.c\504</Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
diff --git a/Project/HC32F460/source/User/Inc/main.h b/Project/HC32F460/source/User/Inc/main.h
index c8a0986..7106d67 100644
--- a/Project/HC32F460/source/User/Inc/main.h
+++ b/Project/HC32F460/source/User/Inc/main.h
@@ -11,7 +11,7 @@
 #define 	SLOPE_CNT			  20
 
 #define 	SLOPE_VPT				1000
-#define		PRESS_VPT				10
+#define		PRESS_VPT				3
 #define		FOLLOW_VPT			10
 #define		SHIELD_VPT			2
 #define		EME_STOP_VPT		4000
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index 3d81cc9..68e6320 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -266,8 +266,6 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 	int32_t RightSlopeSum = abs(App.RightUpCS1237_SlopeArray[0]) + abs(App.RightLowCS1237_SlopeArray[0]) + abs(App.RightUpCS1237_SlopeArray[1]) + abs(App.RightLowCS1237_SlopeArray[1]) + abs(App.RightUpCS1237_SlopeArray[2]) + abs(App.RightLowCS1237_SlopeArray[2]);
 	int32_t LeftDiffSum = abs(lu_diff[0]) + abs(lu_diff[1]) + abs(lu_diff[2]) + abs(ll_diff[0]) + abs(ll_diff[1]) + abs(ll_diff[2]);
 	int32_t RightDiffSum = abs(ru_diff[0]) + abs(ru_diff[1]) + abs(ru_diff[2]) + abs(rl_diff[0]) + abs(rl_diff[1]) + abs(rl_diff[2]);
-	int32_t LeftDiff = abs(Oll_diff1) + abs(Olu_diff1) + abs(Oll_diff2) + abs(Olu_diff2) + abs(Oll_diff3) + abs(Olu_diff3);
-	int32_t RightDiff = abs(Orl_diff1) + abs(Oru_diff1) + abs(Orl_diff2) + abs(Oru_diff2) + abs(Orl_diff3) + abs(Oru_diff3);
 	int32_t LuSideDiff = lu_ad[0] - lu_ad[5];
 	int32_t LlSideDiff = ll_ad[0] - ll_ad[5];
 	int32_t RuSideDiff = ru_ad[0] - ru_ad[5];
@@ -327,16 +325,16 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 		{
 			App.CentreRunFalg = true;
 			App.CentCollDelay1mSCnt = CENT_TIME_MS;
-			if(abs(Oll_diff1) > abs(Orl_diff1)
-			&& abs(Oll_diff2) > abs(Orl_diff2)
-			&& abs(Oll_diff3) > abs(Orl_diff3)
-			&& abs(Olu_diff1) > abs(Oru_diff1)
-			&& abs(Olu_diff2) > abs(Oru_diff2)
-			&& abs(Olu_diff3) > abs(Oru_diff3)
+			if(abs(Oll_diff1) + 100 > abs(Orl_diff1)
+			&& abs(Oll_diff2) + 100 > abs(Orl_diff2)
+			&& abs(Oll_diff3) + 100 > abs(Orl_diff3)
+			&& abs(Olu_diff1) + 100 > abs(Oru_diff1)
+			&& abs(Olu_diff2) + 100 > abs(Oru_diff2)
+			&& abs(Olu_diff3) + 100 > abs(Oru_diff3)
 			)//判断偏左还是偏右
 			{
 				App.LeftRunFalg = true;
-				if(((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT))//判断上下拉方向
+				if(((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT))//判断上拉
 				&& ((Olu_diff2+Oru_diff2) > (App.ADTrack.Stop_VPT))
 				&& ((Olu_diff3+Oru_diff3) > (App.ADTrack.Stop_VPT))
 				&& ((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
@@ -344,18 +342,18 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& ((Oll_diff3+Orl_diff3) < -(App.ADTrack.Stop_VPT))
 				)
 				{
-//					if(((CompareAndCountAbs(ll_ad,lu_ad,App.aaa,\
-//						App.ADTrack.LeftLow_Org_AdZero,App.ADTrack.LeftUp_Org_AdZero,\
-//						App.ccc) \
-//					+ \
-//						CompareAndCountAbs(rl_ad,ru_ad,App.aaa,\
-//						App.ADTrack.RightLow_Org_AdZero,App.ADTrack.RightUp_Org_AdZero,\
-//						App.ccc)
-//					) >= App.bbb)
-//					)//判断是否不是正面压
-//					 if((abs(Oru_diff1) < abs(Orl_diff1)*2)//判断是否不是正面压		
-//					 && (abs(Oru_diff2) < abs(Orl_diff2)*2)
-//					 && (abs(Oru_diff3) < abs(Orl_diff3)*2))
+					if((App.RightUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
+					&& (App.RightUpCS1237_SlopeArray[1] <= -PRESS_VPT) 
+					&& (App.RightUpCS1237_SlopeArray[2] <= -PRESS_VPT) 
+					&& (App.RightLowCS1237_SlopeArray[0] >= PRESS_VPT)	
+					&& (App.RightLowCS1237_SlopeArray[1] >= PRESS_VPT)
+					&& (App.RightLowCS1237_SlopeArray[2] >= PRESS_VPT)
+					&& (App.LeftUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
+					&& (App.LeftUpCS1237_SlopeArray[1] <= -PRESS_VPT) 
+					&& (App.LeftUpCS1237_SlopeArray[2] <= -PRESS_VPT) 
+					&& (App.LeftLowCS1237_SlopeArray[0] >= PRESS_VPT)	
+					&& (App.LeftLowCS1237_SlopeArray[1] >= PRESS_VPT)
+					&& (App.LeftLowCS1237_SlopeArray[2] >= PRESS_VPT))
 					{
 						if(App.MotorPara.Current_height < 1195)
 						{
@@ -369,7 +367,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						}
 					}
 				}
-				else if(((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT))//判断上下拉方向
+				else if(((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT))//判断下拉
 				&& ((Olu_diff2+Oru_diff2) < -(App.ADTrack.Stop_VPT))
 				&& ((Olu_diff3+Oru_diff3) < -(App.ADTrack.Stop_VPT))
 				&& ((Oll_diff1+Orl_diff1) > (App.ADTrack.Stop_VPT))
@@ -377,18 +375,18 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& ((Oll_diff3+Orl_diff3) > (App.ADTrack.Stop_VPT))
 				)
 				{
-//					if(((CompareAndCountAbs(lu_ad,ll_ad,App.aaa,\
-//						App.ADTrack.LeftUp_Org_AdZero,App.ADTrack.LeftLow_Org_AdZero,\
-//						App.ccc) \
-//					+ \
-//						CompareAndCountAbs(ru_ad,rl_ad,App.aaa,\
-//						App.ADTrack.RightUp_Org_AdZero,App.ADTrack.RightLow_Org_AdZero,\
-//						App.ccc)
-//					) >= App.bbb)
-//					)//判断是否不是正面压
-//					 if((abs(Oru_diff1) > abs(Orl_diff1)*2)//判断是否不是正面压		
-//					 && (abs(Oru_diff2) > abs(Orl_diff2)*2)
-//					 && (abs(Oru_diff3) > abs(Orl_diff3)*2))
+					if((App.RightUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
+					&& (App.RightUpCS1237_SlopeArray[1] >= PRESS_VPT) 
+					&& (App.RightUpCS1237_SlopeArray[2] >= PRESS_VPT) 
+					&& (App.RightLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
+					&& (App.RightLowCS1237_SlopeArray[1] <= -PRESS_VPT)
+					&& (App.RightLowCS1237_SlopeArray[2] <= -PRESS_VPT)
+					&& (App.LeftUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
+					&& (App.LeftUpCS1237_SlopeArray[1] >= PRESS_VPT) 
+					&& (App.LeftUpCS1237_SlopeArray[2] >= PRESS_VPT) 
+					&& (App.LeftLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
+					&& (App.LeftLowCS1237_SlopeArray[1] <= -PRESS_VPT)
+					&& (App.LeftLowCS1237_SlopeArray[2] <= -PRESS_VPT))
 					{
 						if(App.MotorPara.Current_height > 725)
 						{
@@ -403,16 +401,15 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					}
 				}
 			}
-			else if(abs(Oll_diff1) < abs(Orl_diff1)
-			&& abs(Oll_diff2) < abs(Orl_diff2)
-			&& abs(Oll_diff3) < abs(Orl_diff3)
-			&& abs(Olu_diff1) < abs(Oru_diff1)
-			&& abs(Olu_diff2) < abs(Oru_diff2)
-			&& abs(Olu_diff3) < abs(Oru_diff3)
-			)//判断偏左还是偏右
+			else if(abs(Oll_diff1) + 100 < abs(Orl_diff1)//判断偏左
+			&& abs(Oll_diff2) < abs(Orl_diff2) + 100
+			&& abs(Oll_diff3) < abs(Orl_diff3) + 100
+			&& abs(Olu_diff1) < abs(Oru_diff1) + 100
+			&& abs(Olu_diff2) < abs(Oru_diff2) + 100
+			&& abs(Olu_diff3) < abs(Oru_diff3) + 100)
 			{
 				App.RightRunFalg = true;
-				if(((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT))//判断上下拉方向
+				if(((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT))//判断上拉
 				&& ((Olu_diff2+Oru_diff2) > (App.ADTrack.Stop_VPT))
 				&& ((Olu_diff3+Oru_diff3) > (App.ADTrack.Stop_VPT))
 				&& ((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
@@ -420,17 +417,18 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& ((Oll_diff3+Orl_diff3) < -(App.ADTrack.Stop_VPT))
 				)
 				{
-//					if(((//|arr1[i] - zero1| + offset > |arr2[i] - zero2|
-//						CompareAndCountAbs(ll_ad,lu_ad,App.aaa,\
-//						App.ADTrack.LeftLow_Org_AdZero,App.ADTrack.LeftUp_Org_AdZero,\
-//						App.ccc) + \
-//						CompareAndCountAbs(rl_ad,ru_ad,App.aaa,\
-//						App.ADTrack.RightLow_Org_AdZero,App.ADTrack.RightUp_Org_AdZero,\
-//						App.ccc)) >= App.bbb)
-//					)//判断是否不是正面压		
-//					 if((abs(Olu_diff1) < abs(Oll_diff1)*2)//判断是否不是正面压		
-//					 && (abs(Olu_diff2) < abs(Oll_diff2)*2)
-//					 && (abs(Olu_diff3) < abs(Oll_diff3)*2))
+					if((App.RightUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
+					&& (App.RightUpCS1237_SlopeArray[1] <= -PRESS_VPT) 
+					&& (App.RightUpCS1237_SlopeArray[2] <= -PRESS_VPT) 
+					&& (App.RightLowCS1237_SlopeArray[0] >= PRESS_VPT)	
+					&& (App.RightLowCS1237_SlopeArray[1] >= PRESS_VPT)
+					&& (App.RightLowCS1237_SlopeArray[2] >= PRESS_VPT)
+					&& (App.LeftUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
+					&& (App.LeftUpCS1237_SlopeArray[1] <= -PRESS_VPT) 
+					&& (App.LeftUpCS1237_SlopeArray[2] <= -PRESS_VPT) 
+					&& (App.LeftLowCS1237_SlopeArray[0] >= PRESS_VPT)	
+					&& (App.LeftLowCS1237_SlopeArray[1] >= PRESS_VPT)
+					&& (App.LeftLowCS1237_SlopeArray[2] >= PRESS_VPT))
 					{
 						if(App.MotorPara.Current_height < 1195)
 						{
@@ -444,7 +442,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						}
 					}
 				}
-				else if(((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT))//判断上下拉方向
+				else if(((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT))//判断下拉
 				&& ((Olu_diff2+Oru_diff2) < -(App.ADTrack.Stop_VPT))
 				&& ((Olu_diff3+Oru_diff3) < -(App.ADTrack.Stop_VPT))
 				&& ((Oll_diff1+Orl_diff1) > (App.ADTrack.Stop_VPT))
@@ -452,17 +450,18 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& ((Oll_diff3+Orl_diff3) > (App.ADTrack.Stop_VPT))
 				)
 				{
-//					if(((//|arr1[i] - zero1| + offset > |arr2[i] - zero2|
-//						CompareAndCountAbs(lu_ad,ll_ad,App.aaa,\
-//						App.ADTrack.LeftUp_Org_AdZero,App.ADTrack.LeftLow_Org_AdZero,\
-//						App.ccc) + \
-//						CompareAndCountAbs(ru_ad,rl_ad,App.aaa,\
-//						App.ADTrack.RightUp_Org_AdZero,App.ADTrack.RightLow_Org_AdZero,\
-//						App.ccc)) >= App.bbb)
-//					)//判断是否不是正面压
-//					if((abs(Olu_diff1) > abs(Oll_diff1)*2)//判断是否不是正面压		
-//					 && (abs(Olu_diff2) > abs(Oll_diff2)*2)
-//					 && (abs(Olu_diff3) > abs(Oll_diff3)*2))
+					if((App.RightUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
+					&& (App.RightUpCS1237_SlopeArray[1] >= PRESS_VPT) 
+					&& (App.RightUpCS1237_SlopeArray[2] >= PRESS_VPT) 
+					&& (App.RightLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
+					&& (App.RightLowCS1237_SlopeArray[1] <= -PRESS_VPT)
+					&& (App.RightLowCS1237_SlopeArray[2] <= -PRESS_VPT)
+					&& (App.LeftUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
+					&& (App.LeftUpCS1237_SlopeArray[1] >= PRESS_VPT) 
+					&& (App.LeftUpCS1237_SlopeArray[2] >= PRESS_VPT) 
+					&& (App.LeftLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
+					&& (App.LeftLowCS1237_SlopeArray[1] <= -PRESS_VPT)
+					&& (App.LeftLowCS1237_SlopeArray[2] <= -PRESS_VPT))
 					{
 						if(App.MotorPara.Current_height > 725)
 						{
@@ -500,7 +499,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (App.RightLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
 				&& (App.RightLowCS1237_SlopeArray[1] <= -PRESS_VPT)
 				&& (App.RightLowCS1237_SlopeArray[2] <= -PRESS_VPT))
-				|| ((App.LeftUpCS1237_SlopeArray[0] <= -PRESS_VPT)//判断是否不是正面压 
+				|| ((App.LeftUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
 				&& (App.LeftUpCS1237_SlopeArray[1] <= -PRESS_VPT) 
 				&& (App.LeftUpCS1237_SlopeArray[2] <= -PRESS_VPT) 
 				&& (App.LeftLowCS1237_SlopeArray[0] >= PRESS_VPT)	
@@ -516,13 +515,13 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				{
 //					if(App.CaliZeroFlag == true)//判断是否校零
 					{
-						if((abs(Olu_diff1) > abs(Oru_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
-						&& (abs(Olu_diff2) > abs(Oru_diff2) * SHIELD_VPT)
-						&& (abs(Olu_diff3) > abs(Oru_diff3) * SHIELD_VPT)
-						&& (abs(Oll_diff1) > abs(Orl_diff1) * SHIELD_VPT)
-						&& (abs(Oll_diff3) > abs(Orl_diff2) * SHIELD_VPT)
-						&& (abs(Oll_diff3) > abs(Orl_diff3) * SHIELD_VPT)
-						)
+//						if((abs(Olu_diff1) > abs(Oru_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
+//						&& (abs(Olu_diff2) > abs(Oru_diff2) * SHIELD_VPT)
+//						&& (abs(Olu_diff3) > abs(Oru_diff3) * SHIELD_VPT)
+//						&& (abs(Oll_diff1) > abs(Orl_diff1) * SHIELD_VPT)
+//						&& (abs(Oll_diff3) > abs(Orl_diff2) * SHIELD_VPT)
+//						&& (abs(Oll_diff3) > abs(Orl_diff3) * SHIELD_VPT)
+//						)
 						{
 							if(App.MotorPara.Current_height < 1195)
 							{
@@ -552,19 +551,19 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (App.LeftLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
 				&& (App.LeftLowCS1237_SlopeArray[1] <= -PRESS_VPT)
 				&& (App.LeftLowCS1237_SlopeArray[2] <= -PRESS_VPT)
-				&&(App.RightUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
+				&& (App.RightUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
 				&& (App.RightUpCS1237_SlopeArray[1] <= -PRESS_VPT) 
 				&& (App.RightUpCS1237_SlopeArray[2] <= -PRESS_VPT) 
 				&& (App.RightLowCS1237_SlopeArray[0] >= PRESS_VPT)	
 				&& (App.RightLowCS1237_SlopeArray[1] >= PRESS_VPT)
 				&& (App.RightLowCS1237_SlopeArray[2] >= PRESS_VPT))
-				||((App.LeftUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
+				|| ((App.LeftUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
 				&& (App.LeftUpCS1237_SlopeArray[1] >= PRESS_VPT) 
 				&& (App.LeftUpCS1237_SlopeArray[2] >= PRESS_VPT) 
 				&& (App.LeftLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
 				&& (App.LeftLowCS1237_SlopeArray[1] <= -PRESS_VPT)
 				&& (App.LeftLowCS1237_SlopeArray[2] <= -PRESS_VPT)
-				&&(App.RightUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
+				&& (App.RightUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
 				&& (App.RightUpCS1237_SlopeArray[1] >= PRESS_VPT) 
 				&& (App.RightUpCS1237_SlopeArray[2] >= PRESS_VPT) 
 				&& (App.RightLowCS1237_SlopeArray[0] >= PRESS_VPT)	
@@ -574,13 +573,13 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				{
 //					if(App.CaliZeroFlag == true)//判断是否校零
 					{
-						if((abs(Olu_diff1) > abs(Oru_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
-						&& (abs(Olu_diff2) > abs(Oru_diff2) * SHIELD_VPT)
-						&& (abs(Olu_diff3) > abs(Oru_diff3) * SHIELD_VPT)
-						&& (abs(Oll_diff1) > abs(Orl_diff1) * SHIELD_VPT)
-						&& (abs(Oll_diff3) > abs(Orl_diff2) * SHIELD_VPT)
-						&& (abs(Oll_diff3) > abs(Orl_diff3) * SHIELD_VPT)
-						)
+//						if((abs(Olu_diff1) > abs(Oru_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
+//						&& (abs(Olu_diff2) > abs(Oru_diff2) * SHIELD_VPT)
+//						&& (abs(Olu_diff3) > abs(Oru_diff3) * SHIELD_VPT)
+//						&& (abs(Oll_diff1) > abs(Orl_diff1) * SHIELD_VPT)
+//						&& (abs(Oll_diff3) > abs(Orl_diff2) * SHIELD_VPT)
+//						&& (abs(Oll_diff3) > abs(Orl_diff3) * SHIELD_VPT)
+//						)
 						{
 							if(App.MotorPara.Current_height > 725)
 							{
@@ -625,23 +624,23 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (App.RightLowCS1237_SlopeArray[0] >= PRESS_VPT)	
 				&& (App.RightLowCS1237_SlopeArray[1] >= PRESS_VPT)
 				&& (App.RightLowCS1237_SlopeArray[2] >= PRESS_VPT)
-				&& (App.LeftUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
-				&& (App.LeftUpCS1237_SlopeArray[1] <= -PRESS_VPT) 
-				&& (App.LeftUpCS1237_SlopeArray[2] <= -PRESS_VPT) 
-				&& (App.LeftLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
-				&& (App.LeftLowCS1237_SlopeArray[1] <= -PRESS_VPT)
-				&& (App.LeftLowCS1237_SlopeArray[2] <= -PRESS_VPT))
+				&& (App.LeftUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
+				&& (App.LeftUpCS1237_SlopeArray[1] >= PRESS_VPT) 
+				&& (App.LeftUpCS1237_SlopeArray[2] >= PRESS_VPT) 
+				&& (App.LeftLowCS1237_SlopeArray[0] >= PRESS_VPT)	
+				&& (App.LeftLowCS1237_SlopeArray[1] >= PRESS_VPT)
+				&& (App.LeftLowCS1237_SlopeArray[2] >= PRESS_VPT))
 				)
 				{
 //					if(App.CaliZeroFlag == true)//判断是否校零
 					{
-						if((abs(Oru_diff1) > abs(Olu_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
-						&& (abs(Oru_diff2) > abs(Olu_diff2) * SHIELD_VPT)
-						&& (abs(Oru_diff3) > abs(Olu_diff3) * SHIELD_VPT)
-						&& (abs(Orl_diff1) > abs(Oll_diff1) * SHIELD_VPT)
-						&& (abs(Orl_diff3) > abs(Oll_diff2) * SHIELD_VPT)
-						&& (abs(Orl_diff3) > abs(Oll_diff3) * SHIELD_VPT)
-						)
+//						if((abs(Oru_diff1) > abs(Olu_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
+//						&& (abs(Oru_diff2) > abs(Olu_diff2) * SHIELD_VPT)
+//						&& (abs(Oru_diff3) > abs(Olu_diff3) * SHIELD_VPT)
+//						&& (abs(Orl_diff1) > abs(Oll_diff1) * SHIELD_VPT)
+//						&& (abs(Orl_diff3) > abs(Oll_diff2) * SHIELD_VPT)
+//						&& (abs(Orl_diff3) > abs(Oll_diff3) * SHIELD_VPT)
+//						)
 						{
 							if(App.MotorPara.Current_height < 1195)
 							{
@@ -682,23 +681,23 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				&& (App.RightLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
 				&& (App.RightLowCS1237_SlopeArray[1] <= -PRESS_VPT)
 				&& (App.RightLowCS1237_SlopeArray[2] <= -PRESS_VPT)
-			  && (App.LeftUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
-				&& (App.LeftUpCS1237_SlopeArray[1] >= PRESS_VPT) 
-				&& (App.LeftUpCS1237_SlopeArray[2] >= PRESS_VPT) 
-				&& (App.LeftLowCS1237_SlopeArray[0] >= PRESS_VPT)	
-				&& (App.LeftLowCS1237_SlopeArray[1] >= PRESS_VPT)
-				&& (App.LeftLowCS1237_SlopeArray[2] >= PRESS_VPT))
+			  && (App.LeftUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
+				&& (App.LeftUpCS1237_SlopeArray[1] <= -PRESS_VPT) 
+				&& (App.LeftUpCS1237_SlopeArray[2] <= -PRESS_VPT) 
+				&& (App.LeftLowCS1237_SlopeArray[0] <= -PRESS_VPT)	
+				&& (App.LeftLowCS1237_SlopeArray[1] <= -PRESS_VPT)
+				&& (App.LeftLowCS1237_SlopeArray[2] <= -PRESS_VPT))
 				)
 				{
 //					if(App.CaliZeroFlag == true)//判断是否校零
 					{
-						if((abs(Oru_diff1) > abs(Olu_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
-						&& (abs(Oru_diff2) > abs(Olu_diff2) * SHIELD_VPT)
-						&& (abs(Oru_diff3) > abs(Olu_diff3) * SHIELD_VPT)
-						&& (abs(Orl_diff1) > abs(Oll_diff1) * SHIELD_VPT)
-						&& (abs(Orl_diff3) > abs(Oll_diff2) * SHIELD_VPT)
-						&& (abs(Orl_diff3) > abs(Oll_diff3) * SHIELD_VPT)
-						)
+//						if((abs(Oru_diff1) > abs(Olu_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
+//						&& (abs(Oru_diff2) > abs(Olu_diff2) * SHIELD_VPT)
+//						&& (abs(Oru_diff3) > abs(Olu_diff3) * SHIELD_VPT)
+//						&& (abs(Orl_diff1) > abs(Oll_diff1) * SHIELD_VPT)
+//						&& (abs(Orl_diff3) > abs(Oll_diff2) * SHIELD_VPT)
+//						&& (abs(Orl_diff3) > abs(Oll_diff3) * SHIELD_VPT)
+//						)
 						{
 							if(App.MotorPara.Current_height > 725)
 							{
@@ -1105,7 +1104,7 @@ static void AppLoopHandler(void)
 		break;}
 		
 		case APP_STATUS_MOTOR_INIT:{
-			Beeper_Start(200,0,1);
+			Beeper_Start(200,200,2);
 			LED_RED_ON();
 			LED_GREEN_OFF();
 			BDC_UP();
@@ -1251,7 +1250,7 @@ static void AppLoopHandler(void)
 		case APP_STATUS_WAIT_STEADY:{
 			if(App.TD1mSDelayCnt <= 0)
 			{
-				Beeper_Start(200,200,2);
+				Beeper_Start(300,0,1);
 				App.SideFlag = false;
 				App.CaliZeroFlag = false;
 				App.UpFlag = false;