diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index d54ba96..67f5d91 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -224,7 +224,7 @@ void ChassisTask() {
             chassis_cmd_recv.wz = 10.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
             break;
         case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
-            chassis_cmd_recv.wz = 20000;
+            chassis_cmd_recv.wz = 15000;
             break;
         default:
             break;
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 2fe4992..6d11757 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -116,14 +116,14 @@ static void CalcOffsetAngle() {
  */
 static void RemoteControlSet() {
     // 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
-    if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台
+    if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
+    {
+        chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
+        gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
+    } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],,底盘跟随云台
     {
         chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
         gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
-    } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动
-    {
-        chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
-        gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
     }
 //    else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上],小陀螺
 //    {
diff --git a/modules/referee/referee_protocol.h b/modules/referee/referee_protocol.h
index 0070412..22416b3 100644
--- a/modules/referee/referee_protocol.h
+++ b/modules/referee/referee_protocol.h
@@ -16,8 +16,8 @@
 /****************************宏定义部分****************************/
 
 #define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
-#define Robot_Red 1
-#define Robot_Blue 0
+#define Robot_Red 0
+#define Robot_Blue 1
 #define Communicate_Data_LEN 5 // 自定义交互数据长度，该长度决定了我方发送和他方接收，自定义交互数据协议更改时只需要更改此宏定义即可
 
 #pragma pack(1)