diff --git a/Src/main.c b/Src/main.cpp
similarity index 100%
rename from Src/main.c
rename to Src/main.cpp
diff --git a/application/balance/balance.cpp b/application/balance/balance.cpp
index be07ae2..547b69f 100644
--- a/application/balance/balance.cpp
+++ b/application/balance/balance.cpp
@@ -71,30 +71,30 @@ void get_lqr_k(float L0, float K[12])
      */
     t2 = L0 * L0;
     t3 = t2 * L0;
-    /*     24-Jan-2024 14:05:09 */
-    K_temp[0] = ((L0 * -141.116669F + t2 * 130.64769F) - t3 * 75.0153351F) - 1.856107F;
+    /*     06-Mar-2024 21:40:29 */
+    K_temp[0] =
+            ((L0 * -161.752151F + t2 * 164.793869F) - t3 * 97.0541687F) - 1.77457297F;
     K_temp[1] =
-            ((L0 * 61.3573303F - t2 * 179.144104F) + t3 * 174.797318F) + 2.33913779F;
+            ((L0 * 96.1845703F - t2 * 284.733704F) + t3 * 279.889618F) + 3.29777265F;
     K_temp[2] =
-            ((L0 * -13.9213181F - t2 * 17.6587467F) + t3 * 15.9025316F) - 0.53222841F;
+            ((L0 * -15.8959455F - t2 * 17.009819F) + t3 * 16.7305775F) - 0.452344805F;
     K_temp[3] =
-            ((L0 * 2.06703424F - t2 * 7.27073288F) + t3 * 6.41747713F) + 0.598731041F;
-    K_temp[4] =
-            ((L0 * -3.48888779F + t2 * 5.95020676F) - t3 * 3.25835323F) - 9.27006531F;
+            ((L0 * 5.66845322F - t2 * 16.5131245F) + t3 * 14.656208F) + 0.677895188F;
+    K_temp[4] = ((L0 * -7.06628323F + t2 * 13.4040155F) - t3 * 8.83661747F) - 8.61461F;
     K_temp[5] =
-            ((L0 * -19.3605652F + t2 * 5.27040243F) + t3 * 19.7889462F) + 8.40925217F;
-    K_temp[6] = ((L0 * -0.848105669F - t2 * 14.6889477F) + t3 * 20.0115433F) -
-                10.4576302F;
+            ((L0 * -28.798315F + t2 * 17.1446743F) + t3 * 15.3877935F) + 11.4884624F;
+    K_temp[6] =
+            ((L0 * -5.75727034F - t2 * 3.09837651F) + t3 * 10.1307449F) - 9.7942028F;
     K_temp[7] =
-            ((L0 * -25.0337353F + t2 * 27.6494694F) - t3 * 6.41098928F) + 8.5957756F;
+            ((L0 * -33.38451F + t2 * 35.8943558F) - t3 * 7.07260895F) + 11.7050676F;
     K_temp[8] =
-            ((L0 * -67.2155914F + t2 * 92.1350479F) - t3 * 50.9733543F) + 29.9440556F;
+            ((L0 * -83.7100143F + t2 * 109.333092F) - t3 * 54.9969864F) + 36.5699463F;
     K_temp[9] =
-            ((L0 * 74.7469635F - t2 * 150.980896F) + t3 * 115.21946F) + 63.3836441F;
-    K_temp[10] =
-            ((L0 * -4.06481314F + t2 * 2.58104968F) + t3 * 0.92904079F) + 4.43995333F;
+            ((L0 * 124.852882F - t2 * 253.387085F) + t3 * 193.295883F) + 55.7350769F;
+    K_temp[10] = ((L0 * -6.44499636F + t2 * 5.48124027F) - t3 * 0.516800761F) +
+                 5.52106953F;
     K_temp[11] =
-            ((L0 * 4.27840805F + t2 * 2.30248642F) - t3 * 10.0091085F) + 3.51449132F;
+            ((L0 * 12.3147469F - t2 * 13.2560177F) + t3 * 1.4054811F) + 2.85080624F;
 
     //matlab赋值顺序不同
     for (int i = 0; i < 6; ++i) {
diff --git a/application/chassis/chassis.c b/application/chassis/chassis.cpp
similarity index 98%
rename from application/chassis/chassis.c
rename to application/chassis/chassis.cpp
index 5cddf98..1ee3151 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.cpp
@@ -22,7 +22,7 @@
 #include "power_meter.h"
 #include "ins_task.h"
 
-#include "balance_old.h"
+#include "balance.h"
 #include "observer.h"
 
 #include "general_def.h"
@@ -31,12 +31,14 @@
 #include "arm_math.h"
 #include "vofa.h"
 #include "user_lib.h"
+#include "balance.h"
 /* 根据robot_def.h中的macro自动计算的参数 */
 #define HALF_WHEEL_BASE (WHEEL_BASE / 2.0f)     // 半轴距
 #define HALF_TRACK_WIDTH (TRACK_WIDTH / 2.0f)   // 半轮距
 #define PERIMETER_WHEEL (RADIUS_WHEEL * 2 * PI) // 轮子周长
 
 /* 底盘应用包含的模块和信息存储,底盘是单例模式,因此不需要为底盘建立单独的结构体 */
+
 #ifdef CHASSIS_BOARD // 如果是底盘板,使用板载IMU获取底盘转动角速度
 #include "can_comm.h"
 #include "ins_task.h"
@@ -65,9 +67,10 @@ static LKMotorInstance *wheel_motor_r,*wheel_motor_l;
 static float chassis_vx, chassis_vy;     // 将云台系的速度投影到底盘
 static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出,待进行限幅
 
-static LegInstance legInstance;
 
-Balance_Control_t BalanceControl;
+
+
+balance balance_chassis();
 
 BalanceObserver Observer;
 
@@ -75,6 +78,7 @@ PIDInstance Turn_Loop_PID , Roll_Loop_PID;
 
 Chassis_state_e ChassisState;
 
+
 void ChassisInit()
 {
     // 四个关节电机的参数,改tx_id和反转标志位即可
@@ -176,7 +180,7 @@ void ChassisInit()
                     .Ki = 0,
                     .Kd = 3,
                     .MaxOut = 3,
-                    .Improve =  PID_Derivative_On_Measurement| PID_DerivativeFilter,
+                    .Improve = static_cast<PID_Improvement_e>(PID_Derivative_On_Measurement | PID_DerivativeFilter),
                     .Derivative_LPF_RC = 0.01f,
             },
             .LQR_state_num = 6,
@@ -185,7 +189,7 @@ void ChassisInit()
     };
 
     //Leg_Init(&legInstance,&leg_r_init_conf);
-    Balance_Control_Init(&BalanceControl,balanceInitConfig);
+
     Chassis_IMU_data = INS_Init(); // 底盘IMU初始化
     //转向环
     PID_Init_Config_s turn_pid_cfg = {
diff --git a/application/chassis/chassis.h b/application/chassis/chassis.h
index b8b95bd..4ca0cdf 100644
--- a/application/chassis/chassis.h
+++ b/application/chassis/chassis.h
@@ -13,6 +13,8 @@ void ChassisInit();
  */
 void ChassisTask();
 
+
+
 typedef enum
 {
     FAIL = 0,
diff --git a/application/robot.c b/application/robot.cpp
similarity index 100%
rename from application/robot.c
rename to application/robot.cpp