diff --git a/Src/tim.c b/Src/tim.c
index 713cc37..a1d1ff1 100644
--- a/Src/tim.c
+++ b/Src/tim.c
@@ -34,570 +34,570 @@ TIM_HandleTypeDef htim10;
 void MX_TIM1_Init(void)
 {
 
-  /* USER CODE BEGIN TIM1_Init 0 */
+    /* USER CODE BEGIN TIM1_Init 0 */
 
-  /* USER CODE END TIM1_Init 0 */
+    /* USER CODE END TIM1_Init 0 */
 
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
-  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+    TIM_MasterConfigTypeDef sMasterConfig = {0};
+    TIM_OC_InitTypeDef sConfigOC = {0};
+    TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
 
-  /* USER CODE BEGIN TIM1_Init 1 */
+    /* USER CODE BEGIN TIM1_Init 1 */
 
-  /* USER CODE END TIM1_Init 1 */
-  htim1.Instance = TIM1;
-  htim1.Init.Prescaler = 167;
-  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 19999;
-  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim1.Init.RepetitionCounter = 0;
-  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 0;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
-  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
-  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
-  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
-  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
-  sBreakDeadTimeConfig.DeadTime = 0;
-  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
-  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
-  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
-  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM1_Init 2 */
+    /* USER CODE END TIM1_Init 1 */
+    htim1.Instance = TIM1;
+    htim1.Init.Prescaler = 167;
+    htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+    htim1.Init.Period = 19999;
+    htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    htim1.Init.RepetitionCounter = 0;
+    htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+    if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+    if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+    if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sConfigOC.OCMode = TIM_OCMODE_PWM1;
+    sConfigOC.Pulse = 0;
+    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+    sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+    sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+    sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+    if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+    sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+    sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+    sBreakDeadTimeConfig.DeadTime = 0;
+    sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+    sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+    sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+    if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    /* USER CODE BEGIN TIM1_Init 2 */
 
-  /* USER CODE END TIM1_Init 2 */
-  HAL_TIM_MspPostInit(&htim1);
+    /* USER CODE END TIM1_Init 2 */
+    HAL_TIM_MspPostInit(&htim1);
 
 }
 /* TIM4 init function */
 void MX_TIM4_Init(void)
 {
 
-  /* USER CODE BEGIN TIM4_Init 0 */
+    /* USER CODE BEGIN TIM4_Init 0 */
 
-  /* USER CODE END TIM4_Init 0 */
+    /* USER CODE END TIM4_Init 0 */
 
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
+    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+    TIM_MasterConfigTypeDef sMasterConfig = {0};
+    TIM_OC_InitTypeDef sConfigOC = {0};
 
-  /* USER CODE BEGIN TIM4_Init 1 */
+    /* USER CODE BEGIN TIM4_Init 1 */
 
-  /* USER CODE END TIM4_Init 1 */
-  htim4.Instance = TIM4;
-  htim4.Init.Prescaler = 167;
-  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = 65535;
-  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 0;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM4_Init 2 */
+    /* USER CODE END TIM4_Init 1 */
+    htim4.Instance = TIM4;
+    htim4.Init.Prescaler = 167;
+    htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+    htim4.Init.Period = 65535;
+    htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+    if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+    if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+    if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sConfigOC.OCMode = TIM_OCMODE_PWM1;
+    sConfigOC.Pulse = 0;
+    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+    if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    /* USER CODE BEGIN TIM4_Init 2 */
 
-  /* USER CODE END TIM4_Init 2 */
-  HAL_TIM_MspPostInit(&htim4);
+    /* USER CODE END TIM4_Init 2 */
+    HAL_TIM_MspPostInit(&htim4);
 
 }
 /* TIM5 init function */
 void MX_TIM5_Init(void)
 {
 
-  /* USER CODE BEGIN TIM5_Init 0 */
+    /* USER CODE BEGIN TIM5_Init 0 */
 
-  /* USER CODE END TIM5_Init 0 */
+    /* USER CODE END TIM5_Init 0 */
 
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
+    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+    TIM_MasterConfigTypeDef sMasterConfig = {0};
+    TIM_OC_InitTypeDef sConfigOC = {0};
 
-  /* USER CODE BEGIN TIM5_Init 1 */
+    /* USER CODE BEGIN TIM5_Init 1 */
 
-  /* USER CODE END TIM5_Init 1 */
-  htim5.Instance = TIM5;
-  htim5.Init.Prescaler = 0;
-  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim5.Init.Period = 65535;
-  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 0;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM5_Init 2 */
+    /* USER CODE END TIM5_Init 1 */
+    htim5.Instance = TIM5;
+    htim5.Init.Prescaler = 0;
+    htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
+    htim5.Init.Period = 65535;
+    htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+    if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+    if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+    if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sConfigOC.OCMode = TIM_OCMODE_PWM1;
+    sConfigOC.Pulse = 0;
+    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+    if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    /* USER CODE BEGIN TIM5_Init 2 */
 
-  /* USER CODE END TIM5_Init 2 */
-  HAL_TIM_MspPostInit(&htim5);
+    /* USER CODE END TIM5_Init 2 */
+    HAL_TIM_MspPostInit(&htim5);
 
 }
 /* TIM8 init function */
 void MX_TIM8_Init(void)
 {
 
-  /* USER CODE BEGIN TIM8_Init 0 */
+    /* USER CODE BEGIN TIM8_Init 0 */
 
-  /* USER CODE END TIM8_Init 0 */
+    /* USER CODE END TIM8_Init 0 */
 
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
-  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+    TIM_MasterConfigTypeDef sMasterConfig = {0};
+    TIM_OC_InitTypeDef sConfigOC = {0};
+    TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
 
-  /* USER CODE BEGIN TIM8_Init 1 */
+    /* USER CODE BEGIN TIM8_Init 1 */
 
-  /* USER CODE END TIM8_Init 1 */
-  htim8.Instance = TIM8;
-  htim8.Init.Prescaler = 167;
-  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim8.Init.Period = 19999;
-  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim8.Init.RepetitionCounter = 0;
-  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_OC_Init(&htim8) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 2000;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
-  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
-  if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
-  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
-  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
-  sBreakDeadTimeConfig.DeadTime = 0;
-  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
-  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
-  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
-  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM8_Init 2 */
+    /* USER CODE END TIM8_Init 1 */
+    htim8.Instance = TIM8;
+    htim8.Init.Prescaler = 167;
+    htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+    htim8.Init.Period = 19999;
+    htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    htim8.Init.RepetitionCounter = 0;
+    htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+    if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+    if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_OC_Init(&htim8) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+    if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sConfigOC.OCMode = TIM_OCMODE_PWM1;
+    sConfigOC.Pulse = 2000;
+    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+    sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+    sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+    sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+    if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+    sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+    sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+    sBreakDeadTimeConfig.DeadTime = 0;
+    sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+    sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+    sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+    if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    /* USER CODE BEGIN TIM8_Init 2 */
 
-  /* USER CODE END TIM8_Init 2 */
-  HAL_TIM_MspPostInit(&htim8);
+    /* USER CODE END TIM8_Init 2 */
+    HAL_TIM_MspPostInit(&htim8);
 
 }
 /* TIM10 init function */
 void MX_TIM10_Init(void)
 {
 
-  /* USER CODE BEGIN TIM10_Init 0 */
+    /* USER CODE BEGIN TIM10_Init 0 */
 
-  /* USER CODE END TIM10_Init 0 */
+    /* USER CODE END TIM10_Init 0 */
 
-  TIM_OC_InitTypeDef sConfigOC = {0};
+    TIM_OC_InitTypeDef sConfigOC = {0};
 
-  /* USER CODE BEGIN TIM10_Init 1 */
+    /* USER CODE BEGIN TIM10_Init 1 */
 
-  /* USER CODE END TIM10_Init 1 */
-  htim10.Instance = TIM10;
-  htim10.Init.Prescaler = 167;
-  htim10.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim10.Init.Period = 5000-1;
-  htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim10) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim10) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 0;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim10, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM10_Init 2 */
+    /* USER CODE END TIM10_Init 1 */
+    htim10.Instance = TIM10;
+    htim10.Init.Prescaler = 167;
+    htim10.Init.CounterMode = TIM_COUNTERMODE_UP;
+    htim10.Init.Period = 5000-1;
+    htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+    if (HAL_TIM_Base_Init(&htim10) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (HAL_TIM_PWM_Init(&htim10) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    sConfigOC.OCMode = TIM_OCMODE_PWM1;
+    sConfigOC.Pulse = 0;
+    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+    if (HAL_TIM_PWM_ConfigChannel(&htim10, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    /* USER CODE BEGIN TIM10_Init 2 */
 
-  /* USER CODE END TIM10_Init 2 */
-  HAL_TIM_MspPostInit(&htim10);
+    /* USER CODE END TIM10_Init 2 */
+    HAL_TIM_MspPostInit(&htim10);
 
 }
 
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM1)
-  {
-  /* USER CODE BEGIN TIM1_MspInit 0 */
+    if(tim_baseHandle->Instance==TIM1)
+    {
+        /* USER CODE BEGIN TIM1_MspInit 0 */
 
-  /* USER CODE END TIM1_MspInit 0 */
-    /* TIM1 clock enable */
-    __HAL_RCC_TIM1_CLK_ENABLE();
-  /* USER CODE BEGIN TIM1_MspInit 1 */
+        /* USER CODE END TIM1_MspInit 0 */
+        /* TIM1 clock enable */
+        __HAL_RCC_TIM1_CLK_ENABLE();
+        /* USER CODE BEGIN TIM1_MspInit 1 */
 
-  /* USER CODE END TIM1_MspInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM4)
-  {
-  /* USER CODE BEGIN TIM4_MspInit 0 */
+        /* USER CODE END TIM1_MspInit 1 */
+    }
+    else if(tim_baseHandle->Instance==TIM4)
+    {
+        /* USER CODE BEGIN TIM4_MspInit 0 */
 
-  /* USER CODE END TIM4_MspInit 0 */
-    /* TIM4 clock enable */
-    __HAL_RCC_TIM4_CLK_ENABLE();
-  /* USER CODE BEGIN TIM4_MspInit 1 */
+        /* USER CODE END TIM4_MspInit 0 */
+        /* TIM4 clock enable */
+        __HAL_RCC_TIM4_CLK_ENABLE();
+        /* USER CODE BEGIN TIM4_MspInit 1 */
 
-  /* USER CODE END TIM4_MspInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM5)
-  {
-  /* USER CODE BEGIN TIM5_MspInit 0 */
+        /* USER CODE END TIM4_MspInit 1 */
+    }
+    else if(tim_baseHandle->Instance==TIM5)
+    {
+        /* USER CODE BEGIN TIM5_MspInit 0 */
 
-  /* USER CODE END TIM5_MspInit 0 */
-    /* TIM5 clock enable */
-    __HAL_RCC_TIM5_CLK_ENABLE();
-  /* USER CODE BEGIN TIM5_MspInit 1 */
+        /* USER CODE END TIM5_MspInit 0 */
+        /* TIM5 clock enable */
+        __HAL_RCC_TIM5_CLK_ENABLE();
+        /* USER CODE BEGIN TIM5_MspInit 1 */
 
-  /* USER CODE END TIM5_MspInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM8)
-  {
-  /* USER CODE BEGIN TIM8_MspInit 0 */
+        /* USER CODE END TIM5_MspInit 1 */
+    }
+    else if(tim_baseHandle->Instance==TIM8)
+    {
+        /* USER CODE BEGIN TIM8_MspInit 0 */
 
-  /* USER CODE END TIM8_MspInit 0 */
-    /* TIM8 clock enable */
-    __HAL_RCC_TIM8_CLK_ENABLE();
+        /* USER CODE END TIM8_MspInit 0 */
+        /* TIM8 clock enable */
+        __HAL_RCC_TIM8_CLK_ENABLE();
 
-    /* TIM8 interrupt Init */
-    HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 15, 0);
-    HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
-  /* USER CODE BEGIN TIM8_MspInit 1 */
+        /* TIM8 interrupt Init */
+        HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 15, 0);
+        HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
+        /* USER CODE BEGIN TIM8_MspInit 1 */
 
-  /* USER CODE END TIM8_MspInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM10)
-  {
-  /* USER CODE BEGIN TIM10_MspInit 0 */
+        /* USER CODE END TIM8_MspInit 1 */
+    }
+    else if(tim_baseHandle->Instance==TIM10)
+    {
+        /* USER CODE BEGIN TIM10_MspInit 0 */
 
-  /* USER CODE END TIM10_MspInit 0 */
-    /* TIM10 clock enable */
-    __HAL_RCC_TIM10_CLK_ENABLE();
-  /* USER CODE BEGIN TIM10_MspInit 1 */
+        /* USER CODE END TIM10_MspInit 0 */
+        /* TIM10 clock enable */
+        __HAL_RCC_TIM10_CLK_ENABLE();
+        /* USER CODE BEGIN TIM10_MspInit 1 */
 
-  /* USER CODE END TIM10_MspInit 1 */
-  }
+        /* USER CODE END TIM10_MspInit 1 */
+    }
 }
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 {
 
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(timHandle->Instance==TIM1)
-  {
-  /* USER CODE BEGIN TIM1_MspPostInit 0 */
+    GPIO_InitTypeDef GPIO_InitStruct = {0};
+    if(timHandle->Instance==TIM1)
+    {
+        /* USER CODE BEGIN TIM1_MspPostInit 0 */
 
-  /* USER CODE END TIM1_MspPostInit 0 */
-    __HAL_RCC_GPIOE_CLK_ENABLE();
-    /**TIM1 GPIO Configuration
-    PE13     ------> TIM1_CH3
-    PE9     ------> TIM1_CH1
-    PE11     ------> TIM1_CH2
-    PE14     ------> TIM1_CH4
-    */
-    GPIO_InitStruct.Pin = GPIO_PIN_13|SERVO_Pin|GPIO_PIN_11|GPIO_PIN_14;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
-    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+        /* USER CODE END TIM1_MspPostInit 0 */
+        __HAL_RCC_GPIOE_CLK_ENABLE();
+        /**TIM1 GPIO Configuration
+        PE13     ------> TIM1_CH3
+        PE9     ------> TIM1_CH1
+        PE11     ------> TIM1_CH2
+        PE14     ------> TIM1_CH4
+        */
+        GPIO_InitStruct.Pin = GPIO_PIN_13|SERVO_Pin|GPIO_PIN_11|GPIO_PIN_14;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_NOPULL;
+        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+        HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-  /* USER CODE BEGIN TIM1_MspPostInit 1 */
+        /* USER CODE BEGIN TIM1_MspPostInit 1 */
 
-  /* USER CODE END TIM1_MspPostInit 1 */
-  }
-  else if(timHandle->Instance==TIM4)
-  {
-  /* USER CODE BEGIN TIM4_MspPostInit 0 */
+        /* USER CODE END TIM1_MspPostInit 1 */
+    }
+    else if(timHandle->Instance==TIM4)
+    {
+        /* USER CODE BEGIN TIM4_MspPostInit 0 */
 
-  /* USER CODE END TIM4_MspPostInit 0 */
+        /* USER CODE END TIM4_MspPostInit 0 */
 
-    __HAL_RCC_GPIOD_CLK_ENABLE();
-    /**TIM4 GPIO Configuration
-    PD14     ------> TIM4_CH3
-    */
-    GPIO_InitStruct.Pin = BUZZER_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
-    HAL_GPIO_Init(BUZZER_GPIO_Port, &GPIO_InitStruct);
+        __HAL_RCC_GPIOD_CLK_ENABLE();
+        /**TIM4 GPIO Configuration
+        PD14     ------> TIM4_CH3
+        */
+        GPIO_InitStruct.Pin = BUZZER_Pin;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_PULLUP;
+        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+        GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+        HAL_GPIO_Init(BUZZER_GPIO_Port, &GPIO_InitStruct);
 
-  /* USER CODE BEGIN TIM4_MspPostInit 1 */
+        /* USER CODE BEGIN TIM4_MspPostInit 1 */
 
-  /* USER CODE END TIM4_MspPostInit 1 */
-  }
-  else if(timHandle->Instance==TIM5)
-  {
-  /* USER CODE BEGIN TIM5_MspPostInit 0 */
+        /* USER CODE END TIM4_MspPostInit 1 */
+    }
+    else if(timHandle->Instance==TIM5)
+    {
+        /* USER CODE BEGIN TIM5_MspPostInit 0 */
 
-  /* USER CODE END TIM5_MspPostInit 0 */
+        /* USER CODE END TIM5_MspPostInit 0 */
 
-    __HAL_RCC_GPIOH_CLK_ENABLE();
-    /**TIM5 GPIO Configuration
-    PH12     ------> TIM5_CH3
-    PH11     ------> TIM5_CH2
-    PH10     ------> TIM5_CH1
-    */
-    GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin|LED_B_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
-    HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
+        __HAL_RCC_GPIOH_CLK_ENABLE();
+        /**TIM5 GPIO Configuration
+        PH12     ------> TIM5_CH3
+        PH11     ------> TIM5_CH2
+        PH10     ------> TIM5_CH1
+        */
+        GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin|LED_B_Pin;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_PULLUP;
+        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+        GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
+        HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
 
-  /* USER CODE BEGIN TIM5_MspPostInit 1 */
+        /* USER CODE BEGIN TIM5_MspPostInit 1 */
 
-  /* USER CODE END TIM5_MspPostInit 1 */
-  }
-  else if(timHandle->Instance==TIM8)
-  {
-  /* USER CODE BEGIN TIM8_MspPostInit 0 */
+        /* USER CODE END TIM5_MspPostInit 1 */
+    }
+    else if(timHandle->Instance==TIM8)
+    {
+        /* USER CODE BEGIN TIM8_MspPostInit 0 */
 
-  /* USER CODE END TIM8_MspPostInit 0 */
+        /* USER CODE END TIM8_MspPostInit 0 */
 
-    __HAL_RCC_GPIOI_CLK_ENABLE();
-    __HAL_RCC_GPIOC_CLK_ENABLE();
-    /**TIM8 GPIO Configuration
-    PI7     ------> TIM8_CH3
-    PI6     ------> TIM8_CH2
-    PC6     ------> TIM8_CH1
-    */
-    GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
-    HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
+        __HAL_RCC_GPIOI_CLK_ENABLE();
+        __HAL_RCC_GPIOC_CLK_ENABLE();
+        /**TIM8 GPIO Configuration
+        PI7     ------> TIM8_CH3
+        PI6     ------> TIM8_CH2
+        PC6     ------> TIM8_CH1
+        */
+        GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_NOPULL;
+        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+        GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+        HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
 
-    GPIO_InitStruct.Pin = GPIO_PIN_6;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
-    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+        GPIO_InitStruct.Pin = GPIO_PIN_6;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_NOPULL;
+        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+        GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+        HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-  /* USER CODE BEGIN TIM8_MspPostInit 1 */
+        /* USER CODE BEGIN TIM8_MspPostInit 1 */
 
-  /* USER CODE END TIM8_MspPostInit 1 */
-  }
-  else if(timHandle->Instance==TIM10)
-  {
-  /* USER CODE BEGIN TIM10_MspPostInit 0 */
+        /* USER CODE END TIM8_MspPostInit 1 */
+    }
+    else if(timHandle->Instance==TIM10)
+    {
+        /* USER CODE BEGIN TIM10_MspPostInit 0 */
 
-  /* USER CODE END TIM10_MspPostInit 0 */
+        /* USER CODE END TIM10_MspPostInit 0 */
 
-    __HAL_RCC_GPIOF_CLK_ENABLE();
-    /**TIM10 GPIO Configuration
-    PF6     ------> TIM10_CH1
-    */
-    GPIO_InitStruct.Pin = IMU_TEMP_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF3_TIM10;
-    HAL_GPIO_Init(IMU_TEMP_GPIO_Port, &GPIO_InitStruct);
+        __HAL_RCC_GPIOF_CLK_ENABLE();
+        /**TIM10 GPIO Configuration
+        PF6     ------> TIM10_CH1
+        */
+        GPIO_InitStruct.Pin = IMU_TEMP_Pin;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_PULLUP;
+        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+        GPIO_InitStruct.Alternate = GPIO_AF3_TIM10;
+        HAL_GPIO_Init(IMU_TEMP_GPIO_Port, &GPIO_InitStruct);
 
-  /* USER CODE BEGIN TIM10_MspPostInit 1 */
+        /* USER CODE BEGIN TIM10_MspPostInit 1 */
 
-  /* USER CODE END TIM10_MspPostInit 1 */
-  }
+        /* USER CODE END TIM10_MspPostInit 1 */
+    }
 
 }
 
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM1)
-  {
-  /* USER CODE BEGIN TIM1_MspDeInit 0 */
+    if(tim_baseHandle->Instance==TIM1)
+    {
+        /* USER CODE BEGIN TIM1_MspDeInit 0 */
 
-  /* USER CODE END TIM1_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM1_CLK_DISABLE();
-  /* USER CODE BEGIN TIM1_MspDeInit 1 */
+        /* USER CODE END TIM1_MspDeInit 0 */
+        /* Peripheral clock disable */
+        __HAL_RCC_TIM1_CLK_DISABLE();
+        /* USER CODE BEGIN TIM1_MspDeInit 1 */
 
-  /* USER CODE END TIM1_MspDeInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM4)
-  {
-  /* USER CODE BEGIN TIM4_MspDeInit 0 */
+        /* USER CODE END TIM1_MspDeInit 1 */
+    }
+    else if(tim_baseHandle->Instance==TIM4)
+    {
+        /* USER CODE BEGIN TIM4_MspDeInit 0 */
 
-  /* USER CODE END TIM4_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM4_CLK_DISABLE();
-  /* USER CODE BEGIN TIM4_MspDeInit 1 */
+        /* USER CODE END TIM4_MspDeInit 0 */
+        /* Peripheral clock disable */
+        __HAL_RCC_TIM4_CLK_DISABLE();
+        /* USER CODE BEGIN TIM4_MspDeInit 1 */
 
-  /* USER CODE END TIM4_MspDeInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM5)
-  {
-  /* USER CODE BEGIN TIM5_MspDeInit 0 */
+        /* USER CODE END TIM4_MspDeInit 1 */
+    }
+    else if(tim_baseHandle->Instance==TIM5)
+    {
+        /* USER CODE BEGIN TIM5_MspDeInit 0 */
 
-  /* USER CODE END TIM5_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM5_CLK_DISABLE();
-  /* USER CODE BEGIN TIM5_MspDeInit 1 */
+        /* USER CODE END TIM5_MspDeInit 0 */
+        /* Peripheral clock disable */
+        __HAL_RCC_TIM5_CLK_DISABLE();
+        /* USER CODE BEGIN TIM5_MspDeInit 1 */
 
-  /* USER CODE END TIM5_MspDeInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM8)
-  {
-  /* USER CODE BEGIN TIM8_MspDeInit 0 */
+        /* USER CODE END TIM5_MspDeInit 1 */
+    }
+    else if(tim_baseHandle->Instance==TIM8)
+    {
+        /* USER CODE BEGIN TIM8_MspDeInit 0 */
 
-  /* USER CODE END TIM8_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM8_CLK_DISABLE();
+        /* USER CODE END TIM8_MspDeInit 0 */
+        /* Peripheral clock disable */
+        __HAL_RCC_TIM8_CLK_DISABLE();
 
-    /* TIM8 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn);
-  /* USER CODE BEGIN TIM8_MspDeInit 1 */
+        /* TIM8 interrupt Deinit */
+        HAL_NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn);
+        /* USER CODE BEGIN TIM8_MspDeInit 1 */
 
-  /* USER CODE END TIM8_MspDeInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM10)
-  {
-  /* USER CODE BEGIN TIM10_MspDeInit 0 */
+        /* USER CODE END TIM8_MspDeInit 1 */
+    }
+    else if(tim_baseHandle->Instance==TIM10)
+    {
+        /* USER CODE BEGIN TIM10_MspDeInit 0 */
 
-  /* USER CODE END TIM10_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM10_CLK_DISABLE();
-  /* USER CODE BEGIN TIM10_MspDeInit 1 */
+        /* USER CODE END TIM10_MspDeInit 0 */
+        /* Peripheral clock disable */
+        __HAL_RCC_TIM10_CLK_DISABLE();
+        /* USER CODE BEGIN TIM10_MspDeInit 1 */
 
-  /* USER CODE END TIM10_MspDeInit 1 */
-  }
+        /* USER CODE END TIM10_MspDeInit 1 */
+    }
 }
 
 /* USER CODE BEGIN 1 */
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 4ef7ac0..7fc92b3 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -183,16 +183,13 @@ static void auto_aim_mode() {
  */
 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],小陀螺
+    if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],
     {
-        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
+    } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],
     {
-        chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
         gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
-        shoot_cmd_send.lid_mode = LID_CLOSE;
     } else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上]
     {
         shoot_cmd_send.lid_mode = LID_OPEN;
@@ -224,21 +221,18 @@ static void RemoteControlSet() {
     }
     // 云台软件限位
 
-    // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整，遥控器输入灵敏度
-    chassis_cmd_send.vx = 0.001f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向
-    chassis_cmd_send.vy = 0.001f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向
-
-    // 发射参数
-    if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
-        ;                                            // 弹舱舵机控制,待添加servo_motor模块,开启
-    else; // 弹舱舵机控制,待添加servo_motor模块,关闭
 
 
     // 摩擦轮控制,拨轮向上打为负,向下为正
     if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
+    {
+        shoot_cmd_send.shoot_mode = SHOOT_ON;
         shoot_cmd_send.friction_mode = FRICTION_ON;
-    else
+    }
+    else{
+        shoot_cmd_send.shoot_mode = SHOOT_OFF;
         shoot_cmd_send.friction_mode = FRICTION_OFF;
+    }
 
     // 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
     if (rc_data[TEMP].rc.dial < -500)//
@@ -493,8 +487,8 @@ static void EmergencyHandler() {
         robot_state = ROBOT_READY;
         gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
         chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
-        shoot_cmd_send.shoot_mode = SHOOT_ON;
-        shoot_cmd_send.friction_mode = FRICTION_ON;
+        shoot_cmd_send.shoot_mode = SHOOT_OFF;
+        shoot_cmd_send.friction_mode = FRICTION_OFF;
         shoot_cmd_send.loader_mode = LOAD_STOP;
         LOGERROR("[CMD] emergency stop!");
     }
@@ -538,21 +532,17 @@ void RobotCMDTask() {
     // 设置视觉发送数据,还需增加加速度和角速度数据
     VisionSetFlag(!referee_data->referee_id.Robot_Color);
 
-    //根据裁判系统反馈确定底盘功率上限
-    chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit;
-    //根据裁判系统反馈确定缓冲功率
-    chassis_cmd_send.buffer_energy = referee_data->PowerHeatData.buffer_energy;
     //根据裁判系统反馈确定枪管热量控制
     shoot_cmd_send.heat = referee_data->PowerHeatData.shooter_17mm_1_barrel_heat;
     shoot_cmd_send.heat_limit = referee_data->GameRobotState.shooter_barrel_heat_limit;
     shoot_cmd_send.heat_cool = referee_data->GameRobotState.shooter_barrel_cooling_value;
 
-    if (referee_data->GameRobotState.power_management_chassis_output == 0) {
-        chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
-    }
-    if (referee_data->GameRobotState.power_management_gimbal_output == 0) {
-        gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
-    }
+//    if (referee_data->GameRobotState.power_management_chassis_output == 0) {
+//        chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
+//    }
+//    if (referee_data->GameRobotState.power_management_gimbal_output == 0) {
+//        gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
+//    }
 //    if (referee_data->GameRobotState.power_management_shooter_output == 0) {
 //        shoot_cmd_send.shoot_mode = SHOOT_ON;
 //    }
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index b02b6a1..c779d47 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -9,7 +9,8 @@
 #include "vofa.h"
 
 static attitude_t *gimba_IMU_data; // 云台IMU数据
-static DJIMotorInstance *yaw_motor, *pitch_motor;
+static DJIMotorInstance *yaw_motor;
+static DMMotorInstance *pitch_motor;
 
 static Publisher_t *gimbal_pub;                   // 云台应用消息发布者(云台反馈给cmd)
 static Subscriber_t *gimbal_sub;                  // cmd控制消息订阅者
@@ -28,18 +29,18 @@ void GimbalInit() {
             },
             .controller_param_init_config = {
                     .angle_PID = {
-                            .Kp = 0.8f,//1.2
+                            .Kp = 0.0f,//1.2
                             .Ki = 0.0f,//0
-                            .Kd = 0.04f,//0.05
+                            .Kd = 0.0f,//0.05
                             .DeadBand = 0.0f,
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 100,
                             .MaxOut = 500,
                     },
                     .speed_PID = {
-                            .Kp = 5000,  //4000
-                            .Ki = 100.0f, //100
-                            .Kd = 0.03f, //0
+                            .Kp = 0,  //4000
+                            .Ki = 0.0f, //100
+                            .Kd = 0.0f, //0
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 10000,
                             .MaxOut = 15000,
@@ -61,22 +62,22 @@ void GimbalInit() {
     // PITCH
     Motor_Init_Config_s pitch_config = {
             .can_init_config = {
-                    .can_handle = &hcan2,
-                    .tx_id = 1,
-                    .rx_id = 3,
+                    .can_handle = &hcan1,
+                    .tx_id = 0x04,
+                    .rx_id = 0x02,
             },
             .controller_param_init_config = {
                     .angle_PID = {
-                            .Kp = 1.0f,
+                            .Kp = 0.0f,
                             .Ki = 0.0f,
-                            .Kd = 0.02f,
+                            .Kd = 0.0f,
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 100,
                             .MaxOut = 500,
                     },
                     .speed_PID = {
-                            .Kp = 6000.0f,
-                            .Ki = 900.0f,
+                            .Kp = 0.0f,
+                            .Ki = 0.0f,
                             .Kd = 0.0f,   // 0
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 10000,
@@ -101,7 +102,7 @@ void GimbalInit() {
     };
     // 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动
     yaw_motor = DJIMotorInit(&yaw_config);
-    pitch_motor = DJIMotorInit(&pitch_config);
+    pitch_motor = DMMotorInit(&pitch_config);
 
     gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
     gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
@@ -121,30 +122,26 @@ void GimbalTask() {
         // 停止
         case GIMBAL_ZERO_FORCE:
             DJIMotorStop(yaw_motor);
-            DJIMotorStop(pitch_motor);
+            DMMotorStop(pitch_motor);
             break;
             // 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用
         case GIMBAL_GYRO_MODE: // 后续只保留此模式
             DJIMotorEnable(yaw_motor);
-            DJIMotorEnable(pitch_motor);
+            DMMotorEnable(pitch_motor);
             DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
             DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
-            DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
-            DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
             DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
-            DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
+            DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
             //LimitPitchAngleAuto();
             break;
             // 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
         case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
             DJIMotorEnable(yaw_motor);
-            DJIMotorEnable(pitch_motor);
+            DMMotorEnable(pitch_motor);
             DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
             DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
-            DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
-            DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
             DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
-            DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
+            DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
             break;
         default:
             break;
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index f42b111..45714c7 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -24,49 +24,49 @@ static float hibernate_time = 0,last_hibernate_time = 0, dead_time = 0;
 
 void ShootInit()
 {
-    // 左摩擦轮
-    Motor_Init_Config_s friction_config = {
-            .can_init_config = {
-                    .can_handle = &hcan2,
-            },
-            .controller_param_init_config = {
-                    .speed_PID = {
-                            .Kp = 1.5f,
-                            .Ki = 0.2f,
-                            .Kd = 0,
-                            .Improve = PID_Integral_Limit,
-                            .IntegralLimit = 10000,
-                            .MaxOut = 15000,
-                    },
-                    .current_PID = {
-                            .Kp = 0,
-                            .Ki = 0,
-                            .Kd = 0,
-                            .Improve = PID_Integral_Limit,
-                            .IntegralLimit = 10000,
-                            .MaxOut = 15000,
-                    },
-            },
-            .controller_setting_init_config = {
-                    .angle_feedback_source = MOTOR_FEED,
-                    .speed_feedback_source = MOTOR_FEED,
-                    .outer_loop_type = SPEED_LOOP,
-                    .close_loop_type = SPEED_LOOP,
-            },
-            .motor_type = M3508};
-    friction_config.can_init_config.tx_id = 2,
-            friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
-    friction_l = DJIMotorInit(&friction_config);
-
-    friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行
-    friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
-    friction_r = DJIMotorInit(&friction_config);
+//    // 左摩擦轮
+//    Motor_Init_Config_s friction_config = {
+//            .can_init_config = {
+//                    .can_handle = &hcan2,
+//            },
+//            .controller_param_init_config = {
+//                    .speed_PID = {
+//                            .Kp = 1.5f,
+//                            .Ki = 0.2f,
+//                            .Kd = 0,
+//                            .Improve = PID_Integral_Limit,
+//                            .IntegralLimit = 10000,
+//                            .MaxOut = 15000,
+//                    },
+//                    .current_PID = {
+//                            .Kp = 0,
+//                            .Ki = 0,
+//                            .Kd = 0,
+//                            .Improve = PID_Integral_Limit,
+//                            .IntegralLimit = 10000,
+//                            .MaxOut = 15000,
+//                    },
+//            },
+//            .controller_setting_init_config = {
+//                    .angle_feedback_source = MOTOR_FEED,
+//                    .speed_feedback_source = MOTOR_FEED,
+//                    .outer_loop_type = SPEED_LOOP,
+//                    .close_loop_type = SPEED_LOOP,
+//            },
+//            .motor_type = M3508};
+//    friction_config.can_init_config.tx_id = 2,
+//            friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
+//    friction_l = DJIMotorInit(&friction_config);
+//
+//    friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行
+//    friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
+//    friction_r = DJIMotorInit(&friction_config);
 
     // 拨盘电机
     Motor_Init_Config_s loader_config = {
             .can_init_config = {
                     .can_handle = &hcan1,
-                    .tx_id = 2
+                    .tx_id = 3
             },
             .controller_param_init_config = {
                     .angle_PID = {
@@ -105,13 +105,11 @@ void ShootInit()
     };
     loader = DJIMotorInit(&loader_config);
 
-    shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
-    shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
-
     Pwmmotor_Init_Config_s friction_l1_config = {
             .htim = &htim8,
             .Channel = TIM_CHANNEL_1,
             .Pwmmotor_type = 0,
+            .Initial_value = 1000,
     };
     friction_l1 = PwmmotorInit(&friction_l1_config);
 
@@ -119,9 +117,12 @@ void ShootInit()
             .htim = &htim8,
             .Channel = TIM_CHANNEL_2,
             .Pwmmotor_type = 0,
+            .Initial_value = 1000,
     };
     friction_r1 = PwmmotorInit(&friction_r1_config);
 
+    shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
+    shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
 //    SPI_Init_Config_s rgb_config = {
 //           .spi_handle = ;
 //           .GPIOx = GPIOx;
@@ -164,7 +165,6 @@ void stalled_detect()
 /* 机器人发射机构控制核心任务 */
 void ShootTask()
 {
-    //WS2812_Number_4(0x000018,0x000018,0x000018,0x000018);
     //从cmd获取控制数据
     SubGetMessage(shoot_sub, &shoot_cmd_recv);
 
@@ -173,15 +173,19 @@ void ShootTask()
     {
         //DJIMotorSetRef(friction_l, 0);
         //DJIMotorSetRef(friction_r, 0);
+        Pwm_Motor_Stop(friction_l1, 1000);
+        Pwm_Motor_Stop(friction_r1, 1000);
         DJIMotorEnable(loader);
     }
     else // 恢复运行
     {
         //DJIMotorEnable(friction_l);
         //DJIMotorEnable(friction_r);
+        Pwm_MotorControl(friction_l1, 2000);
+        Pwm_MotorControl(friction_r1, 2000);
         DJIMotorEnable(loader);
     }
-    DJIMotorEnable(loader);
+
     // 如果上一次触发单发或3发指令的时间加上不应期仍然大于当前时间(尚未休眠完毕),直接返回即可
     // 单发模式主要提供给能量机关激活使用(以及英雄的射击大部分处于单发)
     if (hibernate_time + dead_time > DWT_GetTimeline_ms())
@@ -250,8 +254,8 @@ void ShootTask()
 //                DJIMotorSetRef(friction_r, 0);
 //                break;
         //default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
-        DJIMotorSetRef(friction_l, 39000);
-        DJIMotorSetRef(friction_r, 39000);
+        //DJIMotorSetRef(friction_l, 39000);
+        //DJIMotorSetRef(friction_r, 39000);
 
 //                break;
 //        }
@@ -260,8 +264,8 @@ void ShootTask()
     }
     else // 关闭摩擦轮
     {
-        DJIMotorSetRef(friction_l, 0);
-        DJIMotorSetRef(friction_r, 0);
+        //DJIMotorSetRef(friction_l, 0);
+        //DJIMotorSetRef(friction_r, 0);
 
         Pwm_Motor_Stop(friction_l1, 1000);
         Pwm_Motor_Stop(friction_r1, 1000);
diff --git a/cmake-build-debug/CMakeFiles/uav.elf.dir/Src/tim.c.obj b/cmake-build-debug/CMakeFiles/uav.elf.dir/Src/tim.c.obj
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diff --git a/cmake-build-debug/CMakeFiles/uav.elf.dir/application/cmd/robot_cmd.c.obj b/cmake-build-debug/CMakeFiles/uav.elf.dir/application/cmd/robot_cmd.c.obj
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diff --git a/cmake-build-debug/CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj b/cmake-build-debug/CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj
index fa47329..2ea7a39 100644
Binary files a/cmake-build-debug/CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj and b/cmake-build-debug/CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj differ
diff --git a/cmake-build-debug/CMakeFiles/uav.elf.dir/application/shoot/shoot.c.obj b/cmake-build-debug/CMakeFiles/uav.elf.dir/application/shoot/shoot.c.obj
index c239a32..4f8c465 100644
Binary files a/cmake-build-debug/CMakeFiles/uav.elf.dir/application/shoot/shoot.c.obj and b/cmake-build-debug/CMakeFiles/uav.elf.dir/application/shoot/shoot.c.obj differ
diff --git a/cmake-build-debug/uav.bin b/cmake-build-debug/uav.bin
index e37a10e..484aafe 100644
Binary files a/cmake-build-debug/uav.bin and b/cmake-build-debug/uav.bin differ
diff --git a/cmake-build-debug/uav.elf b/cmake-build-debug/uav.elf
index 2254faf..f402bb7 100644
Binary files a/cmake-build-debug/uav.elf and b/cmake-build-debug/uav.elf differ
diff --git a/cmake-build-debug/uav.hex b/cmake-build-debug/uav.hex
index cf2fff9..ca01ba9 100644
--- a/cmake-build-debug/uav.hex
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diff --git a/cmake-build-debug/uav.map b/cmake-build-debug/uav.map
index 17b4124..576cd7a 100644
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                 0x20000d08                        . = ALIGN (0x4)
                 0x20000d08                        _edata = .
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+ .debug_frame   0x00009edc       0xb0 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-lock.o)
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+ .debug_frame   0x00009fb4       0x20 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-strcmp.o)
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+ .debug_frame   0x0000a094       0x60 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-freer.o)
+ .debug_frame   0x0000a0f4       0x44 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-svfprintf.o)
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+ .debug_frame   0x0000a1d0       0x28 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-strncpy.o)
+ .debug_frame   0x0000a1f8       0x40 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-localeconv.o)
+ .debug_frame   0x0000a238       0x38 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-fini.o)
+ .debug_frame   0x0000a270       0x2c D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libm_a-s_frexp.o)
+ .debug_frame   0x0000a29c       0x34 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-__atexit.o)
+ .debug_frame   0x0000a2d0       0x6c D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-dtoa.o)
+ .debug_frame   0x0000a33c      0x254 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-mprec.o)
+ .debug_frame   0x0000a590       0x70 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-svfiprintf.o)
+ .debug_frame   0x0000a600       0x28 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-memmove.o)
+ .debug_frame   0x0000a628       0x48 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-locale.o)
+ .debug_frame   0x0000a670       0x40 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-assert.o)
+ .debug_frame   0x0000a6b0       0x2c D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-callocr.o)
+ .debug_frame   0x0000a6dc       0x48 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-mbtowc_r.o)
+ .debug_frame   0x0000a724       0x50 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-reallocr.o)
+ .debug_frame   0x0000a774       0x3c D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-wctomb_r.o)
+ .debug_frame   0x0000a7b0       0x64 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-fiprintf.o)
+ .debug_frame   0x0000a814       0xb0 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-vfiprintf.o)
+ .debug_frame   0x0000a8c4       0x3c D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-fvwrite.o)
+ .debug_frame   0x0000a900       0x2c D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-wsetup.o)
+ .debug_frame   0x0000a92c       0x78 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-fputwc.o)
+ .debug_frame   0x0000a9a4       0x44 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-wcrtomb.o)
+ .debug_frame   0x0000a9e8       0x58 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-makebuf.o)
+ .debug_frame   0x0000aa40       0x40 D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-wbuf.o)
+ .debug_frame   0x0000aa80       0x2c D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-fstatr.o)
+ .debug_frame   0x0000aaac       0x2c D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(libc_a-isattyr.o)
 
 .debug_line_str
                 0x00000000       0x5a
diff --git a/modules/motor/pwmmotor/snail.c b/modules/motor/pwmmotor/snail.c
index 14b494a..ea9620a 100644
--- a/modules/motor/pwmmotor/snail.c
+++ b/modules/motor/pwmmotor/snail.c
@@ -6,7 +6,6 @@
 extern TIM_HandleTypeDef htim8;
 static PwmmotorInstance *pwm_motor_instance[PWM_MOTOR_CNT] = {NULL};
 static int16_t compare_value[PWM_MOTOR_CNT] = {0};
-int16_t k = 1800/350, b = 400;
 static uint8_t pwmmotor_idx = 0; // register pwmmotor_idx,是该文件的全局电机索引,在注册时使用
 
 // 通过此函数注册一个电机
@@ -19,8 +18,9 @@ PwmmotorInstance *PwmmotorInit(Pwmmotor_Init_Config_s *Pwmmotor_Init_Config)
     pwmmotor->htim = Pwmmotor_Init_Config->htim;
     pwmmotor->Channel = Pwmmotor_Init_Config->Channel;
 
+    HAL_TIM_Base_Start(Pwmmotor_Init_Config->htim);
     HAL_TIM_PWM_Start(Pwmmotor_Init_Config->htim, Pwmmotor_Init_Config->Channel);
-    __HAL_TIM_SET_COMPARE(pwmmotor->htim, pwmmotor->Channel, 1000);//只有有了油门值，Snail电机才能初始化完成，不会发出b b b b的叫声。如下设定初始油门值
+    __HAL_TIM_SET_COMPARE(Pwmmotor_Init_Config->htim, Pwmmotor_Init_Config->Channel, Pwmmotor_Init_Config->Initial_value);//只有有了油门值，Snail电机才能初始化完成，不会发出b b b b的叫声。如下设定初始油门值
     pwm_motor_instance[pwmmotor_idx++] = pwmmotor;
     return pwmmotor;
 }
diff --git a/modules/motor/pwmmotor/snail.h b/modules/motor/pwmmotor/snail.h
index 0cd3d78..04591e1 100644
--- a/modules/motor/pwmmotor/snail.h
+++ b/modules/motor/pwmmotor/snail.h
@@ -47,6 +47,8 @@ typedef struct
      *TIM_CHANNEL_ALL
      */
     uint32_t Channel;
+    //油门初始值
+    int16_t Initial_value;
 
 } Pwmmotor_Init_Config_s;