diff --git a/User/module/arm.cpp b/User/module/arm.cpp
index 1fd4292..543f513 100644
--- a/User/module/arm.cpp
+++ b/User/module/arm.cpp
@@ -4,22 +4,22 @@
 Arm::Arm(){
     dm_motor_params[0] = MOTOR_DM_Param_t{
         .can = BSP_CAN_1,
-        .master_id = 0x11,
-        .can_id = 1,
+        .master_id = 0x14,
+        .can_id = 0x04,
         .module = MOTOR_DM_J4310,
         .reverse = false
     };
     dm_motor_params[1] = MOTOR_DM_Param_t{
         .can = BSP_CAN_1,
-        .master_id = 0x12,
-        .can_id = 1,
+        .master_id = 0x15,
+        .can_id = 0x05,
         .module = MOTOR_DM_J4310,
         .reverse = false
     };
     dm_motor_params[2] = MOTOR_DM_Param_t{
         .can = BSP_CAN_1,
-        .master_id = 0x13,
-        .can_id = 1,
+        .master_id = 0x16,
+        .can_id = 0x06,
         .module = MOTOR_DM_J4310,
         .reverse = false
     };
@@ -97,7 +97,7 @@ void Arm::operator()(){
     arm_output[0].kd = 1.0f;
     // MOTOR_DM_MITCtrl(&dm_motor_params[0], &arm_output[0]);
 
-    arm_state = MOTOR_LZ_Relax(&lz_motor_params[0]);
+    MOTOR_LZ_Relax(&lz_motor_params[0]);
     BSP_TIME_Delay(2);
     MOTOR_LZ_Relax(&lz_motor_params[1]);
     BSP_TIME_Delay(2);
diff --git a/User/module/arm.hpp b/User/module/arm.hpp
index 05eff6f..bc379a4 100644
--- a/User/module/arm.hpp
+++ b/User/module/arm.hpp
@@ -20,5 +20,5 @@ private:
     MOTOR_LZ_t arm_lz_motor[3];
     MOTOR_LZ_MotionParam_t arm_lz_motion[3];
     MOTOR_MIT_Output_t arm_output[3];
-    int8_t arm_state = 1;
+
 };
\ No newline at end of file
diff --git a/User/module/chassis.cpp b/User/module/chassis.cpp
index 62fe6ae..9c69b98 100644
--- a/User/module/chassis.cpp
+++ b/User/module/chassis.cpp
@@ -3,28 +3,28 @@
 
 Chassis::Chassis() {
     motors_param[0] = {
-        .can = BSP_CAN_1,
-        .id = 0x206,
-        .module = MOTOR_GM6020,
+        .can = BSP_CAN_2,
+        .id = 0x201,
+        .module = MOTOR_M3508,
         .reverse = false,
         .gear = true
     };
     motors_param[1] = {
-        .can = BSP_CAN_1,
+        .can = BSP_CAN_2,
         .id = 0x202,
         .module = MOTOR_M3508,
         .reverse = false,
         .gear = true
     };
     motors_param[2] = {
-        .can = BSP_CAN_1,
+        .can = BSP_CAN_2,
         .id = 0x203,
         .module = MOTOR_M3508,
         .reverse = false,
         .gear = true
     };
     motors_param[3] = {
-        .can = BSP_CAN_1,
+        .can = BSP_CAN_2,
         .id = 0x204,
         .module = MOTOR_M3508,
         .reverse = false,