diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf
index 60f8a97..244cf2c 100644
Binary files a/MDK-ARM/R2/R2.axf and b/MDK-ARM/R2/R2.axf differ
diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h
index 919bb3e..acef449 100644
--- a/User/Module/Chassis.h
+++ b/User/Module/Chassis.h
@@ -91,7 +91,11 @@ typedef struct
 	fp32 mul;//油门倍率
 }ChassisMove_Vec;
 
-
+	typedef struct 
+{
+   fp32 send[4];
+	
+}NUC_send_t;
 /**
  *  @brief  
  * 
@@ -159,9 +163,7 @@ typedef struct{
 	 
 	
 	int32_t sick_dis[4];   //获取到的sick激光值
-	
-
-	
+  NUC_send_t NUC_send;
 }Chassis_t;
 
 /**
diff --git a/User/device/cmd.c b/User/device/cmd.c
index 35e7d0c..2d914c1 100644
--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@@ -91,7 +91,7 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
 
   cmd->cmd_status = n->status_fromnuc;
   cmd->raw_status = n->ctrl_status;
-	
+	 
 	 for (int i = 0; i < 7; ++i) 
 	  { // 从最低位到最高位遍历
         cmd->status[i] = ((cmd->raw_status) & (1 << i)) ? 1 : 0;
@@ -146,24 +146,24 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) {
 		
 		if(rc->dr16.sw_r ==CMD_SW_MID)  cmd ->CMD_mode =Normal; //左上，右中，无模式
 		
-	  if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左上，右上，手动调整
+	  if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Dribble; //左上，右上，手动调整
 	}
 	
 	else if(rc->dr16.sw_l==CMD_SW_MID)
 	{
 		
 		cmd ->CMD_CtrlType =AUTO;		
-		if(rc->dr16.sw_r ==CMD_SW_UP) 	cmd ->CMD_mode =AUTO_MID360; //左中，右中，雷达	
+		if(rc->dr16.sw_r ==CMD_SW_UP) 	cmd ->CMD_mode =AUTO_MID360_Pitch; //左中，右中，雷达发射	
 		
-		if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左中，右中，无模式	
+		if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =AUTO_MID360; //左中，右中，雷达	
 		
-	  if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =AUTO_MID360_Pitch; //左中，右下，视觉
+	  if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左中，右下，无模式
 		
 	}
 	else if(rc->dr16.sw_l==CMD_SW_DOWN)
 	{
 		cmd ->CMD_CtrlType =RCcontrol;
-		if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =Normal; //左下，右上，投篮
+		if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =Normal; //左下，右上，无模式
 		if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左下，右中，无模式
 	  if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左下，右上，无模式
 	}	
@@ -198,7 +198,7 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){
 	else if(rc->LD.key_E ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360_Pitch;
 	else if(rc->LD .key_E ==CMD_SW_MID ) cmd ->CMD_mode =AUTO_MID360;		
 	else cmd ->CMD_mode =Normal ;
-	
+	    }
 	}
 	else if(cmd ->CMD_CtrlType ==RCcontrol){
 /*手动下的*/	
@@ -206,6 +206,7 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){
 	else if(rc->LD.key_G ==CMD_SW_UP) cmd ->CMD_mode =Pitch;
 	else if(rc->LD .key_H==CMD_SW_UP)	cmd ->CMD_mode =UP_Adjust;
 	else cmd ->CMD_mode =Normal;
-	}
-}	
+	    }
+  }	
+
 
diff --git a/User/device/rc.c b/User/device/rc.c
index bebd452..fd23ae8 100644
--- a/User/device/rc.c
+++ b/User/device/rc.c
@@ -12,8 +12,8 @@
 #include "error_detect.h"
 
 
-//#define DR16
-#define LD_t
+#define DR16
+//#define LD_t
 
 #ifdef DR16
 #define FRAME_LEN 36
@@ -220,8 +220,8 @@ int8_t RC_ParseRC( DR16_t *dr16,LD_raw_t *LD_raw, LD_Data_t *LD, CMD_RC_t *rc) {
   rc->dr16.ch_l_x = 2 * ((float)dr16->data.ch_l_x - RC_CH_VALUE_MID) / full_range;
   rc->dr16.ch_l_y = 2 * ((float)dr16->data.ch_l_y - RC_CH_VALUE_MID) / full_range;
 
-  rc->dr16.sw_l = (CMD_SwitchPos_DR16_t)dr16->data.sw_l;
-  rc->dr16.sw_r = (CMD_SwitchPos_DR16_t)dr16->data.sw_r;
+  rc->dr16.sw_l = (CMD_SwitchPos_t)dr16->data.sw_l;
+  rc->dr16.sw_r = (CMD_SwitchPos_t)dr16->data.sw_r;
 
   rc->dr16.key = dr16->data.key;