diff --git a/.DS_Store b/.DS_Store
index e1626b4..aae880c 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/MR_Toolbox.py b/MR_Toolbox.py
new file mode 100644
index 0000000..eedcc6c
--- /dev/null
+++ b/MR_Toolbox.py
@@ -0,0 +1,92 @@
+import sys
+from PyQt5.QtWidgets import (
+    QApplication, QWidget, QLabel, QPushButton, QTextEdit, QVBoxLayout,
+    QHBoxLayout, QStackedWidget, QSizePolicy, QFrame
+)
+from PyQt5.QtGui import QPixmap, QFont
+from PyQt5.QtCore import Qt
+
+class ToolboxUI(QWidget):
+    def __init__(self):
+        super().__init__()
+        self.setWindowTitle("MRobot 工具箱")
+        self.setMinimumSize(900, 600)
+        self.init_ui()
+
+    def init_ui(self):
+        # 主布局
+        main_layout = QHBoxLayout(self)
+        main_layout.setContentsMargins(10, 10, 10, 10)
+        main_layout.setSpacing(10)
+
+        # 左半区
+        left_frame = QFrame()
+        left_frame.setFrameShape(QFrame.StyledPanel)
+        left_layout = QVBoxLayout(left_frame)
+        left_layout.setSpacing(20)
+
+        # Logo
+        logo_label = QLabel()
+        logo_pixmap = QPixmap(180, 80)
+        logo_pixmap.fill(Qt.transparent)
+        logo_label.setPixmap(logo_pixmap)
+        logo_label.setText("MRobot")
+        logo_label.setAlignment(Qt.AlignCenter)
+        logo_label.setFont(QFont("Arial", 28, QFont.Bold))
+        logo_label.setStyleSheet("color: #3498db;")
+        logo_label.setFixedHeight(100)
+        left_layout.addWidget(logo_label)
+
+        # 按钮区
+        self.buttons = []
+        button_names = ["功能一", "功能二", "功能三", "功能四"]
+        for idx, name in enumerate(button_names):
+            btn = QPushButton(name)
+            btn.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)
+            btn.setMinimumHeight(40)
+            btn.setStyleSheet("""
+                QPushButton {
+                    background-color: #2980b9; color: white;
+                    border-radius: 8px; font-size: 16px;
+                }
+                QPushButton:hover {
+                    background-color: #3498db;
+                }
+            """)
+            btn.clicked.connect(lambda checked, i=idx: self.switch_function(i))
+            self.buttons.append(btn)
+            left_layout.addWidget(btn)
+
+        left_layout.addStretch(1)
+
+        # 文本输出框
+        self.output_box = QTextEdit()
+        self.output_box.setReadOnly(True)
+        self.output_box.setFixedHeight(80)
+        self.output_box.setStyleSheet("background: #f4f6f7; border-radius: 6px;")
+        left_layout.addWidget(self.output_box)
+
+        left_frame.setMaximumWidth(240)
+        main_layout.addWidget(left_frame)
+
+        # 右半区
+        self.stack = QStackedWidget()
+        for i in range(len(button_names)):
+            page = QLabel(f"这里是 {button_names[i]} 的功能界面")
+            page.setAlignment(Qt.AlignCenter)
+            page.setFont(QFont("微软雅黑", 20))
+            self.stack.addWidget(page)
+        main_layout.addWidget(self.stack)
+
+        # 默认输出
+        self.output_box.append("欢迎使用 MRobot 工具箱！请选择左侧功能。")
+
+    def switch_function(self, idx):
+        self.stack.setCurrentIndex(idx)
+        self.output_box.append(f"已切换到功能：{self.buttons[idx].text()}")
+
+if __name__ == "__main__":
+    app = QApplication(sys.argv)
+    win = ToolboxUI()
+    win.show()
+    sys.exit(app.exec_())
\ No newline at end of file
diff --git a/data.xlsx b/data.xlsx
new file mode 100644
index 0000000..391c07e
Binary files /dev/null and b/data.xlsx differ
diff --git a/pitch.png b/pitch.png
new file mode 100644
index 0000000..e15ce17
Binary files /dev/null and b/pitch.png differ
diff --git a/polynomial.py b/polynomial.py
new file mode 100644
index 0000000..c0b6805
--- /dev/null
+++ b/polynomial.py
@@ -0,0 +1,276 @@
+import tkinter as tk
+from tkinter import filedialog, messagebox, ttk
+import numpy as np
+import pandas as pd
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+from matplotlib.figure import Figure
+
+class PolyFitApp:
+    def __init__(self, root):
+        self.root = root
+        self.root.title("多项式拟合工具")
+        self.data_x = []
+        self.data_y = []
+        self.last_coeffs = None
+
+        # ===== 主布局 =====
+        main_frame = ttk.Frame(root, padding=8)
+        main_frame.pack(fill="both", expand=True)
+        main_frame.columnconfigure(0, weight=0)
+        main_frame.columnconfigure(1, weight=1)
+        main_frame.rowconfigure(0, weight=1)
+
+        # ===== 左侧区 =====
+        left_frame = ttk.Frame(main_frame, width=320, height=580)  # 设置固定宽度
+        left_frame.grid(row=0, column=0, sticky="nsw")  # 只贴左侧
+        left_frame.columnconfigure(0, weight=1)
+        left_frame.grid_propagate(False)  # 防止自动缩放
+
+        # --- 数据输入区 ---
+        input_frame = ttk.LabelFrame(left_frame, text="数据输入", padding=6)
+        input_frame.grid(row=0, column=0, sticky="ew", pady=(0, 8))
+        input_frame.columnconfigure(0, weight=1)
+
+        self.excel_btn = ttk.Button(input_frame, text="导入excel文件", command=self.load_excel)
+        self.excel_btn.grid(row=0, column=0, sticky="ew", padx=2, pady=2)
+
+        # 滚动区域
+        self.scroll_canvas = tk.Canvas(input_frame, height=200)
+        self.scroll_canvas.grid(row=1, column=0, sticky="ew", pady=4)
+        self.scrollbar = ttk.Scrollbar(input_frame, orient="vertical", command=self.scroll_canvas.yview)
+        self.scrollbar.grid(row=1, column=1, sticky="ns")
+        self.scroll_canvas.configure(yscrollcommand=self.scrollbar.set)
+
+        self.manual_frame = ttk.Frame(self.scroll_canvas)
+        self.manual_frame.bind("<Configure>", lambda e: self.scroll_canvas.configure(scrollregion=self.scroll_canvas.bbox("all")))
+        self.scroll_canvas.create_window((0, 0), window=self.manual_frame, anchor="nw")
+
+        self.point_rows = []
+        self.add_row_btn = ttk.Button(input_frame, text="添加数据", command=self.add_point_row)
+        self.add_row_btn.grid(row=2, column=0, sticky="ew", padx=2, pady=2)
+
+        # --- 参数区 ---
+        param_frame = ttk.LabelFrame(left_frame, text="拟合参数", padding=6)
+        param_frame.grid(row=1, column=0, sticky="ew", pady=(0, 8))
+        ttk.Label(param_frame, text="选择多项式阶数:").grid(row=0, column=0, padx=2, pady=2, sticky="e")
+        self.order_spin = ttk.Spinbox(param_frame, from_=1, to=10, width=5)
+        self.order_spin.set(2)
+        self.order_spin.grid(row=0, column=1, padx=2, pady=2, sticky="w")
+        # 优化复选框和拟合按钮同一行
+        self.fit_btn = ttk.Button(param_frame, text="拟合并显示", command=self.fit_and_plot)
+        self.fit_btn.grid(row=1, column=0, padx=2, pady=4, sticky="ew")
+        self.optimize_var = tk.BooleanVar(value=True)
+        self.optimize_check = ttk.Checkbutton(param_frame, text="优化曲线（防止突起）", variable=self.optimize_var)
+        self.optimize_check.grid(row=1, column=1, padx=2, pady=4, sticky="w")
+
+        # --- 输出区 ---
+        output_frame = ttk.LabelFrame(left_frame, text="表达式与代码", padding=6)
+        output_frame.grid(row=2, column=0, sticky="ew")
+        self.output = tk.Text(output_frame, height=6, width=40, font=("Consolas", 10))
+        self.output.grid(row=0, column=0, columnspan=3, padx=2, pady=2)
+        ttk.Label(output_frame, text="输出代码格式:").grid(row=1, column=0, padx=2, pady=2, sticky="e")
+        self.code_type = ttk.Combobox(output_frame, values=["C", "C++", "Python"], width=8)
+        self.code_type.set("C")
+        self.code_type.grid(row=1, column=1, padx=2, pady=2, sticky="w")
+        self.gen_code_btn = ttk.Button(output_frame, text="生成函数代码", command=self.generate_code)
+        self.gen_code_btn.grid(row=1, column=2, padx=2, pady=2, sticky="ew")
+
+        # ===== 右侧区 =====
+        right_frame = ttk.Frame(main_frame)
+        # right_frame.grid(row=0, column=1, sticky="nsew")  # 填满剩余空间
+        right_frame.grid(row=0, column=1, sticky="nsew", padx=(8, 0))
+        right_frame.rowconfigure(0, weight=1)
+        right_frame.columnconfigure(0, weight=1)
+
+        plot_frame = ttk.LabelFrame(right_frame, text="拟合曲线", padding=6)
+        plot_frame.grid(row=0, column=0, sticky="nsew")
+        plot_frame.rowconfigure(0, weight=1)
+        plot_frame.columnconfigure(0, weight=1)
+        self.figure = Figure(figsize=(5, 4))
+        self.canvas = FigureCanvasTkAgg(self.figure, master=plot_frame)
+        self.canvas.get_tk_widget().pack(fill="both", expand=True)
+        self.scroll_canvas.bind_all("<MouseWheel>", self._on_mousewheel)
+
+
+    def _on_mousewheel(self, event):
+        # Windows下event.delta为120的倍数，负值向下
+        self.scroll_canvas.yview_scroll(int(-1*(event.delta/120)), "units")
+
+    def add_point_row(self, x_val="", y_val=""):
+        row = {}
+        idx = len(self.point_rows)
+        row['x'] = ttk.Entry(self.manual_frame, width=10)
+        row['x'].insert(0, str(x_val))
+        row['y'] = ttk.Entry(self.manual_frame, width=10)
+        row['y'].insert(0, str(y_val))
+        row['del'] = ttk.Button(self.manual_frame, text="删除", width=5, command=lambda r=idx: self.delete_point_row(r))
+        row['x'].grid(row=idx, column=0, padx=1, pady=1)
+        row['y'].grid(row=idx, column=1, padx=1, pady=1)
+        row['del'].grid(row=idx, column=2, padx=1, pady=1)
+        self.point_rows.append(row)
+        self.refresh_point_rows()
+
+    def delete_point_row(self, idx):
+        for widget in self.point_rows[idx].values():
+            widget.grid_forget()
+            widget.destroy()
+        self.point_rows.pop(idx)
+        self.refresh_point_rows()
+
+    def refresh_point_rows(self):
+        for i, row in enumerate(self.point_rows):
+            row['x'].grid(row=i, column=0, padx=1, pady=1)
+            row['y'].grid(row=i, column=1, padx=1, pady=1)
+            row['del'].config(command=lambda r=i: self.delete_point_row(r))
+            row['del'].grid(row=i, column=2, padx=1, pady=1)
+
+    def load_excel(self):
+        file = filedialog.askopenfilename(filetypes=[("Excel files", "*.xlsx *.xls")])
+        if file:
+            try:
+                data = pd.read_excel(file, usecols=[0, 1])
+                new_x = data.iloc[:, 0].values.tolist()
+                new_y = data.iloc[:, 1].values.tolist()
+                messagebox.showinfo("成功", "数据导入成功！")
+                for x, y in zip(new_x, new_y):
+                    self.add_point_row(x, y)
+            except Exception as e:
+                messagebox.showerror("错误", f"读取Excel失败: {e}")
+
+    def get_manual_points(self):
+        x_list, y_list = [], []
+        for row in self.point_rows:
+            try:
+                x = float(row['x'].get())
+                y = float(row['y'].get())
+                x_list.append(x)
+                y_list.append(y)
+            except ValueError:
+                continue
+        return x_list, y_list
+
+
+    def fit_and_plot(self):
+        # 始终以手动输入区为准
+        self.data_x, self.data_y = self.get_manual_points()
+        try:
+            order = int(self.order_spin.get())
+        except ValueError:
+            messagebox.showwarning("输入错误", "阶数必须为整数！")
+            return
+        n_points = len(self.data_x)
+        if n_points < order + 1:
+            messagebox.showwarning("数据不足", "数据点数量不足以拟合该阶多项式！")
+            return
+
+        # 阶数过高判断，只提示不强制修改
+        max_order = max(2, min(6, n_points // 3))
+        if order > max_order:
+            messagebox.showwarning("阶数过高", f"当前数据点数为{n_points}，建议阶数不超过{max_order}，否则容易出现异常突起！")
+
+        x = np.array(self.data_x, dtype=np.float64)
+        y = np.array(self.data_y, dtype=np.float64)
+
+        # ----------- 新增归一化 -----------
+        x_min, x_max = x.min(), x.max()
+        if x_max - x_min == 0:
+            messagebox.showwarning("数据错误", "所有x值都相同，无法拟合！")
+            return
+        x_norm = (x - x_min) / (x_max - x_min)
+        # ---------------------------------
+
+        try:
+            if self.optimize_var.get():
+                # 优化：加大rcond，减少高阶影响
+                coeffs = np.polyfit(x_norm, y, order, rcond=1e-3)
+            else:
+                coeffs = np.polyfit(x_norm, y, order)
+        except Exception as e:
+            messagebox.showerror("拟合错误", f"多项式拟合失败：{e}")
+            return
+        poly = np.poly1d(coeffs)
+        expr = "y = " + " + ".join([f"{c:.6g}*x_norm^{order-i}" for i, c in enumerate(coeffs)])
+        self.output.delete(1.0, tk.END)
+        self.output.insert(tk.END, f"归一化x: x_norm=(x-{x_min:.6g})/({x_max:.6g}-{x_min:.6g})\n")
+        self.output.insert(tk.END, expr + "\n")
+        # 绘图
+        self.figure.clear()
+        ax = self.figure.add_subplot(111)
+        ax.scatter(x, y, color='red', label='数据点')
+        x_fit = np.linspace(x_min, x_max, 200)
+        x_fit_norm = (x_fit - x_min) / (x_max - x_min)
+        y_fit = poly(x_fit_norm)
+        ax.plot(x_fit, y_fit, label='拟合曲线')
+        ax.legend()
+        self.canvas.draw()
+        self.last_coeffs = coeffs
+        self.last_xmin = x_min
+        self.last_xmax = x_max
+
+    def generate_code(self):
+        if self.last_coeffs is None:
+            messagebox.showwarning("未拟合", "请先拟合数据！")
+            return
+        coeffs = self.last_coeffs
+        order = len(coeffs) - 1
+        code_type = self.code_type.get()
+        if code_type == "C":
+            code = self.create_c_function(coeffs)
+        elif code_type == "C++":
+            code = self.create_cpp_function(coeffs)
+        else:
+            code = self.create_py_function(coeffs)
+        self.output.delete(1.0, tk.END)
+        self.output.insert(tk.END, code)
+
+    def create_c_function(self, coeffs):
+        lines = ["#include <math.h>", "double polynomial(double x) {", "    return "]
+        n = len(coeffs)
+        terms = []
+        for i, c in enumerate(coeffs):
+            exp = n - i - 1
+            if exp == 0:
+                terms.append(f"{c:.8g}")
+            elif exp == 1:
+                terms.append(f"{c:.8g}*x")
+            else:
+                terms.append(f"{c:.8g}*pow(x,{exp})")
+        lines[-1] += " + ".join(terms) + ";"
+        lines.append("}")
+        return "\n".join(lines)
+
+    def create_cpp_function(self, coeffs):
+        lines = ["#include <cmath>", "double polynomial(double x) {", "    return "]
+        n = len(coeffs)
+        terms = []
+        for i, c in enumerate(coeffs):
+            exp = n - i - 1
+            if exp == 0:
+                terms.append(f"{c:.8g}")
+            elif exp == 1:
+                terms.append(f"{c:.8g}*x")
+            else:
+                terms.append(f"{c:.8g}*pow(x,{exp})")
+        lines[-1] += " + ".join(terms) + ";"
+        lines.append("}")
+        return "\n".join(lines)
+
+    def create_py_function(self, coeffs):
+        n = len(coeffs)
+        lines = ["def polynomial(x):", "    return "]
+        terms = []
+        for i, c in enumerate(coeffs):
+            exp = n - i - 1
+            if exp == 0:
+                terms.append(f"{c:.8g}")
+            elif exp == 1:
+                terms.append(f"{c:.8g}*x")
+            else:
+                terms.append(f"{c:.8g}*x**{exp}")
+        lines[-1] += " + ".join(terms)
+        return "\n".join(lines)
+
+if __name__ == "__main__":
+    root = tk.Tk()
+    app = PolyFitApp(root)
+    root.mainloop()
\ No newline at end of file