diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index e4645de..58273fa 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -21,12 +21,9 @@ static Virtual_Chassis_t virtual_chassis;
 static int8_t Chassis_MotorEnable(Chassis_t *c) {
   if (c == NULL)
     return CHASSIS_ERR_NULL;
-  // for (int i = 0; i < 4; i++) {
-  //   // MOTOR_LZ_Enable(&c->param->joint_motors[i]);
-  // }
-  // for (int i = 0; i < 2; i++) {
-  //   MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
-  // }
+
+  Virtual_Chassis_Enable(&virtual_chassis);
+
   return CHASSIS_OK;
 }
 
@@ -35,7 +32,7 @@ static int8_t Chassis_MotorRelax(Chassis_t *c) {
     return CHASSIS_ERR_NULL;
   float relax_torque[4] = {0.0f, 0.0f, 0.0f, 0.0f};
   Virtual_Chassis_SendJointTorque(&virtual_chassis, relax_torque);
-  Virtual_Chassis_SendWheelCommand(&virtual_chassis, 0.1f, 0.1f);
+  Virtual_Chassis_SendWheelCommand(&virtual_chassis, 0.0f, 0.0f);
   return CHASSIS_OK;
 }
 
@@ -221,7 +218,7 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
 
   case CHASSIS_MODE_RECOVER: {
     float fn;
-    fn = -25.0f;
+    fn = -15.0f;
 
     VMC_InverseSolve(&c->vmc_[0], fn, 0.0f);
     VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0],
@@ -264,6 +261,11 @@ void Chassis_Output(Chassis_t *c) {
   //   MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
   //   // MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
   // }
+  float out[4] = {
+      c->output.joint[0], c->output.joint[1], c->output.joint[2], c->output.joint[3]};
+  Virtual_Chassis_SendJointTorque(&virtual_chassis, out);
+  Virtual_Chassis_SendWheelCommand(&virtual_chassis, c->output.wheel[0], c->output.wheel[1]);
+  // for (int i = 0; i < 2; i++) {
 }
 
 int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index 4645b53..176e034 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -55,6 +55,9 @@ void Task_ctrl_chassis(void *argument) {
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
+    if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) != osOK) {
+        // 没有新命令，保持上次命令
+    }
  
     Chassis_UpdateFeedback(&chassis);
 
diff --git a/User/task/ctrl_virtual_chassis.c b/User/task/ctrl_virtual_chassis.c
deleted file mode 100644
index daf970f..0000000
--- a/User/task/ctrl_virtual_chassis.c
+++ /dev/null
@@ -1,98 +0,0 @@
-/*
-    ctrl_virtual_chassis Task - 使用虚拟底盘设备的示例任务
-*/
-
-/* Includes ----------------------------------------------------------------- */
-#include "task/user_task.h"
-/* USER INCLUDE BEGIN */
-#include "device/virtual_chassis.h"
-#include "module/config.h"
-#include "bsp/time.h"
-/* USER INCLUDE END */
-
-/* Private typedef ---------------------------------------------------------- */
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private variables -------------------------------------------------------- */
-/* USER STRUCT BEGIN */
-static Virtual_Chassis_t virtual_chassis;
-static bool chassis_enabled = false;
-static float test_torques[VIRTUAL_CHASSIS_MOTOR_COUNT] = {0.0f, 0.0f, 0.0f, 0.0f};
-/* USER STRUCT END */
-
-/* Private function --------------------------------------------------------- */
-/* Exported functions ------------------------------------------------------- */
-void Task_ctrl_virtual_chassis(void *argument) {
-  (void)argument; /* 未使用argument，消除警告 */
-
-  
-  /* 计算任务运行到指定频率需要等待的tick数 */
-  const uint32_t delay_tick = osKernelGetTickFreq() / 100.0f; // 100Hz频率
-
-  osDelay(500); /* 延时一段时间再开启任务 */
-
-  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
-  /* USER CODE INIT BEGIN */
-  
-  // 初始化虚拟底盘
-  if (Virtual_Chassis_Init(&virtual_chassis, &Config_GetRobotParam()->virtual_chassis_param) != DEVICE_OK) {
-      // 初始化失败处理
-      return;
-  }
-  
-  // 使能底盘电机
-  Virtual_Chassis_Enable(&virtual_chassis);
-  chassis_enabled = true;
-  
-  /* USER CODE INIT END */
-  
-  while (1) {
-    tick += delay_tick; /* 计算下一个唤醒时刻 */
-    /* USER CODE BEGIN */
-    
-    // 更新虚拟底盘数据（接收反馈）
-    Virtual_Chassis_Update(&virtual_chassis);
-    
-    // 检查设备在线状态
-    if (Virtual_Chassis_IsOnline(&virtual_chassis)) {
-        
-        // 发送力矩控制命令（这里可以根据实际需要设置力矩值）
-        if (chassis_enabled) {
-            Virtual_Chassis_SendTorqueCommand(&virtual_chassis, test_torques);
-        }
-        
-        // 获取电机反馈数据
-        for (int i = 0; i < VIRTUAL_CHASSIS_MOTOR_COUNT; i++) {
-            Virtual_Chassis_MotorFeedback_t *motor_fb = Virtual_Chassis_GetMotorFeedback(&virtual_chassis, i);
-            if (motor_fb != NULL && motor_fb->online) {
-                // 这里可以使用电机反馈数据
-                // 例如：发送到其他任务或用于控制算法
-                // motor_fb->current_angle, motor_fb->current_velocity, motor_fb->current_torque
-            }
-        }
-        
-        // 获取IMU反馈数据
-        Virtual_Chassis_IMUFeedback_t *imu_fb = Virtual_Chassis_GetIMUFeedback(&virtual_chassis);
-        if (imu_fb != NULL && imu_fb->online) {
-            // 这里可以使用IMU数据替换原有的陀螺仪数据
-            // 例如：将数据发送给底盘控制任务
-            Chassis_IMU_t chassis_imu = {
-                .accl = imu_fb->accl,
-                .gyro = imu_fb->gyro,
-                .euler = imu_fb->euler,
-            };
-            
-            // 发送IMU数据到底盘控制任务
-            osMessageQueuePut(task_runtime.msgq.chassis_imu, &chassis_imu, 0, 0);
-        }
-    } else {
-        // 设备离线，重新使能
-        if (chassis_enabled) {
-            Virtual_Chassis_Enable(&virtual_chassis);
-        }
-    }
-    
-    /* USER CODE END */
-    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
-  }
-}
\ No newline at end of file
diff --git a/User/task/rc.c b/User/task/rc.c
index 3f9738d..05338bd 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -9,6 +9,7 @@
 /* USER INCLUDE BEGIN */
 #include "device/dr16.h"
 #include "module/config.h"
+#include "module/balance_chassis.h"
 // #include "module/shoot.h"
 // #include "module/gimbal.h"
 #include <stdbool.h>
@@ -21,6 +22,7 @@
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
 DR16_t dr16;
+Chassis_CMD_t cmd_for_chassis;
 // RC_CAN_t rc_can;
 // Shoot_CMD_t for_shoot;
 // Gimbal_CMD_t cmd_for_gimbal;
@@ -46,6 +48,26 @@ void Task_rc(void *argument) {
     } else {
       DR16_Offline(&dr16);
     }
+    switch (dr16.data.sw_l) {
+
+    case DR16_SW_UP:
+        cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
+        break;
+    case DR16_SW_MID:
+        cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
+        break;
+    case DR16_SW_DOWN:
+        cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
+        break;
+    default:
+        cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
+        break;
+    }
+
+    osMessageQueueReset(task_runtime.msgq.Chassis_cmd); // 重置消息队列，防止阻塞
+    osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_for_chassis, 0, 0); // 非阻塞发送底盘控制命令
+    
+
     // for_shoot.online = dr16.header.online;
     // switch (dr16.data.sw_r) {
     // case DR16_SW_UP: