diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 7f54aab..fee994f 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -73,7 +73,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)0x6000)
+#define configTOTAL_HEAP_SIZE                    ((size_t)0x10000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configGENERATE_RUN_TIME_STATS            1
 #define configUSE_TRACE_FACILITY                 1
@@ -187,6 +187,7 @@ standard names. */
 
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
+// #define configAPPLICATION_ALLOCATED_HEAP         1
 /* USER CODE END Defines */
 
 #endif /* FREERTOS_CONFIG_H */
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 0163ecb..0774647 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -47,7 +47,7 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN Variables */
-
+uint8_t ucHeap[configTOTAL_HEAP_SIZE] __attribute__((section(".ccmram")));
 /* USER CODE END Variables */
 /* Definitions for defaultTask */
 osThreadId_t defaultTaskHandle;
diff --git a/DevC.ioc b/DevC.ioc
index 993e674..9f4f496 100644
--- a/DevC.ioc
+++ b/DevC.ioc
@@ -141,14 +141,15 @@ FREERTOS.INCLUDE_xSemaphoreGetMutexHolder=1
 FREERTOS.INCLUDE_xTaskAbortDelay=1
 FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
 FREERTOS.INCLUDE_xTaskGetHandle=1
-FREERTOS.IPParameters=Tasks01,FootprintOK,configENABLE_FPU,configENABLE_BACKWARD_COMPATIBILITY,configRECORD_STACK_HIGH_ADDRESS,configCHECK_FOR_STACK_OVERFLOW,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configTOTAL_HEAP_SIZE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,INCLUDE_uxTaskGetStackHighWaterMark2,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_pcTaskGetTaskName,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_vTaskCleanUpResources
+FREERTOS.IPParameters=Tasks01,FootprintOK,configENABLE_FPU,configENABLE_BACKWARD_COMPATIBILITY,configRECORD_STACK_HIGH_ADDRESS,configCHECK_FOR_STACK_OVERFLOW,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configTOTAL_HEAP_SIZE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,INCLUDE_uxTaskGetStackHighWaterMark2,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_pcTaskGetTaskName,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_vTaskCleanUpResources,configUSE_APPLICATION_TASK_TAG
 FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2
 FREERTOS.configENABLE_BACKWARD_COMPATIBILITY=0
 FREERTOS.configENABLE_FPU=1
 FREERTOS.configGENERATE_RUN_TIME_STATS=1
 FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
-FREERTOS.configTOTAL_HEAP_SIZE=0x6000
+FREERTOS.configTOTAL_HEAP_SIZE=0x10000
+FREERTOS.configUSE_APPLICATION_TASK_TAG=0
 FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=1
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
diff --git a/User/bsp/can.c b/User/bsp/can.c
index f29cb3d..193dd2d 100644
--- a/User/bsp/can.c
+++ b/User/bsp/can.c
@@ -680,7 +680,6 @@ int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) {
             }
         }
         
-        // 短暂延时，避免占用过多CPU
         osDelay(1);
     }
 }
diff --git a/User/module/config.c b/User/module/config.c
index ca2b67f..c58511a 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -22,51 +22,7 @@ Config_RobotParam_t robot_config = {
         .device_id = 0x42,   
         .master_id = 0x43,   
     },
-    .joint_motors[0] = { // 左膝关节
-        .can = BSP_CAN_1,
-        .motor_id = 124,
-        .host_id = 0XFF,
-        .module = MOTOR_LZ_RSO3,
-        .reverse = false,
-        .mode = MOTOR_LZ_MODE_MOTION,
-    },
-    .joint_motors[1] = { // 左髋关节
-        .can = BSP_CAN_1,
-        .motor_id = 125,
-        .host_id = 0XFF,
-        .module = MOTOR_LZ_RSO3,
-        .reverse = false,
-        .mode = MOTOR_LZ_MODE_MOTION,
-    },
-    .joint_motors[2] = { // 右髋关节
-        .can = BSP_CAN_1,
-        .motor_id = 126,
-        .host_id = 0XFF,
-        .module = MOTOR_LZ_RSO3,
-        .reverse = false,
-        .mode = MOTOR_LZ_MODE_MOTION,
-    },
-    .joint_motors[3] = { // 右膝关节
-        .can = BSP_CAN_1,
-        .motor_id = 127,
-        .host_id = 0XFF,
-        .module = MOTOR_LZ_RSO3,
-        .reverse = false,
-        .mode = MOTOR_LZ_MODE_MOTION,
-    },
-    .wheel_motors[0] = { // 左轮电机
-        .can = BSP_CAN_1,
-        .id = 1,  // 电机ID为1，对应命令ID=0x141，反馈ID=0x181
-        .module = MOTOR_LK_MF9025,
-        .reverse = false,
-    },
-    .wheel_motors[1] = { // 右轮电机
-        .can = BSP_CAN_1,
-        .id = 2,  // 电机ID为2，对应命令ID=0x142，反馈ID=0x182
-        .module = MOTOR_LK_MF9025,
-        .reverse = true,
-    },
-    
+
     .chassis_param = {
         .yaw={
             .k=1.0f,
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index fcb2aed..458a799 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -30,9 +30,7 @@ Chassis_CMD_t chassis_cmd = {
     .height = 0.0f,
 };
 Chassis_IMU_t chassis_imu;
-
-MOTOR_Feedback_t left_wheel_fb;
-MOTOR_Feedback_t right_wheel_fb;
+Chassis_t chassis1;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
diff --git a/infantry.jdebug b/infantry.jdebug
index 646467b..b86fb13 100644
--- a/infantry.jdebug
+++ b/infantry.jdebug
@@ -22,12 +22,12 @@ void OnProjectLoad (void) {
   //
   // Dialog-generated settings
   //
-  Project.AddPathSubstitute ("/Users/lvzucheng/Documents/R/balance_infantry", "$(ProjectDir)");
-  Project.AddPathSubstitute ("/users/lvzucheng/documents/r/balance_infantry", "$(ProjectDir)");
   Project.SetDevice ("STM32F407IG");
   Project.SetHostIF ("USB", "207400620");
   Project.SetTargetIF ("SWD");
   Project.SetTIFSpeed ("4 MHz");
+  Project.AddPathSubstitute ("/Users/lvzucheng/Documents/R/balance_infantry", "$(ProjectDir)");
+  Project.AddPathSubstitute ("/users/lvzucheng/documents/r/balance_infantry", "$(ProjectDir)");
   Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M4F.svd");
   //
   // User settings