diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 6da7985..0b63802 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -5,6 +5,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include "module/balance_chassis.h"
 #include "bsp/can.h"
+#include "bsp/time.h"
 #include "component/user_math.h"
 #include "device/motor_lk.h"
 #include "module/config.h"
@@ -83,7 +84,7 @@ static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
         float right_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
         MOTOR_LK_SetOutput(&chassis->param.wheel_param[1], right_out);
     }
-    
+    BSP_TIME_Delay_us(400); // 确保CAN总线有足够时间处理消息
     return DEVICE_OK;
 }