diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 2b19c33..b15ff36 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -46,7 +46,29 @@ static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
     joint_command_received = false;
     wheel_command_received[0] = false;
     wheel_command_received[1] = false;
+  
+        // 检查ID 128 - 左轮控制命令 (与电机发送格式一致)
+    if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_LEFT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
+        wheel_command_received[0] = true;
+        wheel_last_cmd_time[0] = BSP_TIME_Get_ms(); // 更新左轮命令时间戳
+        float left_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
+        chassis->output.wheel[0] = left_out;
+        MOTOR_LK_SetOutput(&chassis->param.wheel_param[0], left_out);
+
+    }
     
+    // 检查ID 129 - 右轮控制命令 (与电机发送格式一致) 
+    if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_RIGHT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
+        wheel_command_received[1] = true;
+        wheel_last_cmd_time[1] = BSP_TIME_Get_ms(); // 更新右轮命令时间戳
+        float right_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
+        chassis->output.wheel[1] = right_out;
+        MOTOR_LK_SetOutput(&chassis->param.wheel_param[1], right_out);
+    }
+
+    BSP_TIME_Delay_ms(1); // 短暂延时，避免总线冲突
+
+
     // 检查ID 121 - 使能4个关节电机
     if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_ENABLE_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
         joint_command_received = true;
@@ -79,26 +101,7 @@ static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
             MOTOR_LZ_MotionControl(&chassis->param.joint_param[i], &motion_param);
         }
     }
-    BSP_TIME_Delay_us(500); // 确保CAN总线有足够时间处理消息
-    // 检查ID 128 - 左轮控制命令 (与电机发送格式一致)
-    if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_LEFT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
-        wheel_command_received[0] = true;
-        wheel_last_cmd_time[0] = BSP_TIME_Get_ms(); // 更新左轮命令时间戳
-        float left_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
-        chassis->output.wheel[0] = left_out;
-        MOTOR_LK_SetOutput(&chassis->param.wheel_param[0], left_out);
 
-    }
-    
-    // 检查ID 129 - 右轮控制命令 (与电机发送格式一致) 
-    if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_RIGHT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
-        wheel_command_received[1] = true;
-        wheel_last_cmd_time[1] = BSP_TIME_Get_ms(); // 更新右轮命令时间戳
-        float right_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
-        chassis->output.wheel[1] = right_out;
-        MOTOR_LK_SetOutput(&chassis->param.wheel_param[1], right_out);
-    }
-    BSP_TIME_Delay_us(500);
     return DEVICE_OK;
 }