diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 957a078..0d0c803 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -18,6 +18,7 @@ static int8_t Chassis_MotorEnable(Chassis_t *c) {
     for (int i = 0; i < 2; i++) {
         MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
     }
+    BSP_TIME_Delay_us(200);
     for (int i = 0; i < 4; i++) {
         MOTOR_LZ_Enable(&c->param->joint_motors[i]);
     }
@@ -256,9 +257,9 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
             tp1 = 3*PID_Calc(&c->pid.tp[0], 0.0f, c->vmc_[0].leg.theta, c->vmc_[0].leg.d_theta, c->dt);
             tp2 = 3*PID_Calc(&c->pid.tp[1], 0.0f, c->vmc_[1].leg.theta, c->vmc_[1].leg.d_theta, c->dt);
 
-            VMC_InverseSolve(&c->vmc_[0], fn, tp1);
+            VMC_InverseSolve(&c->vmc_[0], fn, 0.0f);
             VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
-            VMC_InverseSolve(&c->vmc_[1], fn, tp2);
+            VMC_InverseSolve(&c->vmc_[1], fn, 0.0f);
             VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque, &c->output.joint[2].torque);
 
             c->output.wheel[0] = 0.0f;
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index fcb2aed..627e4d6 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -57,15 +57,15 @@ 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_imu, &chassis_imu, NULL, 0) == osOK) {
-        chassis.feedback.imu = chassis_imu;
-    }
-    if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
-        // 成功接收到命令，更新底盘命令
-    }
+    // if (osMessageQueueGet(task_runtime.msgq.chassis_imu, &chassis_imu, NULL, 0) == osOK) {
+    //     chassis.feedback.imu = chassis_imu;
+    // }
+    // if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
+    //     // 成功接收到命令，更新底盘命令
+    // }
     
-    Chassis_UpdateFeedback(&chassis);
-    Chassis_Control(&chassis, &chassis_cmd);
+    // Chassis_UpdateFeedback(&chassis);
+    // Chassis_Control(&chassis, &chassis_cmd);
 
     
     /* USER CODE END */