diff --git a/User/module/config.c b/User/module/config.c
index 2ef4045..8bb0270 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -27,7 +27,7 @@ Config_RobotParam_t robot_config = {
         {
             {
                 // 左髋关节
-                .can = BSP_CAN_2,
+                .can = BSP_CAN_1,
                 .motor_id = 124,
                 .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
@@ -36,7 +36,7 @@ Config_RobotParam_t robot_config = {
             },
             {
                 // 左膝关节
-                .can = BSP_CAN_2,
+                .can = BSP_CAN_1,
                 .motor_id = 125,
                 .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
@@ -45,7 +45,7 @@ Config_RobotParam_t robot_config = {
             },
             {
                 // 右膝关节
-                .can = BSP_CAN_2,
+                .can = BSP_CAN_1,
                 .motor_id = 126,
                 .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
@@ -54,7 +54,7 @@ Config_RobotParam_t robot_config = {
             },
             {
                 // 右髋关节
-                .can = BSP_CAN_2,
+                .can = BSP_CAN_1,
                 .motor_id = 127,
                 .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
diff --git a/User/task/ctrl_lz.c b/User/task/ctrl_lz.c
index 6a2c58b..500da8e 100644
--- a/User/task/ctrl_lz.c
+++ b/User/task/ctrl_lz.c
@@ -123,7 +123,7 @@ void Task_ctrl_lz(void *argument) {
             motor_frame.data[6] = (velocity_int >> 8) & 0xFF;
             motor_frame.data[7] = velocity_int & 0xFF;
             
-            BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &motor_frame);
+            BSP_CAN_TransmitStdDataFrame(BSP_CAN_2, &motor_frame);
         }
     }
 
diff --git a/User/task/init.c b/User/task/init.c
index 4537802..e261f86 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -31,7 +31,7 @@ void Task_Init(void *argument) {
   
   /* 创建任务线程 */
   task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
-  // task_runtime.thread.imu = osThreadNew(Task_imu, NULL, &attr_imu);
+  task_runtime.thread.imu = osThreadNew(Task_imu, NULL, &attr_imu);
   task_runtime.thread.ctrl_lz = osThreadNew(Task_ctrl_lz, NULL, &attr_ctrl_lz);
 
   // 创建消息队列