0
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf
index d499e4e..d1e4186 100644
Binary files a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf and b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf differ
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm
index daec413..a17d5c9 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm
@@ -37,7 +37,7 @@ Note: source file '..\User\task\ET16s.c' - object file renamed from 'Steering Wh
Note: source file '..\User\task\step_motor.c' - object file renamed from 'Steering Wheel_Infatry\step_motor.o' to 'Steering Wheel_Infatry\step_motor_1.o'.
Note: source file '..\User\task\vofa.c' - object file renamed from 'Steering Wheel_Infatry\vofa.o' to 'Steering Wheel_Infatry\vofa_1.o'.
Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.
-compiling chassis.c...
+compiling config.c...
linking...
Program Size: Code=67504 RO-data=1720 RW-data=1224 ZI-data=119880
FromELF: creating hex file...
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex
index 1904d3f..097315b 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex
@@ -4348,10 +4348,10 @@
:100F90000C423C2DDB0FC9C01C4918210D306F12CB
:100FA000833A600120540102015A02085A03085A88
:100FB0000408540602025A07085A08085A09081A6F
-:100FC0000507492A611A34BC3957320319CC29ACB8
-:100FD0001AC004111D3F0306041729036113F930D9
-:100FE000140829311B08710429421A39101A6504A2
-:100FF0001ACD04692481294DB9B6313210000000A0
+:100FC0000507492A615B3EC357320319CC29AC1A85
+:100FD000C004111D3F0306041729036113F93014DF
+:100FE0000829311B08710429421A39101A65041A9C
+:100FF000CD04692481294DB9B631321000000000BA
:10100000022B073DFEF7BBB8DD098A3BDE7772BCD9
:10101000FC0D010800000000D1050020692F000828
:10102000752E0008712F000801000000AAAAAAAAC4
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm
index 01f3ae2..2324eaf 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm
@@ -3,7 +3,7 @@
Static Call Graph - [Steering Wheel_Infatry\Steering Wheel_Infatry.axf]
Static Call Graph for image Steering Wheel_Infatry\Steering Wheel_Infatry.axf
-
#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Mon Jan 26 21:06:16 2026
+
#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Tue Jan 27 14:10:26 2026
Maximum Stack Usage = 464 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)
Call chain for Maximum Stack Depth:
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep
index cb2bf92..dcf5802 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep
@@ -2508,7 +2508,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x697729B3)
I (..\User\device\device.h)(0x697729B3)
-F (..\User\module\config.c)(0x69776578)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd
-I./RTE/_Steering_Wheel_Infatry
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "steering wheel_infatry/config.o" -MD)
+F (..\User\module\config.c)(0x697856B4)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd
-I./RTE/_Steering_Wheel_Infatry
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "steering wheel_infatry/config.o" -MD)
I (..\User\component\user_math.h)(0x697729B3)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
diff --git a/MDK-ARM/Steering Wheel_Infatry/config.o b/MDK-ARM/Steering Wheel_Infatry/config.o
index d626a80..6693cfa 100644
Binary files a/MDK-ARM/Steering Wheel_Infatry/config.o and b/MDK-ARM/Steering Wheel_Infatry/config.o differ
diff --git a/User/module/config.c b/User/module/config.c
index 3c00e95..b604efd 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -28,7 +28,7 @@ Config_RobotParam_t robot_config = {
.motor_6020_param[1]={BSP_CAN_1,0x207,MOTOR_GM6020,false,false},
.motor_6020_param[2]={BSP_CAN_1,0x208,MOTOR_GM6020,false,false},
.motor_6020_param[3]={BSP_CAN_1,0x209,MOTOR_GM6020,false,false},
- .chassis2006_setangle=45,
+ .chassis2006_setangle=-190,
.chassis_2006_angle_param={
.k=1.0f,
.p=1.0f,