diff --git a/.eide/eide.json b/.eide/eide.json
index 9f47ead..506dacb 100644
--- a/.eide/eide.json
+++ b/.eide/eide.json
@@ -62,7 +62,8 @@
           "app/page",
           "app/tiny_frame",
           "3rd-lib/crc16",
-          "3rd-lib/lwrb/inc"
+          "3rd-lib/lwrb/inc",
+          "3rd-lib/PID-Library"
         ],
         "libList": [
           "libraries/zf_device"
diff --git a/3rd-lib/PID-Library/pid.h b/3rd-lib/PID-Library/pid.h
index 7583788..3a05b6f 100644
--- a/3rd-lib/PID-Library/pid.h
+++ b/3rd-lib/PID-Library/pid.h
@@ -25,7 +25,7 @@
 #include <stdint.h>
 #include <string.h>
 
-#include "zf_common_headfile.h"
+// #include "zf_common_headfile.h"
 
 /* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
 /* ------------------------ Library ------------------------ */
diff --git a/app/by_fan_control.c b/app/by_fan_control.c
index a41697b..bbd46ee 100644
--- a/app/by_fan_control.c
+++ b/app/by_fan_control.c
@@ -1,11 +1,12 @@
 #include "by_fan_control.h"
 #include "zf_common_headfile.h"
-#define Fan_pwm_up1    TIM8_PWM_MAP0_CH1_C6
-#define Fan_pwm_up2    TIM8_PWM_MAP0_CH2_C7
-#define Fan_pwm_power1 TIM4_PWM_MAP1_CH3_D14
-#define Fan_pwm_power2 TIM4_PWM_MAP1_CH4_D15
-#define Fan_pwm_power3 TIM4_PWM_MAP1_CH2_D13
-#define Fan_pwm_power4 TIM4_PWM_MAP1_CH1_D12
+
+#define FAN_LL_PWM_PIN TIM8_PWM_MAP0_CH1_C6  // 左升力风扇
+#define FAN_RL_PWM_PIN TIM8_PWM_MAP0_CH2_C7  // 右升力风扇
+#define FAN_LS_PWM_PIN TIM4_PWM_MAP1_CH4_D15 // 左侧动力风扇
+#define FAN_RS_PWM_PIN TIM4_PWM_MAP1_CH3_D14 // 右侧动力风扇
+#define FAN_LB_PWM_PIN TIM4_PWM_MAP1_CH2_D13 // 左后动力风扇
+#define FAN_RB_PWM_PIN TIM4_PWM_MAP1_CH1_D12 // 右后动力风扇
 
 uint32_t myclip(uint32_t x, uint32_t low, uint32_t up)
 {
@@ -15,51 +16,58 @@ uint32_t myclip(uint32_t x, uint32_t low, uint32_t up)
 
 void by_pwm_init(void)
 {
-    pwm_init(Fan_pwm_up1, 50, 500); // 浮力风扇左
-    pwm_init(Fan_pwm_up2, 50, 500); // 浮力风扇右
+    pwm_init(FAN_LL_PWM_PIN, 50, 500);
+    pwm_init(FAN_RL_PWM_PIN, 50, 500);
 
-    pwm_init(Fan_pwm_power1, 50, 500); // 动力风扇左 1
-    pwm_init(Fan_pwm_power2, 50, 500); // 动力风扇右 1
-    pwm_init(Fan_pwm_power3, 50, 500); // 动力风扇左 2
-    pwm_init(Fan_pwm_power4, 50, 500); // 动力风扇右 2
+    pwm_init(FAN_LS_PWM_PIN, 4000, 500);
+    pwm_init(FAN_RS_PWM_PIN, 4000, 500);
+    pwm_init(FAN_LB_PWM_PIN, 4000, 500);
+    pwm_init(FAN_RB_PWM_PIN, 4000, 500);
     // system_delay_ms(3000);
-    // // pwm_init(Fan_pwm_power1, 50, 1000); // 动力风扇左 1
-    // // pwm_init(Fan_pwm_power2, 50, 1000); // 动力风扇右 1
-    // // pwm_init(Fan_pwm_power3, 50, 1000); // 动力风扇左 2
-    // // pwm_init(Fan_pwm_power4, 50, 1000); // 动力风扇右 2
+    // // pwm_init(FAN_LS_PWM_PIN, 50, 1000); // 动力风扇左 1
+    // // pwm_init(FAN_RS_PWM_PIN, 50, 1000); // 动力风扇右 1
+    // // pwm_init(FAN_LB_PWM_PIN, 50, 1000); // 动力风扇左 2
+    // // pwm_init(FAN_RB_PWM_PIN, 50, 1000); // 动力风扇右 2
     // // system_delay_ms(5000);
-    //  pwm_set_duty(Fan_pwm_power1, 600);
-    // pwm_set_duty(Fan_pwm_power2, 600);
-    // pwm_set_duty(Fan_pwm_power3, 600);
-    // pwm_set_duty(Fan_pwm_power4, 600);
+    //  pwm_set_duty(FAN_LS_PWM_PIN, 600);
+    // pwm_set_duty(FAN_RS_PWM_PIN, 600);
+    // pwm_set_duty(FAN_LB_PWM_PIN, 600);
+    // pwm_set_duty(FAN_RB_PWM_PIN, 600);
     // while(1);
 }
 
+/**
+ * @brief 更新升力风扇占空比
+ *
+ * @param update_pwm_duty1
+ * @param update_pwm_duty2
+ */
 void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
 {
-    update_pwm_duty1=myclip(update_pwm_duty1, 500, 1000);
-    update_pwm_duty2=myclip(update_pwm_duty2, 500, 1000);
-    pwm_set_duty(Fan_pwm_up1, update_pwm_duty1);
-    pwm_set_duty(Fan_pwm_up2, update_pwm_duty2);
+    update_pwm_duty1 = myclip(update_pwm_duty1, 500, 1000);
+    update_pwm_duty2 = myclip(update_pwm_duty2, 500, 1000);
+    pwm_set_duty(FAN_LL_PWM_PIN, update_pwm_duty1);
+    pwm_set_duty(FAN_RL_PWM_PIN, update_pwm_duty2);
 }
+
 /**
- * @brief 
- * 
- * @param power_pwm_duty_l1 左转向风扇
- * @param power_pwm_duty_r1 右转向风扇
- * @param power_pwm_duty_l2 左驱动风扇
- * @param power_pwm_duty_r2 右驱动风扇
+ * @brief 更新动力风扇占空比
+ *
+ * @param pwm_duty_ls
+ * @param pwm_duty_rs
+ * @param pwm_duty_lb
+ * @param pwm_duty_rb
  */
-void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1, uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2)
+void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_duty_lb, uint32_t pwm_duty_rb)
 {
 
-    power_pwm_duty_l1=myclip(power_pwm_duty_l1, 500, 900);
-    power_pwm_duty_r1=myclip(power_pwm_duty_r1, 500, 900);
-    power_pwm_duty_l2=myclip(power_pwm_duty_l2, 500, 900);
-    power_pwm_duty_r2=myclip(power_pwm_duty_r2, 500, 900);
+    pwm_duty_ls = myclip(pwm_duty_ls, 500, 3000);
+    pwm_duty_rs = myclip(pwm_duty_rs, 500, 3000);
+    pwm_duty_lb = myclip(pwm_duty_lb, 500, 3000);
+    pwm_duty_rb = myclip(pwm_duty_rb, 500, 3000);
 
-    pwm_set_duty(Fan_pwm_power1, power_pwm_duty_l1);
-    pwm_set_duty(Fan_pwm_power2, power_pwm_duty_r1);
-    pwm_set_duty(Fan_pwm_power3, power_pwm_duty_l2);
-    pwm_set_duty(Fan_pwm_power4, power_pwm_duty_r2);
+    pwm_set_duty(FAN_LS_PWM_PIN, pwm_duty_ls);
+    pwm_set_duty(FAN_RS_PWM_PIN, pwm_duty_rs);
+    pwm_set_duty(FAN_LB_PWM_PIN, pwm_duty_lb);
+    pwm_set_duty(FAN_RB_PWM_PIN, pwm_duty_rb);
 }
diff --git a/app/jj_motion.c b/app/jj_motion.c
index 1656dce..423dccc 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -1,9 +1,11 @@
 #include "jj_motion.h"
+
+#include "zf_common_headfile.h"
+#include "pid.h"
+
+#include "jj_blueteeth.h"
 #include "by_fan_control.h"
 #include "by_imu.h"
-#include "jj_blueteeth.h"
-#include "../3rd-lib/PID-Library/pid.h"
-#include "zf_driver_encoder.h"
 
 PID_TypeDef far_angle_pid;
 PID_TypeDef far_gyro_pid;
@@ -70,18 +72,21 @@ void sport_motion(void)
     PID_Compute(&far_gyro_pid);
 
     if (cnt1 >= 10) {
-
+        in_speed = -1 * sport_get_speed();
         PID_Compute(&speed_pid);
-        in_speed = -sport_get_speed();
-        // printf("rate:%d\r\n", (int16_t)in_speed);
+
         PID_Compute(&near_pos_pid);
+
         cnt1 = 0;
     }
+
     if (cnt2 >= 20) {
         cnt2 = 0;
         PID_Compute(&far_angle_pid);
     }
-    if (bt_run_flag == 1) {
+
+    /* 动力风扇设置 */
+    if (1 == bt_run_flag) {
         if (out_gyro > 0) {
             by_pwm_power_duty((int32_t)(500 - 1 * out_pos + 0 * out_gyro),
                               (int32_t)(500 + 1 * out_pos - 0 * out_gyro),
@@ -99,6 +104,8 @@ void sport_motion(void)
     } else {
         by_pwm_power_duty(500, 500, 500, 500);
     }
+
+    /* 升力风扇设置 */
     if (bt_fly_flag == 0) {
         by_pwm_update_duty(0 + 500, 0 + 500);
     } else {
@@ -112,26 +119,31 @@ void sport_motion(void)
  */
 void sport_pid_init()
 {
+    /* 角度控制 */
+    PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, _PID_P_ON_E, _PID_CD_REVERSE);
+    PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
+    PID_SetSampleTime(&far_angle_pid, 20);
+    PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f);
+    // PID_Init(&far_angle_pid);
 
-    PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 1, 1);
-    PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, 1, 1);
-    PID_Init(&far_angle_pid);
-    PID_Init(&far_gyro_pid);
+    /* 角速度控制 */
+    PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, _PID_P_ON_E, _PID_CD_REVERSE);
+    PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
+    PID_SetSampleTime(&far_gyro_pid, 1);
+    PID_SetOutputLimits(&far_gyro_pid, -3000.0f, 3000.0f);
+    // PID_Init(&far_gyro_pid);
 
-    PID_SetOutputLimits(&far_angle_pid, -500.0f, 500.0f);
-    PID_SetOutputLimits(&far_gyro_pid, -500.0f, 500.0f);
+    /* 近点控制 */
+    PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
+    PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC);
+    PID_SetSampleTime(&near_pos_pid, 10);
+    PID_SetOutputLimits(&near_pos_pid, -3000.0f, 3000.0f);
+    // PID_Init(&near_pos_pid);
 
-    PID_SetMode(&far_gyro_pid, 1);
-    PID_SetMode(&far_angle_pid, 1);
-
-    PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, 1, 0);
-    PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, 1, 0);
-    PID_Init(&near_pos_pid);
-    PID_Init(&speed_pid);
-
-    PID_SetOutputLimits(&near_pos_pid, -500.0f, 500.0f);
-    PID_SetOutputLimits(&speed_pid, 0.0f, 400.0f);
-
-    PID_SetMode(&near_pos_pid, 1);
-    PID_SetMode(&speed_pid, 1);
+    /* 速度控制 */
+    PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
+    PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
+    PID_SetSampleTime(&speed_pid, 10);
+    PID_SetOutputLimits(&speed_pid, 0.0f, 2500.0f);
+    // PID_Init(&speed_pid);
 }
diff --git a/app/main.c b/app/main.c
index c8f3806..2c5991d 100644
--- a/app/main.c
+++ b/app/main.c
@@ -68,7 +68,7 @@ int main(void)
     while (1) {
         debug_array[0] = in_pos;
         debug_array[1] = out_pos;
-        by_vofa_send(&vofa_test); // 发送数据
+        // by_vofa_send(&vofa_test); // 发送数据
         Page_Run();
         by_frame_parse(2, &test_data[0].u32);
         by_buzzer_run();
diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c
index 85ed16a..e0c1f77 100644
--- a/app/page/page_dparam.c
+++ b/app/page/page_dparam.c
@@ -42,11 +42,11 @@ static void Exit()
  */
 static void Loop()
 {
-    ips200_show_string(0, 40, "far");
+    ips200_show_string(0, 40, "angle");
     ips200_show_float(80, 40, in_angle, 4, 1);
     ips200_show_string(0, 60, "near");
     ips200_show_float(80, 60, in_pos, 4, 1);
-    ips200_show_string(0, 80, "gyrz");
+    ips200_show_string(0, 80, "gyroz");
     ips200_show_float(80, 80, in_gyro, 4, 2);
     ips200_show_string(0, 100, "speed");
     ips200_show_float(80, 100, in_speed, 4, 4);