diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx
index 7d7b22b..60050b9 100644
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@@ -213,12 +213,6 @@
       <pszMrulep></pszMrulep>
       <pSingCmdsp></pSingCmdsp>
       <pMultCmdsp></pMultCmdsp>
-      <SystemViewers>
-        <Entry>
-          <Name>System Viewer\GPIOB</Name>
-          <WinId>35905</WinId>
-        </Entry>
-      </SystemViewers>
     </TargetOption>
   </Target>
 
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index dba7f8c..503ade7 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -164,13 +164,13 @@
 :100A200033439A42A2F2334202DC5242FFF734BF10
 :100A3000FFF723BF064C074D06E0E06840F00103D6
 :100A400094E8070098471034AC42F6D3FFF752FB06
-:100A5000F46B0008146C000800BFFEE770B5044694
-:100A60000D4600BF2CB904F097FD01E000BF00BFA8
+:100A5000B46B0008D46B000800BFFEE770B5044615
+:100A60000D4600BF2CB904F079FD01E000BF00BFC6
 :100A7000FCE700BF012070BD10B50248006804F01B
-:100A80001AFE10BD6400002010B50248006804F092
-:100A900012FE10BD640000207047000010B5012058
+:100A8000FCFD10BD6400002010B50248006804F0B1
+:100A9000F4FD10BD640000207047000010B5012077
 :100AA000074909680140814200D100E0002129B1D5
-:100AB00001200349086000BF05F06CF910BD00007B
+:100AB00001200349086000BF05F04EF910BD000099
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 :100AD000034AD1611146C9690140009100BF08BDB8
 :100AE0000010024008B5054989690143034A916134
@@ -180,29 +180,29 @@
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-:100B5000DC60000810B54A1E044B9A5C825842F0D3
-:100B600001034A1E014CA25C835010BDDC600008EA
+:100B50009C60000810B54A1E044B9A5C825842F013
+:100B600001034A1E014CA25C835010BD9C6000082A
 :100B700010B54A1E044B9A5C825842F002034A1E8A
-:100B8000014CA25C835010BDDC60000830B54B1EE8
+:100B8000014CA25C835010BD9C60000830B54B1E28
 :100B9000054CE35CC35823F4405313434C1E024DF1
-:100BA0002C5D035130BD00009A60000830B54B1E2B
+:100BA0002C5D035130BD00005A60000830B54B1E6B
 :100BB000064CE35C03445B686FF30F0313434C1E66
-:100BC000024D2C5D0444636030BD0000DC60000811
+:100BC000024D2C5D0444636030BD00009C60000851
 :100BD00030B54B1E054CE35CC35844F21004A343EC
-:100BE00013434C1E014D2C5D035130BD9A6000082B
+:100BE00013434C1E014D2C5D035130BD5A6000086B
 :100BF00010B54B1E024CE35C0344DA6010BD0000EC
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+:100C00009C60000830B54B1E054CE35CC35823F0D4
 :100C1000800313434C1E024D2C5D035130BD000078
-:100C20009A60000830B54B1E054CE35CC35823F4B2
+:100C20005A60000830B54B1E054CE35CC35823F4F2
 :100C3000406313434C1E024D2C5D035130BD000038
-:100C40009A60000830B54B1E054CE35CC35823F096
+:100C40005A60000830B54B1E054CE35CC35823F0D6
 :100C5000200313434C1E024D2C5D035130BD000098
-:100C60009A60000810B54B1E024CE35C03449A6086
-:100C700010BD0000DC60000830B54B1E054CE35C85
+:100C60005A60000810B54B1E024CE35C03449A60C6
+:100C700010BD00009C60000830B54B1E054CE35CC5
 :100C8000C35823F0400313434C1E024D2C5D035107
-:100C900030BD00009A60000830B54B1E054CE35C87
+:100C900030BD00005A60000830B54B1E054CE35CC7
 :100CA000C35823F4407313434C1E024D2C5D035173
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+:100CB00030BD00005A600008024909688143014ABA
 :100CC0001160704704040140024909688143014AE8
 :100CD0001160704700040140024909680143014A5C
 :100CE0001160704704040140024909680143014A48
@@ -278,14 +278,14 @@
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-:101170000425B5402C43046070BD00007760000872
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+:101170000425B5402C43046070BD000037600008B2
+:101180003E60000870B50246012901D1002416E036
 :10119000042901D1012412E0102901D102240EE01A
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 :1011C000064CE55C02F1180428190468044DEE5C35
-:1011D0000825B5402C43046070BD0000776000080E
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+:1011D0000825B5402C43046070BD0000376000084E
+:1011E0003E6000082DE9F04106460C4615460127F1
 :1011F000012C08D0102C0CD0B4F5807F0FD0B4F5A2
 :10120000805F18D111E02946304600F081FC074686
 :1012100012E02946304600F0B7FC07460CE02946AC
@@ -472,12 +472,12 @@
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 :101D80000448406800F0F0000009034A125C21FAA0
-:101D900002F0704700100240C4600008014600BF16
+:101D900002F070470010024084600008014600BF56
 :101DA0000548406800F4E060044A02EB1020027825
-:101DB00021FA02F07047000000100240D4600008D1
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 :101E100000BF00BF204610BD0010024000127A0033
@@ -516,7 +516,7 @@
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 :102080001F48FFF73BF8012805D100BF801F1C49FE
@@ -527,7 +527,7 @@
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 :1020F000C01E0349086100BF00BF00BF10BD000043
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+:102100000004004010B50248006803F0E1FB10BD78
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 :102130000546276BE06AFEF7E5FACDE90801284677
@@ -617,14 +617,14 @@
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 :10268000046803E02046FFF777FF0446034800682C
 :102690008442F7D310BD0000380000203C00002029
-:1026A00010B504462146002002F0D8F810BD10B540
+:1026A00010B504462146002002F0BAF810BD10B55E
 :1026B00001E000F8011B131EA2F10104A2B2F8D13F
 :1026C00010BD10B501E000F8011B131EA2F10104BA
 :1026D000A2B2F8D110BD10B501E000F8011B131E25
 :1026E000A2F10104A2B2F8D110BD10B501E000F8CA
 :1026F000011B131EA2F10104A2B2F8D110BD70B5E6
 :1027000004460D46164694F89800012805D1324635
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 :10273000884606460025EEE1252877D10024274665
 :10274000F94A0121039400E0044316F8013F203BBD
@@ -741,7 +741,7 @@
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@@ -792,7 +792,7 @@
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+:10319000C4F880110821204601F006FE02F0D6F99D
 :1031A000A06470BD2DE9F05F05460E4617469846AF
 :1031B000DDE90BABDDF82890012085F899004FF090
 :1031C0007E51A82041510021AC204151B0204151F5
@@ -827,7 +827,7 @@
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 :1033A000012A04D1002200F14402516104E000220C
 :1033B00000F14402D16000BF704770B504460D466D
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+:1033C0002946204601F0F0FC70BD416370478263DE
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 :1033E000012B05D1002300F144039A63D96305E062
 :1033F000002300F14403DA62196300BF10BD10B569
@@ -844,29 +844,29 @@
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 :1034B00000213046FDF790F903D2012084F8460040
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+:1034D00010B502F03BF804490968401AC82801D227
 :1034E000002010BD0120FCE71C00002010B500F0FA
-:1034F00045FF02F071FC00200A4908600A49086093
+:1034F00045FF02F053FC00200A4908600A490860B1
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 :10354000F7FD10BD040000200C00002010B502F0B3
-:10355000ADF901F0A1FF01F003F810BD38B5044644
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 :103600008802FCF7F3FF054600232A4619463020BE
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diff --git a/User/application/work.c b/User/application/work.c
index 1151a21..68e4016 100644
--- a/User/application/work.c
+++ b/User/application/work.c
@@ -56,15 +56,7 @@ static void motor_pos(void)
 static void motor_speed(void)
 {
     int32_t code = work.encoder_cnt;
-    if (ABS(work.target_speed - work.encoder_show) > 20)
-    {
-        work.target_speed_filter = lpf_update(&work.target_speed_lpf, work.target_speed);
-    }
-    else
-    {
-        work.target_speed_filter = work.target_speed;
-    }
-
+    work.target_speed_filter = lpf_update(&work.target_speed_lpf, work.target_speed);
     work.encoder_show = lpf_update(&work.encoder_lpf, work.encoder_cnt);
     work.encoder_cnt = 0;
     work.pwm_percent = work.pid.pid_u.fuzzy.execute(&work.pid.pid_u.fuzzy, work.target_speed_filter + 1, code); // 补偿1
@@ -226,7 +218,7 @@ void work_init(void)
         work.pid.type = PID_TYPE_FUZZY;
         work.pid.pid_u.fuzzy.deadzone_dir = DEAD_ZONE_BOTH;
 
-        work.pid_params.dead_zone = 1;
+        work.pid_params.dead_zone = 0;
 
         if (work.type == WORK_MOTOR_POS)
         {