diff --git a/hw/bsp/c-mini/drivers/bsp_gpio.c b/hw/bsp/c-mini/drivers/bsp_gpio.c
index e95b484f..dda9e4c5 100644
--- a/hw/bsp/c-mini/drivers/bsp_gpio.c
+++ b/hw/bsp/c-mini/drivers/bsp_gpio.c
@@ -92,6 +92,17 @@ bsp_status_t bsp_gpio_disable_irq(bsp_gpio_t gpio) {
 }
 
 inline bsp_status_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value) {
+  if (gpio == BSP_GPIO_SWITCH) {
+    bsp_pwm_set_comp(BSP_PWM_SERVO_B, 1.0f);
+    if (value) {
+      bsp_pwm_start(BSP_PWM_SERVO_B);
+    } else {
+      bsp_pwm_stop(BSP_PWM_SERVO_B);
+    }
+
+    return BSP_OK;
+  }
+
   HAL_GPIO_WritePin(bsp_gpio_map[gpio].gpio, bsp_gpio_map[gpio].pin, value);
   return BSP_OK;
 }
diff --git a/hw/bsp/c-mini/drivers/bsp_gpio.h b/hw/bsp/c-mini/drivers/bsp_gpio.h
index 9b87b058..6a0a27be 100644
--- a/hw/bsp/c-mini/drivers/bsp_gpio.h
+++ b/hw/bsp/c-mini/drivers/bsp_gpio.h
@@ -12,6 +12,7 @@ typedef enum {
   BSP_GPIO_IMU_ACCL_INT,
   BSP_GPIO_IMU_GYRO_INT,
   BSP_GPIO_LED,
+  BSP_GPIO_SWITCH,
   BSP_GPIO_NUM,
 } bsp_gpio_t;
 
diff --git a/src/device/damiaomotor/Kconfig b/src/device/damiaomotor/Kconfig
new file mode 100644
index 00000000..e69de29b
diff --git a/src/device/damiaomotor/dev_damiaomotor.cpp b/src/device/damiaomotor/dev_damiaomotor.cpp
new file mode 100644
index 00000000..2f53f78e
--- /dev/null
+++ b/src/device/damiaomotor/dev_damiaomotor.cpp
@@ -0,0 +1,151 @@
+#include "dev_damiaomotor.hpp"
+
+#include "bsp_time.h"
+
+#define P_MIN -12.5f
+#define P_MAX 12.5f
+#define V_MIN -45.0f
+#define V_MAX -45.0f
+#define T_MIN -18.0f
+#define T_MAX 18.0f
+
+using namespace Device;
+
+static const uint8_t ENABLE_CMD[8] = {0XFF, 0XFF, 0XFF, 0XFF,
+                                      0XFF, 0XFF, 0XFF, 0XFC};
+
+static const uint8_t DISABLE_CMD[8] = {0XFF, 0XFF, 0XFF, 0XFF,
+                                       0XFF, 0XFF, 0XFF, 0XFD};
+
+static std::array<bool, BSP_CAN_NUM> initd = {false};
+
+std::array<Message::Topic<Can::Pack> *, BSP_CAN_NUM> DamiaoMotor::damiao_tp_;
+DamiaoMotor::DamiaoMotor(const Param &param, const char *name)
+    : BaseMotor(name, param.reverse), param_(param) {
+  auto rx_callback = [](Can::Pack &rx, DamiaoMotor *motor) {
+    if ((rx.data[0] & 0x0f) == (motor->param_.id)) {
+      motor->recv_.Overwrite(rx);
+    }
+    return true;
+  };
+
+  if (!initd[this->param_.can]) {
+    DamiaoMotor::damiao_tp_[this->param_.can] =
+        static_cast<Message::Topic<Can::Pack> *>(
+            System::Memory::Malloc(sizeof(Message::Topic<Can::Pack>)));
+    *DamiaoMotor::damiao_tp_[this->param_.can] = Message::Topic<Can::Pack>(
+        (std::string("damiao_posspeed_can") + std::to_string(this->param_.can))
+            .c_str());
+
+    // Can::Subscribe(*DamiaoSpeedPOsition::damiao_tp_[this->param_.can],
+    //              this->param_.can, 0, 1);
+
+    Can::Subscribe(*DamiaoMotor::damiao_tp_[this->param_.can], this->param_.can,
+                   this->param_.feedback_id, 1);
+
+    initd[this->param_.can] = true;
+  }
+
+  Message::Topic<Can::Pack> motor_tp(name);
+
+  motor_tp.RegisterCallback(rx_callback, this);
+
+  motor_tp.Link(*this->damiao_tp_[this->param_.can]);
+}
+
+bool DamiaoMotor::Update() {
+  Can::Pack pack;
+
+  while (this->recv_.Receive(pack)) {
+    this->Decode(pack);
+    last_online_time_ = bsp_time_get_ms();
+  }
+
+  return true;
+}
+
+void DamiaoMotor::Decode(Can::Pack &rx) {
+  if (this->param_.id != (rx.data[0] & 0x0f)) {
+    return;
+  }
+
+  uint16_t raw_position = rx.data[1] << 8 | rx.data[2];
+
+  uint16_t raw_speed = (rx.data[3] << 4) | (rx.data[4] >> 4);
+
+  uint16_t raw_current = (rx.data[4] & 0x0f) << 8 | rx.data[5];
+
+  float raw = uint_to_float(raw_position, P_MIN, P_MAX, 16);
+  float speed = uint_to_float(raw_speed, V_MIN, V_MAX, 12);
+  float current = uint_to_float(raw_current, -T_MAX, T_MAX, 12);
+
+  this->feedback_.rotational_speed = speed;
+  this->feedback_.rotor_abs_angle = raw;
+  this->feedback_.torque_current = current;
+}
+/*摆设*/
+void DamiaoMotor::Control(float output) {
+  static_cast<void>(output);
+  XB_ASSERT(false);
+}
+
+void DamiaoMotor::SetPosSpeed(float pos, float speed) {
+  if (this->feedback_.temp > 75.0f) {
+    Relax();
+    OMLOG_WARNING("motor %s high temperature detected", name_);
+    return;
+  }
+  if (reverse_) {
+    pos = -pos;
+  }
+
+  Can::Pack tx_buff;
+
+  tx_buff.index = this->param_.id + 0x100;
+
+  uint8_t *pbuf, *vbuf;
+
+  pbuf = (uint8_t *)&pos;
+  vbuf = (uint8_t *)&speed;
+
+  tx_buff.data[0] = *pbuf;
+  tx_buff.data[1] = *(pbuf + 1);
+  tx_buff.data[2] = *(pbuf + 2);
+  tx_buff.data[3] = *(pbuf + 3);
+
+  tx_buff.data[4] = *vbuf;
+  tx_buff.data[5] = *(vbuf + 1);
+  tx_buff.data[6] = *(vbuf + 2);
+  tx_buff.data[7] = *(vbuf + 3);
+
+  Can::SendStdPack(this->param_.can, tx_buff);
+}
+
+bool DamiaoMotor::Enable() {
+  Can::Pack tx_buff;
+
+  tx_buff.index = param_.id + 0x100;
+
+  memcpy(tx_buff.data, ENABLE_CMD, sizeof(tx_buff.data));
+
+  if (Can::SendStdPack(this->param_.can, tx_buff)) {
+    return true;
+  } else {
+    return false;
+  };
+}
+bool DamiaoMotor::Disable() {
+  Can::Pack tx_buff;
+
+  tx_buff.index = param_.id + 0x100;
+
+  memcpy(tx_buff.data, DISABLE_CMD, sizeof(tx_buff.data));
+
+  if (Can::SendStdPack(this->param_.can, tx_buff)) {
+    return true;
+  } else {
+    return false;
+  };
+}
+/*摆设*/
+void DamiaoMotor::Relax() { XB_ASSERT(false); }
diff --git a/src/device/damiaomotor/dev_damiaomotor.hpp b/src/device/damiaomotor/dev_damiaomotor.hpp
new file mode 100644
index 00000000..6bbebfcd
--- /dev/null
+++ b/src/device/damiaomotor/dev_damiaomotor.hpp
@@ -0,0 +1,33 @@
+#pragma once
+
+#include <device.hpp>
+
+#include "dev_can.hpp"
+#include "dev_motor.hpp"
+namespace Device {
+class DamiaoMotor : public BaseMotor {
+ public:
+  typedef struct {
+    uint32_t id; /*设置CAN ID*/ /*控制帧ID为CAN ID偏移0x100*/
+    bsp_can_t can;
+    uint32_t feedback_id;
+    bool reverse;
+  } Param;
+
+  DamiaoMotor(const Param &param, const char *name);
+  void Control(float output);
+  bool Update();
+  void Relax();
+  void Decode(Can::Pack &rx);
+  void SetPosSpeed(float pos, float speed);
+  bool Enable();
+  bool Disable();
+
+ private:
+  Param param_;
+
+  System::Queue<Can::Pack> recv_ = System::Queue<Can::Pack>(1);
+
+  static std::array<Message::Topic<Can::Pack> *, BSP_CAN_NUM> damiao_tp_;
+};
+}  // namespace Device
diff --git a/src/device/damiaomotor/info.cmake b/src/device/damiaomotor/info.cmake
new file mode 100644
index 00000000..322c4b19
--- /dev/null
+++ b/src/device/damiaomotor/info.cmake
@@ -0,0 +1,6 @@
+CHECK_SUB_ENABLE(MODULE_ENABLE device)
+if(${MODULE_ENABLE})
+    file(GLOB CUR_SOURCES "${SUB_DIR}/*.cpp")
+    SUB_ADD_SRC(CUR_SOURCES)
+    SUB_ADD_INC(SUB_DIR)
+endif()
\ No newline at end of file
diff --git a/src/module/robot_arm/mod_robot_arm.cpp b/src/module/robot_arm/mod_robot_arm.cpp
index 7cba3696..a19990bb 100644
--- a/src/module/robot_arm/mod_robot_arm.cpp
+++ b/src/module/robot_arm/mod_robot_arm.cpp
@@ -34,6 +34,9 @@ RobotArm::RobotArm(Param& param, float control_freq)
       case SET_MODE_WORK_TOP:
         robotarm->SetMode(WORK_TOP);
         break;
+      case SET_MODE_CUSTOM_CTRL:
+        robotarm->SetMode(WORK_CUSTOM_CTRL);
+        break;
       case SET_MODE_WORK_MID:
         robotarm->SetMode(WORK_MID);
         break;
@@ -43,6 +46,15 @@ RobotArm::RobotArm(Param& param, float control_freq)
       case SET_MODE_SAFE:
         robotarm->SetMode(SAFE);
         break;
+      case SET_MODE_XIKUANG:
+        robotarm->SetMode(XIKUANG);
+        break;
+      case SET_MODE_YINKUANG:
+        robotarm->SetMode(YINKUANG);
+        break;
+      case SET_MODE_DIMIAN:
+        robotarm->SetMode(DIMIAN);
+        break;
       default:
         break;
     }
@@ -118,45 +130,15 @@ void RobotArm::Control() {
 
   this->last_wakeup_ = this->now_;
 
-  // this->setpoint_.yaw1_theta_ = this->cmd_.theta.yaw1;
-  // this->setpoint_.pitch1_theta_ = this->cmd_.theta.pitch1;
-  // this->setpoint_.pitch2_theta_ = this->cmd_.theta.pitch2;
-  // this->setpoint_.pitch3_theta_ = this->cmd_.theta.pitch3;
-  // this->setpoint_.yaw2_theta_ = this->cmd_.theta.yaw2;
-  // this->setpoint_.roll_theta_ = this->cmd_.theta.roll;
-
   float pit_cmd = 0.0f;
   float yaw_cmd = 0.0f;
 
-  yaw_cmd = this->cmd_.eulr.yaw * this->dt_;
-  pit_cmd = this->cmd_.eulr.pit * this->dt_;
-
-  /*电机限幅*/
-  // clampf(&(this->setpoint_.yaw1_theta_), this->param_.limit.yaw1_min,
-  //        this->param_.limit.yaw1_max);
-  // clampf(&(this->setpoint_.pitch1_theta_), this->param_.limit.pitch1_min,
-  //        this->param_.limit.pitch1_max);
-  // clampf(&(this->setpoint_.pitch2_theta_), this->param_.limit.pitch2_min,
-  //        this->param_.limit.pitch2_max);
-  // clampf(&(this->setpoint_.roll1_theta_), this->param_.limit.roll1_min,
-  //        this->param_.limit.roll1_max);
-  // clampf(&(this->setpoint_.yaw2_theta_), this->param_.limit.yaw2_min,
-  //        this->param_.limit.yaw2_max);
-
-  // this->yaw1_motor_.SetPosSpeed(this->setpoint_.yaw1_theta_, 0.1f);
-  // this->pitch1_motor_.SetPosSpeed(this->setpoint_.pitch1_theta_, 0.3f);
-  // this->pitch2_motor_.SetPosSpeed(this->setpoint_.pitch2_theta_, 0.3f);
-  // this->roll1_motor_.SetPosSpeed(this->setpoint_.roll1_theta_, 0.3f);
-  // this->yaw2_motor_.SetPosSpeed(this->setpoint_.yaw2_theta_, 0.3f);
-
-  // float roll2_out = this->roll2_actr_.Calculate(
-  //     this->setpoint_roll2_, this->roll2_motor_.GetSpeed(),
-  //     this->roll2_motor_.GetAngle(), this->dt_);
-  // this->roll2_motor_.Control(roll2_out);
+  yaw_cmd = this->cmd_.eulr.yaw * this->dt_ * (0.7);
+  pit_cmd = this->cmd_.eulr.pit * this->dt_ * (0.7);
 
   switch (this->mode_) {
     case RobotArm::WORK_BOT: {
-      this->setpoint_.yaw1_theta_ += yaw_cmd;
+      this->setpoint_.yaw1_theta_ += 2 * yaw_cmd;
       this->setpoint_.pitch1_theta_ += pit_cmd;
 
       clampf(&(this->setpoint_.yaw1_theta_), this->param_.limit.yaw1_min,
@@ -164,19 +146,19 @@ void RobotArm::Control() {
       clampf(&(this->setpoint_.pitch1_theta_), this->param_.limit.pitch1_min,
              this->param_.limit.pitch1_max);
 
-      this->yaw1_motor_.SetPosSpeed(this->setpoint_.yaw1_theta_, 0.1f);
-      this->pitch1_motor_.SetPosSpeed(this->setpoint_.pitch1_theta_, 0.3f);
+      this->yaw1_motor_.SetPosSpeed(this->setpoint_.yaw1_theta_, 1.6f);
+      this->pitch1_motor_.SetPosSpeed(this->setpoint_.pitch1_theta_, 0.8f);
       break;
     }
     case RobotArm::WORK_MID: {
-      this->setpoint_.roll1_theta_ += yaw_cmd;
+      this->setpoint_.roll1_theta_ += 2 * yaw_cmd;
       this->setpoint_.pitch2_theta_ += pit_cmd;
 
       clampf(&(this->setpoint_.pitch2_theta_), this->param_.limit.pitch2_min,
              this->param_.limit.pitch2_max);
 
-      this->pitch2_motor_.SetPosSpeed(this->setpoint_.pitch2_theta_, 0.3f);
-      this->roll1_motor_.SetPosSpeed(this->setpoint_.roll1_theta_, 0.3f);
+      this->pitch2_motor_.SetPosSpeed(this->setpoint_.pitch2_theta_, 0.8f);
+      this->roll1_motor_.SetPosSpeed(this->setpoint_.roll1_theta_, 1.6f);
       break;
     }
     case RobotArm::WORK_TOP: {
@@ -187,7 +169,7 @@ void RobotArm::Control() {
       clampf(&(this->setpoint_.yaw2_theta_), this->param_.limit.yaw2_min,
              this->param_.limit.yaw2_max);
 
-      this->yaw2_motor_.SetPosSpeed(this->setpoint_.yaw2_theta_, 0.3f);
+      this->yaw2_motor_.SetPosSpeed(this->setpoint_.yaw2_theta_, 0.8f);
 
       float roll2_out = this->roll2_actr_.Calculate(
           this->setpoint_roll2_, this->roll2_motor_.GetSpeed(),
@@ -197,6 +179,44 @@ void RobotArm::Control() {
       break;
     }
     case RobotArm::SAFE: {
+      this->setpoint_.pitch1_theta_ = 0;
+      this->setpoint_.pitch2_theta_ = 0;
+      this->setpoint_.yaw1_theta_ = 0;
+      this->setpoint_.yaw2_theta_ = 0;
+      this->setpoint_.roll1_theta_ = 0;
+      this->yaw1_motor_.SetPosSpeed(0, 0.6f);
+      this->pitch1_motor_.SetPosSpeed(0, 0.5f);
+      this->yaw2_motor_.SetPosSpeed(0, 0.6f);
+      this->pitch2_motor_.SetPosSpeed(0, 0.5f);
+      this->roll1_motor_.SetPosSpeed(0, 0.5f);
+      break;
+    }
+
+    case RobotArm::YINKUANG: {
+      this->setpoint_.pitch1_theta_ = 2.056f;
+      this->setpoint_.pitch2_theta_ = -0.939f;
+      this->setpoint_.yaw1_theta_ = 0;
+      this->setpoint_.yaw2_theta_ = 0;
+      this->setpoint_.roll1_theta_ = 0;
+      this->yaw1_motor_.SetPosSpeed(0, 0.6f);
+      this->pitch1_motor_.SetPosSpeed(2.056f, 0.5f);
+      this->yaw2_motor_.SetPosSpeed(0, 0.6f);
+      this->pitch2_motor_.SetPosSpeed(-0.939f, 0.5f);
+      this->roll1_motor_.SetPosSpeed(0.0f, 0.5f);
+      break;
+    }
+
+    case RobotArm::DIMIAN: {
+      this->setpoint_.pitch1_theta_ = 3.426f;
+      this->setpoint_.pitch2_theta_ = -1.426f;
+      this->setpoint_.yaw1_theta_ = 0;
+      this->setpoint_.yaw2_theta_ = 0.7546;
+      this->setpoint_.roll1_theta_ = 0;
+      this->yaw1_motor_.SetPosSpeed(0, 0.6f);
+      this->pitch1_motor_.SetPosSpeed(3.426f, 0.5f);
+      this->yaw2_motor_.SetPosSpeed(0.7546f, 0.6f);
+      this->pitch2_motor_.SetPosSpeed(-1.426f, 0.5f);
+      this->roll1_motor_.SetPosSpeed(0.0f, 0.5f);
       break;
     }
 
@@ -208,6 +228,15 @@ void RobotArm::Control() {
       this->yaw2_able_ = 0;
       this->roll2_motor_.Relax();
       break;
+
+    case RobotArm::XIKUANG:
+      if (this->state_ == 0) {
+        bsp_gpio_write_pin(BSP_GPIO_SWITCH, 0);
+      } else {
+        bsp_gpio_write_pin(BSP_GPIO_SWITCH, 1);
+      };
+      break;
+
     case RobotArm::WORK_CUSTOM_CTRL:
       if (custom_ctrl_.online_) {
         this->setpoint_.yaw1_theta_ = custom_ctrl_.data_.angle[0];
@@ -218,17 +247,17 @@ void RobotArm::Control() {
         clampf(&(this->setpoint_.pitch1_theta_), this->param_.limit.pitch1_min,
                this->param_.limit.pitch1_max);
 
-        this->yaw1_motor_.SetPosSpeed(this->setpoint_.yaw1_theta_, 0.1f);
-        this->pitch1_motor_.SetPosSpeed(this->setpoint_.pitch1_theta_, 0.3f);
+        this->yaw1_motor_.SetPosSpeed(this->setpoint_.yaw1_theta_, 0.6f);
+        this->pitch1_motor_.SetPosSpeed(this->setpoint_.pitch1_theta_, 0.5f);
 
-        this->setpoint_.roll1_theta_ = custom_ctrl_.data_.angle[2];
-        this->setpoint_.pitch2_theta_ = custom_ctrl_.data_.angle[3];
+        this->setpoint_.roll1_theta_ = custom_ctrl_.data_.angle[3];
+        this->setpoint_.pitch2_theta_ = -custom_ctrl_.data_.angle[2];
 
         clampf(&(this->setpoint_.pitch2_theta_), this->param_.limit.pitch2_min,
                this->param_.limit.pitch2_max);
 
-        this->pitch2_motor_.SetPosSpeed(this->setpoint_.pitch2_theta_, 0.3f);
-        this->roll1_motor_.SetPosSpeed(this->setpoint_.roll1_theta_, 0.3f);
+        this->pitch2_motor_.SetPosSpeed(this->setpoint_.pitch2_theta_, 0.5f);
+        this->roll1_motor_.SetPosSpeed(this->setpoint_.roll1_theta_, 0.5f);
 
         this->setpoint_.yaw2_theta_ = custom_ctrl_.data_.angle[4];
         this->setpoint_roll2_ = custom_ctrl_.data_.angle[5];
@@ -236,7 +265,7 @@ void RobotArm::Control() {
         clampf(&(this->setpoint_.yaw2_theta_), this->param_.limit.yaw2_min,
                this->param_.limit.yaw2_max);
 
-        this->yaw2_motor_.SetPosSpeed(this->setpoint_.yaw2_theta_, 0.3f);
+        this->yaw2_motor_.SetPosSpeed(this->setpoint_.yaw2_theta_, 0.5f);
 
         float roll2_out = this->roll2_actr_.Calculate(
             this->setpoint_roll2_, this->roll2_motor_.GetSpeed(),
@@ -252,9 +281,6 @@ void RobotArm::Control() {
       }
 
       break;
-      // default:
-      //   XB_ASSERT(false);
-      //   return;
   }
 }
 
@@ -269,6 +295,13 @@ void RobotArm::SetMode(RobotArm::Mode mode) {
     this->roll1_able_ = 1;
     this->yaw2_able_ = 1;
   }
+  if (mode == WORK_CUSTOM_CTRL) {
+    this->yaw1_able_ = 1;
+    this->pitch1_able_ = 1;
+    this->pitch2_able_ = 1;
+    this->roll1_able_ = 1;
+    this->yaw2_able_ = 1;
+  }
   if (mode == WORK_MID) {
     this->yaw1_able_ = 1;
     this->pitch1_able_ = 1;
@@ -283,5 +316,8 @@ void RobotArm::SetMode(RobotArm::Mode mode) {
     this->roll1_able_ = 1;
     this->yaw2_able_ = 1;
   }
+  if (mode == XIKUANG) {
+    this->state_ = !this->state_;
+  }
   this->mode_ = mode;
 }
diff --git a/src/module/robot_arm/mod_robot_arm.hpp b/src/module/robot_arm/mod_robot_arm.hpp
index 154bf9b4..b546292f 100644
--- a/src/module/robot_arm/mod_robot_arm.hpp
+++ b/src/module/robot_arm/mod_robot_arm.hpp
@@ -1,6 +1,7 @@
 #include <comp_cmd.hpp>
 #include <vector>
 
+#include "bsp_gpio.h"
 #include "comp_actuator.hpp"
 #include "comp_cmd.hpp"
 #include "comp_pid.hpp"
@@ -22,6 +23,9 @@ class RobotArm {
     WORK_BOT,
     WORK_CUSTOM_CTRL,
     SAFE,
+    XIKUANG,
+    YINKUANG,
+    DIMIAN
   } Mode;
 
   typedef enum {
@@ -30,6 +34,10 @@ class RobotArm {
     SET_MODE_WORK_MID,
     SET_MODE_WORK_BOT,
     SET_MODE_SAFE,
+    SET_MODE_CUSTOM_CTRL,
+    SET_MODE_XIKUANG,
+    SET_MODE_YINKUANG,
+    SET_MODE_DIMIAN
   } RobotArmEvent;
 
   typedef struct Param {
@@ -90,11 +98,11 @@ class RobotArm {
 
   Device::CustomController custom_ctrl_;
 
-  bool yaw1_able_ = 1;
-  bool pitch1_able_ = 1;
-  bool pitch2_able_ = 1;
-  bool roll1_able_ = 1;
-  bool yaw2_able_ = 1;
+  bool yaw1_able_ = 0;
+  bool pitch1_able_ = 0;
+  bool pitch2_able_ = 0;
+  bool roll1_able_ = 0;
+  bool yaw2_able_ = 0;
 
   System::Thread thread_;
 
@@ -110,6 +118,8 @@ class RobotArm {
 
   float setpoint_roll2_;
 
+  bool state_ = 0;
+
   Component::CMD::GimbalCMD cmd_;
 };
 
diff --git a/src/robot/arm_engineer/robot.cpp b/src/robot/arm_engineer/robot.cpp
index f615ac96..d580b182 100644
--- a/src/robot/arm_engineer/robot.cpp
+++ b/src/robot/arm_engineer/robot.cpp
@@ -148,6 +148,22 @@ Robot::ArmEngineer::Param param = {
           Device::DR16::DR16_SW_R_POS_BOT,
           Module::RobotArm::SET_MODE_WORK_BOT
         },
+        Component::CMD::EventMapItem{
+          Device::DR16::DR16_SW_L_POS_BOT,
+          Module::RobotArm::SET_MODE_XIKUANG
+        },
+        Component::CMD::EventMapItem{
+        Device::DR16::KEY_R,
+        Module::RobotArm::SET_MODE_YINKUANG
+      },
+      Component::CMD::EventMapItem{
+        Device::DR16::KEY_Z,
+        Module::RobotArm::SET_MODE_SAFE
+      },
+            Component::CMD::EventMapItem{
+        Device::DR16::KEY_C,
+        Module::RobotArm::SET_MODE_DIMIAN
+      },
   },
   .roll2_actr={
 .speed = {
@@ -179,45 +195,45 @@ Robot::ArmEngineer::Param param = {
 
 .yaw1_motor={
 .id = 01,
-.can = BSP_CAN_1,
+.can = BSP_CAN_2,
 .feedback_id = 0,
 .reverse = 0,
 },
 .pitch1_motor={
  .id = 02,
-.can = BSP_CAN_1,
+.can = BSP_CAN_2,
 .feedback_id = 1,
 .reverse = 0,
 },
 .pitch2_motor={
   .id = 03,
-.can = BSP_CAN_3,
+.can = BSP_CAN_1,
 .feedback_id = 2,
 .reverse = 0,
 },
 .roll1_motor={
   .id = 04,
-.can = BSP_CAN_2,
+.can = BSP_CAN_1,
 .feedback_id = 3,
 .reverse = 0,
 },
 .yaw2_motor={
   .id = 05,
-.can = BSP_CAN_2,
+.can = BSP_CAN_1,
 .feedback_id = 4,
-.reverse = 0,
+.reverse = 1,
 },
 
 .roll2_motor={
         .id_feedback = 0x208,
         .id_control = GM6020_CTRL_ID_BASE,
         .model = Device::RMMotor::MOTOR_GM6020,
-        .can = BSP_CAN_2,
+        .can = BSP_CAN_1,
 },
 
 .limit = {
         .yaw1_max = 0.0f,
-        .yaw1_min =-6.28f,
+        .yaw1_min =-7.5f,
         .pitch1_max = 3.5f,
         .pitch1_min = 0.0f,
         .pitch2_max = 0.0f,
@@ -232,11 +248,11 @@ Robot::ArmEngineer::Param param = {
 .cust_ctrl = {
   .offset = {
     -6.28f,
-    0.0f,
-    0.0f,
-    0.0f,
-    0.0f,
-    0.0f
+    -1+0.1f,
+    -0.10f,
+    -0.20+0.1f,
+    -3.82+0.1f,
+    -4.29f
   }
 }
 },