diff --git a/sdk b/sdk
index 2835695..85b8278 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 283569575d2fdfa9a9719bbcfba1d874d52aff8f
+Subproject commit 85b827815841cd0ad95352d5ee5917a6034c45e3
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 76cbf52..995f6cf 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -55,17 +55,17 @@ static void initsubmodule() {
     input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
     input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
 
-    I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
+    StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
     StepMotorCtrlModule::create_default_cfg(smcm_cfg);
-    smcm_cfg.base_param.distance_scale             = 80;
-    smcm_cfg.base_param.distance_scale_denominator = 1;
-    smcm_cfg.base_param.ihold                      = 1;
-    smcm_cfg.base_param.irun                       = 8;
-    smcm_cfg.base_param.x_shaft                    = false;
-    smcm_cfg.base_param.maxspeed                   = 500;
-    smcm_cfg.base_param.run_to_zero_speed          = 100;
-    smcm_cfg.base_param.max_x                      = 0;
-    smcm_cfg.base_param.min_x                      = 0;
+    smcm_cfg.base_param.motor_one_circle_pulse             = 100;
+    smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1;
+    smcm_cfg.base_param.stepmotor_ihold                    = 1;
+    smcm_cfg.base_param.stepmotor_irun                     = 8;
+    smcm_cfg.base_param.motor_shaft                        = false;
+    smcm_cfg.base_param.motor_default_velocity             = 200;
+    smcm_cfg.base_param.motor_run_to_zero_speed            = 100;
+    smcm_cfg.base_param.max_d                              = 0;
+    smcm_cfg.base_param.min_d                              = 0;
 
     g_stepMotorCtrlModule.initialize(initer.get_module_id(1), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
     initer.register_module(&g_stepMotorCtrlModule);
@@ -92,17 +92,17 @@ static void initsubmodule() {
     input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
     input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
 
-    I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
+    StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
     StepMotorCtrlModule::create_default_cfg(smcm_cfg);
-    smcm_cfg.base_param.distance_scale             = 80;
-    smcm_cfg.base_param.distance_scale_denominator = 1;
-    smcm_cfg.base_param.ihold                      = 1;
-    smcm_cfg.base_param.irun                       = 8;
-    smcm_cfg.base_param.x_shaft                    = false;
-    smcm_cfg.base_param.maxspeed                   = 500;
-    smcm_cfg.base_param.run_to_zero_speed          = 100;
-    smcm_cfg.base_param.max_x                      = 0;
-    smcm_cfg.base_param.min_x                      = 0;
+    smcm_cfg.base_param.motor_one_circle_pulse             = 100;
+    smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1;
+    smcm_cfg.base_param.stepmotor_ihold                    = 1;
+    smcm_cfg.base_param.stepmotor_irun                     = 20;
+    smcm_cfg.base_param.motor_shaft                        = false;
+    smcm_cfg.base_param.motor_default_velocity             = 100;
+    smcm_cfg.base_param.motor_run_to_zero_speed            = 50;
+    smcm_cfg.base_param.max_d                              = 0;
+    smcm_cfg.base_param.min_d                              = 0;
 
     g_stepMotorCtrlModule.initialize(initer.get_module_id(2), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
     initer.register_module(&g_stepMotorCtrlModule);
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 514679e..08d61c3 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           "v1.0.1"
+#define PC_VERSION           "v1.0.0"
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "Intelligent_winding_robot_51x0"
 #define PC_IFLYTOP_ENABLE_OS 1