diff --git a/.cproject b/.cproject
index f9ebd03..224bbfb 100644
--- a/.cproject
+++ b/.cproject
@@ -30,7 +30,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.176411214" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.164943344" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.553838709" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/a8000_hbot_robot_controler}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.764087106" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/Intelligent_winding_robot_hbot}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.764087106" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1243726437" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.1007535807" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g3" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.830905432" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
@@ -147,7 +147,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.506604305" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_HAL_DRIVER | STM32F407xx ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.540585524" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="144" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.959571701" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/a8000_hbot_robot_controler}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.948513973" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/Intelligent_winding_robot_hbot}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.948513973" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1716174684" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.401584422" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g0" valueType="enumerated"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1470391345" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
@@ -222,7 +222,7 @@
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="a8000_hbot_robot_controler.null.1922813466" name="a8000_hbot_robot_controler"/>
+		<project id="Intelligent_winding_robot_hbot.null.1922813466" name="Intelligent_winding_robot_hbot"/>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
@@ -243,10 +243,10 @@
 	</storageModule>
 	<storageModule moduleId="refreshScope" versionNumber="2">
 		<configuration configurationName="Debug">
-			<resource resourceType="PROJECT" workspacePath="/a8000_hbot_robot_controler"/>
+			<resource resourceType="PROJECT" workspacePath="/Intelligent_winding_robot_hbot"/>
 		</configuration>
 		<configuration configurationName="Release">
-			<resource resourceType="PROJECT" workspacePath="/a8000_hbot_robot_controler"/>
+			<resource resourceType="PROJECT" workspacePath="/Intelligent_winding_robot_hbot"/>
 		</configuration>
 	</storageModule>
 </cproject>
\ No newline at end of file
diff --git a/.project b/.project
index 2ca8f69..0c5a55b 100644
--- a/.project
+++ b/.project
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>a8000_hbot_robot_controler</name>
+	<name>Intelligent_winding_robot_hbot</name>
 	<comment></comment>
 	<projects>
 	</projects>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 48cb063..a021519 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="995385305838657757" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-636232727787099613" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1008121162799773262" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-596153906458205550" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/a8000_hbot_robot_controler.cfg b/Intelligent_winding_robot_hbot.cfg
similarity index 100%
rename from a8000_hbot_robot_controler.cfg
rename to Intelligent_winding_robot_hbot.cfg
diff --git a/a8000_hbot_robot_controler.ioc b/Intelligent_winding_robot_hbot.ioc
similarity index 98%
rename from a8000_hbot_robot_controler.ioc
rename to Intelligent_winding_robot_hbot.ioc
index 69f0a0b..6270449 100644
--- a/a8000_hbot_robot_controler.ioc
+++ b/Intelligent_winding_robot_hbot.ioc
@@ -210,8 +210,8 @@ ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
 ProjectManager.PreviousToolchain=STM32CubeIDE
 ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=a8000_hbot_robot_controler.ioc
-ProjectManager.ProjectName=a8000_hbot_robot_controler
+ProjectManager.ProjectFileName=Intelligent_winding_robot_hbot.ioc
+ProjectManager.ProjectName=Intelligent_winding_robot_hbot
 ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x1000
diff --git a/a8000_hbot_robot_controler.launch b/Intelligent_winding_robot_hbot.launch
similarity index 94%
rename from a8000_hbot_robot_controler.launch
rename to Intelligent_winding_robot_hbot.launch
index 34468c0..ca6371e 100644
--- a/a8000_hbot_robot_controler.launch
+++ b/Intelligent_winding_robot_hbot.launch
@@ -12,7 +12,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/a8000_hbot_robot_controler.elf&quot;,&quot;fProjectName&quot;:&quot;a8000_hbot_robot_controler&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/Intelligent_winding_robot_hbot.elf&quot;,&quot;fProjectName&quot;:&quot;Intelligent_winding_robot_hbot&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
@@ -37,7 +37,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_NAME" value="&quot;${stm32cubeide_openocd_path}\openocd.exe&quot;"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_OTHER_OPTIONS" value=""/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_RESTART_CONFIGURATIONS" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset halt&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset init&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}\a8000_hbot_robot_controler Debug.cfg"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}\Intelligent_winding_robot_hbot Debug.cfg"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT_CHOICE" value="automated"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocdenable_rtos" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
@@ -47,11 +47,11 @@
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="D:\workspace\project_boditech_vidas_a8000_v2\a8000_hbot_robot_controler\Debug\st-link_gdbserver_log.txt"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="D:\workspace\project_boditech_vidas_a8000_v2\Intelligent_winding_robot_hbot\Debug\st-link_gdbserver_log.txt"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="disable"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="system_reset"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value="001B00273132510838363431"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
@@ -82,13 +82,13 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/a8000_hbot_robot_controler.elf"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="a8000_hbot_robot_controler"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/Intelligent_winding_robot_hbot.elf"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="Intelligent_winding_robot_hbot"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1853947771"/>
     <booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-        <listEntry value="/a8000_hbot_robot_controler"/>
+        <listEntry value="/Intelligent_winding_robot_hbot"/>
     </listAttribute>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
         <listEntry value="4"/>
diff --git a/sdk b/sdk
index 8f364e5..85b8278 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 8f364e5f9d3b8f1858abfe2ff3ba71376aa941d9
+Subproject commit 85b827815841cd0ad95352d5ee5917a6034c45e3
diff --git a/usrc/main.cpp b/usrc/main.cpp
index c3c25aa..d5f21eb 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -105,7 +105,7 @@ static void initsubmodule() {
   xy_defaultcfg.basecfg.robot_type     = I_XYRobotCtrlModule::hbot;
   xy_defaultcfg.basecfg.x_shaft        = 0;
   xy_defaultcfg.basecfg.y_shaft        = 1;
-  xy_defaultcfg.basecfg.ihold          = 1;
+  xy_defaultcfg.basecfg.ihold          = 8;
   xy_defaultcfg.basecfg.irun           = 16;
   xy_defaultcfg.basecfg.iholddelay     = 100;
   xy_defaultcfg.basecfg.distance_scale = 7344;
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index aef2588..59caac5 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -2,7 +2,7 @@
 
 #define PC_VERSION                "v1.0.1"
 #define PC_MANUFACTURER           "http://www.iflytop.com/"
-#define PC_PROJECT_NAME           "xy_robot_board"
+#define PC_PROJECT_NAME           "Intelligent_winding_robot_hbot"
 #define PC_IFLYTOP_ENABLE_OS      1
 
 #define PC_DEBUG_UART             huart1