diff --git a/usrc/intelligent_winding_robot_ctrl.cpp b/usrc/intelligent_winding_robot_ctrl.cpp
index 7823918..a47b9ec 100644
--- a/usrc/intelligent_winding_robot_ctrl.cpp
+++ b/usrc/intelligent_winding_robot_ctrl.cpp
@@ -234,7 +234,8 @@ int32_t IntelligentWindingRobotCtrl::device_reset() {
   m22_scissors_move_reset_pos();
   m23_laxian_motor_move_to_reset_pos();
   WAIT_MODULES_IDLE(12, 14, 15, 16, 22, 23);
-
+  m22_scissors_move_idle_pos();
+  wait_module_idle(22);
   /**
    * @brief 优化复位逻辑，超时复位失败，报警
    */
@@ -284,8 +285,9 @@ int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_cook_lineend_low_pos(
 int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_reset() { return m_dm->motor_move_to_zero_backward(21, 0, 0, 0, 0); }
 int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_move_to_half_pos() { return m_dm->motor_move_to(21, cfg.m21_arm_hook_claws_half_pos, 0, 0); }
 int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_move_to_full_pos() { return m_dm->motor_move_to(21, cfg.m21_arm_hook_claws_full_pos, 0, 0); }
-int32_t IntelligentWindingRobotCtrl::m22_scissors_move_reset_pos() { return 0; }
-int32_t IntelligentWindingRobotCtrl::m22_scissors_cut() { return m_dm->motor_rotate_with_torque(22, 1, 4095); }
+int32_t IntelligentWindingRobotCtrl::m22_scissors_move_reset_pos() { return m_dm->motor_move_to_zero_backward(22, 0, 0, 0, 0); }
+int32_t IntelligentWindingRobotCtrl::m22_scissors_move_idle_pos() { return m_dm->motor_move_to(22, 1250, 0, 0); }
+int32_t IntelligentWindingRobotCtrl::m22_scissors_cut() { return m_dm->motor_move_to(22, 1, 2070); }
 int32_t IntelligentWindingRobotCtrl::m23_laxian_motor_move_to_reset_pos() { return m_dm->motor_move_to_torque(23, 2040, 200, 0); }
 int32_t IntelligentWindingRobotCtrl::m23_laxian_motor_move_to_tight_line_pos() { return m_dm->motor_rotate_with_torque(23, -1, 40); }
 int32_t IntelligentWindingRobotCtrl::m4_zreset() { m_dm->motor_move_to_zero_backward(4, 450, 300, 2000, 0); }
@@ -303,7 +305,10 @@ int32_t IntelligentWindingRobotCtrl::m4_zmove_to(int32_t pos) {
   }
 }
 
-int32_t IntelligentWindingRobotCtrl::substep_zaxis_do_bullet_action(take_bullet_pos_type_t zpos, take_bullet_acktion_t take_bullet_acktion, take_bullet_line_acktion_t take_bullet_line_acktion) {
+int32_t IntelligentWindingRobotCtrl::substep_zaxis_do_bullet_action(take_bullet_pos_type_t     zpos,                      //
+                                                                    take_bullet_acktion_t      take_bullet_acktion,       //
+                                                                    take_bullet_line_acktion_t take_bullet_line_acktion,  //
+                                                                    function<void()>           bottomoperation) {
   if (take_bullet_line_acktion == kTakeLine) {
     m11_arm_jiaxian_move_to_reset_pos();
   } else if (take_bullet_line_acktion == kReleaseLine) {
@@ -334,6 +339,11 @@ int32_t IntelligentWindingRobotCtrl::substep_zaxis_do_bullet_action(take_bullet_
     m21_arm_hook_claws_reset();
   }
   WAIT_MODULES_IDLE(11, 21);
+
+  if (bottomoperation) {
+    bottomoperation();
+  }
+
   m4_zmove_to(0);
   WAIT_MODULES_IDLE(4);
 }
@@ -623,6 +633,16 @@ mini_servo_move_to 6 1850 600 500
   m16_xianlajin_move_to_cook_lineend_low_pos();                              //
 }
 
+int32_t IntelligentWindingRobotCtrl::step_winding_take_bullet_from_cooking_to_origin_pos(int bulletindex) {
+  /**
+   * @brief
+   *
+   *  1. 夹住线
+   *  2.
+   *
+   */
+}
+
 int32_t IntelligentWindingRobotCtrl::main_shaft_run() {
   ZLOGI(TAG, "main_shaft_run");
   DO(m_dm->motor_rotate_acctime(2, 1, 1000, 10000));
diff --git a/usrc/intelligent_winding_robot_ctrl.hpp b/usrc/intelligent_winding_robot_ctrl.hpp
index 68d4865..d2f89c4 100644
--- a/usrc/intelligent_winding_robot_ctrl.hpp
+++ b/usrc/intelligent_winding_robot_ctrl.hpp
@@ -180,10 +180,11 @@ class IntelligentWindingRobotCtrl {
   int32_t m21_arm_hook_claws_reset();
   int32_t m21_arm_hook_claws_move_to_half_pos();
   int32_t m21_arm_hook_claws_move_to_full_pos();
-  int32_t m22_scissors_move_reset_pos();              // block
-  int32_t m22_scissors_cut();                         // block
-  int32_t m23_laxian_motor_move_to_reset_pos();       // block
-  int32_t m23_laxian_motor_move_to_tight_line_pos();  // block
+  int32_t m22_scissors_move_reset_pos();              //
+  int32_t m22_scissors_move_idle_pos();               //
+  int32_t m22_scissors_cut();                         //
+  int32_t m23_laxian_motor_move_to_reset_pos();       //
+  int32_t m23_laxian_motor_move_to_tight_line_pos();  //
 
   int32_t m4_zreset();
   int32_t m4_zmove_to(int32_t pos);
@@ -192,7 +193,10 @@ class IntelligentWindingRobotCtrl {
   int32_t disable_all_module();
   int32_t enable_all_module();
 
-  int32_t substep_zaxis_do_bullet_action(take_bullet_pos_type_t zpos, take_bullet_acktion_t take_bullet_acktion, take_bullet_line_acktion_t take_bullet_line_acktion);
+  int32_t substep_zaxis_do_bullet_action(take_bullet_pos_type_t     zpos,                      //
+                                         take_bullet_acktion_t      take_bullet_acktion,       //
+                                         take_bullet_line_acktion_t take_bullet_line_acktion,  //
+                                         function<void()>           bottomoperation = nullptr);
 
   int32_t step_take_bullet(int32_t bulletindex);
   int32_t step_take_back_bullet(int32_t bulletindex);
@@ -204,8 +208,9 @@ class IntelligentWindingRobotCtrl {
   int32_t step_winding_prepare();
   int32_t step_winding();
   // int32_t step_load_the_bullet_case();
-  int32_t step_winding_lineend_prepare(int bulletindex);  // 绕线头准备
-  int32_t step_winding_lineend();                         // 绕线头
+  int32_t step_winding_lineend_prepare(int bulletindex);                         // 绕线头准备
+  int32_t step_winding_lineend();                                                // 绕线头
+  int32_t step_winding_take_bullet_from_cooking_to_origin_pos(int bulletindex);  // 绕线头
 
   int32_t xy_get_point(int32_t clip_index, int32_t& x, int32_t& y);                      // 取弹夹
   int32_t xy_run_to(int32_t x, int32_t y, int32_t zpos = 0, bool jiaxian_reset = true);  // 取弹夹
diff --git a/usrc/main.cpp b/usrc/main.cpp
index da9b7b1..cb279b3 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -66,28 +66,28 @@ static StepMotor45::cfg_t cfg1 = {
     .enable_max_pos_limit = false,
     .mirror               = true,
 
-    .zeroPin       = PG1,
+    .zeroPin       = PB12,
     .ioPollType    = ZGPIO::kMode_pullup,
     .zeroPinMirror = true,
 
     .driverPin       = {PB15, PD11, PD12, PD13},
     .driverPinMirror = true,
 };
-
 static StepMotor45::cfg_t cfg2 = {
     .max_pos              = -1,
     .enable_zero_limit    = true,
     .enable_max_pos_limit = false,
     .mirror               = true,
 
-    .zeroPin       = PB13,
+    .zeroPin       = PG1,
     .ioPollType    = ZGPIO::kMode_pullup,
     .zeroPinMirror = true,
 
     .driverPin       = {PG2, PG3, PG4, PG5},
     .driverPinMirror = true,
 };
-
+// PB13
+#if 0
 static StepMotor45::cfg_t cfg3 = {
     .max_pos              = -1,
     .enable_zero_limit    = true,
@@ -101,7 +101,6 @@ static StepMotor45::cfg_t cfg3 = {
     .driverPin       = {PG6, PG7, PG8, PC6},
     .driverPinMirror = true,
 };
-#if 0
 static StepMotor45::cfg_t cfg4 = {
     .max_pos              = -1,
     .enable_zero_limit    = false,
@@ -188,6 +187,7 @@ void        regfn() { script_reg_fn(); }
 
 extern void step_motor_cmd_reg();
 void        Main::run() {
+  // PB13
   /*******************************************************************************
    *                                 系统初始化                                  *
    *******************************************************************************/