diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 928c782..45d4d00 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="336939840050793459" 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="-432221373713358509" 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="386067995912520420" 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="-383093217851631548" 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/usrc/main.cpp b/usrc/main.cpp
index 8be3d1d..fb83317 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -173,35 +173,40 @@ static void initsubmodule() {
     {
       static MiniRobotCtrlModule                 mini_servo;
       static MiniRobotCtrlModule::flash_config_t cfg = {0};
-      cfg.default_torque                             = 330;
+      cfg.default_torque                             = 300;
+      cfg.default_velocity                           = 200;
       mini_servo.initialize(initer.get_module_id(1), &feiteservomotor_bus, 1, &cfg);
       initer.register_module(&mini_servo);
     }
     {
       static MiniRobotCtrlModule                 mini_servo;
       static MiniRobotCtrlModule::flash_config_t cfg = {0};
-      cfg.default_torque                             = 330;
+      cfg.default_torque                             = 300;
+      cfg.default_velocity                           = 200;
       mini_servo.initialize(initer.get_module_id(2), &feiteservomotor_bus, 2, &cfg);
       initer.register_module(&mini_servo);
     }
     {
       static MiniRobotCtrlModule                 mini_servo;
       static MiniRobotCtrlModule::flash_config_t cfg = {0};
-      cfg.default_torque                             = 330;
+      cfg.default_torque                             = 300;
+      cfg.default_velocity                           = 200;
       mini_servo.initialize(initer.get_module_id(3), &feiteservomotor_bus, 3, &cfg);
       initer.register_module(&mini_servo);
     }
     {
       static MiniRobotCtrlModule                 mini_servo;
       static MiniRobotCtrlModule::flash_config_t cfg = {0};
-      cfg.default_torque                             = 330;
+      cfg.default_torque                             = 300;
+      cfg.default_velocity                           = 200;
       mini_servo.initialize(initer.get_module_id(4), &feiteservomotor_bus, 4, &cfg);
       initer.register_module(&mini_servo);
     }
     {
       static MiniRobotCtrlModule                 mini_servo;
       static MiniRobotCtrlModule::flash_config_t cfg = {0};
-      cfg.default_torque                             = 330;
+      cfg.default_torque                             = 300;
+      cfg.default_velocity                           = 200;
       mini_servo.initialize(initer.get_module_id(5), &feiteservomotor_bus, 5, &cfg);
       initer.register_module(&mini_servo);
     }
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index b376f19..b40ca61 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           "v3"
+#define PC_VERSION           "v4"
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "graphite_digester_temperature_sensors_board"
 #define PC_IFLYTOP_ENABLE_OS 1