diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index b52317d..48cb063 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="1069001987885984253" 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="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">
 				<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="1057391452571803630" 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="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">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/flia_robot_arm_v1 Debug.cfg b/hbot_robot_controler.cfg
similarity index 100%
rename from flia_robot_arm_v1 Debug.cfg
rename to hbot_robot_controler.cfg
diff --git a/flia_robot_arm_v1 Debug.launch b/hbot_robot_controler.launch
similarity index 100%
rename from flia_robot_arm_v1 Debug.launch
rename to hbot_robot_controler.launch
diff --git a/sdk b/sdk
index 52bc198..8ce6efe 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 52bc198b128ba53095ad68dfab924669c25dc6dd
+Subproject commit 8ce6efeeb5117fb2d1cd878178dec0aff4d7ed63
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 4b4996d..2b41da3 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -92,11 +92,11 @@ void umain() {
 
   motora.setAcceleration(300);
   motora.setDeceleration(300);
-  motora.setIHOLD_IRUN(0, 2, 10);
+  motora.setIHOLD_IRUN(0, 4, 10);
 
   motorb.setAcceleration(300);
   motorb.setDeceleration(300);
-  motorb.setIHOLD_IRUN(0, 2, 10);
+  motorb.setIHOLD_IRUN(0, 4, 10);
 
   motora.rotate(0);
   motorb.rotate(0);
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 1c88612..0aaa3db 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -13,8 +13,8 @@
 #define IFLYTOP_ENABLE_OS               1
 #define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
 
-#define MODULE_ID (3)
-#define BOARD_ID  (3)
+#define MODULE_ID (1)
+#define BOARD_ID  (1)
 
 /****************************************FLASH***************************************/
 #define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8