diff --git a/usrc/protocol_impl/protocol_impl_service.cpp b/usrc/protocol_impl/protocol_impl_service.cpp
index 9891d65..b760775 100644
--- a/usrc/protocol_impl/protocol_impl_service.cpp
+++ b/usrc/protocol_impl/protocol_impl_service.cpp
@@ -223,13 +223,13 @@ static void zcanbus_on_connected(bool connected) {
 void hardware_init() {
   m_motor_spi.init(&MOTOR_SPI);
   m_motor[0].initialize(&m_motor_spi, MOTOR1_ENN, MOTOR1_CSN);
-  m_motor[0].setIHOLD_IRUN(1, 20, 0);
+  m_motor[0].setIHOLD_IRUN(1, 15, 0);
   m_motor[0].setMotorShaft(true);
   m_motor[0].setAcceleration(300000);
   m_motor[0].setDeceleration(300000);
 
   m_motor[1].initialize(&m_motor_spi, MOTOR2_ENN, MOTOR2_CSN);
-  m_motor[1].setIHOLD_IRUN(1, 20, 0);
+  m_motor[1].setIHOLD_IRUN(1, 15, 0);
   m_motor[1].setMotorShaft(true);
   m_motor[1].setAcceleration(300000);
   m_motor[1].setDeceleration(300000);
@@ -237,8 +237,8 @@ void hardware_init() {
   int32_t chipv0 = m_motor[0].readChipVERSION();  // 5130:0x11
   int32_t chipv1 = m_motor[1].readChipVERSION();  // 5130:0x11
 
-  m_motor[0].rotate(1000000);
-  m_motor[1].rotate(1000000);
+  // m_motor[0].rotate(500000);
+  // m_motor[1].rotate(500000);
 
   ZLOGI(TAG, "chipv0: %x, chipv1: %x", chipv0, chipv1);
 }
diff --git a/zsdk b/zsdk
index a8bd506..de4e73a 160000
--- a/zsdk
+++ b/zsdk
@@ -1 +1 @@
-Subproject commit a8bd506724276da87d8a186d8cc0e1f072492355
+Subproject commit de4e73aa05048332167a744fe64118ca4bc6b0d7