diff --git a/bot_code/maze_func_explore.cpp b/bot_code/maze_func_explore.cpp
index ce91f7b..bf454e7 100644
--- a/bot_code/maze_func_explore.cpp
+++ b/bot_code/maze_func_explore.cpp
@@ -104,14 +104,16 @@ void maze_entry(int x, int y, int dir, int open)
     {
       if (!mark.empty()  &&  !wall.empty()) //插入安全性检测，确保容器非空
       {
-        // std::vector<int> mark_insert(mark[0].size(), 0);
-        // mark.insert(mark.begin(), mark_insert);
+        //~ std::vector<int> mark_insert(mark[0].size(), 0);
+        //~ mark.insert(mark.begin(), mark_insert);
 
-        // std::vector<std::vector<int>> wall_insert(wall[0].size(), std::vector<int>(2,0));
-        // wall.insert(wall.begin(), wall_insert);
+        //~ std::vector<std::vector<int>> wall_insert(wall[0].size(), std::vector<int>(2,0));
+        //~ wall.insert(wall.begin(), wall_insert);
 
         mark.emplace(mark.begin(), std::vector<int>(mark[0].size(), 0));  //在mark头部插入一个内层
         wall.emplace(wall.begin(), std::vector<std::vector<int>>(wall[0].size(), std::vector<int>(2, 0)));  //在wall头部插入一个内层
+        rob_x++;
+        rob_x0++;
       }
       else 
       {
@@ -134,6 +136,8 @@ void maze_entry(int x, int y, int dir, int open)
         {
           wall[i].emplace(wall[i].begin(), std::vector<int>(2,0));
         }
+        rob_y++;
+        rob_y0++;
       }
       else 
       {
diff --git a/bot_code/maze_func_goto.cpp b/bot_code/maze_func_goto.cpp
index f3c2cff..eee3614 100644
--- a/bot_code/maze_func_goto.cpp
+++ b/bot_code/maze_func_goto.cpp
@@ -75,13 +75,13 @@ void go_to(int dir)
   
   if (turn) //如果turn不是0，则执行旋转命令
   {
-    OSWait(1000);
+    OSWait(2000);
     BOTturn(turn);
-    OSWait(200);
+    OSWait(2000);
     VWWait();
   }
   PIDStraight();   //使用PID算法算法，向指定方向直线行驶一格
-  //~ OSWait(200);
+  //~ OSWait(1000);
   VWWait();   //等待下一条指令
   
   rob_dir = maze_dir;  //更新机器人移动到下一格之后的方向
diff --git a/bot_code/maze_func_pid.cpp b/bot_code/maze_func_pid.cpp
index 0278569..d5532d4 100644
--- a/bot_code/maze_func_pid.cpp
+++ b/bot_code/maze_func_pid.cpp
@@ -42,8 +42,8 @@ void pid_speed_xianfu()
 /*---位置式PID算法---*/
 void PID_AL()
 {
-  //~ err_sum += err;   //积分累计误差值
-  //~ eI_xianfu();   //积分部分限幅
+  err_sum += err;   //积分累计误差值
+  eI_xianfu();   //积分部分限幅
   err_diff = err - err_old;   //微分部分误差值
   /*---打印输出PID控制的各项参数1---*/
     //~ cout << "err:" << err << " " ;
@@ -54,19 +54,21 @@ void PID_AL()
   err_old = err;    //将误差幅值到上一次误差
   
   //~ Kpid = Kp*err + Ki*err_sum + Kd*err_diff;   //PID控制算法输出的倍率
-  //~ Kpid_speed = (Kp*err + Ki*err_sum + Kd*err_diff) * Kpid_base;
-  Kpid_speed = (Kp*err + Kd*err_diff) * Kpid_base;
+  Kpid_speed = (Kp*err + Ki*err_sum + Kd*err_diff) * Kpid_base;
+  //~ Kpid_speed = (Kp*err + Kd*err_diff) * Kpid_base;
   
   pid_speed_xianfu();
-  speed_r = speed_l + Kpid_speed;
+  //~ speed_r = speed_l + Kpid_speed;
 
 
   /*---打印输出PID控制的各项参数2---*/
-    cout << "PID_out:" << Kpid_speed << endl ;
+    //~ cout << "PID_out:" << Kpid_speed << endl ;
+        //~ cout << "PID_out:" << Kpid_speed << " " ;
   /*---打印结束---*/
   // VWSetSpeed(speed,Kpid*Kpid_base);   //控制小车的行驶速度，角速度(模拟器可以用，实物no)
  
-  MOTORDriveRaw(2,speed_r);
+  MOTORDriveRaw(2,speed_l - 2 + Kpid_speed);
+  //~ MOTORDriveRaw(2,speed_r);
   MOTORDriveRaw(1,speed_l);
 }
 
@@ -77,16 +79,26 @@ void PIDStraight()
   int L_PSD, R_PSD, F_PSD;    //定义左侧，右侧，前方的距离值
   int x_1,x_2, y_1,y_2, phi_1,phi_2;    //VWGetPosition的参数定义
   VWGetPosition(&x_1, &y_1, &phi_1);    //获取机器人在移动前的x,y,phi值
+  //~ cout << x_1 <<  " " << y_1 << " " << phi_1 << endl;
   
-  MOTORDriveRaw(2,speed_r);
+  F_PSD = PSDGetRaw(1) - 2;    //读取前方和墙壁的距离
+  L_PSD = PSDGetRaw(2) - 16;   //读取左侧和墙壁的距离
+  R_PSD = PSDGetRaw(3);    //读取右侧和墙壁的距离
+  
+  //~ MOTORDriveRaw(2,speed_r);
+  MOTORDriveRaw(2,speed_l - 2);
   MOTORDriveRaw(1,speed_l);
 
 
   do 
   {
-    F_PSD = PSDGetRaw(1) - 2;    //读取前方和墙壁的距离
-    L_PSD = PSDGetRaw(2) - 16;   //读取左侧和墙壁的距离
-    R_PSD = PSDGetRaw(3);    //读取右侧和墙壁的距离
+    //~ F_PSD = PSDGetRaw(1) - 2;    //读取前方和墙壁的距离
+    //~ L_PSD = PSDGetRaw(2) - 16;   //读取左侧和墙壁的距离
+    //~ R_PSD = PSDGetRaw(3);    //读取右侧和墙壁的距离
+    
+    F_PSD = (PSDGetRaw(1) - 2) * 0.3  +  F_PSD * 0.7;    //读取前方和墙壁的距离
+    L_PSD = (PSDGetRaw(2) - 16) * 0.3  +  L_PSD * 0.7;   //读取左侧和墙壁的距离
+    R_PSD = (PSDGetRaw(3)) * 0.3  +  R_PSD * 0.7;    //读取右侧和墙壁的距离
 
     /*---打印输出PSD数值---*/
     cout << "PSD L:" << L_PSD << " R:" << R_PSD << " F:" << F_PSD << "\t" ;
@@ -116,7 +128,7 @@ void PIDStraight()
     }
     VWGetPosition(&x_2, &y_2, &phi_2);
     bot_move = sqrt(pow(x_2-x_1,2) + pow(y_2-y_1,2));
-    //~ cout << "move:" << bot_move << endl;
+    cout << "move:" << bot_move << endl;
 
   }while (bot_move < DIST_move  &&  F_PSD > DIST_wall_F);    //当移动到指定距离，或者检测到小车前方的距离小于检测距离的时候，停止运行
 
diff --git a/bot_code/maze_func_turn.cpp b/bot_code/maze_func_turn.cpp
index e492615..869f6c5 100644
--- a/bot_code/maze_func_turn.cpp
+++ b/bot_code/maze_func_turn.cpp
@@ -14,10 +14,10 @@ void BOTturn(int turn)
         ENCODERReset(2);
         do 
 		{
-			MOTORDriveRaw(1,21);
-			MOTORDriveRaw(2,-19);
+			MOTORDriveRaw(1,20);
+			MOTORDriveRaw(2,-18);
             
-		} while (abs(ENCODERRead(2)) < 218);
+		} while (abs(ENCODERRead(2)) < 240);
         
 		MOTORDriveRaw(1,0);
 		MOTORDriveRaw(2,0);
@@ -28,8 +28,8 @@ void BOTturn(int turn)
 		ENCODERReset(2);
 		do 
 		{
-			MOTORDriveRaw(1,-21);
-			MOTORDriveRaw(2,19);
+			MOTORDriveRaw(1,-20);
+			MOTORDriveRaw(2,18);
 
 		} while (abs(ENCODERRead(2)) < 240);
 		
@@ -42,12 +42,13 @@ void BOTturn(int turn)
 		ENCODERReset(2);
 		do 
 		{
-			MOTORDriveRaw(1,21);
-			MOTORDriveRaw(2,-19);
+			MOTORDriveRaw(1,20);
+			MOTORDriveRaw(2,-18);
 		
-		} while (abs(ENCODERRead(2)) < 500);
+		} while (abs(ENCODERRead(2)) < 550);
 		MOTORDriveRaw(1,0);
 		MOTORDriveRaw(2,0);
+		//~ speed_r = speed_l - Kpid_speed;
     }
     else 
     {
diff --git a/bot_code/maze_parameter.cpp b/bot_code/maze_parameter.cpp
index af89c6c..d3835ba 100644
--- a/bot_code/maze_parameter.cpp
+++ b/bot_code/maze_parameter.cpp
@@ -9,9 +9,9 @@ using namespace std;
 /*---定义数据---*/
 /*---定义全局常量---*/
 const int DIST_cell = 240;     	//单元格长度
-const int DIST_move = 292;		//移动的单元格距离
+const int DIST_move = 330;		//移动的单元格距离
 const int DIST_wall_F = 90;     //与墙壁的距离
-const int DIST_wall_RL = 88;      //与左右墙壁的距离
+const int DIST_wall_RL = 90;      //与左右墙壁的距离
 
 /*---定义全局变量---*/
 /*---容器类---*/
@@ -29,9 +29,10 @@ int rob_dir = 0;    //机器人当前的朝向（初始为0）
 
 
 /*---PID算法---*/
-const float Kp = 0.4, Ki = 0, Kd = 0.25;   //定义PID的参数17
+//~ const float Kp = 0.4, Ki = 0, Kd = 0.25;   //定义PID的参数17
 //~ const float Kp = 0.825, Ki = 0.0081, Kd = 0.175;   //定义PID的参数17
 //~ const float Kp = 0.80, Ki = 0.0076, Kd = 0.2;   //定义PID的参数18
+const float Kp = 1.6, Ki = 0.008, Kd = 0.18;   //定义PID的参数18
 //~ float Kpid;                             //定义PID计算后输出的倍率
 int Kpid_speed;
 const float Kpid_base = 1;				//定义基本角速度和速度
diff --git a/bot_code_turn/makefile b/bot_code_turn/makefile
index be8bad0..3b972b2 100644
--- a/bot_code_turn/makefile
+++ b/bot_code_turn/makefile
@@ -2,7 +2,7 @@
 cxx := gccarm
 
 file_cpp := $(wildcard *.cpp)
-file_o := /home/pi/usr/maze.x
+file_o := /home/pi/usr/maze2.x
 
 $(file_o) : $(file_cpp)
 	@$(cxx) $^ -o $@
@@ -17,4 +17,4 @@ debug :
 	@echo $(file_cpp)
 	@echo $(file_o)
 
-.PHONY : maze clean debug
\ No newline at end of file
+.PHONY : maze clean debug
diff --git a/bot_code_turn/maze_func_explore.cpp b/bot_code_turn/maze_func_explore.cpp
index ce91f7b..7ef79b4 100644
--- a/bot_code_turn/maze_func_explore.cpp
+++ b/bot_code_turn/maze_func_explore.cpp
@@ -112,6 +112,8 @@ void maze_entry(int x, int y, int dir, int open)
 
         mark.emplace(mark.begin(), std::vector<int>(mark[0].size(), 0));  //在mark头部插入一个内层
         wall.emplace(wall.begin(), std::vector<std::vector<int>>(wall[0].size(), std::vector<int>(2, 0)));  //在wall头部插入一个内层
+        rob_x++;
+        rob_x0++;
       }
       else 
       {
@@ -134,6 +136,8 @@ void maze_entry(int x, int y, int dir, int open)
         {
           wall[i].emplace(wall[i].begin(), std::vector<int>(2,0));
         }
+        rob_y++;
+        rob_y0++;
       }
       else 
       {
diff --git a/bot_code_turn/maze_func_goto.cpp b/bot_code_turn/maze_func_goto.cpp
index f3c2cff..217423a 100644
--- a/bot_code_turn/maze_func_goto.cpp
+++ b/bot_code_turn/maze_func_goto.cpp
@@ -75,14 +75,16 @@ void go_to(int dir)
   
   if (turn) //如果turn不是0，则执行旋转命令
   {
-    OSWait(1000);
+    OSWait(2000);
     BOTturn(turn);
-    OSWait(200);
+    OSWait(2000);
     VWWait();
   }
   PIDStraight();   //使用PID算法算法，向指定方向直线行驶一格
   //~ OSWait(200);
-  VWWait();   //等待下一条指令
+  //~ VWWait();   //等待下一条指令
+  MOTORDriveRaw(1,0);
+  MOTORDriveRaw(2,0);
   
   rob_dir = maze_dir;  //更新机器人移动到下一格之后的方向
   xneighbor(rob_x,rob_dir); //更新机器人移动到下一格之后的X坐标
diff --git a/bot_code_turn/maze_func_output.cpp b/bot_code_turn/maze_func_output.cpp
index f2a98ee..c9697cb 100644
--- a/bot_code_turn/maze_func_output.cpp
+++ b/bot_code_turn/maze_func_output.cpp
@@ -13,7 +13,7 @@ void output_arr2D(int size_x, int size_y, int *arr)
   {
     for (int j = 0; j < size_x; j++)
     {
-      cout << arr[(j * size_y)  +  i] << " ";
+      cout << arr[(j * size_y)  +  i] << "\t";
     }
     cout << endl;
   }
@@ -55,4 +55,4 @@ void output_arrpath(int size, int *arr)
     cout << arr[i] << " ";
   }
   cout << endl;
-}
\ No newline at end of file
+}
diff --git a/bot_code_turn/maze_func_pid.cpp b/bot_code_turn/maze_func_pid.cpp
index 0278569..663a043 100644
--- a/bot_code_turn/maze_func_pid.cpp
+++ b/bot_code_turn/maze_func_pid.cpp
@@ -1,6 +1,7 @@
 #include<iostream>
 #include<string>
 #include"eyebot++.h"
+#include<cmath>
 #include"maze_parameter.h"
 #include"maze_func.h"
 using namespace std;
@@ -42,8 +43,8 @@ void pid_speed_xianfu()
 /*---位置式PID算法---*/
 void PID_AL()
 {
-  //~ err_sum += err;   //积分累计误差值
-  //~ eI_xianfu();   //积分部分限幅
+  err_sum += err;   //积分累计误差值
+  eI_xianfu();   //积分部分限幅
   err_diff = err - err_old;   //微分部分误差值
   /*---打印输出PID控制的各项参数1---*/
     //~ cout << "err:" << err << " " ;
@@ -54,72 +55,84 @@ void PID_AL()
   err_old = err;    //将误差幅值到上一次误差
   
   //~ Kpid = Kp*err + Ki*err_sum + Kd*err_diff;   //PID控制算法输出的倍率
-  //~ Kpid_speed = (Kp*err + Ki*err_sum + Kd*err_diff) * Kpid_base;
-  Kpid_speed = (Kp*err + Kd*err_diff) * Kpid_base;
-  
+  //~ if (abs(err_sum) > 100 )
+  //~ {
+    Kpid_speed = (Kp*err + Ki*err_sum + Kd*err_diff) * Kpid_base;
+  //~ }
+  //~ else
+  //~ {
+    //~ Kpid_speed = (Kp*err + Kd*err_diff) * Kpid_base;
+  //~ }
   pid_speed_xianfu();
-  speed_r = speed_l + Kpid_speed;
+  //~ speed_r = speed_l - 1+ Kpid_speed;
 
 
   /*---打印输出PID控制的各项参数2---*/
-    cout << "PID_out:" << Kpid_speed << endl ;
+    //~ cout << "PID_out:" << Kpid_speed << endl ;
   /*---打印结束---*/
   // VWSetSpeed(speed,Kpid*Kpid_base);   //控制小车的行驶速度，角速度(模拟器可以用，实物no)
  
-  MOTORDriveRaw(2,speed_r);
-  MOTORDriveRaw(1,speed_l);
+  MOTORDriveRaw(2,speed_r + Kpid_speed);
+  //~ MOTORDriveRaw(2,speed_r);
+  MOTORDriveRaw(1,speed_l - Kpid_speed);
 }
 
 /*---PID控制下的直线行驶---*/
 void PIDStraight()
-{
+{ 
   int bot_move;    //定义基础角速度和速度,和移动距离
   int L_PSD, R_PSD, F_PSD;    //定义左侧，右侧，前方的距离值
   int x_1,x_2, y_1,y_2, phi_1,phi_2;    //VWGetPosition的参数定义
   VWGetPosition(&x_1, &y_1, &phi_1);    //获取机器人在移动前的x,y,phi值
   
+  F_PSD = PSDGetRaw(1) - 2;    //读取前方和墙壁的距离
+  L_PSD = PSDGetRaw(2) - 16;   //读取左侧和墙壁的距离
+  R_PSD = PSDGetRaw(3);    //读取右侧和墙壁的距离
+  
   MOTORDriveRaw(2,speed_r);
   MOTORDriveRaw(1,speed_l);
 
 
   do 
   {
-    F_PSD = PSDGetRaw(1) - 2;    //读取前方和墙壁的距离
-    L_PSD = PSDGetRaw(2) - 16;   //读取左侧和墙壁的距离
-    R_PSD = PSDGetRaw(3);    //读取右侧和墙壁的距离
+    //~ F_PSD = PSDGetRaw(1) - 2;    //读取前方和墙壁的距离
+    //~ L_PSD = PSDGetRaw(2) - 16;   //读取左侧和墙壁的距离
+    //~ R_PSD = PSDGetRaw(3);    //读取右侧和墙壁的距离
+    
+    F_PSD = (PSDGetRaw(1) - 2) * 0.6  +  F_PSD * 0.4;    //读取前方和墙壁的距离
+    L_PSD = (PSDGetRaw(2) - 16) * 0.6  +  L_PSD * 0.4;   //读取左侧和墙壁的距离
+    R_PSD = (PSDGetRaw(3)) * 0.6  +  R_PSD * 0.4;    //读取右侧和墙壁的距离
 
     /*---打印输出PSD数值---*/
-    cout << "PSD L:" << L_PSD << " R:" << R_PSD << " F:" << F_PSD << "\t" ;
+    //~ cout << "PSD L:" << L_PSD << " R:" << R_PSD << " F:" << F_PSD << "\t" ;
     /*---打印结束---*/
 
-    if (20<L_PSD && L_PSD<140  &&  20<R_PSD && R_PSD<140)   //如果两侧都有墙的情况
+    if (20<L_PSD && L_PSD<125  &&  20<R_PSD && R_PSD<125)   //如果两侧都有墙的情况
     {
       err = L_PSD - R_PSD;
       PID_AL();
     }
-    else if (20<L_PSD && L_PSD<140)    //只有左侧有墙的情况
+    else if (20<L_PSD && L_PSD<150)    //只有左侧有墙的情况
     {
       err = L_PSD - DIST_wall_RL;
       PID_AL();
     }
-    else if (20<R_PSD && R_PSD<140)    //只有右侧有墙的情况
+    else if (20<R_PSD && R_PSD<150)    //只有右侧有墙的情况
     {
       err = DIST_wall_RL - R_PSD;
       PID_AL();
     }
     else
     {
-      L_PSD = L_PSD % 300;
-      R_PSD = R_PSD % 300;
+      L_PSD = L_PSD % 100;
+      R_PSD = R_PSD % 100;
       err = L_PSD - R_PSD;
       PID_AL();
     }
     VWGetPosition(&x_2, &y_2, &phi_2);
     bot_move = sqrt(pow(x_2-x_1,2) + pow(y_2-y_1,2));
-    //~ cout << "move:" << bot_move << endl;
-
   }while (bot_move < DIST_move  &&  F_PSD > DIST_wall_F);    //当移动到指定距离，或者检测到小车前方的距离小于检测距离的时候，停止运行
-
-  MOTORDriveRaw(1,0);
-  MOTORDriveRaw(2,0);
+  //~ cout << "move:" << bot_move << endl;
+  //~ MOTORDriveRaw(1,0);
+  //~ MOTORDriveRaw(2,0);
 }
diff --git a/bot_code_turn/maze_func_turn.cpp b/bot_code_turn/maze_func_turn.cpp
index cf049dc..150564e 100644
--- a/bot_code_turn/maze_func_turn.cpp
+++ b/bot_code_turn/maze_func_turn.cpp
@@ -8,71 +8,27 @@ using namespace std;
 
 void BOTturn(int turn)
 {
-	int f_wall, b_wall, r_wall, l_wall;
-    int old_f_wall, old_b_wall;
-    int turn_check;
-
     if (turn == -1)  //右转
-    {
-		l_wall = PSDGetRaw(2) - 16;
-		if (l_wall < 145)
-		{
-			b_wall = PSDGetRaw(4) - 2;
-            do
-            {
-                old_b_wall = b_wall;
-                MOTORDriveRaw(1,19);
-                MOTORDriveRaw(2,-17);
-                OSWait(850);
-                MOTORDriveRaw(1,0);
-                MOTORDriveRaw(2,0);
-                b_wall = (PSDGetRaw(4) - 2) * 0.7  +  old_b_wall * 0.3;   //减小突变
-                turn_check = b_wall - old_b_wall;
-                OSWait(50);
-            } while ( turn_check < -3  ||  b_wall > 140);
-		}
-		else 
 		{
 			ENCODERReset(1);
 			ENCODERReset(2);
         	do 
 			{
-				MOTORDriveRaw(1,21);
-				MOTORDriveRaw(2,-19);
-			} while (abs(ENCODERRead(2)) < 218);
-		}
+				MOTORDriveRaw(1,22);
+				MOTORDriveRaw(2,-20);
+			} while (abs(ENCODERRead(2)) < 250);
 		MOTORDriveRaw(1,0);
 		MOTORDriveRaw(2,0);
     }
     else if (turn == 1)    //左转
-    {
-		r_wall = PSDGetRaw(3);
-		if (r_wall < 145)
-		{
-			b_wall = PSDGetRaw(4) - 2;
-            do 
-            {
-                old_b_wall = b_wall;
-                MOTORDriveRaw(1,-19);
-                MOTORDriveRaw(2,17);
-                OSWait(850);
-                MOTORDriveRaw(1,0);
-                MOTORDriveRaw(2,0);
-                b_wall = (PSDGetRaw(4) - 2) * 0.7  +  old_b_wall * 0.3;   //减小突变
-                turn_check = b_wall - old_b_wall;
-				OSWait(50);
-            } while (turn_check < -3  ||  b_wall > 130);
-		}
-		else
 		{
         	ENCODERReset(1);
 			ENCODERReset(2);
 			do 
 			{
-				MOTORDriveRaw(1,-21);
-				MOTORDriveRaw(2,19);
-			} while (abs(ENCODERRead(2)) < 240);
-		}
+				MOTORDriveRaw(1,-22);
+				MOTORDriveRaw(2,20);
+			} while (abs(ENCODERRead(2)) < 245);
 		MOTORDriveRaw(1,0);
 		MOTORDriveRaw(2,0);
 	}
@@ -82,8 +38,8 @@ void BOTturn(int turn)
 		ENCODERReset(2);
 		do 
 		{
-			MOTORDriveRaw(1,21);
-			MOTORDriveRaw(2,-19);
+			MOTORDriveRaw(1,22);
+			MOTORDriveRaw(2,-20);
 		
 		} while (abs(ENCODERRead(2)) < 500);
 		MOTORDriveRaw(1,0);
@@ -93,4 +49,10 @@ void BOTturn(int turn)
     {
         cout << "errer" << endl;
     }
+	err_sum = 0;
+	err_old = 0;
+	err = 0;
+	err_diff = 0;
+    
+    
 }
diff --git a/bot_code_turn/maze_parameter.cpp b/bot_code_turn/maze_parameter.cpp
index af89c6c..71611c9 100644
--- a/bot_code_turn/maze_parameter.cpp
+++ b/bot_code_turn/maze_parameter.cpp
@@ -9,9 +9,10 @@ using namespace std;
 /*---定义数据---*/
 /*---定义全局常量---*/
 const int DIST_cell = 240;     	//单元格长度
-const int DIST_move = 292;		//移动的单元格距离
-const int DIST_wall_F = 90;     //与墙壁的距离
-const int DIST_wall_RL = 88;      //与左右墙壁的距离
+const int DIST_move = 340;		//移动的单元格距离
+const int DIST_wall_F = 85;     //与墙壁的距离
+//~ const int DIST_wall_RL = 90;      //与左右墙壁的距离 1
+const int DIST_wall_RL = 87;      //与左右墙壁的距离
 
 /*---定义全局变量---*/
 /*---容器类---*/
@@ -29,15 +30,20 @@ int rob_dir = 0;    //机器人当前的朝向（初始为0）
 
 
 /*---PID算法---*/
-const float Kp = 0.4, Ki = 0, Kd = 0.25;   //定义PID的参数17
-//~ const float Kp = 0.825, Ki = 0.0081, Kd = 0.175;   //定义PID的参数17
-//~ const float Kp = 0.80, Ki = 0.0076, Kd = 0.2;   //定义PID的参数18
+/*--成功过的方案--*/
+//~ const float Kp = 2.8, Ki = 0.006, Kd = 0.08;   //定义PD的参数16-2此方案成功过，就是有点摇摇晃晃 墙壁为1
+/*--在尝试的方案--*/
+const float Kp = 2.82, Ki =0.006, Kd = 0.08;   //定义PD的参数16-2
+//~ const float Kp = 5, Ki = 0, Kd = 0.1;   //定义PD的参数16-3
+//~ const float Kp = 2.4, Ki = 0.006, Kd = 0.125;   //定义PID的参数16-2
+//~ const float Kp = 2.6, Ki = 0.006, Kd = 0.12;   //定义PD的参数?
+//~ const float Kp = 2.5, Ki = 0.01, Kd = 0.2;   //定义PID的参数16-3
 //~ float Kpid;                             //定义PID计算后输出的倍率
 int Kpid_speed;
 const float Kpid_base = 1;				//定义基本角速度和速度
-const int speed_l = 16;					//定义基本左轮速度
-//~ const int speed_r = speed_l - 2;		//定义基本右轮速度
-int speed_r = speed_l - 2;		//定义基本右轮速度
+const int speed_l = 15;					//定义基本左轮速度
+const int speed_r = speed_l - 1;		//定义基本右轮速度
+//~ int speed_r = speed_l - 1;		//定义基本右轮速度
 const int speed_xianfu = 2;				//定义kpid限幅
 int err, err_old, err_sum, err_diff;	//定义误差，上一次误差，积分误差，微分误差
 const int eI_max = 200;                 //定义积分限幅
diff --git a/bot_code_turn/maze_parameter.h b/bot_code_turn/maze_parameter.h
index ed0510a..b4b3a4d 100644
--- a/bot_code_turn/maze_parameter.h
+++ b/bot_code_turn/maze_parameter.h
@@ -31,8 +31,8 @@ extern const float Kp, Ki, Kd;                  //声明PID的参数
 extern int Kpid_speed;                          //定义计算后的速度
 extern const float Kpid_base;					//定义速度基础倍数速度
 extern const int speed_l;						//定义左轮基本速度
-//~ extern const int speed_r;						//定义右轮基本速度
-extern int speed_r;						//定义右轮基本速度
+extern const int speed_r;						//定义右轮基本速度
+//~ extern int speed_r;						//定义右轮基本速度
 extern const int speed_xianfu;                  //kpid输出速度的限幅
 extern int err, err_old, err_sum, err_diff;     //定义误差，上一次误差，积分误差，微分误差
 extern const int eI_max;                        //定义积分限幅