diff --git a/bot_code_turn/maze_func_explore.cpp b/bot_code_turn/maze_func_explore.cpp
index 7ef79b4..197d2d4 100644
--- a/bot_code_turn/maze_func_explore.cpp
+++ b/bot_code_turn/maze_func_explore.cpp
@@ -22,9 +22,32 @@ bool check_mark()
   bool S_mark;
   bool E_mark;
 
+if (y < size_y - 1)
+  {
+    if (!wall[x][y+1][0])
+    {
+      N_mark = mark[x][y+1];
+    }
+    else
+    {
+      N_mark = true;
+    }
+  }
+  else
+  {
+    N_mark = true;
+  }
+  
   if (x > 0)
   {
-    W_mark = mark[x-1][y];
+    if (!wall[x][y][1])
+    {
+      W_mark = mark[x-1][y];
+    }
+    else
+    {
+      W_mark = true;
+    }
   }
   else
   {
@@ -33,7 +56,14 @@ bool check_mark()
 
   if (y > 0)
   {
-    S_mark = mark[x][y-1];
+    if (!wall[x][y][0])
+    {
+      S_mark = mark[x][y-1];
+    }
+    else
+    {
+      S_mark = true;
+    }
   }
   else
   {
@@ -42,28 +72,21 @@ bool check_mark()
 
   if (x < size_x - 1)
   {
-    E_mark = mark[x+1][y];
+    if (!wall[x+1][y][1])
+    {
+      E_mark = mark[x+1][y];
+    }
+    else
+    {
+      E_mark = true;
+    }
   }
   else
   {
     E_mark = true;
   }
-
-  if (y < size_y - 1)
-  {
-    N_mark = mark[x][y+1];
-  }
-  else
-  {
-    N_mark = true;
-  }
-
-  bool N_road = (!wall[x][y+1][0]  &&  N_mark);
-  bool W_road = (!wall[x][y][1]  &&  W_mark);
-  bool S_road = (!wall[x][y][0]  &&  S_mark);
-  bool E_road = (!wall[x+1][y][1]  &&  E_mark);
   
-  if (N_road  &&  W_road  &&  S_road  &&  E_road)
+  if (N_mark  &&  W_mark  &&  S_mark  &&  E_mark)
   {
     check = true;
   }
diff --git a/bot_code_turn/maze_func_flood.cpp b/bot_code_turn/maze_func_flood.cpp
index 521f98d..51828dd 100644
--- a/bot_code_turn/maze_func_flood.cpp
+++ b/bot_code_turn/maze_func_flood.cpp
@@ -11,7 +11,7 @@ void flood(int *map, int *copy_wall)
   int num = 0;
   int size_x = mark.size();
   int size_y = mark[0].size();
-  map[0] = 0;
+  map[rob_x0 * (size_y)  +  rob_y0] = 0;
 
   do
   {
diff --git a/bot_code_turn/maze_func_output.cpp b/bot_code_turn/maze_func_output.cpp
index c9697cb..3798f4d 100644
--- a/bot_code_turn/maze_func_output.cpp
+++ b/bot_code_turn/maze_func_output.cpp
@@ -17,6 +17,7 @@ void output_arr2D(int size_x, int size_y, int *arr)
     }
     cout << endl;
   }
+   cout << endl;
 }
 
 /*---打印数组wall---*/
@@ -46,6 +47,7 @@ void output_arrwall(int size_x, int size_y, int *arr)
     }
     cout << endl;
   }
+   cout << endl;
 }
 
 void output_arrpath(int size, int *arr)
@@ -55,4 +57,5 @@ void output_arrpath(int size, int *arr)
     cout << arr[i] << " ";
   }
   cout << endl;
+   cout << endl;
 }
diff --git a/bot_code_turn/maze_main.cpp b/bot_code_turn/maze_main.cpp
index 869b445..b576d56 100644
--- a/bot_code_turn/maze_main.cpp
+++ b/bot_code_turn/maze_main.cpp
@@ -11,10 +11,11 @@ using namespace std;
 int main()
 {
   explore();  //使用递归算法构建地图
-  //~ wall[0][0][0] = 1;
+  BOTturn(2 - rob_dir);
+  VWWait();
+  rob_dir = 2;
   explore();
 
-
   const int mazesize_x = mark.size();       //获取探索结束之后的迷宫的X轴长度
   const int mazesize_y = mark[0].size();    //获取探索结束之后的迷宫的Y轴长度
 
@@ -24,21 +25,29 @@ int main()
   array_copy_mark(mazesize_x, mazesize_y, copy_mark);   //复制一份mark数组，并转换为一维数组，便于后续频繁读取提升性能
   array_copy_wall(mazesize_x, mazesize_y, copy_wall);   //复制一份wall数组，并转换为一维数组，便于后续频繁读取提升性能
 
+  cout << "访问数组打印：" << endl; 
   output_arr2D(mazesize_x, mazesize_y, copy_mark);    //打印地图mark信息
+  cout << "地图打印：" << endl;
   output_arrwall(mazesize_x, mazesize_y, copy_wall);  //打印墙壁wall信息
 
+  cout << "请输入目标点的X,Y坐标值 用空格隔开并回车" << endl;
+  cin >> target_x >> target_y;
+  cout << endl;
+
   int map[mazesize_x * mazesize_y] = {};       //创建最短路径求解地图并初始化为0
   array_negative_one(mazesize_x * mazesize_y, map);        //将map数组初始化为-1
   
   flood(map, copy_wall);  //洪水填充算法
+  cout << "路径打印：" << endl;
   output_arr2D(mazesize_x, mazesize_y, map);  //打印map的数组信息
 
   const int len = map[((target_x - 1) * mazesize_y) + (target_y -1)];  //迷宫的终点（人为确定）
   int path[len] = {};   //创建最短路径结果地图并初始化为0
 
   build_path(target_x - 1, target_y - 1, len, path, map, copy_wall);   //构建出最短路径path数组
-  drive_path(len, path);  //移动到指定目标点
 
+  cout << "移动指令打印：" << endl;
   output_arrpath(len, path);   //打印path数组信息，及小车每一步的行驶方向
-  
+
+  drive_path(len, path);  //移动到指定目标点
 }
diff --git a/bot_code_turn/maze_parameter.cpp b/bot_code_turn/maze_parameter.cpp
index 692fd6c..919afac 100644
--- a/bot_code_turn/maze_parameter.cpp
+++ b/bot_code_turn/maze_parameter.cpp
@@ -49,7 +49,10 @@ int err, err_old, err_sum, err_diff;	//定义误差，上一次误差，积分
 const int eI_max = 200;                 //定义积分限幅
 
 /*---目标点的坐标---*/
-const int target_x = 3;   //声明目标点的X坐标
-const int target_y = 4;   //声明目标点的Y坐标
+// const int target_x = 3;   //声明目标点的X坐标
+// const int target_y = 4;   //声明目标点的Y坐标
+
+int target_x;   //声明目标点的X坐标
+int target_y;   //声明目标点的Y坐标
 
 /*---定义结束---*/
diff --git a/bot_code_turn/maze_parameter.h b/bot_code_turn/maze_parameter.h
index b4b3a4d..c8a0c0e 100644
--- a/bot_code_turn/maze_parameter.h
+++ b/bot_code_turn/maze_parameter.h
@@ -38,7 +38,10 @@ extern int err, err_old, err_sum, err_diff;     //定义误差，上一次误差
 extern const int eI_max;                        //定义积分限幅
 
 /*---目标点坐标---*/
-extern const int target_x;    //声明目标点的X坐标
-extern const int target_y;    //声明目标点的Y坐标
+// extern const int target_x;    //声明目标点的X坐标
+// extern const int target_y;    //声明目标点的Y坐标
+
+extern int target_x;    //声明目标点的X坐标
+extern int target_y;    //声明目标点的Y坐标
 
 /*---声明结束---*/