diff --git a/TaiChi/TaiChi.ino b/TaiChi/TaiChi.ino
index 3c0dd77..f89fdbf 100644
--- a/TaiChi/TaiChi.ino
+++ b/TaiChi/TaiChi.ino
@@ -87,13 +87,13 @@ uint8_t CalcDirection(void);
 #define CATCH_END 2
 #define RELEASE_END 3
 //沿线直行，在触发条件后停止
-void LineForward(uint8_t end_position, double speed_rate = 1.0);
+void LineForward(uint8_t end_position, float speed_rate = 1.0);
 
 //沿线后退，在触发条件后停止
-void LineBackward(uint8_t end_position, double speed_rate = 1.0);
+void LineBackward(uint8_t end_position, float speed_rate = 1.0);
 
 //直行或后退或转向
-void TurnDirection(uint8_t direction, double speed_rate = 1.0);
+void TurnDirection(uint8_t direction, float speed_rate = 1.0);
 //***************************************************************************************
 
 
@@ -280,7 +280,7 @@ uint8_t CalcDirection(void)
 
 
 //沿线直行，在触发条件后停止
-void LineForward(uint8_t end_position, double speed_rate)
+void LineForward(uint8_t end_position, float speed_rate)
 {
     //记录开始时间
     unsigned long begin_time = micros();
@@ -329,7 +329,7 @@ void LineForward(uint8_t end_position, double speed_rate)
 
 
 //沿线后退，在触发条件后停止
-void LineBackward(uint8_t end_position, double speed_rate)
+void LineBackward(uint8_t end_position, float speed_rate)
 {
     while(1)
     {
@@ -366,7 +366,7 @@ void LineBackward(uint8_t end_position, double speed_rate)
 
 
 //直行或后退或转向
-void TurnDirection(uint8_t direction, double speed_rate)
+void TurnDirection(uint8_t direction, float speed_rate)
 {    
     if (direction == FORWARD) //继续直行
     {
diff --git a/TaiChi/moveTaiChi.cpp b/TaiChi/moveTaiChi.cpp
index 4a6afdb..a1d1596 100644
--- a/TaiChi/moveTaiChi.cpp
+++ b/TaiChi/moveTaiChi.cpp
@@ -11,7 +11,7 @@ Move::Move()
 }
 
 
-Move::Move(double global_speed_rate)
+Move::Move(float global_speed_rate)
 {
     Move();
     
@@ -20,7 +20,7 @@ Move::Move(double global_speed_rate)
 
 
 //设置全局速度比率
-void Move::SetGlobalSpeedRate(double global_speed_rate)
+void Move::SetGlobalSpeedRate(float global_speed_rate)
 {
     this->global_speed_rate = global_speed_rate;
 }
@@ -34,14 +34,14 @@ uint8_t Move::GetCurrentMove(void)
 
 
 //获取当前运动速度比率
-double Move::GetCurrentSpeedRate(void)
+float Move::GetCurrentSpeedRate(void)
 {
     return current_speed_rate;
 }
 
 
 //控制某个轮子转动
-void Move::Wheel(uint8_t wheel, uint8_t rotation, double speed_rate)
+void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate)
 {
     uint8_t pin_in1, pin_in2, pin_ena;
 
@@ -99,7 +99,7 @@ void Move::Wheel(uint8_t wheel, uint8_t rotation, double speed_rate)
 
 
 //前进
-void Move::Forward(double speed_rate)
+void Move::Forward(float speed_rate)
 {
     Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, speed_rate);
     Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, speed_rate);
@@ -112,7 +112,7 @@ void Move::Forward(double speed_rate)
 
 
 //后退
-void Move::Backward(double speed_rate)
+void Move::Backward(float speed_rate)
 {
     Wheel(LEFT_A_WHEEL, BACKWARD_ROTATION, speed_rate);
     Wheel(LEFT_B_WHEEL, BACKWARD_ROTATION, speed_rate);
@@ -125,7 +125,7 @@ void Move::Backward(double speed_rate)
 
 
 //向前左转
-void Move::ForLeftward(double speed_rate, double turn_speed_rate)
+void Move::ForLeftward(float speed_rate, float turn_speed_rate)
 {
     Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
     Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
@@ -138,7 +138,7 @@ void Move::ForLeftward(double speed_rate, double turn_speed_rate)
 
 
 //向前右转
-void Move::ForRightward(double speed_rate, double turn_speed_rate)
+void Move::ForRightward(float speed_rate, float turn_speed_rate)
 {
     Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, speed_rate);
     Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, speed_rate);
@@ -151,7 +151,7 @@ void Move::ForRightward(double speed_rate, double turn_speed_rate)
 
 
 //向后左转
-void Move::BackLeftward(double speed_rate, double turn_speed_rate)
+void Move::BackLeftward(float speed_rate, float turn_speed_rate)
 {
     Wheel(LEFT_A_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
     Wheel(LEFT_B_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
@@ -164,7 +164,7 @@ void Move::BackLeftward(double speed_rate, double turn_speed_rate)
 
 
 //向后右转
-void Move::BackRightward(double speed_rate, double turn_speed_rate)
+void Move::BackRightward(float speed_rate, float turn_speed_rate)
 {
     Wheel(LEFT_A_WHEEL, BACKWARD_ROTATION, speed_rate);
     Wheel(LEFT_B_WHEEL, BACKWARD_ROTATION, speed_rate);
@@ -190,7 +190,7 @@ void Move::Stop(void)
 
 
 //向某方向运动
-void Move::MoveDirection(uint8_t direction, double speed_rate, double turn_speed_rate)
+void Move::MoveDirection(uint8_t direction, float speed_rate, float turn_speed_rate)
 {
     switch (direction)
     {
diff --git a/TaiChi/moveTaiChi.h b/TaiChi/moveTaiChi.h
index 4ddc336..c61c191 100644
--- a/TaiChi/moveTaiChi.h
+++ b/TaiChi/moveTaiChi.h
@@ -48,29 +48,29 @@ class Move
 {
 public:
     Move();
-    Move(double global_speed_rate);
+    Move(float global_speed_rate);
 
-    void SetGlobalSpeedRate(double global_speed_rate); //设置全局速度比率
+    void SetGlobalSpeedRate(float global_speed_rate); //设置全局速度比率
 
     uint8_t GetCurrentMove(void); //获取当前运动方向
-    double GetCurrentSpeedRate(void); //获取当前运动速度比率
+    float GetCurrentSpeedRate(void); //获取当前运动速度比率
 
-    void Wheel(uint8_t wheel, uint8_t rotation, double speed_rate = 1.0); //控制某个轮子转动
+    void Wheel(uint8_t wheel, uint8_t rotation, float speed_rate = 1.0); //控制某个轮子转动
 
-    void Forward(double speed_rate = 1.0); //前进
-    void Backward(double speed_rate = 1.0); //后退
-    void ForLeftward(double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前左转
-    void ForRightward(double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前右转
-    void BackLeftward(double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后左转
-    void BackRightward(double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后右转
+    void Forward(float speed_rate = 1.0); //前进
+    void Backward(float speed_rate = 1.0); //后退
+    void ForLeftward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前左转
+    void ForRightward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前右转
+    void BackLeftward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后左转
+    void BackRightward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后右转
     void Stop(void); //制动
 
-    void MoveDirection(uint8_t direction, double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向某方向运动
+    void MoveDirection(uint8_t direction, float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向某方向运动
 
 private:
-    double global_speed_rate; //全局速度比率
+    float global_speed_rate; //全局速度比率
     uint8_t current_move; //当前运动状态
-    double current_speed_rate; //当前运动速度比率
+    float current_speed_rate; //当前运动速度比率
 };
 
 
diff --git a/TaiChi/servoTaiChi.cpp b/TaiChi/servoTaiChi.cpp
index d100538..5b7fbf3 100644
--- a/TaiChi/servoTaiChi.cpp
+++ b/TaiChi/servoTaiChi.cpp
@@ -71,7 +71,7 @@ void Servo::StopActionGroup(void)
  * Return:       无返回
  * Others:
  *********************************************************************************/
-void Servo::SetActionGroupSpeed(uint8_t action_num, double speed)
+void Servo::SetActionGroupSpeed(uint8_t action_num, float speed)
 {
     uint16_t speed_int = (uint16_t)speed;
     uint8_t buf[7];
@@ -94,14 +94,14 @@ void Servo::SetActionGroupSpeed(uint8_t action_num, double speed)
  * Return:       无返回
  * Others:
  *********************************************************************************/
-void Servo::SetAllActionGroupSpeed(double speed)
+void Servo::SetAllActionGroupSpeed(float speed)
 {
     SetActionGroupSpeed(0xFF, speed); //调用动作组速度设定，组号为0xFF时设置所有组的速度
 }
 
 
 //恢复初始状态，指定速度
-void Servo::Reset(double speed)
+void Servo::Reset(float speed)
 {
     SetActionGroupSpeed(ACTION_RESET_NUM, speed);
     RunActionGroup(ACTION_RESET_NUM, 1);
@@ -110,7 +110,7 @@ void Servo::Reset(double speed)
 
 
 //抓取，指定速度
-void Servo::Catch(double speed)
+void Servo::Catch(float speed)
 {
     SetActionGroupSpeed(ACTION_CATCH_NUM, speed);
     RunActionGroup(ACTION_CATCH_NUM, 1);
@@ -119,7 +119,7 @@ void Servo::Catch(double speed)
 
 
 //释放，指定速度
-void Servo::Release(double speed)
+void Servo::Release(float speed)
 {
     SetActionGroupSpeed(ACTION_RELEASE_NUM, speed);
     RunActionGroup(ACTION_RELEASE_NUM, 1);
@@ -128,7 +128,7 @@ void Servo::Release(double speed)
 
 
 //停止舵机并恢复初始状态，指定速度
-void Servo::StopAndReset(double speed)
+void Servo::StopAndReset(float speed)
 {
     StopActionGroup();
     Reset(speed);
diff --git a/TaiChi/servoTaiChi.h b/TaiChi/servoTaiChi.h
index f4a3077..55e3346 100644
--- a/TaiChi/servoTaiChi.h
+++ b/TaiChi/servoTaiChi.h
@@ -33,13 +33,13 @@ public:
 
     void RunActionGroup(uint8_t action_num, uint16_t times);
     void StopActionGroup(void);
-    void SetActionGroupSpeed(uint8_t action_num, double speed);
-    void SetAllActionGroupSpeed(double speed);
+    void SetActionGroupSpeed(uint8_t action_num, float speed);
+    void SetAllActionGroupSpeed(float speed);
 
-    void Reset(double speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
-    void Catch(double speed = SERVO_NORMAL_SPEED); //抓取，指定速度
-    void Release(double speed = SERVO_NORMAL_SPEED); //释放，指定速度
-    void StopAndReset(double speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度
+    void Reset(float speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
+    void Catch(float speed = SERVO_NORMAL_SPEED); //抓取，指定速度
+    void Release(float speed = SERVO_NORMAL_SPEED); //释放，指定速度
+    void StopAndReset(float speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度
 
 private:
     HardwareSerial *SerialX;