diff --git a/TaiChi/moveTaiChi.cpp b/TaiChi/moveTaiChi.cpp
index 4801ee0..ae65b91 100644
--- a/TaiChi/moveTaiChi.cpp
+++ b/TaiChi/moveTaiChi.cpp
@@ -83,9 +83,9 @@ void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate)
         return; //结束函数
     }
     
-    analogWrite(pin_enx, speed_rate * global_speed_rate * 255.0); //设置 PWM 波，即转速
+    analogWrite(pin_enx, abs(speed_rate) * global_speed_rate * 255.0); //设置 PWM 波，即转速
 
-    if (rotation == FORWARD_ROTATION) //向前转动
+    if ((rotation == FORWARD_ROTATION && speed_rate >= 0) || (rotation == BACKWARD_ROTATION && speed_rate < 0)) //向前转动
     {
         digitalWrite(pin_in1, LOW);
         digitalWrite(pin_in2, HIGH);
diff --git a/TaiChi/moveTaiChi.h b/TaiChi/moveTaiChi.h
index 972eeb4..ae4cc65 100644
--- a/TaiChi/moveTaiChi.h
+++ b/TaiChi/moveTaiChi.h
@@ -30,7 +30,7 @@
 #define DEFAULT_GLOBAL_SPEED_RATE 1.0
 
 //默认转向时一侧减速的比率
-#define DEFAULT_TRUN_SPEED_RATE 0.5
+#define DEFAULT_TRUN_SPEED_RATE -1.0
 
 //左侧 L298N 接口定义
 #define LEFT_L298N_IN1 22