diff --git a/TaiChi/moveTaiChi.cpp b/TaiChi/moveTaiChi.cpp
index ac80a60..02d79c6 100644
--- a/TaiChi/moveTaiChi.cpp
+++ b/TaiChi/moveTaiChi.cpp
@@ -6,26 +6,27 @@
 #include <NeoHWSerial.h>
 #endif
 
-Move::Move()
-{
-    global_speed_rate = DEFAULT_GLOBAL_SPEED_RATE;
-    current_direction = STOP;
-    current_speed_rate = 0.0;
-}
+
+//静态变量
+float Move::global_speed_rate = DEFAULT_GLOBAL_SPEED_RATE; //全局速度比率
+uint8_t Move::current_direction = STOP; //当前运动状态
+float Move::current_speed_rate = 0.0; //当前运动速度比率
+float Move::current_turn_speed_rate; //当前转向时一侧减速的比率
+
+
+Move::Move() {}
 
 
 Move::Move(float global_speed_rate)
 {
-    Move();
-    
-    this->global_speed_rate = global_speed_rate;
+    Move::global_speed_rate = global_speed_rate;
 }
 
 
 //设置全局速度比率
 void Move::SetGlobalSpeedRate(float global_speed_rate)
 {
-    this->global_speed_rate = global_speed_rate;
+    Move::global_speed_rate = global_speed_rate;
 }
 
 
diff --git a/TaiChi/moveTaiChi.h b/TaiChi/moveTaiChi.h
index af1b3d0..7feecb1 100644
--- a/TaiChi/moveTaiChi.h
+++ b/TaiChi/moveTaiChi.h
@@ -55,29 +55,29 @@ public:
     Move();
     Move(float global_speed_rate);
 
-    void SetGlobalSpeedRate(float global_speed_rate); //设置全局速度比率
+    static 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
-    float GetCurrentSpeedRate(void); //获取当前运动速度比率
-    float GetCurrentTurnSpeedRate(void); //获取当前转向时一侧减速的比率
+    static uint8_t GetCurrentMove(void); //获取当前运动方向
+    static float GetCurrentSpeedRate(void); //获取当前运动速度比率
+    static float GetCurrentTurnSpeedRate(void); //获取当前转向时一侧减速的比率
 
-    void Wheel(uint8_t wheel, uint8_t rotation, float speed_rate = 1.0); //控制某个轮子转动
+    static void Wheel(uint8_t wheel, uint8_t rotation, float speed_rate = 1.0); //控制某个轮子转动
 
-    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
+    static void Forward(float speed_rate = 1.0); //前进
+    static void Backward(float speed_rate = 1.0); //后退
+    static void ForLeftward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前左转
+    static void ForRightward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前右转
+    static void BackLeftward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后左转
+    static void BackRightward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后右转
+    static void Stop(void); //制动
 
-    void MoveDirection(uint8_t direction, float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向某方向运动
+    static 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:
-    float global_speed_rate; //全局速度比率
-    uint8_t current_direction; //当前运动状态
-    float current_speed_rate; //当前运动速度比率
-    float current_turn_speed_rate; //当前转向时一侧减速的比率
+    static float global_speed_rate; //全局速度比率
+    static uint8_t current_direction; //当前运动状态
+    static float current_speed_rate; //当前运动速度比率
+    static float current_turn_speed_rate; //当前转向时一侧减速的比率
 };
 
 
diff --git a/TaiChi/radioTaiChi.cpp b/TaiChi/radioTaiChi.cpp
index 0eac844..b2d17c1 100644
--- a/TaiChi/radioTaiChi.cpp
+++ b/TaiChi/radioTaiChi.cpp
@@ -5,13 +5,11 @@
 
 //静态变量
 HandleMessageFunction Radio::hm_func;
-NeoHWSerial* Radio::NeoSerialX;
+NeoHWSerial* Radio::NeoSerialX = &RADIO_SERIAL_NUM;
 
 
 Radio::Radio()
 {
-    NeoSerialX = &RADIO_SERIAL_NUM;
-    
     EnableReceiveInterrupt();
 }
 
@@ -19,7 +17,7 @@ Radio::Radio()
 //打开串口
 void Radio::BeginTransmit(unsigned long baud_rate)
 {
-    NeoSerialX->begin(RADIO_BAUD_RATE);
+    NeoSerialX->begin(baud_rate);
 }
 
 
diff --git a/TaiChi/sensorTaiChi.cpp b/TaiChi/sensorTaiChi.cpp
index 728d07f..6ff148e 100644
--- a/TaiChi/sensorTaiChi.cpp
+++ b/TaiChi/sensorTaiChi.cpp
@@ -7,6 +7,17 @@
 #include <NeoHWSerial.h>
 #endif
 
+
+//静态变量
+int Sensor::gray_1_gate = DEFAULT_GRAY_1_GATE;
+int Sensor::gray_2_gate = DEFAULT_GRAY_2_GATE;
+int Sensor::gray_3_gate = DEFAULT_GRAY_3_GATE;
+int Sensor::gray_4_gate = DEFAULT_GRAY_4_GATE;
+int Sensor::gray_5_gate = DEFAULT_GRAY_5_GATE;
+int Sensor::gray_6_gate = DEFAULT_GRAY_6_GATE;
+int Sensor::gray_7_gate = DEFAULT_GRAY_7_GATE;
+
+
 Sensor::Sensor()
 {
     pinMode(BUTTON_1_OUT, INPUT_PULLUP);
@@ -38,15 +49,6 @@ Sensor::Sensor()
 
     pinMode(BUTTON_2_VCC, OUTPUT);
     digitalWrite(BUTTON_2_VCC, HIGH);
-
-    //设置灰度值为默认值
-    SetGrayGate(GRAY_1, DEFAULT_GRAY_1_GATE);
-    SetGrayGate(GRAY_2, DEFAULT_GRAY_2_GATE);
-    SetGrayGate(GRAY_3, DEFAULT_GRAY_3_GATE);
-    SetGrayGate(GRAY_4, DEFAULT_GRAY_4_GATE);
-    SetGrayGate(GRAY_5, DEFAULT_GRAY_5_GATE);
-    SetGrayGate(GRAY_6, DEFAULT_GRAY_6_GATE);
-    SetGrayGate(GRAY_7, DEFAULT_GRAY_7_GATE);
 }
 
 
diff --git a/TaiChi/sensorTaiChi.h b/TaiChi/sensorTaiChi.h
index 47b5034..91583f8 100644
--- a/TaiChi/sensorTaiChi.h
+++ b/TaiChi/sensorTaiChi.h
@@ -67,35 +67,35 @@ public:
     Sensor();
 
     //设置灰度传感器临界值
-    void SetGrayGate(uint8_t gray_sensor_num, int gate);
+    static void SetGrayGate(uint8_t gray_sensor_num, int gate);
 
     //使灰度传感器闪烁
-    void FlashGraySensor(uint8_t gray_sensor_num);
+    static void FlashGraySensor(uint8_t gray_sensor_num);
 
     //灰度传感器判断下方是否为白色
-    bool IsWhite(uint8_t gray_sensor_num);
+    static bool IsWhite(uint8_t gray_sensor_num);
 
     //灰度传感器灰度值偏离比例，即 (gray_gate - gray_val) / gray_gate
-    float GrayDeviationRate(uint8_t gray_sensor_num);
+    static float GrayDeviationRate(uint8_t gray_sensor_num);
 
     //碰撞传感器（开关）判断是否闭合
-    bool IsPushed(uint8_t button_num);
+    static bool IsPushed(uint8_t button_num);
 
     //开启 HMC5883 的 I2C 通讯
-    void StartHMC5883(void);
+    static void StartHMC5883(void);
 
     //返回朝向角
-    float GetAngle(void);
+    static float GetAngle(void);
 
 private:
     //灰度传感器临界值
-    int gray_1_gate;
-    int gray_2_gate;
-    int gray_3_gate;
-    int gray_4_gate;
-    int gray_5_gate;
-    int gray_6_gate;
-    int gray_7_gate;
+    static int gray_1_gate;
+    static int gray_2_gate;
+    static int gray_3_gate;
+    static int gray_4_gate;
+    static int gray_5_gate;
+    static int gray_6_gate;
+    static int gray_7_gate;
 };  
 
 
diff --git a/TaiChi/servoTaiChi.cpp b/TaiChi/servoTaiChi.cpp
index f8821e8..e5302fb 100644
--- a/TaiChi/servoTaiChi.cpp
+++ b/TaiChi/servoTaiChi.cpp
@@ -11,16 +11,17 @@
 #define BYTE_TO_HW(A, B) ((((uint16_t)(A)) << 8) | (uint8_t)(B))
 
 
-Servo::Servo()
-{
-    NeoSerialX = &SERVO_SERIAL_NUM; //默认使用 Mega 板 18 19 作为串口通信端口
-}
+//静态变量
+NeoHWSerial* Servo::NeoSerialX = &SERVO_SERIAL_NUM;
+
+
+Servo::Servo() {}
 
 
 //打开串口
 void Servo::BeginTransmit(unsigned long baud_rate)
 {
-    NeoSerialX->begin(SERVO_BAUD_RATE);
+    NeoSerialX->begin(baud_rate);
 }
 
 
diff --git a/TaiChi/servoTaiChi.h b/TaiChi/servoTaiChi.h
index e64f662..47a9642 100644
--- a/TaiChi/servoTaiChi.h
+++ b/TaiChi/servoTaiChi.h
@@ -53,28 +53,28 @@ class Servo
 public:
     Servo();
 
-    void BeginTransmit(unsigned long baud_rate = SERVO_BAUD_RATE); //打开串口
+    static void BeginTransmit(unsigned long baud_rate = SERVO_BAUD_RATE); //打开串口
 
-    void MoveServo(uint8_t servo_id, uint16_t position, uint16_t time); //控制单个舵机转动
+    static void MoveServo(uint8_t servo_id, uint16_t position, uint16_t time); //控制单个舵机转动
 
-    void RunActionGroup(uint8_t action_num, uint16_t times); //运行指定动作组
-    void StopActionGroup(void); //停止动作组运行
-    void SetActionGroupSpeed(uint8_t action_num, float speed); //设定指定动作组的运行速度
-    void SetAllActionGroupSpeed(float speed); //设置所有动作组的运行速度
+    static void RunActionGroup(uint8_t action_num, uint16_t times); //运行指定动作组
+    static void StopActionGroup(void); //停止动作组运行
+    static void SetActionGroupSpeed(uint8_t action_num, float speed); //设定指定动作组的运行速度
+    static void SetAllActionGroupSpeed(float speed); //设置所有动作组的运行速度
 
-    void OpenClaw(void); //打开爪子
+    static void OpenClaw(void); //打开爪子
 
-    void Reset(float speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
-    void Down(float speed = SERVO_NORMAL_SPEED); //放下爪子，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 GainDown(float speed = SERVO_NORMAL_SPEED); //增益点放下爪子，指定速度
-    void GainCatch(float speed = SERVO_NORMAL_SPEED); //增益点抓取，指定速度
-    void GainUp(float speed = SERVO_NORMAL_SPEED); //增益点抬升，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
+    static void Reset(float speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
+    static void Down(float speed = SERVO_NORMAL_SPEED); //放下爪子，指定速度
+    static void Catch(float speed = SERVO_NORMAL_SPEED); //抓取，指定速度
+    static void Release(float speed = SERVO_NORMAL_SPEED); //释放，指定速度
+    static void GainDown(float speed = SERVO_NORMAL_SPEED); //增益点放下爪子，指定速度
+    static void GainCatch(float speed = SERVO_NORMAL_SPEED); //增益点抓取，指定速度
+    static void GainUp(float speed = SERVO_NORMAL_SPEED); //增益点抬升，指定速度
+    static void StopAndReset(float speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度
 
 private:
-    NeoHWSerial* NeoSerialX;
+    static NeoHWSerial* NeoSerialX;
 };