diff --git a/MixElement/MemoryUsage.cpp b/MixElement/MemoryUsage.cpp
deleted file mode 100644
index 36a66f8..0000000
--- a/MixElement/MemoryUsage.cpp
+++ /dev/null
@@ -1,115 +0,0 @@
-/*
-MemoryUsage.c - MemoryUsage library
-Copyright (c) 2015 Thierry Paris.  All right reserved.
-
-This library is free software; you can redistribute it and/or
-modify it under the terms of the GNU Lesser General Public
-License as published by the Free Software Foundation; either
-version 2.1 of the License, or (at your option) any later version.
-
-This library is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-Lesser General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public
-License along with this library; if not, write to the Free Software
-Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-*/
-
-/*! \file MemoryUsage.cpp
-
-Main library code file.
-*/
-
-#include "Arduino.h"
-#include "MemoryUsage.h"
-
-/// Thanks to adafruit : https://learn.adafruit.com/memories-of-an-arduino/measuring-free-memory
-int mu_freeRam()
-{
-	//extern int __heap_start, *__brkval;
-	int v;
-	return (int)&v - (__brkval == 0 ? (int)&__heap_start : (int)__brkval);
-}
-
-/// Copy / adaptation of the library StackPaint available here : https://github.com/WickedDevice/StackPaint
-
-#define STACK_CANARY	0xc5
-
-void mu_StackPaint(void) __attribute__((naked)) __attribute__((section(".init1")));
-
-
-/// Function called before any other function.
-void mu_StackPaint(void)
-{
-#if 1
-	uint8_t *p = &_end;
-
-	while (p <= &__stack)
-	{
-		*p = STACK_CANARY;
-		p++;
-	}
-#else
-	__asm volatile (
-		"    ldi r30,lo8(_end)\n"
-		"    ldi r31,hi8(_end)\n"
-		"    ldi r24,lo8(0xc5)\n" // STACK_CANARY = 0xc5
-		"    ldi r25,hi8(__stack)\n"
-		"    rjmp .cmp\n"
-		".loop:\n"
-		"    st Z+,r24\n"
-		".cmp:\n"
-		"    cpi r30,lo8(__stack)\n"
-		"    cpc r31,r25\n"
-		"    brlo .loop\n"
-		"    breq .loop"::);
-#endif
-}
-
-/// Checks the first undecorated byte.
-uint16_t mu_StackCount(void)
-{
-	uint8_t *p = (__brkval == 0 ? (uint8_t *) &__heap_start : __brkval);
-
-	while (*p == STACK_CANARY && (int) p <= SP)
-		p++;
-
-	return (uint16_t)RAMEND - (uint16_t)p;
-}
-
-/// Modified function from http://www.avr-developers.com/mm/memoryusage.html
-void SRamDisplay(void)
-{
-	int	data_size	=	(int)&__data_end - (int)&__data_start;
-	int	bss_size	=	(int)&__bss_end - (int)&__data_end;
-	int heap_end 	= 	(int) (__brkval == 0 ? (uint8_t *) &__heap_start : __brkval);
-	//int	heap_end	=	(int)SP - (int)&__malloc_margin;
-	int	heap_size	=	heap_end - (int)&__bss_end;
-	int	stack_size	=	RAMEND - (int)SP + 1;
-	int	available	=	(RAMEND - (int)&__data_start + 1);
-	
-	available	-=	data_size + bss_size + heap_size + stack_size;
-
-	NeoSerialDebug.print(F("+----------------+ "));			NeoSerialDebug.print((int)&__data_start);	NeoSerialDebug.println(" (__data_start)");
-	NeoSerialDebug.print(F("+      data      +"));			NeoSerialDebug.println();
-	NeoSerialDebug.print(F("+    variables   + size = "));	NeoSerialDebug.println(data_size);
-	NeoSerialDebug.print(F("+----------------+ "));			NeoSerialDebug.print((int)&__data_end);		NeoSerialDebug.println(" (__data_end / __bss_start)");
-	NeoSerialDebug.print(F("+      bss       +"));			NeoSerialDebug.println();
-	NeoSerialDebug.print(F("+    variables   + size = "));	NeoSerialDebug.println(bss_size);
-	NeoSerialDebug.print(F("+----------------+ "));			NeoSerialDebug.print((int)&__bss_end);		NeoSerialDebug.println(" (__bss_end / __heap_start)");
-	NeoSerialDebug.print(F("+      heap      + size = "));	NeoSerialDebug.println(heap_size);
-	NeoSerialDebug.print(F("+----------------+ "));			NeoSerialDebug.print((int)heap_end);		NeoSerialDebug.println(" (__brkval if not 0, or __heap_start)");
-	NeoSerialDebug.print(F("+                +"));			NeoSerialDebug.println();
-	NeoSerialDebug.print(F("+                +"));			NeoSerialDebug.println();
-	NeoSerialDebug.print(F("+   FREE RAM     + size = "));	NeoSerialDebug.println(available);
-	NeoSerialDebug.print(F("+                +"));			NeoSerialDebug.println();
-	NeoSerialDebug.print(F("+                +"));			NeoSerialDebug.println();
-	NeoSerialDebug.print(F("+----------------+ "));			NeoSerialDebug.print((int)SP);		NeoSerialDebug.println(" (SP)");
-	NeoSerialDebug.print(F("+     stack      + size = "));	NeoSerialDebug.println(stack_size);
-	NeoSerialDebug.print(F("+----------------+ "));			NeoSerialDebug.print((int)RAMEND);		NeoSerialDebug.println(" (RAMEND / __stack)");
-
-	NeoSerialDebug.println();
-	NeoSerialDebug.println();
-}
\ No newline at end of file
diff --git a/MixElement/MemoryUsage.h b/MixElement/MemoryUsage.h
deleted file mode 100644
index 74c8042..0000000
--- a/MixElement/MemoryUsage.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/*
-MemoryUsage.h - MemoryUsage library V2.10
-Copyright (c) 2015 Thierry Paris.  All right reserved.
-
-This library is free software; you can redistribute it and/or
-modify it under the terms of the GNU Lesser General Public
-License as published by the Free Software Foundation; either
-version 2.1 of the License, or (at your option) any later version.
-
-This library is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-Lesser General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public
-License along with this library; if not, write to the Free Software
-Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-*/
-
-#ifndef __MemoryUsage_h__
-#define __MemoryUsage_h__
-
-#include <stdint.h>
-#include <NeoHWSerial.h>
-
-#define NeoSerialDebug NeoSerial3
-
-/*! \mainpage
-
-A full explanation in french can be read at http://www.locoduino.org/ecrire/?exec=article&action=redirect&type=article&id=149 .
-
-Roughly, the SRAM memory is divided into four areas: the static data, the heap, the free ram and the stack.
-
-The static data size is given by the compiler itself after the building. this is filled by all variables and 
-arrays declared in global scope, or with 'static' keyword.
-
-The heap is filled with all the dynamic allocations done with 'new' keyword or 'malloc' functions.
-
-The stack start from the end of the SRAM area and grow and shrink downward at each function call, it stores 
-all the local data internal to a function, function arguments (depending of the architecture, arguments can be 
-stored in CPU registers to improve speed...) , and addresses for function returns to caller.
-
-SRAM memory 
-\verbatim
-+---------------+------------------+---------------------------------------------+-----------------+
-|               |                  |                                             |                 |
-|               |                  |                                             |                 |
-|    static     |                  |                                             |                 |
-|     data      |       heap       |                   free ram                  |      stack      |
-|               |                  |                                             |                 |
-|               |                  |                                             |                 |
-|               |                  |                                             |                 |
-+---------------+------------------+---------------------------------------------+-----------------+
-       _end or __heap_start     __brkval                                         SP             RAMEND
-\endverbatim
-
-Source : http://www.nongnu.org/avr-libc/user-manual/malloc.html
-
-MemoryUsage try to help you to find the actual memory status with differents strategies, but dont forget
-that when you observe something, you change the result of the observation : execution time is consumed
-by the analysis tools, and memory used will grow because of these tools !
-
-1. First, there are the MACROs to show memory areas start/end addresses and actual sizes.
-
-2. Second, there is a display function to show a 'map' of the memory...
-
-3. Third, a function can give you the current size of the free ram using a stack tag, which is more accurate 
-than the MACRO.
-
-4. Fourth, an elegant way to try to understand how much size has reached the stack during execution. 
-It will 'decorate' the internal memory, and try to identify after a moment of execution at what place
-the first byte of the memory is not anymore decorated...
-The function mu_StackPaint will be called _before the setup() function of your sketch, to 'paint' or 
-'decorate' all the bytes of the SRAM momery with a particular code, called the CANARY... Later, a function
-mu_StackCount can be called to get the actual maximum size reached by the stack by counter the byte
-no more painted.
-This is a copy / adaptation of the library StackPaint available here : https://github.com/WickedDevice/StackPaint
-
-5. And five at least, and because a stack grow and shrink continuously, the macros STACK_DECLARE / STACK_COMPUTE / STACK_PRINT
-try to get the greatest size of the stack by 'sampling' the execution.
-Start your code by
-
-    #include <MemoryUsage.h>
-
-    STACK_DECLARE
-
-    void setup()
-    ...
-
-then add a STACK_COMPUTE in any function that can be called :
-
-    void subFonction()
-    {
-        double v[SIZE];
-        STACK_COMPUTE;
- 
-        .... // do things
-    }
-
-and finish by printing on the console the biggest size of the stack with STACK_PRINT or STACK_PRINT_TEXT.
-Be careful with this method, this introduce  some code in every function of your sketch, so if the timing
-is important for your applicaion, take care of it !
-*/
-
-/*! \file MemoryUsage.h
-
-Main library header file.
-*/
-
-extern uint8_t _end;
-extern uint8_t __stack;
-extern uint8_t *__brkval;
-extern uint8_t *__data_start;
-extern uint8_t *__data_end;
-extern uint8_t *__heap_start;
-extern uint8_t *__heap_end;
-extern uint8_t *__bss_start;
-extern uint8_t *__bss_end;
-
-//
-// Memory addresses
-//
-
-/// Print data start on NeoSerialDebug console.
-#define MEMORY_PRINT_START		{ NeoSerialDebug.print(F("Data start:")); NeoSerialDebug.println((int) &__data_start); }
-/// Print data end / heap start on NeoSerialDebug console.
-#define MEMORY_PRINT_HEAPSTART	{ NeoSerialDebug.print(F("Heap start:")); NeoSerialDebug.println((int)&__heap_start); }
-/// Print heap end / free ram area on NeoSerialDebug console.
-#define MEMORY_PRINT_HEAPEND	{ NeoSerialDebug.print(F("Heap end:")); NeoSerialDebug.println(__brkval == 0 ? (int)&__heap_start : (int)__brkval); }
-/// Print free ram end / stack start on NeoSerialDebug console.
-#define MEMORY_PRINT_STACKSTART	{ NeoSerialDebug.print(F("Stack start:")); NeoSerialDebug.println((int) SP); }
-/// Print end of memory on NeoSerialDebug console.
-#define MEMORY_PRINT_END		{ NeoSerialDebug.print(F("Stack end:")); NeoSerialDebug.println((int) RAMEND); }
-
-/// Print heap size on NeoSerialDebug console.
-#define MEMORY_PRINT_HEAPSIZE	{ NeoSerialDebug.print(F("Heap size:")); NeoSerialDebug.println((int) (__brkval == 0 ? (int)&__heap_start : (int)__brkval) - (int)&__heap_start); }
-/// Print stack size on NeoSerialDebug console.
-#define MEMORY_PRINT_STACKSIZE	{ NeoSerialDebug.print(F("Stack size:")); NeoSerialDebug.println((int) RAMEND - (int)SP); }
-/// Print free ram size on NeoSerialDebug console.
-#define MEMORY_PRINT_FREERAM	{ NeoSerialDebug.print(F("Free ram:")); NeoSerialDebug.println((int) SP - (int) (__brkval == 0 ? (int)&__heap_start : (int)__brkval)); }
-/// Print total SRAM size on NeoSerialDebug console.
-#define MEMORY_PRINT_TOTALSIZE	{ NeoSerialDebug.print(F("SRAM size:")); NeoSerialDebug.println((int) RAMEND - (int) &__data_start); }
-
-/// Displays the 'map' of the current state of the Arduino's SRAM memory on the NeoSerialDebug console.
-void SRamDisplay(void);
-
-//
-// Stack count part. STACK_COMPUTE will get the maximum size of the stack at the moment...
-//
-
-/// Must be used only one time, outside any function.
-#define STACK_DECLARE      unsigned int mu_stack_size = (RAMEND - SP);
-
-/// Must be called to update the current maximum size of the stack, at each function beginning.
-#define STACK_COMPUTE      { mu_stack_size = (RAMEND - SP) > mu_stack_size ? (RAMEND - SP) : mu_stack_size;}
-
-/// Compute the current maximum and show it now with customized text.
-#define STACK_PRINT_TEXT(text)  { STACK_COMPUTE; NeoSerialDebug.print(text);  NeoSerialDebug.println(mu_stack_size); }
-
-/// Compute the current maximum and show it now with default text.
-#define STACK_PRINT        STACK_PRINT_TEXT(F("Stack Maximum Size (Instrumentation method): "));
-
-//
-// Free Ram part.
-//
-
-/// Shows the current free SRAM memory with customized text.
-#define FREERAM_PRINT_TEXT(text)  NeoSerialDebug.print(text);  NeoSerialDebug.println(mu_freeRam());
-
-/// Shows the current free SRAM memory with default text.
-#define FREERAM_PRINT      FREERAM_PRINT_TEXT(F("Free Ram Size: "));
-
-/// Show the free Ram size on console.
-int mu_freeRam(void);
-
-//
-// StackPaint part. This macro gives a view of used stack area at the end of execution...
-//
-
-/// Show the stack size on console.
-uint16_t mu_StackCount(void);
-
-/// Compute the current maximum and show it now with customized text.
-#define STACKPAINT_PRINT_TEXT(text)  { NeoSerialDebug.print(text);  NeoSerialDebug.println(mu_StackCount()); }
-
-/// Compute the current maximum and show it now with default text.
-#define STACKPAINT_PRINT        STACKPAINT_PRINT_TEXT(F("Stack Maximum Size (Painting method): "));
-
-
-#endif
diff --git a/MixElement/MixElement.ino b/MixElement/MixElement.ino
index 06f9603..76d8343 100644
--- a/MixElement/MixElement.ino
+++ b/MixElement/MixElement.ino
@@ -1,251 +1,157 @@
 #include <Arduino.h>
-#include <EEPROM.h>
 #include <NeoHWSerial.h>
 
-#include "routeMixElement.h" //路径库
-#include "moveMixElement.h" //轮胎运动库
+#include "moveMixElement.h" //运动库
 #include "sensorMixElement.h" //传感器库
-#include "radioMixElement.h" //通信库
 
 
-Route route; //路径实例
 Move move; //轮胎运动实例
 Sensor sensor; //传感器实例
-Radio radio; //通讯实例
 
 
 //****************************************可调参数****************************************
-//EEPROM 写入位置
-#define EEPROM_ADDRESS 0x0
+//从触碰白线到开始转向延时
+#define BEFORE_FORTURN_DELAY 175
 
-//（前进转）从触碰白线到开始转向延时
-#define BEFORE_FORTURN_DELAY 670
-//（后退转）从触碰白线到开始转向延时
-#define BEFORE_BACKTURN_DELAY 500
-
-//开始转到开始检测是否摆正的延时
-#define BEFORE_CHECK_STRAIGHT_DELAY 700
+//开始转到结束转的延时
+#define AFTER_FORTURN_DELAY 270
 //***************************************************************************************
 
 
 //****************************************全局变量****************************************
 //GND Pins
-const uint8_t gnd_pins[8] = {12, 13, 32, 33, 34, 35, 36, 37};
-
-//EEPROM 储存的调试数据
-struct StroageInfo
-{
-    int delay_time_after_turn;
-} stroage_info;
-
-//转向开始到结束的时间
-int delay_time_after_turn;
-
-//从 route 实例获取的点
-Point passed_point;
-Point next_point;
-Point next_next_point;
-
-#define FRONT_NEXT 0
-#define BACK_NEXT 1
-//下一点朝向
-uint8_t next_position = FRONT_NEXT;
-
-//底盘是否携带环
-bool is_carry = false;
+const uint8_t gnd_pins[1] = {A3};
 //***************************************************************************************
 
 
 //****************************************自定函数****************************************
 //设置接口低电平作为额外地
 void SetGNDPins(void);
-
-//从 EEPROM 读取数据
-void ReadFromEEPROM(void);
-
-//在开始运行前依次检测各灰度传感器下方黑白是否正常，若不正常，异常传感器闪烁，程序不继续进行
-void CheckGrayStatus(void);
-
-//从 route 实例获取点
-void GetPointFromRoute(void);
-
-//计算方向，同时更改完成转向后相对下一点的朝向
-uint8_t CalcDirection(void);
-
-//由灰度比计算修正减速比
-float CalcFixSpeedRate(float gray_deviation_rate);
-
-#define FRONT_END 0
-#define BACK_END 1
-
-#define ENABLE_FIX 0
-#define DISABLE_FIX 1
-//沿线直行，在触发条件后离开函数但不停止
-void LineForward(uint8_t end_position, uint8_t type = ENABLE_FIX, float speed_rate = 1.0);
-
-//沿线后退，在触发条件后离开函数但不停止
-void LineBackward(uint8_t end_position, uint8_t type = ENABLE_FIX, float speed_rate = 1.0);
-
-//直行或后退或转向，完成后离开函数但不停止。会自动跳过无需前往的释放点
-void TurnDirection(float speed_rate = 1.0);
-
-//通讯消息处理函数
-void HandleMessage(const char* message);
 //***************************************************************************************
 
 
 //****************************************调试相关****************************************
 //注释以关闭调试功能
-#define MIXELE_DEBUG
+#define TAICHI_DEBUG
 
-#ifdef MIXELE_DEBUG
+#ifdef TAICHI_DEBUG
 
-#include "MemoryUsage.h"
-
-#define NeoSerialDebug NeoSerial3
+#define NeoSerialDebug NeoSerial
 #define DEBUG_BAUT_RATE 115200
 
-int loop_time = 0;
-
-//错误消息函数，用于在出现致命错误后结束程序
-void DebugCanNotContinue(const char* message)
-{
-    move.Stop();
-    
-    NeoSerialDebug.print(F("#MIXELE: CAN NOT CONTINUE WHEN ")); NeoSerialDebug.println(message);
-    NeoSerialDebug.print(F("#MIXELE: loop_time: ")); NeoSerialDebug.println(loop_time);
-    NeoSerialDebug.print(F("#MIXELE: pass: [")); NeoSerialDebug.print(passed_point.x); NeoSerialDebug.print(F(", ")); NeoSerialDebug.print(passed_point.y); NeoSerialDebug.print(F("]"));
-    NeoSerialDebug.print(F(" TYPE: ")); NeoSerialDebug.println((int)passed_point.type);
-    NeoSerialDebug.print(F("#MIXELE: next: [")); NeoSerialDebug.print(next_point.x); NeoSerialDebug.print(F(", ")); NeoSerialDebug.print(next_point.y); NeoSerialDebug.print(F("]"));
-    NeoSerialDebug.print(F(" next_position: ")); NeoSerialDebug.print((int)next_position);
-    NeoSerialDebug.print(F(" TYPE: ")); NeoSerialDebug.println((int)next_point.type);
-    SRamDisplay();
-
-    while (1) {}
-}
 #endif
 //***************************************************************************************
 
 
 void setup()
 {
-    #ifdef MIXELE_DEBUG
+    uint8_t mode;
+    
     NeoSerialDebug.begin(DEBUG_BAUT_RATE);
-    NeoSerialDebug.println(F("#MIXELE: ======================setup()====================="));
-    SRamDisplay();
-    #endif
-
+    
     SetGNDPins();
 
-    move.Stop();
+    // while (1)
+    // {
+    //     sensor.IsWhite(GRAY_1);
+    // }
 
-    radio.SetHandleMessageFunction(HandleMessage);
-    radio.BeginTransmit();
+    while (1)
+    {
+        if (sensor.IsPushed(BUTTON_1))
+        {
+            mode = 0;
+            break;
+        }
+        else if (sensor.IsPushed(BUTTON_2))
+        {
+            mode = 1;
+            break;
+        }
+    }
 
-    //从 EEPROM 读取数据
-    ReadEEPROM();
+    if (mode == 0)
+    {
+        uint8_t white_times = 0;
 
-    //在开始运行前依次检测各灰度传感器下方黑白是否正常
-    CheckGrayStatus();
+        move.Forward();
 
-    //前往 x, 0
-    //沿线直行，到后端传感器接触下一条线离开函数
-    LineForward(BACK_END);
+        while (white_times < 3)
+        {
+            if (sensor.IsWhite(GRAY_1))
+            {
+                white_times++;
+                delay(200);
+            }
+        }
 
-    //已越过 x, 0 正式进入循环
+        delay(BEFORE_FORTURN_DELAY);
+        move.ForRightward();
+        delay(AFTER_FORTURN_DELAY);
+
+        move.Stop();
+        
+        //white_times = 0;
+        move.Forward();
+
+        long start_time = millis();
+
+        while (1)
+        {
+            if (sensor.IsPushed(BUTTON_3) || millis() - start_time > 10000)
+            {
+                move.Stop();
+                while (1) {}
+            }
+        }
+
+        // while (white_times < 5)
+        // {
+        //     if (sensor.IsWhite(GRAY_1))
+        //     {
+        //         white_times++;
+        //         delay(200);
+        //     }
+        // }
+
+        // move.Stop();
+    }
+    else
+    {
+        uint8_t white_times = 0;
+
+        move.Forward();
+
+        while (white_times < 3)
+        {
+            if (sensor.IsWhite(GRAY_1))
+            {
+                white_times++;
+                delay(200);
+            }
+        }
+
+        delay(BEFORE_FORTURN_DELAY);
+
+        // move.Stop();
+        // while (1) {}
+
+        move.ForRightward();
+
+        while (1)
+        {
+            move.ForRightward();
+            delay(5000);
+            move.Stop();
+            delay(5000);
+        }
+    }
 }
 
 
 void loop()
 {
-    //从 route 实例获取点
-    GetPointFromRoute();
-    
-    #ifdef MIXELE_DEBUG
-    loop_time++;
-    NeoSerialDebug.println(F("#MIXELE: ====================New loop()===================="));
-    NeoSerialDebug.print(F("#MIXELE: loop_time: ")); NeoSerialDebug.println(loop_time);
-    NeoSerialDebug.print(F("#MIXELE: pass: [")); NeoSerialDebug.print(passed_point.x); NeoSerialDebug.print(F(", ")); NeoSerialDebug.print(passed_point.y); NeoSerialDebug.print(F("]"));
-    NeoSerialDebug.print(F(" TYPE: ")); NeoSerialDebug.println((int)passed_point.type);
-    NeoSerialDebug.print(F("#MIXELE: next: [")); NeoSerialDebug.print(next_point.x); NeoSerialDebug.print(F(", ")); NeoSerialDebug.print(next_point.y); NeoSerialDebug.print(F("]"));
-    NeoSerialDebug.print(F(" next_position: ")); NeoSerialDebug.print((int)next_position);
-    NeoSerialDebug.print(F(" TYPE: ")); NeoSerialDebug.println((int)next_point.type);
-    SRamDisplay();
-    #endif
 
-    //情况一：刚完整经过普通点，下一个点为普通点或携带点
-    if (passed_point.type == NORMAL_POINT && (next_point.type == NORMAL_POINT || next_point.type == CARRY_POINT))   
-    {
-        if (next_position == FRONT_NEXT)
-        {
-            //沿线直行，到前端传感器接触下一条线离开函数
-            LineForward(FRONT_END);
-
-            //若下一点为携带点
-            if (next_point.type == CARRY_POINT)
-            {
-                //底盘携带
-                is_carry = true;
-
-                //越过点成为普通点
-                route.SetNextPointType(NORMAL_POINT);
-            }
-        }
-        else
-        {
-            //沿线后退，到后端传感器接触下一条线离开函数
-            LineBackward(BACK_END);
-        }
-
-        //继续直行或后退或转向
-        TurnDirection();
-    }
-    //情况二：刚完整经过普通点，下一个点为释放点（从底盘）
-    else if (passed_point.type == NORMAL_POINT && next_point.type == GETOUT_POINT)
-    {
-        //沿线直行，到前端传感器接触下一条线离开函数
-        LineForward(FRONT_END);
-        
-        //沿线直行，到后端传感器接触下一条线离开函数
-        LineForward(BACK_END);
-
-        //停止前进
-        move.Stop();
-
-        //下一点朝向为后
-        next_position = BACK_NEXT;
-    }
-    //情况三：刚完整经过释放点（从底盘），下一个点为普通点
-    else if (passed_point.type == GETOUT_POINT && next_point.type == NORMAL_POINT)
-    {
-        //沿线后退，到前端传感器接触线离开函数
-        LineBackward(FRONT_END, DISABLE_FIX);
-
-        //底盘携带清空
-        is_carry = false;
-        
-        //沿线后退，到后端传感器接触线离开函数
-        LineBackward(BACK_END);
-
-        //继续后退或转向
-        TurnDirection();
-    }
-    //出现错误
-    else 
-    {
-        move.Stop();
-
-        #ifdef MIXELE_DEBUG
-        DebugCanNotContinue("CHOOSE LOOP");
-        #endif
-    }
-
-    //更新位置，继续循环
-    route.UpdatePosition();
-
-    #ifdef MIXELE_DEBUG
-    NeoSerialDebug.println(F("#MIXELE: ====================End loop()===================="));
-    #endif
 }
 
 
@@ -259,356 +165,4 @@ void SetGNDPins(void)
         pinMode(gnd_pins[i], OUTPUT);
         digitalWrite(gnd_pins[i], LOW);
     }
-}
-
-
-//从 EEPROM 读取数据
-void ReadEEPROM(void)
-{
-    //从 EEPROM 读取调试数据
-    EEPROM.get(EEPROM_ADDRESS, stroage_info);
-
-    //转向时间
-    delay_time_after_turn = stroage_info.delay_time_after_turn;
-
-    #ifdef MIXELE_DEBUG
-    NeoSerialDebug.println(F("#MIXELE: Data based on EEPROM: "));
-    NeoSerialDebug.print(F("#MIXELE: delay_time_after_turn: ")); NeoSerialDebug.println(delay_time_after_turn);
-    #endif
-}
-
-
-//在开始运行前依次检测各灰度传感器下方黑白是否正常，若不正常，异常传感器闪烁，程序不继续进行
-void CheckGrayStatus(void)
-{
-    //若正常，1 2 5 6 号传感器检测到黑色，3 4 号传感器检测到白色
-    bool is_status_right = false;
-
-    while (!is_status_right)
-    {
-        if (sensor.IsWhite(GRAY_1))
-            sensor.FlashGraySensor(GRAY_1);
-        else if (sensor.IsWhite(GRAY_2))
-            sensor.FlashGraySensor(GRAY_2);
-        else if (!sensor.IsWhite(GRAY_3))
-            sensor.FlashGraySensor(GRAY_3);
-        else if (!sensor.IsWhite(GRAY_4))
-            sensor.FlashGraySensor(GRAY_4);
-        else if (sensor.IsWhite(GRAY_5))
-            sensor.FlashGraySensor(GRAY_5);
-        else if (sensor.IsWhite(GRAY_6))
-            sensor.FlashGraySensor(GRAY_6);
-        else is_status_right = true;
-    }
-
-    #ifdef MIXELE_DEBUG
-    NeoSerialDebug.println(F("#MIXELE: Gray Sensor Status OK!"));
-    #endif
-}
-
-
-//从 route 实例获取点
-void GetPointFromRoute(void)
-{
-    passed_point = route.GetPassedPoint();
-    next_point = route.GetNextPoint();
-    next_next_point = route.GetNextNextPoint();
-}
-
-
-//计算方向，同时更改完成转向后相对下一点的朝向
-uint8_t CalcDirection(void)
-{
-    //计算第三点与第一点的相对坐标 rx0, ry0
-    int8_t rx0 = next_next_point.x - passed_point.x;
-    int8_t ry0 = next_next_point.y - passed_point.y;
-
-    //计算当前小车朝向的方向向量 vx, vy
-    int8_t vx = next_point.x - passed_point.x;
-    int8_t vy = next_point.y - passed_point.y;
-
-    //坐标旋转变换
-    int8_t rx, ry;
-    if (vx == 0 && vy == 1)
-    {
-        rx = rx0;
-        ry = ry0;
-    }
-    else if (vx == -1 && vy == 0)
-    {
-        rx = ry0;
-        ry = -rx0;
-    }
-    else if (vx == 0 && vy == -1)
-    {
-        rx = -rx0;
-        ry = -ry0;
-    }
-    else if (vx == 1 && vy == 0)
-    {
-        rx = -ry0;
-        ry = rx0;
-    }
-    #ifdef MIXELE_DEBUG
-    else DebugCanNotContinue("CALC DIRECTION <1>"); //调试用
-    #endif
-
-    //判断行进方向
-    if (rx == 0 && ry == 2)
-    {
-        if (next_position == FRONT_NEXT)
-        {
-            return FORWARD;
-        }
-        else
-        {
-            return BACKWARD;
-        }
-    }
-    else if (rx == 0 && ry == 0)
-    {
-        if (next_position == FRONT_NEXT)
-        {
-            next_position = BACK_NEXT;
-            return BACKWARD;
-        }
-        else
-        {
-            next_position = FRONT_NEXT;
-            return FORWARD;
-        }
-    }
-    else if (rx == -1 && ry == 1)
-    {
-        if (next_position == FRONT_NEXT)
-        {
-            return FORLEFTWARD;
-        }
-        else
-        {
-            next_position = FRONT_NEXT;
-            return BACKLEFTWARD;
-        }
-    }
-    else if (rx == 1 && ry == 1)
-    {
-        if (next_position == FRONT_NEXT)
-        {
-            return FORRIGHTWARD;
-        }
-        else
-        {
-            next_position = FRONT_NEXT;
-            return BACKRIGHTWARD;
-        }
-    }
-    #ifdef MIXELE_DEBUG
-    else DebugCanNotContinue("CALC DIRECTION <2>"); //调试用
-    #endif
-}
-
-
-//由灰度比计算修正减速比
-float CalcFixSpeedRate(float gray_deviation_rate)
-{
-    return -50.0 * pow((gray_deviation_rate - 1.0), 2.0) + 1.0;
-}
-
-
-//沿线直行，在触发条件后离开函数但不停止
-void LineForward(uint8_t end_position, uint8_t type, float speed_rate)
-{
-    #ifdef MIXELE_DEBUG
-    //调试输出沿线直行状态
-    NeoSerialDebug.print(F("#MIXELE: Line Forward"));
-    NeoSerialDebug.print(F(" end_position: "));
-    NeoSerialDebug.println((int)end_position);
-    #endif
-
-    move.Forward(speed_rate);
-
-    //记录开始时间
-    unsigned long begin_time = millis();
-    //记录灰度传感器匹配情况
-    bool gray_match_a = false;
-    bool gray_match_b = false;
-
-    while (1)
-    {
-        if (type == ENABLE_FIX)
-        {
-            if (!sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //左侧越线
-            {
-                move.ForRightward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_3)));
-            }
-            else if (sensor.IsWhite(GRAY_3) && !sensor.IsWhite(GRAY_4)) //右侧越线
-            {
-                move.ForLeftward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_4)));
-            }
-            else if (sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //在白线上
-            {
-                move.Forward(speed_rate);
-            }
-            else //均不符合
-            {
-                //move.Backward(LINE_FIND_SPEED_RATE);
-            }
-        }
-
-        if (end_position == FRONT_END) //前端接触线离开函数
-        {
-            if (sensor.IsWhite(GRAY_1))
-                gray_match_a = true;
-            
-            if (sensor.IsWhite(GRAY_2))
-                gray_match_b = true;
-        }
-        else if (end_position == BACK_END) //后端接触线离开函数
-        {
-            if (sensor.IsWhite(GRAY_5))
-                gray_match_a = true;
-            
-            if (sensor.IsWhite(GRAY_6))
-                gray_match_b = true;
-        }
-
-        //对应前端接触线离开函数和后端接触线离开函数的情况
-        if (gray_match_a && gray_match_b)
-            break;
-    }
-
-    #ifdef MIXELE_DEBUG
-    //调试输出沿线直行结束
-    NeoSerialDebug.println(F("#MIXELE: End Line Forward"));
-    #endif
-}
-
-
-//沿线后退，在触发条件后离开函数但不停止
-void LineBackward(uint8_t end_position, uint8_t type, float speed_rate)
-{
-    #ifdef MIXELE_DEBUG
-    //调试输出沿线后退状态
-    NeoSerialDebug.print(F("#MIXELE: Line Backward"));
-    NeoSerialDebug.print(F(" end_position: "));
-    NeoSerialDebug.println((int)end_position);
-    #endif
-
-    //记录灰度传感器匹配情况
-    bool gray_match_a = false;
-    bool gray_match_b = false;
-
-    move.Backward(speed_rate);
-
-    while (1)
-    {
-        if (type == ENABLE_FIX)
-        {
-            if (!sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //左侧越线
-            {
-                move.BackRightward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_3)));
-            }
-            else if (sensor.IsWhite(GRAY_3) && !sensor.IsWhite(GRAY_4)) //右侧越线
-            {
-                move.BackLeftward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_4)));
-            }
-            else if (sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //在白线上
-            {
-                move.Backward(speed_rate);
-            }
-            else //均不符合
-            {
-                //move.Forward(LINE_FIND_SPEED_RATE);
-            }
-        }
-
-        if (end_position == FRONT_END) //前端接触线离开函数
-        {
-            if (sensor.IsWhite(GRAY_1))
-                gray_match_a = true;
-            
-            if (sensor.IsWhite(GRAY_2))
-                gray_match_b = true;
-        }
-        else //后端接触线离开函数
-        {
-            if (sensor.IsWhite(GRAY_5))
-                gray_match_a = true;
-            
-            if (sensor.IsWhite(GRAY_6))
-                gray_match_b = true;
-        }
-
-        //对应前端接触线离开函数和后端接触线离开函数的情况
-        if (gray_match_a && gray_match_b)
-            break;
-    }
-
-    #ifdef MIXELE_DEBUG
-    //调试输出沿线后退结束
-    NeoSerialDebug.println(F("#MIXELE: End Line Backward"));
-    #endif
-}
-
-
-//直行或后退或转向，完成后离开函数但不停止。会自动跳过无需前往的释放点
-void TurnDirection(float speed_rate)
-{    
-    //若下下点为底盘释放点，判断是否需要跳过
-    if (next_next_point.type == GETOUT_POINT && !is_carry)
-    {
-        route.ChangeRoute(JUMP_DEAD_ROAD);
-        GetPointFromRoute();
-
-        #ifdef MIXELE_DEBUG
-        //调试输出直行或后退或转向状态
-        NeoSerialDebug.println(F("#MIXELE: JUMP THE GETOUT POINT FOR STATUS REASON"));
-        #endif
-    }
-    
-    uint8_t direction = CalcDirection();
-    
-    #ifdef MIXELE_DEBUG
-    //调试输出直行或后退或转向状态
-    NeoSerialDebug.print(F("#MIXELE: Turn Direction"));
-    NeoSerialDebug.print(F(" direction: "));
-    NeoSerialDebug.println((int)direction);
-    #endif
-    
-    if (direction == FORWARD) //继续直行
-    {
-        //沿线直行，到后端传感器接触线离开函数
-        LineForward(BACK_END, speed_rate);
-    }
-    else if (direction == BACKWARD) //继续后退
-    {
-        //沿线后退，到前端传感器接触线离开函数
-        LineBackward(FRONT_END, speed_rate);
-    }
-    else //继续转向
-    {
-        //等待小车旋转中心与十字中心重合
-        if (direction == FORLEFTWARD || direction == FORRIGHTWARD)
-            delay(BEFORE_FORTURN_DELAY);
-        else delay(BEFORE_BACKTURN_DELAY);
-
-        //旋转
-        move.MoveDirection(direction, speed_rate);
-
-        //基于时间判定结束
-        delay(delay_time_after_turn);
-    }
-
-    #ifdef MIXELE_DEBUG
-    //调试输出直行或后退或转向结束
-    NeoSerialDebug.println(F("#MIXELE: End Turn Direction"));
-    #endif
-}
-
-
-//通讯消息处理函数
-void HandleMessage(const char* message)
-{
-    radio.Send("Get the message: ");
-    radio.Send(message);
 }
\ No newline at end of file
diff --git a/MixElement/moveMixElement.cpp b/MixElement/moveMixElement.cpp
index f9ab468..af6a880 100644
--- a/MixElement/moveMixElement.cpp
+++ b/MixElement/moveMixElement.cpp
@@ -2,10 +2,6 @@
 
 #include "moveMixElement.h"
 
-#ifdef MOVE_DEBUG
-#include <NeoHWSerial.h>
-#endif
-
 
 //静态变量
 float Move::global_speed_rate = DEFAULT_GLOBAL_SPEED_RATE; //全局速度比率
@@ -112,20 +108,14 @@ void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate)
 //前进
 void Move::Forward(float speed_rate)
 {
-    Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, speed_rate);
-    Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, speed_rate);
+    Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, speed_rate * 0.9);
+    Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, speed_rate * 0.9);
     Wheel(RIGHT_A_WHEEL, FORWARD_ROTATION, speed_rate);
     Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, speed_rate);
 
     current_direction = FORWARD;
     current_speed_rate = speed_rate;
     current_turn_speed_rate = 1.0;
-
-    #ifdef MOVE_DEBUG
-    //调试输出前进状态
-    NeoSerialDebug.print(F("#MOVE:   Move Forward"));
-    NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.println(speed_rate);
-    #endif
 }
 
 
@@ -140,12 +130,6 @@ void Move::Backward(float speed_rate)
     current_direction = BACKWARD;    
     current_speed_rate = speed_rate;
     current_turn_speed_rate = 1.0;
-
-    #ifdef MOVE_DEBUG
-    //调试输出后退状态
-    NeoSerialDebug.print(F("#MOVE:   Move Backward"));
-    NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.println(speed_rate);
-    #endif
 }
 
 
@@ -160,12 +144,6 @@ void Move::ForLeftward(float speed_rate, float turn_speed_rate)
     current_direction = FORLEFTWARD;
     current_speed_rate = speed_rate;
     current_turn_speed_rate = turn_speed_rate;
-
-    #ifdef MOVE_DEBUG
-    //调试输出向前左转状态
-    NeoSerialDebug.print(F("#MOVE:   Move ForLeftward"));
-    NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.print(speed_rate); NeoSerialDebug.print(F(" turn_speed_rate: ")); NeoSerialDebug.println(turn_speed_rate);
-    #endif
 }
 
 
@@ -180,12 +158,6 @@ void Move::ForRightward(float speed_rate, float turn_speed_rate)
     current_direction = FORRIGHTWARD;   
     current_speed_rate = speed_rate;
     current_turn_speed_rate = turn_speed_rate;
-
-    #ifdef MOVE_DEBUG
-    //调试输出向前右转状态
-    NeoSerialDebug.print(F("#MOVE:   Move ForRightward"));
-    NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.print(speed_rate); NeoSerialDebug.print(F(" turn_speed_rate: ")); NeoSerialDebug.println(turn_speed_rate);
-    #endif
 }
 
 
@@ -200,12 +172,6 @@ void Move::BackLeftward(float speed_rate, float turn_speed_rate)
     current_direction = BACKLEFTWARD;    
     current_speed_rate = speed_rate;
     current_turn_speed_rate = turn_speed_rate;
-
-    #ifdef MOVE_DEBUG
-    //调试输出向后左转状态
-    NeoSerialDebug.print(F("#MOVE:   Move BackLeftward"));
-    NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.print(speed_rate); NeoSerialDebug.print(F(" turn_speed_rate: ")); NeoSerialDebug.println(turn_speed_rate);
-    #endif
 }
 
 
@@ -220,12 +186,6 @@ void Move::BackRightward(float speed_rate, float turn_speed_rate)
     current_direction = BACKRIGHTWARD;     
     current_speed_rate = speed_rate;
     current_turn_speed_rate = turn_speed_rate;
-
-    #ifdef MOVE_DEBUG
-    //调试输出向后右转状态
-    NeoSerialDebug.print(F("#MOVE:   Move BackRightward"));
-    NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.print(speed_rate); NeoSerialDebug.print(F(" turn_speed_rate: ")); NeoSerialDebug.println(turn_speed_rate);
-    #endif
 }
 
 
@@ -240,11 +200,6 @@ void Move::Stop(void)
     current_direction = STOP;
     current_speed_rate = 0;
     current_turn_speed_rate = 1.0;
-
-    #ifdef MOVE_DEBUG
-    //调试输出制动状态
-    NeoSerialDebug.println(F("#MOVE:   Move Stop"));
-    #endif
 }
 
 
diff --git a/MixElement/moveMixElement.h b/MixElement/moveMixElement.h
index 1bb51f2..a1bb4e2 100644
--- a/MixElement/moveMixElement.h
+++ b/MixElement/moveMixElement.h
@@ -2,13 +2,6 @@
 #define MOVEMIXELEMENT_H
 
 
-//注释以关闭调试功能
-#define MOVE_DEBUG
-
-#ifdef MOVE_DEBUG
-#define NeoSerialDebug NeoSerial
-#endif
-
 //轮胎定义
 #define LEFT_A_WHEEL 0
 #define LEFT_B_WHEEL 1
@@ -36,20 +29,20 @@
 #define DEFAULT_TRUN_SPEED_RATE -1.0
 
 //左侧 L298N 接口定义
-#define LEFT_L298N_IN1 24
-#define LEFT_L298N_IN2 25
-#define LEFT_L298N_IN3 26
-#define LEFT_L298N_IN4 27
-#define LEFT_L298N_ENA 8
-#define LEFT_L298N_ENB 9
+#define LEFT_L298N_IN1 7
+#define LEFT_L298N_IN2 6
+#define LEFT_L298N_IN3 8
+#define LEFT_L298N_IN4 9
+#define LEFT_L298N_ENA 4
+#define LEFT_L298N_ENB 5
 
 //右侧 L298N 接口定义
-#define RIGHT_L298N_IN1 28
-#define RIGHT_L298N_IN2 29
-#define RIGHT_L298N_IN3 30
-#define RIGHT_L298N_IN4 31
-#define RIGHT_L298N_ENA 10
-#define RIGHT_L298N_ENB 11
+#define RIGHT_L298N_IN1 13
+#define RIGHT_L298N_IN2 12
+#define RIGHT_L298N_IN3 11
+#define RIGHT_L298N_IN4 10
+#define RIGHT_L298N_ENA 2
+#define RIGHT_L298N_ENB 3
 
 
 class Move
diff --git a/MixElement/radioMixElement.cpp b/MixElement/radioMixElement.cpp
deleted file mode 100644
index cd56906..0000000
--- a/MixElement/radioMixElement.cpp
+++ /dev/null
@@ -1,226 +0,0 @@
-#include <Arduino.h>
-#include <NeoHWSerial.h>
-
-#include "radioMixElement.h"
-
-
-//静态变量
-HandleMessageFunction Radio::hm_func;
-NeoHWSerial* Radio::NeoSerialX = &RADIO_SERIAL_NUM;
-
-
-Radio::Radio()
-{
-    EnableReceiveInterrupt();
-}
-
-
-//打开串口
-void Radio::BeginTransmit(unsigned long baud_rate)
-{
-    NeoSerialX->begin(baud_rate);
-}
-
-
-//发送
-void Radio::Send(const char* message, uint8_t send_type, uint8_t send_times)
-{
-    //强制发送，禁用接收中断，防止发送被打断
-    if (send_type == FORCE_SEND)
-        DisableReceiveInterrupt();
-
-    static unsigned char send_code = '0';
-
-    //生成完整通信包
-    char full_message[FULL_MESSAGE_SIZE];
-    uint8_t message_length = strlen(message);
-    char check_str[CHECK_STR_LENGTH + 1];
-
-    message_length = message_length < MAX_REAL_MESSAGE_SIZE ? message_length : MAX_REAL_MESSAGE_SIZE;
-
-    itoa(message_length, check_str, 10);
-
-    for (uint8_t i = 0, j = 0, k = 0; i < FULL_MESSAGE_SIZE; i++)
-    {
-        if (i < BLANK_CHAR_LENGTH)
-        {
-            full_message[i] = BLANK_CHAR;
-        }
-        else if (i == BLANK_CHAR_LENGTH)
-        {
-            full_message[i] = CODE_CHAR;
-
-            full_message[++i] = send_code++;
-
-            if (send_code > '9')
-                send_code = '0';
-
-            full_message[++i] = START_CHAR;
-        }
-        else if (j < message_length && j < MAX_REAL_MESSAGE_SIZE)
-        {
-            full_message[i] = message[j];
-            j++;
-        }
-        else if (j == message_length || j == MAX_REAL_MESSAGE_SIZE)
-        {
-            full_message[i] = CHECK_CHAR;
-            j++;
-        }
-        else if (k < CHECK_STR_LENGTH)
-        {
-            full_message[i] = check_str[k];
-            k++;
-            
-            if (check_str[k] == '\0')
-                k = CHECK_STR_LENGTH;
-        }
-        else
-        {
-            full_message[i] = END_CHAR;
-        }
-    }
-
-    //发送完整通信包
-    for (uint8_t times = 0; times < send_times; times++)
-    {
-        NeoSerialX->print(full_message);
-    }
-
-    #ifdef RADIO_DEBUG
-    NeoSerialDebug.print(F("#RADIO:  SEND: "));
-    full_message[FULL_MESSAGE_SIZE - 1] = '\0';
-    NeoSerialDebug.print(full_message);
-    NeoSerialDebug.print(F(" TIMES: "));
-    NeoSerialDebug.println(send_times);
-    #endif
-
-    if (send_type == FORCE_SEND)
-        EnableReceiveInterrupt();
-}
-
-
-//设置接收回调函数
-void Radio::SetHandleMessageFunction(HandleMessageFunction hm_func)
-{
-    Radio::hm_func = hm_func;
-}
-
-
-//禁用接收中断
-void Radio::DisableReceiveInterrupt() //禁用接收中断
-{
-    NeoSerialX->detachInterrupt();
-}
-
-
-//恢复接收中断
-void Radio::EnableReceiveInterrupt() //恢复接收中断
-{
-    NeoSerialX->attachInterrupt(Receive);
-}
-
-
-//接收，使用中断触发
-bool Radio::Receive(uint8_t ch, uint8_t status)
-{
-    static bool is_code_record = false;
-    static bool is_start_record = false;
-    static bool is_check_record = false;
-    static char message[FULL_MESSAGE_SIZE] = "";
-    static char check_str[CHECK_STR_LENGTH + 1] = "";
-    static unsigned char this_package_code = 0;
-    static unsigned char last_package_code = 0;
-    static uint8_t i = 0, j = 0;
-
-    switch (ch)
-    {
-    case CODE_CHAR:
-    {
-        is_code_record = true;
-        is_start_record = false;
-        is_check_record = false;
-        
-        //重置字符串
-        for (uint8_t k = 0; k < i; k++)
-            message[k] = '\0';
-        for (uint8_t k = 0; k < j; k++)
-            check_str[k] = '\0';
-
-        i = 0;
-        j = 0;
-    } break;
-
-    case START_CHAR:
-    {
-        if (is_code_record == true)
-        {
-            is_code_record = false;
-            is_start_record = true;
-        }
-    } break;
-
-    case CHECK_CHAR:
-    {
-        if (is_start_record == true)
-        {
-            is_start_record = false;
-            is_check_record = true;
-        }
-    } break;
-
-    case END_CHAR:
-    {
-        if (is_check_record == true)
-        {
-            is_check_record = false;
-
-            if (j <= CHECK_STR_LENGTH)
-                check_str[j] = '\0';
-
-            if (atoi(check_str) == strlen(message)) //位数校验成功
-            {   
-                if (this_package_code != last_package_code)
-                {
-                    #ifdef RADIO_DEBUG
-                    NeoSerialDebug.print(F("#RADIO:  RECEIVE: "));
-                    NeoSerialDebug.println(message);
-                    #endif
-                    
-                    hm_func(message);
-
-                    last_package_code = this_package_code;
-                }
-            }
-            else //位数校验失败
-            {                
-                #ifdef RADIO_DEBUG
-                NeoSerialDebug.println(F("#RADIO:  RECEIVE CHECK FAIL!"));
-                #endif
-            }
-        }
-    } break;
-
-    default:
-    {
-        if (is_code_record == true)
-        {            
-            this_package_code = ch;
-        }
-        else if (is_start_record == true)
-        {
-            if (i < FULL_MESSAGE_SIZE)
-                message[i] = ch;
-            i++;
-        }
-        else if (is_check_record == true)
-        {
-            if (j <= CHECK_STR_LENGTH)
-                check_str[j] = ch;
-            j++;
-        }
-    }
-    }
-
-    return false;
-}
\ No newline at end of file
diff --git a/MixElement/radioMixElement.h b/MixElement/radioMixElement.h
deleted file mode 100644
index afc0c98..0000000
--- a/MixElement/radioMixElement.h
+++ /dev/null
@@ -1,69 +0,0 @@
-#ifndef RADIOMIXELEMENT_H
-#define RADIOMIXELEMENT_H
-
-
-#include <NeoHWSerial.h>
-
-//注释以关闭调试功能
-#define RADIO_DEBUG
-
-#ifdef RADIO_DEBUG
-#define NeoSerialDebug NeoSerial3
-#endif
-
-//默认与 HC-12 连接串口
-#define RADIO_SERIAL_NUM NeoSerial2
-//与 HC-12 串口通信波特率
-#define RADIO_BAUD_RATE 9600
-
-//通信包大小
-#define FULL_MESSAGE_SIZE 50
-//通信包最大有效信息大小
-#define MAX_REAL_MESSAGE_SIZE 39
-//通信包前段空字符填充长度
-#define BLANK_CHAR_LENGTH 4
-//通信包校验段字符串长度
-#define CHECK_STR_LENGTH 2
-//通信包标志字符
-#define BLANK_CHAR '~'
-#define CODE_CHAR '?'
-#define START_CHAR '!'
-#define CHECK_CHAR '@'
-#define END_CHAR '#'
-#define SUCCUESS_CHAR '$'
-#define FAIL_CHAR '%'
-
-//发送相关宏
-#define FORCE_SEND 0 //强制发送
-#define NO_FORCE_SEND 1 //非强制发送
-
-#define DEFAULT_SEND_TIMES 1 //默认重复发送次数
-
-
-//回调函数指针
-typedef void (*HandleMessageFunction)(const char*);
-
-
-class Radio
-{
-public:
-    Radio();
-
-    static void BeginTransmit(unsigned long baud_rate = RADIO_BAUD_RATE); //打开串口
-
-    static void Send(const char* message, uint8_t send_type = NO_FORCE_SEND, uint8_t send_times = DEFAULT_SEND_TIMES); //发送
-
-    static void SetHandleMessageFunction(HandleMessageFunction hm_func); //设置接收回调函数
-    static void DisableReceiveInterrupt(); //禁用接收中断
-    static void EnableReceiveInterrupt(); //恢复接收中断
-
-private:
-    static bool Receive(uint8_t ch, uint8_t status); //接收，使用中断触发
-
-    static HandleMessageFunction hm_func; //接收回调函数
-
-    static NeoHWSerial* NeoSerialX;
-};
-
-
-#endif
\ No newline at end of file
diff --git a/MixElement/routeMixElement.cpp b/MixElement/routeMixElement.cpp
deleted file mode 100644
index d046456..0000000
--- a/MixElement/routeMixElement.cpp
+++ /dev/null
@@ -1,329 +0,0 @@
-#include <Arduino.h>
-
-#include "routeMixElement.h"
-
-
-#ifdef ROUTE_DEBUG
-#include <NeoHWSerial.h>
-#endif
-
-
-//静态变量
-Point* Route::head_point = NULL;
-Point* Route::passed_point = NULL;
-
-
-Route::Route() 
-{
-    //生成基本路径点链
-    InitBaseRoute();
-
-    //设置 passed_point = head_point
-    passed_point = head_point;
-}
-
-
-Point Route::GetPassedPoint(void)
-{
-    return *passed_point;
-}
-
-
-Point Route::GetNextPoint(void)
-{
-    return *passed_point->next;
-}
-
-
-Point Route::GetNextNextPoint(void)
-{
-    return *passed_point->next->next;
-}
-
-
-void Route::SetPassedPoinType(uint8_t type)
-{
-    SetPointType(passed_point, type);
-}
-
-
-void Route::SetNextPointType(uint8_t type)
-{
-    SetPointType(passed_point->next, type);
-}
-
-
-void Route::SetNextNextPointType(uint8_t type)
-{
-    SetPointType(passed_point->next->next, type);
-}
-
-
-//更新位置
-void Route::UpdatePosition(void)
-{
-    passed_point = passed_point->next;
-
-    #ifdef ROUTE_DEBUG
-    NeoSerialDebug.println(F("#ROUTE:  UPDATE POSITION!"));
-    #endif
-}
-
-
-//更改路径
-void Route::ChangeRoute(uint8_t choice)
-{
-    switch (choice)
-    {
-    case JUMP_DEAD_ROAD:
-    {
-        Connect(passed_point, passed_point->next->next->next);
-    }
-    }
-}
-
-
-//设置点的 x 值
-void Route::SetPointX(Point* point, int8_t x)
-{
-    point->x = x;
-}
-
-
-//设置点的 y 值
-void Route::SetPointY(Point* point, int8_t y)
-{
-    point->y = y;
-}
-
-
-//设置点的 type 值
-void Route::SetPointType(Point* point, uint8_t type)
-{
-    point->type = type;
-}
-
-
-//设置点的 next 值
-void Route::SetPointNext(Point* point, Point* next)
-{
-    point->next = next;
-}
-
-
-//新建点
-Point* Route::CreatePoint(int8_t x, int8_t y, uint8_t type)
-{
-    Point* point = new Point;
-
-    SetPointX(point, x);
-    SetPointY(point, y);
-    SetPointType(point, type);
-    SetPointNext(point, NULL);
-
-    return point;
-}
-
-
-//连接 point_a 和 point_b，使 point_a->next == point_b
-//在主点链存在的情况下，point_a 和 point_b 必须属于主点链，否则可能出现不可预料的结果。函数不对 point_a 和 point_b 是否属于主点链进行检查
-//在主点链不存在的情况下，point_a 和 point_b 必须属于单向点链，否则可能出现不可预料的结果。函数不对 point_a 和 point_b 是否属于单向点链进行检查
-//若主点链为单向，point_a 在 point_b 之前，则 point_a 和 point_b 之间的点将被删除
-//若主点链为环形，head_point 不在 point_a point_b 之间，则 point_a 和 point_b 之间的点将被删除
-//若主点链为单向，point_a 在 point_b 之后，则 point_b 之前和 point_a 之后的点将被删除，point_b 成为 head_point，形成环形点链
-//若主点链为环形，head_point 在 point_b point_a 之间，则 point_b point_a 之间的点将被删除，point_b 成为 head_point
-//若主点链为单向，point_b head_point 均不为空，但 point_a 为空，则从 head_point 开始删除，并将 point_b 作为 head_point
-//若主点链为环形，point_b head_point 均不为空，但 point_a 为空，则从 head_point 开始删除，并将 point_b 作为 head_point，形成单向点链
-//若 point_a point_b 均不为空，但 head_point 为空（主点链不存在），则 point_a 成为 head_point，point_a 之前的点和 point_b 之前、之后的点不会被删除，point_a 之后的点会被删除
-//若 point_b 不为空，point_a head_point 均为空（主点链不存在），则 point_b 成为 head_point，point_b 之后的点不会被删除
-//若主点链为单向，point_a head_point 均不为空，但 point_b 为空，则从 point_a 的下一点开始删除，point_a 作为末尾点
-//若主点链为环形，point_a head_point 均不为空，但 point_b 为空，则从 point_a 的下一点开始删除，point_a 作为末尾点，形成单向点链
-//若 head_point 不为空，point_a point_b 均为空，则删除整个点链
-//若 point_a point_b head_point 均为空，不进行操作
-void Route::Connect(Point* point_a, Point* point_b)
-{
-    if (point_b) //point_b 不为空
-    {
-        if (head_point) //head_point 不为空
-        {
-            Point* temp_point;
-            Point* delete_point;
-
-            if (point_a) //point_a 不为空，则从 point_a 的下一点开始删除，并连接 point_a 和 point_b
-            {
-                temp_point = point_a->next;
-                point_a->next = point_b;
-            }
-            else //point_a 为空，则从 head_point 开始删除，并将 point_b 作为 head_point
-            {
-                temp_point = point_b;
-
-                while (!temp_point)
-                {
-                    if (temp_point->next == head_point) //为环形链表，将尾部 next 置空，使其变为单向链表
-                        temp_point->next = NULL;
-
-                    temp_point = temp_point->next;
-                }
-
-                temp_point = head_point;
-                head_point = point_b;
-            }
-
-            while (temp_point != point_b)
-            {
-                if (!temp_point) //point_a 在 point_b 之后，则从 head_point 开始删除，并将 point_b 作为 head_point
-                {
-                    temp_point = head_point;
-                    head_point = point_b;
-                    
-                    continue;
-                }
-                else if (temp_point == head_point) //主点链为环，且 head_point 在 point_b point_a 之间，则将 point_b 作为 head_point
-                {
-                    head_point = point_b;
-                }
-
-                delete_point = temp_point;
-                temp_point = temp_point->next;
-                delete delete_point;
-            }
-        }
-        else if (point_a) //head_point 为空，point_a 不为空，则 point_a 作为 head_point，删除 point_a 之后的点
-        {
-            Point* temp_point;
-            Point* delete_point;
-
-            temp_point = point_a->next;
-            point_a->next = point_b;
-            head_point = point_a;
-
-            while (temp_point && temp_point != point_a)
-            {
-                delete_point = temp_point;
-                temp_point = temp_point->next;
-                delete delete_point;
-            }
-        }
-        else //head_point 为空，point_a 为空，则 point_b 作为 head_point
-        {
-            head_point = point_b;
-        }
-    }
-    else //point_b 为空
-    {
-        if (head_point) //head_point 不为空
-        {
-            Point* temp_point;
-            Point* delete_point;
-            Point* former_head_point = head_point;
-            
-            if (point_a) //point_a 不为空，则从 point_a 的下一点开始删除，point_a 作为末尾点
-            {
-                temp_point = point_a->next;
-                point_a->next = NULL;
-            }
-            else //point_a 为空，则删除整个点链
-            {
-                temp_point = head_point;
-                head_point = NULL;
-            }
-
-            while (temp_point)
-            {
-                delete_point = temp_point;
-                temp_point = temp_point->next;
-                delete delete_point;
-
-                if (temp_point == former_head_point) //为环形链表，将尾部 next 置空，使其变为单向链表
-                    temp_point->next = NULL;
-            }
-        }
-        else if (point_a) //head_point 为空，point_a 不为空，则 point_a 作为 head_point，删除point_a 之后的点
-        {
-            Point* temp_point;
-            Point* delete_point;
-            
-            temp_point = point_a->next;
-            point_a->next = NULL;
-            head_point = point_a;
-
-            while (temp_point)
-            {
-                delete_point = temp_point;
-                temp_point = temp_point->next;
-                delete delete_point;
-            }
-        }
-
-        //head_point 为空，point_a 为空，无需进行操作
-    }
-}
-
-
-//在 front_point 和 next_point 间插入新的点
-//front_point 和 next_point 必须属于主点链
-//将首先连接 front_point 和 next_point，具体规则参见 Connect 函数
-//若 front_point 为空，则新建的 point 为初始点
-//若 next_point 为空，则新建的 point 为末尾点
-//若 front_point 和 next_point 均为空，则删除整个点链，新建的 point 为初始点
-Point* Route::AddPoint(Point* front_point, int8_t x, int8_t y, uint8_t type, Point* next_point)
-{
-    Point* point = CreatePoint(x, y, type);
-
-    //连接 front_point 和 next_point
-    Connect(front_point, next_point);
-    
-    if (front_point)
-        front_point->next = point;
-    else head_point = point; //若 front_point 为空，则新建的 point 为初始点
-
-    point->next = next_point;
-
-    return point;
-}
-
-
-//生成基本路径点链
-void Route::InitBaseRoute(void)
-{    
-    //基本路径数组
-    const static int8_t base_route [][3] = 
-    {
-        {0, 0, NORMAL_POINT},
-        {0, 1, NORMAL_POINT},
-        {0, 2, NORMAL_POINT},
-        {-1, 2, NORMAL_POINT},
-        {-1, 1, NORMAL_POINT},
-        {0, 1, NORMAL_POINT},
-        {0, 0, NORMAL_POINT},
-        {-1, 0, NORMAL_POINT},
-        {0, 0, NORMAL_POINT},
-        {0, 1, NORMAL_POINT},
-        {0, 2, NORMAL_POINT},
-        {-1, 2, NORMAL_POINT},
-        {-1, 1, NORMAL_POINT},
-        {0, 1, NORMAL_POINT},
-        {0, 0, NORMAL_POINT},
-        {-1, 0, NORMAL_POINT},
-        {0, 0, NORMAL_POINT},
-        {0, 1, NORMAL_POINT},
-        {0, 2, NORMAL_POINT},
-        {-1, 2, NORMAL_POINT},
-        {-1, 1, NORMAL_POINT},
-        {0, 1, NORMAL_POINT},
-        {0, 0, NORMAL_POINT},
-        {-1, 0, NORMAL_POINT}
-    };
-
-    //计算数组元素个数
-    int route_amount = sizeof(base_route) / sizeof(base_route[0]);
-
-    //生成基本路径点链
-    Point* temp_point = NULL;
-    for (int i = 0; i < route_amount; i++)
-        temp_point = AddPoint(temp_point, base_route[i][X], base_route[i][Y], base_route[i][TYPE]);
-
-    //生成环形点链
-    Connect(temp_point, head_point);
-}
\ No newline at end of file
diff --git a/MixElement/routeMixElement.h b/MixElement/routeMixElement.h
deleted file mode 100644
index 4ac9646..0000000
--- a/MixElement/routeMixElement.h
+++ /dev/null
@@ -1,75 +0,0 @@
-#ifndef ROUTEMIXELEMENT_H
-#define ROUTEMIXELEMENT_H
-
-
-#include <Arduino.h>
-
-//注释以关闭调试功能
-#define ROUTE_DEBUG
-
-#ifdef ROUTE_DEBUG
-#define NeoSerialDebug NeoSerial3
-#endif
-
-//坐标点操作定义
-#define NORMAL_POINT 0 //普通点
-#define CARRY_POINT 3 //携带点（从底盘）
-#define GETOUT_POINT 4 //释放点（从底盘）
-
-//坐标点数组定义
-#define X 0
-#define Y 1
-#define TYPE 2
-
-//更改路径选项
-#define JUMP_DEAD_ROAD 0
-
-
-//点结构
-struct Point
-{
-    int8_t x;
-    int8_t y;
-    uint8_t type;
-
-    Point* next;
-};
-
-
-class Route
-{
-public:
-    Route();
-
-    static Point GetPassedPoint(void);
-    static Point GetNextPoint(void);
-    static Point GetNextNextPoint(void);
-
-    static void SetPassedPoinType(uint8_t type);
-    static void SetNextPointType(uint8_t type);
-    static void SetNextNextPointType(uint8_t type);
-
-    static void UpdatePosition(void); //更新位置
-
-    static void ChangeRoute(uint8_t choice); //更改路径
-
-private:
-    static void SetPointX(Point* point, int8_t x); //设置点的 x 值
-    static void SetPointY(Point* point, int8_t y); //设置点的 y 值
-    static void SetPointType(Point* point, uint8_t type); //设置点的 type 值
-    static void SetPointNext(Point* point, Point* next); //设置点的 next 值
-
-    static Point* CreatePoint(int8_t x, int8_t y, uint8_t type); //新建点
-
-    static void Connect(Point* point_a, Point* point_b); //连接 point_a point_b
-
-    static Point* AddPoint(Point* front_point, int8_t x, int8_t y, uint8_t type, Point* next_point = NULL); //在 front_point 和 next_point 间插入新的点
-
-    static void InitBaseRoute(void); //生成基本路径点链
-
-    static Point* head_point; //头部点
-    static Point* passed_point; //经过的点
-};
-
-
-#endif
\ No newline at end of file
diff --git a/MixElement/sensorMixElement.cpp b/MixElement/sensorMixElement.cpp
index 563b02d..f02de60 100644
--- a/MixElement/sensorMixElement.cpp
+++ b/MixElement/sensorMixElement.cpp
@@ -1,5 +1,4 @@
 #include <Arduino.h>
-#include <Wire.h>
 
 #include "sensorMixElement.h"
 
@@ -10,42 +9,13 @@
 
 //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);
     pinMode(BUTTON_2_OUT, INPUT_PULLUP);
-
-    pinMode(GRAY_1_VCC, OUTPUT);
-    digitalWrite(GRAY_1_VCC, HIGH);
-
-    pinMode(GRAY_2_VCC, OUTPUT);
-    digitalWrite(GRAY_2_VCC, HIGH);
-
-    pinMode(GRAY_3_VCC, OUTPUT);
-    digitalWrite(GRAY_3_VCC, HIGH);
-
-    pinMode(GRAY_4_VCC, OUTPUT);
-    digitalWrite(GRAY_4_VCC, HIGH);
-
-    pinMode(GRAY_5_VCC, OUTPUT);
-    digitalWrite(GRAY_5_VCC, HIGH);
-
-    pinMode(GRAY_6_VCC, OUTPUT);
-    digitalWrite(GRAY_6_VCC, HIGH);
-
-    pinMode(GRAY_7_VCC, OUTPUT);
-    digitalWrite(GRAY_7_VCC, HIGH);
-
-    pinMode(BUTTON_1_VCC, OUTPUT);
-    digitalWrite(BUTTON_1_VCC, HIGH);
+    pinMode(BUTTON_3_OUT, INPUT_PULLUP);
 
     pinMode(BUTTON_2_VCC, OUTPUT);
     digitalWrite(BUTTON_2_VCC, HIGH);
@@ -57,51 +27,11 @@ void Sensor::SetGrayGate(uint8_t gray_sensor_num, int gate)
 {
     switch (gray_sensor_num)
     {
-    case GRAY_1: gray_1_gate = gate; break;
-    case GRAY_2: gray_2_gate = gate; break;
-    case GRAY_3: gray_3_gate = gate; break;
-    case GRAY_4: gray_4_gate = gate; break;
-    case GRAY_5: gray_5_gate = gate; break;
-    case GRAY_6: gray_6_gate = gate; break;
-    case GRAY_7: gray_7_gate = gate; 
+    case GRAY_1: gray_1_gate = gate;
     }
 }
 
 
-//使灰度传感器闪烁
-void Sensor::FlashGraySensor(uint8_t gray_sensor_num)
-{
-    switch (gray_sensor_num)
-    {
-    case GRAY_1: digitalWrite(GRAY_1_VCC, LOW); break;
-    case GRAY_2: digitalWrite(GRAY_2_VCC, LOW); break;
-    case GRAY_3: digitalWrite(GRAY_3_VCC, LOW); break;
-    case GRAY_4: digitalWrite(GRAY_4_VCC, LOW); break;
-    case GRAY_5: digitalWrite(GRAY_5_VCC, LOW); break;
-    case GRAY_6: digitalWrite(GRAY_6_VCC, LOW); break;
-    case GRAY_7: digitalWrite(GRAY_7_VCC, LOW);
-    }
-
-    #ifdef SENSOR_DEBUG
-    //调试输出闪烁信息
-    switch (gray_sensor_num)
-    {
-    case GRAY_1: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_1 NOW!")); break;
-    case GRAY_2: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_2 NOW!")); break;
-    case GRAY_3: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_3 NOW!")); break;
-    case GRAY_4: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_4 NOW!")); break;
-    case GRAY_5: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_5 NOW!")); break;
-    case GRAY_6: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_6 NOW!")); break;
-    case GRAY_7: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_7 NOW!"));
-    }
-    #endif
-
-    delay(GRAY_FLASH_TIME);
-    Sensor();
-    delay(GRAY_FLASH_TIME);
-}
-
-
 bool Sensor::IsWhite(uint8_t gray_sensor_num)
 {
     uint8_t gray_out_pin;
@@ -110,13 +40,7 @@ bool Sensor::IsWhite(uint8_t gray_sensor_num)
     
     switch (gray_sensor_num)
     {
-    case GRAY_1: gray_out_pin = GRAY_1_OUT; gray_gate = gray_1_gate; break;
-    case GRAY_2: gray_out_pin = GRAY_2_OUT; gray_gate = gray_2_gate; break;
-    case GRAY_3: gray_out_pin = GRAY_3_OUT; gray_gate = gray_3_gate; break;
-    case GRAY_4: gray_out_pin = GRAY_4_OUT; gray_gate = gray_4_gate; break;
-    case GRAY_5: gray_out_pin = GRAY_5_OUT; gray_gate = gray_5_gate; break;
-    case GRAY_6: gray_out_pin = GRAY_6_OUT; gray_gate = gray_6_gate; break;
-    case GRAY_7: gray_out_pin = GRAY_7_OUT; gray_gate = gray_7_gate; 
+    case GRAY_1: gray_out_pin = GRAY_1_OUT; gray_gate = gray_1_gate;
     }
 
     gray_val = analogRead(gray_out_pin);
@@ -125,13 +49,7 @@ bool Sensor::IsWhite(uint8_t gray_sensor_num)
     //调试输出灰度值
     switch (gray_sensor_num)
     {
-    case GRAY_1: NeoSerialDebug.print(F("#SENSOR: GRAY_1 and gate_val: ")); break;
-    case GRAY_2: NeoSerialDebug.print(F("#SENSOR: GRAY_2 and gate_val: ")); break;
-    case GRAY_3: NeoSerialDebug.print(F("#SENSOR: GRAY_3 and gate_val: ")); break;
-    case GRAY_4: NeoSerialDebug.print(F("#SENSOR: GRAY_4 and gate_val: ")); break;
-    case GRAY_5: NeoSerialDebug.print(F("#SENSOR: GRAY_5 and gate_val: ")); break;
-    case GRAY_6: NeoSerialDebug.print(F("#SENSOR: GRAY_6 and gate_val: ")); break;
-    case GRAY_7: NeoSerialDebug.print(F("#SENSOR: GRAY_7 and gate_val: "));
+    case GRAY_1: NeoSerialDebug.print(F("#SENSOR: GRAY_1 and gate_val: "));
     }
 
     NeoSerialDebug.print(gray_val);
@@ -145,56 +63,6 @@ bool Sensor::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 Sensor::GrayDeviationRate(uint8_t gray_sensor_num)
-{
-    uint8_t gray_out_pin;
-    int gray_val;
-    int gray_gate;
-    float deviarion_rate;
-    
-    switch (gray_sensor_num)
-    {
-    case GRAY_1: gray_out_pin = GRAY_1_OUT; gray_gate = gray_1_gate; break;
-    case GRAY_2: gray_out_pin = GRAY_2_OUT; gray_gate = gray_2_gate; break;
-    case GRAY_3: gray_out_pin = GRAY_3_OUT; gray_gate = gray_3_gate; break;
-    case GRAY_4: gray_out_pin = GRAY_4_OUT; gray_gate = gray_4_gate; break;
-    case GRAY_5: gray_out_pin = GRAY_5_OUT; gray_gate = gray_5_gate; break;
-    case GRAY_6: gray_out_pin = GRAY_6_OUT; gray_gate = gray_6_gate; break;
-    case GRAY_7: gray_out_pin = GRAY_7_OUT; gray_gate = gray_7_gate; 
-    }
-
-    gray_val = analogRead(gray_out_pin);
-
-    #ifdef SENSOR_DEBUG
-    //调试输出灰度值
-    switch (gray_sensor_num)
-    {
-    case GRAY_1: NeoSerialDebug.print(F("#SENSOR: GRAY_1 and gate_val: ")); break;
-    case GRAY_2: NeoSerialDebug.print(F("#SENSOR: GRAY_2 and gate_val: ")); break;
-    case GRAY_3: NeoSerialDebug.print(F("#SENSOR: GRAY_3 and gate_val: ")); break;
-    case GRAY_4: NeoSerialDebug.print(F("#SENSOR: GRAY_4 and gate_val: ")); break;
-    case GRAY_5: NeoSerialDebug.print(F("#SENSOR: GRAY_5 and gate_val: ")); break;
-    case GRAY_6: NeoSerialDebug.print(F("#SENSOR: GRAY_6 and gate_val: ")); break;
-    case GRAY_7: NeoSerialDebug.print(F("#SENSOR: GRAY_7 and gate_val: "));
-    }
-
-    NeoSerialDebug.print(gray_val);
-    NeoSerialDebug.print(F(" "));
-    NeoSerialDebug.print(gray_gate);
-    #endif
-
-    deviarion_rate = (float)gray_val / gray_gate;
-
-    #ifdef SENSOR_DEBUG
-    NeoSerialDebug.print(F(" deviarion_rate: "));
-    NeoSerialDebug.println(deviarion_rate);
-    #endif
-
-    return deviarion_rate;
-}
-
-
 //碰撞传感器（开关）判断是否闭合
 bool Sensor::IsPushed(uint8_t button_num)
 {
@@ -203,7 +71,9 @@ bool Sensor::IsPushed(uint8_t button_num)
 
     if (button_num == BUTTON_1)
         button_out_pin = BUTTON_1_OUT;
-    else button_out_pin = BUTTON_2_OUT;
+    else if (button_num == BUTTON_2)
+        button_out_pin = BUTTON_2_OUT;
+    else button_out_pin = BUTTON_3_OUT;
 
     button_val = digitalRead(button_out_pin);
 
@@ -211,14 +81,16 @@ bool Sensor::IsPushed(uint8_t button_num)
     //调试输出按钮状态
     if (button_num == BUTTON_1)
         NeoSerialDebug.print(F("#SENSOR: BUTTON_1: "));
-    else NeoSerialDebug.print(F("#SENSOR: BUTTON_2: "));
+    else if (button_num == BUTTON_2)
+        NeoSerialDebug.print(F("#SENSOR: BUTTON_2: "));
+    else NeoSerialDebug.print(F("#SENSOR: BUTTON_3: "));
 
-    if (button_val == LOW)
+    if (button_val == HIGH)
         NeoSerialDebug.println(F("pushed"));
     else NeoSerialDebug.println(F("released"));
     #endif    
 
-    if (button_val == LOW)
+    if (button_val == HIGH)
         return true;
     else return false;
 }
\ No newline at end of file
diff --git a/MixElement/sensorMixElement.h b/MixElement/sensorMixElement.h
index fe5ae3f..70cfda9 100644
--- a/MixElement/sensorMixElement.h
+++ b/MixElement/sensorMixElement.h
@@ -6,59 +6,30 @@
 #define SENSOR_DEBUG
 
 #ifdef SENSOR_DEBUG
-#define NeoSerialDebug NeoSerial3
+#define NeoSerialDebug NeoSerial
 #endif
 
 //灰度传感器 OUT 接口定义
-#define GRAY_1_OUT A0
-#define GRAY_2_OUT A1
-#define GRAY_3_OUT A2
-#define GRAY_4_OUT A3
-#define GRAY_5_OUT A4
-#define GRAY_6_OUT A5
-#define GRAY_7_OUT A6
-
-//灰度传感器 VCC 接口定义
-#define GRAY_1_VCC 48
-#define GRAY_2_VCC 49
-#define GRAY_3_VCC 50
-#define GRAY_4_VCC 51
-#define GRAY_5_VCC 52
-#define GRAY_6_VCC 53
-#define GRAY_7_VCC 47
+#define GRAY_1_OUT A5
 
 //灰度传感器临界值
-#define DEFAULT_GRAY_1_GATE 900
-#define DEFAULT_GRAY_2_GATE 900
-#define DEFAULT_GRAY_3_GATE 850
-#define DEFAULT_GRAY_4_GATE 850
-#define DEFAULT_GRAY_5_GATE 900
-#define DEFAULT_GRAY_6_GATE 880
-#define DEFAULT_GRAY_7_GATE 690
-
-//灰度传感器闪烁时间
-#define GRAY_FLASH_TIME 200
+#define DEFAULT_GRAY_1_GATE 500
 
 //灰度传感器标识定义
 #define GRAY_1 0
-#define GRAY_2 1
-#define GRAY_3 2
-#define GRAY_4 3
-#define GRAY_5 4
-#define GRAY_6 5
-#define GRAY_7 6
 
 //碰撞传感器 OUT 接口定义
-#define BUTTON_1_OUT 2
-#define BUTTON_2_OUT 3
+#define BUTTON_1_OUT A0
+#define BUTTON_2_OUT A1
+#define BUTTON_3_OUT A4
 
 //碰撞传感器 VCC 接口定义
-#define BUTTON_1_VCC 45
-#define BUTTON_2_VCC 46
+#define BUTTON_2_VCC A2
 
 //碰撞传感器标识定义
 #define BUTTON_1 0
 #define BUTTON_2 1
+#define BUTTON_3 2
 
 
 class Sensor
@@ -69,27 +40,15 @@ public:
     //设置灰度传感器临界值
     static void SetGrayGate(uint8_t gray_sensor_num, int gate);
 
-    //使灰度传感器闪烁
-    static void FlashGraySensor(uint8_t gray_sensor_num);
-
     //灰度传感器判断下方是否为白色
     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
-    static float GrayDeviationRate(uint8_t gray_sensor_num);
-
     //碰撞传感器（开关）判断是否闭合
     static bool IsPushed(uint8_t button_num);
 
 private:
     //灰度传感器临界值
     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;
 };