diff --git a/TaiChi/TaiChi.ino b/TaiChi/TaiChi.ino
index 8207718..fef5f2e 100644
--- a/TaiChi/TaiChi.ino
+++ b/TaiChi/TaiChi.ino
@@ -70,7 +70,7 @@ Radio radio; //通讯实例
 
 //****************************************全局变量****************************************
 //GND Pins
-uint8_t gnd_pins[8] = {14, 15, 32, 33, 34, 35, 36, 37};
+const uint8_t gnd_pins[8] PROGMEM = {14, 15, 32, 33, 34, 35, 36, 37};
 
 //EEPROM 储存的调试数据
 struct StroageInfo
@@ -190,14 +190,14 @@ 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(char* message)
 {
-    NeoSerial.print("#TAICHI: CAN NOT CONTINUE WHEN "); NeoSerial.println(message);
-    NeoSerial.print("#TAICHI: loop_time: "); NeoSerial.println(loop_time);
-    NeoSerial.print("#TAICHI: pass: ["); NeoSerial.print(passed_point.x); NeoSerial.print(", "); NeoSerial.print(passed_point.y); NeoSerial.print("]");
-    NeoSerial.print(" TYPE: "); NeoSerial.println((int)passed_point.type);
-    NeoSerial.print("#TAICHI: next: ["); NeoSerial.print(next_point.x); NeoSerial.print(", "); NeoSerial.print(next_point.y); NeoSerial.print("]");
-    NeoSerial.print(" next_position: "); NeoSerial.print((int)next_position);
-    NeoSerial.print(" TYPE: "); NeoSerial.println((int)next_point.type);
-    NeoSerial.print("#TAICHI: is_claw_catch: "); NeoSerial.print((int)is_claw_catch); NeoSerial.print(" is_claw_ok: "); NeoSerial.println((int)is_claw_ok);
+    NeoSerial.print(F("#TAICHI: CAN NOT CONTINUE WHEN ")); NeoSerial.println(message);
+    NeoSerial.print(F("#TAICHI: loop_time: ")); NeoSerial.println(loop_time);
+    NeoSerial.print(F("#TAICHI: pass: [")); NeoSerial.print(passed_point.x); NeoSerial.print(F(", ")); NeoSerial.print(passed_point.y); NeoSerial.print(F("]"));
+    NeoSerial.print(F(" TYPE: ")); NeoSerial.println((int)passed_point.type);
+    NeoSerial.print(F("#TAICHI: next: [")); NeoSerial.print(next_point.x); NeoSerial.print(F(", ")); NeoSerial.print(next_point.y); NeoSerial.print(F("]"));
+    NeoSerial.print(F(" next_position: ")); NeoSerial.print((int)next_position);
+    NeoSerial.print(F(" TYPE: ")); NeoSerial.println((int)next_point.type);
+    NeoSerial.print(F("#TAICHI: is_claw_catch: ")); NeoSerial.print((int)is_claw_catch); NeoSerial.print(F(" is_claw_ok: ")); NeoSerial.println((int)is_claw_ok);
     SRamDisplay();
 
     while (1) {}
@@ -210,7 +210,7 @@ void setup()
 {
     #ifdef TAICHI_DEBUG
     NeoSerial.begin(DEBUG_BAUT_RATE);
-    NeoSerial.println("#TAICHI: ======================setup()=====================");
+    NeoSerial.println(F("#TAICHI: ======================setup()====================="));
     SRamDisplay();
     #endif
 
@@ -248,14 +248,14 @@ void loop()
     
     #ifdef TAICHI_DEBUG
     loop_time++;
-    NeoSerial.println("#TAICHI: ====================New loop()====================");
-    NeoSerial.print("#TAICHI: loop_time: "); NeoSerial.println(loop_time);
-    NeoSerial.print("#TAICHI: pass: ["); NeoSerial.print(passed_point.x); NeoSerial.print(", "); NeoSerial.print(passed_point.y); NeoSerial.print("]");
-    NeoSerial.print(" TYPE: "); NeoSerial.println((int)passed_point.type);
-    NeoSerial.print("#TAICHI: next: ["); NeoSerial.print(next_point.x); NeoSerial.print(", "); NeoSerial.print(next_point.y); NeoSerial.print("]");
-    NeoSerial.print(" next_position: "); NeoSerial.print((int)next_position);
-    NeoSerial.print(" TYPE: "); NeoSerial.println((int)next_point.type);
-    NeoSerial.print("#TAICHI: is_claw_catch: "); NeoSerial.print((int)is_claw_catch); NeoSerial.print(" is_claw_ok: "); NeoSerial.println((int)is_claw_ok);
+    NeoSerial.println(F("#TAICHI: ====================New loop()===================="));
+    NeoSerial.print(F("#TAICHI: loop_time: ")); NeoSerial.println(loop_time);
+    NeoSerial.print(F("#TAICHI: pass: [")); NeoSerial.print(passed_point.x); NeoSerial.print(F(", ")); NeoSerial.print(passed_point.y); NeoSerial.print(F("]"));
+    NeoSerial.print(F(" TYPE: ")); NeoSerial.println((int)passed_point.type);
+    NeoSerial.print(F("#TAICHI: next: [")); NeoSerial.print(next_point.x); NeoSerial.print(F(", ")); NeoSerial.print(next_point.y); NeoSerial.print(F("]"));
+    NeoSerial.print(F(" next_position: ")); NeoSerial.print((int)next_position);
+    NeoSerial.print(F(" TYPE: ")); NeoSerial.println((int)next_point.type);
+    NeoSerial.print(F("#TAICHI: is_claw_catch: ")); NeoSerial.print((int)is_claw_catch); NeoSerial.print(F(" is_claw_ok: ")); NeoSerial.println((int)is_claw_ok);
     SRamDisplay();
     #endif
 
@@ -488,7 +488,7 @@ void loop()
     route.UpdatePosition();
 
     #ifdef TAICHI_DEBUG
-    NeoSerial.println("#TAICHI: ====================End loop()====================");
+    NeoSerial.println(F("#TAICHI: ====================End loop()===================="));
     #endif
 }
 
@@ -529,17 +529,17 @@ void ReadFromEEPROM(void)
     delay_time_after_turn = stroage_info.delay_time_after_turn;
 
     #ifdef TAICHI_DEBUG
-    NeoSerial.println("#TAICHI: Data based on EEPROM : ");
-    NeoSerial.print("north_left_angle: "); NeoSerial.println(north_left_angle);
-    NeoSerial.print("north_right_angle: "); NeoSerial.println(north_right_angle);
-    NeoSerial.print("west_left_angle: "); NeoSerial.println(west_left_angle);
-    NeoSerial.print("west_right_angle: "); NeoSerial.println(west_right_angle);
-    NeoSerial.print("south_left_angle: "); NeoSerial.println(south_left_angle);
-    NeoSerial.print("south_right_angle: "); NeoSerial.println(south_right_angle);
-    NeoSerial.print("east_left_angle: "); NeoSerial.println(east_left_angle);
-    NeoSerial.print("east_right_angle: "); NeoSerial.println(east_right_angle);
-    NeoSerial.print("gray_7_gate: "); NeoSerial.println(stroage_info.gray_7_gate);
-    NeoSerial.print("delay_time_after_turn: "); NeoSerial.println(delay_time_after_turn);
+    NeoSerial.println(F("#TAICHI: Data based on EEPROM : "));
+    NeoSerial.print(F("north_left_angle: ")); NeoSerial.println(north_left_angle);
+    NeoSerial.print(F("north_right_angle: ")); NeoSerial.println(north_right_angle);
+    NeoSerial.print(F("west_left_angle: ")); NeoSerial.println(west_left_angle);
+    NeoSerial.print(F("west_right_angle: ")); NeoSerial.println(west_right_angle);
+    NeoSerial.print(F("south_left_angle: ")); NeoSerial.println(south_left_angle);
+    NeoSerial.print(F("south_right_angle: ")); NeoSerial.println(south_right_angle);
+    NeoSerial.print(F("east_left_angle: ")); NeoSerial.println(east_left_angle);
+    NeoSerial.print(F("east_right_angle: ")); NeoSerial.println(east_right_angle);
+    NeoSerial.print(F("gray_7_gate: ")); NeoSerial.println(stroage_info.gray_7_gate);
+    NeoSerial.print(F("delay_time_after_turn: ")); NeoSerial.println(delay_time_after_turn);
     #endif
 }
 
@@ -571,7 +571,7 @@ void CheckGrayStatus(void)
     }
 
     #ifdef TAICHI_DEBUG
-    NeoSerial.println("#TAICHI: Gray Sensor Status OK!");
+    NeoSerial.println(F("#TAICHI: Gray Sensor Status OK!"));
     #endif
 }
 
@@ -685,8 +685,8 @@ void LineForward(uint8_t end_position, float speed_rate)
 {
     #ifdef TAICHI_DEBUG
     //调试输出沿线直行状态
-    NeoSerial.print("#TAICHI: Line Forward");
-    NeoSerial.print(" end_position: ");
+    NeoSerial.print(F("#TAICHI: Line Forward"));
+    NeoSerial.print(F(" end_position: "));
     NeoSerial.println((int)end_position);
     #endif
 
@@ -749,7 +749,7 @@ void LineForward(uint8_t end_position, float speed_rate)
 
     #ifdef TAICHI_DEBUG
     //调试输出沿线直行结束
-    NeoSerial.println("#TAICHI: End Line Forward");
+    NeoSerial.println(F("#TAICHI: End Line Forward"));
     #endif
 }
 
@@ -759,8 +759,8 @@ void LineBackward(uint8_t end_position, float speed_rate)
 {
     #ifdef TAICHI_DEBUG
     //调试输出沿线后退状态
-    NeoSerial.print("#TAICHI: Line Backward");
-    NeoSerial.print(" end_position: ");
+    NeoSerial.print(F("#TAICHI: Line Backward"));
+    NeoSerial.print(F(" end_position: "));
     NeoSerial.println((int)end_position);
     #endif
 
@@ -811,7 +811,7 @@ void LineBackward(uint8_t end_position, float speed_rate)
 
     #ifdef TAICHI_DEBUG
     //调试输出沿线后退结束
-    NeoSerial.println("#TAICHI: End Line Backward");
+    NeoSerial.println(F("#TAICHI: End Line Backward"));
     #endif
 }
 
@@ -830,7 +830,7 @@ void TurnDirection(float speed_rate)
 
         #ifdef TAICHI_DEBUG
         //调试输出直行或后退或转向状态
-        NeoSerial.println("#TAICHI: JUMP THE RELEASE/GETOUT/GAIN POINT FOR STATUS REASON");
+        NeoSerial.println(F("#TAICHI: JUMP THE RELEASE/GETOUT/GAIN POINT FOR STATUS REASON"));
         #endif
     }
     
@@ -838,8 +838,8 @@ void TurnDirection(float speed_rate)
     
     #ifdef TAICHI_DEBUG
     //调试输出直行或后退或转向状态
-    NeoSerial.print("#TAICHI: Turn Direction");
-    NeoSerial.print(" direction: ");
+    NeoSerial.print(F("#TAICHI: Turn Direction"));
+    NeoSerial.print(F(" direction: "));
     NeoSerial.println((int)direction);
     #endif
     
@@ -918,7 +918,7 @@ void TurnDirection(float speed_rate)
 
     #ifdef TAICHI_DEBUG
     //调试输出直行或后退或转向结束
-    NeoSerial.println("#TAICHI: End Turn Direction");
+    NeoSerial.println(F("#TAICHI: End Turn Direction"));
     #endif
 }
 
@@ -949,12 +949,12 @@ bool CatchAndCheck(uint8_t type, float speed)
     while (millis() - begin_time < catch_delay_time)
     {
         #ifndef DISABLE_CLAW_CHECK
-        if (sensor.IsPushed(BUTTON_1)) //开关 1 闭合，即爪子两端接触，说明抓取失败
+        if (sensor.IsPushed(BUTTON_2)) //开关 2 闭合，即爪子两端接触，说明抓取失败
         {
             #ifdef TAICHI_DEBUG
             //调试输出失败信息
-            NeoSerial.print("#TAICHI: **********FAIL CATCH!**********");
-            NeoSerial.print(" catch_times: "); NeoSerial.println((int)catch_times);
+            NeoSerial.print(F("#TAICHI: **********FAIL CATCH!**********"));
+            NeoSerial.print(F(" catch_times: ")); NeoSerial.println((int)catch_times);
             #endif
 
             if (type == CATCH_TYPE_GAIN)
@@ -988,14 +988,14 @@ bool CatchAndCheck(uint8_t type, float speed)
     #ifndef DISABLE_CLAW_CHECK
     #ifdef TAICHI_DEBUG
     //调试输出成功信息
-    NeoSerial.println("#TAICHI: SUCCESS CATCH!");
+    NeoSerial.println(F("#TAICHI: SUCCESS CATCH!"));
     #endif
     #endif
 
     #ifdef DISABLE_CLAW_CHECK
     #ifdef TAICHI_DEBUG
     //调试输出结束信息
-    NeoSerial.println("#TAICHI: CATCH WITHOUT CHECK!");
+    NeoSerial.println(F("#TAICHI: CATCH WITHOUT CHECK!"));
     #endif
     #endif
 
@@ -1010,7 +1010,7 @@ bool OpenClawAndCheck(void)
     #ifdef DISABLE_CLAW_CHECK
     #ifdef TAICHI_DEBUG
     //调试输出信息
-    NeoSerial.println("#TAICHI: DISABLE CLAW CHECK!");
+    NeoSerial.println(F("#TAICHI: DISABLE CLAW CHECK!"));
     #endif
 
     is_claw_ok = true;
@@ -1026,11 +1026,11 @@ bool OpenClawAndCheck(void)
     //等待完成动作
     while (millis() - begin_time < CLAW_OPEN_USE_TIME)
     {
-        if (!sensor.IsPushed(BUTTON_1)) //开关 1 打开，即爪子两端脱离接触，说明打开爪子成功
+        if (!sensor.IsPushed(BUTTON_2)) //开关 2 打开，即爪子两端脱离接触，说明打开爪子成功
         {
             #ifdef TAICHI_DEBUG
             //调试输出成功信息
-            NeoSerial.println("#TAICHI: SUCCESS OPEN CLAW!");
+            NeoSerial.println(F("#TAICHI: SUCCESS OPEN CLAW!"));
             #endif
             
             is_claw_ok = true;
@@ -1040,7 +1040,7 @@ bool OpenClawAndCheck(void)
 
     #ifdef TAICHI_DEBUG
     //调试输出失败信息
-    NeoSerial.println("#TAICHI: $$$$$$$$$$FAIL CLAW!$$$$$$$$$$");
+    NeoSerial.println(F("#TAICHI: $$$$$$$$$$FAIL CLAW!$$$$$$$$$$"));
     #endif
     
     is_claw_ok = false;
diff --git a/TaiChi/moveTaiChi.cpp b/TaiChi/moveTaiChi.cpp
index 02d79c6..1ba7f1a 100644
--- a/TaiChi/moveTaiChi.cpp
+++ b/TaiChi/moveTaiChi.cpp
@@ -123,8 +123,8 @@ void Move::Forward(float speed_rate)
 
     #ifdef MOVE_DEBUG
     //调试输出前进状态
-    NeoSerial.print("#MOVE:   Move Forward");
-    NeoSerial.print(" speed_rate: "); NeoSerial.println(speed_rate);
+    NeoSerial.print(F("#MOVE:   Move Forward"));
+    NeoSerial.print(F(" speed_rate: ")); NeoSerial.println(speed_rate);
     #endif
 }
 
@@ -143,8 +143,8 @@ void Move::Backward(float speed_rate)
 
     #ifdef MOVE_DEBUG
     //调试输出后退状态
-    NeoSerial.print("#MOVE:   Move Backward");
-    NeoSerial.print(" speed_rate: "); NeoSerial.println(speed_rate);
+    NeoSerial.print(F("#MOVE:   Move Backward"));
+    NeoSerial.print(F(" speed_rate: ")); NeoSerial.println(speed_rate);
     #endif
 }
 
@@ -163,8 +163,8 @@ void Move::ForLeftward(float speed_rate, float turn_speed_rate)
 
     #ifdef MOVE_DEBUG
     //调试输出向前左转状态
-    NeoSerial.print("#MOVE:   Move ForLeftward");
-    NeoSerial.print(" speed_rate: "); NeoSerial.print(speed_rate); NeoSerial.print(" turn_speed_rate: "); NeoSerial.println(turn_speed_rate);
+    NeoSerial.print(F("#MOVE:   Move ForLeftward"));
+    NeoSerial.print(F(" speed_rate: ")); NeoSerial.print(speed_rate); NeoSerial.print(F(" turn_speed_rate: ")); NeoSerial.println(turn_speed_rate);
     #endif
 }
 
@@ -183,8 +183,8 @@ void Move::ForRightward(float speed_rate, float turn_speed_rate)
 
     #ifdef MOVE_DEBUG
     //调试输出向前右转状态
-    NeoSerial.print("#MOVE:   Move ForRightward");
-    NeoSerial.print(" speed_rate: "); NeoSerial.print(speed_rate); NeoSerial.print(" turn_speed_rate: "); NeoSerial.println(turn_speed_rate);
+    NeoSerial.print(F("#MOVE:   Move ForRightward"));
+    NeoSerial.print(F(" speed_rate: ")); NeoSerial.print(speed_rate); NeoSerial.print(F(" turn_speed_rate: ")); NeoSerial.println(turn_speed_rate);
     #endif
 }
 
@@ -203,8 +203,8 @@ void Move::BackLeftward(float speed_rate, float turn_speed_rate)
 
     #ifdef MOVE_DEBUG
     //调试输出向后左转状态
-    NeoSerial.print("#MOVE:   Move BackLeftward");
-    NeoSerial.print(" speed_rate: "); NeoSerial.print(speed_rate); NeoSerial.print(" turn_speed_rate: "); NeoSerial.println(turn_speed_rate);
+    NeoSerial.print(F("#MOVE:   Move BackLeftward"));
+    NeoSerial.print(F(" speed_rate: ")); NeoSerial.print(speed_rate); NeoSerial.print(F(" turn_speed_rate: ")); NeoSerial.println(turn_speed_rate);
     #endif
 }
 
@@ -223,8 +223,8 @@ void Move::BackRightward(float speed_rate, float turn_speed_rate)
 
     #ifdef MOVE_DEBUG
     //调试输出向后右转状态
-    NeoSerial.print("#MOVE:   Move BackRightward");
-    NeoSerial.print(" speed_rate: "); NeoSerial.print(speed_rate); NeoSerial.print(" turn_speed_rate: "); NeoSerial.println(turn_speed_rate);
+    NeoSerial.print(F("#MOVE:   Move BackRightward"));
+    NeoSerial.print(F(" speed_rate: ")); NeoSerial.print(speed_rate); NeoSerial.print(F(" turn_speed_rate: ")); NeoSerial.println(turn_speed_rate);
     #endif
 }
 
@@ -243,7 +243,7 @@ void Move::Stop(void)
 
     #ifdef MOVE_DEBUG
     //调试输出制动状态
-    NeoSerial.println("#MOVE:   Move Stop");
+    NeoSerial.println(F("#MOVE:   Move Stop"));
     #endif
 }
 
diff --git a/TaiChi/radioTaiChi.cpp b/TaiChi/radioTaiChi.cpp
index caa72cb..4168fbb 100644
--- a/TaiChi/radioTaiChi.cpp
+++ b/TaiChi/radioTaiChi.cpp
@@ -79,10 +79,10 @@ void Radio::Send(char* message, uint8_t send_type, uint8_t send_times)
     }
 
     #ifdef RADIO_DEBUG
-    NeoSerial.print("#RADIO:  SEND: ");
+    NeoSerial.print(F("#RADIO:  SEND: "));
     full_message[FULL_MESSAGE_SIZE - 1] = '\0';
     NeoSerial.print(full_message);
-    NeoSerial.print(" TIMES: ");
+    NeoSerial.print(F(" TIMES: "));
     NeoSerial.println(send_times);
     #endif
 
@@ -179,7 +179,7 @@ bool Radio::Receive(uint8_t ch, uint8_t status)
                     is_end_record = true;
                     
                     #ifdef RADIO_DEBUG
-                    NeoSerial.print("#RADIO:  RECEIVE: ");
+                    NeoSerial.print(F("#RADIO:  RECEIVE: "));
                     NeoSerial.println(message);
                     #endif
                     
@@ -188,7 +188,7 @@ bool Radio::Receive(uint8_t ch, uint8_t status)
                 else //位数校验失败
                 {
                     #ifdef RADIO_DEBUG
-                    NeoSerial.println("#RADIO:  RECEIVE CHECK FAIL!");
+                    NeoSerial.println(F("#RADIO:  RECEIVE CHECK FAIL!"));
                     #endif
                 }
             }
diff --git a/TaiChi/routeTaiChi.cpp b/TaiChi/routeTaiChi.cpp
index e1ed6fc..ea89b75 100644
--- a/TaiChi/routeTaiChi.cpp
+++ b/TaiChi/routeTaiChi.cpp
@@ -277,7 +277,7 @@ Point* Route::AddPoint(Point* front_point, int8_t x, int8_t y, uint8_t type, Poi
 void Route::InitBaseRoute(void)
 {
     //基本路径数组
-    int8_t base_route[][3] = 
+    const static int8_t base_route [][3] PROGMEM = 
     {
         {0, 0, NORMAL_POINT},
         {0, 1, NORMAL_POINT},
diff --git a/TaiChi/sensorTaiChi.cpp b/TaiChi/sensorTaiChi.cpp
index 6ff148e..cd59b7f 100644
--- a/TaiChi/sensorTaiChi.cpp
+++ b/TaiChi/sensorTaiChi.cpp
@@ -86,13 +86,13 @@ void Sensor::FlashGraySensor(uint8_t gray_sensor_num)
     //调试输出闪烁信息
     switch (gray_sensor_num)
     {
-    case GRAY_1: NeoSerial.println("#SENSOR: FLASH GRAY_1 NOW!"); break;
-    case GRAY_2: NeoSerial.println("#SENSOR: FLASH GRAY_2 NOW!"); break;
-    case GRAY_3: NeoSerial.println("#SENSOR: FLASH GRAY_3 NOW!"); break;
-    case GRAY_4: NeoSerial.println("#SENSOR: FLASH GRAY_4 NOW!"); break;
-    case GRAY_5: NeoSerial.println("#SENSOR: FLASH GRAY_5 NOW!"); break;
-    case GRAY_6: NeoSerial.println("#SENSOR: FLASH GRAY_6 NOW!"); break;
-    case GRAY_7: NeoSerial.println("#SENSOR: FLASH GRAY_7 NOW!");
+    case GRAY_1: NeoSerial.println(F("#SENSOR: FLASH GRAY_1 NOW!")); break;
+    case GRAY_2: NeoSerial.println(F("#SENSOR: FLASH GRAY_2 NOW!")); break;
+    case GRAY_3: NeoSerial.println(F("#SENSOR: FLASH GRAY_3 NOW!")); break;
+    case GRAY_4: NeoSerial.println(F("#SENSOR: FLASH GRAY_4 NOW!")); break;
+    case GRAY_5: NeoSerial.println(F("#SENSOR: FLASH GRAY_5 NOW!")); break;
+    case GRAY_6: NeoSerial.println(F("#SENSOR: FLASH GRAY_6 NOW!")); break;
+    case GRAY_7: NeoSerial.println(F("#SENSOR: FLASH GRAY_7 NOW!"));
     }
     #endif
 
@@ -125,17 +125,17 @@ bool Sensor::IsWhite(uint8_t gray_sensor_num)
     //调试输出灰度值
     switch (gray_sensor_num)
     {
-    case GRAY_1: NeoSerial.print("#SENSOR: GRAY_1 and gate_val: "); break;
-    case GRAY_2: NeoSerial.print("#SENSOR: GRAY_2 and gate_val: "); break;
-    case GRAY_3: NeoSerial.print("#SENSOR: GRAY_3 and gate_val: "); break;
-    case GRAY_4: NeoSerial.print("#SENSOR: GRAY_4 and gate_val: "); break;
-    case GRAY_5: NeoSerial.print("#SENSOR: GRAY_5 and gate_val: "); break;
-    case GRAY_6: NeoSerial.print("#SENSOR: GRAY_6 and gate_val: "); break;
-    case GRAY_7: NeoSerial.print("#SENSOR: GRAY_7 and gate_val: ");
+    case GRAY_1: NeoSerial.print(F("#SENSOR: GRAY_1 and gate_val: ")); break;
+    case GRAY_2: NeoSerial.print(F("#SENSOR: GRAY_2 and gate_val: ")); break;
+    case GRAY_3: NeoSerial.print(F("#SENSOR: GRAY_3 and gate_val: ")); break;
+    case GRAY_4: NeoSerial.print(F("#SENSOR: GRAY_4 and gate_val: ")); break;
+    case GRAY_5: NeoSerial.print(F("#SENSOR: GRAY_5 and gate_val: ")); break;
+    case GRAY_6: NeoSerial.print(F("#SENSOR: GRAY_6 and gate_val: ")); break;
+    case GRAY_7: NeoSerial.print(F("#SENSOR: GRAY_7 and gate_val: "));
     }
 
     NeoSerial.print(gray_val);
-    NeoSerial.print(" ");
+    NeoSerial.print(F(" "));
     NeoSerial.println(gray_gate);
     #endif
 
@@ -170,24 +170,24 @@ float Sensor::GrayDeviationRate(uint8_t gray_sensor_num)
     //调试输出灰度值
     switch (gray_sensor_num)
     {
-    case GRAY_1: NeoSerial.print("#SENSOR: GRAY_1 and gate_val: "); break;
-    case GRAY_2: NeoSerial.print("#SENSOR: GRAY_2 and gate_val: "); break;
-    case GRAY_3: NeoSerial.print("#SENSOR: GRAY_3 and gate_val: "); break;
-    case GRAY_4: NeoSerial.print("#SENSOR: GRAY_4 and gate_val: "); break;
-    case GRAY_5: NeoSerial.print("#SENSOR: GRAY_5 and gate_val: "); break;
-    case GRAY_6: NeoSerial.print("#SENSOR: GRAY_6 and gate_val: "); break;
-    case GRAY_7: NeoSerial.print("#SENSOR: GRAY_7 and gate_val: ");
+    case GRAY_1: NeoSerial.print(F("#SENSOR: GRAY_1 and gate_val: ")); break;
+    case GRAY_2: NeoSerial.print(F("#SENSOR: GRAY_2 and gate_val: ")); break;
+    case GRAY_3: NeoSerial.print(F("#SENSOR: GRAY_3 and gate_val: ")); break;
+    case GRAY_4: NeoSerial.print(F("#SENSOR: GRAY_4 and gate_val: ")); break;
+    case GRAY_5: NeoSerial.print(F("#SENSOR: GRAY_5 and gate_val: ")); break;
+    case GRAY_6: NeoSerial.print(F("#SENSOR: GRAY_6 and gate_val: ")); break;
+    case GRAY_7: NeoSerial.print(F("#SENSOR: GRAY_7 and gate_val: "));
     }
 
     NeoSerial.print(gray_val);
-    NeoSerial.print(" ");
+    NeoSerial.print(F(" "));
     NeoSerial.print(gray_gate);
     #endif
 
     deviarion_rate = (float)gray_val / gray_gate;
 
     #ifdef SENSOR_DEBUG
-    NeoSerial.print(" deviarion_rate: ");
+    NeoSerial.print(F(" deviarion_rate: "));
     NeoSerial.println(deviarion_rate);
     #endif
 
@@ -210,12 +210,12 @@ bool Sensor::IsPushed(uint8_t button_num)
     #ifdef SENSOR_DEBUG
     //调试输出按钮状态
     if (button_num == BUTTON_1)
-        NeoSerial.print("#SENSOR: BUTTON_1: ");
-    else NeoSerial.print("#SENSOR: BUTTON_2: ");
+        NeoSerial.print(F("#SENSOR: BUTTON_1: "));
+    else NeoSerial.print(F("#SENSOR: BUTTON_2: "));
 
     if (button_val == LOW)
-        NeoSerial.println("pushed");
-    else NeoSerial.println("released");
+        NeoSerial.println(F("pushed"));
+    else NeoSerial.println(F("released"));
     #endif    
 
     if (button_val == LOW)
@@ -235,7 +235,7 @@ void Sensor::StartHMC5883(void)
 
     #ifdef SENSOR_DEBUG
     //调试输出
-    NeoSerial.println("#SENSOR: Start HMC5883");
+    NeoSerial.println(F("#SENSOR: Start HMC5883"));
     #endif
 }
 
@@ -243,7 +243,7 @@ void Sensor::StartHMC5883(void)
 //返回朝向角
 float Sensor::GetAngle(void)
 {
-    long x, y, z;
+    long x = 0, y = 0, z = 0;
 
     Wire.beginTransmission(HMC5883_ADDRESS);
     Wire.write(0x03);
@@ -270,7 +270,7 @@ float Sensor::GetAngle(void)
     
     #ifdef SENSOR_DEBUG
     //调试输出朝向角
-    NeoSerial.print("#SENSOR: Angle Value: ");
+    NeoSerial.print(F("#SENSOR: Angle Value: "));
     NeoSerial.println(angle);  
     #endif
 
diff --git a/TaiChi/servoTaiChi.cpp b/TaiChi/servoTaiChi.cpp
index e5302fb..c3de9a0 100644
--- a/TaiChi/servoTaiChi.cpp
+++ b/TaiChi/servoTaiChi.cpp
@@ -45,9 +45,9 @@ void Servo::MoveServo(uint8_t servo_id, uint16_t position, uint16_t time)
 
     #ifdef SERVO_DEBUG
     //调试输出动作组执行信息
-    NeoSerial.print("#SERVO:  MoveServo: "); NeoSerial.print((int)servo_id); 
-    NeoSerial.print(" position: "); NeoSerial.print((int)position); 
-    NeoSerial.print(" time: "); NeoSerial.println((int)time);
+    NeoSerial.print(F("#SERVO:  MoveServo: ")); NeoSerial.print((int)servo_id); 
+    NeoSerial.print(F(" position: ")); NeoSerial.print((int)position); 
+    NeoSerial.print(F(" time: ")); NeoSerial.println((int)time);
     #endif
 }
 
@@ -70,7 +70,7 @@ void Servo::RunActionGroup(uint8_t action_num, uint16_t times)
 
     #ifdef SERVO_DEBUG
     //调试输出动作组执行信息
-    NeoSerial.print("#SERVO:  RunServoActionGroup: ");
+    NeoSerial.print(F("#SERVO:  RunServoActionGroup: "));
     NeoSerial.println((int)action_num);
     #endif
 }
@@ -89,7 +89,7 @@ void Servo::StopActionGroup(void)
 
     #ifdef SERVO_DEBUG
     //调试输出动作组停止信息
-    NeoSerial.println("#SERVO:  StopServoActionGroup");
+    NeoSerial.println(F("#SERVO:  StopServoActionGroup"));
     #endif
 }
 
@@ -112,9 +112,9 @@ void Servo::SetActionGroupSpeed(uint8_t action_num, float speed)
 
     #ifdef SERVO_DEBUG
     //调试输出动作组速度设定信息
-    NeoSerial.print("#SERVO:  SetServoActionGroupSpeed: ");
+    NeoSerial.print(F("#SERVO:  SetServoActionGroupSpeed: "));
     NeoSerial.print((int)action_num);
-    NeoSerial.print(" Speed: ");
+    NeoSerial.print(F(" Speed: "));
     NeoSerial.println(speed);
     #endif
 }