diff --git a/Core/Src/can.c b/Core/Src/can.c
index 1311a3c..2a96b47 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -38,7 +38,7 @@ void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 4;
+  hcan1.Init.Prescaler = 2;
   hcan1.Init.Mode = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth = CAN_SJW_2TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
@@ -46,7 +46,7 @@ void MX_CAN1_Init(void)
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = ENABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
diff --git a/Core/Src/f4_can_app.c b/Core/Src/f4_can_app.c
index cf97b2e..600b144 100644
--- a/Core/Src/f4_can_app.c
+++ b/Core/Src/f4_can_app.c
@@ -17,7 +17,7 @@ volatile uint32_t g_dbg_valid_accept = 0U;
 
 
 /* ================= 机器人底盘物理参数 ================= */
-#define WHEEL_RADIUS_M                    0.06f
+#define WHEEL_RADIUS_M                    0.04f
 #define WHEEL_TRACK_M                     0.30f
 #define PI_F                              3.14159265358979323846f
 
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 780edda..7b2873c 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -136,9 +136,9 @@ int main(void)
   MX_CAN1_Init();
   MX_UART4_Init();
   /* USER CODE BEGIN 2 */
-  FourWheel_LADRC_Init();
-  HAL_Delay(1000);
   CAN_App_Init();
+  FourWheel_LADRC_Init();
+
 
   /* 启动 10ms 硬实时控制节拍。 */
   if (HAL_TIM_Base_Start_IT(&htim6) != HAL_OK)
diff --git a/Core/Src/motor.c b/Core/Src/motor.c
index 5eebd31..1155c6a 100644
--- a/Core/Src/motor.c
+++ b/Core/Src/motor.c
@@ -261,9 +261,10 @@ void Motor_Update_RPM(float dt_s)
     s_last_count[MOTOR_RR] = curr_count_rr;
 
     /* 左侧输入镜像修正：让“车体前进”统一表现为正脉冲 / 正 RPM。 */
-    delta[MOTOR_FL] = (int16_t)(-delta[MOTOR_FL]);
-    delta[MOTOR_RL] = (int16_t)(-delta[MOTOR_RL]);
-
+    // delta[MOTOR_FL] = (int16_t)(-delta[MOTOR_FL]);
+    // delta[MOTOR_RL] = (int16_t)(-delta[MOTOR_RL]);
+    delta[MOTOR_FR] = (int16_t)(-delta[MOTOR_FR]);
+    delta[MOTOR_RR] = (int16_t)(-delta[MOTOR_RR]);
     /* 用 32 位内部累加，避免偶发高速度时 16 位回绕。 */
     s_odom_acc_ticks[MOTOR_FL] += delta[MOTOR_FL];
     s_odom_acc_ticks[MOTOR_RL] += delta[MOTOR_RL];
diff --git a/FDR-Core.ioc b/FDR-Core.ioc
index 1c15f2c..7fea9e1 100644
--- a/FDR-Core.ioc
+++ b/FDR-Core.ioc
@@ -5,11 +5,12 @@ CAD.provider=
 CAN1.ABOM=ENABLE
 CAN1.BS1=CAN_BS1_16TQ
 CAN1.BS2=CAN_BS2_4TQ
-CAN1.CalculateBaudRate=500000
-CAN1.CalculateTimeBit=2000
-CAN1.CalculateTimeQuantum=95.23809523809524
-CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,SJW,ABOM
-CAN1.Prescaler=4
+CAN1.CalculateBaudRate=1000000
+CAN1.CalculateTimeBit=1000
+CAN1.CalculateTimeQuantum=47.61904761904762
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,SJW,ABOM,NART
+CAN1.NART=ENABLE
+CAN1.Prescaler=2
 CAN1.SJW=CAN_SJW_2TQ
 File.Version=6
 GPIO.groupedBy=