diff --git a/App/Src/app_line_seek.c b/App/Src/app_line_seek.c
index 4d99641..5e1e5ae 100644
--- a/App/Src/app_line_seek.c
+++ b/App/Src/app_line_seek.c
@@ -44,7 +44,7 @@ void LINESEEK_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim)
 
     if (beep_time++ > 100)
     {
-        buzzer(0);
+        HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
     }
 }
 
@@ -255,7 +255,7 @@ void Hanlde_Crossroad(void)
     }
 
     beep_time = 0;
-    buzzer(1);
+    HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
     // state = MOVE_STRAIGHT;
     // buzzer(1);
     // HAL_Delay(50);
diff --git a/App/Src/app_ultrasonic.c b/App/Src/app_ultrasonic.c
index 724a251..2a2e5c2 100644
--- a/App/Src/app_ultrasonic.c
+++ b/App/Src/app_ultrasonic.c
@@ -3,6 +3,7 @@
 #include "hcsr04.h"
 #include "main.h"
 #include "led.h"
+#include "path_plan.h"
 
 #define BLOCK_DISTANCE 150
 
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index afa8e32..d01cff8 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -106,10 +106,6 @@ void Error_Handler(void);
 /* USER CODE BEGIN Private defines */
 #define LOW  (0)
 #define HIGH (1)
-#define LEFT (0)
-#define STRAIGHT (1)
-#define RIGHT (2)
-#define STOP (3)
 /* USER CODE END Private defines */
 
 #ifdef __cplusplus
diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h
index 3f1ab9b..64ba1a0 100644
--- a/Core/Inc/stm32f1xx_it.h
+++ b/Core/Inc/stm32f1xx_it.h
@@ -57,9 +57,9 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 void DMA1_Channel6_IRQHandler(void);
 void TIM2_IRQHandler(void);
-void USART1_IRQHandler(void);
 void TIM3_IRQHandler(void);
 void TIM4_IRQHandler(void);
+void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
 /* USER CODE BEGIN EFP */
diff --git a/Core/Src/main.c b/Core/Src/main.c
index de33485..883b377 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -102,11 +102,12 @@ int main(void)
     MX_GPIO_Init();
     MX_DMA_Init();
     MX_I2C2_Init();
+    MX_TIM1_Init();
     MX_TIM2_Init();
     MX_TIM3_Init();
     MX_TIM4_Init();
-    // MX_USART2_UART_Init();
     MX_USART1_UART_Init();
+    // MX_USART2_UART_Init();
 
     /* USER CODE BEGIN 2 */
     HC_SR04_Init();
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index 748479e..fb7ced6 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -1,20 +1,20 @@
 /* USER CODE BEGIN Header */
 /**
-  ******************************************************************************
-  * @file    stm32f1xx_it.c
-  * @brief   Interrupt Service Routines.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2024 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * @file    stm32f1xx_it.c
+ * @brief   Interrupt Service Routines.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
 /* USER CODE END Header */
 
 /* Includes ------------------------------------------------------------------*/
@@ -77,9 +77,9 @@ void NMI_Handler(void)
 
   /* USER CODE END NonMaskableInt_IRQn 0 */
   /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
-   while (1)
-  {
-  }
+    while (1)
+    {
+    }
   /* USER CODE END NonMaskableInt_IRQn 1 */
 }
 
@@ -232,17 +232,6 @@ void TIM2_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles USART1 global interrupt.
-  */
-void USART1_IRQHandler(void)
-{
-  /* USER CODE BEGIN USART1_IRQn 0 */
-
-  /* USER CODE END USART1_IRQn 0 */
-  HAL_UART_IRQHandler(&huart1);
-  /* USER CODE BEGIN USART1_IRQn 1 */
-
-  /* USER CODE END USART1_IRQn 1 */
   * @brief This function handles TIM3 global interrupt.
   */
 void TIM3_IRQHandler(void)
@@ -270,6 +259,20 @@ void TIM4_IRQHandler(void)
   /* USER CODE END TIM4_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+
+  /* USER CODE END USART1_IRQn 0 */
+  HAL_UART_IRQHandler(&huart1);
+  /* USER CODE BEGIN USART1_IRQn 1 */
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
 /**
   * @brief This function handles USART2 global interrupt.
   */
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index a263420..72c4bcd 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -218,7 +218,7 @@ void MX_TIM4_Init(void)
   htim4.Instance = TIM4;
   htim4.Init.Prescaler = 720 - 1;
   htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = 100; 
+  htim4.Init.Period = 100;
   htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
   if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
diff --git a/Makefile b/Makefile
index fe629d7..3b62267 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Tue Jul 16 20:05:56 CST 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Wed Jul 17 21:44:09 CST 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------
@@ -62,14 +62,18 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c \
 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \
 Core/Src/system_stm32f1xx.c \
 Core/Src/sysmem.c \
-User/Src/hcsr04.c \
-User/Src/motor.c \
-User/Src/led.c \
-User/Src/bluetooth.c \
-User/Src/control.c \
-User/Src/line_seek.c \
-User/Src/path_plan.c \
-App/Src/app_line_seek.c
+Peripheral/Src/hcsr04.c \
+Peripheral/Src/motor.c \
+Peripheral/Src/led.c \
+Peripheral/Src/bluetooth.c \
+Peripheral/Src/control.c \
+Peripheral/Src/line_seek.c \
+Peripheral/Src/path_plan.c \
+Peripheral/Src/servo.c \
+Peripheral/Src/infrared.c \
+App/Src/app_line_seek.c \
+App/Src/app_ultrasonic.c
+
 
 # ASM sources
 ASM_SOURCES =  \
@@ -130,7 +134,7 @@ AS_INCLUDES =
 # C includes
 C_INCLUDES =  \
 -ICore/Inc \
--IUser/Inc \
+-IPeripheral/Inc \
 -IApp/Inc \
 -IDrivers/STM32F1xx_HAL_Driver/Inc \
 -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy \
diff --git a/Peripheral/Src/control.c b/Peripheral/Src/control.c
index 9765e99..e5afd94 100644
--- a/Peripheral/Src/control.c
+++ b/Peripheral/Src/control.c
@@ -78,7 +78,7 @@ void CONTROL_Mode(uint8_t new_mode, uint8_t state)
         case MODE_REMOTE:
             speed = 20;
             MOTOR_SetDuty(speed, speed);
-            MOTOR_Start();
+            MOTOR_Init();
             break;
         case MODE_PATROL:
             break;
@@ -98,7 +98,7 @@ void carMove(uint8_t state)
         MOTOR_Stop();
     else
     {
-        MOTOR_Start();
+        MOTOR_Init();
         switch (state)
         {
             // 前进
diff --git a/User/Inc/path_plan.h b/User/Inc/path_plan.h
deleted file mode 100644
index 3cb03cd..0000000
--- a/User/Inc/path_plan.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#ifndef __PATH_PLAN_H
-#define __PATH_PLAN_H
-
-// 定义方向枚举
-typedef enum
-{
-    STRAIGHT,
-    LEFT,
-    RIGHT,
-    STOP
-} Direction;
-
-// 定义路径规划器结构
-typedef struct
-{
-    int currentStep;
-    Direction* path;
-    int pathLength;
-} PathPlanner;
-
-// 全局路径规划器
-extern PathPlanner pathPlanner;
-
-void PathPlanner_Init();
-Direction GetCurrentDirection();
-Direction GetNextDirection();
-void AddPathStep(Direction step);
-
-#endif