diff --git a/CAR.ioc b/CAR.ioc
index 193dc86..4e36b4b 100644
--- a/CAR.ioc
+++ b/CAR.ioc
@@ -3,7 +3,8 @@ CAD.formats=
 CAD.pinconfig=
 CAD.provider=
 Dma.Request0=USART2_RX
-Dma.RequestsNb=1
+Dma.Request1=USART2_TX
+Dma.RequestsNb=2
 Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.USART2_RX.0.Instance=DMA1_Channel6
 Dma.USART2_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
@@ -13,6 +14,15 @@ Dma.USART2_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART2_RX.0.PeriphInc=DMA_PINC_DISABLE
 Dma.USART2_RX.0.Priority=DMA_PRIORITY_HIGH
 Dma.USART2_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+Dma.USART2_TX.1.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART2_TX.1.Instance=DMA1_Channel7
+Dma.USART2_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART2_TX.1.MemInc=DMA_MINC_ENABLE
+Dma.USART2_TX.1.Mode=DMA_NORMAL
+Dma.USART2_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART2_TX.1.PeriphInc=DMA_PINC_DISABLE
+Dma.USART2_TX.1.Priority=DMA_PRIORITY_MEDIUM
+Dma.USART2_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@@ -72,6 +82,7 @@ MxCube.Version=6.12.0
 MxDb.Version=DB.6.0.120
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.DMA1_Channel6_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
+NVIC.DMA1_Channel7_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.EXTI15_10_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=false
diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h
index bd67008..a4550ab 100644
--- a/Core/Inc/stm32f1xx_it.h
+++ b/Core/Inc/stm32f1xx_it.h
@@ -56,6 +56,7 @@ void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
 void DMA1_Channel6_IRQHandler(void);
+void DMA1_Channel7_IRQHandler(void);
 void TIM2_IRQHandler(void);
 void TIM4_IRQHandler(void);
 void USART1_IRQHandler(void);
diff --git a/Core/Src/dma.c b/Core/Src/dma.c
index f3db5b2..823f15d 100644
--- a/Core/Src/dma.c
+++ b/Core/Src/dma.c
@@ -46,6 +46,9 @@ void MX_DMA_Init(void)
   /* DMA1_Channel6_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 3, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
+  /* DMA1_Channel7_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);
 
 }
 
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index 1c3f5e6..d1c75b9 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -58,6 +58,7 @@
 extern TIM_HandleTypeDef htim2;
 extern TIM_HandleTypeDef htim4;
 extern DMA_HandleTypeDef hdma_usart2_rx;
+extern DMA_HandleTypeDef hdma_usart2_tx;
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
 /* USER CODE BEGIN EV */
@@ -216,6 +217,20 @@ void DMA1_Channel6_IRQHandler(void)
   /* USER CODE END DMA1_Channel6_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA1 channel7 global interrupt.
+  */
+void DMA1_Channel7_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel7_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel7_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart2_tx);
+  /* USER CODE BEGIN DMA1_Channel7_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel7_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM2 global interrupt.
   */
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index f0a8fb1..051cc8a 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -27,6 +27,7 @@
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
 DMA_HandleTypeDef hdma_usart2_rx;
+DMA_HandleTypeDef hdma_usart2_tx;
 
 /* USART1 init function */
 
@@ -161,6 +162,22 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 
     __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
 
+    /* USART2_TX Init */
+    hdma_usart2_tx.Instance = DMA1_Channel7;
+    hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart2_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart2_tx.Init.Priority = DMA_PRIORITY_MEDIUM;
+    if (HAL_DMA_Init(&hdma_usart2_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
+
     /* USART2 interrupt Init */
     HAL_NVIC_SetPriority(USART2_IRQn, 3, 0);
     HAL_NVIC_EnableIRQ(USART2_IRQn);
@@ -209,6 +226,7 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
     /* USART2 DMA DeInit */
     HAL_DMA_DeInit(uartHandle->hdmarx);
+    HAL_DMA_DeInit(uartHandle->hdmatx);
 
     /* USART2 interrupt Deinit */
     HAL_NVIC_DisableIRQ(USART2_IRQn);
diff --git a/Peripheral/Inc/bluetooth.h b/Peripheral/Inc/bluetooth.h
index 856f8af..59b15c7 100644
--- a/Peripheral/Inc/bluetooth.h
+++ b/Peripheral/Inc/bluetooth.h
@@ -4,5 +4,6 @@
 #include "main.h"
 
 void BLUETOOTH_Init(void);
+void BLUETOOTH_Send(const char *str, ...);
 
 #endif
diff --git a/Peripheral/Inc/control.h b/Peripheral/Inc/control.h
index 24c2799..926a45c 100644
--- a/Peripheral/Inc/control.h
+++ b/Peripheral/Inc/control.h
@@ -15,6 +15,7 @@
 extern uint8_t mode;
 
 void CONTROL_CommonCmd(uint8_t type, uint8_t state);
+void CONTROL_Servo(uint8_t degree);
 void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b);
 void CONTROL_Mode(uint8_t new_mode, uint8_t state);
 
diff --git a/Peripheral/Src/bluetooth.c b/Peripheral/Src/bluetooth.c
index 5ec1d50..04913c9 100644
--- a/Peripheral/Src/bluetooth.c
+++ b/Peripheral/Src/bluetooth.c
@@ -1,33 +1,50 @@
 #include "bluetooth.h"
 #include "usart.h"
 #include "control.h"
+#include "line_seek.h"
+#include "infrared.h"
+#include "hcsr04.h"
+#include "timer.h"
 #include <stdio.h>
 #include <string.h>
-#include "syscalls.h"
+#include <stdarg.h>
+#include <math.h>
 
-#define BUFFER_SIZE 100
+#define BUFFER_SIZE 255
 #define MESSAGE_SIZE 19
 #define CMD_NUM 9
 
-static int8_t rxBuffer[BUFFER_SIZE], txBuffer[10000];
+static int8_t rxBuffer[BUFFER_SIZE], txBuffer[BUFFER_SIZE];
 static uint16_t txLen;
 static uint8_t cmdIndex;
 
+void sendSensor(void)
+{
+    static uint8_t line_seek[5];
+    strcpy(line_seek, LineSeek_GetStatusStr());
+    for (uint8_t i = 0; i < 5; ++i)
+        line_seek[i] ^= 1;
+    BLUETOOTH_Send("$4WD,CSB%u,PV-,GS-,LF%s,HW%hhu%hhu,GM-#",
+                   (uint32_t)round((double)sonor_distance / 10),
+                   line_seek,
+                   !INFRARED_GetL(),
+                   !INFRARED_GetR());
+}
+
 void BLUETOOTH_Init(void)
 {
     HAL_UARTEx_ReceiveToIdle_IT(&huart2, rxBuffer, 100);
-    // HAL_UART_Receive_IT(&huart2, txBuffer + txLen, 1);
+    TIMER_AddLoopEvent(EVENT_BLUETOOTH, sendSensor, 200);
 }
 
-// void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
-// {
-//     if (huart == &huart2)
-//     {
-//         ++txLen;
-//         if (txLen == 10000)
-//             txLen = 0;
-//     }
-// }
+void BLUETOOTH_Send(const char *str, ...)
+{
+    va_list args;
+    va_start(args, str);
+    vsprintf(txBuffer, str, args);
+    va_end(args);
+    HAL_UART_Transmit_DMA(&huart2, txBuffer, strlen(txBuffer));
+}
 
 void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 {
@@ -65,6 +82,8 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
                     break;
                     // 舵机云台
                 case 'P':
+                    sscanf(rxBuffer + 5, "%*3s%hu", num);
+                    CONTROL_Servo(180 - num[0]);
                     break;
                     // 七彩灯
                 case 'C':
@@ -73,15 +92,6 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
                     break;
                 }
         }
-        // my_printf(&huart2, rxBuffer);
-        // strcpy(txBuffer + txLen, rxBuffer);
-        // if (txLen + Size >= 9999)
-        //     txLen = 0;
-        // else
-        //     txLen += Size;
-        // txBuffer[txLen] = '\0';
-        // if (strcmp(rxBuffer, "$send#") == 0)
-        //     my_printf(&huart2, txBuffer);
         BLUETOOTH_Init();
     }
 }
diff --git a/Peripheral/Src/control.c b/Peripheral/Src/control.c
index e5afd94..4932216 100644
--- a/Peripheral/Src/control.c
+++ b/Peripheral/Src/control.c
@@ -2,16 +2,18 @@
 #include "hcsr04.h"
 #include "led.h"
 #include "motor.h"
+#include "buzzer.h"
+#include "servo.h"
 
 #define CMD_MOVE 0
 #define CMD_ROTATE 1
 #define CMD_BUZZER 2
 #define CMD_SPEED 3
-// #define CMD_SHAKE 4
+#define CMD_SERVO 4
 // #define CMD_SING 5
 #define CMD_LED 6
 // #define CMD_FIRE 7
-// #define CMD_SERVO 8
+#define CMD_SERVO_RESET 8
 
 // 小车默认速度
 static int8_t speed = 20;
@@ -21,11 +23,10 @@ void carMove(uint8_t state);
 void carSpin(uint8_t state);
 void callBuzzer(uint8_t state);
 void setSpeed(uint8_t state);
-// void shake(uint8_t state);
+void setServo(uint8_t state);
 // void sing(uint8_t state);
 void setLed(uint8_t state);
 // void fire(uint8_t state);
-// void servo(uint8_t state);
 
 void CONTROL_CommonCmd(uint8_t type, uint8_t state)
 {
@@ -43,21 +44,28 @@ void CONTROL_CommonCmd(uint8_t type, uint8_t state)
     case CMD_SPEED:
         setSpeed(state);
         break;
-    // case CMD_SHAKE:
-    //     break;
+    case CMD_SERVO:
+        setServo(state);
+        break;
     // case CMD_SING:
     //     break;
     case CMD_LED:
         setLed(state);
         break;
-        // case CMD_FIRE:
-        //     break;
-        // case CMD_SERVO:
-        //     break;
+    // case CMD_FIRE:
+    //     break;
+    case CMD_SERVO_RESET:
+        SERVO_Init();
+        break;
     }
 }
 
-void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b)
+inline void CONTROL_Servo(uint8_t degree)
+{
+    SERVO_Rotate(degree);
+}
+
+inline void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b)
 {
     LED_Start(LED_ALL);
     LED_SetDuty(r, g, b);
@@ -121,7 +129,7 @@ void carMove(uint8_t state)
     }
 }
 
-void carSpin(uint8_t state)
+inline void carSpin(uint8_t state)
 {
     if (state == 1)
         MOTOR_SetDuty(speed, -speed);
@@ -129,11 +137,9 @@ void carSpin(uint8_t state)
         MOTOR_SetDuty(-speed, speed);
 }
 
-void callBuzzer(uint8_t state)
+inline void callBuzzer(uint8_t state)
 {
-    HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
-    HAL_Delay(200);
-    HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
+    BUZZER_StartTimed(5);
 }
 
 void setSpeed(uint8_t state)
@@ -148,6 +154,14 @@ void setSpeed(uint8_t state)
         speed = 20;
 }
 
+void setServo(uint8_t state)
+{
+    if (state == 1)
+        SERVO_Rotate(180);
+    else if (state == 2)
+        SERVO_Rotate(0);
+}
+
 void setLed(uint8_t state)
 {
     LED_Start(LED_ALL);
diff --git a/Peripheral/Src/hcsr04.c b/Peripheral/Src/hcsr04.c
index d8df96a..f46e603 100644
--- a/Peripheral/Src/hcsr04.c
+++ b/Peripheral/Src/hcsr04.c
@@ -66,6 +66,6 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 // 测距完毕回调，执行完自定义任务后将sonor_state置0
 __attribute__((weak)) void Sonar_CP_Callback()
 {
-    my_printf(HUART2, "distance = %d (mm)\n", sonor_distance);
+    my_printf(HUART1, "distance = %d (mm)\n", sonor_distance);
     sonor_state = 0;
 }
diff --git a/Service/Inc/timer.h b/Service/Inc/timer.h
index 79c38af..9e31a2f 100644
--- a/Service/Inc/timer.h
+++ b/Service/Inc/timer.h
@@ -5,7 +5,7 @@
 
 #define EVENT_LED 0
 #define EVENT_BUZZER 1
-#define EVENT_HCSR04 2
+#define EVENT_BLUETOOTH 2
 #define EVENT_SERVO 3
 #define EVENT_MAX 4
 
diff --git a/Service/Src/timer.c b/Service/Src/timer.c
index 1bd0e91..ecec7f7 100644
--- a/Service/Src/timer.c
+++ b/Service/Src/timer.c
@@ -38,6 +38,7 @@ void TIMER_AddLoopEvent(uint8_t type, void (*func)(void), uint16_t loop_time)
 void TIMER_DelLoopEvent(uint8_t type)
 {
     event[type].enabled = 0;
+    time_lcm /= event[type].time;
 }
 
 void TIMER_Count(void)