diff --git a/README.md b/README.md
index e0a981c..9716057 100644
--- a/README.md
+++ b/README.md
@@ -13,8 +13,8 @@
 * **PID** Control
 * Schematic
 * PCB Layout (*Now I'm watting for PCB*)
+* 使用PWM外接商品电调驱动无刷电机
 	* **Wi-Fi**(`ESP8266`)
-	* 使用PWM外接商品电调驱动无刷电机
 	* PCB Test
 	* PID debug
 	* Design **frame**
diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/key.h b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/key.h
new file mode 100644
index 0000000..42446d9
--- /dev/null
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/key.h
@@ -0,0 +1,10 @@
+#pragma once
+#ifndef _KEY_H
+#define _KEY_H
+void delay(volatile unsigned int count);
+#define KEY1 BIT_ADDR((GPIOC_BASE+8), 13)
+#define PAUSE() {while(KEY1);delay(200);}
+
+void Key_init();
+
+#endif
diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h
index c67107a..053aa55 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h
@@ -6,6 +6,9 @@
 #define MOTOR1 TIM3->CCR2
 #define MOTOR2 TIM3->CCR1
 
+#define MOTOR_MAX 27360
+#define MOTOR_MIN 10080
+
 void PWM_Init(unsigned short arr, unsigned short psc);  //72MHz / (arr + 1)*(psc + 1)
 
 
diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/key.c b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/key.c
new file mode 100644
index 0000000..910bce7
--- /dev/null
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/key.c
@@ -0,0 +1,8 @@
+#include "key.h"
+#include "stm32f10x.h"
+void Key_init() {
+    RCC->APB2ENR |= 1<<4;   //GPIOC
+    GPIOC->CRH &= 0xFF0FFFFF;   //Clean Pin 13
+    GPIOC->CRH |= 0x00800000;   //上拉输入
+    GPIOC->ODR |= 1<<13;
+}
diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c
index 39a71d3..b67dfd3 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c
@@ -14,7 +14,7 @@ void PWM_Init(unsigned short arr, unsigned short psc) {
     TIM3->ARR = arr - 1;
     TIM3->PSC = psc - 1;
 
-    TIM3->CCMR1 |= 7<<12;   //CH2 Set OC2M[2:0]: PWM Mode
+    TIM3->CCMR1 |= 6<<12;   //CH2 Set OC2M[2:0]: PWM Mode
     TIM3->CCMR1 |= 1<<11;   //CH2 Set OC2PF: Enable
     TIM3->CCMR1 |= 7<<4;    //CH1 Set OC2M[2:0]: PWM Mode
     TIM3->CCMR1 |= 1<<3;    //CH1 Set OC2PF: Enable
diff --git a/src/main.c b/src/main.c
index 8eeaa5b..5230591 100644
--- a/src/main.c
+++ b/src/main.c
@@ -5,7 +5,7 @@
 #include "motor.h"
 #include "uart.h"
 
-#include "wifi.h"
+#include "key.h"
 
 #define Kp      100.0f      //比例增益支配率(常量)
 #define Ki      0.002f      //积分增益支配率
@@ -30,16 +30,14 @@ void pid(float setPoint, float d) {
     if(g_sumErro > SUM_ERRO_MAX) g_sumErro = SUM_ERRO_MAX;  //积分限幅
     else if(g_sumErro < SUM_ERRO_MIN) g_sumErro = SUM_ERRO_MIN;
 
-    unsigned short resu = (short)(g_iErro * K_P + g_sumErro * K_I + d * K_D);  //PID输出
+    short resu = (short)(g_iErro * K_P + g_sumErro * K_I + d * K_D);  //PID输出
 
-    MOTOR1 += resu;
-    MOTOR2 -= resu;
 
-    if(MOTOR1 > 7199) MOTOR1 = 7199;
-    else if(MOTOR1 < 800) MOTOR1 = 800;
-
-    if(MOTOR2 > 7199) MOTOR2 = 7199;
-    else if(MOTOR2 < 800) MOTOR2 = 800;
+    if((MOTOR1 + resu) > MOTOR_MAX)
+        MOTOR1 = MOTOR_MAX;
+    else if((MOTOR1 + resu) < MOTOR_MIN)
+        MOTOR1 = MOTOR_MIN;
+    else MOTOR1 += resu;
 }
 
 //ms
@@ -100,11 +98,15 @@ void Comput(SixAxis cache) {
     g_Yaw = atan2(2 * (g_q1 * g_q2 + g_q0 * g_q3), g_q0*g_q0 + g_q1*g_q1 - g_q2*g_q2 - g_q3*g_q3) * 57.3;
 }
 
-
 int main() {
     initLED();
+    Key_init();
 
-    PWM_Init(7200,10);
+    PWM_Init(28800,5);
+    MOTOR1 = MOTOR_MAX;
+    PAUSE();
+    MOTOR1 = MOTOR_MIN;
+    PAUSE();
 
     uart_init(72, 115200);
 
@@ -112,14 +114,10 @@ int main() {
 
     SixAxis sourceData;
 
-    wifi_init();
 
-    MOTOR1 = 7190;
-    MOTOR2 = 7190;
 
-    delay(3000);
 
-    while(0) {
+    while(1) {
         MPU6050_getStructData(&sourceData);
         Comput(sourceData);