调整了眯眼的坦克左右速度后续还需调整

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
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build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
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-#define PROJECT_VERSION_PATCH 9
+#define PROJECT_VERSION_PATCH 10
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 #define BUILD_TIMESTAMP ""
 #define BUILD_USER ""

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-/home/orangepi/recar/rematser/third_party/mosquitto/lib/cpp/mosquittopp.cpp:
-
 /usr/include/c++/11/cstdlib:
 
 /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h:
 
 /usr/include/aarch64-linux-gnu/bits/types/timer_t.h:
 
-/usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
+/usr/include/aarch64-linux-gnu/bits/types/clock_t.h:
 
-/usr/include/features.h:
+/usr/include/aarch64-linux-gnu/c++/11/bits/os_defines.h:
 
-/usr/include/aarch64-linux-gnu/bits/thread-shared-types.h:
+../third_party/mosquitto/lib/cpp/mosquittopp.h:
 
 /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
 
 /usr/include/aarch64-linux-gnu/bits/floatn-common.h:
 
+/usr/include/alloca.h:
+
 /usr/include/aarch64-linux-gnu/gnu/stubs.h:
 
 /usr/include/features-time64.h:
 
+/usr/include/features.h:
+
+/usr/include/aarch64-linux-gnu/bits/thread-shared-types.h:
+
+/usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
+
 /usr/include/aarch64-linux-gnu/bits/wordsize.h:
 
 /usr/include/aarch64-linux-gnu/bits/uintn-identity.h:
@@ -136,22 +143,10 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
 
 /usr/include/aarch64-linux-gnu/bits/struct_mutex.h:
 
-/usr/include/aarch64-linux-gnu/c++/11/bits/os_defines.h:
-
-/usr/include/aarch64-linux-gnu/bits/types/clock_t.h:
-
-/usr/include/aarch64-linux-gnu/bits/types/sigset_t.h:
-
-/usr/include/aarch64-linux-gnu/bits/stdint-uintn.h:
-
 /usr/include/aarch64-linux-gnu/bits/types/clockid_t.h:
 
 /usr/include/aarch64-linux-gnu/bits/types/time_t.h:
 
-/usr/include/alloca.h:
-
-/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto.h:
-
 /usr/include/endian.h:
 
 /usr/include/aarch64-linux-gnu/bits/endian.h:
@@ -194,6 +189,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
 
 /usr/include/aarch64-linux-gnu/bits/stdlib-float.h:
 
+../third_party/mosquitto/include/mosquitto.h:
+
 /usr/include/aarch64-linux-gnu/bits/waitflags.h:
 
 /usr/include/aarch64-linux-gnu/bits/wchar.h:

build/third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/compiler_depend.internal

@@ -3,9 +3,8 @@
 
 third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/mosquitto_message_timestamp.c.o
  /home/orangepi/recar/master/third_party/mosquitto/plugins/message-timestamp/mosquitto_message_timestamp.c
- /home/orangepi/recar/rematser/third_party/mosquitto/plugins/message-timestamp/mosquitto_message_timestamp.c
  /usr/include/stdc-predef.h
- /home/orangepi/recar/rematser/third_party/mosquitto/config.h
+ /home/orangepi/recar/master/third_party/mosquitto/config.h
  /usr/include/aarch64-linux-gnu/openssl/opensslconf.h
  /usr/include/aarch64-linux-gnu/openssl/configuration.h
  /usr/include/openssl/macros.h
@@ -50,14 +49,14 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
  /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h
  /usr/include/aarch64-linux-gnu/bits/types/locale_t.h
  /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h
- /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_broker.h
+ /home/orangepi/recar/master/third_party/mosquitto/include/mosquitto_broker.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h
  /usr/include/stdint.h
  /usr/include/aarch64-linux-gnu/bits/wchar.h
  /usr/include/aarch64-linux-gnu/bits/stdint-intn.h
  /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h
- /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_plugin.h
- /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto.h
- /home/orangepi/recar/rematser/third_party/mosquitto/include/mqtt_protocol.h
+ /home/orangepi/recar/master/third_party/mosquitto/include/mosquitto_plugin.h
+ /home/orangepi/recar/master/third_party/mosquitto/include/mosquitto.h
+ /home/orangepi/recar/master/third_party/mosquitto/include/mqtt_protocol.h
 

build/third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/compiler_depend.make

@@ -2,9 +2,8 @@
 # Generated by "Unix Makefiles" Generator, CMake Version 3.22
 
 third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/mosquitto_message_timestamp.c.o: ../third_party/mosquitto/plugins/message-timestamp/mosquitto_message_timestamp.c \
-  /home/orangepi/recar/rematser/third_party/mosquitto/plugins/message-timestamp/mosquitto_message_timestamp.c \
   /usr/include/stdc-predef.h \
-  /home/orangepi/recar/rematser/third_party/mosquitto/config.h \
+  ../third_party/mosquitto/config.h \
   /usr/include/aarch64-linux-gnu/openssl/opensslconf.h \
   /usr/include/aarch64-linux-gnu/openssl/configuration.h \
   /usr/include/openssl/macros.h \
@@ -49,21 +48,23 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
   /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \
   /usr/include/aarch64-linux-gnu/bits/types/locale_t.h \
   /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \
-  /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_broker.h \
+  ../third_party/mosquitto/include/mosquitto_broker.h \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h \
   /usr/include/stdint.h \
   /usr/include/aarch64-linux-gnu/bits/wchar.h \
   /usr/include/aarch64-linux-gnu/bits/stdint-intn.h \
   /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h \
-  /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_plugin.h \
-  /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto.h \
-  /home/orangepi/recar/rematser/third_party/mosquitto/include/mqtt_protocol.h
+  ../third_party/mosquitto/include/mosquitto_plugin.h \
+  ../third_party/mosquitto/include/mosquitto.h \
+  ../third_party/mosquitto/include/mqtt_protocol.h
 
 
-/home/orangepi/recar/rematser/third_party/mosquitto/include/mqtt_protocol.h:
+../third_party/mosquitto/include/mqtt_protocol.h:
 
-/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_plugin.h:
+../third_party/mosquitto/include/mosquitto.h:
+
+../third_party/mosquitto/include/mosquitto_plugin.h:
 
 /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h:
 
@@ -85,18 +86,12 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
 
 /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h:
 
-/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto.h:
-
 /usr/include/aarch64-linux-gnu/bits/stdint-intn.h:
 
 /usr/include/time.h:
 
-/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_broker.h:
-
 /usr/include/aarch64-linux-gnu/bits/floatn-common.h:
 
-/usr/include/aarch64-linux-gnu/bits/types/cookie_io_functions_t.h:
-
 /usr/include/aarch64-linux-gnu/bits/libc-header-start.h:
 
 /usr/include/features-time64.h:
@@ -115,15 +110,17 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
 
 /usr/include/aarch64-linux-gnu/bits/time64.h:
 
-/usr/include/aarch64-linux-gnu/bits/wordsize.h:
-
-/usr/include/aarch64-linux-gnu/openssl/opensslconf.h:
+/usr/include/openssl/opensslv.h:
 
 /usr/include/aarch64-linux-gnu/bits/stdio_lim.h:
 
 /usr/include/openssl/macros.h:
 
-/home/orangepi/recar/rematser/third_party/mosquitto/config.h:
+/usr/include/aarch64-linux-gnu/bits/wordsize.h:
+
+/usr/include/aarch64-linux-gnu/openssl/opensslconf.h:
+
+../third_party/mosquitto/config.h:
 
 /usr/include/stdc-predef.h:
 
@@ -131,9 +128,7 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
 
 /usr/include/aarch64-linux-gnu/bits/typesizes.h:
 
-/usr/include/openssl/opensslv.h:
-
-/home/orangepi/recar/rematser/third_party/mosquitto/plugins/message-timestamp/mosquitto_message_timestamp.c:
+/usr/include/aarch64-linux-gnu/bits/timesize.h:
 
 /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
 
@@ -143,8 +138,6 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
 
 ../third_party/mosquitto/plugins/message-timestamp/mosquitto_message_timestamp.c:
 
-/usr/include/aarch64-linux-gnu/bits/timesize.h:
-
 /usr/include/aarch64-linux-gnu/bits/timex.h:
 
 /usr/include/aarch64-linux-gnu/bits/long-double.h:
@@ -157,6 +150,8 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
 
 /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h:
 
+../third_party/mosquitto/include/mosquitto_broker.h:
+
 /usr/include/aarch64-linux-gnu/sys/cdefs.h:
 
 /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h:
@@ -176,3 +171,5 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
 /usr/include/aarch64-linux-gnu/bits/types/__FILE.h:
 
 /usr/include/aarch64-linux-gnu/bits/types/FILE.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/cookie_io_functions_t.h:

build/third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/compiler_depend.internal

@@ -3,7 +3,6 @@
 
 third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/mosquitto_payload_modification.c.o
  /home/orangepi/recar/master/third_party/mosquitto/plugins/payload-modification/mosquitto_payload_modification.c
- /home/orangepi/recar/rematser/third_party/mosquitto/plugins/payload-modification/mosquitto_payload_modification.c
  /usr/include/stdc-predef.h
  /usr/include/stdio.h
  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h
@@ -33,7 +32,7 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
  /usr/include/aarch64-linux-gnu/bits/types/locale_t.h
  /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h
  /usr/include/strings.h
- /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_broker.h
+ /home/orangepi/recar/master/third_party/mosquitto/include/mosquitto_broker.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h
  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h
  /usr/include/stdint.h
@@ -51,7 +50,7 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
  /usr/include/aarch64-linux-gnu/bits/types/clockid_t.h
  /usr/include/aarch64-linux-gnu/bits/types/timer_t.h
  /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h
- /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_plugin.h
- /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto.h
- /home/orangepi/recar/rematser/third_party/mosquitto/include/mqtt_protocol.h
+ /home/orangepi/recar/master/third_party/mosquitto/include/mosquitto_plugin.h
+ /home/orangepi/recar/master/third_party/mosquitto/include/mosquitto.h
+ /home/orangepi/recar/master/third_party/mosquitto/include/mqtt_protocol.h
 

build/third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/compiler_depend.make

@@ -2,7 +2,6 @@
 # Generated by "Unix Makefiles" Generator, CMake Version 3.22
 
 third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/mosquitto_payload_modification.c.o: ../third_party/mosquitto/plugins/payload-modification/mosquitto_payload_modification.c \
-  /home/orangepi/recar/rematser/third_party/mosquitto/plugins/payload-modification/mosquitto_payload_modification.c \
   /usr/include/stdc-predef.h \
   /usr/include/stdio.h \
   /usr/include/aarch64-linux-gnu/bits/libc-header-start.h \
@@ -32,7 +31,7 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
   /usr/include/aarch64-linux-gnu/bits/types/locale_t.h \
   /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \
   /usr/include/strings.h \
-  /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_broker.h \
+  ../third_party/mosquitto/include/mosquitto_broker.h \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
   /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h \
   /usr/include/stdint.h \
@@ -50,14 +49,16 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
   /usr/include/aarch64-linux-gnu/bits/types/clockid_t.h \
   /usr/include/aarch64-linux-gnu/bits/types/timer_t.h \
   /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \
-  /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_plugin.h \
-  /home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto.h \
-  /home/orangepi/recar/rematser/third_party/mosquitto/include/mqtt_protocol.h
+  ../third_party/mosquitto/include/mosquitto_plugin.h \
+  ../third_party/mosquitto/include/mosquitto.h \
+  ../third_party/mosquitto/include/mqtt_protocol.h
 
 
-/home/orangepi/recar/rematser/third_party/mosquitto/include/mqtt_protocol.h:
+../third_party/mosquitto/include/mqtt_protocol.h:
 
-/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_plugin.h:
+../third_party/mosquitto/include/mosquitto.h:
+
+../third_party/mosquitto/include/mosquitto_plugin.h:
 
 /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h:
 
@@ -71,8 +72,6 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
 
 /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h:
 
-/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto.h:
-
 /usr/include/time.h:
 
 /usr/include/aarch64-linux-gnu/bits/stdint-intn.h:
@@ -85,7 +84,13 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
 
 /usr/include/strings.h:
 
-/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
+/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h:
+
+../third_party/mosquitto/include/mosquitto_broker.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h:
+
+/usr/include/aarch64-linux-gnu/sys/cdefs.h:
 
 /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
 
@@ -101,10 +106,14 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
 
 /usr/include/aarch64-linux-gnu/bits/long-double.h:
 
-/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_broker.h:
-
 /usr/include/aarch64-linux-gnu/bits/floatn-common.h:
 
+/usr/include/aarch64-linux-gnu/bits/types/timer_t.h:
+
+/usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h:
+
+/usr/include/stdio.h:
+
 /usr/include/aarch64-linux-gnu/bits/timesize.h:
 
 /usr/include/stdc-predef.h:
@@ -115,8 +124,6 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
 
 /usr/include/aarch64-linux-gnu/bits/stdio_lim.h:
 
-/home/orangepi/recar/rematser/third_party/mosquitto/plugins/payload-modification/mosquitto_payload_modification.c:
-
 /usr/include/aarch64-linux-gnu/bits/wordsize.h:
 
 /usr/include/aarch64-linux-gnu/bits/types/locale_t.h:
@@ -127,18 +134,6 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
 
 /usr/include/string.h:
 
-/usr/include/aarch64-linux-gnu/bits/types/timer_t.h:
-
-/usr/include/stdio.h:
-
-/usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h:
-
-/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h:
-
-/usr/include/aarch64-linux-gnu/sys/cdefs.h:
-
-/usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h:
-
 /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h:
 
 /usr/include/aarch64-linux-gnu/bits/types/struct_tm.h:
@@ -155,6 +150,8 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
 
 /usr/include/aarch64-linux-gnu/bits/types/FILE.h:
 
+/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
+
 /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h:
 
 /usr/include/aarch64-linux-gnu/bits/floatn.h:

drivers/devicecontrol/tank0202_control.c

@@ -93,9 +93,9 @@ void mode_right_flont(unsigned char gval) {
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
 	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_CHANGE, 78);
+		pwmWrite(PWM_PIN_CHANGE, 80);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_CHANGE, 79);
+		pwmWrite(PWM_PIN_CHANGE, 80);
 	} else if (gval <= 65) {
 		pwmWrite(PWM_PIN_CHANGE, 80);
 	} else if (gval <= 70) {
@@ -133,19 +133,19 @@ void mode_right_back(unsigned char gval) {
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
 	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_CHANGE, 71);
+		pwmWrite(PWM_PIN_CHANGE, 70);
 	} else if (gval <= 60) {
 		pwmWrite(PWM_PIN_CHANGE, 70);
 	} else if (gval <= 65) {
 		pwmWrite(PWM_PIN_CHANGE, 70);
 	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_CHANGE, 70);
-	} else if (gval <= 75) {
 		pwmWrite(PWM_PIN_CHANGE, 69);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_CHANGE, 68);
 	} else if (gval <= 90) {
 		pwmWrite(PWM_PIN_CHANGE, 68);
 	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_CHANGE, 68);
+		pwmWrite(PWM_PIN_CHANGE, 67);
 	} else if (gval <= 110) {
 		pwmWrite(PWM_PIN_CHANGE, 66);
 	} else if (gval <= 120) {
@@ -186,11 +186,11 @@ void   tank0202_change(unsigned char *buf) {
 	if((mode == 1||mode ==2)&&val == 0) g_modecount_tank0202=0;
 
 	if(mode == 3) {
-        if(g_modecount_tank0202 == 0) mode_lift_back(val+15);
-        if(g_modecount_tank0202 == 1) mode_lift_flont(val+15);
+        if(g_modecount_tank0202 == 0) mode_lift_back(val+40);
+        if(g_modecount_tank0202 == 1) mode_lift_flont(val+40);
     }else if(mode == 4) {
-        if(g_modecount_tank0202 == 0) mode_lift_flont(val+15);
-        if(g_modecount_tank0202 == 1) mode_lift_back(val+15);
+        if(g_modecount_tank0202 == 0) mode_lift_flont(val+40);
+        if(g_modecount_tank0202 == 1) mode_lift_back(val+40);
     }
     
 }

drivers/devicecontrol/tank0203_control.c

@@ -82,12 +82,12 @@ void  tank0203_change(unsigned char *buf) {
 	static int tank0203_index =0;
 
     if(mode == 1 ) {
-        tank0203_mode_lift_flont(val);
-        tank0203_mode_right_flont(val);
+        tank0203_mode_lift_flont(val+10);
+        tank0203_mode_right_flont(val+10);
 		modecount_tank0203=0;
     }else if(mode == 2 ) {
-        tank0203_mode_lift_back(val);
-        tank0203_mode_right_back(val);
+        tank0203_mode_lift_back(val+10);
+        tank0203_mode_right_back(val+10);
 		modecount_tank0203=1;	
     }
 	if((mode == 1||mode == 2)&&val == 0) {
@@ -103,16 +103,16 @@ void  tank0203_change(unsigned char *buf) {
 				tank0203_mode_lift_flont(0);
 			}
 			else {
-				tank0203_mode_lift_back(val+30);
-				tank0203_mode_right_flont(val+30);
+				tank0203_mode_lift_back(val+40);
+				tank0203_mode_right_flont(val+40);
 			}
 		}
 		if(modecount_tank0203 == 1) {
 			if(tank0203_index == 1) {
 				tank0203_mode_lift_back(0);
 			}else {
-				tank0203_mode_lift_back(val+30);
-				tank0203_mode_right_flont(val+30);
+				tank0203_mode_lift_back(val+40);
+				tank0203_mode_right_flont(val+40);
 			}
 		}
 
@@ -122,8 +122,8 @@ void  tank0203_change(unsigned char *buf) {
 				tank0203_mode_right_back(0);
 			}
 			else {
-				tank0203_mode_lift_flont(val+30);
-				tank0203_mode_right_back(val+30);
+				tank0203_mode_lift_flont(val+40);
+				tank0203_mode_right_back(val+40);
 			}
 		}
 		if(modecount_tank0203 == 0) {
@@ -131,8 +131,8 @@ void  tank0203_change(unsigned char *buf) {
 				tank0203_mode_right_flont(0);
 			}
 			else {
-				tank0203_mode_lift_flont(val+30);
-				tank0203_mode_right_back(val+30);
+				tank0203_mode_lift_flont(val+40);
+				tank0203_mode_right_back(val+40);
 			}
 		}