diff --git a/.clang-format b/.clang-format
index 14166ef..9eb5c34 100644
--- a/.clang-format
+++ b/.clang-format
@@ -34,8 +34,8 @@ AllowShortLoopsOnASingleLine: true
 AlwaysBreakAfterReturnType: None
 AlwaysBreakBeforeMultilineStrings: true
 AlwaysBreakTemplateDeclarations: Yes
-BinPackArguments: false 
-BinPackParameters: false
+BinPackArguments: true
+BinPackParameters: true
 BitFieldColonSpacing: Both
 BreakBeforeBraces: Custom
 BraceWrapping:
@@ -59,7 +59,7 @@ BreakConstructorInitializersBeforeComma: false
 BreakInheritanceList: AfterComma
 BreakBeforeTernaryOperators: true
 BreakStringLiterals: true
-ColumnLimit: 132
+ColumnLimit: 100
 CommentPragmas: "^ IWYU pragma:"
 CompactNamespaces: true
 ConstructorInitializerIndentWidth: 4
@@ -156,3 +156,4 @@ SpacesInSquareBrackets: false
 Standard: Auto
 TabWidth: 4
 UseTab: Always
+
diff --git a/.clang-tidy b/.clang-tidy
index 7238975..f27c521 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -1,4 +1,5 @@
-Checks: '-*,
+
+Checks: '-*,
     misc-throw-by-value-catch-by-reference,
     misc-misplaced-const,
     misc-unconventional-assign-operator,
@@ -39,7 +40,7 @@
     readability-deleted-default,
     readability-make-member-function-const,
     readability-misplaced-array-index,
-    readability-non-const-parameter,
+    <!-- readability-non-const-parameter, -->
     readability-qualified-auto,
     readability-redundant-access-specifiers,
     readability-redundant-control-flow,
@@ -156,9 +157,9 @@ WarningsAsErrors: '*'
 
 CheckOptions:
   - key: readability-identifier-naming.ClassCase
-    value: camelCase
+    value: CamelCase
   - key: readability-identifier-naming.EnumCase
-    value: camelBack
+    value: CamelCase
   - key: readability-identifier-naming.LocalVariableCase
     value: camelBack
   - key: readability-identifier-naming.StaticConstantCase
@@ -171,16 +172,15 @@ CheckOptions:
     value: ''
   - key: readability-identifier-naming.ProtectedMemberPrefix
     value: ''
-  - key: readability-identifier-naming.GlobalVariablePrefix
-    value: g
+
   - key: readability-identifier-naming.GlobalConstantCase
-    value: camelBack
+    value: UPPER_CASE
   - key: readability-identifier-naming.GlobalConstantPrefix
     value: ''
   - key: readability-identifier-naming.PublicMemberCase
     value: camelBack
   - key: readability-identifier-naming.MethodCase
-    value: camelCase
+    value: CamelCase
   - key: readability-identifier-naming.PrivateMethodPrefix
     value: ''
   - key: readability-identifier-naming.ProtectedMethodPrefix
@@ -202,4 +202,11 @@ CheckOptions:
   - key: readability-identifier-naming.UsingCase
     value: CamelCase
   - key: readability-identifier-naming.GlobalFunctionCase
-    value: CamelCase
\ No newline at end of file
+    value: CamelCase
+    value: Camel_Snake_Case
+  # - key: readability-identifier-naming.GlobalConstantPointerPrefix
+  #   value: p_
+  # - key: readability-identifier-naming.GlobalPointerPrefix
+  #   value: p_
+  - key: readability-identifier-naming.GlobalVariablePrefix
+    value: g_
diff --git a/Chassis/src/robot.c b/Chassis/src/robot.c
index 8a50185..f04fb6a 100644
--- a/Chassis/src/robot.c
+++ b/Chassis/src/robot.c
@@ -19,11 +19,13 @@ void robotInit() {
   legInit(&robot->legL, LEGLEFT, motorL, motorLF, motorLB);
   legInit(&robot->legR, LEGRIGHT, motorR, motorRF, motorRB);
   legInit(&robot->legVir, LEGLEFT, NULL, NULL, NULL);
-  // TODO: 参数暂定 调节
+  
   robot->yawpid = (PID *) malloc(sizeof(PID));
   robot->rollpid = (PID *) malloc(sizeof(PID));
   robot->splitpid = (PID *) malloc(sizeof(PID));
   robot->L0pid = (PID *) malloc(sizeof(PID));
+  
+  // TODO: 参数暂定 调节
   pidInit(robot->yawpid, 1, 1, 1, 0, 0, PIDPOS);
   pidInit(robot->rollpid, 1, 1, 1, 0, 0, PIDPOS);
   pidInit(robot->splitpid, 1, 1, 1, 0, 0, PIDPOS);
@@ -50,8 +52,6 @@ void updateState() {
   robot->legR.TWheelnow = robot->legR.wheel->currentRead * M3508CURRENTTOTORQUE;
   
   flyCheck();
-  
-
 }
 
 //----
diff --git a/Function/src/pid.c b/Function/src/pid.c
index 36a93bf..afeddeb 100644
--- a/Function/src/pid.c
+++ b/Function/src/pid.c
@@ -66,6 +66,17 @@ float TposCompute(PID* pid, float input) {
   return pid->output;
 }
 
+//----
+// @brief PID初始化，设置kp,ki,kd 选定pid模式
+// 
+// @param pid 
+// @param kp 
+// @param ki 
+// @param kd 
+// @param outputLimit 
+// @param accErrLimit 
+// @param mode 
+//----
 void pidInit(PID* pid, float kp, float ki, float kd, float outputLimit, float accErrLimit, pidMode mode) {
   pid->kp = kp;
   pid->ki = ki;
diff --git a/Main/inc/bluetooth.h b/Main/inc/bluetooth.h
index 7d35bcd..bb551d2 100644
--- a/Main/inc/bluetooth.h
+++ b/Main/inc/bluetooth.h
@@ -4,11 +4,12 @@
 // @brief 蓝牙通讯
 // @version 1.0
 // @date 2023-11-17
-// 
+//
 // @copyright Copyright (c) 2023
-// 
+//
 //----
 #pragma once
+
 #include <stdlib.h>
 #include <stdbool.h>
 #include "stm32f4xx.h"
@@ -29,13 +30,12 @@ typedef struct {
   u8 txDataSize;
 
   bool gethead;
-}BlueToothMsg;
+} BlueToothMsg;
 
-extern BlueToothMsg* bluetoothmsg;
+extern BlueToothMsg *bluetoothmsg;
 
 void blueToothInit();
 void blueToothReceive(u8 data);
 void blueToothDeal();
 void blueToothClear();
-void blueToothSend(u8 id, void* data, u8 size);
-
+void blueToothSend(u8 id, void *data, u8 size);
diff --git a/Main/inc/main.h b/Main/inc/main.h
index 00bff64..8ab40d3 100644
--- a/Main/inc/main.h
+++ b/Main/inc/main.h
@@ -4,9 +4,9 @@
 // @brief main函数，主程序
 // @version 1.0
 // @date 2023-11-17
-// 
+//
 // @copyright Copyright (c) 2023
-// 
+//
 //----
 #pragma once
 
@@ -19,6 +19,7 @@
 #include "os_cfg.h"
 #include "os_cpu.h"
 #include "ucos_ii.h"
+#include "masterparam.h"
 
 #define TASK_STK_SIZE 256
 
@@ -27,21 +28,21 @@ OS_STK taskStartStk[TASK_STK_SIZE];
 OS_STK taskLedStk[TASK_STK_SIZE];
 OS_STK taskBeepStk[TASK_STK_SIZE];
 
-OS_EVENT* beepShowSem;
+OS_EVENT *beepShowSem;
 u8 beepShowErr;
 
 extern u8 beepShowErr;
-extern OS_EVENT* beepShowSem;
+extern OS_EVENT *beepShowSem;
 extern OS_STK taskStartStk[TASK_STK_SIZE];
 
 #define START_TASK_PRIO 5
-static void taskStart(void* pdata);
+static void taskStart(void *pdata);
 
-#define LED_TASK_PRIO	12
-static void taskLed(void* pdata);
+#define LED_TASK_PRIO 12
+static void taskLed(void *pdata);
 
 #define BEEP_TASK_PRIO 11
-static void taskBeep(void* pdata);
+static void taskBeep(void *pdata);
 
 #define RUN_TASK_PRIO 6
-static void taskRun(void* pdata);
\ No newline at end of file
+static void taskRun(void *pdata);
\ No newline at end of file
diff --git a/Main/inc/controlparam.h b/Main/inc/masterparam.h
similarity index 71%
rename from Main/inc/controlparam.h
rename to Main/inc/masterparam.h
index 105e046..88e9b9e 100644
--- a/Main/inc/controlparam.h
+++ b/Main/inc/masterparam.h
@@ -10,6 +10,8 @@
 //----
 
 #pragma once
+
+#include <stdbool.h>
 #include "stm32f4xx.h"
 
 //----
@@ -35,3 +37,18 @@ typedef struct {
   bool begin; // 开始运行
   bool stop; // 急停 打算做一个功能就是为了防止程序疯跑，再怎么说没有急停开关好用
 }ControlParam;
+
+//----
+// @brief 主控参数
+// 
+//----
+typedef struct {
+  HandleParam handle;
+  ControlParam control;
+}Master;
+
+extern Master master;
+
+void HandleParamInit(HandleParam* handleparam);
+void ControlParamInit(ControlParam* controlparam);
+void MasterInit(Master* master);
diff --git a/Main/src/main.c b/Main/src/main.c
index c5b4582..8a1fa52 100644
--- a/Main/src/main.c
+++ b/Main/src/main.c
@@ -13,7 +13,7 @@ int main(){
 	tim2Init();
 	tim3Init();
 
-  // robotInit();
+  robotInit();
 
 	OSInit();
 	OSTaskCreate(taskStart, (void*) 0, &taskStartStk[TASK_STK_SIZE - 1], START_TASK_PRIO);	// 创建初始任务
@@ -62,6 +62,9 @@ static void taskRun(void* pdata) {
 	pdata = pdata;
 	while (1) {
 		updateState();
+		if(master.control.begin){
+			robotRun();
+		}
 		OSTimeDly(100);
 	}
 }
diff --git a/Main/src/masterparam.c b/Main/src/masterparam.c
new file mode 100644
index 0000000..1a80bff
--- /dev/null
+++ b/Main/src/masterparam.c
@@ -0,0 +1,25 @@
+#include "masterparam.h"
+
+Master master;
+
+void HandleParamInit(HandleParam* handleparam) {
+  handleparam->forward = 0;
+  handleparam->backward = 0;
+  handleparam->left = 0;
+  handleparam->right = 0;
+  handleparam->up = 0;
+  handleparam->down = 0;
+  handleparam->tiltleft = 0;
+  handleparam->tiltright = 0;
+}
+
+void ControlParamInit(ControlParam* controlparam) {
+  controlparam->begin = false;
+  controlparam->stop = true;
+}
+
+void MasterInit(Master* master) {
+  HandleParamInit(&master->handle);
+  ControlParamInit(&master->control);
+}
+
diff --git a/PRO/template.uvguix.belov b/PRO/template.uvguix.belov
index e167a5e..f8a9a7b 100644
--- a/PRO/template.uvguix.belov
+++ b/PRO/template.uvguix.belov
@@ -93,8 +93,8 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-32000</xPos>
-        <yPos>-32000</yPos>
+        <xPos>-1</xPos>
+        <yPos>-1</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
@@ -110,8 +110,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>1903</Len>
-        <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000017000000150000000100000030453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C4D6F746F725C7372635C746D6F746F722E630000000008746D6F746F722E6300000000C5D4F200FFFFFFFF31453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C436861737369735C7372635C726F626F742E630000000007726F626F742E6300000000FFDC7800FFFFFFFF32453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C46756E6374696F6E5C696E635C71756575652E68000000000771756575652E6800000000BECEA100FFFFFFFF33453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C4D61696E5C7372635C69727168616E646C65722E63000000000C69727168616E646C65722E6300000000F0A0A100FFFFFFFF30453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C48617264776172655C696E635C63616E2E68000000000563616E2E6800000000BCA8E100FFFFFFFF33453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C4D61696E5C696E635C69727168616E646C65722E68000000000C69727168616E646C65722E68000000009CC1B600FFFFFFFF30453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C48617264776172655C7372635C63616E2E63000000000563616E2E6300000000F7B88600FFFFFFFF33453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C46756E6374696F6E5C696E635C6D796D6174682E6800000000086D796D6174682E6800000000D9ADC200FFFFFFFF31453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C4D6F746F725C7372635C646A6D6F746F722E630000000009646A6D6F746F722E6300000000A5C2D700FFFFFFFF34453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C4D6F746F725C696E635C6D6F746F72706172616D2E68000000000C6D6F746F72706172616D2E6800000000B3A6BE00FFFFFFFF30453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C46756E6374696F6E5C696E635C7069642E6800000000057069642E6800000000EAD6A300FFFFFFFF2F453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C436861737369735C7372635C6C65672E6300000000056C65672E6300000000F6FA7D00FFFFFFFF33453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C46756E6374696F6E5C7372635C6D796D6174682E6300000000086D796D6174682E6300000000B5E99D00FFFFFFFF33443A5C536F6674776172655C6B65696C5C636F72655C41524D5C41524D434C414E475C696E636C7564655C737472696E672E680000000008737472696E672E68000000005FC3CF00FFFFFFFF33443A5C536F6674776172655C6B65696C5C636F72655C41524D5C41524D434C414E475C696E636C7564655C7374646C69622E6800000000087374646C69622E6800000000C1838300FFFFFFFF31453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C4D6F746F725C696E635C646A6D6F746F722E680000000009646A6D6F746F722E6800000000CACAD500FFFFFFFF32453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C46756E6374696F6E5C7372635C71756575652E63000000000771756575652E6300000000C5D4F200FFFFFFFF33453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C46756E6374696F6E5C7372635C766563746F722E630000000008766563746F722E6300000000FFDC7800FFFFFFFF2D453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C4D61696E5C7372635C6D61696E2E6300000000066D61696E2E6300000000BECEA100FFFFFFFF2D453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C4D61696E5C696E635C6D61696E2E6800000000066D61696E2E6800000000F0A0A100FFFFFFFF31453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C48617264776172655C7372635C626565702E630000000006626565702E6300000000BCA8E100FFFFFFFF32453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C4D61696E5C696E635C626C7565746F6F74682E68000000000B626C7565746F6F74682E68000000009CC1B600FFFFFFFF32453A5C707261676D615F646174615C6B65696C5C776865656C666F6F745C4D61696E5C7372635C626C7565746F6F74682E63000000000B626C7565746F6F74682E6300000000F7B88600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000C400000066000000800700001F030000</Data>
+        <Len>2345</Len>
+        <Data>0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000001B0000001A0000000100000035453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D6F746F725C7372635C746D6F746F722E630000000008746D6F746F722E6300000000C5D4F200FFFFFFFF36453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C436861737369735C7372635C726F626F742E630000000007726F626F742E6300000000FFDC7800FFFFFFFF37453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C46756E6374696F6E5C696E635C71756575652E68000000000771756575652E6800000000BECEA100FFFFFFFF38453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D61696E5C7372635C69727168616E646C65722E63000000000C69727168616E646C65722E6300000000F0A0A100FFFFFFFF35453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C48617264776172655C696E635C63616E2E68000000000563616E2E6800000000BCA8E100FFFFFFFF38453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D61696E5C696E635C69727168616E646C65722E68000000000C69727168616E646C65722E68000000009CC1B600FFFFFFFF35453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C48617264776172655C7372635C63616E2E63000000000563616E2E6300000000F7B88600FFFFFFFF38453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C46756E6374696F6E5C696E635C6D796D6174682E6800000000086D796D6174682E6800000000D9ADC200FFFFFFFF36453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D6F746F725C7372635C646A6D6F746F722E630000000009646A6D6F746F722E6300000000A5C2D700FFFFFFFF39453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D6F746F725C696E635C6D6F746F72706172616D2E68000000000C6D6F746F72706172616D2E6800000000B3A6BE00FFFFFFFF35453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C46756E6374696F6E5C696E635C7069642E6800000000057069642E6800000000EAD6A300FFFFFFFF34453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C436861737369735C7372635C6C65672E6300000000056C65672E6300000000F6FA7D00FFFFFFFF38453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C46756E6374696F6E5C7372635C6D796D6174682E6300000000086D796D6174682E6300000000B5E99D00FFFFFFFF33443A5C536F6674776172655C6B65696C5C636F72655C41524D5C41524D434C414E475C696E636C7564655C737472696E672E680000000008737472696E672E68000000005FC3CF00FFFFFFFF33443A5C536F6674776172655C6B65696C5C636F72655C41524D5C41524D434C414E475C696E636C7564655C7374646C69622E6800000000087374646C69622E6800000000C1838300FFFFFFFF36453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D6F746F725C696E635C646A6D6F746F722E680000000009646A6D6F746F722E6800000000CACAD500FFFFFFFF37453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C46756E6374696F6E5C7372635C71756575652E63000000000771756575652E6300000000C5D4F200FFFFFFFF38453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C46756E6374696F6E5C7372635C766563746F722E630000000008766563746F722E6300000000FFDC7800FFFFFFFF32453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D61696E5C7372635C6D61696E2E6300000000066D61696E2E6300000000BECEA100FFFFFFFF32453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D61696E5C696E635C6D61696E2E6800000000066D61696E2E6800000000F0A0A100FFFFFFFF36453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C48617264776172655C7372635C626565702E630000000006626565702E6300000000BCA8E100FFFFFFFF37453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D61696E5C696E635C626C7565746F6F74682E68000000000B626C7565746F6F74682E68000000009CC1B600FFFFFFFF37453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D61696E5C7372635C626C7565746F6F74682E63000000000B626C7565746F6F74682E6300000000F7B88600FFFFFFFF2C453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C726561646D652E6D640000000009726561646D652E6D6400000000D9ADC200FFFFFFFF39453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D61696E5C7372635C6D6173746572706172616D2E63000000000D6D6173746572706172616D2E6300000000A5C2D700FFFFFFFF39453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C4D61696E5C696E635C6D6173746572706172616D2E68000000000D6D6173746572706172616D2E6800000000B3A6BE00FFFFFFFF3C453A5C707261676D615F646174615C6B65696C5C636F64655C776865656C666F6F745C50524F5C4C697374696E67735C74656D706C6174652E6D6170000000000C74656D706C6174652E6D617000000000EAD6A300FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000C400000066000000800700001F030000</Data>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -1806,7 +1806,7 @@
         <Name>File</Name>
         <Buttons>
           <Len>2840</Len>
-          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       <tvExpOptDlg>0</tvExpOptDlg>
@@ -627,7 +639,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -639,7 +651,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -651,7 +663,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -663,7 +675,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>34</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -675,7 +687,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>35</FileNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -687,7 +699,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>36</FileNumber>
+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -699,7 +711,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>37</FileNumber>
+      <FileNumber>38</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -719,7 +731,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>38</FileNumber>
+      <FileNumber>39</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -731,7 +743,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>39</FileNumber>
+      <FileNumber>40</FileNumber>
       <FileType>4</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -743,7 +755,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>40</FileNumber>
+      <FileNumber>41</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -755,7 +767,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>41</FileNumber>
+      <FileNumber>42</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -775,7 +787,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>42</FileNumber>
+      <FileNumber>43</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -795,7 +807,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>43</FileNumber>
+      <FileNumber>44</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -807,7 +819,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>44</FileNumber>
+      <FileNumber>45</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -827,7 +839,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>45</FileNumber>
+      <FileNumber>46</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -839,7 +851,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>46</FileNumber>
+      <FileNumber>47</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -851,7 +863,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>47</FileNumber>
+      <FileNumber>48</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -863,7 +875,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>48</FileNumber>
+      <FileNumber>49</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -875,7 +887,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>49</FileNumber>
+      <FileNumber>50</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -887,7 +899,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>50</FileNumber>
+      <FileNumber>51</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -899,7 +911,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>51</FileNumber>
+      <FileNumber>52</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -911,7 +923,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>52</FileNumber>
+      <FileNumber>53</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -923,7 +935,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>53</FileNumber>
+      <FileNumber>54</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -935,7 +947,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>54</FileNumber>
+      <FileNumber>55</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -947,7 +959,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>55</FileNumber>
+      <FileNumber>56</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -967,7 +979,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>56</FileNumber>
+      <FileNumber>57</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -979,7 +991,7 @@
     </File>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>57</FileNumber>
+      <FileNumber>58</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -991,7 +1003,7 @@
     </File>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>58</FileNumber>
+      <FileNumber>59</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1003,7 +1015,7 @@
     </File>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>59</FileNumber>
+      <FileNumber>60</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1021,6 +1033,18 @@
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>13</GroupNumber>
+      <FileNumber>61</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\readme.md</PathWithFileName>
+      <FilenameWithoutPath>readme.md</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
 </ProjectOpt>
diff --git a/PRO/template.uvprojx b/PRO/template.uvprojx
index 6180484..6b69f40 100644
--- a/PRO/template.uvprojx
+++ b/PRO/template.uvprojx
@@ -399,6 +399,11 @@
               <FileType>1</FileType>
               <FilePath>..\Main\src\bluetooth.c</FilePath>
             </File>
+            <File>
+              <FileName>masterparam.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Main\src\masterparam.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -738,6 +743,13 @@
         </Group>
         <Group>
           <GroupName>README</GroupName>
+          <Files>
+            <File>
+              <FileName>readme.md</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\readme.md</FilePath>
+            </File>
+          </Files>
         </Group>
       </Groups>
     </Target>
@@ -754,6 +766,7 @@
       <Layer>
         <LayName>template</LayName>
         <LayPrjMark>1</LayPrjMark>
+        <LayTitle>wheelfoot</LayTitle>
       </Layer>
     </Layers>
   </LayerInfo>
diff --git a/leg.DWG b/leg.DWG
deleted file mode 100644
index e8e35b5..0000000
Binary files a/leg.DWG and /dev/null differ