diff --git a/Controle_moteurs_PID/MDK-ARM/GM6020_demo.uvoptx b/Controle_moteurs_PID/MDK-ARM/GM6020_demo.uvoptx
index b5a1baa016491dd2d413a672fc55f6168fa220cd..9d338d5d0d2649d0aebfd84b3f363a708c59e492 100644
--- a/Controle_moteurs_PID/MDK-ARM/GM6020_demo.uvoptx
+++ b/Controle_moteurs_PID/MDK-ARM/GM6020_demo.uvoptx
@@ -150,7 +150,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_2048.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32F427IIHx$CMSIS\Flash\STM32F4xx_2048.FLM)</Name>
+          <Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_2048.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32F427IIHx$CMSIS\Flash\STM32F4xx_2048.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
@@ -182,9 +182,9 @@
       <DebugFlag>
         <trace>0</trace>
         <periodic>1</periodic>
-        <aLwin>0</aLwin>
+        <aLwin>1</aLwin>
         <aCover>0</aCover>
-        <aSer1>1</aSer1>
+        <aSer1>0</aSer1>
         <aSer2>0</aSer2>
         <aPa>0</aPa>
         <viewmode>1</viewmode>
@@ -199,7 +199,7 @@
         <aLa>0</aLa>
         <aPa1>0</aPa1>
         <AscS4>0</AscS4>
-        <aSer4>0</aSer4>
+        <aSer4>1</aSer4>
         <StkLoc>0</StkLoc>
         <TrcWin>0</TrcWin>
         <newCpu>0</newCpu>
@@ -330,7 +330,7 @@
 
   <Group>
     <GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/Controle_moteurs_PID/MDK-ARM/GM6020_demo/GM6020_demo.hex b/Controle_moteurs_PID/MDK-ARM/GM6020_demo/GM6020_demo.hex
index 4dce745bce95a6a37722a1fdf90ea06f0f94ddad..49ac1b3fac0cd4e0ce6ab479994da8a3fbb11008 100644
--- a/Controle_moteurs_PID/MDK-ARM/GM6020_demo/GM6020_demo.hex
+++ b/Controle_moteurs_PID/MDK-ARM/GM6020_demo/GM6020_demo.hex
@@ -1,5 +1,5 @@
 :020000040800F2
-:1000000040060020C1010008431700082115000820
+:1000000048060020C1010008431700082115000818
 :1000100041170008CD020008891A000800000000FE
 :10002000000000000000000000000000671700084A
 :10003000E9020008000000006517000869170008C1
@@ -26,7 +26,7 @@
 :10018000DB010008DB010008DB010008DB010008DF
 :10019000DB010008DB010008DB010008DB010008CF
 :1001A0000000000000000000DB010008DFF80CD0B8
-:1001B00000F07AF8004800470D1B000840060020B8
+:1001B00000F07AF800480047551B00084806002068
 :1001C0000648804706480047FEE7FEE7FEE7FEE7F1
 :1001D000FEE7FEE7FEE7FEE7FEE7FEE7F1170008B1
 :1001E000AD0100082DE9F05F0546002092469B46D0
@@ -43,9 +43,9 @@
 :1002900002F00021704721FA02F3D040C2F120029F
 :1002A0009140084319467047064C074D06E0E06848
 :1002B00040F0010394E8070098471034AC42F6D3AD
-:1002C000FFF778FF5C1E00087C1E0008FEE70000B8
-:1002D000014800F087B9000088010020014800F0C3
-:1002E00081B90000880100207047704790F82020F5
+:1002C000FFF778FFB01E0008D01E0008FEE7000010
+:1002D000014800F087B900008C010020014800F0BF
+:1002E00081B900008C0100207047704790F82020F1
 :1002F000012A09D090F82020022A05D0416A41F451
 :100300008021416201207047006842690A434261CE
 :1003100000207047F0B590F82040012C07D090F8ED
@@ -158,7 +158,7 @@
 :1009C00052BA8A80BDF81E2052BACA80BDF82020D3
 :1009D00052BA0A819DF822208A720188B1F5FA7F05
 :1009E00006D1002101800648016881F48041016040
-:1009F00009B000BD006400401A000020EC01002096
+:1009F00009B000BD006400401A000020F001002092
 :100A000014140240704770477047000070B50446E8
 :100A100090F82000012804D0606A40F40020606251
 :100A200018E0022084F820002068016821F001010C
@@ -236,7 +236,7 @@
 :100EA0002878000706D52068296920F4604040EAC8
 :100EB000C100206000F016F82168084AC1F3031150
 :100EC000515CC840064908600020FFF7FDFE002085
-:100ED000C5E70000003C0240083802404C1E0008F4
+:100ED000C5E70000003C024008380240A01E0008A0
 :100EE00014000020154810B5006810F00C021448DA
 :100EF00013D01449042A0FD0082A0ED10F4C241FF6
 :100F00002268236802F03F025B0207D52068C0F325
@@ -341,7 +341,7 @@
 :1015300000214FF400228160C0E903124FF44012F1
 :1015400042610176012242768176C1760177417748
 :10155000FFF746F9002803D0BDE81040FEF7C5BEEE
-:1015600010BD000000640040880100202DE9F04714
+:1015600010BD0000006400408C0100202DE9F04710
 :1015700086B014216846FEF76DFE374800240168E6
 :1015800041F008010160016801F00801059101685E
 :1015900041F001010160016801F00101059101685C
@@ -370,7 +370,7 @@
 :101700000E48FFF759FE08B1FEF7EFFD0794089465
 :1017100009944FF400500A94CDE90B4007A90748FB
 :101720000D94FFF7B3FD08B1FEF7DFFD0348FFF7A7
-:1017300003FE10B010BD000000000140B001002009
+:1017300003FE10B010BD000000000140B401002005
 :10174000FEE770470907090E002806DA00F00F00CF
 :1017500000F1E02080F8141D704700F1E02080F8CF
 :101760000014704770477047FFF78CBA30B593B0DC
@@ -423,71 +423,76 @@
 :101A500005238D6824F4005444EA0534084DA84257
 :101A600002D0084DA84204D14D6922F4804242EAD6
 :101A700085124260C36149680164046230BD0000A0
-:101A80000000014000040140FEE702E008C8121F08
-:101A900008C1002AFAD170477047002001E001C157
-:101AA000121F002AFBD1704700B58BB00021012224
-:101AB000CDE90612059100910191029103910491E3
-:101AC0000E21CDE908216946FEF788FC0448FEF79F
-:101AD0009DFF02210248FEF709FC0BB000BD00008B
-:101AE0008801002010B5074C04216078207006485A
-:101AF000FFF7B8F8607010B92078012800D00020F6
-:101B000010BD000018000020000402402DED048BE1
-:101B100082B0FFF7BFF8FFF729FEFFF727FDFFF7B9
-:101B200001FDFFF7A3FD01223C216E48FFF79FF85E
-:101B300000F048F96C48FFF7B7FF00249FED6B8A6F
-:101B4000DFED6B8A6B4D00BF04EB8400F0EE481AAA
-:101B500000EBC40005EB8000B0EE612AB0EE001A85
-:101B6000F0EE680AB0EE000A00F029F9641CE4B255
-:101B7000032CE9D304249FED609ADFED608A9FED8A
-:101B8000608A00BF04EB8400F0EE491A00EBC40049
-:101B900005EB8000B0EE612AB0EE481AF0EE080ABC
-:101BA000B0EE680A00F00BF9641CE4B2072CE9D32C
-:101BB000DFF85081DFF850B1F3EE048AA9464FF008
-:101BC000000AB8F802004446401C00B2A8F802001F
-:101BD000FA2806D14D48A4F802A0416981F40061B9
-:101BE0004161FFF77FFFA0B194ED010ADFED480AE4
-:101BF000484930EE200A84ED010A2088D230208046
-:101C000010EE100A884204DD84ED018A4FF48760EB
-:101C10002080A04600254E464FEA0B0405EB450008
-:101C200004EB8007B7F9060000EE100A05EB85000B
-:101C300000EBC500F8EEC00A98ED010A06EB800043
-:101C400020EE280A00F06AF8BDEEC00A6D1CEDB265
-:101C500010EE100A032D7880E0D3B14604254646E5
-:101C600005EB450004EB8007B7F9060000EE100A0B
-:101C700005EB850000EBC501F8EEC00A09EB810019
-:101C800096ED010A00F04AF8BDEEC00A6D1CEDB2F7
-:101C900010EE100A072D7880E2D3B4F926000090E8
-:101CA000B4F91A30B4F90E20B4F90210002000F093
-:101CB0009FF8CDF800A0B4F94A30B4F93E20B4F949
-:101CC0003210012000F094F8134930880A685063FC
-:101CD0000A6890630968C86308640020FEF7CAFEBA
-:101CE0006FE70000001C02408801002000007A46D7
-:101CF0000AD7A33B1C0000200060EA4600002042F7
-:101D00000000000000000020EC0100200010024054
-:101D10000000704200003443B001002080ED050A4D
-:101D2000C0ED060A90ED071A70EE600A80ED081A01
-:101D3000C0ED070A90ED000A20EE202A80ED092A66
-:101D400090ED0A0AD0ED011A01EEA00A80ED0A0A10
-:101D5000D0ED021A11EEA01A80ED0B1AD0ED030A95
-:101D6000F1EE601AB4EEE10AF1EE10FA02D8B0EE2C
-:101D7000610A06E0B4EEE00AF1EE10FA01DBB0EE23
-:101D8000600A80ED0A0A32EE000A30EE010A80EDA8
-:101D90000C0AD0ED040AB1EE601AB4EEC10AF1EEFD
-:101DA00010FA02D8B0EE410A06E0B4EEE00AF1EE15
-:101DB00010FA01DBB0EE600A80ED0C0A704780EC8F
-:101DC000050A704710B500210848FFF78DFB042174
-:101DD0000648FFF789FB08210448FFF785FBBDE8AB
-:101DE00010400C210148FFF77FBB0000B00100202C
-:101DF00010B588B00A9C18B340F2FF100290002082
-:101E00000490059008200690080A8DF800008DF8CF
-:101E10000110100A8DF80200180A8DF804008DF8E0
-:101E20000530200A8DF806008DF803208DF8074054
-:101E300001236A4602A90448FEF76CFA08B010BDF7
-:101E40004FF40070DAE70000880100200000000075
-:101E50000000000001020304060708097C1E0008B8
-:101E6000000000201C0000008A1A0008981E0008CC
-:101E70001C000020240600009A1A00083804000004
-:101E80000000000001000000100000000000000041
-:081E90000024F4000000000032
+:101A80000000014000040140FEE70000014A024955
+:101A900000F013B8191B00081C00002002E008C861
+:101AA000121F08C1002AFAD170477047002001E0D8
+:101AB00001C1121F002AFBD170472DE9F0411646E3
+:101AC0000F460446002503E03946B047641C6D1CF0
+:101AD00020780028F8D12846BDE8F08100B58BB009
+:101AE00000210122CDE90612059100910191029198
+:101AF000039104910E21CDE908216946FEF76EFCA1
+:101B00000448FEF783FF02210248FEF7EFFB0BB00B
+:101B100000BD00008C01002038B504468DF800009F
+:101B200069460320ABBE204638BD000010B5074C07
+:101B30000421607820700648FFF794F8607010B9AF
+:101B40002078012800D0002010BD000018000020DF
+:101B5000000402402DED048B82B0FFF79BF8FFF7E5
+:101B600005FEFFF703FDFFF7DDFCFFF77FFD012218
+:101B70003C216F48FFF77BF800F04EF96D48FFF706
+:101B8000ADFF00249FED6C8ADFED6C8A6C4D00BFC9
+:101B900004EB8400F0EE481A00EBC40005EB800073
+:101BA000B0EE612AB0EE001AF0EE680AB0EE000A5C
+:101BB00000F02FF9641CE4B2032CE9D304249FED58
+:101BC000619ADFED618A9FED618A00BF04EB8400BA
+:101BD000F0EE491A00EBC40005EB8000B0EE612A7C
+:101BE000B0EE481AF0EE080AB0EE680A00F011F9FB
+:101BF000641CE4B2072CE9D3DFF85481DFF854B158
+:101C0000F3EE048AA9464FF0000A53A0FFF73EFF07
+:101C1000B8F802004446401C00B2A8F80200FA28B6
+:101C200006D14F48A4F802A0416981F400614161E6
+:101C3000FFF77CFFA0B194ED010ADFED4A0A4A49A3
+:101C400030EE200A84ED010A2088D230208010EE88
+:101C5000100A884204DD84ED018A4FF487602080F9
+:101C6000A04600254E465C4605EB450004EB800788
+:101C7000B7F9060000EE100A05EB850000EBC50081
+:101C8000F8EEC00A98ED010A06EB800020EE280A63
+:101C900000F06EF8BDEEC00A6D1CEDB210EE100A39
+:101CA000032D7880E0D3B1460425464605EB450078
+:101CB00004EB8007B7F9060000EE100A05EB85007B
+:101CC00000EBC501F8EEC00A09EB810096ED010AB0
+:101CD00000F04EF8BDEEC00A6D1CEDB210EE100A19
+:101CE000072D7880E2D3B4F926000090B4F91A30B9
+:101CF000B4F90E20B4F90210002000F0A3F8CDF8DA
+:101D000000A0B4F94A30B4F93E20B4F932100120F1
+:101D100000F098F8154930880A6850630A689063A3
+:101D20000968C86308640020FEF7A4FE6DE70000A0
+:101D3000001C02408C01002000007A460AD7A33B19
+:101D4000200000200060EA46000020420000000061
+:101D500000000020F0010020544553540000000012
+:101D6000001002400000704200003443B401002023
+:101D700080ED050AC0ED060A90ED071A70EE600AC4
+:101D800080ED081AC0ED070A90ED000A20EE202A27
+:101D900080ED092A90ED0A0AD0ED011A01EEA00AA1
+:101DA00080ED0A0AD0ED021A11EEA01A80ED0B1A8E
+:101DB000D0ED030AF1EE601AB4EEE10AF1EE10FA8A
+:101DC00002D8B0EE610A06E0B4EEE00AF1EE10FAD5
+:101DD00001DBB0EE600A80ED0A0A32EE000A30EE56
+:101DE000010A80ED0C0AD0ED040AB1EE601AB4EEDF
+:101DF000C10AF1EE10FA02D8B0EE410A06E0B4EEE4
+:101E0000E00AF1EE10FA01DBB0EE600A80ED0C0A98
+:101E1000704780EC050A704710B500210848FFF7AD
+:101E200063FB04210648FFF75FFB08210448FFF726
+:101E30005BFBBDE810400C210148FFF755BB0000DB
+:101E4000B401002010B588B00A9C18B340F2FF100E
+:101E5000029000200490059008200690080A8DF852
+:101E600000008DF80110100A8DF80200180A8DF894
+:101E700004008DF80530200A8DF806008DF8032047
+:101E80008DF8074001236A4602A90448FEF742FA8A
+:101E900008B010BD4FF40070DAE700008C0100209C
+:101EA000000000000000000001020304060708090A
+:101EB000D01E000800000020200000009C1A00082E
+:101EC000F01E00082000002028060000AC1A0008C0
+:101ED00038040000000000000100000010000000B5
+:101EE000000000000024F4000000000000000000DA
 :04000005080001AD41
 :00000001FF
diff --git a/Controle_moteurs_PID/Src/main.c b/Controle_moteurs_PID/Src/main.c
index 96e79e19dce2453a54d3dab18cee057c1b96c989..f756465b7049f4e4144720f0443dfe56791acdc8 100644
--- a/Controle_moteurs_PID/Src/main.c
+++ b/Controle_moteurs_PID/Src/main.c
@@ -137,6 +137,7 @@ int main(void)
   /* USER CODE BEGIN WHILE */
   while (1)
   {
+		printf("TEST");
     /* led blink */
     led_cnt ++;
     if (led_cnt == 250)
diff --git a/Standard_robot/.mxproject b/Standard_robot/.mxproject
index 4270762981173fdc1e451e9b5979e43aada25c10..881dc69f87c2ceea4d32c3cec170e0299a768361 100644
--- a/Standard_robot/.mxproject
+++ b/Standard_robot/.mxproject
@@ -1,14 +1,14 @@
 [PreviousGenFiles]
 HeaderPath=D:/charl/Documents/Git/RM-Controle/Standard_robot/Inc
-HeaderFiles=gpio.h;stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;dma.h;usart.h;adc.h;spi.h;
+HeaderFiles=gpio.h;stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;dma.h;usart.h;adc.h;spi.h;can.h;tim.h;
 SourcePath=D:/charl/Documents/Git/RM-Controle/Standard_robot/Src
-SourceFiles=gpio.c;stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;dma.c;usart.c;adc.c;spi.c;
+SourceFiles=gpio.c;stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;dma.c;usart.c;adc.c;spi.c;can.c;tim.c;
 
 [PreviousLibFiles]
-LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f427xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h;
+LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f427xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h;
 
 [PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\gpio.c;..\Src\adc.c;..\Src\dma.c;..\Src\spi.c;..\Src\usart.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;null;
+SourceFiles=..\Src\main.c;..\Src\gpio.c;..\Src\adc.c;..\Src\can.c;..\Src\dma.c;..\Src\spi.c;..\Src\tim.c;..\Src\usart.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;;
 HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc;
-CDefines=USE_HAL_DRIVER;STM32F427xx;USE_HAL_DRIVER;STM32F427xx;
+CDefines=USE_HAL_DRIVER;STM32F427xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
diff --git a/Standard_robot/Inc/main.h b/Standard_robot/Inc/main.h
index 25ceb9835c66ec588632e2a6dd636a7cb44d6f8b..e64a2287fa0c5736498ea1caca0adfb88391713d 100644
--- a/Standard_robot/Inc/main.h
+++ b/Standard_robot/Inc/main.h
@@ -17,6 +17,7 @@
   *
   ******************************************************************************
   */
+#define LIMIT_MIN_MAX(x,min,max) (x) = (((x)<=(min))?(min):(((x)>=(max))?(max):(x)))
 /* USER CODE END Header */
 
 /* Define to prevent recursive inclusion -------------------------------------*/
@@ -60,8 +61,22 @@ void Error_Handler(void);
 /* Private defines -----------------------------------------------------------*/
 #define OLED_DC_Pin GPIO_PIN_9
 #define OLED_DC_GPIO_Port GPIOB
+#define POWER1_CTRL_Pin GPIO_PIN_2
+#define POWER1_CTRL_GPIO_Port GPIOH
+#define POWER2_CTRL_Pin GPIO_PIN_3
+#define POWER2_CTRL_GPIO_Port GPIOH
+#define POWER3_CTRL_Pin GPIO_PIN_4
+#define POWER3_CTRL_GPIO_Port GPIOH
 #define LED_A_Pin GPIO_PIN_8
 #define LED_A_GPIO_Port GPIOG
+#define POWER4_CTRL_Pin GPIO_PIN_5
+#define POWER4_CTRL_GPIO_Port GPIOH
+#define KEY_Pin GPIO_PIN_2
+#define KEY_GPIO_Port GPIOB
+#define LED_RED_Pin GPIO_PIN_11
+#define LED_RED_GPIO_Port GPIOE
+#define LED_GREEN_Pin GPIO_PIN_14
+#define LED_GREEN_GPIO_Port GPIOF
 #define OLED_RST_Pin GPIO_PIN_10
 #define OLED_RST_GPIO_Port GPIOB
 /* USER CODE BEGIN Private defines */
diff --git a/Standard_robot/Inc/stm32f4xx_hal_conf.h b/Standard_robot/Inc/stm32f4xx_hal_conf.h
index 87bc48150e0984a09b28cb3f6f996e167fbaa994..3c274787870a534e99fd3a3fde63995589f158f9 100644
--- a/Standard_robot/Inc/stm32f4xx_hal_conf.h
+++ b/Standard_robot/Inc/stm32f4xx_hal_conf.h
@@ -38,7 +38,7 @@
 
   #define HAL_ADC_MODULE_ENABLED
 /* #define HAL_CRYP_MODULE_ENABLED   */
-/* #define HAL_CAN_MODULE_ENABLED   */
+#define HAL_CAN_MODULE_ENABLED
 /* #define HAL_CRC_MODULE_ENABLED   */
 /* #define HAL_CRYP_MODULE_ENABLED   */
 /* #define HAL_DAC_MODULE_ENABLED   */
@@ -61,11 +61,12 @@
 /* #define HAL_SD_MODULE_ENABLED   */
 /* #define HAL_MMC_MODULE_ENABLED   */
 #define HAL_SPI_MODULE_ENABLED
-/* #define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED   */
 /* #define HAL_IRDA_MODULE_ENABLED   */
 /* #define HAL_SMARTCARD_MODULE_ENABLED   */
+/* #define HAL_SMBUS_MODULE_ENABLED   */
 /* #define HAL_WWDG_MODULE_ENABLED   */
 /* #define HAL_PCD_MODULE_ENABLED   */
 /* #define HAL_HCD_MODULE_ENABLED   */
@@ -77,7 +78,6 @@
 /* #define HAL_SPDIFRX_MODULE_ENABLED   */
 /* #define HAL_DFSDM_MODULE_ENABLED   */
 /* #define HAL_LPTIM_MODULE_ENABLED   */
-/* #define HAL_EXTI_MODULE_ENABLED   */
 #define HAL_GPIO_MODULE_ENABLED
 #define HAL_EXTI_MODULE_ENABLED
 #define HAL_DMA_MODULE_ENABLED
@@ -264,6 +264,10 @@
   #include "stm32f4xx_hal_cryp.h" 
 #endif /* HAL_CRYP_MODULE_ENABLED */
 
+#ifdef HAL_SMBUS_MODULE_ENABLED
+#include "stm32f4xx_hal_smbus.h"
+#endif /* HAL_SMBUS_MODULE_ENABLED */
+
 #ifdef HAL_DMA2D_MODULE_ENABLED
   #include "stm32f4xx_hal_dma2d.h"
 #endif /* HAL_DMA2D_MODULE_ENABLED */
diff --git a/Standard_robot/Inc/stm32f4xx_it.h b/Standard_robot/Inc/stm32f4xx_it.h
index 1c02bb865c4ab33b305e5616d352958355891f97..482e4a5716d4ed668a0dc1c8027048c7a021e01d 100644
--- a/Standard_robot/Inc/stm32f4xx_it.h
+++ b/Standard_robot/Inc/stm32f4xx_it.h
@@ -56,6 +56,8 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void CAN1_TX_IRQHandler(void);
+void CAN1_RX0_IRQHandler(void);
 void USART1_IRQHandler(void);
 void DMA2_Stream7_IRQHandler(void);
 /* USER CODE BEGIN EFP */
diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl b/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl
index 9088ab291c5ac1dd3c38a1f670b7c8f4693b8ea0..0c49e0193cf95bb1584cf0205960a9265e9a3411 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl
@@ -6,7 +6,7 @@
   <Header>### uVision Project, (C) Keil Software</Header>
 
   <PrjGuiSettings>
-    <LastAddFilePath>D:\charl\Documents\Git\RM-Controle\Standard_robot\BSP\Device</LastAddFilePath>
+    <LastAddFilePath>D:\charl\Documents\Git\RM-Controle\Standard_robot\BSP\Driver</LastAddFilePath>
   </PrjGuiSettings>
 
   <ViewPool/>
@@ -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>636</Len>
-        <Data>0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000500000001000000010000003C443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C5372635C6D61696E2E6300000000066D61696E2E6300000000C5D4F200FFFFFFFF47443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4472697665725C6273705F6F6C65642E63000000000A6273705F6F6C65642E6300000000FFDC7800FFFFFFFF47443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4472697665725C6273705F6F6C65642E68000000000A6273705F6F6C65642E6800000000F0A0A100FFFFFFFF43443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4465766963655C6F6C65642E6300000000066F6C65642E6300000000F0A0A100FFFFFFFF43443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4465766963655C6F6C65642E6800000000066F6C65642E6800000000BCA8E100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000D1000000660000005805000070020000</Data>
+        <Len>720</Len>
+        <Data>0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000600000005000000010000003C443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C5372635C6D61696E2E6300000000066D61696E2E6300000000C5D4F200FFFFFFFF47443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4472697665725C6273705F6F6C65642E63000000000A6273705F6F6C65642E6300000000FFDC7800FFFFFFFF47443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4472697665725C6273705F6F6C65642E68000000000A6273705F6F6C65642E6800000000BECEA100FFFFFFFF43443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4465766963655C6F6C65642E6300000000066F6C65642E6300000000F0A0A100FFFFFFFF43443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4465766963655C6F6C65642E6800000000066F6C65642E6800000000BCA8E100FFFFFFFF3C443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C496E635C6D61696E2E6800000000066D61696E2E68000000009CC1B600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000AF00000066000000580500008E020000</Data>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -134,7 +134,7 @@
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
-          <Data>AF00000066000000F2030000DB000000</Data>
+          <Data>A4000000BB0000009D02000030010000</Data>
         </RectRecentFloat>
       </Window>
       <Window>
@@ -150,11 +150,11 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000CA00000040020000</Data>
+          <Data>0300000066000000A80000005E020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
-          <Data>3C00000053000000E7000000FE000000</Data>
+          <Data>A4000000BB0000004F01000066010000</Data>
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       <Window>
@@ -170,11 +170,11 @@
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           <Len>16</Len>
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+          <Data>0300000066000000A80000005E020000</Data>
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         <RectRecentFloat>
           <Len>16</Len>
-          <Data>3C000000530000000601000027020000</Data>
+          <Data>A4000000BB0000006E0100008F020000</Data>
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       </Window>
       <Window>
@@ -190,11 +190,11 @@
         <RecentRowIndex>0</RecentRowIndex>
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           <Len>16</Len>
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+          <Data>00000000C1010000F203000036020000</Data>
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         <RectRecentFloat>
           <Len>16</Len>
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+          <Data>A4000000BB0000009D02000030010000</Data>
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       </Window>
       <Window>
@@ -210,11 +210,11 @@
         <RecentRowIndex>0</RecentRowIndex>
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           <Len>16</Len>
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+          <Data>03000000C4010000EF03000009020000</Data>
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         <RectRecentFloat>
           <Len>16</Len>
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+          <Data>A4000000BB0000009D02000030010000</Data>
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       <Window>
@@ -230,11 +230,11 @@
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           <Len>16</Len>
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+          <Data>03000000C4010000EF03000009020000</Data>
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         <RectRecentFloat>
           <Len>16</Len>
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+          <Data>A4000000BB0000009D02000030010000</Data>
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       <Window>
@@ -250,11 +250,11 @@
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           <Len>16</Len>
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+          <Data>03000000C4010000EF03000009020000</Data>
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           <Len>16</Len>
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+          <Data>A4000000BB0000009D02000030010000</Data>
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       <Window>
@@ -270,11 +270,11 @@
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           <Len>16</Len>
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+          <Data>4A03000066000000EF030000E1000000</Data>
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         <RectRecentFloat>
           <Len>16</Len>
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+          <Data>A4000000BB0000004F01000066010000</Data>
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       <Window>
@@ -294,7 +294,7 @@
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
-          <Data>3C0000005300000035020000C8000000</Data>
+          <Data>A4000000BB0000009D02000030010000</Data>
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       <Window>
@@ -314,7 +314,7 @@
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
-          <Data>3C00000053000000E7000000FE000000</Data>
+          <Data>A4000000BB0000004F01000066010000</Data>
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       <Window>
@@ -330,11 +330,11 @@
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           <Len>16</Len>
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+          <Data>03000000C4010000EF03000009020000</Data>
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         <RectRecentFloat>
           <Len>16</Len>
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+          <Data>A4000000BB0000004F01000066010000</Data>
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       <Window>
@@ -350,11 +350,11 @@
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           <Len>16</Len>
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+          <Data>03000000C4010000EF03000009020000</Data>
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           <Len>16</Len>
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@@ -370,11 +370,11 @@
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           <Len>16</Len>
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       <Window>
@@ -390,11 +390,11 @@
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+          <Data>03000000C4010000EF03000009020000</Data>
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           <Len>16</Len>
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+          <Data>A4000000BB0000009D02000030010000</Data>
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@@ -410,11 +410,11 @@
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@@ -430,11 +430,11 @@
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           <Len>16</Len>
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       <Window>
@@ -450,11 +450,11 @@
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+          <Data>0300000066000000A80000005E020000</Data>
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       <Window>
@@ -470,11 +470,11 @@
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       <Window>
@@ -490,11 +490,11 @@
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@@ -514,7 +514,7 @@
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@@ -530,11 +530,11 @@
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@@ -550,11 +550,11 @@
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@@ -574,7 +574,7 @@
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@@ -610,11 +610,11 @@
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@@ -630,11 +630,11 @@
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@@ -654,7 +654,7 @@
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@@ -674,7 +674,7 @@
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@@ -1862,21 +1862,21 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>1</ActiveTab>
+      <ActiveTab>5</ActiveTab>
       <Doc>
         <Name>../Src/main.c</Name>
-        <ColumnNumber>26</ColumnNumber>
-        <TopLine>116</TopLine>
-        <CurrentLine>128</CurrentLine>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>176</TopLine>
+        <CurrentLine>259</CurrentLine>
         <Folding>1</Folding>
-        <ContractedFolders>134,139,180,185,192</ContractedFolders>
+        <ContractedFolders>205,246,251,258</ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>..\BSP\Driver\bsp_oled.c</Name>
-        <ColumnNumber>18</ColumnNumber>
-        <TopLine>83</TopLine>
-        <CurrentLine>269</CurrentLine>
+        <ColumnNumber>1</ColumnNumber>
+        <TopLine>158</TopLine>
+        <CurrentLine>263</CurrentLine>
         <Folding>1</Folding>
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@@ -1902,12 +1902,21 @@
       <Doc>
         <Name>../BSP/Device/oled.h</Name>
         <ColumnNumber>47</ColumnNumber>
-        <TopLine>3</TopLine>
+        <TopLine>1</TopLine>
         <CurrentLine>28</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
+      <Doc>
+        <Name>../Inc/main.h</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>20</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
     </MDIGroup>
   </MDIGroups>
 
diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvoptx b/Standard_robot/MDK-ARM/Standard_robot.uvoptx
index b2f22d1584481fe46ccc9595f4d731ccf6c51354..3c8374c59db11036c544798bcfa9c73ac1a812fa 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvoptx
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvoptx
@@ -183,7 +183,7 @@
 
   <Group>
     <GroupName>Application/MDK-ARM</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -211,7 +211,7 @@
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       <FileNumber>2</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
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       <bDave2>0</bDave2>
       <PathWithFileName>../Src/main.c</PathWithFileName>
@@ -250,6 +250,18 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>../Src/can.c</PathWithFileName>
+      <FilenameWithoutPath>can.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>../Src/dma.c</PathWithFileName>
       <FilenameWithoutPath>dma.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -257,7 +269,7 @@
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@@ -269,7 +281,19 @@
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     <File>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Src/tim.c</PathWithFileName>
+      <FilenameWithoutPath>tim.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
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+      <FileNumber>9</FileNumber>
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@@ -281,7 +305,7 @@
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     <File>
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@@ -293,7 +317,7 @@
     </File>
     <File>
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       <tvExpOptDlg>0</tvExpOptDlg>
@@ -306,86 +330,154 @@
   </Group>
 
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+    <GroupName>Drivers/CMSIS</GroupName>
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     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
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       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</PathWithFileName>
-      <FilenameWithoutPath>stm32f4xx_hal_adc.c</FilenameWithoutPath>
+      <PathWithFileName>../Src/system_stm32f4xx.c</PathWithFileName>
+      <FilenameWithoutPath>system_stm32f4xx.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
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+
+  <Group>
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+    <tvExp>1</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
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       <FileType>1</FileType>
       <tvExp>0</tvExp>
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       <bDave2>0</bDave2>
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-      <FilenameWithoutPath>stm32f4xx_hal_adc_ex.c</FilenameWithoutPath>
+      <PathWithFileName>..\BSP\Driver\bsp_usart.c</PathWithFileName>
+      <FilenameWithoutPath>bsp_usart.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
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-      <FilenameWithoutPath>stm32f4xx_hal_spi.c</FilenameWithoutPath>
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       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
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-      <FilenameWithoutPath>stm32f4xx_hal_tim.c</FilenameWithoutPath>
+      <PathWithFileName>..\BSP\Driver\bsp_can.c</PathWithFileName>
+      <FilenameWithoutPath>bsp_can.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
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-      <FilenameWithoutPath>stm32f4xx_hal_tim_ex.c</FilenameWithoutPath>
+      <PathWithFileName>..\BSP\Driver\bsp_key.c</PathWithFileName>
+      <FilenameWithoutPath>bsp_key.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+  </Group>
+
+  <Group>
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-      <FilenameWithoutPath>stm32f4xx_hal_uart.c</FilenameWithoutPath>
+      <PathWithFileName>..\BSP\Device\oled.c</PathWithFileName>
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       <bShared>0</bShared>
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+  <Group>
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+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\BSP\Algorithm\pid.c</PathWithFileName>
+      <FilenameWithoutPath>pid.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
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+
+  <Group>
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+    <tvExpOptDlg>0</tvExpOptDlg>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_adc.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
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+      <GroupNumber>7</GroupNumber>
+      <FileNumber>20</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_adc_ex.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
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+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
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@@ -396,8 +488,8 @@
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+      <GroupNumber>7</GroupNumber>
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@@ -408,8 +500,8 @@
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@@ -420,8 +512,8 @@
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@@ -432,8 +524,8 @@
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@@ -444,8 +536,8 @@
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@@ -456,8 +548,8 @@
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@@ -468,8 +560,8 @@
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@@ -480,8 +572,8 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
@@ -528,8 +620,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -539,75 +631,63 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
-  </Group>
-
-  <Group>
-    <GroupName>Drivers/CMSIS</GroupName>
-    <tvExp>1</tvExp>
-    <tvExpOptDlg>0</tvExpOptDlg>
-    <cbSel>0</cbSel>
-    <RteFlg>0</RteFlg>
     <File>
-      <GroupNumber>4</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Src/system_stm32f4xx.c</PathWithFileName>
-      <FilenameWithoutPath>system_stm32f4xx.c</FilenameWithoutPath>
+      <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_can.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
-  </Group>
-
-  <Group>
-    <GroupName>BSP</GroupName>
-    <tvExp>1</tvExp>
-    <tvExpOptDlg>0</tvExpOptDlg>
-    <cbSel>0</cbSel>
-    <RteFlg>0</RteFlg>
     <File>
-      <GroupNumber>5</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\BSP\Driver\bsp_usart.c</PathWithFileName>
-      <FilenameWithoutPath>bsp_usart.c</FilenameWithoutPath>
+      <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_spi.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>5</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\BSP\Driver\bsp_oled.c</PathWithFileName>
-      <FilenameWithoutPath>bsp_oled.c</FilenameWithoutPath>
+      <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_tim.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
-  </Group>
-
-  <Group>
-    <GroupName>Device</GroupName>
-    <tvExp>1</tvExp>
-    <tvExpOptDlg>0</tvExpOptDlg>
-    <cbSel>0</cbSel>
-    <RteFlg>0</RteFlg>
     <File>
-      <GroupNumber>6</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\BSP\Device\oled.c</PathWithFileName>
-      <FilenameWithoutPath>oled.c</FilenameWithoutPath>
+      <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_tim_ex.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>38</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_uart.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvprojx b/Standard_robot/MDK-ARM/Standard_robot.uvprojx
index cf9749dd4789e689560e2398dc1314ddee2a0193..2e6d7087dbada03b5a36374b75fd81a43a261f4e 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvprojx
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvprojx
@@ -338,7 +338,7 @@
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F427xx,USE_HAL_DRIVER,STM32F427xx</Define>
               <Undefine></Undefine>
-              <IncludePath>../Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../BSP/Algorithm;../BSP/Controller;../BSP/Device;../BSP/Driver;../BSP/Modules</IncludePath>
+              <IncludePath>../Inc;  ../Drivers/STM32F4xx_HAL_Driver/Inc;  ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;  ../Drivers/CMSIS/Device/ST/STM32F4xx/Include;  ../Drivers/CMSIS/Include;  ../BSP/Algorithm;  ../BSP/Controller;  ../BSP/Device;  ../BSP/Driver;  ../BSP/Modules</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -407,6 +407,11 @@
               <FileType>1</FileType>
               <FilePath>../Src/adc.c</FilePath>
             </File>
+            <File>
+              <FileName>can.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Src/can.c</FilePath>
+            </File>
             <File>
               <FileName>dma.c</FileName>
               <FileType>1</FileType>
@@ -417,6 +422,11 @@
               <FileType>1</FileType>
               <FilePath>../Src/spi.c</FilePath>
             </File>
+            <File>
+              <FileName>tim.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Src/tim.c</FilePath>
+            </File>
             <File>
               <FileName>usart.c</FileName>
               <FileType>1</FileType>
@@ -434,106 +444,6 @@
             </File>
           </Files>
         </Group>
-        <Group>
-          <GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
-          <Files>
-            <File>
-              <FileName>stm32f4xx_hal_adc.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_adc_ex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_spi.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_tim.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_tim_ex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_uart.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_rcc.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_rcc_ex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_flash.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_flash_ex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_flash_ramfunc.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_gpio.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_dma_ex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_dma.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_pwr.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_pwr_ex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_cortex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32f4xx_hal_exti.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath>
-            </File>
-          </Files>
-        </Group>
         <Group>
           <GroupName>Drivers/CMSIS</GroupName>
           <Files>
@@ -557,6 +467,16 @@
               <FileType>1</FileType>
               <FilePath>..\BSP\Driver\bsp_oled.c</FilePath>
             </File>
+            <File>
+              <FileName>bsp_can.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\BSP\Driver\bsp_can.c</FilePath>
+            </File>
+            <File>
+              <FileName>bsp_key.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\BSP\Driver\bsp_key.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -638,6 +558,121 @@
             </File>
           </Files>
         </Group>
+        <Group>
+          <GroupName>Algorithm</GroupName>
+          <Files>
+            <File>
+              <FileName>pid.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\BSP\Algorithm\pid.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
+          <Files>
+            <File>
+              <FileName>stm32f4xx_hal_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_adc_ex.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_rcc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_rcc_ex.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_flash.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_flash_ex.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_flash_ramfunc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_dma_ex.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_pwr.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_pwr_ex.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_cortex.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_exti.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_can.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_tim.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_tim_ex.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_hal_uart.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</FilePath>
+            </File>
+          </Files>
+        </Group>
         <Group>
           <GroupName>::CMSIS</GroupName>
         </Group>
diff --git a/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex b/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex
index 3571b7f566269b986f71b42f41114c6073faa3c7..6b6a86fbc4babf73abba950e69d695eab754c11a 100644
--- a/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex
+++ b/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex
@@ -1,18 +1,18 @@
 :020000040800F2
-:1000000050090020C1010008471E0008891C000893
-:10001000451E0008710800083D220008000000008D
-:10002000000000000000000000000000391F000870
-:10003000FD08000800000000491E00083B1F0008E2
+:10000000880B0020C10100083F2A0008A92600082B
+:100010003D2A000871080008813000080000000037
+:10002000000000000000000000000000312B00086C
+:100030001509000800000000412A0008332B0008C1
 :10004000DB010008DB010008DB010008DB01000820
 :10005000DB010008DB010008DB010008DB01000810
 :10006000DB010008DB010008DB010008DB01000800
 :10007000DB010008DB010008DB010008DB010008F0
-:10008000DB010008DB010008DB010008DB010008E0
-:10009000DB010008DB010008DB010008DB010008D0
+:10008000DB010008DB010008DB0100088108000833
+:1000900075080008DB010008DB010008DB0100082F
 :1000A000DB010008DB010008DB010008DB010008C0
 :1000B000DB010008DB010008DB010008DB010008B0
 :1000C000DB010008DB010008DB010008DB010008A0
-:1000D000DB01000831220008DB010008DB01000819
+:1000D000DB01000875300008DB010008DB010008C7
 :1000E000DB010008DB010008DB010008DB01000880
 :1000F000DB010008DB010008DB010008DB01000870
 :10010000DB010008DB010008DB010008DB0100085F
@@ -20,15 +20,15 @@
 :10012000DB010008DB010008DB010008DB0100083F
 :10013000DB010008DB010008DB010008DB0100082F
 :10014000DB010008DB010008DB010008DB0100081F
-:10015000DB010008DB01000875080008DB0100086E
+:10015000DB010008DB0100088D080008DB01000856
 :10016000DB010008DB010008DB010008DB010008FF
 :10017000DB010008DB010008DB01000800000000D3
 :10018000DB010008DB010008DB010008DB010008DF
 :10019000DB010008DB010008DB010008DB010008CF
 :1001A0000000000000000000DB010008DFF80CD0B8
-:1001B00000F048FA00480047612B00085009002071
+:1001B00000F048FA00480047093A0008880B002080
 :1001C0000648804706480047FEE7FEE7FEE7FEE7F1
-:1001D000FEE7FEE7FEE7FEE7FEE7FEE7C51F0008D5
+:1001D000FEE7FEE7FEE7FEE7FEE7FEE7BD2B0008D1
 :1001E000AD0100082DE9F05F0546002092469B46D0
 :1001F00088460646814640241BE02846414647463D
 :10020000224600F057F853465A46C01A914110D37F
@@ -101,7 +101,7 @@
 :100630001C464FF00043524263EB0403994208BF4B
 :10064000904230BD064C074D06E0E06840F00103E3
 :1006500094E8070098471034AC42F6D3FFF7AAFDA0
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+:10066000784A0008984A0008202A06DBCB17203A6F
 :1006700041FA02F043EAE07306E041FA02F3D040A7
 :10068000C2F12002914008431946704710B5141E6C
 :1006900073F1000408DA401C41F1000192185B413B
@@ -134,787 +134,1066 @@
 :100840008A6890F8303042EA43228A6001688A68F8
 :1008500022F480628A6001688A68406942EA8020E6
 :10086000886010BD0023014000E0FFFF0000F0FFA2
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diff --git a/Standard_robot/Src/can.c b/Standard_robot/Src/can.c
new file mode 100644
index 0000000000000000000000000000000000000000..dc0dc5ca42ed57be5c5e0c75563e48f9d33c1623
--- /dev/null
+++ b/Standard_robot/Src/can.c
@@ -0,0 +1,117 @@
+/**
+  ******************************************************************************
+  * File Name          : CAN.c
+  * Description        : This file provides code for the configuration
+  *                      of the CAN instances.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "can.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+CAN_HandleTypeDef hcan1;
+
+/* CAN1 init function */
+void MX_CAN1_Init(void)
+{
+
+  hcan1.Instance = CAN1;
+  hcan1.Init.Prescaler = 3;
+  hcan1.Init.Mode = CAN_MODE_NORMAL;
+  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
+  hcan1.Init.TimeSeg1 = CAN_BS1_9TQ;
+  hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
+  hcan1.Init.TimeTriggeredMode = DISABLE;
+  hcan1.Init.AutoBusOff = ENABLE;
+  hcan1.Init.AutoWakeUp = DISABLE;
+  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.ReceiveFifoLocked = DISABLE;
+  hcan1.Init.TransmitFifoPriority = DISABLE;
+  if (HAL_CAN_Init(&hcan1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+}
+
+void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(canHandle->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspInit 0 */
+
+  /* USER CODE END CAN1_MspInit 0 */
+    /* CAN1 clock enable */
+    __HAL_RCC_CAN1_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**CAN1 GPIO Configuration    
+    PD0     ------> CAN1_RX
+    PD1     ------> CAN1_TX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    /* CAN1 interrupt Init */
+    HAL_NVIC_SetPriority(CAN1_TX_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
+    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
+  /* USER CODE BEGIN CAN1_MspInit 1 */
+
+  /* USER CODE END CAN1_MspInit 1 */
+  }
+}
+
+void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
+{
+
+  if(canHandle->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspDeInit 0 */
+
+  /* USER CODE END CAN1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_CAN1_CLK_DISABLE();
+  
+    /**CAN1 GPIO Configuration    
+    PD0     ------> CAN1_RX
+    PD1     ------> CAN1_TX 
+    */
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
+
+    /* CAN1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
+    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
+  /* USER CODE BEGIN CAN1_MspDeInit 1 */
+
+  /* USER CODE END CAN1_MspDeInit 1 */
+  }
+} 
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Standard_robot/Src/gpio.c b/Standard_robot/Src/gpio.c
index 69a65cb881223e9b9071adecf941891a80452ee1..c661604cf27831a82ac55a5f5de9d8fca3eb7480 100644
--- a/Standard_robot/Src/gpio.c
+++ b/Standard_robot/Src/gpio.c
@@ -45,15 +45,27 @@ void MX_GPIO_Init(void)
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOB_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
   __HAL_RCC_GPIOH_CLK_ENABLE();
   __HAL_RCC_GPIOG_CLK_ENABLE();
+  __HAL_RCC_GPIOE_CLK_ENABLE();
+  __HAL_RCC_GPIOF_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOB, OLED_DC_Pin|OLED_RST_Pin, GPIO_PIN_RESET);
 
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOH, POWER1_CTRL_Pin|POWER2_CTRL_Pin|POWER4_CTRL_Pin, GPIO_PIN_RESET);
+
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(LED_A_GPIO_Port, LED_A_Pin, GPIO_PIN_RESET);
 
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(LED_RED_GPIO_Port, LED_RED_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(LED_GREEN_GPIO_Port, LED_GREEN_Pin, GPIO_PIN_RESET);
+
   /*Configure GPIO pins : PBPin PBPin */
   GPIO_InitStruct.Pin = OLED_DC_Pin|OLED_RST_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -61,6 +73,19 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+  /*Configure GPIO pins : PHPin PHPin PHPin */
+  GPIO_InitStruct.Pin = POWER1_CTRL_Pin|POWER2_CTRL_Pin|POWER4_CTRL_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = POWER3_CTRL_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(POWER3_CTRL_GPIO_Port, &GPIO_InitStruct);
+
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = LED_A_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -68,6 +93,26 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(LED_A_GPIO_Port, &GPIO_InitStruct);
 
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = KEY_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(KEY_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = LED_RED_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(LED_RED_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = LED_GREEN_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(LED_GREEN_GPIO_Port, &GPIO_InitStruct);
+
 }
 
 /* USER CODE BEGIN 2 */
diff --git a/Standard_robot/Src/main.c b/Standard_robot/Src/main.c
index 6142dca6b372caa98e8ef324f96c894d05c016f7..30a8159891981a866495a2a1f0abb7a512c8e59e 100644
--- a/Standard_robot/Src/main.c
+++ b/Standard_robot/Src/main.c
@@ -21,8 +21,10 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "adc.h"
+#include "can.h"
 #include "dma.h"
 #include "spi.h"
+#include "tim.h"
 #include "usart.h"
 #include "gpio.h"
 
@@ -31,6 +33,11 @@
 
 #include "bsp_oled.h"
 #include "bsp_usart.h"
+#include "bsp_key.h"
+#include "bsp_led.h"
+#include "bsp_can.h"
+
+#include "pid.h"
 #include "oled.h"
 #include "string.h"
 
@@ -54,7 +61,10 @@
 /* Private variables ---------------------------------------------------------*/
 
 /* USER CODE BEGIN PV */
-
+extern moto_info_t motor_info[MOTOR_MAX_NUM];
+int16_t led_cnt;
+pid_struct_t motor_pid[7];
+float target_speed;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -101,34 +111,90 @@ int main(void)
   MX_USART1_UART_Init();
   MX_ADC1_Init();
   MX_SPI1_Init();
+  MX_CAN1_Init();
+  MX_TIM1_Init();
   /* USER CODE BEGIN 2 */
-	usart1_tx_dma_init();
+	HAL_GPIO_WritePin(GPIOH, POWER1_CTRL_Pin|POWER2_CTRL_Pin|POWER3_CTRL_Pin|POWER4_CTRL_Pin, GPIO_PIN_SET); // switch on 24v power
 	
+	//Init OLED
 	oled_init();
 	oled_clear(Pen_Clear);
 	oled_LOGO();
 	oled_refresh_gram();
 	
 	HAL_GPIO_WritePin(LED_A_GPIO_Port, LED_A_Pin, GPIO_PIN_RESET);
-	
 	HAL_Delay(500);
 	
 	oled_clear(Pen_Clear);
 	oled_refresh_gram();
 	
+	
+	can_user_init(&hcan1);                   // config can filter, start can
+  for (uint8_t i = 0; i < 3; i++)
+  {
+    pid_init(&motor_pid[i], 2, 0.005, 2, 16000, 16000); //init pid parameter chassis, kp=2, ki=0.005, kd=2, output limit = 16000
+  }
+	for (uint8_t i = 4; i < 7; i++)
+  {
+    pid_init(&motor_pid[i], 40, 3, 0, 30000, 30000); //init pid parameter gimbal, kp=40, ki=3, kd=0, output limit = 30000
+  }
+	
   /* USER CODE END 2 */
+ 
+ 
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)
   {
     /* USER CODE END WHILE */
-	
-    /* USER CODE BEGIN 3 */	
+
+    /* USER CODE BEGIN 3 */
 		oled_print_button(1, 1);
-    HAL_Delay(100);
+		
+     /* led blink */
+    led_cnt ++;
+    if (led_cnt == 250)
+    {
+      led_cnt = 0;
+      LED_RED_TOGGLE(); //blink cycle 500ms
+    }
+    
+    /* scan is key be pressd down to change target speed and pwm pulse */
+    if (key_scan())
+    {
+      target_speed += 60.0f;  // target speed increase 60rpm
+      if (target_speed > 180) // if current speed = 180, press key to stop motor
+      {
+        target_speed = 0;
+      }
+    }
+    
+    /* motor speed pid calc */
+    for (uint8_t i = 0; i < 3; i++)
+    {
+      motor_info[i].set_voltage = pid_calc(&motor_pid[i], target_speed*20, motor_info[i].rotor_speed);
+    }
+		for (uint8_t i = 4; i < 7; i++)
+    {
+      motor_info[i].set_voltage = pid_calc(&motor_pid[i], target_speed, motor_info[i].rotor_speed);
+    }
+    /* send motor control message through can bus*/
+    set_motor_voltage(0, 
+                      motor_info[0].set_voltage, 
+                      motor_info[1].set_voltage, 
+                      motor_info[2].set_voltage, 
+                      motor_info[3].set_voltage);
+    
+    set_motor_voltage(1, 
+                      motor_info[4].set_voltage, 
+                      motor_info[5].set_voltage, 
+                      motor_info[6].set_voltage, 
+                      0);
+		
 		
   }
+	HAL_Delay(10);
   /* USER CODE END 3 */
 }
 
diff --git a/Standard_robot/Src/stm32f4xx_it.c b/Standard_robot/Src/stm32f4xx_it.c
index 25e8ef6f727b92ad5bb0389ec5f6bb6c1c284b45..c808776deb8df3793869dc4a9a6fba7e6a780543 100644
--- a/Standard_robot/Src/stm32f4xx_it.c
+++ b/Standard_robot/Src/stm32f4xx_it.c
@@ -56,6 +56,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern CAN_HandleTypeDef hcan1;
 extern DMA_HandleTypeDef hdma_usart1_tx;
 extern UART_HandleTypeDef huart1;
 /* USER CODE BEGIN EV */
@@ -198,6 +199,34 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles CAN1 TX interrupts.
+  */
+void CAN1_TX_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_TX_IRQn 0 */
+
+  /* USER CODE END CAN1_TX_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_TX_IRQn 1 */
+
+  /* USER CODE END CAN1_TX_IRQn 1 */
+}
+
+/**
+  * @brief This function handles CAN1 RX0 interrupts.
+  */
+void CAN1_RX0_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
+
+  /* USER CODE END CAN1_RX0_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
+
+  /* USER CODE END CAN1_RX0_IRQn 1 */
+}
+
 /**
   * @brief This function handles USART1 global interrupt.
   */
diff --git a/Standard_robot/Src/tim.c b/Standard_robot/Src/tim.c
new file mode 100644
index 0000000000000000000000000000000000000000..e3ea8b8d3f36a84801647b2448d81c9dc307c652
--- /dev/null
+++ b/Standard_robot/Src/tim.c
@@ -0,0 +1,165 @@
+/**
+  ******************************************************************************
+  * File Name          : TIM.c
+  * Description        : This file provides code for the configuration
+  *                      of the TIM instances.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "tim.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+TIM_HandleTypeDef htim1;
+
+/* TIM1 init function */
+void MX_TIM1_Init(void)
+{
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 167;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 20000;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 1000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  HAL_TIM_MspPostInit(&htim1);
+
+}
+
+void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
+{
+
+  if(tim_pwmHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspInit 0 */
+
+  /* USER CODE END TIM1_MspInit 0 */
+    /* TIM1 clock enable */
+    __HAL_RCC_TIM1_CLK_ENABLE();
+  /* USER CODE BEGIN TIM1_MspInit 1 */
+
+  /* USER CODE END TIM1_MspInit 1 */
+  }
+}
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(timHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspPostInit 0 */
+
+  /* USER CODE END TIM1_MspPostInit 0 */
+  
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    /**TIM1 GPIO Configuration    
+    PA9     ------> TIM1_CH2
+    PA8     ------> TIM1_CH1
+    PE13     ------> TIM1_CH3
+    PE14     ------> TIM1_CH4 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_8;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM1_MspPostInit 1 */
+
+  /* USER CODE END TIM1_MspPostInit 1 */
+  }
+
+}
+
+void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
+{
+
+  if(tim_pwmHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspDeInit 0 */
+
+  /* USER CODE END TIM1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM1_CLK_DISABLE();
+  /* USER CODE BEGIN TIM1_MspDeInit 1 */
+
+  /* USER CODE END TIM1_MspDeInit 1 */
+  }
+} 
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Standard_robot/Src/usart.c b/Standard_robot/Src/usart.c
index 8aafaf24393c193cb0e9c7c9f6e2b7884092af06..4d313aeffe63e84ce9676e01c8574f21230134c3 100644
--- a/Standard_robot/Src/usart.c
+++ b/Standard_robot/Src/usart.c
@@ -66,7 +66,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     */
     GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
diff --git a/Standard_robot/Standard_robot.ioc b/Standard_robot/Standard_robot.ioc
index dbfc3f9eaf516dcd323cc26271489af1be2b0f83..ed031719d674d26818e1e70a4a48483647b476d6 100644
--- a/Standard_robot/Standard_robot.ioc
+++ b/Standard_robot/Standard_robot.ioc
@@ -6,6 +6,12 @@ ADC1.NbrOfConversionFlag=1
 ADC1.Rank-0\#ChannelRegularConversion=1
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
 ADC1.master=1
+CAN1.ABOM=ENABLE
+CAN1.BS1=CAN_BS1_9TQ
+CAN1.BS2=CAN_BS2_4TQ
+CAN1.CalculateTimeQuantum=71.42857142857143
+CAN1.IPParameters=CalculateTimeQuantum,Prescaler,ABOM,BS1,BS2
+CAN1.Prescaler=3
 Dma.Request0=USART1_TX
 Dma.RequestsNb=1
 Dma.USART1_TX.0.Direction=DMA_MEMORY_TO_PERIPH
@@ -19,41 +25,60 @@ Dma.USART1_TX.0.PeriphInc=DMA_PINC_DISABLE
 Dma.USART1_TX.0.Priority=DMA_PRIORITY_LOW
 Dma.USART1_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 File.Version=6
+GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.Family=STM32F4
 Mcu.IP0=ADC1
-Mcu.IP1=DMA
-Mcu.IP2=NVIC
-Mcu.IP3=RCC
-Mcu.IP4=SPI1
-Mcu.IP5=SYS
-Mcu.IP6=USART1
-Mcu.IPNb=7
+Mcu.IP1=CAN1
+Mcu.IP2=DMA
+Mcu.IP3=NVIC
+Mcu.IP4=RCC
+Mcu.IP5=SPI1
+Mcu.IP6=SYS
+Mcu.IP7=TIM1
+Mcu.IP8=USART1
+Mcu.IPNb=9
 Mcu.Name=STM32F427I(G-I)Hx
 Mcu.Package=UFBGA176
 Mcu.Pin0=PB4
 Mcu.Pin1=PB3
-Mcu.Pin10=PA6
-Mcu.Pin11=PA7
-Mcu.Pin12=PB10
-Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin10=PH2
+Mcu.Pin11=PA8
+Mcu.Pin12=PH0/OSC_IN
+Mcu.Pin13=PH3
+Mcu.Pin14=PH1/OSC_OUT
+Mcu.Pin15=PH4
+Mcu.Pin16=PG8
+Mcu.Pin17=PH5
+Mcu.Pin18=PB2/BOOT1
+Mcu.Pin19=PE13
 Mcu.Pin2=PA14
+Mcu.Pin20=PA6
+Mcu.Pin21=PE11
+Mcu.Pin22=PE14
+Mcu.Pin23=PA7
+Mcu.Pin24=PF14
+Mcu.Pin25=PB10
+Mcu.Pin26=VP_SYS_VS_Systick
 Mcu.Pin3=PA13
 Mcu.Pin4=PB9
 Mcu.Pin5=PB7
 Mcu.Pin6=PB6
-Mcu.Pin7=PH0/OSC_IN
-Mcu.Pin8=PH1/OSC_OUT
-Mcu.Pin9=PG8
-Mcu.PinsNb=14
+Mcu.Pin7=PD0
+Mcu.Pin8=PD1
+Mcu.Pin9=PA9
+Mcu.PinsNb=27
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F427IIHx
-MxCube.Version=5.3.0
-MxDb.Version=DB.5.0.30
+MxCube.Version=5.5.0
+MxDb.Version=DB.5.0.50
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+NVIC.CAN1_TX_IRQn=true\:0\:0\:false\:false\:true\:true\:true
 NVIC.DMA2_Stream7_IRQn=true\:0\:0\:false\:false\:true\:false\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
@@ -71,10 +96,16 @@ PA6.Signal=ADCx_IN6
 PA7.Locked=true
 PA7.Mode=Full_Duplex_Master
 PA7.Signal=SPI1_MOSI
+PA8.Signal=S_TIM1_CH1
+PA9.Signal=S_TIM1_CH2
 PB10.GPIOParameters=GPIO_Label
 PB10.GPIO_Label=OLED_RST
 PB10.Locked=true
 PB10.Signal=GPIO_Output
+PB2/BOOT1.GPIOParameters=GPIO_Label
+PB2/BOOT1.GPIO_Label=KEY
+PB2/BOOT1.Locked=true
+PB2/BOOT1.Signal=GPIO_Input
 PB3.Mode=Full_Duplex_Master
 PB3.Signal=SPI1_SCK
 PB4.Mode=Full_Duplex_Master
@@ -95,6 +126,24 @@ PCC.Seq0=0
 PCC.Series=STM32F4
 PCC.Temperature=25
 PCC.Vdd=3.3
+PD0.Locked=true
+PD0.Mode=Master
+PD0.Signal=CAN1_RX
+PD1.Locked=true
+PD1.Mode=Master
+PD1.Signal=CAN1_TX
+PE11.GPIOParameters=GPIO_Label
+PE11.GPIO_Label=LED_RED
+PE11.Locked=true
+PE11.Signal=GPIO_Output
+PE13.Locked=true
+PE13.Signal=S_TIM1_CH3
+PE14.Locked=true
+PE14.Signal=S_TIM1_CH4
+PF14.GPIOParameters=GPIO_Label
+PF14.GPIO_Label=LED_GREEN
+PF14.Locked=true
+PF14.Signal=GPIO_Output
 PG8.GPIOParameters=GPIO_Label
 PG8.GPIO_Label=LED_A
 PG8.Locked=true
@@ -103,6 +152,22 @@ PH0/OSC_IN.Mode=HSE-External-Oscillator
 PH0/OSC_IN.Signal=RCC_OSC_IN
 PH1/OSC_OUT.Mode=HSE-External-Oscillator
 PH1/OSC_OUT.Signal=RCC_OSC_OUT
+PH2.GPIOParameters=GPIO_Label
+PH2.GPIO_Label=POWER1_CTRL
+PH2.Locked=true
+PH2.Signal=GPIO_Output
+PH3.GPIOParameters=GPIO_Label
+PH3.GPIO_Label=POWER2_CTRL
+PH3.Locked=true
+PH3.Signal=GPIO_Output
+PH4.GPIOParameters=GPIO_Label
+PH4.GPIO_Label=POWER3_CTRL
+PH4.Locked=true
+PH4.Signal=GPIO_Input
+PH5.GPIOParameters=GPIO_Label
+PH5.GPIO_Label=POWER4_CTRL
+PH5.Locked=true
+PH5.Signal=GPIO_Output
 PinOutPanel.CurrentBGAView=Top
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
@@ -131,7 +196,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_ADC1_Init-ADC1-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_CAN1_Init-CAN1-false-HAL-true,8-MX_TIM1_Init-TIM1-false-HAL-true
 RCC.48MHZClocksFreq_Value=84000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -172,12 +237,31 @@ RCC.VcooutputI2S=192000000
 RCC.VcooutputI2SQ=192000000
 SH.ADCx_IN6.0=ADC1_IN6,IN6
 SH.ADCx_IN6.ConfNb=1
+SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
+SH.S_TIM1_CH1.ConfNb=1
+SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
+SH.S_TIM1_CH2.ConfNb=1
+SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
+SH.S_TIM1_CH3.ConfNb=1
+SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
+SH.S_TIM1_CH4.ConfNb=1
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
 SPI1.CalculateBaudRate=1.3125 MBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
+TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2,Pulse-PWM Generation3 CH3,Pulse-PWM Generation4 CH4
+TIM1.Period=20000
+TIM1.Prescaler=167
+TIM1.Pulse-PWM\ Generation1\ CH1=1000
+TIM1.Pulse-PWM\ Generation2\ CH2=1000
+TIM1.Pulse-PWM\ Generation3\ CH3=1000
+TIM1.Pulse-PWM\ Generation4\ CH4=1000
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick