diff --git a/carsrun/appCam.py b/carsrun/appCam.py
index 1568e9e..d35ba90 100644
--- a/carsrun/appCam.py
+++ b/carsrun/appCam.py
@@ -19,6 +19,8 @@ from car import CAR
 import threading
 import cv2
 app = Flask(__name__, static_url_path='')
+# 照片保存路径
+PHOTO_PATH = "photo.jpg"
 
 def gen_frames():  # generate frame by frame from camera
     picam2 = Picamera2()
@@ -42,6 +44,18 @@ def index():
 def video_feed():
     #Video streaming route. Put this in the src attribute of an img tag
     return Response(gen_frames(), mimetype='multipart/x-mixed-replace; boundary=frame')
+#---------------------------------------------------------------------------------
+@app.route('/take_photo')
+def take_photo():
+    picam2 = Picamera2()
+    picam2.configure(picam2.create_video_configuration(main={"format": 'XRGB8888', "size": (640, 480)}))
+    picam2.start()
+    frame = picam2.capture_array()  # Capture a single frame
+    frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+    cv2.imwrite(PHOTO_PATH, frame)  # Save the frame as a JPEG file
+
+    return send_file(PHOTO_PATH, as_attachment=True)  # Send the file to download
+#---------------------------------------------------------------------------------------
 
 # def gen(camera):
 #     """Video streaming generator function."""
@@ -69,9 +83,6 @@ car = CAR()
 @app.route('/control/')
 def control_index():
     word = """指令：\n
-        /led: 灯光闪烁\n
-        /led_light: 打开全部灯光\n
-        /led_dark: 关闭全部灯光\n
         /stop(/Q): 小车停止运动\n
         /forward(/W): 小车开始运动\n
         /back(/S): 小车向后运动\n
diff --git a/carsrun/car.py b/carsrun/car.py
index c72f49a..f6b1743 100644
--- a/carsrun/car.py
+++ b/carsrun/car.py
@@ -3,11 +3,11 @@ import os
 import time
 import RPi.GPIO as GPIO
 from base_ctrl import BaseController
-#######################################
-#############信号引脚定义##############
-#######################################
+
+
 GPIO.setmode(GPIO.BCM)
 GPIO.setwarnings(False)
+#底盘连接
 def is_raspberry_pi5():
     with open('/proc/cpuinfo', 'r') as file:
         for line in file:
@@ -17,75 +17,18 @@ def is_raspberry_pi5():
                 else:
                     return False
 
+#云台连接
+
 base = BaseController('/dev/ttyAMA0', 115200)
 
 class CAR:
-    def __init__(self):
-        self.LED0 = 10		    #LED0的IO口定义
-        self.LED1 = 9			#LED1的IO口定义
-        self.LED2 = 25			#LED2的IO口定义
-        self.ENA = 13           #//L298 使能A
-        self.ENB = 20           #//L298 使能B
-        self.IN1 = 19           #//电机接口1
-        self.IN2 = 16           #//电机接口2
-        self.IN3 = 21           #//电机接口3
-        self.IN4 = 26           #//电机接口4
-        GPIO.setup(self.LED0, GPIO.OUT, initial=GPIO.HIGH)  ##led0初始化为高电平
-        GPIO.setup(self.LED1, GPIO.OUT, initial=GPIO.HIGH)  ##led1初始化为高电平
-        GPIO.setup(self.LED2, GPIO.OUT, initial=GPIO.HIGH)  ##led2初始化为高电平
-        GPIO.setup(self.ENA,  GPIO.OUT, initial=GPIO.LOW)   ##ENA初始化为低电平
-        GPIO.setup(self.ENB,  GPIO.OUT, initial=GPIO.LOW)   ##ENB初始化为低电平
-        GPIO.setup(self.IN1,  GPIO.OUT, initial=GPIO.LOW)   ##IN1初始化为低电平
-        GPIO.setup(self.IN2,  GPIO.OUT, initial=GPIO.LOW)   ##IN2初始化为低电平
-        GPIO.setup(self.IN3,  GPIO.OUT, initial=GPIO.LOW)   ##IN3初始化为低电平
-        GPIO.setup(self.IN4,  GPIO.OUT, initial=GPIO.LOW)   ##IN4初始化为低电平
-
-    def led(self):
-        GPIO.output(self.LED0,False)
-        GPIO.output(self.LED1,False)
-        GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 亮 亮
-        time.sleep(0.5)
-        GPIO.output(self.LED0,True)
-        GPIO.output(self.LED1,False)
-        GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 灭 亮 亮
-        time.sleep(0.5)
-        GPIO.output(self.LED0,False)
-        GPIO.output(self.LED1,True)
-        GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 灭 亮
-        time.sleep(0.5)
-        GPIO.output(self.LED0,False)
-        GPIO.output(self.LED1,False)
-        GPIO.output(self.LED2,True)###LED0,LED1,LED2 = 亮 亮 灭
-        time.sleep(0.5)
-        GPIO.output(self.LED0,False)
-        GPIO.output(self.LED1,False)
-        GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 亮 亮
-        time.sleep(0.5)
-        GPIO.output(self.LED0,True)
-        GPIO.output(self.LED1,True)
-        GPIO.output(self.LED2,True)###LED0,LED1,LED2 = 灭 灭 灭
-        time.sleep(0.5)
-        print("run: led")
-
-    def led_light(self):
-        GPIO.output(self.LED0,False)
-        GPIO.output(self.LED1,False)
-        GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 亮 亮
-        print("run: led_light")
-
-    def led_dark(self):
-        GPIO.output(self.LED0,True)
-        GPIO.output(self.LED1,True)
-        GPIO.output(self.LED2,True)###LED0,LED1,LED2 = 灭 灭 灭
-        print("run: led_dark")
+    input_x = 0
+    input_y = 0
+    input_speed = 0
+    input_acc = 0
 
     def stop(self):                 # 停止运行
-        GPIO.output(self.ENA,False)
-        GPIO.output(self.ENB,False)
-        GPIO.output(self.IN1,False)
-        GPIO.output(self.IN2,False)
-        GPIO.output(self.IN3,False)
-        GPIO.output(self.IN4,False)
+        base.send_command({"T":1,"L":0,"R":0})
         print("run: stop move")
 
     def Q(self):                    # 停止的快捷键
@@ -95,7 +38,7 @@ class CAR:
     
     def forward(self):              # 前进
         base.send_command({"T":1,"L":0.2,"R":0.2})
-        time.sleep(2)
+        time.sleep(1)
         base.send_command({"T":1,"L":0,"R":0})
         print("run: move !!!!forward")
 
@@ -105,12 +48,9 @@ class CAR:
         self.forward()
 
     def back(self):                 # 后退
-        GPIO.output(self.ENA,True)
-        GPIO.output(self.ENB,True)
-        GPIO.output(self.IN1,True)
-        GPIO.output(self.IN2,False)
-        GPIO.output(self.IN3,True)
-        GPIO.output(self.IN4,False)
+        base.send_command({"T":1,"L":-0.2,"R":-0.2})
+        time.sleep(1)
+        base.send_command({"T":1,"L":0,"R":0})
         print("run: move back")
 
     def S(self):                    # 后退的快捷键
@@ -119,12 +59,9 @@ class CAR:
         self.back()
 
     def left(self):                 # 左转
-        GPIO.output(self.ENA,True)
-        GPIO.output(self.ENB,True)
-        GPIO.output(self.IN1,False)
-        GPIO.output(self.IN2,True)
-        GPIO.output(self.IN3,True)
-        GPIO.output(self.IN4,False)
+        base.send_command({"T":1,"L":-0.2,"R":0.2})
+        time.sleep(0.5)
+        base.send_command({"T":1,"L":0,"R":0})
         print("run: move left")
     
     def A(self):                    # 左转的快捷键
@@ -133,15 +70,28 @@ class CAR:
         self.left()
 
     def right(self):                # 右转
-        GPIO.output(self.ENA,True)
-        GPIO.output(self.ENB,True)
-        GPIO.output(self.IN1,True)
-        GPIO.output(self.IN2,False)
-        GPIO.output(self.IN3,False)
-        GPIO.output(self.IN4,True)
+        base.send_command({"T":1,"L":0.2,"R":-0.2})
+        time.sleep(0.5)
+        base.send_command({"T":1,"L":0,"R":0})
         print("run: move right")
 
     def D(self):                    # 右转的快捷键
         self.right()
     def d(self):
-        self.right()
\ No newline at end of file
+        self.right()
+
+    def up(self):
+        self.input_y+=10
+        base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
+
+    def down(self):
+        self.input_y-=10
+        base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
+
+    def yunleft(self):
+        self.input_x-=10
+        base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
+
+    def yunright(self):
+        self.input_x+=10
+        base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
\ No newline at end of file
diff --git a/carsrun/templates/index-t.html b/carsrun/templates/index-t.html
index b0afa2a..0279e62 100644
--- a/carsrun/templates/index-t.html
+++ b/carsrun/templates/index-t.html
@@ -22,6 +22,7 @@
     </style>
 </head>
 <body>
+    <h5>实时视频流</h5>
     <img src="{{ url_for('video_feed') }}">
     <p> 小车控制界面</p>
     <bodylink = "red">
@@ -29,19 +30,38 @@
 <div id="container" class="container">
     
     <div>
-        <button id="front" type="button" onclick="forward()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-up"> </button>
+        <button id="front" type="button" onclick="forward()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-up" style="margin-left: 56px;"> </button>
     </div>
-    <div>
+    <!-- <div>
         <button id="printButton" type="button" onclick="printClicked()" class="btn btn-lg btn-primary">打印点击</button>
-    </div>
+    </div> -->
     
     <div>
-        <button type="button" onclick="left()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-left"> </button>
+        <button type="button" onclick="left()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-left" > </button>
         <button type="button" onclick="stop()" class="btn btn-lg btn-primary glyphicon glyphicon-stop"> </button>
-        <button type="button" onclick="right()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-right"> </button>
+        <button type="button" onclick="right()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-right" > </button>
+        <!-- ---------------------------------------- -->
+        <button type="button" onclick="takePhoto()">拍照</button>
+        <!-- ---------------------------------------- -->
+    </div>
+        <button id="rear" type="button" onclick="back()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-down" style="margin-left: 56px;"> </button>
+    </div>
+
+
+    <div>
+        <button id="up" type="button" onclick="up()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-up" style="margin-left: 56px;"> </button>
     </div>
+    <!-- <div>
+        <button id="printButton" type="button" onclick="printClicked()" class="btn btn-lg btn-primary">打印点击</button>
+    </div> -->
+    
     <div>
-        <button id="rear" type="button" onclick="back()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-down"> </button>
+        <button type="button" onclick="yunleft()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-left" > </button>
+        <button type="button" onclick="guiwei()" class="btn btn-lg btn-primary glyphicon glyphicon-stop"> </button>
+        <button type="button" onclick="yunright()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-right" > </button>
+
+    </div>
+        <button id="down" type="button" onclick="down()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-down" style="margin-left: 56px;"> </button>
     </div>
 </div>
 
@@ -75,8 +95,13 @@
 
     <script>
         function printClicked() {
-        console.log("132465789891651354684");
+        // console.log("132465789891651354684");
+        }
+        // ---------------------------------------
+        function takePhoto() {
+            window.location.href = "{{ url_for('take_photo') }}";  // 重定向到拍照请求
         }
+        // ---------------------------------------
         function forward() {
             console.log("132465789891651354684");
             $.ajax({
@@ -160,9 +185,106 @@
                 },
                 error : function() {
     
+                }
+            });
+        }    function up() {
+            // console.log("132465789891651354684");
+            $.ajax({
+                
+                type: "GET",                  
+                dataType: "json",              
+                url: "/control/up" ,          
+                data: $('#form1').serialize(), //提交的数据
+                success: function (result) {
+                    console.log(result);       //打印服务端返回的数据(调试用)
+                    if (result.resultCode == 200) {
+                    }
+                    ;
+                },
+                error : function() {
+    
+                }
+            });
+        }    function yunleft() {
+            // console.log("132465789891651354684");
+            $.ajax({
+                
+                type: "GET",                  
+                dataType: "json",              
+                url: "/control/yunleft" ,          
+                data: $('#form1').serialize(), //提交的数据
+                success: function (result) {
+                    console.log(result);       //打印服务端返回的数据(调试用)
+                    if (result.resultCode == 200) {
+                    }
+                    ;
+                },
+                error : function() {
+    
+                }
+            });
+            
+        }
+            function yunright() {
+            // console.log("132465789891651354684");
+            $.ajax({
+                
+                type: "GET",                  
+                dataType: "json",              
+                url: "/control/yunright" ,          
+                data: $('#form1').serialize(), //提交的数据
+                success: function (result) {
+                    console.log(result);       //打印服务端返回的数据(调试用)
+                    if (result.resultCode == 200) {
+                    }
+                    ;
+                },
+                error : function() {
+    
+                }
+            });
+            
+        }
+            function down() {
+            // console.log("132465789891651354684");
+            $.ajax({
+                
+                type: "GET",                  
+                dataType: "json",              
+                url: "/control/down" ,          
+                data: $('#form1').serialize(), //提交的数据
+                success: function (result) {
+                    console.log(result);       //打印服务端返回的数据(调试用)
+                    if (result.resultCode == 200) {
+                    }
+                    ;
+                },
+                error : function() {
+    
+                }
+            });
+            
+        }
+            function guiwei() {
+            // console.log("132465789891651354684");
+            $.ajax({
+                
+                type: "GET",                  
+                dataType: "json",              
+                url: "/control/guiwei" ,          
+                data: $('#form1').serialize(), //提交的数据
+                success: function (result) {
+                    console.log(result);       //打印服务端返回的数据(调试用)
+                    if (result.resultCode == 200) {
+                    }
+                    ;
+                },
+                error : function() {
+    
                 }
             });
         }
+        
     </script>
     <script>
         function refreshPage() {