diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index 3ef761f..611276b 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -24,14 +24,16 @@
 #include "math.h"
 #include "string.h"
 
-#define STOOL_SPEED_REF 1.8f
-#define STOOL_YAW_RATE_REF 2.4f
-#define STOOL_ACC_REF 6.5f
-#define STOOL_BRAKE_ACC_REF 16.0f
-#define STOOL_PITCH_K 50.0f
-#define STOOL_PITCH_W_K 12.5f
-#define STOOL_VEL_K 6.2f
-#define STOOL_STOP_DIST_K 3.0f
+#define STOOL_SPEED_REF 1.5f
+#define STOOL_YAW_RATE_REF 3.5f
+#define STOOL_SPIN_YAW_RATE_REF 10.0f
+#define STOOL_SPIN_YAW_ACC_REF 5.0f
+#define STOOL_ACC_REF 4.0f
+#define STOOL_BRAKE_ACC_REF 8.0f
+#define STOOL_PITCH_K 55.0f
+#define STOOL_PITCH_W_K 7.0f
+#define STOOL_VEL_K 10.0f
+#define STOOL_STOP_DIST_K 8.0f
 #define STOOL_PITCH_REF -0.10f
 #define STOOL_VEL_LPF_RC 0.03f
 #define STOOL_WHEEL_TORQUE_LIMIT 25.0f
@@ -73,6 +75,7 @@ static float stool_vel;
 static float stool_dist;
 static float stool_stop_dist;
 static float stool_target_wz;
+static uint8_t stool_spin_enabled;
 static chassis_mode_e last_chassis_mode = CHASSIS_ZERO_FORCE;
 
 static void ClearMotionTargets(void)
@@ -80,6 +83,7 @@ static void ClearMotionTargets(void)
     chassis.target_v = 0.0f;
     chassis.target_dist = chassis.dist;
     stool_target_wz = 0.0f;
+    stool_spin_enabled = 0;
 }
 
 static void ClearControlOutput(void)
@@ -337,6 +341,7 @@ static void ControlSwitch()
     chassis_cmd_recv.loader_mode = LOAD_STOP;
     chassis_cmd_recv.vision_mode = UNLOCK;
     chassis_cmd_recv.ui_mode = UI_KEEP;
+    stool_spin_enabled = 0;
 
     if (!RemoteControlIsOnline())
     {
@@ -357,7 +362,15 @@ static void ControlSwitch()
 
     chassis_cmd_recv.chassis_mode = CHASSIS_STOOL_MODE;
     chassis_cmd_recv.vx = RCChannelToRatio(rc_data[TEMP].rc.rocker_r1) * STOOL_SPEED_REF;
-    chassis_cmd_recv.offset_angle = -RCChannelToRatio(rc_data[TEMP].rc.rocker_r_) * STOOL_YAW_RATE_REF;
+    if (switch_is_up(switch_right))
+    {
+        chassis_cmd_recv.offset_angle = -STOOL_SPIN_YAW_RATE_REF;
+        stool_spin_enabled = 1;
+    }
+    else
+    {
+        chassis_cmd_recv.offset_angle = -RCChannelToRatio(rc_data[TEMP].rc.rocker_r_) * STOOL_YAW_RATE_REF;
+    }
 }
 
 /* Joint motors must remain disabled on this demo chassis. */
@@ -402,7 +415,10 @@ static void WokingStateSet()
     EnableDrivenMotor();
     chassis_status = ROBOT_READY;
     l_side.target_len = r_side.target_len = 0.12f;
-    stool_target_wz = chassis_cmd_recv.offset_angle;
+    if (stool_spin_enabled || fabsf(stool_target_wz) > STOOL_YAW_RATE_REF)
+        ApproachFloat(&stool_target_wz, chassis_cmd_recv.offset_angle, STOOL_SPIN_YAW_ACC_REF * del_t);
+    else
+        stool_target_wz = chassis_cmd_recv.offset_angle;
 
     if (fabsf(chassis_cmd_recv.vx) > 0.001f)
     {