diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index b9b951b..4c49b83 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -104,17 +104,17 @@ void BalanceInit()
             .speed_feedback_source = MOTOR_FEED,
         },
         .motor_type = DM8009P};
-    joint_conf.can_init_config.tx_id = 1;
-    joint_conf.can_init_config.rx_id = 11;
+    joint_conf.can_init_config.tx_id = 3;
+    joint_conf.can_init_config.rx_id = 14;
     joint[LF] = lf = DMMotorInit(&joint_conf);
     joint_conf.can_init_config.tx_id = 2;
-    joint_conf.can_init_config.rx_id = 12;
-    joint[LB] = lb = DMMotorInit(&joint_conf);
-    joint_conf.can_init_config.tx_id = 3;
     joint_conf.can_init_config.rx_id = 13;
+    joint[LB] = lb = DMMotorInit(&joint_conf);
+    joint_conf.can_init_config.tx_id = 1;
+    joint_conf.can_init_config.rx_id = 12;
     joint[RF] = rf = DMMotorInit(&joint_conf);
-    joint_conf.can_init_config.tx_id = 4;
-    joint_conf.can_init_config.rx_id = 14;
+    joint_conf.can_init_config.tx_id = 0;
+    joint_conf.can_init_config.rx_id = 11;
     joint[RB] = rb = DMMotorInit(&joint_conf);
 
     // 驱动轮电机
@@ -132,9 +132,9 @@ void BalanceInit()
 
     };
     driven_conf.can_init_config.tx_id = 1;
-    driven[LD] = l_driven = LKMotorInit(&driven_conf);
-    driven_conf.can_init_config.tx_id = 2;
     driven[RD] = r_driven = LKMotorInit(&driven_conf);
+    driven_conf.can_init_config.tx_id = 2;
+    driven[LD] = l_driven = LKMotorInit(&driven_conf);
 
     // 腿长控制
     PID_Init_Config_s leg_length_pid_conf = {
@@ -452,10 +452,10 @@ static void LegControl() /* 腿长控制和Roll补偿 */
 
 static void WattLimitSet() /* 设定运动模态的输出 */
 {
-    DMMotorSetRef(lf, 0.2857f * -l_side.T_front); // 根据扭矩常数计算得到的系数 todo 需修改
-    DMMotorSetRef(lb, 0.2857f * -l_side.T_back);
-    DMMotorSetRef(rf, 0.2857f * r_side.T_front);
-    DMMotorSetRef(rb, 0.2857f * r_side.T_back);
+    DMMotorSetRef(lf, 1.0f * -l_side.T_front); // 根据扭矩常数计算得到的系数 todo 需修改
+    DMMotorSetRef(lb, 1.0f * -l_side.T_back);
+    DMMotorSetRef(rf, 1.0f * r_side.T_front);
+    DMMotorSetRef(rb, 1.0f * r_side.T_back);
 
     LKMotorSetRef(l_driven, 195.3125 * l_side.T_wheel);
     LKMotorSetRef(r_driven, 195.3125 * -r_side.T_wheel);
diff --git a/application/chassis/lqr_calc.h b/application/chassis/lqr_calc.h
index 40c4458..e4fb297 100644
--- a/application/chassis/lqr_calc.h
+++ b/application/chassis/lqr_calc.h
@@ -9,18 +9,18 @@
  */
 static void CalcLQR(LinkNPodParam *p, ChassisParam *chassis)
 {
-    static float k[12][3] = {64.570926,-78.151551,-15.098827,
-                            1.716153,-4.573289,-0.526836,
-                            25.565621,-20.634320,-17.563574,
-                            11.633020,-11.021911,-13.087704,
-                            212.754066,-196.450645,56.227305,
-                            12.051262,-11.941105,4.523285,
-                            74.149148,-71.296364,23.673363,
-                            4.449069,-4.214434,1.145555,
-                            115.321993,-106.373546,29.626387,
-                            82.459182,-74.915697,20.072512,
-                            -163.793049,130.808796,114.419419,
-                            -13.396998,11.357026,4.288949};
+    static float k[12][3] = {152.073959,-322.787113,4.602472,
+    -18.091924,-50.039341,3.160226,
+    124.677598,-113.871572,-13.279757,
+    86.314525,-98.184173,-8.140564,
+    162.907111,-185.705008,74.114015,
+    14.280240,-18.420891,8.593112,
+    -148.548074,99.259778,48.506697,
+    -37.972970,41.871624,3.715364,
+    192.255883,-224.641960,95.484838,
+    93.227296,-117.550338,60.336158,
+    -343.472953,311.036102,57.349362,
+    -41.609057,38.668058,-0.809331,};
     float T[2] = {0};       // 0 T_wheel  1 T_hip
     float l = p->leg_len;
     float lsqr = l * l;