diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index 455c08c..6601cb2 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -411,8 +411,7 @@ void ChassisTask() {
             chassis_cmd_recv.wz = -PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/70.0f;
             break;
         case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
-            // chassis_cmd_recv.wz = 0.75;
-            chassis_cmd_recv.wz = -0.75;//实验版
+            chassis_cmd_recv.wz = -0.35;//实验版
             break;
         default:
             break;
@@ -425,8 +424,8 @@ void ChassisTask() {
     sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
     // chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;
     // chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;
-    chassis_vy = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;//实验版
-     chassis_vx = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;
+    chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;//实验版
+     chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;
 
     // 根据控制模式进行正运动学解算,计算底盘输出
     SteeringWheelCalculate();
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 5101a52..089aa67 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -216,9 +216,9 @@ static void RemoteControlSet()
         gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
 
     // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整
-    chassis_cmd_send.vx = (0.25f * (float)rc_data[TEMP].rc.rocker_r_); // _水平方向
-    chassis_cmd_send.vy = (0.25f * (float)rc_data[TEMP].rc.rocker_r1); // 1数值方向 .
-
+    chassis_cmd_send.vx = (0.25f * (float)rc_data[TEMP].rc.rocker_r1); // 竖直方向
+    chassis_cmd_send.vy = (0.25f * (float)rc_data[TEMP].rc.rocker_r_); // 水平方向
+    //此处如果是右手系，那么x应该是前进方向即竖直方向
     // // 发射参数
     // if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
     //     ;                                            // 弹舱舵机控制,待添加servo_motor模块,开启