diff --git a/.idea/misc.xml b/.idea/misc.xml
index 35b6f9f..bce41e5 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -21,4 +21,5 @@
       </MTProjectMetadataState>
     </option>
   </component>
+  <component name="WestSettings"><![CDATA[{}]]></component>
 </project>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..94a25f7
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f3f4cb1..094b935 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -165,6 +165,8 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         User_Code/bsp/fdcan/bsp_fdcan.c
         User_Code/bsp/spi/bsp_spi.c
+        User_Code/bsp/delayticks/delayticks.c
+        User_Code/module/periph/ws2812/ws2812.c
         # Add user sources here
 )
 
@@ -172,6 +174,9 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
 target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
         User_Code/bsp/fdcan
         User_Code/bsp/spi
+        User_Code/bsp/delayticks
+        User_Code/module/periph/ws2812
+        User_Code/module/paramdef
         # Add user defined include paths
 )
 
diff --git a/User_Code/application/indicator_app/ws2812status.c b/User_Code/application/indicator_app/ws2812status.c
index e56eebb..7ca6064 100644
--- a/User_Code/application/indicator_app/ws2812status.c
+++ b/User_Code/application/indicator_app/ws2812status.c
@@ -17,7 +17,7 @@
 //真的有点抽象了不太清楚什么问题，24V的时候用16的分频器可以 5V时候就只能用32的分频器了 spi6的 这个之后注意一下吧 如果要开发还是用32的分频器。
 
 /*---------------------INCLUDES----------------------*/
-#include "ws2812Task.h"
+#include "ws2812status.h"
 #include "ws2812.h"
 #include "cmsis_os.h"
 #include "tim.h"
@@ -37,21 +37,6 @@ uint8_t b = 0;
  */
 void ws2812Task(void const *argument) {
         while (1) {
-                ////Test for mode changes
-                // if(HAL_GPIO_ReadPin(USER_KEY_GPIO_Port, USER_KEY_Pin) == 0) // 读取用户按键状态,可以用于调试或其他功能
-                // {
-                //         delay_ticks(50);
-                //         if(HAL_GPIO_ReadPin(USER_KEY_GPIO_Port, USER_KEY_Pin) == 0)
-                //         {
-                //                 RobotMode ++;
-                //                 if (RobotMode > 5)
-                //                 {
-                //                         RobotMode = 0; // 如果超过最大模式,则重置为0
-                //                 }
-                //         }
-                // }
-                // else{}
-
                 switch (RobotMode) {
                         case NORMAL_MODE:
                                 BlinkGreen();
@@ -74,7 +59,6 @@ void ws2812Task(void const *argument) {
                         default:
                                 BlinkYellow();
                 }
-
                 osDelay(10); // 每个任务最后都要写在while里，要不然会导致任务切换失败
         }
 }
diff --git a/User_Code/application/indicator_app/ws2812status.h b/User_Code/application/indicator_app/ws2812status.h
index 214f13a..d803b2a 100644
--- a/User_Code/application/indicator_app/ws2812status.h
+++ b/User_Code/application/indicator_app/ws2812status.h
@@ -1,5 +1,5 @@
-#ifndef ws2812Task_H
-#define ws2812Task_H
+#ifndef ws2812status_H
+#define ws2812status_H
 
 /*---------------------INCLUDES----------------------*/
 #include "main.h"
@@ -24,5 +24,4 @@ void BlinkCyan(void);
 
 void BlinkPurple(void);
 
-
 #endif
diff --git a/User_Code/module/periph/ws2812/ws2812.h b/User_Code/module/periph/ws2812/ws2812.h
index c8db4b1..4e9cbd1 100644
--- a/User_Code/module/periph/ws2812/ws2812.h
+++ b/User_Code/module/periph/ws2812/ws2812.h
@@ -1,11 +1,9 @@
 #ifndef WS2812_H
 #define WS2812_H
 
-
 #include "main.h"
 
-
-#define WS2812_SPI_UNIT     hspi6
+#define WS2812_SPI_UNIT  hspi6
 extern SPI_HandleTypeDef WS2812_SPI_UNIT;
 
 void WS2812_Ctrl(uint8_t r, uint8_t g, uint8_t b);