diff --git a/.eide/eide.yml b/.eide/eide.yml
index 5d2457e..d7a47d9 100644
--- a/.eide/eide.yml
+++ b/.eide/eide.yml
@@ -164,9 +164,14 @@ virtualFolder:
                 - path: GSRL/Dependence/CMSIS-DSP/Source/TransformFunctions/TransformFunctionsF16.c
                 - path: GSRL/Dependence/CMSIS-DSP/Source/WindowFunctions/WindowFunctions.c
               folders: []
+    - name: chariot
+      files:
+        - path: chariot/src/crt_chassis.cpp
+        - path: chariot/src/crt_module.cpp
+      folders: []
     - name: Task
       files:
-        - path: Task/src/tsk_test.cpp
+        - path: Task/src/tsk_chassis.cpp
       folders: []
 dependenceList: []
 outDir: build
@@ -201,6 +206,9 @@ targets:
         - GSRL/Algorithm/inc
         - GSRL/Device/inc
         - GSRL/Dependence/eigen
+        - Task/src
+        - chariot/inc
+        - chariot/src
       libList: []
     excludeList: []
     toolchain: GCC
@@ -252,7 +260,7 @@ targets:
       OpenOCD:
         baseAddr: "0x08000000"
         bin: ""
-        interface: cmsis-dap
+        interface: stlink
         target: stm32f4x
       STLink:
         address: "0x08000000"
diff --git a/.github/copilot-instructions.md b/.github/copilot-instructions.md
new file mode 100644
index 0000000..74128da
--- /dev/null
+++ b/.github/copilot-instructions.md
@@ -0,0 +1,42 @@
+<!-- Copilot instructions for the GSRL codebase -->
+# GSRL — AI coding assistant guide
+
+Purpose: give concise, actionable context so AI agents are immediately productive in this embedded robot repository.
+
+- **Big picture:** This repo builds an STM32-based robot firmware composed of:
+  - platform BSP generated by STM32CubeMX: [CubeMX_BSP](CubeMX_BSP) (toolchain file: [CubeMX_BSP/cmake/gcc-arm-none-eabi.cmake](CubeMX_BSP/cmake/gcc-arm-none-eabi.cmake)).
+  - core libraries under [GSRL](GSRL) and driver/vehicle modules under [chariot](chariot) and [Task](Task).
+  - The top-level build is configured with CMake and CMake presets ([CMakePresets.json](CMakePresets.json)) — use `cmake --preset Debug` or `cmake --preset Release` then `cmake --build --preset Debug`.
+
+- **Architecture & boundaries:**
+  - Hardware / BSP: [CubeMX_BSP](CubeMX_BSP) provides low-level drivers and the cross-toolchain.
+  - Platform services: FreeRTOS is used for concurrency — task implementations live in `Task/src` (look at `Task/src/tsk_chassis.cpp`).
+  - Vehicle subsystem: `chariot` contains chassis/module implementations and motor wrappers (`chariot/src/crt_chassis.cpp`, `chariot/inc`). AI should not change low-level HAL without explicit mention.
+
+- **Key developer workflows (reproducible commands):**
+  - Configure & build (uses Ninja + arm-none-eabi toolchain):
+    - `cmake --preset Debug`
+    - `cmake --build --preset Debug`
+  - Use `build/` output and `compile_commands.json` (CMake sets `CMAKE_EXPORT_COMPILE_COMMANDS`) for static analysis / clangd.
+
+- **Project-specific conventions & patterns:**
+  - Task functions use `tsk` prefix and provide C-compatible wrappers: e.g., `tskChassisInit()` with `extern "C"` wrapper `TSK_CHASSIS_Init` (see `Task/src/tsk_chassis.cpp`).
+  - Configuration and TODOs are documented inline in Chinese; follow existing FIXME/TODO markers when making changes.
+  - Placeholder interfaces exist (e.g., temporary `TemporaryCrtChassis` and commented `// TODO` blocks in `tsk_chassis.cpp`) — prefer integrating with the real `CrtChassis` only after confirming its API (search `chariot/inc` and `chariot/src`).
+  - Motor and control classes follow names like `MotorGM6020`, `MotorM3508`, `SimplePID`, `CrtModule`, `CrtChassis` — inspect `chariot/inc` for exact method signatures before calling.
+
+- **Integration points & external dependencies:**
+  - Toolchain: `gcc-arm-none-eabi` via the toolchain file in `CubeMX_BSP/cmake`.
+  - FreeRTOS sources are in `CubeMX_BSP/Middlewares/...` and tasks use `xTaskCreate`, `xQueueCreate`, `vTaskDelayUntil`.
+  - Build links to `stm32cubemx` and `gsrl` libraries in top-level [CMakeLists.txt](CMakeLists.txt).
+
+- **When editing code, prefer small, local changes:**
+  - Preserve task timing semantics: `CHASSIS_TASK_PERIOD_MS` and `vTaskDelayUntil` usage in `tsk_chassis.cpp` are critical.
+  - Keep C ABI wrappers intact. Update both C++ and `extern "C"` functions together.
+
+- **Examples to guide code edits (search & reference):**
+  - Read the chassis task: [Task/src/tsk_chassis.cpp](Task/src/tsk_chassis.cpp)
+  - See top-level build integration: [CMakeLists.txt](CMakeLists.txt)
+  - Toolchain/presets: [CMakePresets.json](CMakePresets.json) and [CubeMX_BSP/cmake/gcc-arm-none-eabi.cmake](CubeMX_BSP/cmake/gcc-arm-none-eabi.cmake)
+
+If anything here is unclear or you want more detail on a subsystem, say which file or workflow to expand and I will update this file.
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 3e192b9..b10262d 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -6,7 +6,7 @@
             "type": "shell",
             "command": "${command:eide.project.build}",
             "group": "build",
-            "problemMatcher": []
+            "problemMatcher": "$gcc"
         },
         {
             "label": "flash",
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 13edb70..b36cce3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,13 +51,16 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
 # Add sources to executable
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     # Add user sources here
-    Task/src/tsk_test.cpp
+    chariot/src/crt_chassis.cpp
+    chariot/src/crt_module.cpp
+    Task/src/tsk_chassis.cpp
 )
 
 # Add include paths
 target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
     # Add user defined include paths
     Task/inc
+    chariot/inc
 )
 
 # Add project symbols (macros)
diff --git a/CubeMX_BSP/.mxproject b/CubeMX_BSP/.mxproject
index 0def190..b868274 100644
--- a/CubeMX_BSP/.mxproject
+++ b/CubeMX_BSP/.mxproject
@@ -1,5 +1,5 @@
 [PreviousLibFiles]
-LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_crc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_crc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_i2c.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rng.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rtc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rtc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rtc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_core.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ctlreq.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_def.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ioreq.h;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc\usbd_cdc.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash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
 [PreviousUsedKeilFiles]
 SourceFiles=..\Src\main.c;..\Src\gpio.c;..\Src\freertos.c;..\Src\adc.c;..\Src\can.c;..\Src\crc.c;..\Src\dma.c;..\Src\i2c.c;..\Src\rng.c;..\Src\rtc.c;..\Src\spi.c;..\Src\tim.c;..\Src\usart.c;..\Src\usb_device.c;..\Src\usbd_conf.c;..\Src\usbd_desc.c;..\Src\usbd_cdc_if.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;..\Src\stm32f4xx_hal_timebase_tim.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\\Src\system_stm32f4xx.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\\Src\system_stm32f4xx.c;;;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;
@@ -7,7 +7,7 @@ HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\I
 CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [PreviousUsedCMakes]
-SourceFiles=Src\main.c;Src\gpio.c;Src\freertos.c;Src\adc.c;Src\can.c;Src\crc.c;Src\dma.c;Src\i2c.c;Src\rng.c;Src\rtc.c;Src\spi.c;Src\tim.c;Src\usart.c;Src\usb_device.c;Src\usbd_conf.c;Src\usbd_desc.c;Src\usbd_cdc_if.c;Src\stm32f4xx_it.c;Src\stm32f4xx_hal_msp.c;Src\stm32f4xx_hal_timebase_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;
+SourceFiles=Src\main.c;Src\gpio.c;Src\freertos.c;Src\adc.c;Src\can.c;Src\crc.c;Src\dma.c;Src\i2c.c;Src\rng.c;Src\rtc.c;Src\spi.c;Src\tim.c;Src\usart.c;Src\usb_device.c;Src\usbd_conf.c;Src\usbd_desc.c;Src\usbd_cdc_if.c;Src\stm32f4xx_it.c;Src\stm32f4xx_hal_msp.c;Src\stm32f4xx_hal_timebase_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;
 HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Middlewares\ST\STM32_USB_Device_Library\Core\Inc;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Inc;
 CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
diff --git a/CubeMX_BSP/GMStdRobotLib.ioc b/CubeMX_BSP/GMStdRobotLib.ioc
index 306a512..9c6651d 100644
--- a/CubeMX_BSP/GMStdRobotLib.ioc
+++ b/CubeMX_BSP/GMStdRobotLib.ioc
@@ -105,6 +105,7 @@ Dma.USART6_TX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART6_TX.5.PeriphInc=DMA_PINC_DISABLE
 Dma.USART6_TX.5.Priority=DMA_PRIORITY_MEDIUM
 Dma.USART6_TX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+FREERTOS.FootprintOK=true
 FREERTOS.INCLUDE_eTaskGetState=1
 FREERTOS.INCLUDE_pcTaskGetTaskName=1
 FREERTOS.INCLUDE_uxTaskGetStackHighWaterMark=1
@@ -117,8 +118,8 @@ FREERTOS.INCLUDE_xTaskAbortDelay=1
 FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
 FREERTOS.INCLUDE_xTaskGetHandle=1
 FREERTOS.INCLUDE_xTimerPendFunctionCall=1
-FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,INCLUDE_vTaskDelayUntil,INCLUDE_eTaskGetState,INCLUDE_uxTaskGetStackHighWaterMark,INCLUDE_xQueueGetMutexHolder,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTimerPendFunctionCall,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_xTaskGetHandle,INCLUDE_vTaskCleanUpResources
-FREERTOS.Tasks01=test,24,128,test_task,As weak,NULL,Dynamic,NULL,NULL
+FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,INCLUDE_vTaskDelayUntil,INCLUDE_eTaskGetState,INCLUDE_uxTaskGetStackHighWaterMark,INCLUDE_xQueueGetMutexHolder,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTimerPendFunctionCall,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_xTaskGetHandle,INCLUDE_vTaskCleanUpResources,FootprintOK
+FREERTOS.Tasks01=chassis,24,1024,chassis_task,As weak,NULL,Static,chassisBuffer,chassisControlBlock
 FREERTOS.configTOTAL_HEAP_SIZE=24576
 File.Version=6
 I2C1.I2C_Mode=I2C_Fast
@@ -233,8 +234,8 @@ Mcu.PinsNb=68
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
-MxCube.Version=6.15.0
-MxDb.Version=DB.6.0.150
+MxCube.Version=6.16.1
+MxDb.Version=DB.6.0.161
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.CAN1_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
@@ -404,6 +405,13 @@ PC9.GPIO_Pu=GPIO_PULLUP
 PC9.Locked=true
 PC9.Mode=I2C
 PC9.Signal=I2C3_SDA
+PCC.Checker=false
+PCC.Line=STM32F407/417
+PCC.MCU=STM32F407I(E-G)Hx
+PCC.PartNumber=STM32F407IGHx
+PCC.Series=STM32F4
+PCC.Temperature=25
+PCC.Vdd=3.3
 PD0.Locked=true
 PD0.Mode=CAN_Activate
 PD0.Signal=CAN1_RX
@@ -525,6 +533,7 @@ ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32F407IGHx
 ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.28.3
 ProjectManager.FreePins=false
+ProjectManager.FreePinsContext=
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x2000
 ProjectManager.KeepUserCode=true
diff --git a/CubeMX_BSP/Src/freertos.c b/CubeMX_BSP/Src/freertos.c
index af1176d..dfe46ae 100644
--- a/CubeMX_BSP/Src/freertos.c
+++ b/CubeMX_BSP/Src/freertos.c
@@ -29,6 +29,7 @@
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
+typedef StaticTask_t osStaticThreadDef_t;
 /* USER CODE BEGIN PTD */
 
 /* USER CODE END PTD */
@@ -47,11 +48,16 @@
 /* USER CODE BEGIN Variables */
 
 /* USER CODE END Variables */
-/* Definitions for test */
-osThreadId_t testHandle;
-const osThreadAttr_t test_attributes = {
-  .name = "test",
-  .stack_size = 128 * 4,
+/* Definitions for chassis */
+osThreadId_t chassisHandle;
+uint32_t chassisBuffer[ 1024 ];
+osStaticThreadDef_t chassisControlBlock;
+const osThreadAttr_t chassis_attributes = {
+  .name = "chassis",
+  .cb_mem = &chassisControlBlock,
+  .cb_size = sizeof(chassisControlBlock),
+  .stack_mem = &chassisBuffer[0],
+  .stack_size = sizeof(chassisBuffer),
   .priority = (osPriority_t) osPriorityNormal,
 };
 
@@ -60,7 +66,7 @@ const osThreadAttr_t test_attributes = {
 
 /* USER CODE END FunctionPrototypes */
 
-void test_task(void *argument);
+void chassis_task(void *argument);
 
 extern void MX_USB_DEVICE_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
@@ -92,8 +98,8 @@ void MX_FREERTOS_Init(void) {
   /* USER CODE END RTOS_QUEUES */
 
   /* Create the thread(s) */
-  /* creation of test */
-  testHandle = osThreadNew(test_task, NULL, &test_attributes);
+  /* creation of chassis */
+  chassisHandle = osThreadNew(chassis_task, NULL, &chassis_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
@@ -105,24 +111,24 @@ void MX_FREERTOS_Init(void) {
 
 }
 
-/* USER CODE BEGIN Header_test_task */
+/* USER CODE BEGIN Header_chassis_task */
 /**
-  * @brief  Function implementing the test thread.
+  * @brief  Function implementing the chassis thread.
   * @param  argument: Not used
   * @retval None
   */
-/* USER CODE END Header_test_task */
-__weak void test_task(void *argument)
+/* USER CODE END Header_chassis_task */
+__weak void chassis_task(void *argument)
 {
   /* init code for USB_DEVICE */
   MX_USB_DEVICE_Init();
-  /* USER CODE BEGIN test_task */
+  /* USER CODE BEGIN chassis_task */
   /* Infinite loop */
   for(;;)
   {
     osDelay(1);
   }
-  /* USER CODE END test_task */
+  /* USER CODE END chassis_task */
 }
 
 /* Private application code --------------------------------------------------*/
diff --git a/CubeMX_BSP/cmake/stm32cubemx/CMakeLists.txt b/CubeMX_BSP/cmake/stm32cubemx/CMakeLists.txt
index 6a5ff54..9d4d1bd 100644
--- a/CubeMX_BSP/cmake/stm32cubemx/CMakeLists.txt
+++ b/CubeMX_BSP/cmake/stm32cubemx/CMakeLists.txt
@@ -72,7 +72,6 @@ set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
diff --git a/Task/src/tsk_chassis.cpp b/Task/src/tsk_chassis.cpp
new file mode 100644
index 0000000..f414d6c
--- /dev/null
+++ b/Task/src/tsk_chassis.cpp
@@ -0,0 +1,284 @@
+/**
+ *******************************************************************************
+ * @file           : tsk_chassis.cpp
+ * @brief          : 舵轮底盘控制任务
+ *******************************************************************************
+ * @attention
+ *
+ * 本文件实现舵轮底盘的 FreeRTOS 任务逻辑，主要负责：
+ * - 周期性运行底盘控制循环
+ * - 读取测试输入或遥控指令
+ * - 调用底盘控制器更新舵轮状态
+ *
+ * 该任务作为系统调度层的一部分，不包含具体运动学或底层驱动实现。
+ *
+ * Copyright (c) 2025 GMaster
+ * All rights reserved.
+ *
+ *******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "CubeMX_BSP/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h"
+#include "CubeMX_BSP/Middlewares/Third_Party/FreeRTOS/Source/include/task.h"
+#include "para_chassis.hpp"
+#include <cstdint>
+#include <cmath>
+/* TODO: 等 crt_chassis.hpp 完成后替换为正式头文件 */
+// #include "crt_chassis.hpp"
+
+/* 临时底盘接口（等待人员A完成正式接口） */
+class TemporaryCrtChassis {
+private:
+    bool m_initialized;
+    
+public:
+    TemporaryCrtChassis() : m_initialized(false) {}
+    
+    /* 模拟初始化函数 */
+    void init() {
+        m_initialized = true;
+    }
+    
+    void setCmd(float vx, float vy, float wz) {
+        if (!m_initialized) return;
+        // 空实现，等待正式接口
+    }
+    
+    void update(float dt) {
+        if (!m_initialized) return;
+        // 空实现，等待正式接口
+    }
+      /* 检查是否初始化成功 */
+    bool isReady() const {
+        return m_initialized;
+    }
+};
+
+/* Typedef -------------------------------------------------------------------*/
+typedef enum {
+    MODE_NORMAL = 0,
+    MODE_SMALL_GYRO,
+    MODE_STOP,
+    MODE_COUNT
+} ChassisMode_t;
+
+/* 错误标志位定义 */
+typedef enum {
+    ERROR_NONE = 0,
+    ERROR_CHASSIS_NOT_READY = (1 << 0),
+    ERROR_INVALID_MODE = (1 << 1),
+} ChassisError_t;
+
+/* Define --------------------------------------------------------------------*/
+#define CHASSIS_TASK_PERIOD_MS  1
+#define CHASSIS_TASK_STACK_SIZE 512
+#define CHASSIS_TASK_PRIORITY   5
+/* Macro ---------------------------------------------------------------------*/
+
+/* Variables -----------------------------------------------------------------*/
+static class TemporaryCrtChassis {
+private:
+    bool m_initialized;
+    
+public:
+    TemporaryCrtChassis() : m_initialized(false) {}
+    
+    void init() { m_initialized = true; }
+    
+    void setCmd(float vx, float vy, float wz) {
+        if (!m_initialized) return;
+        // 空实现，等待正式接口
+    }
+    
+    void update(float dt) {
+        if (!m_initialized) return;
+        // 空实现，等待正式接口
+    }
+    bool isReady() const {
+        return m_initialized;
+    }
+} g_chassis;
+
+static ChassisMode_t g_currentMode = MODE_NORMAL;// 默认停止状态
+static uint32_t g_errorFlags = ERROR_NONE;
+static bool g_initialized = false;
+
+/* Function prototypes -------------------------------------------------------*/
+static void vChassisTask(void *pvParameters);
+static void setChassisModeInternal(ChassisMode_t mode);
+static void updateErrorFlags(void);
+
+
+/* User code -----------------------------------------------------------------*/
+/**
+  * @brief  内部模式设置函数
+  * @param  mode: 目标模式
+  * @note   模式切换时的特殊处理应在此函数中实现
+  */
+static void setChassisModeInternal(ChassisMode_t mode) {
+    if (mode >= MODE_COUNT) {
+        g_errorFlags |= ERROR_INVALID_MODE;
+        return;
+    }
+    
+    ChassisMode_t prevMode = g_currentMode;
+    g_currentMode = mode;
+    
+    /* 模式切换时的特殊处理 */
+    if (mode == MODE_STOP) {
+        // 立即发送停止指令，确保安全
+        g_chassis.setCmd(0.0f, 0.0f, 0.0f);
+    }
+    
+    /* TODO: 根据实际需求添加模式切换处理
+     * 例如：
+     * 1. NORMAL -> SMALL_GYRO: 需要平滑过渡
+     * 2. SMALL_GYRO -> NORMAL: 需要停止自旋
+     */
+}
+
+/**
+  * @brief  更新错误标志
+  */
+static void updateErrorFlags(void) {
+    g_errorFlags = ERROR_NONE;
+    
+    if (!g_chassis.isReady()) {
+        g_errorFlags |= ERROR_CHASSIS_NOT_READY;
+    }
+    
+    if (g_currentMode >= MODE_COUNT) {
+        g_errorFlags |= ERROR_INVALID_MODE;
+    }
+}
+
+/**
+  * @brief  获取速度指令
+  * @param  vx: 输出X方向速度
+  * @param  vy: 输出Y方向速度
+  * @param  wz: 输出角速度
+  * @note   根据当前模式生成速度指令
+  * 
+  * 速度指令来源：
+  * 1. NORMAL模式：应从遥控器/上位机获取（TODO：等待接口）
+  * 2. SMALL_GYRO模式：固定角速度自旋
+  * 3. STOP模式：零速
+  */
+static void getVelocityCommand(float &vx, float &vy, float &wz) {
+    switch (g_currentMode) {
+        case MODE_NORMAL:
+            /* TODO: 此处应从遥控器/决策层获取真实速度指令
+             * 当前使用测试值，等待实际接口
+             */
+            vx = 0.5f;  // 测试值
+            vy = 0.0f;  // 测试值
+            wz = 0.5f;  // 测试值
+            break;
+            
+        case MODE_SMALL_GYRO:
+            /* 小陀螺模式：原地旋转 */
+            vx = 0.0f;
+            vy = 0.0f;
+            wz = 3.14f;  // π rad/s ≈ 180°/s
+            break;
+            
+        case MODE_STOP:
+        default:
+            /* 停止模式或无效模式：零速 */
+            vx = 0.0f;
+            vy = 0.0f;
+            wz = 0.0f;
+            break;
+    }
+}
+
+/**
+  * @brief  底盘任务主函数
+  */
+static void vChassisTask(void *pvParameters) {
+    TickType_t xLastWakeTime = xTaskGetTickCount();
+    const TickType_t xPeriod = pdMS_TO_TICKS(CHASSIS_TASK_PERIOD_MS);
+    
+    // 初始化底盘
+    g_chassis.init();
+    g_initialized = true;
+    
+    // 测试：模式切换计数器
+    uint32_t modeTestCounter = 0;
+    const uint32_t MODE_TEST_INTERVAL = 3000;  // 3秒切换一次模式
+    
+    for (;;) {
+        // 更新错误标志
+        updateErrorFlags();
+        
+        // 检查底盘是否就绪
+        if (!g_chassis.isReady()) {
+            // 底盘未就绪，等待下一个周期
+            vTaskDelayUntil(&xLastWakeTime, xPeriod);
+            continue;
+        }
+        
+        // 测试：自动切换模式（仅用于调试，实际应由外部控制）
+        modeTestCounter += CHASSIS_TASK_PERIOD_MS;
+        if (modeTestCounter >= MODE_TEST_INTERVAL) {
+            modeTestCounter = 0;
+            ChassisMode_t nextMode = static_cast<ChassisMode_t>(
+                (g_currentMode + 1) % MODE_COUNT
+            );
+            setChassisModeInternal(nextMode);
+        }
+        
+        // 获取速度指令
+        float vx = 0.0f, vy = 0.0f, wz = 0.0f;
+        getVelocityCommand(vx, vy, wz);
+        
+        /* TODO: 此处可添加指令滤波或限幅
+         * 例如：
+         * 1. 加速度限制
+         * 2. 速度限幅
+         * 3. 指令平滑
+         */
+        
+        // 调用底盘控制接口
+        g_chassis.setCmd(vx, vy, wz);
+        g_chassis.update(CHASSIS_TASK_PERIOD_MS / 1000.0f);
+        
+        /* 等待下一个周期 */
+        vTaskDelayUntil(&xLastWakeTime, xPeriod);
+    }
+}
+
+/**
+  * @brief  底盘任务初始化
+  */
+void tskChassisInit(void) {
+    xTaskCreate(vChassisTask,
+                "ChassisTask",
+                CHASSIS_TASK_STACK_SIZE,
+                NULL,
+                CHASSIS_TASK_PRIORITY,
+                NULL);
+}
+
+/* C语言兼容接口 */
+extern "C" {
+    void TSK_CHASSIS_Init(void) {
+        tskChassisInit();
+    }
+    
+    /* 最小化的外部接口 */
+    void TSK_CHASSIS_SetMode(uint8_t mode) {
+        if (mode < MODE_COUNT) {
+            setChassisModeInternal(static_cast<ChassisMode_t>(mode));
+        }
+    }
+    
+    uint8_t TSK_CHASSIS_GetMode(void) {
+        return static_cast<uint8_t>(g_currentMode);
+    }
+    
+    uint32_t TSK_CHASSIS_GetError(void) {
+        return g_errorFlags;
+    }
+}
\ No newline at end of file
diff --git a/Task/src/tsk_test.cpp b/Task/src/tsk_test.cpp
deleted file mode 100644
index 9165a38..0000000
--- a/Task/src/tsk_test.cpp
+++ /dev/null
@@ -1,82 +0,0 @@
-/**
- ******************************************************************************
- * @file           : tsk_test.cpp
- * @brief          : 测试任务
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2025 GMaster
- * All rights reserved.
- *
- ******************************************************************************
- */
-/* Includes ------------------------------------------------------------------*/
-#include "dvc_motor.hpp"
-#include "dvc_remotecontrol.hpp"
-#include "drv_spi.h"
-#include "dvc_imu.hpp"
-
-/* Define --------------------------------------------------------------------*/
-// PID
-SimplePID::PIDParam param = {
-    10.0f,  // Kp
-    0.0f,   // Ki
-    500.0f, // Kd
-    10.0f,  // outputLimit
-    0.0f    // intergralLimit
-};
-SimplePID myPID(SimplePID::PID_POSITION, param);
-// Motor
-MotorDM4310 motor(1, 0, 3.1415926f, 40, 15, &myPID);
-// RemoteControl
-Dr16RemoteControl dr16;
-
-/* Variables -----------------------------------------------------------------*/
-
-/* Function prototypes -------------------------------------------------------*/
-extern "C" void dr16ITCallback(uint8_t *Buffer, uint16_t Length);
-extern "C" void can1RxCallback(can_rx_message_t *pRxMsg);
-inline void transmitMotorsControlData();
-
-/* User code -----------------------------------------------------------------*/
-
-/**
- * @brief 测试任务
- * @param argument 任务参数
- */
-extern "C" void test_task(void *argument)
-{
-    CAN_Init(&hcan1, can1RxCallback);                  // 初始化CAN1
-    UART_Init(&huart3, dr16ITCallback, 36);            // 初始化DR16串口
-    TickType_t taskLastWakeTime = xTaskGetTickCount(); // 获取任务开始时间
-    while (1) {
-        motor.openloopControl(0.0f);
-        transmitMotorsControlData();
-        vTaskDelayUntil(&taskLastWakeTime, 1); // 确保任务以定周期1ms运行
-    }
-}
-
-/**
- * @brief DR16接收中断回调函数
- * @param Buffer 接收缓冲区
- * @param Length 接收数据长度
- */
-extern "C" void dr16ITCallback(uint8_t *Buffer, uint16_t Length)
-{
-    dr16.receiveRxDataFromISR(Buffer);
-}
-
-extern "C" void can1RxCallback(can_rx_message_t *pRxMsg)
-{
-    motor.decodeCanRxMessageFromISR(pRxMsg);
-}
-
-/**
- * @brief 发送电机控制数据
- */
-inline void transmitMotorsControlData()
-{
-    const uint8_t *data = motor.getMotorControlData();
-    uint32_t send_mail_box;
-    HAL_CAN_AddTxMessage(&hcan1, motor.getMotorControlHeader(), data, &send_mail_box);
-}
diff --git a/chariot/inc/crt_chassis.hpp b/chariot/inc/crt_chassis.hpp
new file mode 100644
index 0000000..f23462b
--- /dev/null
+++ b/chariot/inc/crt_chassis.hpp
@@ -0,0 +1,33 @@
+/**
+ *******************************************************************************
+ * @file           : crt_chassis.hpp
+ * @brief          : 舵轮底盘控制器接口定义
+ *******************************************************************************
+ * @attention
+ *
+ * 本文件定义舵轮底盘（Chassis）的对外控制接口，用于接收底盘速度指令
+ * （vx, vy, wz），并统一管理多个舵轮模块的运动学分配与控制更新。
+ *
+ * 该文件仅包含接口与类声明，不包含任何任务调度或硬件相关实现，
+ * 由 Task 层周期性调用。
+ *
+ * Copyright (c) 2025 GMaster
+ * All rights reserved.
+ *
+ *******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#pragma once
+
+/* Includes ------------------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported macro ------------------------------------------------------------*/
+
+/* Exported functions prototypes ---------------------------------------------*/
+
+/* Defines -------------------------------------------------------------------*/
diff --git a/chariot/inc/crt_module.hpp b/chariot/inc/crt_module.hpp
new file mode 100644
index 0000000..cf03b7e
--- /dev/null
+++ b/chariot/inc/crt_module.hpp
@@ -0,0 +1,86 @@
+/**
+ *******************************************************************************
+ * @file           : crt_module.hpp
+ * @brief          : 单舵轮模块接口定义
+ *******************************************************************************
+ * @attention
+ *
+ * 本文件定义单个舵轮模块（Module）的控制接口。
+ * 一个舵轮模块通常包含：
+ * - 转向电机（Steer）
+ * - 驱动电机（Drive）
+ *
+ * 该模块负责根据目标角度与目标速度完成舵轮自身的控制更新，
+ * 不感知整车运动学，仅接受底盘分配后的目标量。
+ *
+ * Copyright (c) 2025 GMaster
+ * All rights reserved.
+ *
+ *******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#pragma once
+
+/* Includes ------------------------------------------------------------------*/
+#include <cstdint>
+#include "dvc_motor.hpp"
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported macro ------------------------------------------------------------*/
+
+/* Exported functions prototypes ---------------------------------------------*/
+
+/* Defines -------------------------------------------------------------------*/
+
+/**
+ * @brief 单个舵轮模块类
+ * @note  仅负责舵轮自身的执行层控制，不包含整车运动学与任务调度
+ */
+class CrtModule
+{
+public:
+    /**
+     * @brief 构造函数
+     * @param steerMotor 舵向电机对象（GM6020）
+     * @param driveMotor 驱动电机对象（M3508）
+     * @note  电机对象需在外部完成 Controller 绑定与 CAN 接收配置
+     */
+    CrtModule(MotorGM6020 *steerMotor, MotorM3508 *driveMotor);
+
+    /**
+     * @brief 设置舵轮目标指令
+     * @param targetAngle 目标舵向角（rad，连续角度）
+     * @param targetSpeed 目标驱动角速度（rad/s）
+     */
+    void setTarget(float targetAngle, float targetSpeed);
+
+    /**
+     * @brief 更新舵轮模块控制
+     * @param dt 控制周期时间（s）
+     * @note  该函数应被周期性调用
+     */
+    void update(float dt);
+
+private:
+    /* -------- 电机对象 -------- */
+    MotorGM6020 *m_steerMotor;   // 转向电机（GM6020）
+    MotorM3508  *m_driveMotor;   // 驱动电机（M3508）
+
+    /* -------- 目标指令 -------- */
+    float targetAngle;           // 目标舵向角（rad，连续）
+    float targetSpeed;           // 目标驱动角速度（rad/s）
+
+    /* -------- 角度状态 -------- */
+    float currentAngle;          // 当前连续舵向角（rad）
+    float lastRawAngle;          // 上一次原始角度（rad，0~2π）
+    float angleAccumulated;      // 连续角度累计量（rad）
+
+private:
+    /* -------- 工具函数 -------- */
+    float wrapToPi(float angle);
+    float wrapTo0To2Pi(float angle);
+};
diff --git a/chariot/inc/para_chassis.hpp b/chariot/inc/para_chassis.hpp
new file mode 100644
index 0000000..30f5f34
--- /dev/null
+++ b/chariot/inc/para_chassis.hpp
@@ -0,0 +1,118 @@
+/**
+ *******************************************************************************
+ * @file           : para_chassis.hpp
+ * @brief          : 舵轮底盘参数定义
+ *******************************************************************************
+ * @attention
+ *
+ * 本文件集中定义舵轮底盘相关的静态参数，包括但不限于：
+ * - 轮距、轴距等几何参数
+ * - 舵轮模块安装位置
+ * - 电机与编码器相关配置
+ * - 控制器参数（PID 等）
+ *
+ * 本文件仅用于参数配置，不包含任何控制逻辑代码。
+ *
+ * Copyright (c) 2025 GMaster
+ * All rights reserved.
+ *
+ *******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#pragma once
+
+/* Includes ------------------------------------------------------------------*/
+#include <cstdint>
+#include "alg_pid.hpp"
+
+/* Exported types ------------------------------------------------------------*/
+
+/**
+ * @brief 舵轮编号（逆时针）
+ * @note 0=左前(FL), 1=左后(BL), 2=右后(BR), 3=右前(FR)
+ */
+enum class ChassisWheelID : uint8_t
+{
+    FrontLeft  = 0,   // FL
+    BackLeft   = 1,   // BL
+    BackRight  = 2,   // BR
+    FrontRight = 3,   // FR
+    WheelCount
+};
+
+/* Exported constants --------------------------------------------------------*/
+
+/* ====================== 底盘几何参数 ====================== */
+
+/**
+ * @brief 底盘前后轮距的一半
+ * @note 单位：m
+ */
+static constexpr float halfWheelBase = 0.10f;
+
+/**
+ * @brief 底盘左右轮距的一半
+ * @note 单位：m
+ */
+static constexpr float halfTrackWidth = 0.10f;
+
+/**
+ * @brief 轮子半径
+ * @note 单位：m
+ */
+static constexpr float wheelRadius = 0.03f;
+
+/* ====================== 舵向电机（GM6020）参数 ====================== */
+
+/**
+ * @brief 舵向电机角度环 PID 参数
+ * @note 单位：rad
+ */
+static constexpr SimplePID::PIDParam steerPidParam = {
+    .Kp = 8.0f,
+    .Ki = 0.0f,
+    .Kd = 0.1f,
+    .outputLimit    = 16000.0f,
+    .intergralLimit = 3000.0f
+};
+
+/**
+ * @brief 舵向电机机械零点偏移（GM6020）
+ * @note 顺序严格对应编号 0~3（FL, BL, BR, FR）
+ * @attention
+ *   舵向零点仅通过 GM6020 的 encoderOffset 处理，
+ *   Module / Chassis 层不得再进行角度补偿
+ */
+static constexpr uint16_t steerZeroOffset[4] = {
+    0,  // [0] FL 左前
+    0,  // [1] BL 左后
+    0,  // [2] BR 右后
+    0   // [3] FR 右前
+};
+
+/* ====================== 驱动电机（M3508）参数 ====================== */
+
+/**
+ * @brief 驱动电机速度环 PID 参数
+ * @note 单位：rad/s
+ */
+static constexpr SimplePID::PIDParam drivePidParam = {
+    .Kp = 10.0f,
+    .Ki = 0.0f,
+    .Kd = 0.0f,
+    .outputLimit    = 16000.0f,
+    .intergralLimit = 3000.0f
+};
+
+/**
+ * @brief M3508 驱动电机减速比
+ * @note 若使用 19:1 减速箱，则填写 19
+ */
+static constexpr uint8_t driveGearboxRatio = 19;
+
+/* Exported macro ------------------------------------------------------------*/
+
+/* Exported functions prototypes ---------------------------------------------*/
+
+/* Defines -------------------------------------------------------------------*/
diff --git a/chariot/src/crt_chassis.cpp b/chariot/src/crt_chassis.cpp
new file mode 100644
index 0000000..00b3b26
--- /dev/null
+++ b/chariot/src/crt_chassis.cpp
@@ -0,0 +1,34 @@
+/**
+ *******************************************************************************
+ * @file           : crt_chassis.cpp
+ * @brief          : 舵轮底盘控制器实现
+ *******************************************************************************
+ * @attention
+ *
+ * 本文件实现舵轮底盘控制器的具体逻辑，包括：
+ * - 底盘速度指令的接收与保存
+ * - 舵轮运动学计算
+ * - 多舵轮模块的统一更新与调度
+ *
+ * 本文件不包含 FreeRTOS 任务循环，不直接读取遥控或传感器数据，
+ * 仅作为底盘功能逻辑模块，由 Task 层调用。
+ *
+ * Copyright (c) 2025 GMaster
+ * All rights reserved.
+ *
+ *******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+
+/* Typedef -------------------------------------------------------------------*/
+
+/* Define --------------------------------------------------------------------*/
+
+/* Macro ---------------------------------------------------------------------*/
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Function prototypes -------------------------------------------------------*/
+
+/* User code -----------------------------------------------------------------*/
diff --git a/chariot/src/crt_module.cpp b/chariot/src/crt_module.cpp
new file mode 100644
index 0000000..e414283
--- /dev/null
+++ b/chariot/src/crt_module.cpp
@@ -0,0 +1,153 @@
+/**
+ *******************************************************************************
+ * @file           : crt_module.cpp
+ * @brief          : 单舵轮模块控制实现
+ *******************************************************************************
+ * @attention
+ *
+ * 本文件实现单个舵轮模块的具体控制逻辑，包括：
+ * - 转向角度控制
+ * - 驱动速度控制
+ * - 舵轮最短转向与方向优化（如启用）
+ *
+ * 本模块不涉及底盘整体运动学与任务调度，
+ * 由底盘控制器统一调用。
+ *
+ * Copyright (c) 2025 GMaster
+ * All rights reserved.
+ *
+ *******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "crt_module.hpp"
+#include <cmath>
+
+/* Typedef -------------------------------------------------------------------*/
+
+/* Define --------------------------------------------------------------------*/
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+/* Macro ---------------------------------------------------------------------*/
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Function prototypes -------------------------------------------------------*/
+
+/* User code -----------------------------------------------------------------*/
+
+CrtModule::CrtModule(MotorGM6020 *steerMotor, MotorM3508 *driveMotor)
+{
+    /* 绑定电机对象（外部需确保非空） */
+    m_steerMotor = steerMotor;
+    m_driveMotor = driveMotor;
+
+    /* 初始化目标指令 */
+    targetAngle = 0.0f;
+    targetSpeed = 0.0f;
+
+    /* 初始化角度状态 */
+    currentAngle     = 0.0f;
+    lastRawAngle     = 0.0f;
+    angleAccumulated = 0.0f;
+}
+
+void CrtModule::setTarget(float targetAngle, float targetSpeed)
+{
+    /* 保存目标指令，不在此处进行任何处理 */
+    this->targetAngle = targetAngle;
+    this->targetSpeed = targetSpeed;
+}
+
+void CrtModule::update(float dt)
+{
+    /* ====================== 0. 基本保护 ====================== */
+    if (m_steerMotor == nullptr || m_driveMotor == nullptr)
+    {
+        return;
+    }
+
+    /* ====================== 1. 读取舵向原始角度（0 ~ 2π） ====================== */
+    /* GSRL: getCurrentAngle() 返回 rad 且范围 [0, 2PI) */
+    float rawAngle = m_steerMotor->getCurrentAngle();
+
+    /* ====================== 2. 构建连续舵向角 ====================== */
+    float deltaAngle = rawAngle - lastRawAngle;
+
+    /* 处理跨越 0 / 2π 边界产生的角度跳变 */
+    if (deltaAngle > M_PI)
+    {
+        deltaAngle -= 2.0f * M_PI;
+    }
+    else if (deltaAngle < -M_PI)
+    {
+        deltaAngle += 2.0f * M_PI;
+    }
+
+    angleAccumulated += deltaAngle;
+    currentAngle = angleAccumulated;
+    lastRawAngle = rawAngle;
+
+    /* ====================== 3. 最短转向与方向优化 ====================== */
+    /* 先将误差压到 (-π, π] */
+    float angleError = wrapToPi(targetAngle - currentAngle);
+
+    /* 默认驱动目标不反向 */
+    float driveSpeedCmd = targetSpeed;
+
+    /* 若误差超过 ±90°，执行 π 翻转并反向驱动轮方向 */
+    if (angleError > (M_PI * 0.5f))
+    {
+        angleError -= M_PI;
+        driveSpeedCmd = -driveSpeedCmd;
+    }
+    else if (angleError < -(M_PI * 0.5f))
+    {
+        angleError += M_PI;
+        driveSpeedCmd = -driveSpeedCmd;
+    }
+
+    /* ====================== 4. 将“最短误差”转回“电机目标角” ====================== */
+    /* 电机接口 setTargetAngle() 期望目标角为 [0, 2π)，所以这里构造一个“就近目标角” */
+    float optimizedTargetAngleContinuous = currentAngle + angleError;
+    float optimizedTargetAngleWrapped = wrapTo0To2Pi(optimizedTargetAngleContinuous);
+
+    /* ====================== 5. 舵向角度闭环（GM6020） ====================== */
+    m_steerMotor->setTargetAngle(optimizedTargetAngleWrapped);
+    (void)m_steerMotor->angleClosedloopControl(); /* 生成电机控制数据 */
+
+    /* ====================== 6. 驱动速度闭环（M3508） ====================== */
+    /* GSRL: getCurrentAngularVelocity() 为 rad/s，建议 targetSpeed 同口径 */
+    m_driveMotor->setTargetAngularVelocity(driveSpeedCmd);
+    (void)m_driveMotor->angularVelocityClosedloopControl(); /* 生成电机控制数据 */
+
+    /* ====================== 7. 说明 ====================== */
+    /* 本模块不发送 CAN，只更新电机对象的控制数据；发送由既有的 CAN/Task 统一完成 */
+}
+
+float CrtModule::wrapToPi(float angle)
+{
+    while (angle > M_PI)
+    {
+        angle -= 2.0f * M_PI;
+    }
+    while (angle <= -M_PI)
+    {
+        angle += 2.0f * M_PI;
+    }
+    return angle;
+}
+
+float CrtModule::wrapTo0To2Pi(float angle)
+{
+    /* 将角度映射到 [0, 2π) */
+    float twoPi = 2.0f * (float)M_PI;
+    float wrapped = std::fmod(angle, twoPi);
+    if (wrapped < 0.0f)
+    {
+        wrapped += twoPi;
+    }
+    return wrapped;
+}