diff --git a/BALANCE/balance.c b/BALANCE/balance.c
index cb3aef2..ce1f598 100644
--- a/BALANCE/balance.c
+++ b/BALANCE/balance.c
@@ -233,7 +233,7 @@ void Balance_task(void *pvParameters)
 				 }
 				 //If Turn_Off(Voltage) returns to 1, the car is not allowed to move, and the PWM value is set to 0
 				 //如果Turn_Off(Voltage)返回值为1，不允许控制小车进行运动，PWM值设置为0
-				 else	Set_Pwm(0,0,0,0,0); 
+				 else	Set_Pwm(0,0,0,0,(Car_Mode == Akm_Car) ? SERVO_INIT : 0);
 			 }	
 		 }  
 }
diff --git a/BALANCE/system.c b/BALANCE/system.c
index d0d48ec..743385e 100644
--- a/BALANCE/system.c
+++ b/BALANCE/system.c
@@ -15,7 +15,7 @@ u8 Car_Mode=4;
 
 //Servo control PWM value, Ackerman car special
 //舵机控制PWM值，阿克曼小车专用
-int Servo;  
+int Servo = SERVO_INIT;
 
 //Default speed of remote control car, unit: mm/s
 //遥控小车的默认速度，单位：mm/s
diff --git a/HARDWARE/motor.h b/HARDWARE/motor.h
index 72c9a71..c8e4f32 100644
--- a/HARDWARE/motor.h
+++ b/HARDWARE/motor.h
@@ -49,7 +49,7 @@
 #define EN     PDin(3)  
 
 #define Servo_PWM  TIM12->CCR2
-#define SERVO_INIT 1600  //Servo zero point //舵机零点
+#define SERVO_INIT 1590  //Servo zero point //锟斤拷锟斤拷锟斤拷
 
 void Enable_Pin(void);
 void Servo_PWM_Init(u16 arr,u16 psc);
diff --git a/HARDWARE/timer.c b/HARDWARE/timer.c
index 3e22255..846e553 100644
--- a/HARDWARE/timer.c
+++ b/HARDWARE/timer.c
@@ -465,10 +465,9 @@ void TIM12_SERVO_Init(u16 arr,u16 psc)
 	//Enable timer //使能定时器
 	TIM_Cmd(TIM12, ENABLE); 		 
 
-  //The channel value is initialized to 1500, corresponding to the steering gear zero
-	//通道值初始化为1500，舵机零点对应值
-	TIM12->CCR2=1500;
-	TIM12->CCR1=1500;
+  //Initialize both servo channels to the configured steering center.
+	TIM12->CCR2=SERVO_INIT;
+	TIM12->CCR1=SERVO_INIT;
 
 }
 
diff --git a/doc/todo.md b/doc/todo.md
new file mode 100644
index 0000000..3d45259
--- /dev/null
+++ b/doc/todo.md
@@ -0,0 +1,7 @@
+1. 瀹炴祴杞窛銆佽酱璺濆拰鏈�澶у彲鐢ㄨ浆瑙�
+淇敼浜嗚浆瑙掍腑浣嶅�肩殑闂锛屼繚鎸佺洿绾胯椹� SERVO_INIT 1590
+
+2. 淇鍚庤疆鍗婂緞鍏紡
+3. 鍏堥檺鍒惰浆瑙掞紝鍐嶈绠楀乏鍙宠疆閫�
+4. 閲嶆柊鏍囧畾鑸垫満 PWM 涓庡疄闄呰疆瑙掑叧绯�
+5. 杈ㄨ瘑鍚庤疆鐢垫満鍜岃皟鏁� PI
\ No newline at end of file