diff --git a/main.py b/main.py
index 892beca..ca309f0 100644
--- a/main.py
+++ b/main.py
@@ -50,14 +50,14 @@ def main():
         Ctrl.base_msg.stand_up()
         Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat
 
-        # # time.sleep(100) # TEST,
-        run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
+        # time.sleep(100) # TEST,
+        # run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
 
-        arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
-        # arrow_direction = 'right' # TEST
+        # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
+        arrow_direction = 'right' # TEST
 
-        info(f"识别到箭头方向: {arrow_direction}", "info")
-        run_task_2_5(Ctrl, msg, direction=arrow_direction)
+        # info(f"识别到箭头方向: {arrow_direction}", "info")
+        # run_task_2_5(Ctrl, msg, direction=arrow_direction)
 
         if arrow_direction == 'left':
             run_task_4(Ctrl, msg)
diff --git a/task_2/task_2.py b/task_2/task_2.py
index 1aaa853..74efd7d 100644
--- a/task_2/task_2.py
+++ b/task_2/task_2.py
@@ -118,7 +118,7 @@ class AsyncArrowDetector:
 def run_task_2(ctrl, msg, xy_flag=False):
     # 微调 xy 和角度
     go_to_xy_v2(ctrl, msg, 0.9, 0.25, speed=0.5, observe=True)
-    turn_degree(ctrl, msg, 0.8, absolute=True)
+    turn_degree_v2(ctrl, msg, 0.8, absolute=True)
 
     print('角度为',ctrl.odo_msg.rpy[2])
     #获取微调角度
diff --git a/task_2_5/task_2_5.py b/task_2_5/task_2_5.py
index 5862115..2364581 100644
--- a/task_2_5/task_2_5.py
+++ b/task_2_5/task_2_5.py
@@ -31,7 +31,7 @@ def run_task_2_5(Ctrl, msg, direction='left'):
         observe=observe,
     )
 
-    go_straight(Ctrl, msg, distance=0.1, speed=0.5, observe=observe)
+    go_straight(Ctrl, msg, distance=0.2, speed=0.5, observe=observe)
     section('任务2.5-2：第二次旋转', "移动")
 
 def run_task_2_5_back(Ctrl, msg, direction='left'):