diff --git a/README.md b/README.md
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+++ b/README.md
@@ -0,0 +1,54 @@
+# 任务模块
+
+## top
+
+1. “装货 / qrcode”
+2. 曲线赛道
+3.上下坡
+c.存在两种可能性
+4. 石板道
+5. 栅栏 / 栏杆
+
+## Task-1：出生点 - 取货
+
+![alt text](./res/readme/image.png)
+
+从二维码取货完，然后走到弯道入口。
+
+![alt text](./res/readme/image-1.png)
+
+## Task-2：弯道任务
+过去，以及回来。两个方向都需要。
+
+![alt text](./res/readme/image-2.png)
+![alt text](./res/readme/image-3.png)
+
+## Task-2.5：识别
+根据二维码决定方向。
+
+## Task-3：上下坡
+同样需要考虑两个方向。（正式计时各有一半的概率）
+> 感觉两个坡度稍微有一点点区别。
+
+![alt text](./res/readme/image-4.png)
+![alt text](./res/readme/image-5.png)
+
+以及反方向。
+
+## Task-4：石板路
+
+![alt text](./res/readme/image-6.png)
+![alt text](./res/readme/image-7.png)
+
+## Task-5：过栅栏
+![alt text](./res/readme/image-8.png)
+
+## Task-5.5：走向卸货
+从上一个赛道结束到 B 二维码。
+
+## Task-6：卸货
+也可能在另一边。
+这里是感觉在走过去的过程中就能判断二维码。
+
+![alt text](./res/readme/image-9.png)
+![alt text](./res/readme/image-10.png)
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diff --git a/base_move/turn_degree.py b/base_move/turn_degree.py
index e0759f8..4648652 100644
--- a/base_move/turn_degree.py
+++ b/base_move/turn_degree.py
@@ -9,7 +9,7 @@ def turn_degree(ctrl, msg, degree=90, absolute=False):
     ctrl: Robot_Ctrl 对象，包含里程计信息
     msg: robot_control_cmd_lcmt 对象，用于发送命令
     degree: 要旋转的角度，正值表示逆时针，负值表示顺时针，默认为90度
-    absolute: 是否绝对角度，默认为True
+    absolute: 是否绝对角度，默认为 False
 
     返回:
     Bool: 是否成功旋转到指定角度
diff --git a/res/arrows/test/arrow_detection_result.jpg b/res/arrows/test/arrow_detection_result.jpg
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diff --git a/test_right_arrow.py b/test/task-arrow/test_right_arrow.py
similarity index 79%
rename from test_right_arrow.py
rename to test/task-arrow/test_right_arrow.py
index 0df9ee4..4b0579c 100644
--- a/test_right_arrow.py
+++ b/test/task-arrow/test_right_arrow.py
@@ -5,18 +5,20 @@ import sys
 import cv2
 import argparse
 
-# 添加工作目录到路径
-sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+# 添加项目根目录到路径
+current_dir = os.path.dirname(os.path.abspath(__file__))
+project_root = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(project_root)
 
 from utils.decode_arrow import detect_arrow_direction, visualize_arrow_detection
 
 def main():
     # 创建参数解析器
     parser = argparse.ArgumentParser(description='箭头方向检测测试')
-    parser.add_argument('--image', default="image_20250511_121219.png", 
+    parser.add_argument('--image', default="res/arrows/left/image-2.png", 
                         help='图像文件路径 (默认: image_20250511_121219.png)')
-    parser.add_argument('--save', default="arrow_detection_result.jpg",
-                        help='保存可视化结果的路径 (默认: arrow_detection_result.jpg)')
+    parser.add_argument('--save', default="res/arrows/test/arrow_detection_result.jpg",
+                        help='保存可视化结果的路径 (默认: res/arrows/test/arrow_detection_result.jpg)')
     parser.add_argument('--show', action='store_true',
                         help='显示可视化结果')
     
diff --git a/utils/__init__.py b/utils/__init__.py
new file mode 100644
index 0000000..7ae7e74
--- /dev/null
+++ b/utils/__init__.py
@@ -0,0 +1 @@
+# 使 utils 作为一个 Python 包 
\ No newline at end of file
diff --git a/utils/decode_arrow.py b/utils/decode_arrow.py
index e840478..b0df849 100644
--- a/utils/decode_arrow.py
+++ b/utils/decode_arrow.py
@@ -163,9 +163,9 @@ def visualize_arrow_detection(image, save_path=None):
     resized = cv2.resize(result, dim, interpolation=cv2.INTER_AREA)
     
     # 显示结果
-    cv2.imshow('Arrow Detection Process', resized)
-    cv2.waitKey(0)
-    cv2.destroyAllWindows()
+    # cv2.imshow('Arrow Detection Process', resized)
+    # cv2.waitKey(0)
+    # cv2.destroyAllWindows()
 
 # 用法示例
 if __name__ == "__main__":