diff --git a/main.py b/main.py
index be9d559..e075bfd 100755
--- a/main.py
+++ b/main.py
@@ -29,7 +29,7 @@ from task_2_5.task_2_5 import run_task_2_5, run_task_2_5_back
 from task_4.task_4 import run_task_4, run_task_4_back
 from task_test.task_left_line import run_task_test
 from task_5.task_5 import run_task_5
-
+from task_4.pass_bar import pass_bar
 from base_move.turn_degree import turn_degree, turn_degree_v2
 from base_move.center_on_dual_tracks import center_on_dual_tracks
 from base_move.go_to_xy import go_to_x_v2, go_to_y_v2
@@ -50,33 +50,35 @@ def main():
         Ctrl.base_msg.stand_up()
         Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat
 
+        pass_bar(Ctrl, msg)
+
         # time.sleep(100) # TEST,
-        run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
+        # 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)
-        else:
-            run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP)
+        # if arrow_direction == 'left':
+        #     run_task_4(Ctrl, msg)
+        # else:
+        #     run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP)
 
-        turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
-        run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP)
+        # turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
+        # run_task_5(Ctrl, msg, direction=arrow_direction, time_sleep=TIME_SLEEP)
 
-        if arrow_direction == 'left': 
-            run_task_3_back(Ctrl, msg)
-        else:
-            run_task_4_back(Ctrl, msg)
+        # if arrow_direction == 'left': 
+        #     run_task_3_back(Ctrl, msg)
+        # else:
+        #     run_task_4_back(Ctrl, msg)
 
-        run_task_2_5_back(Ctrl, msg, direction=arrow_direction)
+        # run_task_2_5_back(Ctrl, msg, direction=arrow_direction)
 
-        run_task_2_back(Ctrl, msg)
+        # run_task_2_back(Ctrl, msg)
 
-        run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP)
+        # run_task_1_back(Ctrl, msg, time_sleep=TIME_SLEEP)
         
     except KeyboardInterrupt:
         print("\n程序被用户中断")
diff --git a/task_4/task_4.py b/task_4/task_4.py
index 16df113..8b4aed7 100755
--- a/task_4/task_4.py
+++ b/task_4/task_4.py
@@ -40,7 +40,6 @@ def run_task_4(ctrl, msg):
     section('任务4-3：通过栏杆', "移动")
     pass_bar(ctrl, msg)
 
-
 def run_task_4_back(ctrl, msg):
     """
     参数:
@@ -86,7 +85,6 @@ def run_task_4_back(ctrl, msg):
     current_distance = calculate_distance_to_line(edge_info, camera_height, observe=True)
     go_straight(ctrl, msg, distance=current_distance, speed=0.20, mode=11, gait_id=3, step_height=[0.21, 0.21])
 
-
 def go_straight_until_sky_ratio_below(ctrl, msg,
                                       sky_ratio_threshold=0.2,
                                       step_distance=0.5,