diff --git a/main.py b/main.py
index f1525de..87b9000 100755
--- a/main.py
+++ b/main.py
@@ -18,7 +18,7 @@ import cv2
 from utils.robot_control_cmd_lcmt import robot_control_cmd_lcmt
 from utils.robot_control_response_lcmt import robot_control_response_lcmt
 from utils.localization_lcmt import localization_lcmt
-from utils.image_raw import ImageProcessor
+# from utils.image_raw import ImageProcessor
 from utils.base_msg import BaseMsg
 from utils.speech_demo import speak
 # from utils.marker_client import MarkerRunner
@@ -26,13 +26,13 @@ from utils.speech_demo import speak
 from task_1.task_1 import run_task_1, run_task_1_back
 from task_2.task_2 import run_task_2, run_task_2_back, run_task_2_demo
 from task_2_5.task_2_5 import run_task_2_5, run_task_2_5_back
-from task_3.task_3 import run_task_3, run_task_3_back, pass_up_down
-from task_4.task_4 import run_task_4, run_task_4_back, go_straight_with_enhanced_calibration
+from task_3.task_3 import run_task_3, run_task_3_back
+from task_4.task_4 import run_task_4, run_task_4_back
 from task_5.task_5 import run_task_5
-from base_move.turn_degree import turn_degree, turn_degree_v2
+from base_move.turn_degree import turn_degree_v2
 from base_move.go_to_xy import go_to_x_v2, go_to_y_v2
-
 from utils.log_helper import info
+from task_4.pass_bar import pass_bar
 
 pass_marker = True
 TIME_SLEEP = 3000  # TODO 比赛时改成 5000
@@ -59,12 +59,19 @@ def main():
         # pass_bar(Ctrl, msg)
         # run_task_2(Ctrl, msg)
 
-
+        # INFO Real Task
         # TAG task - 0
         info("Recovery stand", "info")
         Ctrl.base_msg.stand_up()
         Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat # INFO 但是正式比赛或许也有用
 
+        # TEST pass-bar
+        turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
+        pass_bar(Ctrl, msg)
+        Ctrl.base_msg.stand_up()
+
+        return
+
         
         # TAG task - 1
         run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
@@ -136,7 +143,7 @@ class Robot_Ctrl(object):
         self.cmd_msg = robot_control_cmd_lcmt()
         self.rec_msg = robot_control_response_lcmt()
         self.odo_msg = localization_lcmt()
-        self.image_processor = ImageProcessor()
+        # self.image_processor = ImageProcessor()
         # DEBUG
         # self.marker_runner = MarkerRunner(pass_flag=pass_marker)
         self.send_lock = Lock()
@@ -157,7 +164,7 @@ class Robot_Ctrl(object):
         self.send_thread.start()
         self.rec_thread.start()
         self.odo_thread.start()
-        self.image_processor.run()
+        # self.image_processor.run()
         # self.marker_runner.run()
 
     def msg_handler(self, channel, data):
@@ -242,7 +249,7 @@ class Robot_Ctrl(object):
         self.runing = 0
         self.rec_thread.join()
         self.send_thread.join()
-        self.image_processor.destroy()
+        # self.image_processor.destroy()
         # 销毁 MarkerRunner
         if hasattr(self, 'marker_runner') and self.marker_runner is not None:
             try: