diff --git a/main.py b/main.py
index 10336ce..892beca 100644
--- a/main.py
+++ b/main.py
@@ -51,29 +51,26 @@ def main():
         Ctrl.base_msg.stop()  # BUG 垃圾指令 for eat
 
         # # 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)
-
-        go_to_y_v2(Ctrl, msg, target_y=5.5, speed=0.5, observe=True)
-        # turn_degree_v2(Ctrl, msg, degree=-90, absolute=True)
+        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)
 
diff --git a/task_2/task_2.py b/task_2/task_2.py
index a8d174c..1aaa853 100644
--- a/task_2/task_2.py
+++ b/task_2/task_2.py
@@ -249,7 +249,7 @@ def run_task_2(ctrl, msg, xy_flag=False):
     return arrow_direction
 
 def run_task_2_back(ctrl, msg):
-    go_to_xy(ctrl, msg, 0.7, 5, speed=0.5, observe=True)
+    # go_to_xy(ctrl, msg, 0.7, 5, speed=0.5, observe=True)
     turn_degree_v2(ctrl, msg, -106.5, absolute=True)
 
     print('角度为',ctrl.odo_msg.rpy[2])
diff --git a/task_2_5/task_2_5.py b/task_2_5/task_2_5.py
index 902f7a2..88c2486 100644
--- a/task_2_5/task_2_5.py
+++ b/task_2_5/task_2_5.py
@@ -42,8 +42,6 @@ def run_task_2_5(Ctrl, msg, direction='left'):
 
 def run_task_2_5_back(Ctrl, msg, direction='left'):
     section('任务2.5-back：预备进入任务3', "启动")
-    # turn_degree_v2(Ctrl, msg, degree=-90, absolute=True)
-
+    turn_degree_v2(Ctrl, msg, degree=0, absolute=True)
     go_to_x_v2(Ctrl, msg, target_x=0.7, observe=observe)
-
     go_to_y_v2(Ctrl, msg, target_y=5, speed=0.5, observe=True)