diff --git a/main.py b/main.py
index 51e91d9..bc6d7f6 100644
--- a/main.py
+++ b/main.py
@@ -33,7 +33,7 @@ from task_5.task_5 import run_task_5
 # from task_test.go_to_xy_example import run_go_to_xy_example
 
 
-from base_move.turn_degree import turn_degree
+from base_move.turn_degree import turn_degree, turn_degree_v2
 
 pass_marker = True
 
@@ -56,14 +56,16 @@ def main():
         # print(f"arrow_direction: {arrow_direction}")
         # run_task_2_5(Ctrl, msg, direction=arrow_direction)
 
-        # arrow_direction = 'right' # TEST
+        arrow_direction = 'right' # TEST
 
         # if arrow_direction == 'left':
         #     run_task_4(Ctrl, msg)
         # else:
         #     run_task_3(Ctrl, msg)
 
-        run_task_5(Ctrl, msg)
+        turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
+
+        run_task_5(Ctrl, msg, direction=arrow_direction)
 
         return
 
diff --git a/res/path/task-5/horizontal_edge_20250528_100447_858352.jpg b/res/path/task-5/horizontal_edge_20250528_100447_858352.jpg
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diff --git a/res/path/task-5/horizontal_edge_20250528_100604_117417.jpg b/res/path/task-5/horizontal_edge_20250528_100604_117417.jpg
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diff --git a/res/path/task-5/horizontal_edge_20250528_100604_158105.jpg b/res/path/task-5/horizontal_edge_20250528_100604_158105.jpg
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diff --git a/res/path/task-5/origin_horizontal_edge_20250528_100447_858352.jpg b/res/path/task-5/origin_horizontal_edge_20250528_100447_858352.jpg
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diff --git a/res/path/task-5/origin_horizontal_edge_20250528_100604_117417.jpg b/res/path/task-5/origin_horizontal_edge_20250528_100604_117417.jpg
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diff --git a/res/path/task-5/origin_horizontal_edge_20250528_100604_158105.jpg b/res/path/task-5/origin_horizontal_edge_20250528_100604_158105.jpg
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diff --git a/task_5/task_5.py b/task_5/task_5.py
index 54943ec..b49bf4d 100644
--- a/task_5/task_5.py
+++ b/task_5/task_5.py
@@ -12,7 +12,10 @@ from base_move.turn_degree import turn_degree
 from base_move.go_straight import go_straight, go_straight_with_qrcode
 from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
 from utils.gray_sky_analyzer import analyze_gray_sky_ratio
-from base_move.move_base_hori_line import detect_horizontal_track_edge, detect_horizontal_track_edge_v2, detect_horizontal_track_edge_v3, calculate_distance_to_line
+from base_move.move_base_hori_line import (
+    detect_horizontal_track_edge, detect_horizontal_track_edge_v2, detect_horizontal_track_edge_v3, 
+    calculate_distance_to_line, move_to_hori_line
+)
 
 
 def go_straight_to_horizontal_line_with_qr(ctrl, msg, target_distance=0.5, speed=0.5, 
@@ -201,7 +204,7 @@ def go_straight_to_horizontal_line_with_qr(ctrl, msg, target_distance=0.5, speed
     return res['success'], qr_result, res
 
 
-def run_task_5(ctrl, msg, observe=False):
+def run_task_5(ctrl, msg, direction='left', observe=False):
     """
     走向卸货
     """
@@ -222,6 +225,24 @@ def run_task_5(ctrl, msg, observe=False):
             warning("未扫描到二维码", "二维码")
     else:
         error("未能成功到达横线前指定距离", "失败")
-    
+
+    section('任务5-2：移动到卸货点', "移动")
+    if direction == 'right' and res['qr_result'] == 'B-2' or direction == 'left' and res['qr_result'] == 'B-1':
+        # 直走
+        move_to_hori_line(ctrl, msg, target_distance=0.5, observe=observe)
+    else:
+        move_to_hori_line(ctrl, msg, target_distance=1.2, observe=observe)
+
+    section('任务5-3：卸货', "卸货")
+    ctrl.base_msg.lie_down()
+    time.sleep(3)
+    ctrl.base_msg.stand_up()
+
+    section('任务5-4：返回', "移动")
+    go_straight(ctrl, msg, distance=-1.2, speed=0.5, observe=observe)
+
+    section('任务5-5：转弯', "转弯")
+    turn_degree(ctrl, msg, degree=90)
+
     # 返回移动和扫描结果
     return go_success, res['qr_result']