diff --git a/CMakePresets.json b/CMakePresets.json
index f4b57da..27241cb 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -29,8 +29,11 @@
         "BUILD_PERIPHERAL": "ON",
         "BUILD_LIST": "ON",
         "BUILD_BSPMCU": "ON",
-        "MEM_POOL_TOTAL_SIZE": "46*1024",
+        "BUILD_SPOOLEND": "ON",
+        "PRINT_ID": "1",
+        "MEM_POOL_TOTAL_SIZE": "8*1024",
         "USE_UART": true,
+        "USE_PRINT": true,
         "USE_CAN": true
       }
     },
@@ -40,7 +43,7 @@
       "cacheVariables": {
         "BUILD_RBCORE": "ON",
         "BUILD_OPTIONAL": "ON",
-		"IOC_100PIN": true,
+        "IOC_100PIN": true,
         "USE_LUA_ST": true,
         "USE_LUA_ST_CAN": true,
         "USE_TALNET": true,
diff --git a/Core/Src/main.c b/Core/Src/main.c
index ed85ff8..1bf1f5f 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -27,7 +27,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "common.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -59,7 +59,8 @@ void SystemClock_Config(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-
+void SpoolendInit(void);
+void SpoolendTask(void);
 /* USER CODE END 0 */
 
 /**
@@ -104,11 +105,22 @@ int main(void)
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
+  RD_INIT();
+  void Myprint_Init(void);
+  Myprint_Init();
+  SpoolendInit();
   while (1)
   {
+	SpoolendTask();
+	printf("Hello world\n");
+    HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
+    HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+    HAL_GPIO_TogglePin(LED3_GPIO_Port, LED3_Pin);
+ 	HAL_Delay(500);
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
+	//HAL_IWDG_Refresh(&hiwdg);
   }
   /* USER CODE END 3 */
 }
diff --git a/robot b/robot
index 3b944f9..5325382 160000
--- a/robot
+++ b/robot
@@ -1 +1 @@
-Subproject commit 3b944f95c34661aa9fe1659971f3a3853694ec57
+Subproject commit 53253827a75eefc40cdbccefd6eff9080abe3c88