diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
index 15fa460..07f8dd5 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-63235014752314356" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1256539702914033922" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-63235014752314356" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1256539702914033922" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/FSM.h b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/FSM.h
index 1660c22..8ac6494 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/FSM.h
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/FSM.h
@@ -16,7 +16,7 @@ typedef enum _MoveSTATE_t
 	Manual_State,
 	low_Speed_Manual_State,
 	AUTO_FORWARD,
-
+    AUTO_BACKWARD
 } MoveSTATE_t;
 
 typedef enum _Front_MoveSTATE_t
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/robot_state.h b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/robot_state.h
index 73c9fea..2c776ce 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/robot_state.h
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/robot_state.h
@@ -19,7 +19,7 @@ extern void Manual_State_Do(void);
 extern void low_Speed_Manual_State_Do(void);
 extern void HALT_State_Do(void);
 extern void auto_forward_state_do(void);
-
+extern void auto_backward_state_do(void);
 
 //  ********前端升降电机***********
 extern void Manual_Up_State_Do(void);
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index 8fc97c5..e8a7cd6 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -35,8 +35,8 @@ transition_t MoveTransitions[] =
 	{ Move_HALT, HALT_State_Do },
 	{ Manual_State, Manual_State_Do },
 	{ low_Speed_Manual_State, low_Speed_Manual_State_Do},
-	{ AUTO_FORWARD, auto_forward_state_do}
-
+	{ AUTO_FORWARD, auto_forward_state_do},
+    { AUTO_BACKWARD, auto_backward_state_do}
 };
 
 transition_t FrontendMoveTransitions[] =
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
index 11b6e54..fccc040 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
@@ -397,6 +397,23 @@ void auto_forward_state_do(void)
 	GV.RightBackMotor.Target_Velcity = -Ref_Speed;
 }
 
+void auto_backward_state_do(void)
+{
+	if((GV.MK32_Key.CH10_LD1 >= -1000) && (GV.MK32_Key.CH10_LD1 <= 1000))
+	{
+		speedAdj = -995.0f + (GV.MK32_Key.CH10_LD1 + 1000.0f) * 0.005f;
+		Speed_Ctrl =  ((speedAdj + 1000) * 360 / 1000);
+	}
+
+	Ref_Speed =   Speed_Ctrl;
+	Act_Speed =Speed_Ctrl;
+	if(Ref_Speed >= 5000) Ref_Speed = 5000;
+
+	GV.LeftFrontMotor.Target_Velcity = -Ref_Speed;
+	GV.RightFrontMotor.Target_Velcity = Ref_Speed;
+	GV.LeftBackMotor.Target_Velcity = -Ref_Speed;
+	GV.RightBackMotor.Target_Velcity = Ref_Speed;
+}