diff --git a/controller/include/msp_MK32.h b/controller/include/msp_MK32.h
index 2d6109c..4afc3b6 100644
--- a/controller/include/msp_MK32.h
+++ b/controller/include/msp_MK32.h
@@ -82,46 +82,6 @@ typedef enum {
 
 typedef void (*ActionFunc)(void);
 
-#ifdef IS_TABLE
-typedef enum {
-	KEY_SA_UP = 0,
-	KEY_SA_DOWN,
-	KEY_SA_DEFAULT,
-	KEY_SB_UP,
-	KEY_SB_DOWN,
-	KEY_SB_DEFAULT,
-	KEY_SC_UP,
-	KEY_SC_DOWN,
-	KEY_SC_DEFAULT,
-	KEY_SD_UP,
-	KEY_SD_DOWN,
-	KEY_SD_DEFAULT,
-	BTN_S1_CLICK,
-	BTN_S2_CLICK,
-	JOY_LEFT_UP,
-	JOY_LEFT_DWON,
-	JOY_LEFT_LEFT,
-	JOY_LEFT_RIGHT,
-	JOY_RIGHT_UP,
-	JOY_RIGHT_DWON,
-	JOY_RIGHT_LEFT,
-	JOY_RIGHT_RIGHT,
-	JOY_DEFAULT,
-	E_STOP, // 急停，MK32指SE和SF值-1000
-	KEY_MAX
-} E_BHBF_KEY;
-
-extern const ActionFunc g_ActionTable[KEY_MAX][MODE_MAX][SUB_MODE_MAX];
-
-#define SAFE_DISPATCH(key)                      \
-    do {                                        \
-        if ((key) < KEY_MAX)                    \
-		{                                       \
-        	ActionFunc _fn = g_ActionTable[(key)][(_iMode)][(_iSubMode)]; \
-            if (_fn) _fn();                     \
-        }                                       \
-    } while (0)
-#else
 typedef struct{
 	E_BHBF_RBMode m_iMode;			//主模式
 	E_BHBF_RBSubMode m_iSubMode;	//副模式
@@ -160,10 +120,10 @@ static inline void SafeDispatch(const TKeyTree *table, int count, int mode, int
             return;
         }
     }
-
+#ifdef TREE_SUPPORT_NULL // 如果不显式写NULL则表示空无动作
 	for (int i = 0; i < count; i++)
 	{
-		if (table[i].m_iMode == mode && table[i].m_iSubMode == SUB_MODE_DEFAULT)
+		if (table[i].m_iMode == MODE_VERTICAL_LEFT && table[i].m_iSubMode == SUB_MODE_DEFAULT)
 		{
 			if (table[i].m_ptFunc != NULL)
 			{
@@ -184,6 +144,7 @@ static inline void SafeDispatch(const TKeyTree *table, int count, int mode, int
             return;
         }
     }
+#endif
 }
 
 #define SAFE_DISPATCH(field) \
@@ -191,7 +152,6 @@ static inline void SafeDispatch(const TKeyTree *table, int count, int mode, int
                  sizeof(g_ActionTable.field) / sizeof(TKeyTree), \
                  _iMode, _iSubMode)
 
-#endif
 /*==============================================*
  *      project-wide global variables           *
  *----------------------------------------------*/
diff --git a/controller/msp_MK32.c b/controller/msp_MK32.c
index f991613..9159320 100644
--- a/controller/msp_MK32.c
+++ b/controller/msp_MK32.c
@@ -145,93 +145,6 @@ void controller_init(void)
   (void)osThreadNew(Read_MK32, NULL, &MK32_Task_attributes);
 }
 
-#ifdef IS_TABLE
-WEAK void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
-{
-	if (_iMode <= MODE_NULL || _iMode >= MODE_MAX) return;
-	// 急停
-	if (_pstMK32->CH8_SE == -1000 && _pstMK32->CH9_SF == -1000)
-	{
-		SAFE_DISPATCH(E_STOP);
-		return;
-	}
-
-	// 根据模式判断换道（仅在竖直向左或向右生效）
-	if (_pstMK32->CH4_SA == 1000)
-	{
-		SAFE_DISPATCH(KEY_SA_UP);
-		return;
-	}
-	else if (_pstMK32->CH4_SA == -1000)
-	{
-		SAFE_DISPATCH(KEY_SA_DOWN);
-		return;
-	}
-	else // 重置前进计时器以便下一次换道重新计数
-	{
-		SAFE_DISPATCH(KEY_SA_DEFAULT);
-	}
-
-	// 自动巡航
-	if (_pstMK32->CH5_SB == -1000)
-	{
-		SAFE_DISPATCH(KEY_SB_UP);
-		return;
-	}
-	else if(_pstMK32->CH5_SB == 1000)
-	{
-		SAFE_DISPATCH(KEY_SB_DOWN);
-		return;
-	}
-
-
-	// 开关喷枪
-	if (_pstMK32->CH6_SC == -1000)
-	{
-		SAFE_DISPATCH(KEY_SC_UP);
-	}
-	else if (_pstMK32->CH6_SC == 1000)
-	{
-		SAFE_DISPATCH(KEY_SC_DOWN);
-	}
-	else
-	{
-		SAFE_DISPATCH(KEY_SC_DEFAULT);
-	}
-
-	// 【注意!!!】摇杆行程死区判断开始，除摇杆以外按键在上边都处理完，不然走不下去
-	if (abs(_pstMK32->CH2_LY_V) <= g_stCV.Joy_Sticker_Value_Allowance && abs(_pstMK32->CH3_LY_H) <= g_stCV.Joy_Sticker_Value_Allowance)
-	{
-		SAFE_DISPATCH(JOY_DEFAULT);
-		return;
-	}
-	// 【注意!!!】摇杆行程死区判断结束，摇杆处理都放在这以后，否则行程死区可能不生效
-
-	// 摇杆角度死区判断
-	int angle = atan2(_pstMK32->CH2_LY_V, _pstMK32->CH3_LY_H) * 180 / M_PI;
-
-	if (abs(angle - 90) <= g_stCV.Joy_Sticker_Angle_Allowance)
-	{
-		SAFE_DISPATCH(JOY_LEFT_UP);
-	}
-	else if (abs(angle - (-90)) <= g_stCV.Joy_Sticker_Angle_Allowance)
-	{
-		SAFE_DISPATCH(JOY_LEFT_DWON);
-	}
-	else if (abs(angle - 0) <= g_stCV.Joy_Sticker_Angle_Allowance)
-	{
-		SAFE_DISPATCH(JOY_LEFT_RIGHT);
-	}
-	else if (abs(angle - 180) <= g_stCV.Joy_Sticker_Angle_Allowance || abs(angle - (-180)) <= g_stCV.Joy_Sticker_Angle_Allowance)
-	{
-		SAFE_DISPATCH(JOY_LEFT_LEFT);
-	}
-	else
-	{
-		MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0);
-	}
-}
-#else
 WEAK void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 {
 	if (_iMode <= MODE_NULL || _iMode >= MODE_MAX) return;
@@ -317,4 +230,3 @@ WEAK void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 		MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0);
 	}
 }
-#endif
diff --git a/library/common/common_cfg.h.in b/library/common/common_cfg.h.in
index 83ad9ab..95c8a94 100644
--- a/library/common/common_cfg.h.in
+++ b/library/common/common_cfg.h.in
@@ -14,6 +14,7 @@ extern "C"{
 #cmakedefine CONFIG_CAN_NEW_VERSION @CONFIG_CAN_NEW_VERSION@
 #cmakedefine RD_VERSION "@RD_VERSION@"
 
+#cmakedefine TREE_SUPPORT_NULL
 #cmakedefine IOC_100PIN 
 #cmakedefine USE_TALNET
 #cmakedefine USE_LUA_ST
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index d164dfc..8d477b9 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -328,135 +328,70 @@ static void Robot_Move_Right(void)
 	}
 }
 
-#ifdef IS_TABLE
-const ActionFunc g_ActionTable[KEY_MAX][MODE_MAX][SUB_MODE_MAX] = {
-	[E_STOP] = {
-		[MODE_DEFAULT] = {
-			[SUB_MODE_DEFAULT] = E_Robot_Stop,
-		},
-		[MODE_VERTICAL_LEFT] = {
-			[SUB_MODE_DEFAULT] = E_Robot_Stop,
-		},
-		[MODE_VERTICAL_RIGHT] = {
-			[SUB_MODE_DEFAULT] = E_Robot_Stop,
-		},
+#ifndef TREE_SUPPORT_NULL
+const TKeyForest g_ActionTable = {
+	.E_Stop = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, E_Robot_Stop},
+		{MODE_VERTICAL_LEFT, SUB_MODE_DEFAULT, E_Robot_Stop},
+		{MODE_VERTICAL_RIGHT, SUB_MODE_DEFAULT, E_Robot_Stop}
 	},
-    [KEY_SA_UP] = {
-		[MODE_VERTICAL_LEFT] = {
-			[SUB_MODE_DEFAULT] = Vertical_Lane_Change_From_Right_To_Left_UP_Control,
-		},
-		[MODE_VERTICAL_RIGHT] = {
-			[SUB_MODE_DEFAULT] = Vertical_Lane_Change_From_Left_To_Right_UP_Control,
-		},
-    },
-	[KEY_SA_DOWN] = {
-		[MODE_VERTICAL_LEFT] = {
-			[SUB_MODE_DEFAULT] = Vertical_Lane_Change_From_Right_To_Left_Down_Control,
-		},
-		[MODE_VERTICAL_RIGHT] = {
-			[SUB_MODE_DEFAULT] = Vertical_Lane_Change_From_Left_To_Right_Down_Control,
-		},
-    },
-	[KEY_SA_DEFAULT] = {
-		[MODE_VERTICAL_LEFT] = {
-			[SUB_MODE_DEFAULT] = Lane_Change_State_Reset,
-		},
-		[MODE_VERTICAL_RIGHT] = {
-			[SUB_MODE_DEFAULT] = Lane_Change_State_Reset,
-		},
-    },
-	[KEY_SB_UP] = {
-		[MODE_DEFAULT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Forward,
-		},
-		[MODE_VERTICAL_LEFT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Forward_PID,
-		},
-		[MODE_VERTICAL_RIGHT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Forward_PID,
-		}
-    },
-	[KEY_SB_DOWN] = {
-		[MODE_DEFAULT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Backward,
-		},
-		[MODE_VERTICAL_LEFT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Backward_PID,
-		},
-		[MODE_VERTICAL_RIGHT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Backward_PID,
-		}
-    },
-	[KEY_SC_DOWN] = {
-		[MODE_DEFAULT] = {
-			[SUB_MODE_DEFAULT] = Robot_Paint_OFF,
-		}
-    },
-	[KEY_SC_DEFAULT] = {
-		[MODE_DEFAULT] = {
-			[SUB_MODE_DEFAULT] = Robot_Paint_OFF,
-		}
-    },
-	[KEY_SC_UP] = {
-		[MODE_DEFAULT] = {
-			[SUB_MODE_DEFAULT] = Robot_Paint_ON,
-		}
-    },
-	[JOY_DEFAULT] = {
-		[MODE_DEFAULT] = {
-			[SUB_MODE_DEFAULT] = Robot_Stop,
-		},
-		[MODE_VERTICAL_LEFT] = {
-			[SUB_MODE_DEFAULT] = Robot_Stop_After,
-		},
-		[MODE_VERTICAL_RIGHT] = {
-			[SUB_MODE_DEFAULT] = Robot_Stop_After,
-		},
-    },
-	[JOY_LEFT_UP] = {
-		[MODE_DEFAULT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Forward,
-		},
-		[MODE_VERTICAL_LEFT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Forward_PID,
-		},
-		[MODE_VERTICAL_RIGHT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Forward_PID,
-		},
-    },
-	[JOY_LEFT_DWON] = {
-		[MODE_DEFAULT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Backward,
-		},
-		[MODE_VERTICAL_LEFT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Backward_PID,
-		},
-		[MODE_VERTICAL_RIGHT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Backward_PID,
-		},
-    },
-	[JOY_LEFT_LEFT] = {
-		[MODE_DEFAULT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Left,
-		},
-		[MODE_VERTICAL_LEFT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Left,
-		},
-		[MODE_VERTICAL_RIGHT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Left,
-		},
-    },
-	[JOY_LEFT_RIGHT] = {
-		[MODE_DEFAULT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Right,
-		},
-		[MODE_VERTICAL_LEFT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Right,
-		},
-		[MODE_VERTICAL_RIGHT] = {
-			[SUB_MODE_DEFAULT] = Robot_Move_Right,
-		},
-    }
+	.SA_Up = {
+		{MODE_VERTICAL_LEFT, SUB_MODE_DEFAULT, Vertical_Lane_Change_From_Right_To_Left_UP_Control},
+		{MODE_VERTICAL_RIGHT, SUB_MODE_DEFAULT, Vertical_Lane_Change_From_Left_To_Right_UP_Control}
+	},
+	.SA_Down = {
+		{MODE_VERTICAL_LEFT, SUB_MODE_DEFAULT, Vertical_Lane_Change_From_Right_To_Left_Down_Control},
+		{MODE_VERTICAL_RIGHT, SUB_MODE_DEFAULT, Vertical_Lane_Change_From_Left_To_Right_Down_Control}
+	},
+	.SA_Default = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, Lane_Change_State_Reset},
+		{MODE_VERTICAL_LEFT, SUB_MODE_DEFAULT, Lane_Change_State_Reset},
+		{MODE_VERTICAL_RIGHT, SUB_MODE_DEFAULT, Lane_Change_State_Reset}
+	},
+	.SB_Up = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, Robot_Move_Forward},
+		{MODE_VERTICAL_LEFT, SUB_MODE_DEFAULT, Robot_Move_Forward_PID},
+		{MODE_VERTICAL_RIGHT, SUB_MODE_DEFAULT, Robot_Move_Forward_PID}
+	},
+	.SB_Down = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, Robot_Move_Backward},
+		{MODE_VERTICAL_LEFT, SUB_MODE_DEFAULT, Robot_Move_Backward_PID},
+		{MODE_VERTICAL_RIGHT, SUB_MODE_DEFAULT, Robot_Move_Backward_PID}
+	},
+	.SC_Up = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, Robot_Paint_ON}
+	},
+	.SC_Down = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, Robot_Paint_OFF}
+	},
+	.SC_Default = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, Robot_Paint_OFF}
+	},
+	.Joy_Default = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, Robot_Stop},
+		{MODE_VERTICAL_LEFT, SUB_MODE_DEFAULT, Robot_Stop_After},
+		{MODE_VERTICAL_RIGHT, SUB_MODE_DEFAULT, Robot_Stop_After}
+	},
+	.Joy_Left_Up = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, Robot_Move_Forward},
+		{MODE_VERTICAL_LEFT, SUB_MODE_DEFAULT, Robot_Move_Forward_PID},
+		{MODE_VERTICAL_RIGHT, SUB_MODE_DEFAULT, Robot_Move_Forward_PID}
+	},
+	.Joy_Left_Down = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, Robot_Move_Backward},
+		{MODE_VERTICAL_LEFT, SUB_MODE_DEFAULT, Robot_Move_Backward_PID},
+		{MODE_VERTICAL_RIGHT, SUB_MODE_DEFAULT, Robot_Move_Backward_PID}
+	},
+	.Joy_Left_Left = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, Robot_Move_Left},
+		{MODE_VERTICAL_LEFT, SUB_MODE_DEFAULT, Robot_Move_Left},
+		{MODE_VERTICAL_RIGHT, SUB_MODE_DEFAULT, Robot_Move_Left}
+	},
+	.Joy_Left_Right = {
+		{MODE_DEFAULT, SUB_MODE_DEFAULT, Robot_Move_Right},
+		{MODE_VERTICAL_LEFT, SUB_MODE_DEFAULT, Robot_Move_Right},
+		{MODE_VERTICAL_RIGHT, SUB_MODE_DEFAULT, Robot_Move_Right}
+	}
 };
 #else