diff --git a/RBcore/BHBF.c b/RBcore/BHBF.c
index 787846c..9004f98 100644
--- a/RBcore/BHBF.c
+++ b/RBcore/BHBF.c
@@ -59,7 +59,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
     static int aiMotorSpeed[2] = {0}; //0索引表示左，1索引表示右，多轮时到对应motor的MOTOR_CMD_SET_SPEED命令自行处理
     switch (pstMsg->m_uiMsgID)
     {
-		case CMD_STOP_ALL:
+		case RBCORE_CMD_STOP_ALL:
 		{
     		MsgCenter_SendTo(MODULE_NAME_MOTOR, pstMsg->m_uiMsgID, NULL, 0);
 			break;
diff --git a/RBcore/drv_interface.c b/RBcore/drv_interface.c
index e2e224c..dc86928 100644
--- a/RBcore/drv_interface.c
+++ b/RBcore/drv_interface.c
@@ -265,6 +265,7 @@ extern void ground_manger_init(void);
 extern void Custom_Task(void *argument);
 void SendIV_Init(void);
 void TL720D_Init(void);
+void RBcore_Init(void);
 
 void Drv_InterfaceInit(void)
 {
diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h
index c4f0c7f..5e216cc 100644
--- a/RBcore/include/BHBF.h
+++ b/RBcore/include/BHBF.h
@@ -62,7 +62,6 @@ extern "C"{
 #include "drv_interface.h"
 #include "rd_time.h"
 #include "cmsis_os.h"
-#include "FreeRTOS.h"
 #include <stdint.h>
 
 /*==============================================*
@@ -80,11 +79,14 @@ typedef enum {
     MOTOR_GET_FAULT_CODE,    // 获取错误码
     MOTOR_CMD_END = 0x0100,
 
-	CMD_STOP_ALL,         // 机器人停止
+	RBCORE_CMD_STOP_ALL,         // 机器人停止
     RBCORE_CMD_MANUAL_FORWARD,   // 机器人手动前进
     RBCORE_CMD_MANUAL_BACKWARD,  // 机器人手动后退
 	RBCORE_CMD_MANUAL_TURNLEFT,  // 机器人手动左转
 	RBCORE_CMD_MANUAL_TURNRIGHT, // 机器人手动右转
+	RBCORE_CMD_VERTICAL,  		 // 机器人竖直前进（带PID）
+	RBCORE_CMD_HORIZONTAL_LEFT,  // 机器人水平向左（带PID）
+	RBCORE_CMD_HORIZONTAL_RIGHT, // 机器人水平向右（带PID）
 	RBCORE_GET_VEHICLE_SPEED,    // 获取机器人速度
 	RBCORE_CMD_END = 0x0200,
 
@@ -95,40 +97,10 @@ typedef enum {
 	CUSTOM_CMD_PAINTGUN,         // 控制喷枪
 	CUSTOM_CMD_END = 0x0300,
 } BHBF_Cmd_e;
-    
-// 电机命令数据结构
-typedef struct {
-    uint8_t     m_ucMotorIndex;     // 电机索引（0=左轮，1=右轮）
-    int32_t     m_iValue;           // 值（速度/位置等）
-} Motor_CmdData_t;
-
-// 电机状态数据结构
-typedef struct {
-    uint8_t     m_ucMotorIndex;
-    int32_t     m_iPosition;
-    int32_t     m_iVelocity;
-    uint32_t    m_uiFaultCode;
-} Motor_StatusData_t;
-
-typedef enum {
-    GF_CMD_DEFAULT_NULL = 0,
-    GF_CMD_STOP_ALL,
-    GF_CMD_MANUAL_FORWARD,
-    GF_CMD_MANUAL_BACKWARD,
-    GF_CMD_AUTO_FORWARD
-} GF_CMD;
-
-typedef struct _GV_struct_define 
-{
-    int     m_iWorkMode;
-    GF_CMD  m_eGFCmd;
-    int32_t m_iMoveSpeed[2];//索引1对应左轮，索引2对应右轮
-} GV_define;
 
 /*==============================================*
  *      project-wide global variables           *
  *----------------------------------------------*/
-void RBcore_Init(void);
 
 
 /*==============================================*
diff --git a/motor/msp_motor_leisai.c b/motor/msp_motor_leisai.c
index ea6c900..2d5c418 100644
--- a/motor/msp_motor_leisai.c
+++ b/motor/msp_motor_leisai.c
@@ -18,7 +18,6 @@
  ******************************************************************************/
 
 #include "msp_motor_leisai.h"
-#include "rd_time.h"
 #include "BHBF.h"
 #include "msg_center.h"
 
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index dc5f905..7404224 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -145,7 +145,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 
 			if (abs(g_stMK32.CH2_LY_V) <= g_stCV.Joy_Sticker_Value_Allowance && abs(g_stMK32.CH3_LY_H) <= g_stCV.Joy_Sticker_Value_Allowance)
 			{
-				MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STOP_ALL, NULL, 0);
+				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
 				break;
 			}
 
@@ -169,7 +169,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			}
 			else
 			{
-				MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STOP_ALL, NULL, 0);
+				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
 			}
 			break;
 		}
diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c
index 59ba299..c9ef1f6 100644
--- a/project/paint_robot_new/paint_robot_new_motors.c
+++ b/project/paint_robot_new/paint_robot_new_motors.c
@@ -72,7 +72,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
             g_aiMotorSpeed[1] = MotorMgr_SpeedConvert(g_apstMotors[1], aiMotorSpeed[1]);
             break;
         }
-        case CMD_STOP_ALL:
+        case RBCORE_CMD_STOP_ALL:
         {
             for (int i = 0; i < 2; i++)
             {