diff --git a/app/src/main/java/bsp_PV.proto b/app/src/main/java/bsp_PV.proto
index 9ee959b..fef4af0 100644
--- a/app/src/main/java/bsp_PV.proto
+++ b/app/src/main/java/bsp_PV.proto
@@ -5,7 +5,8 @@ option java_package = "com.example.fivewheel.models";
 message PV_struct_define{
  
 	  int32 Robot_ChgLength= 1;
-
- 	  double Robot_AutoSpeedBase=2;
-	  double Robot_ManualSpeedBase=3;
+	  double Robot_LeftCompensation=2;
+ 	  double Robot_RightCompensation=3;
+ 	  double Robot_AutoSpeedBase=4;
+	  double Robot_ManualSpeedBase=5;
 };
diff --git a/app/src/main/java/com/example/fivewheel/MainActivity.java b/app/src/main/java/com/example/fivewheel/MainActivity.java
index 1e84b75..895d510 100644
--- a/app/src/main/java/com/example/fivewheel/MainActivity.java
+++ b/app/src/main/java/com/example/fivewheel/MainActivity.java
@@ -271,12 +271,16 @@ public class MainActivity extends AppCompatActivity {
 
                 _toSendPV = BspPV.PV_struct_define.newBuilder()
                         .setRobotChgLength(getSafeInt(mainBinding.tvRobotChgLength, 0))
+                        .setRobotLeftCompensation(0)
+                        .setRobotRightCompensation(0)
                         .setRobotAutoSpeedBase(getSafeDouble(mainBinding.tvRobotAutoSpeed, 0.0))
                         .setRobotManualSpeedBase(getSafeDouble(mainBinding.tvRobotManualSpeed, 0.0))
                         .build();
 
 
 
+
+
                 byte[] byteArray = _toSendPV.toByteArray();
                 byte[] sendbyteArray = new byte[byteArray.length + 4];
                 byte[] sendbyteArray3 = new byte[byteArray.length + 6];