diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..94a25f7
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/control.py b/control.py
index d90358b..320049b 100644
--- a/control.py
+++ b/control.py
@@ -1,13 +1,26 @@
-import struct
-from remote_control_unit import RemoteControlUnit
-
-
 class Control:
     def __init__(self):
-        self.mode = ['lock', 'manual']
-        self.data = {'mode': self.mode[1], 'thrust': 0, 'rudder': 0, }
+        self.mode = ['lock', 'manual', 'line']
+        self.data = {'mode': 'lock', 'thrust': 0, 'rudder': 0, }
 
-    def run(self, usv):
-        if self.data['mode'] == self.mode[1]:
+    def c_run(self, usv):
+        self.choose_mode(usv)
+        self.control(usv)
+
+    def control(self, usv):
+        # 锁定
+        if self.data['mode'] == 'lock':
+            self.data['thrust'] = 0
+            self.data['rudder'] = 0
+        # 手动
+        elif self.data['mode'] == 'manual':
             self.data['rudder'] = int(1.4881 * (usv.futaba.receive_data['channel1'] - 1024))
             self.data['thrust'] = int(-1.4881 * (usv.futaba.receive_data['channel3'] - 1024))
+
+    def choose_mode(self, usv):
+        if usv.futaba.receive_data['channel5'] > 1360:
+            self.data['mode'] = self.mode[1]
+        elif usv.futaba.receive_data['channel5'] < 688:
+            self.data['mode'] = self.mode[2]
+        else:
+            self.data['mode'] = self.mode[0]
diff --git a/remote_control_unit.py b/remote_control_unit.py
index 3eaded6..021476f 100644
--- a/remote_control_unit.py
+++ b/remote_control_unit.py
@@ -16,12 +16,24 @@ class RemoteControlUnit:
         self.buffer = []
         self.packet = array.array('B')
 
-    def run(self, usv):
-        self.buffer += self.sbus.read()
-        self.decode(usv)
+    def rcu_run(self, usv):
+        self.decode()
+        self.send_command(usv)
+
+    def send_command(self, usv):
+        self.send_data = self.receive_data.copy()
+        self.send_data['channel1'] = int(
+            1024 + ((usv.control.data['rudder'] + usv.control.data['thrust']) * 0.672))  # 左电机
+        self.send_data['channel3'] = int(
+            1024 + ((usv.control.data['thrust'] - usv.control.data['rudder']) * 0.672))  # 右电机
+
+        self.encode()
+        self.sbus.write(self.packet.tobytes())
+
+    def decode(self, ):
+        """读取数据并解包数据"""
+        self.buffer += self.sbus.read(25)
 
-    def decode(self, usv):
-        """解包数据"""
         while len(self.buffer) >= 25:
             if self.buffer[0] != 0x0f:
                 del self.buffer[0]
@@ -56,16 +68,6 @@ class RemoteControlUnit:
             self.receive_data['flag'] = self.buffer[23]
 
             del self.buffer[:25]
-
-            self.send_data = self.receive_data.copy()
-            self.send_data['channel1'] = int(
-                1024 + ((usv.control.data['rudder'] + usv.control.data['thrust']) * 0.672))  # 左电机
-            self.send_data['channel3'] = int(
-                1024 + ((usv.control.data['thrust'] - usv.control.data['rudder']) * 0.672))  # 右电机
-
-            self.encode()
-            self.sbus.write(self.packet.tobytes())
-
             break
 
     def encode(self):
diff --git a/usv.py b/usv.py
index 344de24..15a6f2b 100644
--- a/usv.py
+++ b/usv.py
@@ -1,3 +1,5 @@
+import threading
+
 from remote_control_unit import RemoteControlUnit
 from control import Control
 from settings import Settings
@@ -8,16 +10,17 @@ class UsvControl:
 
     def __init__(self):
         self.settings = Settings()
-        self.futaba = RemoteControlUnit(self.settings.sbus_com)
+        self.futaba = RemoteControlUnit(self.settings.sbus_com, )
         self.control = Control()
 
-    def run(self):
-        while True:
-            self.futaba.run(self)
-            self.control.run(self)
+    def main_run(self):
+        self.futaba.rcu_run(self)
+        self.control.c_run(self)
+        timer_10 = threading.Timer(0.005, self.main_run, )
+        timer_10.start()
 
 
 # 按间距中的绿色按钮以运行脚本。
 if __name__ == '__main__':
     usv1 = UsvControl()
-    usv1.run()
+    usv1.main_run()