diff --git a/pure_change_zhixian.py b/pure_change_zhixian.py
new file mode 100644
index 0000000..3667c4b
--- /dev/null
+++ b/pure_change_zhixian.py
@@ -0,0 +1,393 @@
+"""
+
+Path tracking simulation with pure pursuit steering control and PID speed control.
+
+author: Atsushi Sakai (@Atsushi_twi)
+
+"""
+import datetime
+import time
+from loguru import logger
+import math
+import sqlite3
+import threading
+import time
+import numpy as np
+
+import geartest2
+import sped
+import tcp4
+import test5
+
+k = 0  # look forward gain
+Lfc = 5  # look-ahead distance
+Kp = 1.0  # speed propotional gain
+dt = 0.1  # [s]
+L = 2.9  # [m] wheel base of vehicle
+tx = 0
+ty = 0
+fangxp = 0
+a = 0
+a_trace = 0
+brk_open = 0
+brk_change=0
+e_trace=0
+
+# show_animation = True
+#
+
+class State:
+
+    def __init__(self, x=tcp4.x_car, y=tcp4.y_car, yaw=tcp4.car_yaw, v=sped.speed):
+        self.x = x
+        self.y = y
+        self.yaw = yaw
+        self.v = v
+
+
+def update(state, a):
+    state.x = tcp4.x_car
+    # print('stax', state.x)
+    state.y = tcp4.y_car
+    # print('stay', state.y)
+
+    state.yaw = tcp4.car_yaw
+    # print('stayaw', state.car_yaw)
+    state.v = sped.speed + a * dt
+
+    # state.x = tcp4.x_car + sped.speed * math.cos(tcp4.car_yaw) * dt
+    # # print("state",state.x)
+    # state.y = tcp4.y_car + sped.speed * math.sin(tcp4.car_yaw) * dt
+    # state.car_yaw = tcp4.car_yaw + sped.speed / L * math.tan(delta) * dt
+    # state.v = sped.speed + a * dt
+
+    return state
+
+    # return state
+
+
+def PIDControl(target, current):
+    a = Kp * (target - current)
+
+    return a
+
+
+def pure_pursuit_control(state, cx, cy, pind):
+    global tx, ty, fangxp
+    ind = calc_target_index(state, cx, cy)
+
+    # if pind >= ind:
+    #     ind = pind
+
+    if ind < len(cx):
+        tx = cx[ind]
+        ty = cy[ind]
+    else:
+        tx = cx[-1]
+        ty = cy[-1]
+        ind = len(cx) - 1
+
+    alpha = math.atan2(ty - state.y, tx - state.x) - state.yaw
+
+    if state.v < 0:  # back
+        alpha = math.pi - alpha
+
+    Lf = k * state.v + Lfc
+
+    delta = math.atan2(2.0 * L * math.sin(alpha) / Lf, 1.0)
+    if delta > np.pi / 6.0:
+        delta = np.pi / 6.0
+        # print('delta1', delta)
+
+    elif delta < - np.pi / 6.0:
+        delta = - np.pi / 6.0
+        # print('delta2', delta)
+    angle = delta * 57.3
+    fangxp = int(angle * 18)
+    print('fxp', fangxp)
+
+    db_file = "turndb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO turndb(id) VALUES(1);'
+    sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+    time.sleep(0.5)
+
+    return delta, ind
+
+
+def calc_target_index(state, cx, cy):
+    # search nearest point index
+    dx = [state.x - icx for icx in cx]
+    dy = [state.y - icy for icy in cy]
+    d = [abs(math.sqrt(idx ** 2 + idy ** 2)) for (idx, idy) in zip(dx, dy)]
+    ind = d.index(min(d))
+    L = 0.0
+
+    Lf = k * state.v + Lfc
+
+    # search look ahead target point index
+    while Lf > L and (ind + 1) < len(cx):
+        dx = cx[ind + 1] - cx[ind]
+        dy = cx[ind + 1] - cx[ind]
+        L += math.sqrt(dx ** 2 + dy ** 2)
+        ind += 1
+
+    return ind
+
+
+def main():
+    global a,e_trace
+    #  target course
+    cx = [70.733, 70.703, 70.681, 70.661, 70.631, 70.608, 70.579, 70.554, 70.533, 70.509, 70.482, 70.457, 70.426,
+          70.402, 70.38, 70.352, 70.322, 70.298, 70.277, 70.253, 70.23, 70.205, 70.18, 70.151, 70.121, 70.093, 70.072,
+          70.046, 70.025, 70.0, 69.975, 69.95, 69.919, 69.895, 69.87, 69.84, 69.808, 69.778, 69.753, 69.722, 69.693,
+          69.668, 69.642, 69.605, 69.573, 69.543, 69.524, 69.5, 69.47, 69.442, 69.414, 69.389, 69.367, 69.344, 69.323,
+          69.297, 69.28, 69.256, 69.231, 69.21, 69.192, 69.166, 69.147, 69.127, 69.105, 69.087, 69.064, 69.04, 69.014,
+          68.987, 68.957, 68.926, 68.895, 68.866, 68.837, 68.804, 68.776, 68.746, 68.72, 68.696, 68.663, 68.636, 68.606,
+          68.573, 68.545, 68.519, 68.488, 68.46, 68.436, 68.406, 68.374, 68.343, 68.317, 68.29, 68.26, 68.228, 68.198,
+          68.17, 68.147, 68.121, 68.099, 68.075, 68.052, 68.024, 67.995, 67.969, 67.946, 67.912, 67.885, 67.864, 67.832,
+          67.799, 67.777, 67.748, 67.725, 67.689, 67.668, 67.64, 67.613, 67.584, 67.557, 67.532, 67.506, 67.475, 67.448,
+          67.415, 67.382, 67.347, 67.314, 67.287, 67.25, 67.221, 67.189, 67.165, 67.14, 67.12, 67.091, 67.064, 67.022,
+          66.999]
+    cy = [33.88, 33.985, 34.086, 34.188, 34.298, 34.409, 34.516, 34.633, 34.736, 34.847, 34.962, 35.077, 35.195, 35.318,
+          35.441, 35.563, 35.688, 35.812, 35.91, 36.011, 36.117, 36.227, 36.343, 36.506, 36.632, 36.758, 36.885, 37.013,
+          37.147, 37.275, 37.408, 37.542, 37.681, 37.818, 37.956, 38.1, 38.241, 38.382, 38.527, 38.666, 38.804, 38.95,
+          39.096, 39.24, 39.383, 39.526, 39.626, 39.765, 39.902, 40.033, 40.176, 40.31, 40.432, 40.561, 40.679, 40.793,
+          40.904, 41.011, 41.116, 41.215, 41.314, 41.442, 41.544, 41.649, 41.758, 41.867, 41.98, 42.1, 42.22, 42.345,
+          42.467, 42.592, 42.719, 42.839, 42.964, 43.079, 43.189, 43.305, 43.414, 43.517, 43.644, 43.744, 43.871,
+          43.996, 44.111, 44.229, 44.355, 44.462, 44.564, 44.672, 44.777, 44.88, 44.982, 45.083, 45.18, 45.302, 45.409,
+          45.505, 45.606, 45.713, 45.815, 45.919, 46.026, 46.127, 46.24, 46.348, 46.448, 46.565, 46.686, 46.786, 46.884,
+          47.015, 47.122, 47.221, 47.321, 47.448, 47.554, 47.66, 47.761, 47.862, 47.971, 48.082, 48.188, 48.295, 48.411,
+          48.525, 48.641, 48.76, 48.875, 48.991, 49.111, 49.218, 49.327, 49.433, 49.545, 49.645, 49.748, 49.845, 49.997,
+          50.097]
+
+    target_speed = 10.0 / 3.6  # [m/s]
+
+    # initial state
+    state = State(x=tcp4.x_car, y=tcp4.y_car, yaw=tcp4.car_yaw, v=sped.speed)
+
+    lastIndex = len(cx) - 1
+    time = 0.0
+    x = [state.x]
+    y = [state.y]
+    yaw = [state.yaw]
+    v = [state.v]
+    t = [0.0]
+    target_ind = calc_target_index(state, cx, cy)
+
+    while a == 1:
+        ai = PIDControl(target_speed, state.v)
+        di, target_ind = pure_pursuit_control(state, cx, cy, target_ind)
+        state = update(state, ai)
+
+        time = time + dt
+
+        x.append(state.x)
+        x1 = round(x[-1], 3)
+        # print('x1', x[-1])
+        y.append(state.y)
+        y1 = round(y[-1], 3)
+        yaw.append(state.yaw)
+        v.append(state.v)
+        t.append(time)
+        shijian = datetime.datetime.now()
+        print('纯跟踪运行')
+        e_trace = abs(math.sqrt(pow((float(tcp4.east) - 67.872), 2) + pow((float(tcp4.north) - 45.89), 2)))
+        print('e_trace', e_trace)
+        gear_d()
+        if e_trace < 1 and 160 < (float(tcp4.fang_xiang)) < 180:
+            a = 2
+            print('退出纯跟踪')
+            shache()
+            print('刹车')
+        # logger.add(
+        #     '预瞄点记录%s-%s-%s,%s:%s.log' % (shijian.year, shijian.month, shijian.day, shijian.hour, shijian.minute))
+        # logger.debug('y {},x {},tx {}，ty {},fxp{},car_yaw{},北斗x {}，北斗y {},x_car{},y_car{},方位角{}，转换角{}', str(y1),
+        #              str(x1), str(tx), str(ty), str(fangxp),
+        #              str(state.yaw), str(tcp4.east), str(tcp4.north), str(tcp4.x_car),
+        #              str(tcp4.y_car), str(tcp4.beidou[5]), str(tcp4.heading))
+    #     if show_animation:
+    #         plt.cla()
+    #         plt.plot(cx, cy, ".r", label="course")
+    #         plt.plot(x, y, "-b", label="trajectory")
+    #         plt.plot(cx[target_ind], cy[target_ind], "xg", label="target")
+    #         plt.axis("equal")
+    #         plt.grid(True)
+    #         plt.title("Speed[km/h]:" + str(state.v * 3.6)[:4])
+    #         plt.pause(0.001)
+    #
+    # # Test
+    # assert lastIndex >= target_ind, "Cannot goal"
+    #
+    # if show_animation:
+    #     plt.plot(cx, cy, ".r", label="course")
+    #     plt.plot(x, y, "-b", label="trajectory")
+    #     plt.legend()
+    #     plt.xlabel("x[m]")
+    #     plt.ylabel("y[m]")
+    #     plt.axis("equal")
+    #     plt.grid(True)
+    #
+    #     flg, ax = plt.subplots(1)
+    #     plt.plot(t, [iv * 3.6 for iv in v], "-r")
+    #     plt.xlabel("Time[s]")
+    #     plt.ylabel("Speed[km/h]")
+    #     plt.grid(True)
+    #     plt.show()
+
+
+def shache():
+    global brk_open,brk_change
+    brk_open = 10
+    brk_change = 1
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set brk_open='%s',brk_change='%s' WHERE id = 1" % (brk_open, brk_change)
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+
+
+def gear_p():
+    print('P')
+    gear_cmd = 1
+    auto_acc = 0
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1" % (gear_cmd, auto_acc)
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+
+
+def gear_r():
+    gear_cmd = 2  # r
+    print('r')
+    auto_acc = 70
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1" % (gear_cmd, auto_acc)
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+
+def gear_d():
+    gear_cmd = 4  # r
+    # print('d')
+    auto_acc = 48
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1"%(gear_cmd,auto_acc)
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+def car_back():
+    print('进入倒库')
+    while True:
+        global fangxp, a_trace
+
+        db_file = "turndb.db"
+        conn = sqlite3.connect(db_file)
+        cur = conn.cursor()
+        # sql='INSERT INTO turndb(id) VALUES(1);'
+        sql = "update turndb set angle='%s' WHERE id = 1" % fangxp
+        cur.execute(sql)
+        conn.commit()
+        cur.close()
+        conn.close()
+        # d = math.sqrt(pow((east - x), 2) + pow((north - y), 2))
+
+        a_trace = abs(math.sqrt(pow((float(tcp4.east) - 68.35), 2) + pow((float(tcp4.north) - 43.85), 2)))
+        print('a_trace', a_trace)
+        b_trace = abs(math.sqrt((float(tcp4.east) - 70.15) ** 2 + (float(tcp4.north) - 38.6) ** 2))
+        c_trace = abs(math.sqrt((float(tcp4.east) - 70.7) ** 2 + (float(tcp4.north) - 38.4) ** 2))
+        d_trace = abs(math.sqrt((float(tcp4.east) - 72) ** 2 + (float(tcp4.north) - 37.8) ** 2))
+        # print("tcp4.east",tcp4.east)
+        print('tcp_fangxiang', tcp4.fang_xiang)
+
+        if 140.0 < (float(tcp4.fang_xiang)) < 180.0 and a_trace < 1:
+            fangxp = -540
+
+            print('右打死', fangxp)
+
+        elif 70 < float(tcp4.fang_xiang) < 110 and b_trace < 1:
+            fangxp = 0
+
+            print('回正', fangxp)
+
+        elif 70 < float(tcp4.fang_xiang) < 110 and c_trace < 1:
+            fangxp = -540
+            print('右打死2', fangxp)
+
+
+        elif 60 < float(tcp4.fang_xiang) < 90 and d_trace < 1.2:
+            fangxp = 0
+            print('回正2', fangxp)
+        else:
+            print('lose')
+        time.sleep(0.5)
+
+
+def car_back_comply():
+    global a, brk_open,brk_change,e_trace
+
+    a = 1
+    print('开始跟踪')
+
+    main()
+    while True:
+
+
+        if e_trace < 1 and sped.speed == 0:
+            gear_p()
+            brk_open = 0
+            brk_change=0
+            print('松刹车')
+            gear_r()
+            print('挂倒挡')
+            car_back()
+        time.sleep(0.05)
+
+
+if __name__ == '__main__':
+    t1 = threading.Thread(target=test5.can165)  # 读取eps状态
+    t2 = threading.Thread(target=test5.can0a5)  # 读取目前方向盘角度
+    t3 = threading.Thread(target=test5.main)
+    t4 = threading.Thread(target=test5.update)
+    t5 = threading.Thread(target=car_back_comply)
+    t6 = threading.Thread(target=tcp4.zuo_biao)
+    t7 = threading.Thread(target=sped.sped)
+
+    t8 = threading.Thread(target=geartest2.brk_open_option)
+    t9 = threading.Thread(target=geartest2.can4b8)
+    t10 = threading.Thread(target=geartest2.main)
+    t11 = threading.Thread(target=geartest2.update)
+
+    # 启动线程
+    t5.start()
+    t6.start()
+    t7.start()
+    t1.start()
+    t2.start()
+    t3.start()
+    t8.start()
+    t9.start()
+    t10.start()
+    t11.start()