diff --git a/remote_controler/remote_controler.ino b/remote_controler/remote_controler.ino
index d538d6a..c73b4f5 100644
--- a/remote_controler/remote_controler.ino
+++ b/remote_controler/remote_controler.ino
@@ -38,10 +38,11 @@ void loop() {
   sending_signal=0;
   propeller=analogRead(Rp);
   rudder=analogRead(Rr);
-  propeller=propeller*1.41;
-  rudder=rudder*1.41;
+  propeller=propeller*1.18;
+  rudder=rudder*1.18;
   if(propeller>=1000)propeller=999;
   if(rudder>=1000)rudder=999;
+  rudder=999-rudder;
   sending_signal+=propeller;
   sending_signal+=rudder*1000;
   sending_signal+=1000000;
diff --git a/remote_controler_board_2_vertical/remote_controler_board_2_vertical.ino b/remote_controler_board_2_vertical/remote_controler_board_2_vertical.ino
new file mode 100644
index 0000000..5d877da
--- /dev/null
+++ b/remote_controler_board_2_vertical/remote_controler_board_2_vertical.ino
@@ -0,0 +1,110 @@
+#include <SPI.h>
+#include<SoftwareSerial.h>
+#include "Ucglib.h"
+#define interruptPin 2
+SoftwareSerial sendingSerial(5,6);
+int Ymax = 160;               //屏幕的竖向像素数
+int Xmax = 128;               //屏幕的横向像素数
+int Xcent = Xmax / 2;         //x中位
+int base = 100;               //基线高度
+int scanline = 105;           //雷达扫描线长度
+int outcircle=80;
+int midcircle=60;
+int midcircle2=40;
+int incircle=20;
+int x=90;
+int distance=50;
+bool rec=false;
+bool clr=false;
+bool ignoreClr=false;
+String received="";//用来接受字符 
+Ucglib_ST7735_18x128x160_HWSPI ucg(/*cd=*/ 9, /*cs=*/ 10, /*reset=*/ 8);
+void fix_font() 
+{
+  ucg.setColor(0, 180, 0);
+  ucg.setPrintPos(Xcent-10,26);
+  ucg.print("1.00");
+  ucg.setPrintPos(Xcent-10,46);
+  ucg.print("0.75");
+  ucg.setPrintPos(Xcent-10,66);
+  ucg.print("0.50");
+  ucg.setPrintPos(Xcent-10,86);
+  ucg.print("0.25");
+}
+void fix()
+{
+  ucg.setColor(0, 40, 0);
+  //画基线圆盘
+  ucg.drawDisc(Xcent, base+1, 3, UCG_DRAW_ALL); 
+  ucg.drawCircle(Xcent, base+1, outcircle, UCG_DRAW_UPPER_LEFT);
+  ucg.drawCircle(Xcent, base+1, outcircle, UCG_DRAW_UPPER_RIGHT);
+  ucg.drawCircle(Xcent, base+1, midcircle, UCG_DRAW_UPPER_LEFT);
+  ucg.drawCircle(Xcent, base+1, midcircle, UCG_DRAW_UPPER_RIGHT);
+  ucg.drawCircle(Xcent, base+1, midcircle2, UCG_DRAW_UPPER_LEFT);
+  ucg.drawCircle(Xcent, base+1, midcircle2, UCG_DRAW_UPPER_RIGHT);
+  ucg.drawCircle(Xcent, base+1, incircle, UCG_DRAW_UPPER_LEFT);
+  ucg.drawCircle(Xcent, base+1, incircle, UCG_DRAW_UPPER_RIGHT);
+  ucg.drawLine(0, base+1, Xmax,base+1);     
+  ucg.setColor(0, 120, 0);
+}
+void setup() {
+  ucg.begin(UCG_FONT_MODE_SOLID); //初始化屏幕
+  ucg.setRotate180();              //设置成横屏  如果屏幕显示方向是反的，可以修改函数 setRotate90 或 setRotate270     
+  Serial.begin(9600);             //设置串口传输率
+  sendingSerial.begin(38400);
+  sendingSerial.listen();//必须要加
+  ucg.clearScreen();
+  //cls();
+  ucg.setFontMode(UCG_FONT_MODE_SOLID);
+  ucg.setFont(ucg_font_orgv01_hr);
+}
+
+void loop() {
+  while(sendingSerial.available()){
+    if(sendingSerial.peek()!='\n'){//peek()查看当前字节是不是换行
+      received+=(char)sendingSerial.read();
+    }
+    else{
+      rec=true;
+      sendingSerial.read();//把换行符读掉
+      Serial.println(received);
+      if(received[0]=='1'){
+        ignoreClr=false;
+        distance=received.substring(4).toInt();//个十百3位数
+        x=received.substring(1,4).toInt();//第456位  三位数
+      }
+      else if(received[0]=='2'){
+        if(!ignoreClr){
+          clr=true;
+        }
+      }
+      else{
+        rec=false;
+      }
+      received="";
+    }
+  }
+  if(rec){
+    if(clr){
+      ucg.clearScreen();
+      fix();
+      fix_font();  //重绘屏幕背景元素
+      clr=false;
+      ignoreClr=true;
+      return;
+    }
+    else if(ignoreClr){
+      return;
+    }
+    
+    if (distance < 100){
+      ucg.setColor(255,0,0);
+      ucg.drawDisc(0.8*distance*cos(radians(x))+Xcent,-0.8*distance*sin(radians(x))+base, 1, UCG_DRAW_ALL);
+    }
+    else{ //超过1米以上的，用黄色画在边缘区域示意
+      ucg.setColor(255,255,0);
+      ucg.drawDisc((outcircle-1)*cos(radians(x))+Xcent,-(outcircle-1)*sin(radians(x))+base, 1, UCG_DRAW_ALL);
+    }
+    rec=false;
+  }
+}
diff --git a/ship/ship.ino b/ship/ship.ino
index 4c82e55..309ce9e 100644
--- a/ship/ship.ino
+++ b/ship/ship.ino
@@ -57,12 +57,9 @@ void setup()
   pinMode(PWM,OUTPUT);
   pinMode(A1,INPUT);
   pinMode(A2,INPUT);
-  MyServo.write(angle);
-  
-  RadarServo.write(0);
-
-  delay(1000);
   MyServo.write(45);
+  RadarServo.write(0);
+  delay(1000);  
 }
 long confirm(long x){
   if(x>=1000000&&x<=2000000)return x%1000000;
diff --git a/ship_with_detect/ship_with_detect.ino b/ship_with_detect/ship_with_detect.ino
new file mode 100644
index 0000000..af0b251
--- /dev/null
+++ b/ship_with_detect/ship_with_detect.ino
@@ -0,0 +1,238 @@
+#include<SPI.h>
+#include "Arduino.h"
+#include "HardwareSerial.h"
+#include<SoftwareSerial.h>
+#include<Servo.h>
+#define  trigPin   2          //超声波模块的Trig口 6#
+#define  echoPin   5          //超声波模块的echo口 5#
+#define  ServoPin  3          //底座舵机端口 3#
+unsigned long time=0;
+bool increasing=true;
+bool clr=false;
+//0: increase 1: decrease 2: clr
+int status=0;
+int clrtime=40;
+int x=0;
+const int interval=100;
+String sending="",received="";
+Servo MyServo;
+Servo RadarServo;
+SoftwareSerial bluetoothSerial(7,8);
+int count =0; 
+int IN1 =9;
+int IN2 =10;
+int PWM=6;
+int angle=90;
+int period=25;
+int attachwater;
+int j;
+// float dist;
+long dj,z;//dj是舵机，z是螺旋桨转速
+//long propeller=0,rudder=0;//propeller为螺旋桨（0-1023，512为静止），rudder为舵（0-1023，512为静止）
+//long s_propeller=0,s_rudder=0;//发送的信号
+long propeller,rudder;//校验序列、读取内容和解码内容 
+long response=0;
+const byte addresses[6] = "00001";  //创建一个数组，建立接收机地址，或者说两个模块将用于通信的“管道”
+int calculateDistance()
+{ 
+  long duration;
+  digitalWrite(trigPin, LOW); 
+  delayMicroseconds(2);
+  digitalWrite(trigPin, HIGH); 
+  delayMicroseconds(10);
+  digitalWrite(trigPin, LOW);
+  duration = pulseIn(echoPin, HIGH);
+  return duration*0.034/2;
+}
+
+void setup()
+{
+  Serial.begin(9600);
+  bluetoothSerial.begin(57600);
+  bluetoothSerial.listen();
+  MyServo.attach(4);
+  RadarServo.attach(ServoPin);
+  pinMode(trigPin,OUTPUT);
+  pinMode(echoPin,INPUT);
+  pinMode(IN1,OUTPUT);
+  pinMode(IN2,OUTPUT);
+  pinMode(PWM,OUTPUT);
+  RadarServo.write(0);
+  MyServo.write(45);
+  delay(1000);
+ 
+}
+long confirm(long x){
+  if(x>=1000000&&x<=2000000)return x%1000000;
+  else return -1;
+}
+void loop() {
+  int distance=0;
+  attachwater=0;
+  for(j=1;j<=100;j++)
+  {
+  if(analogRead(A1)*5/1023!=4) break;
+  }
+  if(j>=100) attachwater=1;
+  
+  
+   Serial.println(attachwater);
+   
+ // Serial.print("s: ");
+ // Serial.println(status); 
+  if(status==0){
+    if(x<180){
+      x+=2;
+    }
+    else{
+      status=2;
+    }
+    RadarServo.write(x);             //调整舵机角度
+    //测距
+    distance = calculateDistance();
+    //send distance
+    //response=1000000+x*1000+distance;
+    response=0;
+    response+=distance;
+    //Serial.println(response);
+    response+=(long)x*1000;
+    //Serial.println(response);
+    response+=1000000;
+    //Serial.println(response);
+  }
+  else if(status==1){
+    if(x>0){
+      x-=2;
+    }
+    else{
+      status=2;
+    }
+    RadarServo.write(x);             //调整舵机角度
+    //测距
+    distance = calculateDistance();
+    //response=1000000+x*1000+distance;
+    response=0;
+    response+=distance;
+    //Serial.println(response);
+    response+=(long)x*1000;
+    //Serial.println(response);
+    response+=1000000;
+    //Serial.println(response);
+    //send distance
+  }
+  else if(status=2){
+    clrtime--;
+    if(clrtime<=0){
+      clrtime=4;
+      if(x>=180){
+        status=1;
+      }
+      else{
+        status=0;
+      }
+    }
+    //send clear
+    response=2000000;
+  }
+  sending=String(response);
+
+  // Serial.print("x: ");
+  // Serial.println(x);
+  // Serial.print("d: ");
+  // Serial.println(distance);
+  // Serial.println(response);  
+  //Serial.println(sending);
+  bluetoothSerial.println(sending);
+  delay(interval);
+  //delay(20-distance/17);
+  //Serial.println(distance);
+  while(bluetoothSerial.available()>0){
+    //Serial.println("available!");
+    if(bluetoothSerial.peek()!='\n'){//peek()查看当前字节是不是换行
+      received+=(char)bluetoothSerial.read();
+      //Serial.println(received);
+      //Serial.println("no \n");
+    }
+    else{
+      bluetoothSerial.read();//把换行符读掉
+      Serial.println(received);
+      //Serial.println(received.length());
+      //content=toInt(received);
+      if(received[0]=='1'&&received.length()-1==7){
+        propeller=received.substring(4).toInt();
+        rudder=received.substring(1,4).toInt();
+        if(propeller>550||propeller<449){
+          if(propeller>550){ 
+            long zheng=0.568*propeller-312.4;
+            digitalWrite(IN2,HIGH);
+            digitalWrite(IN1,LOW);
+           if(attachwater==1)
+           {
+            analogWrite(PWM,zheng); 
+            z=zheng;
+           }
+           else
+           {
+            analogWrite(PWM,0);
+            z=0;
+           }
+            //Serial.println("forward propelling");
+            //Serial.println(z);
+          
+          }
+          else if(propeller<449){
+        
+            long fan=255-0.568*propeller;
+            digitalWrite(IN1,HIGH);
+            digitalWrite(IN2,LOW);
+            if(attachwater==1)
+            {
+            analogWrite(PWM,fan);
+            z=fan;
+            }
+            else
+            {
+              analogWrite(PWM,0);
+              z=0;
+            }
+            //Serial.println("back propelling");
+            //Serial.println(z);
+           
+          }
+        }
+        else if(propeller<=550||propeller>=449){
+          z=0;
+          analogWrite(PWM,0);
+          Serial.println("stop propelling");
+          Serial.println(z);
+        } 
+        //Serial.println("inputing ruddering");
+        if(rudder>550||rudder<449)
+        {
+          if(rudder<449){
+            long fan1=0.1*rudder;
+            MyServo.write(fan1);
+            //Serial.println("turn left");
+            dj=2*fan1-90;
+            //Serial.println(dj);
+          }
+          else if(rudder>550){
+            long zheng1=0.1*rudder-10.122;
+            MyServo.write(zheng1);
+            dj=2*zheng1-90;
+            //Serial.println("turn right");
+            //Serial.println(dj);
+          }
+        } 
+        else if(rudder<=550||rudder>=449){
+          dj=0;
+          MyServo.write(45);
+          //Serial.println("stop turing");
+          //Serial.println(dj);                     
+        }  
+      }
+      received="";                                                             
+    }
+  }
+}
+  
\ No newline at end of file