diff --git a/remote_controler_with_OA/remote_controler_with_OA.ino b/remote_controler_with_OA/remote_controler_with_OA.ino
new file mode 100644
index 0000000..f832ec6
--- /dev/null
+++ b/remote_controler_with_OA/remote_controler_with_OA.ino
@@ -0,0 +1,75 @@
+//player1,remote controler
+#include<SPI.h>
+#include<SoftwareSerial.h>
+//RF24 radio(7,8);//端口可能要改
+bool flag=false;
+SoftwareSerial sendingSerial(5,6);
+SoftwareSerial bluetoothSerial(7,8);
+String sending="",received="";
+const int Rp=3,Rr=2,interval=100;//Rp,Rr 分别为两个遥杆的接口
+long propeller=0,rudder=0,dist;//propeller为螺旋桨（0-1023，512为静止），rudder为舵（0-1023，512为静止）
+long sending_signal=0;//发送的信号
+long response=0;
+//const byte addresser[6]={"00001"};//创建通信通道地址，6用来写，8用来读
+long time=0;
+void setup() {
+
+  Serial.begin(9600);
+  sendingSerial.begin(38400);
+  bluetoothSerial.begin(57600);
+  bluetoothSerial.listen();
+}
+void send(){
+
+  // Serial.println(propeller);
+  // Serial.println(rudder);
+  // Serial.print("propeller sent ");
+  // Serial.println(propeller);
+  // Serial.print("rudder sent ");
+  // Serial.println(rudder);
+  // Serial.println(sending_signal);
+ 
+  //Serial.println(millis()-time);
+}
+void loop() {
+  // put your main code here, to run repeatedly:
+  //time=millis();
+  //Serial.println("send");
+  sending_signal=0;
+  propeller=analogRead(Rp);
+  rudder=analogRead(Rr);
+  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;
+  if(digitalRead(4)==HIGH){
+    sending_signal+=2000000;
+    digitalWrite(15,HIGH);
+  }
+  else{
+    sending_signal+=1000000;
+    digitalWrite(15,LOW);
+  }
+  sending=String(sending_signal);
+  bluetoothSerial.println(sending);
+  Serial.println(sending);
+  delay(interval);
+  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);
+      sendingSerial.print(received);
+      sendingSerial.print('\n');
+      received="";
+    }
+  }
+}
diff --git a/ship_with_OA/ship_with_OA.ino b/ship_with_OA/ship_with_OA.ino
new file mode 100644
index 0000000..2770a48
--- /dev/null
+++ b/ship_with_OA/ship_with_OA.ino
@@ -0,0 +1,315 @@
+#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#
+#define  propellerFix 75
+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;
+int distRec[90];
+int leftAlert=0;
+int frontAlert=0;
+int rightAlert=0;
+int rudderModify=0;
+const int autoTurn1=200;
+const int autoTurn2=400;
+const int alert=1000;
+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;
+// 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);
+  pinMode(A1,INPUT);
+  pinMode(A2,INPUT);
+  MyServo.write(45);
+  RadarServo.write(0);
+  delay(1000);  
+}
+long confirm(long x){
+  if(x>=1000000&&x<=2000000)return x%1000000;
+  else return -1;
+}
+void loop() {
+  int distance=0;
+ // 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();
+    if(x!=180&&x%2==0)
+      distRec[x/2]=distance;
+    //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();
+    if(x!=180&&x%2==0)
+      distRec[x/2]=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);
+    //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>600||propeller<400){
+          if(propeller>600){ 
+            long zheng=0.568*propeller-312.4;
+            digitalWrite(IN2,HIGH);
+            digitalWrite(IN1,LOW);
+            analogWrite(PWM,zheng);
+            z=zheng;
+            Serial.println("forward propelling");
+            Serial.println(z);
+          }
+          else if(propeller<400){
+            long fan=255-0.568*propeller;
+            digitalWrite(IN1,HIGH);
+            digitalWrite(IN2,LOW);
+            analogWrite(PWM,fan);
+            z=fan;
+            Serial.println("back propelling");
+            Serial.println(z);
+          }
+        }
+        else if(propeller<=600||propeller>=400){
+          z=0;
+          analogWrite(PWM,0);
+          Serial.println("stop propelling");
+          Serial.println(z);
+        } 
+        //Serial.println("inputing ruddering");
+        if(rudder>600||rudder<400)
+        {
+          if(rudder<400){
+            long fan1=0.1*rudder;
+            MyServo.write(fan1);
+            //Serial.println("turn left");
+            dj=2*fan1-90;
+            //Serial.println(dj);
+          }
+          else if(rudder>600){
+            long zheng1=0.1*rudder-10.122;
+            MyServo.write(zheng1);
+            dj=2*zheng1-90;
+            //Serial.println("turn right");
+            //Serial.println(dj);
+          }
+        } 
+        else if(rudder<=600||rudder>=400){
+          dj=0;
+          MyServo.write(45);
+          //Serial.println("stop turing");
+          //Serial.println(dj);                     
+        }  
+      }
+      else if(received[0]=='2'&&received.length()-1==7){
+        propeller=received.substring(4).toInt();
+        rudder=received.substring(1,4).toInt();
+        for(int i=0;i<30;i++){
+          leftAlert+=distRec[i];
+          frontAlert+=distRec[i+30];
+          rightAlert+=distRec[i+60];
+        }
+        if(propeller>600||propeller<400){
+          if(propeller>600){ 
+            digitalWrite(IN2,HIGH);
+            digitalWrite(IN1,LOW);
+            analogWrite(PWM,propellerFix);
+            Serial.println("forward propelling");
+          }
+          else if(propeller<400){
+            digitalWrite(IN1,HIGH);
+            digitalWrite(IN2,LOW);
+            analogWrite(PWM,propellerFix);
+            Serial.println("back propelling");
+          }
+        }
+        else if(propeller<=600||propeller>=400){
+          z=0;
+          analogWrite(PWM,0);
+          Serial.println("stop propelling");
+          Serial.println(z);
+        } 
+        //Serial.println("inputing ruddering");
+        if(leftAlert<alert&&frontAlert<alert&&rightAlert<alert){
+          analogWrite(PWM,0);
+
+        }
+        else if(leftAlert<alert&&frontAlert<alert&&rightAlert>=alert){
+          rudder-=autoTurn2;
+          if(rudder<0){
+            rudder=0;
+          }
+        }
+        else if(leftAlert<alert&&frontAlert>=alert&&rightAlert<alert){
+          
+        }
+        else if(leftAlert<alert&&frontAlert>=alert&&rightAlert>=alert){
+          rudder-=autoTurn1;
+          if(rudder<0){
+            rudder=0;
+          }
+        }
+        else if(leftAlert>=alert&&frontAlert<alert&&rightAlert<alert){
+          rudder+=autoTurn2;
+          if(rudder>999){
+            rudder=999;
+          }
+        }
+        else if(leftAlert>=alert&&frontAlert<alert&&rightAlert>=alert){
+          rudder-=autoTurn2;
+          if(rudder<0){
+            rudder=0;
+          }
+        }
+        else if(leftAlert>=alert&&frontAlert>=alert&&rightAlert<alert){
+          rudder+=autoTurn1;
+          if(rudder>999){
+            rudder=999;
+          }
+        }
+        else if(leftAlert>=alert&&frontAlert>=alert&&rightAlert>=alert){
+          
+        }        
+        
+        if(rudder>600||rudder<400)
+        {
+          if(rudder<400){
+            long fan1=0.1*rudder;
+            MyServo.write(fan1);
+            //Serial.println("turn left");
+            dj=2*fan1-90;
+            //Serial.println(dj);
+          }
+          else if(rudder>600){
+            long zheng1=0.1*rudder-10.122;
+            MyServo.write(zheng1);
+            dj=2*zheng1-90;
+            //Serial.println("turn right");
+            //Serial.println(dj);
+          }
+        } 
+        else if(rudder<=600||rudder>=400){
+          dj=0;
+          MyServo.write(45);
+          //Serial.println("stop turing");
+          //Serial.println(dj);                     
+        }  
+      }
+      received="";                                                             
+    }
+  }
+}
+