diff --git a/remote_controler/remote_controler.ino b/remote_controler/remote_controler.ino
index 87e9703..a99c378 100644
--- a/remote_controler/remote_controler.ino
+++ b/remote_controler/remote_controler.ino
@@ -1,31 +1,22 @@
 //player1,remote controler
 #include<SPI.h>
-#include<nRF24L01.h>
-#include<RF24.h>
-#include<TimerOne.h>
 #include<SoftwareSerial.h>
-RF24 radio(7,8);//端口可能要改
+//RF24 radio(7,8);//端口可能要改
+bool flag=false;
 SoftwareSerial sendingSerial(5,6);
-String sending="";
-const int Rp=0,Rr=1,interval=20;//Rp,Rr 分别为两个遥杆的接口
+SoftwareSerial bluetoothSerial(7,8);
+String sending="",received="";
+const int Rp=0,Rr=1,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
+//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);
-  radio.begin();
-  //radio.setChannel(115);//设置信道，115号通道
-  radio.setDataRate(RF24_250KBPS);
-  radio.setRetries(3, 5);
-  radio.openWritingPipe(addresser);
-  radio.openReadingPipe(1,addresser);
-  radio.setPALevel(RF24_PA_MIN);
-  //Timer1.initialize(interval);
-  //Timer1.attachInterrupt(send);
-  radio.startListening();
+  bluetoothSerial.begin(57600);
+  bluetoothSerial.listen();
 }
 void send(){
 
@@ -41,10 +32,9 @@ void send(){
 }
 void loop() {
   // put your main code here, to run repeatedly:
-  time=millis();
+  //time=millis();
   //Serial.println("send");
   sending_signal=0;
-  radio.stopListening();
   propeller=analogRead(Rp);
   rudder=analogRead(Rr);
   if(propeller>=1000)propeller=999;
@@ -52,24 +42,23 @@ void loop() {
   sending_signal+=propeller;
   sending_signal+=rudder*1000;
   sending_signal+=1000000;
-  bool b=radio.write(&sending_signal,sizeof(sending_signal));
-  Serial.println(b);
-  radio.startListening();
+  sending=String(sending_signal);
+  bluetoothSerial.println(sending);
+  //Serial.println(sending);
   delay(interval);
-  //Serial.println("loop");
-  if(radio.available()){
-    Serial.print("response:");
-    radio.read(&response,sizeof(response));
-    Serial.println(response);
-    if(response%1000000==1){
-      sending=String(response);
-      sendingSerial.print(sending);
-      sendingSerial.print('\n');
+  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 if(response==2000000){
-      sending=String(response);
-      sendingSerial.print(sending);
+    else{
+      bluetoothSerial.read();//把换行符读掉
+      Serial.println(received);
+      sendingSerial.print(received);
       sendingSerial.print('\n');
+      received="";
     }
   }
 }
diff --git a/remote_controler_board_2/remote_controler_board_2.ino b/remote_controler_board_2/remote_controler_board_2.ino
index 28dc181..a09d7a9 100644
--- a/remote_controler_board_2/remote_controler_board_2.ino
+++ b/remote_controler_board_2/remote_controler_board_2.ino
@@ -77,6 +77,9 @@ void loop() {
           clr=true;
         }
       }
+      else{
+        rec=false;
+      }
       received="";
     }
   }
diff --git a/ship/ship.ino b/ship/ship.ino
index e52aa48..ea53ac9 100644
--- a/ship/ship.ino
+++ b/ship/ship.ino
@@ -1,8 +1,7 @@
 #include<SPI.h>
-#include<nRF24L01.h>
-#include<RF24.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#
@@ -14,24 +13,22 @@ bool clr=false;
 int status=0;
 int clrtime=40;
 int x=0;
-
+const int interval=100;
+String sending="",received="";
 Servo MyServo;
 Servo RadarServo;
-RF24 radio(7,8);
+SoftwareSerial bluetoothSerial(7,8);
 int count =0; 
 int IN1 =9;
 int IN2 =10;
 int PWM=6;
-// int TrigPin=2;
-// int EcoPin=3;
-// int dAngle=5;
 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,content;//校验序列、读取内容和解码内容 
+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()
@@ -49,6 +46,8 @@ int calculateDistance()
 void setup()
 {
   Serial.begin(9600);
+  bluetoothSerial.begin(57600);
+  bluetoothSerial.listen();
   MyServo.attach(4);
   RadarServo.attach(ServoPin);
   pinMode(trigPin,OUTPUT);
@@ -61,11 +60,7 @@ void setup()
   MyServo.write(angle);
   
   RadarServo.write(0);
-  radio.begin();
-  //radio.setChannel(114);
-  radio.openReadingPipe(1,addresses);   //接收通道，
-  radio.openWritingPipe(addresses);//发送通道
-  radio.setPALevel(RF24_PA_MIN);   //设置功率放大器级别，将其设置为最小值
+
   delay(1000);
   MyServo.write(45);
 }
@@ -74,71 +69,9 @@ long confirm(long x){
   else return -1;
 }
 void loop() {
-  radio.startListening();
-  delay(20);
-  if(radio.available()){
-    radio.read(&content,sizeof(content));
-    Serial.println("The content is");
-    Serial.println(content);//调试
-    content=confirm(content);
-    if(content!=-1){
-      propeller=content%1000;
-      rudder=(content-propeller)/1000;
-      if(propeller>550||propeller<449){
-        if(propeller>550){ 
-          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<449){
-          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<=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);
-      }
-    }
-  }
-  radio.stopListening();
-
   int distance=0;
+  Serial.print("s: ");
+  Serial.println(status); 
   if(status==0){
     if(x<180){
       x+=2;
@@ -150,7 +83,14 @@ void loop() {
     //测距
     distance = calculateDistance();
     //send distance
-    response=1000000+x*1000+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){
@@ -162,7 +102,14 @@ void loop() {
     RadarServo.write(x);             //调整舵机角度
     //测距
     distance = calculateDistance();
-    response=1000000+x*1000+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){
@@ -179,8 +126,86 @@ void loop() {
     //send clear
     response=2000000;
   }
-  radio.write(&response,sizeof(response));
+  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);
+            analogWrite(PWM,zheng);
+            z=zheng;
+            //Serial.println("forward propelling");
+            //Serial.println(z);
+          }
+          else if(propeller<449){
+            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<=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="";                                                             
+    }
+  }
 }