diff --git a/v1.1/Shibo-main-TOMMY/src/main.cpp b/v1.1/Shibo-main-TOMMY/src/main.cpp
index 5416cda..41e8f63 100644
--- a/v1.1/Shibo-main-TOMMY/src/main.cpp
+++ b/v1.1/Shibo-main-TOMMY/src/main.cpp
@@ -668,17 +668,8 @@ void lqr_balance_loop()
     distance_zeropoint = LQR_distance; // 位移零点重置
     pid_lqr_u.error_prev = 0;  // 输出积分清零 测试
   }
-  // 没有摇杆指令，小车微微移动，需要重置位移零点，让小车自己回来
-  // if ((wrobot_move_stop_flag == 1) && (abs(LQR_speed) < 0.5)) 
-  // {
-  //   distance_zeropoint = LQR_distance; // 位移零点重置
-  //   pid_lqr_u.error_prev = 0;  // 输出积分清零 测试
-  //   wrobot_move_stop_flag = 0;
-  // }
   
   // 实时重置位移零点和积分情形
-  // if (abs(robot_speed_diff) > 10 || (abs(LQR_speed) > 15) 
-  //   || jump_flag > 0 || wrobot.joyy != 0 || sitting_down ) 
   if (abs(robot_speed_diff) > 10 || (abs(LQR_speed) > 15) 
      || wrobot.joyy != 0 || sitting_down ) 
   {