diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
index 7009304..11a39e4 100644
--- a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
+++ b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
@@ -662,7 +662,7 @@ static void diffInput(void *signal_id)
     else if (signal_id == &un_motor_input1)// 处理第一个电机速度信号（左电机）
     {
 
-        diff_data.right_front_motor_speed = (float)((int16_t)(un_motor_input1.bit_data.MotCon_1Signal3) ) / 6.0; // 20250502 1号控制器增加反相 
+        diff_data.right_front_motor_speed = -(float)((int16_t)(un_motor_input1.bit_data.MotCon_1Signal3) ) / 6.0; // 20250502 1号控制器增加反相 
         diff_data.right_rear_motor_speed = (float)((int16_t)(un_motor_input2.bit_data.MotCon_1Signal4) ) /6.0;
 //        motor_speed_temp = (motor_speed_temp + (int16_t)un_motor_input2.bit_data.MotCon_1Signal4)/2/6;
         
@@ -676,7 +676,7 @@ static void diffInput(void *signal_id)
         }
 
 //        diff_data.right_motor_speed  = LOWPASS_FILTER(motor_speed_temp,right_speed_fiter[0]);
-        diff_data.right_motor_speed = 0;//motor_speed_temp
+        diff_data.right_motor_speed = motor_speed_temp;//
 //        right_speed_fiter[0] = diff_data.right_motor_speed;
         
 
@@ -692,7 +692,7 @@ static void diffInput(void *signal_id)
     else if (signal_id == &un_motor_input2)// 处理第二个电机速度信号（右电机）
     {
         diff_data.left_front_motor_speed = (float)( (int16_t)(un_motor_input1.bit_data.MotCon_1Signal4) ) /6.0;  // 20250502 1号控制器增加反相     
-        diff_data.left_rear_motor_speed = (float)( (int16_t) (un_motor_input2.bit_data.MotCon_1Signal3) ) / 6.0;
+        diff_data.left_rear_motor_speed = -(float)( (int16_t) (un_motor_input2.bit_data.MotCon_1Signal3) ) / 6.0;
         
         if(fabs(diff_data.left_front_motor_speed) > fabs(diff_data.left_rear_motor_speed))//取速度较小的轮速
         {
@@ -703,7 +703,7 @@ static void diffInput(void *signal_id)
            motor_speed_temp = diff_data.left_front_motor_speed;           
         }
 
-        diff_data.left_motor_speed = 0;  //      motor_speed_temp
+        diff_data.left_motor_speed = motor_speed_temp;  //      
 //        diff_data.left_motor_speed  = LOWPASS_FILTER(motor_speed_temp,left_speed_fiter[0]);//低通滤波器
 //        left_speed_fiter[0] = diff_data.left_motor_speed;        
         
@@ -858,7 +858,6 @@ void diffParametersInit(void *signal_id)
     deffcurvature = deffcurvature * 0.0001f;    
     
     printf("remote speed = %f, remote curvature = %f\n", deffspeed, deffcurvature);  
-    
 
     deffspeed  = (float)((int16_t)(un_manual_computer_input.bit_data.set_speed));
     deffcurvature = (float)((int16_t)(un_manual_computer_input.bit_data.set_curvature));