diff --git a/src/constant_config.hpp b/src/constant_config.hpp
deleted file mode 100644
index 5b9300e..0000000
--- a/src/constant_config.hpp
+++ /dev/null
@@ -1,34 +0,0 @@
-//
-// Created by pengx on 2025/4/10.
-//
-
-#ifndef CONSTANT_CONFIG_HPP
-#define CONSTANT_CONFIG_HPP
-
-namespace ConstantConfig {
-    constexpr int TCP_REMOTE_PORT = 9001;
-    // constexpr int TCP_REMOTE_PORT = 30029;
-
-    constexpr const char *SERVICE_ADDRESS = "192.168.123.18";
-    // constexpr const char *SERVICE_ADDRESS = "111.198.10.15";
-    constexpr int TCP_LOCALE_PORT = 8888;
-
-
-    constexpr const char *GAS_PORT = "/dev/ttyUSB0";
-    constexpr int BAUD_RATE = 115200;
-
-    constexpr const char *API_RECEIVE_DATA = "/device/receiveData";
-    constexpr const char *API_UPLOAD_PCD_FILE = "/device/receiveFile";
-    constexpr const char *HTTP_PORT = "30028";
-    constexpr const char *DOG_CODE = "B42D4000OCAD3N82";
-
-    constexpr const char *SLAM_NET_PORT = "eth0";
-
-    constexpr const char *ROBOTIC_ARM_PORT = "/dev/ttyACM0";
-
-    constexpr const char *ROBOTIC_ARM_COMMAND_CONFIG = "/home/unitree/Desktop/robotic_arm_commands.conf";
-    constexpr const char *SLAM_PCD_FILE =
-            "/unitree/module/graph_pid_ws/config_files/lio_sam_config/maps/pcd/default/GlobalMap.pcd";
-}
-
-#endif //CONSTANT_CONFIG_HPP

diff --git a/src/constant_config.hpp b/src/constant_config.hpp
deleted file mode 100644
index 5b9300e..0000000
--- a/src/constant_config.hpp
+++ /dev/null
@@ -1,34 +0,0 @@
-//
-// Created by pengx on 2025/4/10.
-//
-
-#ifndef CONSTANT_CONFIG_HPP
-#define CONSTANT_CONFIG_HPP
-
-namespace ConstantConfig {
-    constexpr int TCP_REMOTE_PORT = 9001;
-    // constexpr int TCP_REMOTE_PORT = 30029;
-
-    constexpr const char *SERVICE_ADDRESS = "192.168.123.18";
-    // constexpr const char *SERVICE_ADDRESS = "111.198.10.15";
-    constexpr int TCP_LOCALE_PORT = 8888;
-
-
-    constexpr const char *GAS_PORT = "/dev/ttyUSB0";
-    constexpr int BAUD_RATE = 115200;
-
-    constexpr const char *API_RECEIVE_DATA = "/device/receiveData";
-    constexpr const char *API_UPLOAD_PCD_FILE = "/device/receiveFile";
-    constexpr const char *HTTP_PORT = "30028";
-    constexpr const char *DOG_CODE = "B42D4000OCAD3N82";
-
-    constexpr const char *SLAM_NET_PORT = "eth0";
-
-    constexpr const char *ROBOTIC_ARM_PORT = "/dev/ttyACM0";
-
-    constexpr const char *ROBOTIC_ARM_COMMAND_CONFIG = "/home/unitree/Desktop/robotic_arm_commands.conf";
-    constexpr const char *SLAM_PCD_FILE =
-            "/unitree/module/graph_pid_ws/config_files/lio_sam_config/maps/pcd/default/GlobalMap.pcd";
-}
-
-#endif //CONSTANT_CONFIG_HPP
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index ec3d7d8..21c8099 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -5,13 +5,13 @@
 #include "tcp_service.hpp"
 #include "tcp_client.hpp"
 #include "methane_serial_port.hpp"
-#include "constant_config.hpp"
+#include "config.hpp"
 
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
         boost::asio::io_service io;
-        TcpService::getInstance().start(ConstantConfig::TCP_LOCALE_PORT);
+        TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
         io.run();
     });
 
@@ -19,7 +19,7 @@
     std::thread client_thread([] {
         boost::asio::io_service io;
         TcpClient client;
-        client.connect(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::TCP_REMOTE_PORT);
+        client.connect(Config::REMOTE_SERVICE_IP, Config::TCP_SERVICE_REMOTE_PORT);
         io.run();
     });
 
@@ -28,7 +28,7 @@
         try {
             boost::asio::io_service io;
             //打开串口
-            MethaneSerialPort sp(io, ConstantConfig::GAS_PORT, ConstantConfig::BAUD_RATE); //甲烷串口
+            MethaneSerialPort sp(io, Config::GAS_PORT, Config::BAUD_RATE); //甲烷串口
             sp.read_from_port();
             io.run();
         } catch (std::exception &e) {

diff --git a/src/constant_config.hpp b/src/constant_config.hpp
deleted file mode 100644
index 5b9300e..0000000
--- a/src/constant_config.hpp
+++ /dev/null
@@ -1,34 +0,0 @@
-//
-// Created by pengx on 2025/4/10.
-//
-
-#ifndef CONSTANT_CONFIG_HPP
-#define CONSTANT_CONFIG_HPP
-
-namespace ConstantConfig {
-    constexpr int TCP_REMOTE_PORT = 9001;
-    // constexpr int TCP_REMOTE_PORT = 30029;
-
-    constexpr const char *SERVICE_ADDRESS = "192.168.123.18";
-    // constexpr const char *SERVICE_ADDRESS = "111.198.10.15";
-    constexpr int TCP_LOCALE_PORT = 8888;
-
-
-    constexpr const char *GAS_PORT = "/dev/ttyUSB0";
-    constexpr int BAUD_RATE = 115200;
-
-    constexpr const char *API_RECEIVE_DATA = "/device/receiveData";
-    constexpr const char *API_UPLOAD_PCD_FILE = "/device/receiveFile";
-    constexpr const char *HTTP_PORT = "30028";
-    constexpr const char *DOG_CODE = "B42D4000OCAD3N82";
-
-    constexpr const char *SLAM_NET_PORT = "eth0";
-
-    constexpr const char *ROBOTIC_ARM_PORT = "/dev/ttyACM0";
-
-    constexpr const char *ROBOTIC_ARM_COMMAND_CONFIG = "/home/unitree/Desktop/robotic_arm_commands.conf";
-    constexpr const char *SLAM_PCD_FILE =
-            "/unitree/module/graph_pid_ws/config_files/lio_sam_config/maps/pcd/default/GlobalMap.pcd";
-}
-
-#endif //CONSTANT_CONFIG_HPP
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index ec3d7d8..21c8099 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -5,13 +5,13 @@
 #include "tcp_service.hpp"
 #include "tcp_client.hpp"
 #include "methane_serial_port.hpp"
-#include "constant_config.hpp"
+#include "config.hpp"
 
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
         boost::asio::io_service io;
-        TcpService::getInstance().start(ConstantConfig::TCP_LOCALE_PORT);
+        TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
         io.run();
     });
 
@@ -19,7 +19,7 @@
     std::thread client_thread([] {
         boost::asio::io_service io;
         TcpClient client;
-        client.connect(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::TCP_REMOTE_PORT);
+        client.connect(Config::REMOTE_SERVICE_IP, Config::TCP_SERVICE_REMOTE_PORT);
         io.run();
     });
 
@@ -28,7 +28,7 @@
         try {
             boost::asio::io_service io;
             //打开串口
-            MethaneSerialPort sp(io, ConstantConfig::GAS_PORT, ConstantConfig::BAUD_RATE); //甲烷串口
+            MethaneSerialPort sp(io, Config::GAS_PORT, Config::BAUD_RATE); //甲烷串口
             sp.read_from_port();
             io.run();
         } catch (std::exception &e) {
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index c7e2b70..a97193c 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -4,7 +4,7 @@
 
 #include "methane_serial_port.hpp"
 #include "tcp_service.hpp"
-#include "constant_config.hpp"
+#include "config.hpp"
 #include "utils.hpp"
 
 #include <iomanip>
@@ -23,20 +23,20 @@
 void upload_to_server(const int value) {
     net::io_context ioc;
     tcp::resolver resolver{ioc};
-    auto const results = resolver.resolve(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT);
+    auto const results = resolver.resolve(Config::REMOTE_SERVICE_IP, Config::HTTP_PORT);
     tcp::socket socket{ioc};
     try {
         net::connect(socket, results.begin(), results.end());
         // 构建HTTP请求
-        http::request<http::string_body> req{http::verb::post, ConstantConfig::API_RECEIVE_DATA, 11};
-        req.set(http::field::host, ConstantConfig::SERVICE_ADDRESS);
+        http::request<http::string_body> req{http::verb::post, Config::API_RECEIVE_DATA, 11};
+        req.set(http::field::host, Config::REMOTE_SERVICE_IP);
         req.set(http::field::user_agent, BOOST_BEAST_VERSION_STRING);
         req.set(http::field::content_type, "application/json");
         req.set(http::field::connection, "keep-alive");
         //{"type":6,"devcode":"1212","data":{"gas":"20"}}
         std::ostringstream oss;
         oss << R"({"type":6,"devcode":")"
-                << ConstantConfig::DOG_CODE
+                << Config::DOG_CODE
                 << R"(","data":{"gas":")"
                 << value
                 << R"("}})";
@@ -69,7 +69,7 @@
     const auto result = x * (1 << 24) + y * (1 << 16) + z * (1 << 8) + w;
     TcpService::getInstance().update_gas_value(result);
     // 上传服务器
-    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+    if (Utils::is_network_reachable(Config::REMOTE_SERVICE_IP, Config::HTTP_PORT)) {
         upload_to_server_async(result);
     }
 }

diff --git a/src/constant_config.hpp b/src/constant_config.hpp
deleted file mode 100644
index 5b9300e..0000000
--- a/src/constant_config.hpp
+++ /dev/null
@@ -1,34 +0,0 @@
-//
-// Created by pengx on 2025/4/10.
-//
-
-#ifndef CONSTANT_CONFIG_HPP
-#define CONSTANT_CONFIG_HPP
-
-namespace ConstantConfig {
-    constexpr int TCP_REMOTE_PORT = 9001;
-    // constexpr int TCP_REMOTE_PORT = 30029;
-
-    constexpr const char *SERVICE_ADDRESS = "192.168.123.18";
-    // constexpr const char *SERVICE_ADDRESS = "111.198.10.15";
-    constexpr int TCP_LOCALE_PORT = 8888;
-
-
-    constexpr const char *GAS_PORT = "/dev/ttyUSB0";
-    constexpr int BAUD_RATE = 115200;
-
-    constexpr const char *API_RECEIVE_DATA = "/device/receiveData";
-    constexpr const char *API_UPLOAD_PCD_FILE = "/device/receiveFile";
-    constexpr const char *HTTP_PORT = "30028";
-    constexpr const char *DOG_CODE = "B42D4000OCAD3N82";
-
-    constexpr const char *SLAM_NET_PORT = "eth0";
-
-    constexpr const char *ROBOTIC_ARM_PORT = "/dev/ttyACM0";
-
-    constexpr const char *ROBOTIC_ARM_COMMAND_CONFIG = "/home/unitree/Desktop/robotic_arm_commands.conf";
-    constexpr const char *SLAM_PCD_FILE =
-            "/unitree/module/graph_pid_ws/config_files/lio_sam_config/maps/pcd/default/GlobalMap.pcd";
-}
-
-#endif //CONSTANT_CONFIG_HPP
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index ec3d7d8..21c8099 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -5,13 +5,13 @@
 #include "tcp_service.hpp"
 #include "tcp_client.hpp"
 #include "methane_serial_port.hpp"
-#include "constant_config.hpp"
+#include "config.hpp"
 
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
         boost::asio::io_service io;
-        TcpService::getInstance().start(ConstantConfig::TCP_LOCALE_PORT);
+        TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
         io.run();
     });
 
@@ -19,7 +19,7 @@
     std::thread client_thread([] {
         boost::asio::io_service io;
         TcpClient client;
-        client.connect(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::TCP_REMOTE_PORT);
+        client.connect(Config::REMOTE_SERVICE_IP, Config::TCP_SERVICE_REMOTE_PORT);
         io.run();
     });
 
@@ -28,7 +28,7 @@
         try {
             boost::asio::io_service io;
             //打开串口
-            MethaneSerialPort sp(io, ConstantConfig::GAS_PORT, ConstantConfig::BAUD_RATE); //甲烷串口
+            MethaneSerialPort sp(io, Config::GAS_PORT, Config::BAUD_RATE); //甲烷串口
             sp.read_from_port();
             io.run();
         } catch (std::exception &e) {
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index c7e2b70..a97193c 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -4,7 +4,7 @@
 
 #include "methane_serial_port.hpp"
 #include "tcp_service.hpp"
-#include "constant_config.hpp"
+#include "config.hpp"
 #include "utils.hpp"
 
 #include <iomanip>
@@ -23,20 +23,20 @@
 void upload_to_server(const int value) {
     net::io_context ioc;
     tcp::resolver resolver{ioc};
-    auto const results = resolver.resolve(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT);
+    auto const results = resolver.resolve(Config::REMOTE_SERVICE_IP, Config::HTTP_PORT);
     tcp::socket socket{ioc};
     try {
         net::connect(socket, results.begin(), results.end());
         // 构建HTTP请求
-        http::request<http::string_body> req{http::verb::post, ConstantConfig::API_RECEIVE_DATA, 11};
-        req.set(http::field::host, ConstantConfig::SERVICE_ADDRESS);
+        http::request<http::string_body> req{http::verb::post, Config::API_RECEIVE_DATA, 11};
+        req.set(http::field::host, Config::REMOTE_SERVICE_IP);
         req.set(http::field::user_agent, BOOST_BEAST_VERSION_STRING);
         req.set(http::field::content_type, "application/json");
         req.set(http::field::connection, "keep-alive");
         //{"type":6,"devcode":"1212","data":{"gas":"20"}}
         std::ostringstream oss;
         oss << R"({"type":6,"devcode":")"
-                << ConstantConfig::DOG_CODE
+                << Config::DOG_CODE
                 << R"(","data":{"gas":")"
                 << value
                 << R"("}})";
@@ -69,7 +69,7 @@
     const auto result = x * (1 << 24) + y * (1 << 16) + z * (1 << 8) + w;
     TcpService::getInstance().update_gas_value(result);
     // 上传服务器
-    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+    if (Utils::is_network_reachable(Config::REMOTE_SERVICE_IP, Config::HTTP_PORT)) {
         upload_to_server_async(result);
     }
 }
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index b02899f..249e83b 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -4,7 +4,7 @@
 
 #include "slam_wrapper.hpp"
 #include "tcp_service.hpp"
-#include "constant_config.hpp"
+#include "config.hpp"
 #include "utils.hpp"
 
 #include <cmath>
@@ -69,18 +69,18 @@
         tcp::socket socket(ioc);
 
         // 解析并连接服务器
-        auto const results = resolver.resolve(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT);
+        auto const results = resolver.resolve(Config::REMOTE_SERVICE_IP, Config::HTTP_PORT);
         boost::asio::connect(socket, results.begin(), results.end());
 
         // 构建 HTTP 请求
-        http::request<http::string_body> req{http::verb::post, ConstantConfig::API_UPLOAD_PCD_FILE, 11};
-        req.set(http::field::host, ConstantConfig::SERVICE_ADDRESS);
+        http::request<http::string_body> req{http::verb::post, Config::API_UPLOAD_PCD_FILE, 11};
+        req.set(http::field::host, Config::REMOTE_SERVICE_IP);
         req.set(http::field::user_agent, BOOST_BEAST_VERSION_STRING);
 
         // 构建 multipart/form-data 数据
         std::string boundary = "---------------------------boundary_example_" + std::to_string(std::time(nullptr));
         std::string contentType;
-        std::string body = generate_multipart_form(ConstantConfig::SLAM_PCD_FILE, boundary, contentType);
+        std::string body = generate_multipart_form(Config::SLAM_PCD_FILE, boundary, contentType);
         if (body.empty()) {
             throw std::runtime_error("Failed to generate multipart form data");
         }
@@ -111,12 +111,12 @@
 }
 
 SlamWrapper::SlamWrapper() {
-    ChannelFactory::Instance()->Init(0, ConstantConfig::SLAM_NET_PORT);
+    ChannelFactory::Instance()->Init(0, Config::SLAM_NET_PORT);
 
     std::thread serial_port_thread([this] {
         //初始化机械臂串口
         boost::asio::io_service io;
-        _serialPortPtr = new RoboticArmSerialPort(io, ConstantConfig::ROBOTIC_ARM_PORT, ConstantConfig::BAUD_RATE);
+        _serialPortPtr = new RoboticArmSerialPort(io, Config::ROBOTIC_ARM_PORT, Config::BAUD_RATE);
         io.run();
     });
     serial_port_thread.detach();
@@ -131,7 +131,7 @@
     subOdometer->InitChannel(std::bind(&SlamWrapper::odometer_handler, this, std::placeholders::_1), 1);
 
     // 读取本地指令配置
-    std::ifstream config_file(ConstantConfig::ROBOTIC_ARM_COMMAND_CONFIG);
+    std::ifstream config_file(Config::ROBOTIC_ARM_COMMAND_CONFIG);
     if (!config_file.is_open()) {
         std::cerr << "Failed to open config file" << std::endl;
         return;
@@ -304,7 +304,7 @@
 void SlamWrapper::save_command() const {
     if (!_commandCaches.empty()) {
         //覆盖保存/home/unitree/Desktop/robotic_arm_commands.conf
-        const std::string filepath = ConstantConfig::ROBOTIC_ARM_COMMAND_CONFIG;
+        const std::string filepath = Config::ROBOTIC_ARM_COMMAND_CONFIG;
         std::ofstream file(filepath);
         if (!file.is_open()) {
             std::cerr << "Failed to open config file for writing: " << filepath << std::endl;
@@ -362,8 +362,9 @@
 }
 
 void SlamWrapper::arm_turn_let_bottom() const {
+    //FE FE 0E 3D 04 67 06 55 08 A6 08 01 0A C7 08 A9 FA
     _serialPortPtr->write({
-        0xFE, 0xFE, 0x0F, 0x3C, 0x04, 0x1a, 0x07, 0x65, 0x08, 0x99, 0x07, 0xb8, 0x0a, 0x8d, 0x07, 0xdb, 0x14, 0xFA
+        0xFE, 0xFE, 0x0F, 0x3C, 0x04, 0x67, 0x06, 0x55, 0x08, 0xA6, 0x08, 0x01, 0x0A, 0xC7, 0x08, 0xA9, 0x14, 0xFA
     });
 }
 
@@ -459,10 +460,10 @@
     send_msg.pcdmap_index_().push_back(0); // PCD Map number，just give a fixed value of 0.
     pubQtCommand->Write(send_msg);
     //上传服务器
-    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+    if (Utils::is_network_reachable(Config::REMOTE_SERVICE_IP, Config::HTTP_PORT)) {
         upload_pcd_file();
     } else {
-        std::cout << "网络异常，上传PCD文件到" << ConstantConfig::SERVICE_ADDRESS << "失败" << std::endl;
+        std::cout << "网络异常，上传PCD文件到" << Config::REMOTE_SERVICE_IP << "失败" << std::endl;
     }
 }
 

diff --git a/src/constant_config.hpp b/src/constant_config.hpp
deleted file mode 100644
index 5b9300e..0000000
--- a/src/constant_config.hpp
+++ /dev/null
@@ -1,34 +0,0 @@
-//
-// Created by pengx on 2025/4/10.
-//
-
-#ifndef CONSTANT_CONFIG_HPP
-#define CONSTANT_CONFIG_HPP
-
-namespace ConstantConfig {
-    constexpr int TCP_REMOTE_PORT = 9001;
-    // constexpr int TCP_REMOTE_PORT = 30029;
-
-    constexpr const char *SERVICE_ADDRESS = "192.168.123.18";
-    // constexpr const char *SERVICE_ADDRESS = "111.198.10.15";
-    constexpr int TCP_LOCALE_PORT = 8888;
-
-
-    constexpr const char *GAS_PORT = "/dev/ttyUSB0";
-    constexpr int BAUD_RATE = 115200;
-
-    constexpr const char *API_RECEIVE_DATA = "/device/receiveData";
-    constexpr const char *API_UPLOAD_PCD_FILE = "/device/receiveFile";
-    constexpr const char *HTTP_PORT = "30028";
-    constexpr const char *DOG_CODE = "B42D4000OCAD3N82";
-
-    constexpr const char *SLAM_NET_PORT = "eth0";
-
-    constexpr const char *ROBOTIC_ARM_PORT = "/dev/ttyACM0";
-
-    constexpr const char *ROBOTIC_ARM_COMMAND_CONFIG = "/home/unitree/Desktop/robotic_arm_commands.conf";
-    constexpr const char *SLAM_PCD_FILE =
-            "/unitree/module/graph_pid_ws/config_files/lio_sam_config/maps/pcd/default/GlobalMap.pcd";
-}
-
-#endif //CONSTANT_CONFIG_HPP
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index ec3d7d8..21c8099 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -5,13 +5,13 @@
 #include "tcp_service.hpp"
 #include "tcp_client.hpp"
 #include "methane_serial_port.hpp"
-#include "constant_config.hpp"
+#include "config.hpp"
 
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
         boost::asio::io_service io;
-        TcpService::getInstance().start(ConstantConfig::TCP_LOCALE_PORT);
+        TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
         io.run();
     });
 
@@ -19,7 +19,7 @@
     std::thread client_thread([] {
         boost::asio::io_service io;
         TcpClient client;
-        client.connect(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::TCP_REMOTE_PORT);
+        client.connect(Config::REMOTE_SERVICE_IP, Config::TCP_SERVICE_REMOTE_PORT);
         io.run();
     });
 
@@ -28,7 +28,7 @@
         try {
             boost::asio::io_service io;
             //打开串口
-            MethaneSerialPort sp(io, ConstantConfig::GAS_PORT, ConstantConfig::BAUD_RATE); //甲烷串口
+            MethaneSerialPort sp(io, Config::GAS_PORT, Config::BAUD_RATE); //甲烷串口
             sp.read_from_port();
             io.run();
         } catch (std::exception &e) {
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index c7e2b70..a97193c 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -4,7 +4,7 @@
 
 #include "methane_serial_port.hpp"
 #include "tcp_service.hpp"
-#include "constant_config.hpp"
+#include "config.hpp"
 #include "utils.hpp"
 
 #include <iomanip>
@@ -23,20 +23,20 @@
 void upload_to_server(const int value) {
     net::io_context ioc;
     tcp::resolver resolver{ioc};
-    auto const results = resolver.resolve(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT);
+    auto const results = resolver.resolve(Config::REMOTE_SERVICE_IP, Config::HTTP_PORT);
     tcp::socket socket{ioc};
     try {
         net::connect(socket, results.begin(), results.end());
         // 构建HTTP请求
-        http::request<http::string_body> req{http::verb::post, ConstantConfig::API_RECEIVE_DATA, 11};
-        req.set(http::field::host, ConstantConfig::SERVICE_ADDRESS);
+        http::request<http::string_body> req{http::verb::post, Config::API_RECEIVE_DATA, 11};
+        req.set(http::field::host, Config::REMOTE_SERVICE_IP);
         req.set(http::field::user_agent, BOOST_BEAST_VERSION_STRING);
         req.set(http::field::content_type, "application/json");
         req.set(http::field::connection, "keep-alive");
         //{"type":6,"devcode":"1212","data":{"gas":"20"}}
         std::ostringstream oss;
         oss << R"({"type":6,"devcode":")"
-                << ConstantConfig::DOG_CODE
+                << Config::DOG_CODE
                 << R"(","data":{"gas":")"
                 << value
                 << R"("}})";
@@ -69,7 +69,7 @@
     const auto result = x * (1 << 24) + y * (1 << 16) + z * (1 << 8) + w;
     TcpService::getInstance().update_gas_value(result);
     // 上传服务器
-    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+    if (Utils::is_network_reachable(Config::REMOTE_SERVICE_IP, Config::HTTP_PORT)) {
         upload_to_server_async(result);
     }
 }
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index b02899f..249e83b 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -4,7 +4,7 @@
 
 #include "slam_wrapper.hpp"
 #include "tcp_service.hpp"
-#include "constant_config.hpp"
+#include "config.hpp"
 #include "utils.hpp"
 
 #include <cmath>
@@ -69,18 +69,18 @@
         tcp::socket socket(ioc);
 
         // 解析并连接服务器
-        auto const results = resolver.resolve(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT);
+        auto const results = resolver.resolve(Config::REMOTE_SERVICE_IP, Config::HTTP_PORT);
         boost::asio::connect(socket, results.begin(), results.end());
 
         // 构建 HTTP 请求
-        http::request<http::string_body> req{http::verb::post, ConstantConfig::API_UPLOAD_PCD_FILE, 11};
-        req.set(http::field::host, ConstantConfig::SERVICE_ADDRESS);
+        http::request<http::string_body> req{http::verb::post, Config::API_UPLOAD_PCD_FILE, 11};
+        req.set(http::field::host, Config::REMOTE_SERVICE_IP);
         req.set(http::field::user_agent, BOOST_BEAST_VERSION_STRING);
 
         // 构建 multipart/form-data 数据
         std::string boundary = "---------------------------boundary_example_" + std::to_string(std::time(nullptr));
         std::string contentType;
-        std::string body = generate_multipart_form(ConstantConfig::SLAM_PCD_FILE, boundary, contentType);
+        std::string body = generate_multipart_form(Config::SLAM_PCD_FILE, boundary, contentType);
         if (body.empty()) {
             throw std::runtime_error("Failed to generate multipart form data");
         }
@@ -111,12 +111,12 @@
 }
 
 SlamWrapper::SlamWrapper() {
-    ChannelFactory::Instance()->Init(0, ConstantConfig::SLAM_NET_PORT);
+    ChannelFactory::Instance()->Init(0, Config::SLAM_NET_PORT);
 
     std::thread serial_port_thread([this] {
         //初始化机械臂串口
         boost::asio::io_service io;
-        _serialPortPtr = new RoboticArmSerialPort(io, ConstantConfig::ROBOTIC_ARM_PORT, ConstantConfig::BAUD_RATE);
+        _serialPortPtr = new RoboticArmSerialPort(io, Config::ROBOTIC_ARM_PORT, Config::BAUD_RATE);
         io.run();
     });
     serial_port_thread.detach();
@@ -131,7 +131,7 @@
     subOdometer->InitChannel(std::bind(&SlamWrapper::odometer_handler, this, std::placeholders::_1), 1);
 
     // 读取本地指令配置
-    std::ifstream config_file(ConstantConfig::ROBOTIC_ARM_COMMAND_CONFIG);
+    std::ifstream config_file(Config::ROBOTIC_ARM_COMMAND_CONFIG);
     if (!config_file.is_open()) {
         std::cerr << "Failed to open config file" << std::endl;
         return;
@@ -304,7 +304,7 @@
 void SlamWrapper::save_command() const {
     if (!_commandCaches.empty()) {
         //覆盖保存/home/unitree/Desktop/robotic_arm_commands.conf
-        const std::string filepath = ConstantConfig::ROBOTIC_ARM_COMMAND_CONFIG;
+        const std::string filepath = Config::ROBOTIC_ARM_COMMAND_CONFIG;
         std::ofstream file(filepath);
         if (!file.is_open()) {
             std::cerr << "Failed to open config file for writing: " << filepath << std::endl;
@@ -362,8 +362,9 @@
 }
 
 void SlamWrapper::arm_turn_let_bottom() const {
+    //FE FE 0E 3D 04 67 06 55 08 A6 08 01 0A C7 08 A9 FA
     _serialPortPtr->write({
-        0xFE, 0xFE, 0x0F, 0x3C, 0x04, 0x1a, 0x07, 0x65, 0x08, 0x99, 0x07, 0xb8, 0x0a, 0x8d, 0x07, 0xdb, 0x14, 0xFA
+        0xFE, 0xFE, 0x0F, 0x3C, 0x04, 0x67, 0x06, 0x55, 0x08, 0xA6, 0x08, 0x01, 0x0A, 0xC7, 0x08, 0xA9, 0x14, 0xFA
     });
 }
 
@@ -459,10 +460,10 @@
     send_msg.pcdmap_index_().push_back(0); // PCD Map number，just give a fixed value of 0.
     pubQtCommand->Write(send_msg);
     //上传服务器
-    if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
+    if (Utils::is_network_reachable(Config::REMOTE_SERVICE_IP, Config::HTTP_PORT)) {
         upload_pcd_file();
     } else {
-        std::cout << "网络异常，上传PCD文件到" << ConstantConfig::SERVICE_ADDRESS << "失败" << std::endl;
+        std::cout << "网络异常，上传PCD文件到" << Config::REMOTE_SERVICE_IP << "失败" << std::endl;
     }
 }
 
diff --git a/src/tcp_client.cpp b/src/tcp_client.cpp
index a4f508e..c712f81 100644
--- a/src/tcp_client.cpp
+++ b/src/tcp_client.cpp
@@ -5,7 +5,7 @@
 #include "tcp_client.hpp"
 #include "tcp_service.hpp"
 #include "slam_wrapper.hpp"
-#include "constant_config.hpp"
+#include "config.hpp"
 
 #include <cstring>
 #include <iostream>
@@ -173,7 +173,7 @@
                     << ", waiting for command ..." << std::endl;
 
             //连接成功后把自己的编号发送给Tcp Service
-            const std::string dog_code = std::string("devCode:") + ConstantConfig::DOG_CODE;
+            const std::string dog_code = std::string("devCode:") + Config::DOG_CODE;
             send(_client_socket, dog_code.c_str(), dog_code.size(), 0);
 
             // 启动接收数据的线程