diff --git a/src/main/java/frc/robot/controls/DriveControls.java b/src/main/java/frc/robot/controls/DriveControls.java
index a53fc9b..9f81aea 100644
--- a/src/main/java/frc/robot/controls/DriveControls.java
+++ b/src/main/java/frc/robot/controls/DriveControls.java
@@ -160,6 +160,7 @@ public class DriveControls {
                         Math.max(Math.abs(raw), 0.4),
                         raw
                     );
+                    vy = isRedAlliance ? -vy : vy;
                 }
                 autoControlNetworkTable.getEntry("BumpDifference").setDouble(differenceBump);
 
@@ -189,6 +190,7 @@ public class DriveControls {
                         Math.max(Math.abs(raw), 0.4),
                         raw
                     );
+                    vy = isRedAlliance ? -vy : vy;
                 }
                 autoControlNetworkTable.getEntry("TrenchDifference").setDouble(differenceTrench);
                 Rotation2d currentAngle = drivetrain.getState().Pose.getRotation();
@@ -212,7 +214,8 @@ public class DriveControls {
         if (fieldCentricEnabled || isAutoLike) {
 
     // 自动状态用 BlueAlliance（不翻转），手柄 field-centric 仍用原 fieldCentric（OperatorPerspective）
-        var chosen = isAutoLike ? fieldCentricAuto : fieldCentric;
+        //var chosen = isAutoLike ? fieldCentricAuto : fieldCentric;
+        var chosen = fieldCentric;
         return chosen
                 .withVelocityX(vx)
                 .withVelocityY(vy)
diff --git a/src/main/java/frc/robot/controls/IntakerControls.java b/src/main/java/frc/robot/controls/IntakerControls.java
index 2cff233..e456c87 100644
--- a/src/main/java/frc/robot/controls/IntakerControls.java
+++ b/src/main/java/frc/robot/controls/IntakerControls.java
@@ -75,6 +75,7 @@ public class IntakerControls {
         double getterspeed = 0;
         double conveyoyspeedforintake = 15;
         double statorCurrent = ShooterSubsystem.getConveyorStatorCurrent();
+        
         if (controller.getLeftTriggerAxis() > 0.1) {
             getterspeed = controller.getLeftTriggerAxis() * Constants.Intaker.IntakeGetterK + Constants.Intaker.Getterminspeed;
             ShooterSubsystem.setConveyorSpeedByRPS(conveyoyspeedforintake);
diff --git a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
index 9fd211f..61f4299 100644
--- a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
@@ -86,6 +86,6 @@ public class IntakerSubsystem extends SubsystemBase{
         intakerotater.set(-0.05);
         }
     public void IntakerUpNonStop(){
-        intakerotater.set(0.2);
+        intakerotater.set(0.1);
     }
 }