diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index c906349..0da3842 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -88,9 +88,12 @@ public final class Constants {
     public class Field {
         public static final double RedHubPositionX = 11.914;
         public static final double RedHubPositionY = 4.034;
-        public static final double PassingBallPosX = 0;
+        public static final double BlueHubPositionX = 0;
+        public static final double BlueHubPositionY = 0;
         public static final double PassingBallPosY1 = 2.51;
         public static final double PassingBallPosY2 = 5.556;
+        public static final double RedPassingBallPosX = 0;
+        public static final double BluePassingBallPosX = 0;
     }
     
 
@@ -111,12 +114,12 @@ public final class Constants {
         .withKV(0.00).withKA(0.00).withKS(0.00);
     //如果 rotater 受重力影响明显，可能需要用 withKG/withGravityType/withGravityArmPositionOffset（看机构形式）(这句fromAI)
 
-    public static final double IntakeGetterSpeedforAuto = 0.0;
+    public static final double IntakeGetterSpeedforAuto = 0.4;
     // 单位RPS
     public static final double positionToleranceRotations = 0.00;
     //rotater容差
     public static final double IntakeGetterK = 0.3; // intake getter速度与触发器输入的比例
-    public static final double Getterminspeed = 0.2; // intake getter的基础速度（即触发器输入为0时的速度，正值表示默认向内转）
+    public static final double Getterminspeed = 0.3; // intake getter的基础速度（即触发器输入为0时的速度，正值表示默认向内转）
     }   
     public static class Climber {
 
diff --git a/src/main/java/frc/robot/controls/DriveControls.java b/src/main/java/frc/robot/controls/DriveControls.java
index cf3d087..1b8779f 100644
--- a/src/main/java/frc/robot/controls/DriveControls.java
+++ b/src/main/java/frc/robot/controls/DriveControls.java
@@ -26,6 +26,7 @@ import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance; 
 
 public class DriveControls {
+
     public boolean isRedAlliance;
 
     private final CommandSwerveDrivetrain drivetrain;
@@ -234,8 +235,8 @@ public class DriveControls {
     }
     public double[] calculateDistanceAndRotationToHub() {
         Pose2d currentPose = drivetrain.getState().Pose; // 获取机器人当前的位置和角度
-        double targetX = Constants.Field.RedHubPositionX;  // 目标 X 坐标
-        double targetY = Constants.Field.RedHubPositionY;  // 目标 Y 坐标
+        double targetX = isRedAlliance ? Constants.Field.RedHubPositionX : Constants.Field.BlueHubPositionX;
+        double targetY = isRedAlliance ? Constants.Field.RedHubPositionY : Constants.Field.BlueHubPositionY;
 
         // 计算目标角度（相对于场地坐标系）
         double deltaX = targetX - currentPose.getX();
@@ -262,7 +263,7 @@ public class DriveControls {
     }
     public double[] calculateDistanceAndRotationToPassBall() {
         Pose2d currentPose = drivetrain.getState().Pose; // 获取机器人当前的位置和角度
-        double targetX = Constants.Field.PassingBallPosX;  // 目标 X 坐标
+        double targetX = isRedAlliance ? Constants.Field.RedPassingBallPosX : Constants.Field.BluePassingBallPosX;  // 目标 X 坐标
         double targetY1 = Constants.Field.PassingBallPosY1;  // 目标 Y 坐标
         double targetY2 = Constants.Field.PassingBallPosY2;  // 目标 Y 坐标
        
diff --git a/src/main/java/frc/robot/controls/IntakerControls.java b/src/main/java/frc/robot/controls/IntakerControls.java
index b93de5b..e63b99d 100644
--- a/src/main/java/frc/robot/controls/IntakerControls.java
+++ b/src/main/java/frc/robot/controls/IntakerControls.java
@@ -76,9 +76,9 @@ public class IntakerControls {
         IntakerSubsystem.setIntakerGetterSpeed(getterspeed);
         
         if(controller.getLeftY() < -0.5){
-                    IntakerSubsystem.IntakerDownNonStop();
-            } else if(controller.getLeftY() > 0.5){
                     IntakerSubsystem.IntakerUpNonStop();
+            } else if(controller.getLeftY() > 0.5){
+                    IntakerSubsystem.IntakerDownNonStop();
             } else {
                     IntakerSubsystem.stopIntakerotater();
             }
diff --git a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
index 603947b..9fd211f 100644
--- a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
@@ -83,26 +83,9 @@ public class IntakerSubsystem extends SubsystemBase{
         stopIntakerotater();
     }
     public void IntakerDownNonStop(){
-        double currentPosition = getIntakerotaterPosition();
-        if (currentPosition > Constants.Intaker.intakeRotaterDownLimit) {
-        
-        intakerotater.set(-0.05);}
-        // double currentPosition = getIntakerotaterPosition();
-        // if (currentPosition > Constants.Intaker.intakeRotaterDownLimit) {
-        //     intakerotater.setControl(velocityRequest.withVelocity(Constants.Intaker.intakeRotaterVelocity));
-        // } else {
-        //     stopIntakerotater();
-        // }
-    }
+        intakerotater.set(-0.05);
+        }
     public void IntakerUpNonStop(){
-        double currentPosition = getIntakerotaterPosition();
-        if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
-        intakerotater.set(0.1);}
-        
-        // if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
-        //     intakerotater.setControl(velocityRequest.withVelocity(-Constants.Intaker.intakeRotaterVelocity));
-        // } else {
-        //     stopIntakerotater();
-        // }
+        intakerotater.set(0.2);
     }
 }