diff --git a/HARDWARE/PID.c b/HARDWARE/PID.c
index 8d80cc4..517f340 100644
--- a/HARDWARE/PID.c
+++ b/HARDWARE/PID.c
@@ -2,7 +2,6 @@
 #include "Relays.h"
 #include "USART.h"
 #include "rs485.h"
-extern u16 tem;
 float cold_tem = 0;
 float red_tem = 0;
 float ti;
@@ -18,7 +17,6 @@ int max_speed_count = 6000;
 
 void PID_Init()
 {
-	// pid.set_tem=tem;// user set temperature
 	// if flash have not a vaild value, just set a default value
 	if (pid.Kp < 1e-7) { pid.Kp = 9.6; }
 	if (pid.Ki < 1e-7) { pid.Ki = 0.01; }
@@ -32,13 +30,22 @@ void PID_Init()
 	pid.OUT0 = 1;
 	pid.C1ms = 0;
 
-	pid.hp = 2.4;
-	pid.hi = 0.02;
-	pid.hd = 0;
+	pid.max_compressor_tem = 30;
 
-	pid.cp = 9.6;
+	pid.hp_h = 5;
+	pid.hi_h = 0.02;
+	pid.hd_h = 0.5;
+	pid.h_base_h = 0;
+
+	pid.hp_l = 19.2;
+	pid.hi_l = 0.08;
+	pid.hd_l = 0;
+	pid.h_base_l = 30;
+
+	pid.cp = 4.8;
 	pid.ci = 0;
 	pid.cd = 0;
+	pid.c_base = 37;
 
 	pid.h_percent = 0;
 	pid.c_speed = 0;
@@ -93,8 +100,8 @@ void set_heater_power(int percent) {
 /**
  * heater power calc
 */
-int calc_hp(float delta_t, float Error_calc, int p_hb, float pid_hp, float pid_hi) {
-	int p_h = p_hb + pid_hp * delta_t + pid_hi * Error_calc;
+int calc_hp(float delta_t, float Error_calc, float DelEk, int p_hb, float pid_hp, float pid_hi, float pid_hd) {
+	int p_h = p_hb + pid_hp * delta_t + pid_hi * Error_calc + pid_hd * DelEk;
 	if (p_h > 100) {
 		return 100;
 	}
@@ -136,8 +143,6 @@ void PID_Calc() // pid calc
 {
 	int min_speed_count = 1800;
 	int max_speed_count = 4800;
-	int p_hb = 52;
-	int p_cb = 33;
 	float DelEk; // The difference between the last two deviations
 	// float td;
 	float out;
@@ -148,32 +153,55 @@ void PID_Calc() // pid calc
 	// }
 
 	float delta_t = pid.set_tem - pid.now_tem;
-
-	int p_c = calc_cp(delta_t, p_cb, pid.cp);
-	pid.c_speed = calc_compressor_speed(p_c, min_speed_count, max_speed_count);
-
+	// When the target tem is greater then max compressor tem, the compressor will stop
+	if (pid.set_tem > pid.max_compressor_tem) {
+	    pid.c_speed = 0;
+	} else {
+		int p_c = calc_cp(delta_t, pid.c_base, pid.cp);
+		pid.c_speed = calc_compressor_speed(p_c, min_speed_count, max_speed_count);
+	}
+	
+	float hp = pid.hp_h;
+	float hi = pid.hi_h;
+	float hd = pid.hd_h;
+	int h_base = pid.h_base_h;
+
+	// l mode
+	if (pid.set_tem <= pid.max_compressor_tem) {
+		hp = pid.hp_l;
+		hi = pid.hi_l;
+		hd = pid.hd_l;
+		h_base = pid.h_base_l;
+	}
+	
 	pid.Ek = pid.set_tem - pid.now_tem;
 	pid.Pout = pid.Kp * pid.Ek; // Proportional output
 
 	pid.SEk += pid.Ek; // Total historical deviation
 
+	DelEk = pid.Ek - pid.Ek_prev; // The difference between the last two deviations
+
+	// no integral when the deviation is too large
+	if (pid.now_tem < pid.set_tem - 3) {
+		pid.SEk = 0;
+	}
+
 	// SEk limit, updated func
-	if (pid.SEk < - p_hb / pid.hi) {
-		pid.SEk = - p_hb / pid.hi;
+	if (pid.SEk < - h_base / hi) {
+		pid.SEk = - h_base / hi;
 	}
 	if (pid.c_speed == max_speed_count) {
 		pid.SEk = 0;
 	}
 	float Error_calc = pid.SEk;
-	if (Error_calc < - (p_hb + pid.hp * delta_t) / pid.hi) {
-		Error_calc = - (p_hb + pid.hp * delta_t) / pid.hi;
+	if (Error_calc < - (h_base + hp * delta_t) / hi) {
+		Error_calc = - (h_base + hp * delta_t) / hi;
 	}
 	if (pid.c_speed == max_speed_count) {
 		Error_calc = 0;
 	}
 
 
-	DelEk = pid.Ek - pid.Ek_1; // The difference between the last two deviations
 
 	// ti=pid.t/pid.Ti;
 	// ki=ti*pid.Kp;
@@ -203,11 +231,9 @@ void PID_Calc() // pid calc
 	{
 		pid.OUT = out;
 	}
-	pid.Ek_1 = pid.Ek; // udpate difference
-	pid.C1ms = 0;
 
 	// heater percent
-	pid.h_percent = calc_hp(delta_t, Error_calc, p_hb, pid.hp, pid.hi);
+	pid.h_percent = calc_hp(delta_t, Error_calc, DelEk, h_base, hp, hi, hd);
 	// close heater when compressor is running in full state
 	if (pid.c_speed == max_speed_count) {
 		pid.h_percent = 0;
@@ -216,4 +242,8 @@ void PID_Calc() // pid calc
 	set_compressor_power(pid.c_speed);
 	set_heater_power(pid.h_percent);
 
+	
+	pid.Ek_prev = pid.Ek; // udpate difference
+	pid.C1ms = 0;
+
 }
diff --git a/HARDWARE/PID.h b/HARDWARE/PID.h
index 169d7a2..a3900d9 100644
--- a/HARDWARE/PID.h
+++ b/HARDWARE/PID.h
@@ -10,14 +10,30 @@ typedef struct Pid
 {
  	float set_tem;// User settings
  	float now_tem;// current temperature
+
+	float max_compressor_tem; // maximum temperature of the compressor. When the target tem is greater than this value, the compressor is turned off.
+
+	float out_tem; // outer temperature
+	float out_humidity; // outer humidity
 	
-	float hp;
-	float hi;
-	float hd;
+	// in h mode
+	float hp_h;
+	float hi_h;
+	float hd_h;
+	int h_base_h; // base power percent in h mode 
+
+	// in l mode
+	float hp_l;
+	float hi_l;
+	float hd_l;
+	int h_base_l; // base power percent in l mode
 	int h_percent;
+
+	
 	float cp;
 	float ci;
 	float cd;
+	float c_base;
 	int c_speed;
  
  	float Kp; // 110
@@ -28,7 +44,7 @@ typedef struct Pid
  	float Td;
 	
  	float Ek;  // This deviation
-	float Ek_1;// Last deviation
+	float Ek_prev;// Last deviation
 	float SEk; // The sum of historical deviations
 	
 	float Iout;
diff --git a/HARDWARE/rs485.c b/HARDWARE/rs485.c
index 3a4b3e4..16afe73 100644
--- a/HARDWARE/rs485.c
+++ b/HARDWARE/rs485.c
@@ -380,6 +380,10 @@ void RS485_1_Send_Data_1(u8 *buf, u8 len)
 
 void RS485_1_Send_Data_2(void)
 {
+	// when T eq 0 and H eq 0, don't send
+	if (T == 0 && H == 0) {
+		return;
+	}
 	sendbuf[0] = 0xEE;
 	sendbuf[1] = 0xB5;
 	sendbuf[2] = 0x05;
@@ -450,21 +454,35 @@ void RS485_1_Send_Data_2(void)
 	sendbuf[25] = 0;		 // ALARM state
 	sendbuf[26] = ALARM;		 // ALARM state
 
-	sendbuf[27] = (int)pid.hp / 256;			  // Kp 110
-	sendbuf[28] = (int)pid.hp % 256;			  // Kp 110
-	sendbuf[29] = ((int)(pid.hi * 100000)) / 256; // Ti 0.001
-	sendbuf[30] = ((int)(pid.hi * 100000)) % 256; // Ti 0.001
-	sendbuf[31] = (int)pid.hd / 256;			  // Td 340
-	sendbuf[32] = (int)pid.hd % 256;			  // Td 340
+	if (pid.set_tem > pid.max_compressor_tem) {
+		// h mode
+		sendbuf[27] = (int)(pid.hp_h * 1000) / 256;			  // Kp 110
+		sendbuf[28] = (int)(pid.hp_h * 1000) % 256;			  // Kp 110
+		sendbuf[29] = ((int)(pid.hi_h * 100000)) / 256; // Ti 0.001
+		sendbuf[30] = ((int)(pid.hi_h * 100000)) % 256; // Ti 0.001
+		sendbuf[31] = (int)(pid.hd_h * 1000) / 256;			  // Td 340
+		sendbuf[32] = (int)(pid.hd_h * 1000) % 256;			  // Td 340
+	} else {
+		// l mode
+		sendbuf[27] = (int)(pid.hp_l * 1000) / 256;			  // Kp 110
+		sendbuf[28] = (int)(pid.hp_l * 1000) % 256;			  // Kp 110
+		sendbuf[29] = ((int)(pid.hi_l * 100000)) / 256; // Ti 0.001
+		sendbuf[30] = ((int)(pid.hi_l * 100000)) % 256; // Ti 0.001
+		sendbuf[31] = (int)(pid.hd_l * 1000) / 256;			  // Td 340
+		sendbuf[32] = (int)(pid.hd_l * 1000) % 256;			  // Td 340
+	}
 	sendbuf[33] = pid.h_percent / 256;			  // h_percent
 	sendbuf[34] = pid.h_percent % 256;			  // h_percent
 
-	sendbuf[35] = (int)pid.cp / 256;			  // Kp 110
-	sendbuf[36] = (int)pid.cp % 256;			  // Kp 110
+	sendbuf[35] = (int)(pid.cp * 1000) / 256;			  // Kp 110
+	sendbuf[36] = (int)(pid.cp * 1000) % 256;			  // Kp 110
 	sendbuf[37] = ((int)(pid.ci * 100000)) / 256; // Ti 0.001
 	sendbuf[38] = ((int)(pid.ci * 100000)) % 256; // Ti 0.001
-	sendbuf[39] = (int)pid.cd / 256;			  // Td 340
-	sendbuf[40] = (int)pid.cd % 256;			  // Td 340
+	// sendbuf[39] = (int)pid.cd / 256;			  // Td 340
+	// sendbuf[40] = (int)pid.cd % 256;			  // Td 340
+	// TODO::temply print out_tem
+	sendbuf[39] = (int)(pid.out_tem * 10) / 256;			  // Td 340
+	sendbuf[40] = (int)(pid.out_tem * 10) % 256;			  // Td 340
 	sendbuf[41] = pid.c_speed / 256;			  // h_percent
 	sendbuf[42] = pid.c_speed % 256;			  // h_percent
 
diff --git a/myfreertos/myfreertos.c b/myfreertos/myfreertos.c
index 23ebafd..e9ce7a8 100644
--- a/myfreertos/myfreertos.c
+++ b/myfreertos/myfreertos.c
@@ -185,7 +185,8 @@ void SensorDataRequestTask(void *pvParameters) {
     while (1) {
         // 发送传感器数据请求的操作
 			RS485_1_Send_Data_1(rs485buf, 8);
-			// delay_xms(100);
+			delay_xms(100);
+			
 			// RS485_1_Send_Data_1(RS485_RX_BUF, 48);
 
         vTaskDelay(SENSOR_DATA_REQUEST_PERIOD);
@@ -206,54 +207,9 @@ int hot = 0;
 */
 void HotTestRequestTask(void *pvParameters) {
     while (1) {
-		
-		PID_Calc();
-		// if (T >= 350) {
-		// 	hot = 0;
-		// 	hot_clod_flag = 0;
-		// } else {
-		// 	hot = 52;
-
-		// 	hot_clod_flag = 2;
-		// 	// hot += 10;
-		// 	// if (hot > 100) {
-		// 	// 	hot = 10;
-		// 	// }
-		// }
-		// u8 temp_data[8] = { 0x10, 0x06, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00 };
-
-		// temp_data[4] = hot / 256;
-		// temp_data[5] = hot % 256;
-
-		// GetCRC16(temp_data, 6, temp_data + 6, temp_data + 7);
-
-		// RS485_3_Init(9600);
-		// RS485_3_Send_Data(temp_data, 8);
-		// // RS485_1_Send_Data(temp_data, 8);
-		// delay_xms(30);
-		// RS485_1_Init(9600);
-
-		
-		// HC595_Send_Byte(gpio_state |= 0x04); // open heater    |=0000 0100  0x04
-
-        // vTaskDelay(60000);
-		
-		
-
-		// temp_data[4] = 0;
-		// temp_data[5] = 0;
-
-		// GetCRC16(temp_data, 6, temp_data + 6, temp_data + 7);
-
-		// // RS485_3_Init(9600);
-		// RS485_1_Send_Data(temp_data, 8);
-		// // RS485_3_Send_Data(temp_data, 8);
-		// // delay_xms(30);
-		// // RS485_1_Init(9600);
-
-		// // HC595_Send_Byte(gpio_state &= 0xFB);		  // close heater &=1111 1011  0xFB
-		// hot_clod_flag = 0;
-
+		if (!(T == 0 && H == 0)) {
+			PID_Calc();
+		}
         vTaskDelay(5000);
     }
 }