diff --git a/Inc/motor_drivers.hpp b/Inc/motor_drivers.hpp
index 1b07fd3dbe708105b3d785fd645bedc6e9f92535..0d67a214268ae4e45bc0dd88f326aa80225f6e5a 100644
--- a/Inc/motor_drivers.hpp
+++ b/Inc/motor_drivers.hpp
@@ -81,9 +81,10 @@ namespace MotorDrivers {
         virtual SocketFrame socket_Read() = 0;
         SocketFrame frame;
         std::deque<SocketFrame> data_buffer_;
-        std::atomic<uint16_t> mutation {0};
-
+        virtual int16_t socket_ReadMutation(uint8_t index) = 0;
+        
     protected:
+        int16_t mutation[16] = {0};
         virtual void socket_DetectMutation() = 0;
     };
 
@@ -180,15 +181,12 @@ namespace MotorDrivers {
         uint16_t p_int_prev;
         float crtOriginPos_;
         int16_t crtCycles_;
-        int16_t crtOriginCycles_;
+        std::atomic<int16_t> crtOriginCycles_;
         PID_Type pid_speed = PID_Type(1.0, (float)0.2, 0.1, 300, 5000, 5, 1000);
         PID_Type pid_pos = PID_Type(2.0, (float)0.1, 0, 2, 5000, 0.1, 1000);
 
         log logM2006 = log("M2006", "./logs/");
 
-    private:
-        std::string crtTimestamp_;
-        std::string prvTimestamp_;
 
     };
 
diff --git a/Inc/motor_sockets/can_socket.hpp b/Inc/motor_sockets/can_socket.hpp
index 0ed5a62d4b0975e2940b120ee0b1fa0e834b3ef1..ab087a6d82f187a90339dfbd1224faeb26bec062 100644
--- a/Inc/motor_sockets/can_socket.hpp
+++ b/Inc/motor_sockets/can_socket.hpp
@@ -11,10 +11,12 @@ namespace MotorDrivers{
         bool socket_Init() override;
         bool socket_Send(uint8_t* frame_data) override;
         SocketFrame socket_Read() override;
+        int16_t socket_ReadMutation(uint8_t index) override;
 
     protected:
         void socket_DetectMutation() override;
         
+        
     private:
         std::string socketName_;
         int32_t socket_;
diff --git a/Src/can_socket.cpp b/Src/can_socket.cpp
index a50b6abee4e2fd82238ddf91bd0c2ff11ab2a2c5..4701258e7ab5491bf8e1bab01a502791b2e598e9 100644
--- a/Src/can_socket.cpp
+++ b/Src/can_socket.cpp
@@ -38,30 +38,48 @@ bool MotorDrivers::CANSocket::socket_Init(){
     }
 }
 
+int16_t MotorDrivers::CANSocket::socket_ReadMutation(uint8_t index){
+    int16_t mutation_value;
+    socket_PauseThread();
+    mutation_value = mutation[index];
+    mutation[index] = 0;
+    socket_ResumeThread();
+    return mutation_value;
+    
+}
+
 void MotorDrivers::CANSocket::socket_DetectMutation(){
-    if(data_buffer_.size() < 2) {
-        // 如果数据缓冲区中的元素少于2，那么我们无法进行突变检测
-        return;
-    }
+    if(data_buffer_.size() < 2) return;
 
-    for(size_t i = 0; i < 8; i++){
-        SocketFrame prv_socket_frame = data_buffer_.back();
+    SocketFrame prv_socket_frame = data_buffer_.back();
 
-        can_frame crt_frame = frame.can_frame_;
-        can_frame prv_frame = prv_socket_frame.can_frame_;
-        data_buffer_.pop_back();
-        can_frame prv_prv_frame = data_buffer_.back().can_frame_;
-        data_buffer_.push_back(prv_socket_frame);
+    can_frame crt_frame = frame.can_frame_;
+    can_frame prv_frame = prv_socket_frame.can_frame_;
+    data_buffer_.pop_back();
+    can_frame prv_prv_frame = data_buffer_.back().can_frame_;
+    data_buffer_.push_back(prv_socket_frame);
 
-        if((crt_frame.data[i] > prv_frame.data[i] && prv_frame.data[i] < prv_prv_frame.data[i]) ){
-            mutation |= (1 << (i + 8));
-            mutation |= (1 << (i + 8));
+    for(size_t i = 0; i < 8; i++){
+        
+        if(crt_frame.data[i] < prv_frame.data[i] && prv_frame.data[i] >= prv_prv_frame.data[i]
+        && crt_frame.data[i] - prv_frame.data[i] < -3 && !mutation[i+8] )
+        {
+            mutation[i] ++;
+            mutation[i+8] = 1;
+            logCAN.logWrite("Mutation Detected: Data[" + 
+            std::to_string(i) + "] ++" + std::to_string(mutation[i]));
         }
-        else if((crt_frame.data[i] < prv_frame.data[i] && prv_frame.data[i] > prv_prv_frame.data[i])){
-            mutation &= ~(1 << (i + 8));
-            mutation |= (1 << i);
+        else if(crt_frame.data[i] > prv_frame.data[i] && prv_frame.data[i] <= prv_prv_frame.data[i]
+        && crt_frame.data[i] - prv_frame.data[i] > 3 && !mutation[i+8])
+        {
+            mutation[i]--;
+            mutation[i+8] = 1;
+            logCAN.logWrite("Mutation Detected: Data[" + 
+            std::to_string(i) + "] --" + std::to_string(mutation[i]));
         }
+        else mutation[i+8] = 0;
     }
+
 }
 
 void MotorDrivers::CANSocket::socket_ReadingThread(){
@@ -76,13 +94,14 @@ void MotorDrivers::CANSocket::socket_ReadingThread(){
         FD_ZERO(&readfds);
         FD_SET(socket_, &readfds);
 
-        tv.tv_usec = 1000;
+        tv.tv_usec = 500;
 
         retval = select(socket_ + 1, &readfds, nullptr, nullptr, &tv);
 
         if(retval == -1) perror("select error");
         else if(retval) {
             read(socket_, &frame.can_frame_, sizeof(can_frame));
+            socket_DetectMutation();
             frame.timestamp_ = getTimeStamp();
             
             data_buffer_.push_back(frame);
@@ -107,24 +126,20 @@ void MotorDrivers::CANSocket::socket_ResumeThread(){
 
 MotorDrivers::SocketFrame MotorDrivers::CANSocket::socket_Read(){
     socket_PauseThread();
-    std::unique_lock<std::mutex> lock(mtx);
     MotorDrivers::SocketFrame frame = data_buffer_.back();
     data_buffer_.pop_back();
-    lock.unlock();
     socket_ResumeThread();
     return frame;
 }
 
 bool MotorDrivers::CANSocket::socket_Send(uint8_t* frame_data){
     socket_PauseThread();
-    std::unique_lock<std::mutex> lock(mtx);
     std::copy(frame_data, frame_data + frame.can_frame_.len, frame.can_frame_.data);
     if(write(socket_, &frame.can_frame_, sizeof(can_frame)) < 0){
         perror("socket send error");
         socket_ResumeThread();
         return false;
     }
-    lock.unlock();
     socket_ResumeThread();
     return true;
 }
diff --git a/Src/motor_DJIM2006.cpp b/Src/motor_DJIM2006.cpp
index 97f50f5abbbe926b8de38544ff81d1946601d8e2..dcfe58059f2ecb8213738f54551a93958e0d68f8 100644
--- a/Src/motor_DJIM2006.cpp
+++ b/Src/motor_DJIM2006.cpp
@@ -1,5 +1,7 @@
 #include "motor_drivers.hpp"
 
+
+
 void MotorDrivers::MotorM2006::M2006Log(){
     logM2006.logWrite(std::to_string(std::chrono::duration_cast<std::chrono::milliseconds>
         (std::chrono::system_clock::now().time_since_epoch()).count()) + " - logM2006::");
@@ -9,7 +11,6 @@ void MotorDrivers::MotorM2006::M2006Log(){
 
 
 void MotorDrivers::MotorM2006::motor_Update(){
-    if(prvTimestamp_.empty()) prvTimestamp_ = getTimeStamp();
     if(motor_getHWInfo()){
         pid_pos.target = targetPos_;
         pid_speed.target = ((pid_pos.pidCalc(crtPos_) - crtPos_) * 36 / pid_pos.dtime * 10);
@@ -22,56 +23,28 @@ void MotorDrivers::MotorM2006::motor_Update(){
 bool MotorDrivers::MotorM2006::motor_getHWInfo(){
 
     can_frame frame = socket_->frame.can_frame_; //crt frame
-    crtTimestamp_ = socket_->frame.timestamp_;
+
     uint16_t p_int = static_cast<uint16_t>(frame.data[0] << 8) | frame.data[1];
     int16_t v_int = static_cast<int16_t>(frame.data[2] << 8) | frame.data[3];
     int16_t t_int = static_cast<int16_t>(frame.data[4] << 8) | frame.data[5];
 
-    auto nFrame = socket_->socket_Read();
-    auto nTimestamp = nFrame.timestamp_;
-    int16_t np_int_prev[2]; int16_t cycle_prev = 0;
-    np_int_prev[0] = p_int;
-
-    while(nTimestamp >= prvTimestamp_){
-        int16_t nv_int = static_cast<int16_t>(nFrame.can_frame_.data[2] << 8) 
-        | nFrame.can_frame_.data[3];
-
-        np_int_prev[1] = 
-        static_cast<uint16_t>(nFrame.can_frame_.data[0] << 8) | nFrame.can_frame_.data[1];
-        if(np_int_prev[1] < np_int_prev[0] && nv_int >= 0){
-            cycle_prev++;
-        }
-        else if(np_int_prev[1] > np_int_prev[0] && nv_int <= 0){
-            cycle_prev--;
-        }
-
-        np_int_prev[0] = np_int_prev[1];
-
-        nFrame = socket_->socket_Read();
-        nTimestamp = nFrame.timestamp_;
-    }
-
-    crtOriginCycles_ += cycle_prev;
+    crtOriginCycles_ += socket_->socket_ReadMutation(0);
 
-    
-
-    if(crtOriginCycles_ >= 36){
+    while(crtOriginCycles_ >= 36){
         crtCycles_++;
         crtOriginCycles_ -= 36;
     }
-    if(crtOriginCycles_ <= -36){
+    while(crtOriginCycles_ <= -36){
         crtCycles_--;
         crtOriginCycles_ += 36;
     }
 
     crtOriginPos_ = static_cast<float>(p_int / 8191.0 * 360.0);//degree
     crtPos_ = static_cast<float>(crtCycles_ + 
-        (static_cast<float>(crtOriginCycles_) / 36.0)) / 10.0;//cycle
+        (static_cast<float>(crtOriginCycles_) / 36.0));//cycle
     crtVel_ = static_cast<float>(v_int / 100.0);//rpm / 100.0
     crtTorque_ = static_cast<float>(t_int * 5.0 / 16384.0);//Nm
 
-    prvTimestamp_ = crtTimestamp_;
-
     M2006Log();
     
     return true;
diff --git a/Src/motor_base.cpp b/Src/motor_base.cpp
index 09537b4ef9a5068a00da7def5c3fd879f2a09858..da3ee477b6c11abc57f8f9fe870ad4b036baa34b 100644
--- a/Src/motor_base.cpp
+++ b/Src/motor_base.cpp
@@ -8,9 +8,9 @@ void MotorDrivers::Motor::send_Empty(){
 }
 
 bool MotorDrivers::Motor::motor_Init(){
-    if(socket_->socket_Init()){
-        return true;
+    if(!socket_->socket_Init()){
+        return false;
     }
-    return false;
+    return true;
 }