diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp
index 0c8e43d..4c3eb2f 100644
--- a/src/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/radio_ctrl/src/radio_ctrl.cpp
@@ -75,14 +75,15 @@ private:
             for (int i = 0; i < 10; ++i)
             {
                 ch_data[i] = uart_handler_->get_channel_value(i);
-                // printf("ch[%d]:%d   ", i, ch_data[i]);
+                printf("ch[%d]:%d   ", i, ch_data[i]);
             }
-            // printf("\n");
+            printf("\n");
 
-            uint16_t ctrl = ch_data[4];       // 手刹
-            uint16_t gear = ch_data[5];       // 挡位
-            uint16_t sweep = ch_data[6];      // 清扫
-            uint16_t dump = ch_data[7];       // 垃圾倾倒
+            uint16_t ctrl = ch_data[4];  // 手刹
+            uint16_t gear = ch_data[5];  // 挡位
+            uint16_t sweep = ch_data[6]; // 清扫
+            uint16_t dump = ch_data[7];  // 垃圾倾倒
+            printf("sweep=%d\n", sweep);
             int16_t speed = ch_data[1] - 992; //[-800,800]
 
             if (!initialized)
@@ -213,25 +214,25 @@ private:
             // 发布控制消息
             pub_->publish(msg);
 
-            RCLCPP_INFO_STREAM(this->get_logger(), "Publishing ControlMsg:"
-                                                       << "\n  brake: " << static_cast<int>(msg.brake)                             // uint8
-                                                       << "\n  gear: " << static_cast<int>(msg.gear)                               // uint8
-                                                       << "\n  rpm: " << static_cast<int>(msg.rpm)                                 // uint8
-                                                       << "\n  ehb_enable: " << static_cast<int>(msg.ehb_anable)                   // bool
-                                                       << "\n  ehb_brake_pressure: " << static_cast<float>(msg.ehb_brake_pressure) // float32
-                                                       << "\n  angle: " << msg.angle                                               // float32
-                                                       << "\n  angle_speed: " << msg.angle_speed                                   // uint16
-                                                       << "\n  edge_brush_lift: " << static_cast<int>(msg.edge_brush_lift)         // bool
-                                                       << "\n  sweep_ctrl: " << static_cast<int>(msg.sweep_ctrl)                   // bool
-                                                       << "\n  spray: " << static_cast<int>(msg.spray)                             // bool
-                                                       << "\n  mud_flap: " << static_cast<int>(msg.mud_flap)                       // bool
-                                                       << "\n  dust_shake: " << static_cast<int>(msg.dust_shake)                   // bool
-                                                       << "\n  left_light: " << static_cast<int>(msg.left_light)                   // bool
-                                                       << "\n  right_light: " << static_cast<int>(msg.right_light)                 // bool
-                                                       << "\n  brake_light: " << static_cast<int>(msg.brake_light)                 // bool
-                                                       << "\n  headlight: " << static_cast<int>(msg.headlight)                     // bool
-                                                       << "\n  dump: " << static_cast<int>(msg.dump)                               // uint8
-            );
+            // RCLCPP_INFO_STREAM(this->get_logger(), "Publishing ControlMsg:"
+            //                                            << "\n  brake: " << static_cast<int>(msg.brake)                             // uint8
+            //                                            << "\n  gear: " << static_cast<int>(msg.gear)                               // uint8
+            //                                            << "\n  rpm: " << static_cast<int>(msg.rpm)                                 // uint8
+            //                                            << "\n  ehb_enable: " << static_cast<int>(msg.ehb_anable)                   // bool
+            //                                            << "\n  ehb_brake_pressure: " << static_cast<float>(msg.ehb_brake_pressure) // float32
+            //                                            << "\n  angle: " << msg.angle                                               // float32
+            //                                            << "\n  angle_speed: " << msg.angle_speed                                   // uint16
+            //                                            << "\n  edge_brush_lift: " << static_cast<int>(msg.edge_brush_lift)         // bool
+            //                                            << "\n  sweep_ctrl: " << static_cast<int>(msg.sweep_ctrl)                   // bool
+            //                                            << "\n  spray: " << static_cast<int>(msg.spray)                             // bool
+            //                                            << "\n  mud_flap: " << static_cast<int>(msg.mud_flap)                       // bool
+            //                                            << "\n  dust_shake: " << static_cast<int>(msg.dust_shake)                   // bool
+            //                                            << "\n  left_light: " << static_cast<int>(msg.left_light)                   // bool
+            //                                            << "\n  right_light: " << static_cast<int>(msg.right_light)                 // bool
+            //                                            << "\n  brake_light: " << static_cast<int>(msg.brake_light)                 // bool
+            //                                            << "\n  headlight: " << static_cast<int>(msg.headlight)                     // bool
+            //                                            << "\n  dump: " << static_cast<int>(msg.dump)                               // uint8
+            // );
         }
         else
         {