diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp
index 7513372..6ed86fa 100644
--- a/src/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/radio_ctrl/src/radio_ctrl.cpp
@@ -11,11 +11,12 @@ namespace sweeperMsg = sweeper_interfaces::msg;
 constexpr float DEG_PER_SEC_TO_RPM = 1.0f / 6.0f;
 constexpr float GEAR_RATIO = 16.5f;
 constexpr float DELTA_T = 0.02f; // 20ms
+constexpr int PRINT_INTERVAL = 25; // 打印间隔：每25次回调打印一次（25*20ms=500ms，即2Hz）
 
 class SBUSNode : public rclcpp::Node
 {
 public:
-    SBUSNode() : Node("sbus_node"), current_feedback_angle(0.0f)
+    SBUSNode() : Node("sbus_node"), current_feedback_angle(0.0f), print_counter(0) // 初始化计数器
     {
         if (load_config(config))
         {
@@ -62,7 +63,6 @@ private:
     {
         static int MCU_RPM_MAX = config.mcu_rpm_max;
         static float EPS_ANGLE_MAX = config.eps_angle_max;
-        // static bool initialized = false; // 新增初始化标志
 
         bool data_safe = uart_handler_->get_data_safe(); // 获取数据安全性
 
@@ -71,13 +71,13 @@ private:
 
         if (data_safe) // 数据安全，进行数据解析并发布
         {
-            // 赋值与打印
+            // 赋值与打印（注释掉原有的高频打印）
             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]); // 高频打印已注释
             }
-            // printf("\n");
+            // printf("\n"); // 高频打印已注释
 
             uint16_t gear = ch_data[7];       // 挡位 最下1792，中间992，最上192
             uint16_t sweep = ch_data[6];      // 清扫 最上192，最下1792
@@ -141,32 +141,43 @@ private:
             // 发布控制消息
             pub_->publish(msg);
 
-            std::cout << "\n  刹车: " << (msg.brake ? "已刹车" : "未刹车")
-                      << "\n  挡位: ";
-            switch (msg.gear)
+            // 降低打印频率：每 PRINT_INTERVAL 次回调打印一次
+            if (++print_counter >= PRINT_INTERVAL)
             {
-            case 0:
-                std::cout << "空挡";
-                break;
-            case 2:
-                std::cout << "前进挡";
-                break;
-            case 1:
-                std::cout << "后退挡";
-                break;
-            default:
-                std::cout << "未知挡位(" << static_cast<int>(msg.gear) << ")";
-                break;
+                std::cout << "\n====================================="
+                          << "\n  刹车: " << (msg.brake ? "已刹车" : "未刹车")
+                          << "\n  挡位: ";
+                switch (msg.gear)
+                {
+                case 0:
+                    std::cout << "空挡";
+                    break;
+                case 2:
+                    std::cout << "前进挡";
+                    break;
+                case 1:
+                    std::cout << "后退挡";
+                    break;
+                default:
+                    std::cout << "未知挡位(" << static_cast<int>(msg.gear) << ")";
+                    break;
+                }
+                std::cout << "\n  行走电机转速: " << static_cast<int>(msg.rpm) << " RPM"
+                          << "\n  轮端转向角度: " << msg.angle << "°"
+                          << "\n  清扫状态: " << (msg.sweep ? "正在清扫" : "未清扫")
+                          << "\n=====================================" << std::endl;
+                print_counter = 0; // 重置计数器
             }
-            std::cout << "\n  行走电机转速: " << static_cast<int>(msg.rpm) << " RPM"
-                      << "\n  轮端转向角度: " << msg.angle << "°"
-                      << "\n  清扫状态: " << (msg.sweep ? "正在清扫" : "未清扫")
-                      << std::endl;
         }
         else
         {
-            RCLCPP_INFO(this->get_logger(), "Waiting for radio control data...");
-            return; // 下次循环，等待数据安全
+            // 低频率打印等待信息（每2次回调打印一次，避免刷屏）
+            if (++print_counter >= PRINT_INTERVAL / 2)
+            {
+                RCLCPP_INFO(this->get_logger(), "Waiting for radio control data...");
+                print_counter = 0;
+            }
+            return;
         }
     }
 
@@ -192,6 +203,7 @@ private:
 
     float current_feedback_angle; // 当前反馈角度（从CAN中读取）
     RmoCtlConfig config;
+    int print_counter; // 打印计数器（新增）
 };
 
 int main(int argc, char *argv[])