diff --git a/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py b/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py
index 91913a3..bfd6025 100644
--- a/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py
+++ b/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py
@@ -425,12 +425,16 @@ class Object_detect(Movement):
 # The path to save the image folder
 def parse_folder(folder):
     restore = []
-    path1 = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mycobot_280' + folder
+    path = ''
+    path1 = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mycobot_280/' + folder
     path2 = '/home/h/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mycobot_280/' + folder
     if os.path.exists(path1):
         path = path1
     elif os.path.exists(path2):
         path = path2
+
+    print("path:",path)
+
     for i, j, k in os.walk(path):
         for l in k:
             restore.append(cv2.imread(folder + '/{}'.format(l)))
diff --git a/mycobot_ai/ai_mycobot_280/scripts/scripts.tar.gz b/mycobot_ai/ai_mycobot_280/scripts/scripts.tar.gz
deleted file mode 100644
index 5e01d6b..0000000
Binary files a/mycobot_ai/ai_mycobot_280/scripts/scripts.tar.gz and /dev/null differ
diff --git a/mycobot_ai/ai_mycobot_280/scripts/test.py b/mycobot_ai/ai_mycobot_280/scripts/test.py
index 79e8a70..087c937 100755
--- a/mycobot_ai/ai_mycobot_280/scripts/test.py
+++ b/mycobot_ai/ai_mycobot_280/scripts/test.py
@@ -5,13 +5,13 @@ from pymycobot import PI_PORT, PI_BAUD  # 当使用树莓派版本的mycobot时
 import time
 
 # mc = MyCobot("/dev/ttyACM0", 115200)
-mc = MyCobot("/dev/ttyUSB0", 115200)
-# mc = MyCobot("/dev/ttyAMA0", 1000000)
+# mc = MyCobot("/dev/ttyUSB0", 115200)
+mc = MyCobot("/dev/ttyAMA0", 1000000)
 
-# mc.send_angles([0,0,0,0,0,0], 25)
+mc.send_angles([0,0,0,0,0,0], 25)
 # print(mc.get_angles())
-mc.send_angles([-7.11, -6.94, -55.01, -24.16, 0.0, -15], 30)
-time.sleep(4)
+# mc.send_angles([-7.11, -6.94, -55.01, -24.16, 0.0, -15], 30)
+# time.sleep(4)
 # print(mc.get_angles())
 
 # mc.send_coords([120.8, -134.4, 258.0, -172.72, -5.31, -109.09], 30, 1) # red bucket
@@ -35,6 +35,8 @@ time.sleep(4)
 
 
 # mc.release_all_servos()
+# mc.release_servo(1)
+# mc.set_servo_calibration(1)
 # time.sleep(1)
 # while True:
 #   print("angles:%s"% mc.get_angles())
diff --git a/mycobot_communication/scripts/mycobot_topics_pi.py b/mycobot_communication/scripts/mycobot_topics_pi.py
index ae09c88..f40ef07 100755
--- a/mycobot_communication/scripts/mycobot_topics_pi.py
+++ b/mycobot_communication/scripts/mycobot_topics_pi.py
@@ -74,7 +74,7 @@ class MycobotTopics(object):
         rospy.init_node("mycobot_topics_pi")
         rospy.loginfo("start ...")
         # problem
-        port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1]")
+        port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1])
         baud = rospy.get_param("~baud", 1000000)
         rospy.loginfo("%s,%s" % (port, baud))
         self.mc = MyCobotSocket(port, baud) # port