diff --git a/CU/Catch.py b/CU/Catch.py
index a8b1920..4044997 100644
--- a/CU/Catch.py
+++ b/CU/Catch.py
@@ -31,8 +31,8 @@ class Catch:
         if self.catch_status == CatchStatus.CDrop:
             self.robotClient.sendIOControl(self.robotClient.con_ios[0],0)
             self.robotClient.sendIOControl(self.robotClient.con_ios[1],1)
-            if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
-                self.catch_status = CatchStatus.COk
+            # if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
+            self.catch_status = CatchStatus.COk
         if self.catch_status == CatchStatus.CShake:
             if not self.shake_continue.Q(True, 1500):
                 shakeQ = self.shakePulse.Q(True, 50, 50)
diff --git a/CU/Feeding.py b/CU/Feeding.py
index 1eec0bf..a558f2a 100644
--- a/CU/Feeding.py
+++ b/CU/Feeding.py
@@ -73,14 +73,14 @@ class FeedLine:
 
 
 
-    def get_current_feed_position(self):
-        pos = self.feeding_to_end[self.feeding2end_pos_index-1]
+    def get_current_feed_position(self,is_reverse):
+        pos = self.feeding_to_end[ (self.feeding2end_pos_index+1)%len(self.feeding_to_end) if is_reverse else self.feeding2end_pos_index-1]
         return pos
-    def get_current_take_position(self):
-        pos = self.start_to_take[self.start2take_pos_index-1]
+    def get_current_take_position(self,is_reverse):
+        pos = self.start_to_take[ (self.start2take_pos_index+1)%len(self.start_to_take) if is_reverse else self.start2take_pos_index-1]
         return pos
-    def get_current_start_position(self):
-        pos = self.origin_to_start[self.origin2start_pos_index-1]
+    def get_current_start_position(self,is_reverse):
+        pos = self.origin_to_start[(self.origin2start_pos_index+1)%len(self.origin_to_start) if is_reverse else  self.origin2start_pos_index-1]
         return pos
 
     def get_next_feed_position(self,reverse:bool=False):
@@ -282,7 +282,7 @@ class Feeding(QObject):
 
         elif self.feedStatus == FeedStatus.FMid:
             log.log_message(logging.INFO, Constant.str_feed_mid)
-            feed_pos = self.get_current_position()
+            feed_pos = self.get_current_position(self.is_reverse)
             if feed_pos.get_position().compare(real_position):
                 self.next_position(self.is_reverse)
 
@@ -717,13 +717,13 @@ class Feeding(QObject):
         else:
             self.sendTargPosition(real_position=feed_pos.get_position(),speed=self.robotClient.debug_speed)
 
-    def get_current_position(self):
+    def get_current_position(self,is_reverse=False):
         if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
-            return self.feedConfig.feedLine.get_current_start_position()
+            return self.feedConfig.feedLine.get_current_start_position(self.is_reverse)
         elif self.feed_Mid_Status == FeedMidStatus.FMid_Take:
-            return self.feedConfig.feedLine.get_current_take_position()
+            return self.feedConfig.feedLine.get_current_take_position(self.is_reverse)
         elif self.feed_Mid_Status == FeedMidStatus.FMid_Feed:
-            return self.feedConfig.feedLine.get_current_feed_position()
+            return self.feedConfig.feedLine.get_current_feed_position(self.is_reverse)
     def next_position(self,reverse=False):
         if self.feed_Mid_Status == FeedMidStatus.FMid_Start:
             self.next_start(reverse)