diff --git a/HPPA/HPPA.cpp b/HPPA/HPPA.cpp
index b581fde..8ca7fa3 100644
--- a/HPPA/HPPA.cpp
+++ b/HPPA/HPPA.cpp
@@ -682,6 +682,9 @@ void HPPA::initTimedDataCollection()
 	connect(m_omc_LiftingPlatform, &OneMotorControl_LiftingPlatform::sequenceComplete, m_tdc, &TimedDataCollection::subTaskCompleted);
 	connect(m_omc_LiftingPlatform, &OneMotorControl_LiftingPlatform::back2OriginSignal_TimedDataCollection, m_tdc, &TimedDataCollection::onBack2Origin);
 
+	//自动调焦
+	connect(m_tdc, &TimedDataCollection::AutoFocusSignals, this, &HPPA::onAutoFocus_TimedDataCollection);
+
 	m_tdc->show();
 }
 
@@ -790,6 +793,13 @@ void HPPA::onLiftingPlatform(SubTask subTaskParams)
 	m_omc_LiftingPlatform->run();
 }
 
+void HPPA::onAutoFocus_TimedDataCollection(SubTask subTaskParams)
+{
+	m_tmc->setImager(m_Imager);
+	//先使用subTaskParams.autoFocusMotorConfigFilePath替换文件oneMotorConfigFile_focus.cfg
+	m_tmc->run5_AutoFocus(subTaskParams.autoFocusX, subTaskParams.autoFocusY);
+}
+
 void HPPA::onTimedDataCollection()
 {
 	QAction* checkedScenario = m_ScenarioActionGroup->checkedAction();
diff --git a/HPPA/HPPA.h b/HPPA/HPPA.h
index dddf433..339a2dd 100644
--- a/HPPA/HPPA.h
+++ b/HPPA/HPPA.h
@@ -452,6 +452,7 @@ public Q_SLOTS:
 		void onStartTimedDataCollection(int camType);
 		void onObtainTargetDepthInformation(SubTask subTaskParams);
 		void onLiftingPlatform(SubTask subTaskParams);
+		void onAutoFocus_TimedDataCollection(SubTask subTaskParams);
 
 		void onStretchedImageReady(int fileNumber, const QString& filePath, QPixmap& pixmap);
 		void onStretchProcessingError(int fileNumber, const QString& filePath, const QString& error);
diff --git a/HPPA/TaskTreeModel.cpp b/HPPA/TaskTreeModel.cpp
index 73e8fa9..cc0b382 100644
--- a/HPPA/TaskTreeModel.cpp
+++ b/HPPA/TaskTreeModel.cpp
@@ -131,70 +131,70 @@ QVariant TaskTreeModel::data(const QModelIndex& index, int role) const
         if (node->nodeType == TreeNodeType::Task && node->taskData) {
             const TimedTask& task = *node->taskData;
             switch (index.column()) {
-            case ColName:
-                return QString::fromLocal8Bit("定时任务 %1").arg(task.id);
-            case ColScheduledTime:
-                return task.scheduledTime.toString("yyyy-MM-dd HH:mm:ss");
-            case ColCountdown: {
-                if (task.status == TaskStatus::Finished || task.status == TaskStatus::Running)
-                {
-                    return QString::fromLocal8Bit("0");
+                case ColName:
+                    return QString::fromLocal8Bit("定时任务 %1").arg(task.id);
+                case ColScheduledTime:
+                    return task.scheduledTime.toString("yyyy-MM-dd HH:mm:ss");
+                case ColCountdown: {
+                    if (task.status == TaskStatus::Finished || task.status == TaskStatus::Running)
+                    {
+                        return QString::fromLocal8Bit("0");
+                    }
+                    qint64 seconds = QDateTime::currentDateTime().secsTo(task.scheduledTime);
+                    if (seconds < 0)
+                    {
+                        return QString::fromLocal8Bit("已超时");
+                    }
+                    return formatCountdown(seconds);
                 }
-                qint64 seconds = QDateTime::currentDateTime().secsTo(task.scheduledTime);
-                if (seconds < 0)
-                {
-                    return QString::fromLocal8Bit("已超时");
+                case ColStartTime:
+                    return task.startTime.isValid() ?
+                        task.startTime.toString("HH:mm:ss") : "-";
+                case ColEndTime:
+                    return task.endTime.isValid() ?
+                        task.endTime.toString("HH:mm:ss") : "-";
+                case ColDuration:
+                    return formatDuration(task.durationMinutes);
+                case ColEstimatedDuration:
+                    return formatDuration(task.estimatedDurationMinutes);
+                case ColStatus:
+                    return statusToString(task.status);
+                case ColProgress: {
+                    int finished = 0;
+                    for (const auto& sub : task.subTasks) {
+                        if (sub.status == TaskStatus::Finished) finished++;
+                    }
+                    return QString("%1/%2").arg(finished).arg(task.subTasks.size());
                 }
-                return formatCountdown(seconds);
-            }
-            case ColStartTime:
-                return task.startTime.isValid() ?
-                    task.startTime.toString("HH:mm:ss") : "-";
-            case ColEndTime:
-                return task.endTime.isValid() ?
-                    task.endTime.toString("HH:mm:ss") : "-";
-            case ColDuration:
-                return formatDuration(task.durationMinutes);
-            case ColEstimatedDuration:
-                return formatDuration(task.estimatedDurationMinutes);
-            case ColStatus:
-                return statusToString(task.status);
-            case ColProgress: {
-                int finished = 0;
-                for (const auto& sub : task.subTasks) {
-                    if (sub.status == TaskStatus::Finished) finished++;
-                }
-                return QString("%1/%2").arg(finished).arg(task.subTasks.size());
-            }
-            case ColPath:
-                return task.savePath;
+                case ColPath:
+                    return task.savePath;
             }
         }
         else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
             const SubTask& subTask = *node->subTaskData;
             switch (index.column()) {
-            case ColName:
-                return subTaskTypeToString(subTask.type);
-            case ColScheduledTime:
-                return "-";
-            case ColCountdown:
-                return "-";
-            case ColStartTime:
-                return subTask.startTime.isValid() ?
-                    subTask.startTime.toString("HH:mm:ss") : "-";
-            case ColEndTime:
-                return subTask.endTime.isValid() ?
-                    subTask.endTime.toString("HH:mm:ss") : "-";
-            case ColDuration:
-                return formatDuration(subTask.durationMinutes);
-            case ColEstimatedDuration:
-                return formatDuration(subTask.estimatedDurationMinutes);
-            case ColStatus:
-                return statusToString(subTask.status);
-            case ColProgress:
-                return "-";
-            case ColPath:
-                return "-";
+                case ColName:
+                    return subTaskTypeToString(subTask.type);
+                case ColScheduledTime:
+                    return "-";
+                case ColCountdown:
+                    return "-";
+                case ColStartTime:
+                    return subTask.startTime.isValid() ?
+                        subTask.startTime.toString("HH:mm:ss") : "-";
+                case ColEndTime:
+                    return subTask.endTime.isValid() ?
+                        subTask.endTime.toString("HH:mm:ss") : "-";
+                case ColDuration:
+                    return formatDuration(subTask.durationMinutes);
+                case ColEstimatedDuration:
+                    return formatDuration(subTask.estimatedDurationMinutes);
+                case ColStatus:
+                    return statusToString(subTask.status);
+                case ColProgress:
+                    return "-";
+                case ColPath:
+                    return "-";
             }
         }
     }
diff --git a/HPPA/TimedDataCollection.cpp b/HPPA/TimedDataCollection.cpp
index 68531de..746ffe7 100644
--- a/HPPA/TimedDataCollection.cpp
+++ b/HPPA/TimedDataCollection.cpp
@@ -114,6 +114,7 @@ void TimedDataCollection::setupConnections()
 
     connect(m_scheduler, &TaskScheduler::ObtainingDepthInformationSignals, this, &TimedDataCollection::ObtainingDepthInformationSignals);
     connect(m_scheduler, &TaskScheduler::LiftingPlatformSignals, this, &TimedDataCollection::LiftingPlatformSignals);
+    connect(m_scheduler, &TaskScheduler::AutoFocusSignals, this, &TimedDataCollection::AutoFocusSignals);
 
     connect(m_scheduler, &TaskScheduler::switchHalogenLampSignal,
         this, &TimedDataCollection::switchHalogenLampSignal);
@@ -419,6 +420,7 @@ void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
             double totalEstimatedMinutes = 0.0;
             for (int j = 0; j < loadedTasks[i].subTasks.size(); ++j)
             {
+                loadedTasks[i].subTasks[j].durationMinutes = 0.0; // 初始化实际耗时为0
                 QString pathLineFilePath = loadedTasks[i].subTasks[j].pathLineFilePath;
                 if (!pathLineFilePath.isEmpty())
                 {
@@ -429,6 +431,7 @@ void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
             }
             double slrTimeMinute = 135 / 60;
             loadedTasks[i].estimatedDurationMinutes = totalEstimatedMinutes + loadedTasks[i].HalogenLampPreheatingTime_Minute + slrTimeMinute;
+			loadedTasks[i].durationMinutes = 0.0; // 初始化实际耗时为0
         }
 
         m_taskModel->setTasks(loadedTasks);
diff --git a/HPPA/TimedDataCollection.h b/HPPA/TimedDataCollection.h
index 020b95b..c57c494 100644
--- a/HPPA/TimedDataCollection.h
+++ b/HPPA/TimedDataCollection.h
@@ -54,6 +54,7 @@ Q_SIGNALS:
 
     void ObtainingDepthInformationSignals(SubTask info);
     void LiftingPlatformSignals(SubTask info);
+    void AutoFocusSignals(SubTask info);
 
     void switchHalogenLampSignal(int state);
     void switchD65LampSignal(int state);
diff --git a/HPPA/TimedDataCollectionDataStructures.cpp b/HPPA/TimedDataCollectionDataStructures.cpp
index 7894a42..9f5be95 100644
--- a/HPPA/TimedDataCollectionDataStructures.cpp
+++ b/HPPA/TimedDataCollectionDataStructures.cpp
@@ -121,6 +121,23 @@ SubTaskType TimedDataCollectionDataStructuresReaderWriter::stringToSubTaskType(c
     return SubTaskType::SingleLensReflex;
 }
 
+QString TimedDataCollectionDataStructuresReaderWriter::hyperImagerTypeToString(HyperImagerType type)
+{
+    switch (type) {
+    case HyperImagerType::Pika_L: return "Pika_L";
+    case HyperImagerType::Pika_NIR: return "Pika_NIR";
+    default: return "Unknown";
+    }
+}
+
+HyperImagerType TimedDataCollectionDataStructuresReaderWriter::stringToHyperImagerType(const QString& str)
+{
+    if (str == "Pika_L") return HyperImagerType::Pika_L;
+    if (str == "Pika_NIR") return HyperImagerType::Pika_NIR;
+
+    return HyperImagerType::Pika_L;
+}
+
 // ==================== SubTask序列化 ====================
 
 QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const SubTask& subTask)
@@ -138,6 +155,7 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const S
     obj["defaultRenderBand"] = subTask.defaultRenderBand;
     obj["captureIntervalSeconds"] = subTask.captureIntervalSeconds;
 
+    obj["autoFocusHyperImagerType"] = hyperImagerTypeToString(subTask.autoFocusHyperImagerType);
     obj["autoFocusMotorConfigFilePath"] = subTask.autoFocusMotorConfigFilePath;
     obj["autoFocusX"] = subTask.autoFocusX;
     obj["autoFocusY"] = subTask.autoFocusY;
@@ -164,6 +182,7 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObj
     subTask.defaultRenderBand = json["defaultRenderBand"].toInt();
     subTask.captureIntervalSeconds = json["captureIntervalSeconds"].toDouble();
 
+	subTask.autoFocusHyperImagerType = stringToHyperImagerType(json["autoFocusHyperImagerType"].toString());
     subTask.autoFocusMotorConfigFilePath = json["autoFocusMotorConfigFilePath"].toString();
     subTask.autoFocusX = json["autoFocusX"].toDouble();
     subTask.autoFocusY = json["autoFocusY"].toDouble();
@@ -466,84 +485,102 @@ void TaskExecutor::executeNextSubTask()
 
     switch (subTask.type)
     {
-    case SubTaskType::ObtainingDepthInformation:
-    {
-        //（1）移动到指定位置并通过深度相机获取深度信息（2）调整升降板高度（白板+调焦板）（3）回到零位(0,0)
-        emit switchD65LampSignal(1);
-        emit ObtainingDepthInformationSignals(subTask);
-        break;
-    }
-    case SubTaskType::AutoFocus:
-    {
-        //先判断高光谱相机类型，然后发送相机参数hyperCamParm连接相机
+        case SubTaskType::ObtainingDepthInformation:
+        {
+            //（1）移动到指定位置并通过深度相机获取深度信息（2）调整升降板高度（白板+调焦板）（3）回到零位(0,0)
+            emit switchD65LampSignal(1);
+            emit ObtainingDepthInformationSignals(subTask);
+            break;
+        }
+        case SubTaskType::AutoFocus:
+        {
+            switch (subTask.autoFocusHyperImagerType)
+            {
+                case HyperImagerType::Pika_L:
+                    m_camType = 0;
+                    m_currentFolder = makeSubTaskDataFolder("L");
+                    emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
 
-        //执行自动调焦任务
-        break;
-    }
-    case SubTaskType::LiftingPlatform:
-    {
-		//执行升降平台任务
-        emit LiftingPlatformSignals(subTask);
-        break;
-    }
-    case SubTaskType::HyperSpectual400_1000nm:
-    {
-        m_camType = 0;
-        m_currentFolder = makeSubTaskDataFolder("L");
-        emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
+                    break;
+                case HyperImagerType::Pika_NIR:
+                    m_camType = 1;
+                    m_currentFolder = makeSubTaskDataFolder("NIR");
+                    emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
 
-        emit motorParm(subTask.pathLineFilePath);
+                    break;
+                default:
+                    break;
+            }
+            emit switchHalogenLampSignal(1);
 
-        // 打开卤素灯预热
-        emit switchHalogenLampSignal(1);
-        printMsgAndTime("open HalogenLamp");
-        double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
-        QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::emitRecordSignal);
+            //执行自动调焦任务
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitAutoFocusSignal);
+            break;
+        }
+        case SubTaskType::LiftingPlatform:
+        {
+		    //执行升降平台任务
+            emit LiftingPlatformSignals(subTask);
+            break;
+        }
+        case SubTaskType::HyperSpectual400_1000nm:
+        {
+            m_camType = 0;
+            m_currentFolder = makeSubTaskDataFolder("L");
+            emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
 
-        break;
-    }
-    case SubTaskType::HyperSpectual1000_1700nm:
-    {
-        m_camType = 1;
-        m_currentFolder = makeSubTaskDataFolder("NIR");
-        emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
+            emit motorParm(subTask.pathLineFilePath);
 
-        emit motorParm(subTask.pathLineFilePath);
+            // 打开卤素灯预热
+            emit switchHalogenLampSignal(1);
+            printMsgAndTime("open HalogenLamp");
+            double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
+            QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::emitRecordSignal);
 
-        QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+            break;
+        }
+        case SubTaskType::HyperSpectual1000_1700nm:
+        {
+            m_camType = 1;
+            m_currentFolder = makeSubTaskDataFolder("NIR");
+            emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
 
-        break;
-    }
-    case SubTaskType::SingleLensReflex:
-    {
-        m_camType = 2;
-        m_currentFolder = makeSubTaskDataFolder("SLR");
-        emit camParm(m_camType, 3, m_currentFolder);
+            emit motorParm(subTask.pathLineFilePath);
 
-        emit motorParm(subTask.pathLineFilePath);
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
 
-        emit switchD65LampSignal(1);
+            break;
+        }
+        case SubTaskType::SingleLensReflex:
+        {
+            m_camType = 2;
+            m_currentFolder = makeSubTaskDataFolder("SLR");
+            emit camParm(m_camType, 3, m_currentFolder);
 
-        emit switchSlrSignal(1);
+            emit motorParm(subTask.pathLineFilePath);
 
-        QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+            emit switchD65LampSignal(1);
 
-        break;
-    }
-    case SubTaskType::DepthCamera:
-    {
-        m_camType = 3;
-        m_currentFolder = makeSubTaskDataFolder("DepthCamera");
-        emit camParm(m_camType, 3, m_currentFolder);
+            emit switchSlrSignal(1);
 
-        emit motorParm(subTask.pathLineFilePath);
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
 
-        emit switchD65LampSignal(1);
+            break;
+        }
+        case SubTaskType::DepthCamera:
+        {
+            m_camType = 3;
+            m_currentFolder = makeSubTaskDataFolder("DepthCamera");
+            emit camParm(m_camType, 3, m_currentFolder);
 
-        QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+            emit motorParm(subTask.pathLineFilePath);
 
-        break;
-    }
+            emit switchD65LampSignal(1);
+
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+
+            break;
+        }
     }
     ensurePreTaskLighting();
 }
@@ -553,6 +590,12 @@ void TaskExecutor::emitRecordSignal()
     emit startRecordSignal(m_camType);
 }
 
+void TaskExecutor::emitAutoFocusSignal()
+{
+    SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
+    emit AutoFocusSignals(subTask);
+}
+
 // ==================== TaskScheduler 实现 ====================
 
 TaskScheduler::TaskScheduler(QObject* parent)
@@ -729,6 +772,7 @@ void TaskScheduler::executeTask(TimedTask& task)
 
     connect(m_currentExecutor, &TaskExecutor::ObtainingDepthInformationSignals, this, &TaskScheduler::ObtainingDepthInformationSignals);
     connect(m_currentExecutor, &TaskExecutor::LiftingPlatformSignals, this, &TaskScheduler::LiftingPlatformSignals);
+    connect(m_currentExecutor, &TaskExecutor::AutoFocusSignals, this, &TaskScheduler::AutoFocusSignals);
 
     connect(m_currentExecutor, &TaskExecutor::switchHalogenLampSignal, this, &TaskScheduler::switchHalogenLampSignal);
     connect(m_currentExecutor, &TaskExecutor::switchD65LampSignal, this, &TaskScheduler::switchD65LampSignal);
diff --git a/HPPA/TimedDataCollectionDataStructures.h b/HPPA/TimedDataCollectionDataStructures.h
index 6e66b51..4d9be2b 100644
--- a/HPPA/TimedDataCollectionDataStructures.h
+++ b/HPPA/TimedDataCollectionDataStructures.h
@@ -30,6 +30,10 @@ enum class SubTaskType {
 	AutoFocus,                  // 自动对焦
     LiftingPlatform             // 升降平台
 };
+enum class HyperImagerType {
+    Pika_L,
+    Pika_NIR
+};
 
 // ==================== 统一子任务封装 ====================
 
@@ -58,6 +62,7 @@ struct SubTask {
 	double percentageOfEffectiveArea = 50.0; //深度图像的有效范围百分比
 
     //高光谱自动调焦
+	HyperImagerType autoFocusHyperImagerType;//取值范围：L、NIR
     QString autoFocusMotorConfigFilePath;//马达配置文件
     double autoFocusX = 0.0;
 	double autoFocusY = 0.0;
@@ -124,6 +129,9 @@ private:
 
     static QString subTaskTypeToString(SubTaskType type);
     static SubTaskType stringToSubTaskType(const QString& str);
+
+    static QString hyperImagerTypeToString(HyperImagerType type);
+    static HyperImagerType stringToHyperImagerType(const QString& str);
 };
 
 // ==================== 任务执行器 ====================
@@ -168,6 +176,7 @@ signals:
 
     void ObtainingDepthInformationSignals(SubTask info);
     void LiftingPlatformSignals(SubTask info);
+    void AutoFocusSignals(SubTask info);
 
     void switchHalogenLampSignal(int state);
     void switchD65LampSignal(int state);
@@ -179,6 +188,7 @@ public slots:
     void onError(const QString& error);
 
     void emitRecordSignal();
+    void emitAutoFocusSignal();
 
 private:
     QString m_currentFolder;
@@ -240,6 +250,7 @@ signals:
 
     void ObtainingDepthInformationSignals(SubTask info);
     void LiftingPlatformSignals(SubTask info);
+    void AutoFocusSignals(SubTask info);
 
     void switchHalogenLampSignal(int state);
     void switchD65LampSignal(int state);
diff --git a/HPPA/TwoMotorControl.cpp b/HPPA/TwoMotorControl.cpp
index 90596bd..e722e06 100644
--- a/HPPA/TwoMotorControl.cpp
+++ b/HPPA/TwoMotorControl.cpp
@@ -232,6 +232,25 @@ void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, int
 	m_ObtainTargetDepthInfoCoordinator->moveToTarget(depthInfoX, depthInfoY, xmotor_move_speed, ymotor_move_speed);
 }
 
+void TwoMotorControl::run5_AutoFocus(double autoFocusX, double autoFocusY)
+{
+	m_focusWindow = new focusWindow(this, m_Imager);
+	m_focusWindow->onConnectMotor();
+	m_focusWindow->show();
+
+	//自动调焦的协调器添加功能：先归零
+	m_autoFocusCoordinator = new TwoMotor1PosCoordinator(m_multiAxisController);
+	connect(m_autoFocusCoordinator, &TwoMotor1PosCoordinator::ArrivalSignal, m_focusWindow, &focusWindow::onAutoFocus);
+	connect(m_focusWindow, &focusWindow::AutoFocusFinishedSignal, m_autoFocusCoordinator, &TwoMotor1PosCoordinator::back2origin);
+	connect(m_focusWindow, &focusWindow::AutoFocusFinishedSignal, this, &TwoMotorControl::sequenceComplete, Qt::UniqueConnection);
+	connect(m_autoFocusCoordinator, &TwoMotor1PosCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin4);
+
+
+	double xmotor_move_speed = ui.xmotor_move_speed_lineEdit->text().toDouble();
+	double ymotor_move_speed = ui.ymotor_move_speed_lineEdit->text().toDouble();
+	m_autoFocusCoordinator->moveToTarget(autoFocusX, autoFocusY, xmotor_move_speed, ymotor_move_speed);
+}
+
 void TwoMotorControl::saveDepthValue(double depthValue)
 {
 	if (m_depthType == 0)//0表示植被深度，1表示白板/调焦版深度
@@ -251,6 +270,16 @@ void TwoMotorControl::onBack2Origin3()
 	emit back2OriginSignal_TimedDataCollection();
 }
 
+void TwoMotorControl::onBack2Origin4()
+{
+	m_focusWindow->deleteLater();
+	m_focusWindow = nullptr;
+
+	m_autoFocusCoordinator->deleteLater();
+	m_autoFocusCoordinator = nullptr;
+	emit back2OriginSignal_TimedDataCollection();
+}
+
 void TwoMotorControl::run()
 {
 	if (getState())
diff --git a/HPPA/TwoMotorControl.h b/HPPA/TwoMotorControl.h
index 4d27bb4..355471a 100644
--- a/HPPA/TwoMotorControl.h
+++ b/HPPA/TwoMotorControl.h
@@ -17,6 +17,8 @@
 
 #include "DepthValueLogger.h"
 
+#include "focusWindow.h"
+
 #define PI 3.1415926
 
 class TwoMotorControl : public QDialog, public MotorWindowBase
@@ -85,9 +87,11 @@ public Q_SLOTS:
     void run2(SingleLensReflexCameraWindow* w);
     void run3(DepthCameraWindow* window);
     void run4_ObtainTargetDepthInfo(DepthCameraWindow* window, int depthType, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea);
+    void run5_AutoFocus(double autoFocusX, double autoFocusY);
     void onBack2Origin2();
     void saveDepthValue(double depthValue);
     void onBack2Origin3();
+    void onBack2Origin4();
 
     void stop_record();
 
@@ -117,6 +121,7 @@ private:
     TwoMotionCaptureCoordinator* m_coordinator = nullptr;
     TwoMotionCaptureCoordinator* m_coordinator_TimedDataCollection = nullptr;
     TwoMotor1PosCoordinator* m_ObtainTargetDepthInfoCoordinator = nullptr;
+    TwoMotor1PosCoordinator* m_autoFocusCoordinator = nullptr;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
@@ -125,4 +130,6 @@ private:
     IrisMultiMotorController* m_multiAxisController = nullptr;
 
     int m_depthType;
+    
+    focusWindow* m_focusWindow = nullptr;
 };
diff --git a/HPPA/focusWindow.cpp b/HPPA/focusWindow.cpp
index 56accca..9bd7383 100644
--- a/HPPA/focusWindow.cpp
+++ b/HPPA/focusWindow.cpp
@@ -299,7 +299,7 @@ void focusWindow::connectMotor(bool isNotification)//需要修改这个函数
 	if (m_coordinator)
 	{
 		disconnect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
-		disconnect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
+		disconnect(this, SIGNAL(startStepMotionSignal(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
 		disconnect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
 		disconnect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
 
@@ -343,7 +343,7 @@ void focusWindow::connectMotor(bool isNotification)//需要修改这个函数
 	m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
 	m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
 	connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
-	connect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
+	connect(this, SIGNAL(startStepMotionSignal(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
 	connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
 	connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
 	m_MotionCaptureCoordinatorThread.start();
@@ -475,7 +475,7 @@ void focusWindow::onAutoFocus()
 		//获取马达最大位置
 		std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
 		double maxPos = maxRangeLocations[0];
-		emit startStepMotion(m_dSpeed, m_iStepSize, 0, maxPos);
+		emit startStepMotionSignal(m_dSpeed, m_iStepSize, 0, maxPos);
 	}
 	else
 	{
@@ -649,26 +649,48 @@ void focusWindow::moveAfterAutoFocus(int motorID, double location)
 
 	std::cout << "\n已经到达位置：" << location  << std::endl;
 
-	double tmp = abs(location - m_goodPos) / m_goodPos * 100;
-	if (tmp < 5 || m_goodPos == 0)
+	double errorRate = getErrorRate(m_goodPos, location);
+	if (errorRate < 5|| m_moveRetryCount > MAX_MOVE_RETRY)
 	{
 		m_isMoveAfterAutoFocus = false;
+		m_moveRetryCount = 0;
 		if (!m_isAutoFocusSuccess)
 		{
-			showMessageBox(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
+			qDebug() << "纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！";
+			//showMessageBox(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
 		}
 		else
 		{
-			showMessageBox(QString::fromLocal8Bit("自动调焦成功！"));
+			qDebug() << "自动调焦成功！";
+			//showMessageBox(QString::fromLocal8Bit("自动调焦成功！"));
 		}
+		emit AutoFocusFinishedSignal(0);
 	}
 	else
 	{
+		m_moveRetryCount++;
+		qDebug() << "自动调焦后目标马达位置，重试次数：" << m_moveRetryCount;
 		//移动马达到最佳位置
 		emit move2LocSignal(0, (double)m_goodPos, m_dSpeed, 1000);
 	}
 }
 
+double focusWindow::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
+}
+
 void focusWindow::getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init)
 {
 	auto minmax_element = std::minmax_element(index.begin(), index.end());
@@ -819,11 +841,15 @@ MotionCaptureCoordinator::MotionCaptureCoordinator(
 	, m_currentPos(0)
 	, m_endPos(0)
 	, m_isRunning(false)
+	, m_isZeroing(false)
 {
 	//这些信号槽是按照逻辑顺序的
 	connect(this, SIGNAL(moveTo(int, double, double, int)),
 		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
 
+	connect(this, &MotionCaptureCoordinator::zeroStart,
+		m_motorCtrl, &IrisMultiMotorController::zeroStart);
+
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
 		this, &MotionCaptureCoordinator::handlePositionReached);
 	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
@@ -860,15 +886,37 @@ void MotionCaptureCoordinator::startStepMotion(double speed, int stepInterval, d
 	m_speed = speed;
 	m_iStepInterval = stepInterval;
 	m_iStepIntervalRealTime = 1;
-	m_currentPos = startPos;
+	m_startPos = startPos;
 	m_endPos = endPos;
 	m_posInternal = (endPos - startPos) / stepInterval;
 
 	m_isRunning = true;
+	m_isZeroing = true;
+
+	// 先执行归零操作
+	emit zeroStart(0);
+	qDebug() << "MotionCaptureCoordinator::startStepMotion: Zeroing started.";
+}
+
+void MotionCaptureCoordinator::startMotionSequence()
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	m_currentPos = m_startPos;
+	m_isZeroing = false;
+	qDebug() << "MotionCaptureCoordinator::startMotionSequence: Zeroing complete. Starting motion sequence.";
 
 	processNextPosition();
 }
 
+void MotionCaptureCoordinator::handleZeroComplete(int motorID, double pos)
+{
+	if (!m_isRunning || !m_isZeroing) return;
+
+	// 归零完成，开始分步运动
+	startMotionSequence();
+}
+
 void MotionCaptureCoordinator::stopStepMotion()
 {
 	QMutexLocker locker(&m_dataMutex);
@@ -911,6 +959,13 @@ void MotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 {
 	if (!m_isRunning) return;
 
+	// 如果正在等待归零完成，调用归零完成处理
+	if (m_isZeroing)
+	{
+		handleZeroComplete(motorID, pos);
+		return;
+	}
+
 	QMutexLocker locker(&m_dataMutex);
 
 	//验证马达运动位置是否到达指定位置
diff --git a/HPPA/focusWindow.h b/HPPA/focusWindow.h
index 5893fb9..52c1768 100644
--- a/HPPA/focusWindow.h
+++ b/HPPA/focusWindow.h
@@ -70,14 +70,17 @@ signals:
 	void errorOccurred(const QString& error);
 	void moveTo(int, double, double, int);
 	void getFocusIndexSobel();
+	void zeroStart(int motorID);
 
 private slots:
 	void handlePositionReached(int motorID, double pos);
 	void handleCaptureComplete(double index);
 	void handleError(const QString& error);
+	void handleZeroComplete(int motorID, double pos);
 
 private:
 	void processNextPosition();
+	void startMotionSequence();
 
 	IrisMultiMotorController* m_motorCtrl;
 	ImagerOperationBase* m_cameraCtrl;
@@ -86,6 +89,7 @@ private:
 
 	double m_posInternal;
 	double m_currentPos;
+	double m_startPos;
 	double m_endPos;
 	bool m_isRunning;
 	double m_speed;
@@ -93,6 +97,7 @@ private:
 	int m_iStepInterval;
 	int m_iStepIntervalRealTime;
 	int m_counter;
+	bool m_isZeroing;
 };
 
 class focusWindow:public QDialog
@@ -134,6 +139,8 @@ private:
 	double m_goodPos;
 	bool m_isAutoFocusSuccess;
 	bool m_isMoveAfterAutoFocus = false;
+	int m_moveRetryCount = 0;
+	static constexpr int MAX_MOVE_RETRY = 3;
 	void getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init);
 	void gaussian_fit(const std::vector<double>& x_data, const std::vector<double>& y_data, double& a, double& mu, double& sigma, double& c);
 
@@ -142,6 +149,8 @@ private:
 	void connectMotor(bool isNotification);
 
 	void showMessageBox(QString msg, QString title = QString::fromLocal8Bit("提示"));
+	
+	double getErrorRate(double targetLoc, double actualLoc);
 
 public Q_SLOTS:
 	void onConnectMotor();
@@ -176,8 +185,10 @@ signals:
 	void zeroStartSignal(int);
 	void testConnectivitySignal(int, int);
 
-	void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);
+	void startStepMotionSignal(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);
 	void closeSignal();
+
+	void AutoFocusFinishedSignal(int status);
 };
 
 class WorkerThread2 : public QThread