diff --git a/vincecontrol.cpp b/vincecontrol.cpp
index 42bbfbc..9613a83 100644
--- a/vincecontrol.cpp
+++ b/vincecontrol.cpp
@@ -28,6 +28,12 @@ VinceControl::~VinceControl()
 		serial->close();
 		IsMotorInit = false;
 	}
+	if (protools==NETTCP)
+	{
+		tcpServer->close();
+		delete tcpServer;
+
+	}
 
 }
 
@@ -189,7 +195,7 @@ void VinceControl::SendCommandtoMotor(QString str, QString modor)
 				str = "0 " + str;
 			}
 			tcpSocket[i]->write(str.toUtf8().data());
-			tcpSocket[i]->waitForBytesWritten(1000);
+			tcpSocket[i]->waitForBytesWritten(50);
 			return;
 		}
 
@@ -272,7 +278,7 @@ void VinceControl::MoveMotar(bool direction, QString motornetid )
 		}
 	}
 
-	QThread::msleep(100);
+	//QThread::msleep(100);
 	QString commendtosend = "mov\n";
 	SendCommandtoMotor(commendtosend, motornetid);
 
@@ -290,9 +296,26 @@ void VinceControl::GetCommonRetrun(QByteArray &buf, QString id/*="non"*/)
 	{
 		if (protools==NETTCP)
 		{
+			if (!IsMotorInit)
+			{
+				return;
+			}
 			buf.clear();
-			tcpSocket[0]->waitForReadyRead(10000);
-			buf = tcpSocket[0]->readAll();
+			if (tcpSocket.size() == 0)
+			{
+				return;
+			}
+				
+			tcpSocket[0]->waitForReadyRead(4000);
+			if (tcpSocket.size() == 0)
+			{
+				return;
+			}
+			if (tcpSocket[0]->bytesAvailable())
+			{
+				buf = tcpSocket[0]->readAll();
+			}
+			
 		}
 	}
 }
@@ -397,10 +420,15 @@ void VinceControl::initme()
 void VinceControl::initMotor(QString motornetid /*= "non"*/)
 {
 		QByteArray buf;
+
 	//设置s1下降时停止旋转
 	QString commonstr = "cfg s1f=2\n";
 	SendCommandtoMotor(commonstr, motornetid);
 	GetCommonRetrun(buf, motornetid);
+	//设置细分
+	commonstr = "cfg mcs=7\n";
+	SendCommandtoMotor(commonstr, motornetid);
+	GetCommonRetrun(buf, motornetid);
 
 	commonstr = "cfg zmd=1\n";//归零尝试次数
 	SendCommandtoMotor(commonstr, motornetid);
@@ -436,18 +464,22 @@ void VinceControl::initMotor(QString motornetid /*= "non"*/)
 	commonstr = "cfg psv=0\n";
 	SendCommandtoMotor(commonstr, motornetid);
 	GetCommonRetrun(buf, motornetid);
-	commonstr = "cfg acc=10000\n";
+	//加速度设置为10000
+	commonstr = "cfg acc=20000\n";
 	SendCommandtoMotor(commonstr, motornetid);
 	GetCommonRetrun(buf, motornetid);
-	commonstr = "cfg dec=10000\n";
+	//减速度设置为10000
+	commonstr = "cfg dec=20000\n";
 	SendCommandtoMotor(commonstr, motornetid);
 	GetCommonRetrun(buf, motornetid);
+	//电流设置为4
 	commonstr = "cfg crn=4\n";
 	SendCommandtoMotor(commonstr, motornetid);
 	GetCommonRetrun(buf, motornetid);
 	commonstr = "cfg cra=4\n";
 	SendCommandtoMotor(commonstr, motornetid);
 	GetCommonRetrun(buf, motornetid);
+
 	
 
 }
@@ -504,11 +536,28 @@ void VinceControl::StopMotormove(QString motornetid )
 
 ByteBack VinceControl::GetState(QString motorid /*= "non"*/)
 {
+	ByteBack back;
+	if (!IsMotorInit)
+	{
+		back.Speed = -1000000;
+	}
 	QString commonstr = "cts\n";
 	SendCommandtoMotor(commonstr, motorid);
 	QByteArray buf;
 	GetCommonRetrun(buf,motorid);
-	ByteBack back = TranslateBytedata(buf, motorid);
+
+	if (buf.size()==0)
+	{
+		back.Speed = -1000000;
+		IsMotorInit = false;
+		emit SendLogToCallClass("motor " + QString::number(tcpServer->serverPort())+ " may be disconnect!!!");
+		
+	}
+	else
+	{
+		back = TranslateBytedata(buf, motorid);
+	}
+	 
 	return back;
 }
 
@@ -541,6 +590,7 @@ VinceControl::VinceControl(ProTools proto, int port)
 	connect(tcpServer, &QTcpServer::newConnection, this, &VinceControl::onNewTcpClinetConnet);
 
 
+
 }
 void VinceControl::onNewTcpClinetConnet()
 {
@@ -552,7 +602,8 @@ void VinceControl::onNewTcpClinetConnet()
 
 	tcpSocket.append(tcpServer->nextPendingConnection());
 //	connect(tcpSocket[tcpSocket.length() - 1], &QTcpSocket::readyRead, this, &VinceControl::onReciveFromClinet);
-
+	connect(tcpSocket[tcpSocket.length() - 1], &QTcpSocket::disconnected, this, &VinceControl::onClinetDisConnet);
+	//connect(tcpSocket[tcpSocket.length() - 1], SIGNAL(error(QAbstractSocket::SocketError)), this,SLOT(onClinetDisConnet()));
 	QString ip = tcpSocket[tcpSocket.length() - 1]->peerAddress().toString().split("::ffff:")[1];
 	Motorlist.append(ip);
 	bool statofmotor = false;
@@ -610,19 +661,24 @@ void VinceControl::onClinetDisConnet()
 	int lenth = Motorlist.length();
 	for (size_t i = 0; i < lenth; i++)
 	{
+		emit SendLogToCallClass(ip + "is disconnect");
 		if (Motorlist[i]==ip)
 		{
 			Motorlist.removeAt(i);
 			isSettingSpeedlist.removeAt(i);
 			Speedlist.removeAt(i);
-			delete tcpSocket[i];
+			//delete tcpSocket[i];
 			tcpSocket.removeAt(i);
+			IsMotorInit = false;
 			return;
 		}
 
-	}
+	}//多传感器需要修改
+	IsMotorInit = false;
 }
 
+
+
 void VinceControl::SendLog(QString str)
 {
 #ifdef LOGOUT
diff --git a/vincecontrol.vcxproj.user b/vincecontrol.vcxproj.user
index 895d7c2..ca343e4 100644
--- a/vincecontrol.vcxproj.user
+++ b/vincecontrol.vcxproj.user
@@ -5,11 +5,11 @@
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <QTDIR>C:\Qt\Qt5.8.0\5.8\msvc2013_64</QTDIR>
-    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
+    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <QTDIR>C:\Qt\Qt5.8.0\5.8\msvc2013_64</QTDIR>
-    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
+    <LocalDebuggerEnvironment>PATH=$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b"$(QTDIR)\bin%3b$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
     <LocalDebuggerEnvironment>PATH="$(QTDIR)\bin%3b$(PATH)</LocalDebuggerEnvironment>