diff --git a/__pycache__/Legs_controller.cpython-310.pyc b/__pycache__/Legs_controller.cpython-310.pyc
index 791a3e3..d291cc1 100644
Binary files a/__pycache__/Legs_controller.cpython-310.pyc and b/__pycache__/Legs_controller.cpython-310.pyc differ
diff --git a/__pycache__/balance.cpython-310.pyc b/__pycache__/balance.cpython-310.pyc
index fd19eb5..3a84468 100644
Binary files a/__pycache__/balance.cpython-310.pyc and b/__pycache__/balance.cpython-310.pyc differ
diff --git a/__pycache__/main.cpython-310.pyc b/__pycache__/main.cpython-310.pyc
new file mode 100644
index 0000000..af8764d
Binary files /dev/null and b/__pycache__/main.cpython-310.pyc differ
diff --git a/balance.py b/balance.py
index aab648d..2c86cf3 100644
--- a/balance.py
+++ b/balance.py
@@ -1,5 +1,5 @@
 import time
-import imu_py
+from dm_imu_pkg import imu_py
 from Legs_controller import LegsController
 
 class BalanceController:
diff --git a/dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO b/dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO
index 2f8081b..734b504 100644
--- a/dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO
+++ b/dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO
@@ -13,7 +13,7 @@ License-File: LICENSE
 Requires-Dist: pybind11>=2.10
 Requires-Dist: numpy<2.0
 Requires-Dist: pyserial>=3.5
-Requires-Dist: gradio
+Requires-Dist: gradio<5.0
 Dynamic: author
 Dynamic: license-file
 Dynamic: requires-python
diff --git a/dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt b/dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt
index f41fa33..29b70d5 100644
--- a/dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt
+++ b/dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt
@@ -1,4 +1,4 @@
 pybind11>=2.10
 numpy<2.0
 pyserial>=3.5
-gradio
+gradio<5.0
diff --git a/dm_imu_pkg/imu_py.cpython-312-darwin.so b/dm_imu_pkg/imu_py.cpython-312-darwin.so
new file mode 100755
index 0000000..f4d5014
Binary files /dev/null and b/dm_imu_pkg/imu_py.cpython-312-darwin.so differ
diff --git a/app_ui.py b/main.py
similarity index 98%
rename from app_ui.py
rename to main.py
index 19b5df1..eff50cb 100644
--- a/app_ui.py
+++ b/main.py
@@ -27,6 +27,7 @@ def log(msg: str) -> None:
 # 全局状态
 # -------------------------------------------------
 controller: BalanceController | None = None   # 单例
+motors_enabled = False   # 电机使能状态
 
 # -------------------------------------------------
 # 安全创建 BalanceController（带重试）
@@ -202,9 +203,9 @@ with gr.Blocks() as demo:
             start_btn   = gr.Button("▶️ 启动平衡控制")
             status_box  = gr.Textbox(label="状态", value=init_status, interactive=False)
 
-            enable_btn.click(fn=enable_all, inputs=None, outputs=[status_box, log_box])
-            disable_btn.click(fn=disable_all, inputs=None, outputs=[status_box, log_box])
-            start_btn.click(fn=start_balance, inputs=None, outputs=[status_box, log_box])
+            enable_btn.click(fn=enable_all, inputs=None, outputs=[status_box, log_box]) 
+            disable_btn.click(fn=disable_all, inputs=None, outputs=[status_box, log_box]) 
+            start_btn.click(fn=start_balance, inputs=None, outputs=[status_box, log_box]) 
 
         # 中间：位置控制
         with gr.Column():
diff --git a/pyproject.toml b/pyproject.toml
index 560ca5f..8ba1386 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -14,7 +14,7 @@ dependencies = [
     "pybind11>=2.10",
     "numpy<2.0",
     "pyserial>=3.5",
-    "gradio",
+    "gradio<6.0",
 ]
 classifiers = [
     "Programming Language :: Python :: 3",
diff --git a/u2can/__pycache__/DM_CAN.cpython-310.pyc b/u2can/__pycache__/DM_CAN.cpython-310.pyc
index 387caac..50a2cac 100644
Binary files a/u2can/__pycache__/DM_CAN.cpython-310.pyc and b/u2can/__pycache__/DM_CAN.cpython-310.pyc differ
diff --git a/ui.log b/ui.log
new file mode 100644
index 0000000..195e5cd
--- /dev/null
+++ b/ui.log
@@ -0,0 +1,2 @@
+2025-12-09 22:02:40,904 - INFO - 尝试创建 BalanceController（第 1 次）
+2025-12-09 22:03:37,277 - INFO - 尝试创建 BalanceController（第 1 次）