diff --git a/armor/include/armor_finder/armor_finder.h b/armor/include/armor_finder/armor_finder.h
index 9d74f97..0d30ef9 100644
--- a/armor/include/armor_finder/armor_finder.h
+++ b/armor/include/armor_finder/armor_finder.h
@@ -16,7 +16,7 @@ typedef enum{
 
 class ArmorFinder{
 public:
-    ArmorFinder(EnemyColor color, Uart &u, string paras_folder);
+    ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const bool &use);
     ~ArmorFinder() = default;
 
 private:
@@ -36,6 +36,7 @@ private:
 
     int  contour_area;
     Uart &uart;
+    const bool &use_classifier;
 
     bool stateSearchingTarget(cv::Mat &src);
     bool stateTrackingTarget(cv::Mat &src);
diff --git a/armor/src/armor_finder/armor_finder.cpp b/armor/src/armor_finder/armor_finder.cpp
index 8ee25c2..f20361d 100644
--- a/armor/src/armor_finder/armor_finder.cpp
+++ b/armor/src/armor_finder/armor_finder.cpp
@@ -8,12 +8,13 @@
 #include <opencv2/highgui.hpp>
 #include <armor_finder/armor_finder.h>
 
-ArmorFinder::ArmorFinder(EnemyColor color, Uart &u, string paras_folder) :
+ArmorFinder::ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const bool &use) :
             uart(u),
             enemy_color(color),
             state(STANDBY_STATE),
             classifier(std::move(paras_folder)),
-            contour_area(0)
+            contour_area(0),
+            use_classifier(use)
             {
 }
 
@@ -32,7 +33,7 @@ void ArmorFinder::run(cv::Mat &src) {
         case SEARCHING_STATE:
             if(stateSearchingTarget(src_use)){
                 if((armor_box & cv::Rect2d(0, 0, 640, 480)) == armor_box) {
-                    if(!classifier){
+                    if(!classifier && use_classifier){
                         cv::Mat roi = src_use.clone()(armor_box), roi_gray;
                         cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
                         cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
diff --git a/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp b/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp
index 2d017bf..fa541f5 100644
--- a/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp
+++ b/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp
@@ -194,7 +194,7 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
         showArmorBoxVector("boxes", split, armor_boxes);
         cv::waitKey(1);
     }
-    if(classifier){
+    if(classifier && use_classifier){
         for(auto box : armor_boxes){
             cv::Mat roi = src(box).clone();
             cv::resize(roi, roi, cv::Size(48, 36));
diff --git a/main.cpp b/main.cpp
index 2e0b7b7..5b5ae10 100644
--- a/main.cpp
+++ b/main.cpp
@@ -30,6 +30,7 @@ int state = ARMOR_STATE;
 float curr_yaw = 0, curr_pitch = 0;
 float mark_yaw = 0, mark_pitch = 0;
 int mark = 0;
+bool use_classifier = false;
 
 void uartReceive(Uart *uart);
 
@@ -72,7 +73,7 @@ int main(int argc, char *argv[]) {
             video_energy->read(armor_src);
         }
 
-        ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
+        ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/", use_classifier);
 
         Energy energy(uart);
         energy.setAllyColor(ally_color);
@@ -119,6 +120,7 @@ int main(int argc, char *argv[]) {
 void uartReceive(Uart *uart) {
     char buffer[100];
     int cnt = 0;
+    LOGM("data receive start!");
     while (true) {
         char data;
         while ((data = uart->receive()) != '\n') {
@@ -128,7 +130,8 @@ void uartReceive(Uart *uart) {
                 cnt = 0;
             }
         }
-        if (cnt == 10) {
+//        LOGM("%d", cnt);
+        if (cnt == 11) {
             if (buffer[8] == 'e') {
                 state = ENERGY_STATE;
                 LOG(RECEIVE_LOG_LEVEL, "Energy state");
@@ -136,6 +139,13 @@ void uartReceive(Uart *uart) {
                 state = ARMOR_STATE;
                 LOG(RECEIVE_LOG_LEVEL, "Armor state");
             }
+            if (buffer[10] == 0){
+                use_classifier = false;
+                LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
+            } else if(buffer[10] == 1){
+                use_classifier = true;
+                LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
+            }
             memcpy(&curr_yaw, buffer, 4);
             memcpy(&curr_pitch, buffer + 4, 4);
             LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);