diff --git a/Script/Model/ModelTrackControl.cs b/Script/Model/ModelTrackControl.cs
index bb3942c..63f3b1c 100644
--- a/Script/Model/ModelTrackControl.cs
+++ b/Script/Model/ModelTrackControl.cs
@@ -4,23 +4,8 @@ using Tmds.Linux;
 
 public class ModelTrackControl : EGModule, IEGFramework
 {
-    public const int SlaveID = 3;
-    public bool IsInitTrack { set; get; } = false;
-
-    public bool IsScanning { set; get; } = false;
-    public string PortName { set; get; } = "";
-
-    public Vector3 CurrentColorRGB { set; get; } = new Vector3();
-
-    public Vector3 CurrentColorHSV { set; get; } = new Vector3();
-
-    private IUnRegister ColorSensorEvent { set; get; }
 
     public int CurrentPosition { set; get; } = 0;
-    public int TargetPosition { set; get; } = 0;
-
-    public StatusTrack MoveStatus { set; get; } = StatusTrack.Stop;
-
     private ushort LowSpeed { set; get; }
     private ushort Speed { set; get; }
 
@@ -35,108 +20,6 @@ public class ModelTrackControl : EGModule, IEGFramework
         ResetTarget();
     }
 
-    public void EnableTrack()
-    {
-        this.EGSendMessage(new RequestTrackEnabled(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-        IsInitTrack = true;
-    }
-
-    public void StartTrack()
-    {
-        if (!IsInitTrack)
-        {
-            EnableTrack();
-        }
-        this.EGSendMessage(new RequestTrackSpeed(Speed), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-        this.EGSendMessage(new RequestTrackMove(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-    }
-
-    public void StartSlowTrack()
-    {
-        if (!IsInitTrack)
-        {
-            EnableTrack();
-        }
-        this.EGSendMessage(new RequestTrackSpeed(LowSpeed), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-        this.EGSendMessage(new RequestTrackMove(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-    }
-
-    public void BackTrack()
-    {
-        if (!IsInitTrack)
-        {
-            EnableTrack();
-        }
-        this.EGSendMessage(new RequestTrackSpeed(Speed), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-        this.EGSendMessage(new RequestTrackBack(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-    }
-
-    public void BackSlowTrack()
-    {
-        if (!IsInitTrack)
-        {
-            EnableTrack();
-        }
-        this.EGSendMessage(new RequestTrackSpeed(LowSpeed), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-        this.EGSendMessage(new RequestTrackBack(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-    }
-
-    public void StopTrack()
-    {
-        if (!IsInitTrack)
-        {
-            EnableTrack();
-        }
-        this.EGSendMessage(new RequestTrackSpeed(0), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-        this.EGSendMessage(new RequestTrackStop(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-    }
-
-    public void BreakTrack()
-    {
-        if (!IsInitTrack)
-        {
-            EnableTrack();
-        }
-        this.EGSendMessage(new RequestTrackBreak(), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-        this.EGSendMessage(new RequestTrackSpeed(0), this.GetModule<ModelSerialTest>().EngineSerialPort, ProtocolType.SerialPort);
-    }
-
-    public void MoveToPosition(int position)
-    {
-        if (this.CurrentPosition == position)
-        {
-            EG.Print("Position is same.Nothing need to move!");
-            return;
-        }
-        if (this.MoveStatus != StatusTrack.Stop)
-        {
-            EG.Print("Machine should be stop first!");
-            return;
-        }
-
-        if (!this.GetModule<ModelParamSetting>().Setting.ColorMapping.ContainsKey(position))
-        {
-            EG.Print("Position invalid!Please add color first!");
-            return;
-        }
-
-        TargetPosition = position;
-
-        if (this.CurrentPosition > position)
-        {
-            this.StartScanColor();
-            this.StartTrack();
-            this.MoveStatus = StatusTrack.Start;
-        }
-
-        if (this.CurrentPosition < position)
-        {
-            this.StartScanColor();
-            this.BackTrack();
-            this.MoveStatus = StatusTrack.Back;
-        }
-    }
-
     public void StartTarget()
     {
         if (CurrentRotation != 90)
@@ -166,144 +49,6 @@ public class ModelTrackControl : EGModule, IEGFramework
         }
     }
 
-    public void StartScanColor()
-    {
-        this.EGSendMessage(new RequestColorStartScan(), this.GetModule<ModelSerialTest>().ColorSerialPort, ProtocolType.SerialPort);
-        ColorSensorEvent = this.EGRegisterMessageEvent<ResponseColorSensor>(OnColorScanned);
-        IsScanning = true;
-    }
-
-    public void StopScanColor()
-    {
-        this.EGSendMessage(new RequestColorStopScan(), this.GetModule<ModelSerialTest>().ColorSerialPort, ProtocolType.SerialPort);
-        //null exception
-        ColorSensorEvent.UnRegister();
-        IsScanning = false;
-    }
-
-    public void ResetTrack()
-    {
-        this.CurrentPosition = 0;
-        this.StartScanColor();
-        this.StartTrack();
-        this.MoveStatus = StatusTrack.Reset;    
-    }
-
-    private float HueCache { set; get; } 
-    public void OnColorScanned(ResponseColorSensor color, string sender, ProtocolType type)
-    {
-        if (type == ProtocolType.SerialPort)
-        {
-            this.CurrentColorHSV = color.ColorHSV;
-            this.CurrentColorRGB = color.ColorRGB;
-            if (this.MoveStatus == StatusTrack.Start)
-            {
-                float currentHue = CurrentColorHSV.X;
-                if (MathF.Abs(HueCache - currentHue) > this.GetModule<ModelParamSetting>().Setting.ColorOffset)
-                {
-                    HueCache = currentHue;
-                    return;
-                }
-                float targetHue = this.GetModule<ModelParamSetting>().Setting.ColorMapping[TargetPosition].X;
-                bool compareResult = this.CompareHue(currentHue, targetHue);
-                if (compareResult)
-                {
-                    this.StartSlowTrack();
-                    this.MoveStatus = StatusTrack.StartSlow;
-                    BroadCastMoveStatus();
-                }
-            }
-
-            if (this.MoveStatus == StatusTrack.Back)
-            {
-                float currentHue = CurrentColorHSV.X;
-                if (MathF.Abs(HueCache - currentHue) > this.GetModule<ModelParamSetting>().Setting.ColorOffset)
-                {
-                    HueCache = currentHue;
-                    return;
-                }
-                float targetHue = this.GetModule<ModelParamSetting>().Setting.ColorMapping[TargetPosition].X;
-                bool compareResult = this.CompareHue(currentHue, targetHue);
-                if (compareResult)
-                {
-                    this.BackSlowTrack();
-                    this.MoveStatus = StatusTrack.BackSlow;
-                    BroadCastMoveStatus();
-                }
-            }
-
-            if (this.MoveStatus == StatusTrack.BackSlow || this.MoveStatus == StatusTrack.StartSlow)
-            {
-                float currentHue = CurrentColorHSV.X;
-                float targetHue = 4.0f;
-                bool compareResult = this.CompareHue(currentHue, targetHue);
-                if (compareResult)
-                {
-                    this.BreakTrack();
-                    this.MoveStatus = StatusTrack.Stop;
-                    this.StopScanColor();
-                    this.CurrentPosition = this.TargetPosition;
-                    BroadCastMoveStatus();
-                }
-            }
-
-            if(this.MoveStatus == StatusTrack.Reset)
-            {
-                float currentHue = CurrentColorHSV.X;
-                float targetHue = this.GetModule<ModelParamSetting>().Setting.ColorMapping[0].X;
-                bool compareResult = this.CompareHue(currentHue, targetHue);
-                if (compareResult)
-                {
-                    this.BreakTrack();
-                    this.MoveStatus = StatusTrack.Stop;
-                    this.StopScanColor();
-                    this.CurrentPosition = 0;
-                    BroadCastMoveStatus();
-                }
-            }
-            
-            HueCache = CurrentColorHSV.X;
-        }
-    }
-    
-    public bool CompareHue(float hue1,float hue2)
-    {
-        if (hue1 > hue2 - this.GetModule<ModelParamSetting>().Setting.ColorOffset &&
-        hue1 < hue2 + this.GetModule<ModelParamSetting>().Setting.ColorOffset)
-        {
-            return true;
-        }
-        else
-        {
-            return false;
-        }
-    }
-
-    public Vector3 GetColor()
-    {
-        return CurrentColorRGB;
-    }
-    public Vector3 GetColorHSV()
-    {
-        return CurrentColorHSV;
-    }
-
-    public void BroadCastMoveStatus()
-    {
-        if (this.EGTCPServer().LinkedIPs.ContainsKey(6557))
-        {
-            foreach (string sender in this.EGTCPServer().LinkedIPs[6557])
-            {
-                this.EGSendMessage<RequestControlMoveStatus>(new RequestControlMoveStatus()
-                {
-                    TargetID = this.GetModule<ModelParamSetting>().Setting.DeviceID,
-                    FunctionCode = 301,
-                    Position = this.GetModule<ModelTrackControl>().CurrentPosition,
-                    Status = MoveStatus
-                }, sender, ProtocolType.TCPServer);
-            }
-        }
-    }
 }
 
 public enum StatusTrack