diff --git a/vision_opencv b/vision_opencv
deleted file mode 160000
index 066793a..0000000
--- a/vision_opencv
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 066793a23e5d06d76c78ca3d69824a501c3554fd
diff --git a/vision_opencv.zip b/vision_opencv.zip
new file mode 100644
index 0000000..333db86
Binary files /dev/null and b/vision_opencv.zip differ
diff --git a/yacyac_core/bt_xml/bt_yac_supply.xml b/yacyac_core/bt_xml/bt_yac_supply.xml
index da4ddb0..9485bd7 100644
--- a/yacyac_core/bt_xml/bt_yac_supply.xml
+++ b/yacyac_core/bt_xml/bt_yac_supply.xml
@@ -12,14 +12,14 @@
 
     <BehaviorTree ID="YacSupply">
         <Sequence>
-            <SetBlackboard output_key="Goal_a" value="6;0;0;0;0;0;0;0" />
+            <SetBlackboard output_key="Goal_a" value="6;0;0;0;0;0;3;0" />
             <SetBlackboard output_key="Goal_b" value="0;0;0;0;6;0;0;0" />
             <SetBlackboard output_key="Goal_c" value="0;0;0;0;0;0;6;0" />
         
             <Sequence name="SetGoal">
                 <YacSupplyCilent goal="{Goal_a}" />
-                <YacSupplyCilent goal="{Goal_b}" />
-                <YacSupplyCilent goal="{Goal_c}" />
+                <!-- <YacSupplyCilent goal="{Goal_b}" /> -->
+                <!-- <YacSupplyCilent goal="{Goal_c}" /> -->
             </Sequence>
         </Sequence>
     </BehaviorTree>
diff --git a/yacyac_servo/yacyac_servo/action_servo_ctrl.py b/yacyac_servo/yacyac_servo/action_servo_ctrl.py
index 566aca5..92b15d0 100644
--- a/yacyac_servo/yacyac_servo/action_servo_ctrl.py
+++ b/yacyac_servo/yacyac_servo/action_servo_ctrl.py
@@ -10,6 +10,7 @@
 from yacyac_interface.action import Supply as SupplyAction
 from dynamixel_sdk_custom_interfaces.msg import SetPosition
 from dynamixel_sdk_custom_interfaces.srv import GetPosition
+from std_msgs.msg import Int32 
 
 # 목적 포지션을 받으면 그에 맞게 서보를 움직임
 # 목적 포지션에 도달하면 도착 메시지를 보냄
@@ -26,14 +27,29 @@ def __init__(self):
         # 현재 포지션을 서비스 클라이언트로 받아옴 
         self.cli = self.create_client(GetPosition, "/get_position")
 
+
+        # 현재 알약 배출개수 펍
+        self.pub_yac = self.create_publisher(Int32, "/yacyac/current_yac", 10)
+
         self.cmd_pose_id = Servo()
         self.cnt = 0
+        
+        self.current_yac = 0
+
+
+        # 큰약
+        # 목적 포지션 list
+        # 1023 to 300 degree
+        # 시계방향으로 돌아가는 포지션 리스트
+        self.big_position_set =  [0, 164, 328, 492, 656, 820] 
+
+        # 작은약
         # 목적 포지션 list
-        # 1023 to 360 degree
+        # 1023 to 300 degree
         # 시계방향으로 돌아가는 포지션 리스트
-        self.cw_position_set =  [0, 164, 328, 492, 656, 820] 
+        self.small_position_set =  [60, 224, 388, 552, 716, 880] 
         # 반 시계방향으로 돌아가는 포지션 리스트 
-        self.ccw_position_set = [915,751, 587,423, 259]
+
         # 방향 flag
         self.position_flag = [0, 0, 0, 0, 0, 0, 0, 0, 0]
         # 현재 포지션 index
@@ -45,11 +61,11 @@ def __init__(self):
         self.yac_cnt = 0
 
         print ("init positioning...")
-        # for i in range(8):
-        #     # 근처 포지션으로 이동합니다.
-        #     self.init_position(i)
-        #     # 원점 포지션으로 이동합니다. 
-        #     # self.reset_position(i)
+        for i in range(8):
+            # 근처 포지션으로 이동합니다.
+            self.init_position(i)
+            # 원점 포지션으로 이동합니다. 
+            # self.reset_position(i)
         print ("init positioning done!!!")
 
 
@@ -64,7 +80,7 @@ def execute_callback(self, goal_handle):
         for idx in range(len(supply_list)):
             if supply_list[idx] != 0:
                 self.control_position(idx, supply_list[idx], goal_handle)
-
+        self.current_yac = 0
         goal_handle.succeed()
 
         result = SupplyAction.Result()
@@ -77,7 +93,6 @@ def execute_callback(self, goal_handle):
 
 
 
-
     def init_position(self, id):
         req = GetPosition.Request()
         req.id = id
@@ -97,45 +112,54 @@ def init_position(self, id):
             
             cmd_pose = SetPosition()
             cmd_pose.id = id
-            flag = 0
-            for i, val in enumerate(self.cw_position_set):
-                diff = abs(response.position - val)
-                if diff < min_diff:
-                    min_diff = diff
-                    closest_idx = i
-                    cmd_pose.position = self.cw_position_set[closest_idx]
-                    flag = 1
-            for i, val in enumerate(self.ccw_position_set):
-                diff = abs(response.position - val)
-                if diff < min_diff:
-                    min_diff = diff
-                    closest_idx = i
-                    cmd_pose.position = self.ccw_position_set[closest_idx]
-                    flag = 0
-            if flag == 0:
-                self.position_flag[id] = 1
-                # print("cw")
-            else:
-                self.position_flag[id] = 0
+            if id < 2 :
+                for i, val in enumerate(self.big_position_set):
+                    diff = abs(response.position - val)
+                    if diff < min_diff:
+                        min_diff = diff
+                        closest_idx = i
+                        cmd_pose.position = self.big_position_set[closest_idx]
+                        
+                if closest_idx > 3:
+                    self.position_flag[id] = 1
+                else:
+                    self.position_flag[id] = 0
+              
                 # print("ccw")
-            # 리스트의 요소값과 같은 값이 있으면 그 인덱스를 반환
-            if flag: 
-                for i, val in enumerate(self.cw_position_set):
+                # 리스트의 요소값과 같은 값이 있으면 그 인덱스를 반환
+
+                for i, val in enumerate(self.big_position_set):
                     if val == cmd_pose.position:
-                        self.position_cnt[id] = i
+                        self.position_cnt[id] = i 
                         break
-            else:
-                for i, val in enumerate(self.ccw_position_set):
+   
+            else :
+                for i, val in enumerate(self.small_position_set):
+                    diff = abs(response.position - val)
+                    if diff < min_diff:
+                        min_diff = diff
+                        closest_idx = i
+                        cmd_pose.position = self.small_position_set[closest_idx]
+                        
+                if closest_idx > 3:
+                    self.position_flag[id] = 1
+                else:
+                    self.position_flag[id] = 0
+              
+                # print("ccw")
+                # 리스트의 요소값과 같은 값이 있으면 그 인덱스를 반환
+
+                for i, val in enumerate(self.small_position_set):
                     if val == cmd_pose.position:
-                        self.position_cnt[id] = i
-                        break
+                        self.position_cnt[id] = i 
+                        break 
+                
             self.pub.publish(cmd_pose)
-            time.sleep(0.1)
+            # time.sleep(0.1)
         else:
             self.get_logger().info(f"Service call for ID {id} failed")
 
 
-
     def control_position(self, id, servo, goal_handle):
         # 제조할 약의 개수 
         yac_num = servo
@@ -146,6 +170,10 @@ def control_position(self, id, servo, goal_handle):
             # 역방향 진행
             yac_num -= 1
             yac_cnt += 1
+            self.current_yac += 1
+            msg = Int32()
+            msg.data = self.current_yac
+            self.pub_yac.publish(msg)
             # yac_cnt 
             print(id, "번 약 ", servo, "개중 ", yac_cnt, "개 배출중...")
             feedback_msg = SupplyAction.Feedback()
@@ -153,46 +181,85 @@ def control_position(self, id, servo, goal_handle):
             feedback_msg.partial_sequence.append(self.yac_cnt)
             goal_handle.publish_feedback(feedback_msg)
             # self.get_logger().info('Feedback: {0}'.format(feedback_msg.partial_sequence))
-            if self.position_flag[id] == 1:
-                cmd_pose = SetPosition()
-                self.position_cnt[id] += 1
-                if self.position_cnt[id] >= len(self.ccw_position_set):
-                    self.position_cnt[id] = 0
-                    self.position_flag[id] = 0
-                    cmd_pose.position = self.cw_position_set[self.position_cnt[id]]
-                    cmd_pose.id = id
-                    self.pub.publish(cmd_pose)
-                else:    
-                    cmd_pose.position = self.ccw_position_set[self.position_cnt[id]]
-                    cmd_pose.id = id 
-                    self.pub.publish(cmd_pose)
-            else :
-                cmd_pose = SetPosition()
-                self.position_cnt[id] += 1
-                if self.position_cnt[id] >= len(self.cw_position_set):
-                    self.position_cnt[id] = 0
-                    self.position_flag[id] = 1
-                    cmd_pose.position = self.ccw_position_set[self.position_cnt[id]]
-                    cmd_pose.id = id
-                    self.pub.publish(cmd_pose)
-                else:    
-                    cmd_pose.position = self.cw_position_set[self.position_cnt[id]]
-                    cmd_pose.id = id 
-                    self.pub.publish(cmd_pose)
+       
+            # print(id, "번 약 ", servo, "개중 ", yac_cnt, "개 배출중...")
+
+            if id < 2:
+                print("큰약")
+                if self.position_flag[id] == 1:
+                    cmd_pose = SetPosition()
+                    self.position_cnt[id] += 1
+                    if self.position_cnt[id] == len(self.big_position_set):
+                        self.position_cnt[id] = 4
+                        self.position_flag[id] = 0
+                        cmd_pose.position = self.big_position_set[self.position_cnt[id]]
+                        cmd_pose.id = id
+                        self.pub.publish(cmd_pose)
+                    else:    
+                        cmd_pose.position = self.big_position_set[self.position_cnt[id]]
+                        cmd_pose.id = id 
+                        self.pub.publish(cmd_pose)
+                    # print(self.position_cnt)
+                else :
+                    cmd_pose = SetPosition()
+                    self.position_cnt[id] -= 1
+                    if self.position_cnt[id] < 0:
+                        self.position_cnt[id] = 1
+                        self.position_flag[id] = 1
+                        cmd_pose.position = self.big_position_set[self.position_cnt[id]]
+                        cmd_pose.id = id
+                        self.pub.publish(cmd_pose)
+                    else:    
+                        cmd_pose.position = self.big_position_set[self.position_cnt[id]]
+                        cmd_pose.id = id 
+                        self.pub.publish(cmd_pose)
+                    # print(self.position_cnt)
+
+
+                        
+            else:
+                print("작은약")
+                if self.position_flag[id] == 1:
+                    cmd_pose = SetPosition()
+                    self.position_cnt[id] += 1
+                    if self.position_cnt[id] == len(self.small_position_set):
+                        self.position_cnt[id] = 4
+                        self.position_flag[id] = 0
+                        cmd_pose.position = self.small_position_set[self.position_cnt[id]]
+                        cmd_pose.id = id
+                        self.pub.publish(cmd_pose)
+                    else:    
+                        cmd_pose.position = self.small_position_set[self.position_cnt[id]]
+                        cmd_pose.id = id 
+                        self.pub.publish(cmd_pose)
+                    # print(self.position_cnt)
+                else :
+                    cmd_pose = SetPosition()
+                    self.position_cnt[id] -= 1
+                    if self.position_cnt[id] < 0:
+                        self.position_cnt[id] = 1
+                        self.position_flag[id] = 1
+                        cmd_pose.position = self.small_position_set[self.position_cnt[id]]
+                        cmd_pose.id = id
+                        self.pub.publish(cmd_pose)
+                    else:    
+                        cmd_pose.position = self.small_position_set[self.position_cnt[id]]
+                        cmd_pose.id = id 
+                        self.pub.publish(cmd_pose)
+                    # print(self.position_cnt)
                 
-
-            time.sleep(1)
-            
+            time.sleep(0.5)
         print(id, "번 약 배출이 완료되었습니다.")
 
         
     def reset_position(self, id):
         cmd_pose = SetPosition()
         cmd_pose.id = id
-        cmd_pose.position = self.cw_position_set[0]
+        if id < 2:
+            cmd_pose.position = self.big_position_set[0]
+        else:   
+            cmd_pose.position = self.small_position_set[0]
         self.pub.publish(cmd_pose)
-        time.sleep(0.1)
-
 
 
 
@@ -205,7 +272,6 @@ def main(args=None):
     servo_node.destroy_node()
     rp.shutdown()
 
-
 if __name__ == "__main__":
     print("start servo_node")
     main()
diff --git a/yacyac_servo/yacyac_servo/servo_ctrl.py b/yacyac_servo/yacyac_servo/servo_ctrl.py
index 0dd593f..cf39ca2 100644
--- a/yacyac_servo/yacyac_servo/servo_ctrl.py
+++ b/yacyac_servo/yacyac_servo/servo_ctrl.py
@@ -28,28 +28,26 @@ def __init__(self):
         # 목적 포지션 list
         # 1023 to 300 degree
         # 시계방향으로 돌아가는 포지션 리스트
-        self.big_cw_position_set =  [0, 164, 328, 492, 656, 820] 
-        # 반 시계방향으로 돌아가는 포지션 리스트 
-        self.big_ccw_position_set = [915,751, 587,423, 259]
-        
+        self.big_position_set =  [0, 164, 328, 492, 656, 820] 
+
+
         # 작은약
         # 목적 포지션 list
         # 1023 to 300 degree
         # 시계방향으로 돌아가는 포지션 리스트
-        self.small_cw_position_set =  [0, 164, 328, 492, 656, 820] 
+        self.small_position_set =  [60, 224, 388, 552, 716, 880] 
         # 반 시계방향으로 돌아가는 포지션 리스트 
-        self.small_ccw_position_set = [915,751, 587,423, 259]
 
         # 방향 flag
         self.position_flag = [0, 0, 0, 0, 0, 0, 0, 0, 0]
         # 현재 포지션 index
         self.position_cnt =  [0, 0, 0, 0, 0, 0, 0, 0, 0]
-        print ("init positioning...")
+        print ("init positioasdasning...")
         for i in range(8):
             # 근처 포지션으로 이동합니다.
-            # self.init_position(i)
+            self.init_position(i)
             # 원점 포지션으로 이동합니다. 
-            self.reset_position(i)
+            # self.reset_position(i)
         print ("init positioning done!!!")
 
 
@@ -72,71 +70,47 @@ def init_position(self, id):
             
             cmd_pose = SetPosition()
             cmd_pose.id = id
-            flag = 0
             if id < 2 :
-                for i, val in enumerate(self.big_cw_position_set):
+                for i, val in enumerate(self.big_position_set):
                     diff = abs(response.position - val)
                     if diff < min_diff:
                         min_diff = diff
                         closest_idx = i
-                        cmd_pose.position = self.big_cw_position_set[closest_idx]
-                        flag = 1
-                for i, val in enumerate(self.big_ccw_position_set):
-                    diff = abs(response.position - val)
-                    if diff < min_diff:
-                        min_diff = diff
-                        closest_idx = i
-                        cmd_pose.position = self.big_ccw_position_set[closest_idx]
-                        flag = 0
-                if flag == 0:
+                        cmd_pose.position = self.big_position_set[closest_idx]
+                        
+                if closest_idx > 3:
                     self.position_flag[id] = 1
-                    # print("cw")
                 else:
                     self.position_flag[id] = 0
-                    # print("ccw")
+              
+                # print("ccw")
                 # 리스트의 요소값과 같은 값이 있으면 그 인덱스를 반환
-                if flag: 
-                    for i, val in enumerate(self.big_cw_position_set):
-                        if val == cmd_pose.position:
-                            self.position_cnt[id] = i
-                            break
-                else:
-                    for i, val in enumerate(self.big_ccw_position_set):
-                        if val == cmd_pose.position:
-                            self.position_cnt[id] = i
-                            break
+
+                for i, val in enumerate(self.big_position_set):
+                    if val == cmd_pose.position:
+                        self.position_cnt[id] = i 
+                        break
+   
             else :
-                for i, val in enumerate(self.small_cw_position_set):
-                    diff = abs(response.position - val)
-                    if diff < min_diff:
-                        min_diff = diff
-                        closest_idx = i
-                        cmd_pose.position = self.small_cw_position_set[closest_idx]
-                        flag = 1
-                for i, val in enumerate(self.small_ccw_position_set):
+                for i, val in enumerate(self.small_position_set):
                     diff = abs(response.position - val)
                     if diff < min_diff:
                         min_diff = diff
                         closest_idx = i
-                        cmd_pose.position = self.small_ccw_position_set[closest_idx]
-                        flag = 0
-                if flag == 0:
+                        cmd_pose.position = self.small_position_set[closest_idx]
+                        
+                if closest_idx > 3:
                     self.position_flag[id] = 1
-                    # print("cw")
                 else:
                     self.position_flag[id] = 0
-                    # print("ccw")
+              
+                # print("ccw")
                 # 리스트의 요소값과 같은 값이 있으면 그 인덱스를 반환
-                if flag: 
-                    for i, val in enumerate(self.small_cw_position_set):
-                        if val == cmd_pose.position:
-                            self.position_cnt[id] = i
-                            break
-                else:
-                    for i, val in enumerate(self.small_ccw_position_set):
-                        if val == cmd_pose.position:
-                            self.position_cnt[id] = i
-                            break
+
+                for i, val in enumerate(self.small_position_set):
+                    if val == cmd_pose.position:
+                        self.position_cnt[id] = i 
+                        break 
                 
             self.pub.publish(cmd_pose)
             # time.sleep(0.1)
@@ -157,77 +131,89 @@ def control_position(self, id, servo):
             yac_cnt += 1
             # yac_cnt 
             
-            print(id, "번 약 ", servo, "개중 ", yac_cnt, "개 배출중...")
+            # print(id, "번 약 ", servo, "개중 ", yac_cnt, "개 배출중...")
+
             if id < 2:
+                # print("큰약")
                 if self.position_flag[id] == 1:
                     cmd_pose = SetPosition()
                     self.position_cnt[id] += 1
-                    if self.position_cnt[id] >= len(self.big_ccw_position_set):
-                        self.position_cnt[id] = 0
+                    if self.position_cnt[id] == len(self.big_position_set):
+                        self.position_cnt[id] = 4
                         self.position_flag[id] = 0
-                        cmd_pose.position = self.big_cw_position_set[self.position_cnt[id]]
+                        cmd_pose.position = self.big_position_set[self.position_cnt[id]]
                         cmd_pose.id = id
                         self.pub.publish(cmd_pose)
                     else:    
-                        cmd_pose.position = self.big_ccw_position_set[self.position_cnt[id]]
+                        cmd_pose.position = self.big_position_set[self.position_cnt[id]]
                         cmd_pose.id = id 
                         self.pub.publish(cmd_pose)
+                    # print(self.position_cnt)
                 else :
                     cmd_pose = SetPosition()
-                    self.position_cnt[id] += 1
-                    if self.position_cnt[id] >= len(self.big_cw_position_set):
-                        self.position_cnt[id] = 0
+                    self.position_cnt[id] -= 1
+                    if self.position_cnt[id] < 0:
+                        self.position_cnt[id] = 1
                         self.position_flag[id] = 1
-                        cmd_pose.position = self.big_ccw_position_set[self.position_cnt[id]]
+                        cmd_pose.position = self.big_position_set[self.position_cnt[id]]
                         cmd_pose.id = id
                         self.pub.publish(cmd_pose)
                     else:    
-                        cmd_pose.position = self.big_cw_position_set[self.position_cnt[id]]
+                        cmd_pose.position = self.big_position_set[self.position_cnt[id]]
                         cmd_pose.id = id 
                         self.pub.publish(cmd_pose)
+                    # print(self.position_cnt)
+
+
+                        
             else:
+                print("작은약")
                 if self.position_flag[id] == 1:
                     cmd_pose = SetPosition()
                     self.position_cnt[id] += 1
-                    if self.position_cnt[id] >= len(self.small_ccw_position_set):
-                        self.position_cnt[id] = 0
+                    if self.position_cnt[id] == len(self.small_position_set):
+                        self.position_cnt[id] = 4
                         self.position_flag[id] = 0
-                        cmd_pose.position = self.small_cw_position_set[self.position_cnt[id]]
+                        cmd_pose.position = self.small_position_set[self.position_cnt[id]]
                         cmd_pose.id = id
                         self.pub.publish(cmd_pose)
                     else:    
-                        cmd_pose.position = self.small_ccw_position_set[self.position_cnt[id]]
+                        cmd_pose.position = self.small_position_set[self.position_cnt[id]]
                         cmd_pose.id = id 
                         self.pub.publish(cmd_pose)
+                    # print(self.position_cnt)
                 else :
                     cmd_pose = SetPosition()
-                    self.position_cnt[id] += 1
-                    if self.position_cnt[id] >= len(self.small_cw_position_set):
-                        self.position_cnt[id] = 0
+                    self.position_cnt[id] -= 1
+                    if self.position_cnt[id] < 0:
+                        self.position_cnt[id] = 1
                         self.position_flag[id] = 1
-                        cmd_pose.position = self.small_ccw_position_set[self.position_cnt[id]]
+                        cmd_pose.position = self.small_position_set[self.position_cnt[id]]
                         cmd_pose.id = id
                         self.pub.publish(cmd_pose)
                     else:    
-                        cmd_pose.position = self.small_cw_position_set[self.position_cnt[id]]
+                        cmd_pose.position = self.small_position_set[self.position_cnt[id]]
                         cmd_pose.id = id 
                         self.pub.publish(cmd_pose)
-                
+                    # print(self.position_cnt)
 
             # time.sleep(1)
-        print(id, "번 약 배출이 완료되었습니다.")
+        # print(id, "번 약 배출이 완료되었습니다.")
   
     def reset_position(self, id):
         cmd_pose = SetPosition()
         cmd_pose.id = id
-        cmd_pose.position = self.big_cw_position_set[0]
+        if id < 2:
+            cmd_pose.position = self.big_position_set[0]
+        else:   
+            cmd_pose.position = self.small_position_set[0]
         self.pub.publish(cmd_pose)
         # time.sleep(0.1)
 
     def callback_yac(self, msg):
         servo_list = list(msg.servo_list)
-        print("start position control")
-        print("list : ", servo_list)
+        # print("start position control")
+        # print("list : ", servo_list)
         for idx in range(len(servo_list)):
             if servo_list[idx] != 0:
                 self.control_position(idx, servo_list[idx])