diff --git a/Wheel_Simulation/Wheel_Simulation/App/Wheel_Simulation.exe b/Wheel_Simulation/Wheel_Simulation/App/Wheel_Simulation.exe
new file mode 100644
index 0000000..c6bff9e
Binary files /dev/null and b/Wheel_Simulation/Wheel_Simulation/App/Wheel_Simulation.exe differ
diff --git a/Wheel_Simulation/Wheel_Simulation/Main.cpp b/Wheel_Simulation/Wheel_Simulation/Main.cpp
index d38f13c..155612b 100644
--- a/Wheel_Simulation/Wheel_Simulation/Main.cpp
+++ b/Wheel_Simulation/Wheel_Simulation/Main.cpp
@@ -1,54 +1,81 @@
 #include <Siv3D.hpp> // OpenSiv3D v0.6.9
 #include"Object.h"
-
+#include"Steer.h"
+#include"PS5Controller.h"
 void Main()
 {
 	Window::SetStyle(WindowStyle::Sizable);
+	Window::SetTitle(U"Wheel_Simulation");
 	Color color = Palette::White;
 	Object robot;
-
+	Steer steer;
+	PS5Controller ps;
 	Vec2 LeftAxis{ 0,0 };
 	double InputTurn = 0;
-
+	double robotSpeed = 100;
 	size_t controllerIndex = 0;
-	bool stopped = true;
-	for (const auto& info : System::EnumerateGamepads())
-	{
-		Print << U"[{}] {} ({:#x} {:#x})"_fmt(info.playerIndex, info.name, info.vendorID, info.productID);
-	}
+	size_t robotIndex = 0;
 	while (System::Update())
 	{
-		SimpleGUI::RadioButtons(controllerIndex, { U"keybord",U"PS4 orPS5" },{10,100});
 		ClearPrint();
-		if (const auto gamepad = Gamepad(0)) {
-			/*ps5だったらGamepad(0)*/
-			/*ps4だったらGamepad(1)*/
-			//const auto& info = gamepad.getInfo();
-			if (controllerIndex) {
-				LeftAxis.x = (int)(gamepad.axes.at(0) * 255);
-				LeftAxis.y = -(int)(gamepad.axes.at(1) * 255);
-				InputTurn = (int)(gamepad.axes.at(2) * 255);
-				/*ps5だったらat(2)*/
-				/*ps4だったらat(3)*/
-			}
+
+		// "Licenses" ボタンが押されたら
+		if (SimpleGUI::Button(U"Licenses", Vec2{ 10, 250 }))
+		{
+			// ライセンス情報を表示
+			LicenseManager::ShowInBrowser();
 		}
-		if(controllerIndex == 0){
-			LeftAxis.y = KeyW.pressed() * 40 - KeyS.pressed() * 40;
-			LeftAxis.x = KeyD.pressed() * 40 - KeyA.pressed() * 40;
-			InputTurn = KeyRight.pressed() * 40 - KeyLeft.pressed() * 40;
+		switch (controllerIndex) {
+		case 0:
+			LeftAxis.y = KeyW.pressed() * 255 - KeyS.pressed() * 255;
+			LeftAxis.x = KeyD.pressed() * 255 - KeyA.pressed() * 255;
+			InputTurn = KeyRight.pressed() * 255 - KeyLeft.pressed() * 255;
+			break;
+		case 1:
+			ps.Update(0);
+			LeftAxis = ps.GetLeftAxis();
+			InputTurn = ps.GetRightAxis().x;
+			break;
 		}
 
-		Print << Scene::DeltaTime() * 1000;
-
+		//Print << Scene::DeltaTime() * 1000;
 
-		robot.SetPower({ 0,0,0,0 }, {0,0,0,0}).draw(color);
 
-		//std::array<double, 4>Wheel;
-		//Wheel[0] = LeftAxis.x + LeftAxis.y + InputTurn;
-		//Wheel[1] = LeftAxis.x - LeftAxis.y + InputTurn;
-		//Wheel[2] = -LeftAxis.x - LeftAxis.y + InputTurn;
-		//Wheel[3] = -LeftAxis.x + LeftAxis.y + InputTurn;
-		///*オムニ用角度*/
-		//	robot.SetPower(Wheel, { 45,135,225,315 }).draw(color);
+		if (robotIndex) {
+			steer.Update(LeftAxis, InputTurn, 0);
+			steer.Allow();
+			std::array<double, 4>angle = { steer.GetPower(place::LF).x
+				,steer.GetPower(place::RF).x
+				,steer.GetPower(place::RB).x
+				,steer.GetPower(place::LB).x };
+			std::array<double, 4>length = { steer.GetPower(place::LF).y
+				,steer.GetPower(place::RF).y
+				,steer.GetPower(place::RB).y
+				,steer.GetPower(place::LB).y
+			};
+			robot.SetPower(length, angle).draw(color);
+		}
+		else {
+			std::array<double, 4>Wheel;
+			Wheel[0] = LeftAxis.x + LeftAxis.y + InputTurn;
+			Wheel[1] = LeftAxis.x - LeftAxis.y + InputTurn;
+			Wheel[2] = -LeftAxis.x - LeftAxis.y + InputTurn;
+			Wheel[3] = -LeftAxis.x + LeftAxis.y + InputTurn;
+			const auto max = std::max(abs(*std::max_element(Wheel.begin(), Wheel.end()))
+				, abs(*std::min_element(Wheel.begin(), Wheel.end())));
+			double MAX = robotSpeed;
+			if (max > MAX) {
+				double maximum = MAX / max;
+				for (int i = 0; i < 4; i++) {
+					Wheel[i] *= maximum;
+				}
+			}
+			/*オムニ用角度*/
+			robot.SetPower(Wheel, { 45,135,225,315 }).draw(color);
+		}
+		SimpleGUI::RadioButtons(controllerIndex, { U"keybord",U"PS5" }, { 10,90 });
+		SimpleGUI::RadioButtons(robotIndex, { U"Omni",U"Steering" }, { 10,170 });
+		SimpleGUI::Slider(U"Speed{:.2f}"_fmt(robotSpeed), robotSpeed, 0, 255, Vec2{10, 50},130.0,150.0);
+		steer.SetPower(robotSpeed);
 	}
 }
diff --git a/Wheel_Simulation/Wheel_Simulation/Object.cpp b/Wheel_Simulation/Wheel_Simulation/Object.cpp
index ce2e417..1555071 100644
--- a/Wheel_Simulation/Wheel_Simulation/Object.cpp
+++ b/Wheel_Simulation/Wheel_Simulation/Object.cpp
@@ -28,7 +28,7 @@ Object& Object::draw(const Color& Framecolor=Palette::White) {
 			, 6
 			, Vec2{ 8,8 }).draw();
 	}
-	SimpleGUI::CheckBox(moveMode,U"ロボットの固定",Vec2{10,60});
+	SimpleGUI::CheckBox(moveMode,U"ロボットの固定",Vec2{10,10});
 	return *this;
 }
 
diff --git a/Wheel_Simulation/Wheel_Simulation/PS5Controller.cpp b/Wheel_Simulation/Wheel_Simulation/PS5Controller.cpp
new file mode 100644
index 0000000..6e87813
--- /dev/null
+++ b/Wheel_Simulation/Wheel_Simulation/PS5Controller.cpp
@@ -0,0 +1,75 @@
+#include "stdafx.h"
+#include "PS5Controller.h"
+
+void PS5Controller::Update(size_t playerIndex) {
+	if (playerIndex == 0) {
+		if (const auto gamepad = Gamepad(playerIndex)) {
+			/*ps5だったらGamepad(0)*/
+			/*ps4だったらGamepad(1)*/
+			//const auto& info = gamepad.getInfo();
+			leftAxis.x = gamepad.axes.at(0) * 255.00;
+			leftAxis.y = -gamepad.axes.at(1) * 255.00;
+			rightAxis.x = gamepad.axes.at(2) * 255.00;
+			/*ps5だったらat(2)*/
+			/*ps4だったらat(3)*/
+		}
+	}
+	else if (playerIndex == 1) {
+		if (const auto gamepad = Gamepad(playerIndex)) {
+			leftAxis.x = gamepad.axes.at(0) * 255.00;
+			leftAxis.y = -gamepad.axes.at(1) * 255.00;
+			rightAxis.x = gamepad.axes.at(3) * 255.00;
+		}
+	}
+
+	if (leftAxis.x > cutValue) {
+		leftAxis.x = map(leftAxis.x, cutValue, 255, 0, 255);
+	}else if (leftAxis.x < -cutValue) {
+		leftAxis.x = map(leftAxis.x, -cutValue, -255, 0, -255);
+	}
+	else {
+		leftAxis.x = 0;
+	}
+
+	if (leftAxis.y > cutValue) {
+		leftAxis.y = map(leftAxis.y, cutValue, 255, 0, 255);
+	}
+	else if (leftAxis.y < -cutValue) {
+		leftAxis.y = map(leftAxis.y, -cutValue, -255, 0, -255);
+	}
+	else {
+		leftAxis.y = 0;
+	}
+
+
+	if (rightAxis.x > cutValue) {
+		rightAxis.x = map(rightAxis.x, cutValue, 255, 0, 255);
+	}
+	else if (rightAxis.x < -cutValue) {
+		rightAxis.x = map(rightAxis.x, -cutValue, -255, 0, -255);
+	}
+	else {
+		rightAxis.x = 0;
+	}
+
+	if (rightAxis.y > cutValue) {
+		rightAxis.y = map(rightAxis.y, cutValue, 255, 0, 255);
+	}
+	else if (rightAxis.y < -cutValue) {
+		rightAxis.y = map(rightAxis.y, -cutValue, -255, 0, -255);
+	}
+	else {
+		rightAxis.y = 0;
+	}
+}
+
+
+
+Vec2 PS5Controller::GetLeftAxis() {
+	return leftAxis;
+}
+
+Vec2 PS5Controller::GetRightAxis() {
+	return rightAxis;
+}
+
diff --git a/Wheel_Simulation/Wheel_Simulation/PS5Controller.h b/Wheel_Simulation/Wheel_Simulation/PS5Controller.h
new file mode 100644
index 0000000..20d3b4e
--- /dev/null
+++ b/Wheel_Simulation/Wheel_Simulation/PS5Controller.h
@@ -0,0 +1,23 @@
+#pragma once
+class PS5Controller
+{
+private:
+	int cutValue=20;
+	Vec2 leftAxis = {};
+	Vec2 rightAxis = {};
+
+public:
+	PS5Controller() {}
+
+
+	void Update(size_t playerIndex);
+
+	Vec2 GetLeftAxis();
+
+	Vec2 GetRightAxis();
+
+	double map(double x, double in_min, double in_max, double out_min, double out_max) {
+		return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+	}
+};
+
diff --git a/Wheel_Simulation/Wheel_Simulation/Steer.cpp b/Wheel_Simulation/Wheel_Simulation/Steer.cpp
new file mode 100644
index 0000000..d94e5ff
--- /dev/null
+++ b/Wheel_Simulation/Wheel_Simulation/Steer.cpp
@@ -0,0 +1,68 @@
+#include "stdafx.h"
+#include "Steer.h"
+
+void Steer::Update(Vec2 Axis, double z, double gyro) {
+	/*とりあえずジャイロのことは加味せずに計算していく*/
+	/*z（旋回のベクトル）を(0,z)とすることでy軸と同じ方向になるベクトルが作れる*/
+	//LFから時計回りにタイヤの計算
+	/*
+	[0]LF　  ↑	     [1]RF
+	   |￣￣￣￣￣￣|
+	   |	   		| 
+	   |			|
+	   |			|
+	   |			|
+	   |____________|
+	[3]LB			 [2]RB
+	*/
+	std::array<Vec2, 4> data{};//計算結果一時保存場所
+
+	for (int i = 0; i < 4; i++) {//タイヤの出力計算
+		data[i] = Axis + Vec2{ 0,z }.rotate((i * -0.5 - 0.25) * Math::Pi);/*Vec2*/
+		//Tire[i].Update(ToDegrees(data[i].yx().rotated(-0.5 * Math::Pi).getAngle()),
+		//(double)data[i].length());
+
+		Tire[i].UpdateRev(ToDegrees(data[i].yx().rotated(-0.5 * Math::Pi).getAngle()),
+			(double)data[i].length());
+	}
+
+	/*PWMの最大値をとる*/
+	const auto max = (*std::max_element(Tire.begin(), Tire.end(), [](const Wheel& lhs, const Wheel& rhs) {
+		return abs(lhs.length) < abs(rhs.length);})).length;
+	if (max > MAX) {
+		double maximum = MAX / max;
+		for (int i = 0; i < 4; i++) {
+			Tire[i].length *= maximum;
+		}
+	}
+}
+
+void Steer::Show() {
+	//for(int i=0;i<4;++i)
+	//Print << U"angle  :"<< Tire[i].GetAngle();
+	//for(int i=0;i<4;++i)
+	//Print << U"length :"<< Tire[i].GetLength();
+}
+
+void Steer::Stop() {
+	for (int i = 0; i < 4;++i) {
+		Tire[i].Stop();
+	}
+}
+void Steer::Allow() {
+	for (int i = 0; i < 4; ++i) {
+		Tire[i].Allow();
+	}
+}
+
+Vec2 Steer::GetPower(place unit) {
+	return { Tire[static_cast<int>(unit)].GetAngle(),Tire[static_cast<int>(unit)].GetLength() };
+}
+
+void Steer::Culibration() {
+
+}
+
+void Steer::SetPower(double power) {
+	MAX = power;
+}
diff --git a/Wheel_Simulation/Wheel_Simulation/Steer.h b/Wheel_Simulation/Wheel_Simulation/Steer.h
new file mode 100644
index 0000000..2b7acfe
--- /dev/null
+++ b/Wheel_Simulation/Wheel_Simulation/Steer.h
@@ -0,0 +1,155 @@
+#pragma once
+
+enum class  place {
+	LF,
+	RF,
+	RB,
+	LB
+};
+
+class Steer
+{
+private:
+	/*ベクトルの計算後のデータ保存場所*/
+	struct Wheel {
+		double length, angle, oldAngle, newOffset,oldOffset;
+		int newRevLength = 1, oldRevLength = 1;/*モーターの値を反転するかの変数*/
+		bool stopFlag = false;
+
+		/// @brief -double--+doubleの範囲に変更する関数
+		void  Update(double newAngle, double newLength) {
+			angle = newAngle;
+			length = newLength;
+			/*nanのままいったん計算*/
+			/*無限増加を防ぐために違う変数を作る*/
+			double overAngle = angle + 180.00;
+			double oldOverAngle = oldAngle + 180.00;
+
+			/*nanとの比較演算子は常にfalseが出るらしい*/
+			/*nan判定の前にこれを行うことでバグはなくなるのでは？*/
+			if (oldOverAngle - overAngle > 330 && oldOverAngle - overAngle <= 360)
+				/*変化量がほぼ一周分になるときは一周したと判定する*/
+				newOffset += 360;
+			if (oldOverAngle - overAngle < -330 && oldOverAngle - overAngle >= -360)
+				/*変化量がほぼ一周分になるときは一周したと判定する*/
+				newOffset -= 360;
+
+			/*nanをなくす*/
+			if (IsNaN(angle))/*角度がnanのときは前周期の角度のままにする*/
+				angle = oldAngle;
+
+			/*最初はタイヤの回転角度は0から359までの範囲にする*/
+			/*最大の許容値を400としておいて、回転量が少ないときは小さく回転し、回転量が多いときにタイヤを反転して許容値から離す*/
+			if (GetAngle() >= 350) {
+				if (GetAngle() > 400)/*絶対反転角---個の角度になったときは必ず反転をする*/
+					newOffset -= 360.00;
+				if (angle - oldAngle > 20)/*指定量より動く回転の量が多いときタイヤをあるときのみ360回転させる*/
+					newOffset -= 360.00;
+			}
+			if (GetAngle() <= 10) {
+				if (GetAngle() < -40) /*絶対反転角---個の角度になったときは必ず反転をする*/
+					newOffset += 360.00;
+				if (angle - oldAngle < -20)/*指定量より動く回転の量が多いときタイヤをあるときのみ360回転させる*/
+					newOffset += 360.00;
+			}
+		}
+		void UpdateRev(double newAngle,double newLength) {/*ステアの最適化制御*/
+			oldAngle = angle;
+			oldOffset = newOffset;
+			oldRevLength = newRevLength;
+			if (stopFlag) {
+				angle = newAngle;
+				length = newLength;
+				double overAngle = angle + 180.00;
+				double oldOverAngle = oldAngle + 180.00;
+
+				/*nanとの比較演算子は常にfalseが出るらしい*/
+				/*nan判定の前にこれを行うことでバグはなくなるのでは？*/
+				if (oldOverAngle - overAngle > 330.00 && oldOverAngle - overAngle <= 360.00)
+					/*変化量がほぼ一周分になるときは一周したと判定する*/
+					newOffset += 360.00;
+				if (oldOverAngle - overAngle < -330.00 && oldOverAngle - overAngle >= -360.00)
+					/*変化量がほぼ一周分になるときは一周したと判定する*/
+					newOffset -= 360.00;
+
+				/*nanをなくす*/
+				if (IsNaN(angle))/*角度がnanのときは前周期の角度のままにする*/
+					angle = oldAngle;
+
+				/*回転量を最小にするための計算
+				　どっち回転が速いかの判定後計算する
+				*/
+				if (GetAngle() - GetOldAngle() > GetOldAngle() - GetAngle()) {
+					if (GetAngle() - GetOldAngle() > 90.00 && GetAngle() - GetOldAngle() <= 270.00) {
+						newOffset -= 180.00;
+						newRevLength *= -1;
+					}
+					else if (GetAngle() - GetOldAngle() > 270.00 && GetAngle() - GetOldAngle() <= 360.00) {
+						newOffset -= 360;
+					}
+				}
+				else {
+					if (GetAngle() - GetOldAngle() < -90.00 && GetAngle() - GetOldAngle() >= -270.00) {
+						newOffset += 180.00;
+						newRevLength *= -1;
+					}
+					else if (GetAngle() - GetOldAngle() < -270.00 && GetAngle() - GetOldAngle() >= -360.00) {
+						newOffset += 360;
+					}
+				}
+			}
+			else {
+				angle = oldAngle;
+				newOffset =oldOffset;
+				length = 0;
+				newRevLength =oldRevLength;
+			}
+		}
+		/// @brief タイヤの現在角度を返す関数
+		/// @return タイヤの現在角度
+		double GetAngle() {
+			return angle + newOffset;
+		}
+		/// @brief タイヤの全周期の角度を返す関数
+		/// @return 前周期の角度
+		double GetOldAngle() {
+			return oldAngle + oldOffset;
+		}
+		/// @brief モータのPWMを返す関数 
+		/// @return 回転モーターの出力値
+		double GetLength() {
+			return length * newRevLength;
+		}
+		void Stop() {
+			stopFlag = false;
+		}
+		void Allow() {
+			stopFlag = true;
+		}
+
+		/*タイヤの角度はゼロ点を取った瞬間は５０度*/
+		void SetAngle(double sets) {
+			newOffset = sets-angle;
+		}
+	};
+
+	std::array<Wheel, 4> Tire{};
+	double MAX = 0;
+public:
+	Steer() = default;
+
+	void Update(Vec2 Axis, double z, double gyro);
+
+	void Stop();
+
+	void Allow();
+
+	void Show();
+
+	Vec2 GetPower(place unit);
+
+	void Culibration();
+
+	void SetPower(double power);
+};
+
diff --git a/Wheel_Simulation/Wheel_Simulation/Wheel_Simulation.vcxproj b/Wheel_Simulation/Wheel_Simulation/Wheel_Simulation.vcxproj
index 29121c9..e910518 100644
--- a/Wheel_Simulation/Wheel_Simulation/Wheel_Simulation.vcxproj
+++ b/Wheel_Simulation/Wheel_Simulation/Wheel_Simulation.vcxproj
@@ -57,8 +57,8 @@
     <OutDir>$(SolutionDir)Intermediate\$(ProjectName)\Release\</OutDir>
     <IntDir>$(SolutionDir)Intermediate\$(ProjectName)\Release\Intermediate\</IntDir>
     <LocalDebuggerWorkingDirectory>$(ProjectDir)App</LocalDebuggerWorkingDirectory>
-    <IncludePath>$(SIV3D_0_6_8)\include;$(SIV3D_0_6_8)\include\ThirdParty;$(IncludePath)</IncludePath>
-    <LibraryPath>$(SIV3D_0_6_8)\lib\Windows;$(LibraryPath)</LibraryPath>
+    <IncludePath>$(SIV3D_0_6_9)\include;$(SIV3D_0_6_9)\include\ThirdParty;$(IncludePath)</IncludePath>
+    <LibraryPath>$(SIV3D_0_6_9)\lib\Windows;$(LibraryPath)</LibraryPath>
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <ClCompile>
@@ -101,6 +101,7 @@
       <AdditionalOptions>/Zc:__cplusplus %(AdditionalOptions)</AdditionalOptions>
       <PrecompiledHeader>Use</PrecompiledHeader>
       <ForcedIncludeFiles>stdafx.h;%(ForcedIncludeFiles)</ForcedIncludeFiles>
+      <BuildStlModules>false</BuildStlModules>
     </ClCompile>
     <Link>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
@@ -117,10 +118,12 @@
     <ClCompile Include="Main.cpp" />
     <ClCompile Include="Object.cpp" />
     <ClCompile Include="PdController.cpp" />
+    <ClCompile Include="PS5Controller.cpp" />
     <ClCompile Include="stdafx.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
     </ClCompile>
+    <ClCompile Include="Steer.cpp" />
   </ItemGroup>
   <ItemGroup>
     <Image Include="App\engine\texture\box-shadow\128.png" />
@@ -318,7 +321,9 @@
   <ItemGroup>
     <ClInclude Include="Object.h" />
     <ClInclude Include="PdController.h" />
+    <ClInclude Include="PS5Controller.h" />
     <ClInclude Include="stdafx.h" />
+    <ClInclude Include="Steer.h" />
   </ItemGroup>
   <ItemGroup>
     <None Include="App\example\obj\blacksmith.obj">
diff --git a/Wheel_Simulation/Wheel_Simulation/Wheel_Simulation.vcxproj.filters b/Wheel_Simulation/Wheel_Simulation/Wheel_Simulation.vcxproj.filters
index 7d61aeb..c5277fb 100644
--- a/Wheel_Simulation/Wheel_Simulation/Wheel_Simulation.vcxproj.filters
+++ b/Wheel_Simulation/Wheel_Simulation/Wheel_Simulation.vcxproj.filters
@@ -150,6 +150,12 @@
     <ClCompile Include="PdController.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="Steer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="PS5Controller.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <Image Include="App\icon.ico">
@@ -788,5 +794,11 @@
     <ClInclude Include="PdController.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="Steer.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="PS5Controller.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>
\ No newline at end of file