diff --git a/lib/core/di/injection.dart b/lib/core/di/injection.dart
index 94ff6024..8b6e7446 100644
--- a/lib/core/di/injection.dart
+++ b/lib/core/di/injection.dart
@@ -51,6 +51,9 @@ import '../../features/devices/domain/usecases/save_work_record_usecase.dart';
 import '../../features/devices/domain/usecases/select_work_record_usecase.dart';
 import '../../features/devices/domain/usecases/switch_device_usecase.dart';
 import '../../features/devices/presentation/bloc/device_status_bloc.dart';
+import '../../features/remote_control/data/datasources/remote_http_datasource.dart';
+import '../../features/remote_control/data/datasources/remote_tcp_datasource.dart';
+import '../../features/remote_control/domain/usecase/remote_control_usecase.dart';
 import '../../features/remote_control/presentation/bloc/remote_control_cubit.dart';
 import '../app/app_user_cubit.dart';
 import '../network/dio_client.dart';
@@ -100,6 +103,13 @@ Future<void> init() async {
   sl.registerLazySingleton<DeviceHttpDatasource>(
     () => DeviceHttpDatasourceImpl(sl(), sl<UserStorage>()), //
   );
+  sl.registerLazySingleton<RemoteHttpDatasource>(
+        () => RemoteHttpDatasource(sl(), sl<UserStorage>()),
+  );
+
+  sl.registerLazySingleton<RemoteTcpDatasource>(
+        () => RemoteTcpDatasource(sl<TcpClient>(), sl<UserStorage>()),
+  );
 
   /// 3. 仓库 (Repository)
   sl.registerLazySingleton<AuthRepository>(
@@ -144,7 +154,7 @@ Future<void> init() async {
   );
 
   sl.registerLazySingleton<DeviceRepository>(() => DeviceRepositoryImpl(sl()));
-  sl.registerLazySingleton<RemoteControlRepository>(() => RemoteControlRepositoryImpl(sl(), sl()));
+  sl.registerLazySingleton<RemoteControlRepository>(() => RemoteControlRepositoryImpl(sl(), sl() ,sl(),sl()));
 
   /// 4. 用例 (UseCase)
   sl.registerLazySingleton(() => LoginUseCase(sl()));
@@ -167,11 +177,14 @@ Future<void> init() async {
     ),
   );
 
+  sl.registerLazySingleton<RequestControlPermissionUseCase>(() => RequestControlPermissionUseCase(sl()));
+
+
   /// 5. 状态管理 (Cubit/Bloc)
   sl.registerLazySingleton(() => AppUserCubit()); // AuthCubit 依赖它，必须先注册
   sl.registerLazySingleton(() => GetDeviceLocationUseCase(sl()));
   sl.registerLazySingleton(() => DevicesCubit(sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(), sl(),sl(),sl(),sl()));
-  sl.registerFactory(() => RemoteControlCubit(sl()));
+  sl.registerFactory(() => RemoteControlCubit(sl(),sl()));
   /* // 工厂模式（留存，每次获取新实例）
 
   sl.registerFactory(() => DeviceStatusBloc(sl<NetMessageDispatcher>()));
diff --git a/lib/features/remote_control/data/datasources/remote_http_datasource.dart b/lib/features/remote_control/data/datasources/remote_http_datasource.dart
index 4e18af21..c48200a7 100644
--- a/lib/features/remote_control/data/datasources/remote_http_datasource.dart
+++ b/lib/features/remote_control/data/datasources/remote_http_datasource.dart
@@ -1,12 +1,19 @@
+import 'dart:ffi';
+
 import 'package:dio/dio.dart';
+import 'package:flutter/cupertino.dart';
+
+import '../../../../core/storage/user_storage.dart';
 
 class RemoteHttpDatasource {
   final Dio _dio;
+  final UserStorage _userStorage; // 🔥 新增字段
 
-  RemoteHttpDatasource(this._dio);
+
+  RemoteHttpDatasource(this._dio,  this._userStorage);
 
   /// 示例：获取控制授权 (对应之前逻辑中的权限申请)
-  Future<Map<String, dynamic>> requestControlAuth(String robotId) async {
+/*  Future<Map<String, dynamic>> requestControlAuth(String robotId) async {
     try {
       final response = await _dio.post(
         '/robot/auth/request',
@@ -16,5 +23,36 @@ class RemoteHttpDatasource {
     } catch (e) {
       rethrow;
     }
+  }*/
+
+
+  Future<bool> requestRemoteControlViaHttp( String deviceId, String currentDeviceId) async {
+    final user = await _userStorage.getUser();
+    if (user == null) {
+      return false;
+    }
+    final token = user.token;
+    final response = await _dio.post(
+        '/forward/device/remoteControl',
+        options: Options(
+          headers: {
+            'Content-Type': 'application/json',
+            'Authorization': 'Bearer ${token}',
+          },
+        ),
+        data: {'deviceId': deviceId, 'platform': "app"});
+
+    try {
+      final data = response.data as Map<String, dynamic>;
+      final success = data['success'] as bool? ?? false;
+      if (success) {
+        return true;
+      } else {
+        return false;
+      }
+    } catch (e) {
+      debugPrint('❌ [RemoteHttp] 解析响应失败：$e');
+      return false;
+    }
   }
 }
diff --git a/lib/features/remote_control/data/datasources/remote_tcp_datasource.dart b/lib/features/remote_control/data/datasources/remote_tcp_datasource.dart
index e69de29b..c5be989f 100644
--- a/lib/features/remote_control/data/datasources/remote_tcp_datasource.dart
+++ b/lib/features/remote_control/data/datasources/remote_tcp_datasource.dart
@@ -0,0 +1,78 @@
+import 'dart:async';
+import 'dart:convert';
+
+import 'package:flutter/material.dart';
+
+import '../../../../core/network/protocol_decoder.dart';
+import '../../../../core/network/tcp/tcp_client.dart';
+import '../../../../core/protocol/machine_protocol_constants.dart';
+import '../../../../core/storage/user_storage.dart';
+
+/// 远程遥控 TCP 数据源
+/// 负责通过 TCP 协议发送控制指令和权限请求
+class RemoteTcpDatasource {
+  final TcpClient _tcpClient;
+  final UserStorage _userStorage;
+
+  RemoteTcpDatasource(this._tcpClient, this._userStorage);
+
+  /// 发送 switch_control 权限请求（对应 Android 的 requestSwitchControl）
+  /// 
+  /// 这是获取设备控制权的第一步：
+  /// 1. 先发送 TCP 0x12 指令携带 switch_control 请求
+  /// 2. 等待服务端响应
+  /// 3. 再调用 HTTP API 确认控制权
+  Future<void> sendSwitchControlRequest(String deviceName) async {
+    if (!_tcpClient.isConnected) {
+      debugPrint('❌ [TCP] 无法发送权限请求：Socket 未连接');
+      throw Exception('TCP 未连接');
+    }
+
+    try {
+      // 获取用户信息
+      final user = await _userStorage.getUser();
+      if (user == null || user.token == null) {
+        debugPrint('❌ [TCP] 认证失败：用户未登录或 Token 为空，无法发送认证包');
+        throw Exception('用户未登录或 Token 无效');
+      }
+
+      final username = user.username;
+      final token = user.token;
+      final currentDeviceId = deviceName;
+
+      // 构造 JSON 请求体（参考 Android 代码）
+      final request = {
+        'request': 'switch_control',
+        'deviceId': currentDeviceId,
+        'userId': username,
+        'platform': 'app',
+        'token': token,
+      };
+
+      final jsonStr = jsonEncode(request);
+      final jsonBytes = utf8.encode(jsonStr);
+
+      debugPrint('🔑 [TCP] 发送权限请求：$jsonStr');
+
+      // 使用 0x12 指令发送（cmdGetAuth）
+      // 注意：根据你的协议文档，这里可能是 0x04 或 0x12
+      // Android 代码中使用的是 0x12
+      _tcpClient.sendRaw(
+        MachineProtocolConstants.cmdGetAuth, // 0x04 或 0x12，根据实际协议调整
+        jsonBytes,
+      );
+
+      debugPrint('✅ [TCP] 已发送 switch_control 权限请求 (0x${MachineProtocolConstants.cmdGetAuth.toRadixString(16)})');
+    } catch (e) {
+      debugPrint('❌ [TCP] 发送权限请求失败：$e');
+      rethrow;
+    }
+  }
+
+  /// 监听 TCP 回包流
+  /// 用于接收权限响应、状态更新等
+  Stream<RawPacket> get responseStream => _tcpClient.packetStream;
+
+  /// 检查 TCP 连接状态
+  bool get isConnected => _tcpClient.isConnected;
+}
diff --git a/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart b/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart
index ec9626b5..c91d8583 100644
--- a/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart
+++ b/lib/features/remote_control/data/repositories/remote_control_repository_impl.dart
@@ -1,4 +1,8 @@
 import 'dart:async';
+import 'dart:convert';
+import 'dart:ffi';
+
+import 'package:flutter/cupertino.dart';
 
 import '../../../../core/network/protocol_decoder.dart';
 import '../../../../core/network/tcp/tcp_client.dart';
@@ -7,12 +11,17 @@ import '../../../../core/protocol/machine_protocol_constants.dart';
 import '../../domain/entities/machine_control_status_entity.dart';
 import '../../domain/repositories/remote_control_repository.dart';
 import '../../domain/usecase/diff_steer_usecase.dart';
+import '../datasources/remote_http_datasource.dart';
+import '../datasources/remote_tcp_datasource.dart';
 
 class RemoteControlRepositoryImpl implements RemoteControlRepository {
   final TcpClient _tcpClient;
   final DiffSteerUseCase _diffSteer;
+  final RemoteHttpDatasource _remoteHttp;
+  final RemoteTcpDatasource  _remoteTcp;
 
-  RemoteControlRepositoryImpl(this._tcpClient, this._diffSteer);
+
+  RemoteControlRepositoryImpl(this._tcpClient, this._diffSteer, this._remoteHttp, this._remoteTcp);
 
   @override
   void changeWebViewDirection(String direction) {
@@ -24,6 +33,11 @@ class RemoteControlRepositoryImpl implements RemoteControlRepository {
     // 1. 调用算法：将摇杆坐标 (x, y) 转换为左右轮电机转速
     final speeds = _diffSteer.calculate(status.originX, status.originY);
 
+
+    debugPrint('🎮 [摇杆数据] originX: ${status.originX}, originY: ${status.originY}');
+    debugPrint('⚙️ [电机速度] left: ${speeds['left']}, right: ${speeds['right']}');
+
+
     // 2. 调用 Codec：仅生成协议要求的 8 字节 Payload 负载数据
     final payload = MachineProtocolCodec.encodeRemoteControlPayload(
       left: speeds['left']!,
@@ -33,6 +47,7 @@ class RemoteControlRepositoryImpl implements RemoteControlRepository {
       ignition: status.ignitionStatus,
       emergency: status.isEmergency ? 1 : 0,
     );
+    debugPrint('📦 [发送数据] payload: ${payload}');
 
     // 3. 调用 TcpClient：发送指令。
     // TcpClient.sendRaw 会自动帮你加上 [0xAB, 0xAA] 头和 [0xAA, 0xAB] 尾
@@ -44,4 +59,16 @@ class RemoteControlRepositoryImpl implements RemoteControlRepository {
 
   @override
   Stream<RawPacket> get responseStream => _tcpClient.packetStream;
+
+  @override
+  Future<bool> requestControlPermission( String deviceName, String deviceId) async {
+    try {
+      await _remoteTcp.sendSwitchControlRequest(deviceName);
+      debugPrint('🔑 [RemoteControl] TCP已发送权限请求 (0x04)');
+       return  await _remoteHttp.requestRemoteControlViaHttp(deviceName, deviceId);
+    } catch (e) {
+      debugPrint('❌ [RemoteControl] 权限请求失败：$e');
+      rethrow;
+    }
+  }
 }
diff --git a/lib/features/remote_control/domain/repositories/remote_control_repository.dart b/lib/features/remote_control/domain/repositories/remote_control_repository.dart
index 4bc0ab55..5717f6bd 100644
--- a/lib/features/remote_control/domain/repositories/remote_control_repository.dart
+++ b/lib/features/remote_control/domain/repositories/remote_control_repository.dart
@@ -1,3 +1,5 @@
+import 'dart:ffi';
+
 import '../../../../core/network/protocol_decoder.dart';
 import '../../domain/entities/machine_control_status_entity.dart';
 
@@ -12,4 +14,7 @@ abstract class RemoteControlRepository {
 
   /// WebView 视角控制 (逻辑层面的切换，不涉及 TCP)
   void changeWebViewDirection(String direction);
+
+  /// 新增：请求控制权限 (发送 0x04 指令)
+  Future<bool> requestControlPermission(String deviceName, String deviceId);
 }
diff --git a/lib/features/remote_control/domain/usecase/diff_steer_usecase.dart b/lib/features/remote_control/domain/usecase/diff_steer_usecase.dart
index e9d92a4d..edaf3cce 100644
--- a/lib/features/remote_control/domain/usecase/diff_steer_usecase.dart
+++ b/lib/features/remote_control/domain/usecase/diff_steer_usecase.dart
@@ -29,4 +29,8 @@ class DiffSteerUseCase {
 
   int _signOperator(int num, int polarity) =>
       polarity != polarityHigh ? -num : num;
+
+
+
+
 }
diff --git a/lib/features/remote_control/domain/usecase/remote_control_usecase.dart b/lib/features/remote_control/domain/usecase/remote_control_usecase.dart
new file mode 100644
index 00000000..c239c124
--- /dev/null
+++ b/lib/features/remote_control/domain/usecase/remote_control_usecase.dart
@@ -0,0 +1,33 @@
+import 'package:fpdart/fpdart.dart';
+import'package:maibu_satabot_v2/core/domain/usecases/base_usecase.dart';
+import 'package:maibu_satabot_v2/core/error/failure.dart';
+import 'package:maibu_satabot_v2/features/remote_control/domain/repositories/remote_control_repository.dart';
+
+class RequestControlPermissionUseCase implements BaseUseCase<bool, RequestControlPermissionParams> {
+  final RemoteControlRepository remoteControlRepository;
+
+  RequestControlPermissionUseCase(this.remoteControlRepository);
+
+  @override
+  Future<Either<Failure, bool>> call(RequestControlPermissionParams params) async {
+    try {
+      final result = await remoteControlRepository.requestControlPermission(
+        params.deviceName,
+        params.deviceId,
+      );
+      return Right(result);
+    } catch (e) {
+      return Left(Failure('请求控制权限失败：$e'));
+    }
+  }
+}
+
+class RequestControlPermissionParams {
+  final String deviceName;
+  final String deviceId;
+
+  const RequestControlPermissionParams({
+    required this.deviceName,
+    required this.deviceId,
+  });
+}
diff --git a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart b/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
index c66176fb..efa09680 100644
--- a/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
+++ b/lib/features/remote_control/presentation/bloc/remote_control_cubit.dart
@@ -6,12 +6,14 @@ import 'package:maibu_satabot_v2/features/remote_control/presentation/bloc/remot
 
 import '../../domain/entities/machine_control_status_entity.dart';
 import '../../domain/repositories/remote_control_repository.dart';
+import '../../domain/usecase/remote_control_usecase.dart';
 
 class RemoteControlCubit extends Cubit<RemoteControlState> {
   final RemoteControlRepository _repository;
+  final RequestControlPermissionUseCase _requestControlPermissionUseCase;
   Timer? _timer;
 
-  RemoteControlCubit(this._repository)
+  RemoteControlCubit(this._repository,  this._requestControlPermissionUseCase)
     : super(
         RemoteControlState(
           controlEntity: MachineControlStatusEntity(),
@@ -61,7 +63,18 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
     emit(state.copyWith(controlEntity: updatedEntity));
   }
 
-  void updateOriginY(int y) {}
+  void updateOriginY(int y) {
+    final updatedEntity = state.controlEntity.copyWith(
+      y: y,
+    );
+    emit(state.copyWith(controlEntity: updatedEntity));
+  }
+  void updateOriginX(int x) {
+    final updatedEntity = state.controlEntity.copyWith(
+      x: x,
+    );
+    emit(state.copyWith(controlEntity: updatedEntity));
+  }
 
   // 5. 停止控制循环
   void stopControlLoop() {
@@ -99,4 +112,35 @@ class RemoteControlCubit extends Cubit<RemoteControlState> {
   void updateEmergency(bool bool) {}
 
   void respondPermission(bool bool) {}
+
+  void requestControlPermissionS(String deviceName, String deviceId) async {
+    // 1. 关闭弹窗
+    emit(state.copyWith(showPermissionRequestDialog: false));
+
+    // 2. 调用 UseCase
+    final result = await _requestControlPermissionUseCase(
+      RequestControlPermissionParams(
+        deviceName: deviceName,
+        deviceId: deviceId,
+      ),
+    );
+
+    // 3. 处理结果
+    result.fold(
+          (failure) {
+        print('❌ [RemoteControl] 请求控制权限失败：${failure.message}');
+        // 可以在这里显示错误提示或重新打开弹窗
+        emit(state.copyWith(showPermissionRequestDialog: true));
+
+      },
+          (success) {
+            emit(state.copyWith(hasPermission: true));
+        print('✅ c：$success');
+        // 权限申请已发送，等待 0x12 回包更新状态
+      },
+    );
+  }
+
+
+
 }
diff --git a/lib/features/remote_control/presentation/pages/remote_control_page.dart b/lib/features/remote_control/presentation/pages/remote_control_page.dart
index 00422643..d7528722 100644
--- a/lib/features/remote_control/presentation/pages/remote_control_page.dart
+++ b/lib/features/remote_control/presentation/pages/remote_control_page.dart
@@ -33,6 +33,10 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
     ]);
     // 2. 隐藏状态栏和虚拟按键
     SystemChrome.setEnabledSystemUIMode(SystemUiMode.immersiveSticky);
+
+    WidgetsBinding.instance.addPostFrameCallback((_) {
+      context.read<RemoteControlCubit>().startControlLoop();
+    });
   }
 
   @override
@@ -49,6 +53,11 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
     final deviceState = context.watch<DevicesCubit>().state;
     final currentDevice = deviceState.selectedDevice;
 
+    context.read<RemoteControlCubit>().requestControlPermissionS(
+      currentDevice!.deviceName,
+      "app",
+    );
+
     if (currentDevice == null) {
       return _buildOfflineScaffold();
     }
diff --git a/lib/features/remote_control/presentation/widgets/right_joystick_area.dart b/lib/features/remote_control/presentation/widgets/right_joystick_area.dart
index 011a04a6..04fb2921 100644
--- a/lib/features/remote_control/presentation/widgets/right_joystick_area.dart
+++ b/lib/features/remote_control/presentation/widgets/right_joystick_area.dart
@@ -31,7 +31,8 @@ class RightJoystickArea extends StatelessWidget {
               axisHint: AxisHint.leftRight, // 关键：指定为左右控制
               onValueChanged: (value) {
                 // 对应 viewModel.updateOriginX(x)
-                context.read<RemoteControlCubit>().updateOriginY(value.x);
+               /// context.read<RemoteControlCubit>().updateOriginY(value.x);
+                context.read<RemoteControlCubit>().updateOriginX(value.x);
               },
               onPress: () {
                 // 对应 VibrateOnce(current, 100)