diff --git a/README.md b/README.md
index 3792731..e04d91b 100644
--- a/README.md
+++ b/README.md
@@ -103,17 +103,17 @@ source devel/setup.bash
 (for python version) rosrun rl_sar rl_sim.py
 ```
 
-# Keyboard Controls
+Keyboard Controls
 
 * Press **\<Enter\>** to toggle the simulator between running and stopped.
 * Use **W/S** to control forward/backward movement, **A/D** to control turning, and **J/L** to control lateral movement. Press **\<Space\>** to reset all control commands to zero.
 * If the robot falls, press **R** to reset the Gazebo environment.
 * Press **0** to move the robot from its simulation start posture to `init_pos`, and press **1** to move the robot from `init_pos` back to its simulation start posture.
 
-# Gamepad Controls
+Gamepad Controls
 
 * Press **LB** to toggle the simulator between running and stopped.
-* Use **LY** to control forward/backward movement, **LX** to control turning, and **J** and **L** to control lateral movement.
+* **LY** controls forward/backward movement, **LX** controls lateral movement, and **RX** controls turning.
 * If the robot falls, press **RB+X** to reset the Gazebo environment.
 * Press **RB+Y** to move the robot from its simulation start posture to `init_pos`, and press **RB+A** to move the robot from `init_pos` back to its simulation start posture.
 
diff --git a/README_CN.md b/README_CN.md
index 91632d3..1fea8a3 100644
--- a/README_CN.md
+++ b/README_CN.md
@@ -113,7 +113,7 @@ source devel/setup.bash
 手柄控制：
 
 * 按 **LB** 切换仿真器运行/停止。
-* **LY** 控制水平移动，**LX** 控制转向，**J** 和 **L** 控制横向移动。
+* **LY** 控制前后移动，**LX** 控制横向移动，**RX** 控制转向。
 * 如果机器人摔倒，按 **RB+X** 重置Gazebo环境。
 * 按 **RB+Y** 让机器人从仿真开始的姿态运动到`init_pos`，按 **RB+A** 让机器人从`init_pos`运动到仿真开始的姿态。
 
diff --git a/src/rl_sar/src/rl_sim.cpp b/src/rl_sar/src/rl_sim.cpp
index a917d6e..23d5b68 100644
--- a/src/rl_sar/src/rl_sim.cpp
+++ b/src/rl_sar/src/rl_sim.cpp
@@ -235,8 +235,8 @@ void RL_Sim::JoyCallback(const sensor_msgs::Joy::ConstPtr &msg)
     }
 
     this->control.x = this->joy_msg.axes[1] * 1.5; // Ly
-    this->control.y = this->joy_msg.axes[3] * 1.5; // Rx
-    this->control.yaw = this->joy_msg.axes[0] * 1.5; // Lx
+    this->control.y = this->joy_msg.axes[0] * 1.5; // Lx
+    this->control.yaw = this->joy_msg.axes[3] * 1.5; // Rx
 }
 
 void RL_Sim::MapData(const std::vector<double> &source_data, std::vector<double> &target_data)