diff --git a/云台/云台/CarBody/Gimbal.c b/云台/云台/CarBody/Gimbal.c
index 2d25f39..ed267d1 100644
--- a/云台/云台/CarBody/Gimbal.c
+++ b/云台/云台/CarBody/Gimbal.c
@@ -26,12 +26,12 @@ KFP kfp_PITCH={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体
 
 
 uint8_t Gimbal_FrictionWheelFlag;//云台小陀螺标志位,云台开摩擦轮标志位
-uint8_t Fire_Flag=0;//开火指示位，用于单发限位
+bool Fire_Flag=0;//开火指示位，用于单发限位
 
 PID_PositionInitTypedef Gimbal_YawAnglePositionPID,Gimbal_YawAngleSpeedPID;//Yaw轴GM6020电机PID
 PID_PositionInitTypedef Gimbal_PitchAnglePositionPID,Gimbal_PitchAngleSpeedPID;//Pitch轴GM6020电机PID
 PID_PositionInitTypedef Gimbal_L2_FrictionWheelPID,Gimbal_R2_FrictionWheelPID,Gimbal_L1_FrictionWheelPID,Gimbal_R1_FrictionWheelPID;//摩擦轮转速PID
-PID_PositionInitTypedef Gimbal_RammerSpinSpeedPID;//拨弹盘旋转PID
+PID_PositionInitTypedef Gimbal_RammerSpinPositionPID;//拨弹盘旋转PID
 
 /*
  *函数简介:云台初始化
@@ -97,10 +97,10 @@ void Gimbal_Init(void)
 	PID_PositionSetEkRange(&Gimbal_R2_FrictionWheelPID,-1,1);
 	PID_PositionSetOUTRange(&Gimbal_R2_FrictionWheelPID,-15000,15000);
 
-	PID_PositionStructureInit(&Gimbal_RammerSpinSpeedPID,Gimbal_RammerSpeed);//拨弹盘
-	PID_PositionSetParameter(&Gimbal_RammerSpinSpeedPID,50,1,0);
-	PID_PositionSetEkRange(&Gimbal_RammerSpinSpeedPID,-1,1);
-	PID_PositionSetOUTRange(&Gimbal_RammerSpinSpeedPID,-2000,2000);
+	PID_PositionStructureInit(&Gimbal_RammerSpinPositionPID,Gimbal_RammerSpeed);//拨弹盘
+	PID_PositionSetParameter(&Gimbal_RammerSpinPositionPID,50,50,0);
+	PID_PositionSetEkRange(&Gimbal_RammerSpinPositionPID,-20,20);
+	PID_PositionSetOUTRange(&Gimbal_RammerSpinPositionPID,-2000,2000);
 
 	
 	
@@ -123,7 +123,7 @@ void Gimbal_CleanPID(void)
 	PID_PositionClean(&Gimbal_R1_FrictionWheelPID);
 	PID_PositionClean(&Gimbal_L2_FrictionWheelPID);
 	PID_PositionClean(&Gimbal_R2_FrictionWheelPID);
-	PID_PositionClean(&Gimbal_RammerSpinSpeedPID);
+	PID_PositionClean(&Gimbal_RammerSpinPositionPID);
 }
 
 
@@ -249,19 +249,19 @@ void Gimbal_Rammer(void)
 	if(Gimbal_FrictionWheelFlag==1)
 	{
 		if((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1)
-			Gimbal_RammerSpinSpeedPID.Need_Value+=-Gimbal_RammerSpeed;
+			Gimbal_RammerSpinPositionPID.Need_Value=-Gimbal_RammerSpeed;
 		else if((Remote_RxData.Remote_ThumbWheel>1050 && RefereeSystem_Status==0) || PC_Ejection==1)
-			Gimbal_RammerSpinSpeedPID.Need_Value+=Gimbal_RammerSpeed;
+			Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpeed;
 		else
-			Gimbal_RammerSpinSpeedPID.Need_Value=0;
+			Gimbal_RammerSpinPositionPID.Need_Value=0;
 	}
-	else Gimbal_RammerSpinSpeedPID.Need_Value=0;
+	else Gimbal_RammerSpinPositionPID.Need_Value=0;
 	
-	PID_PositionCalc(&Gimbal_RammerSpinSpeedPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
-	M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinSpeedPID.OUT,0);
+	PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
+	//M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
 	//PID_PositionCalc(&Gimbal_PitchAngleSpeedPID,GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Speed);
-	//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
-	//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
+	//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
+	//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
 }
 
 /*
@@ -274,31 +274,27 @@ void Gimbal_Rammer_Single_fire(void)
 {
 	if(Gimbal_FrictionWheelFlag==1)
 	{	
-		if(((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1) && Fire_Flag == 0)
+		if(((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1) && Fire_Flag != 1;)
 		{	
-			Gimbal_RammerSpinSpeedPID.Need_Value+=-Gimbal_RammerSpeed;//3,2,1 Fire!!!
+			Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpinPositionPID.Need_Value-Gimbal_RammerSingleAmmo;//3,2,1 Fire!!!
 			Fire_Flag=1;//单次开火标志置1
-		}
-		else if(((Remote_RxData.Remote_ThumbWheel>1050 && RefereeSystem_Status==0) || PC_Ejection==1) && Fire_Flag == 1)
+		else if((Remote_RxData.Remote_ThumbWheel>1050 && RefereeSystem_Status==0) || PC_Ejection==1)
 		{
-			Gimbal_RammerSpinSpeedPID.Need_Value+=Gimbal_RammerSpeed;//退弹	
+			Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpinPositionPID.Need_Value+Gimbal_RammerSpeed;//退弹	
 			Fire_Flag=0;//退弹就不用一发一发退了
 		}
-		else if(((Remote_RxData.Remote_ThumbWheel>1000 && Remote_RxData.Remote_ThumbWheel<1050) ) && Fire_Flag == 1)
-		{
-			//Gimbal_RammerSpinSpeedPID.Need_Value=0;//停止开火！
+		else
+			Gimbal_RammerSpinPositionPID.Need_Value=0;//停止开火！
 			Fire_Flag=0;
-		}
 	}
-	//else 
-		//Gimbal_RammerSpinSpeedPID.Need_Value=0;//防止意外走火？
+	else Gimbal_RammerSpinPositionPID.Need_Value=0;//防止意外走火？
 	
-	PID_PositionCalc(&Gimbal_RammerSpinSpeedPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorPosition);
+	PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
 
-	//M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinSpeedPID.OUT,0);
+	//M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
 
-	//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
-	//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
+	//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
+	//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
 }