diff --git a/云台/云台/CarBody/Gimbal.c b/云台/云台/CarBody/Gimbal.c
index ff03815..75953ca 100644
--- a/云台/云台/CarBody/Gimbal.c
+++ b/云台/云台/CarBody/Gimbal.c
@@ -67,7 +67,7 @@ void Gimbal_Init(void)
 	PID_PositionStructureInit(&Gimbal_YawAngleSpeedPID,200);
 	PID_PositionSetParameter(&Gimbal_YawAngleSpeedPID,150,0,20);
 	PID_PositionSetEkRange(&Gimbal_YawAngleSpeedPID,-1,1);
-	PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-50000,50000);
+	PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-30000,30000);
 	
 	PID_PositionStructureInit(&Gimbal_PitchAnglePositionPID,0);//Pitch轴陀螺仪闭环
 	PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,40,0,700);
@@ -76,7 +76,7 @@ void Gimbal_Init(void)
 	PID_PositionStructureInit(&Gimbal_PitchAngleSpeedPID,150);
 	PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,150,0.001,7);
 	PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-0.1,0.1);
-	PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-50000,50000);
+	PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000);
 	
 	PID_PositionStructureInit(&Gimbal_L1_FrictionWheelPID,0);//左摩擦轮
 	PID_PositionSetParameter(&Gimbal_L1_FrictionWheelPID,15,0,0);
@@ -140,9 +140,9 @@ void Gimbal_CleanPID(void)
 void Gimbal_PitchControl(void)
 {
 	if(Remote_StartFlag==2)Gimbal_PitchAnglePositionPID.Need_Value=0;//遥控器刚建立连接时,复位Pitch轴角度
-	if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1020) && AttitudeAlgorithms_DegRoll>Pitch_GM6020AngleUpperLinit)
+	if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1030) && AttitudeAlgorithms_DegRoll>Pitch_GM6020AngleUpperLinit)
 	Gimbal_PitchAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;//通过遥控器或者鼠标获取俯仰情况
-	else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1030) && AttitudeAlgorithms_DegRoll<Pitch_GM6020AngleLowerLinit)
+	else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1020) && AttitudeAlgorithms_DegRoll<Pitch_GM6020AngleLowerLinit)
 	Gimbal_PitchAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;
 	
 	if((Remote_RxData.Remote_LS==2 && Visual_ReceiveFlag==1 ) || (Remote_RxData.Remote_Mouse_KeyR==1 && Visual_ReceiveFlag==1) )//自瞄,补偿角度
@@ -186,14 +186,14 @@ void Gimbal_YawControl(void)
 {
 	if(Remote_StartFlag==2)
 	Gimbal_YawAnglePositionPID.Need_Value=AttitudeAlgorithms_DegYaw;//遥控器刚建立连接时,复位Yaw轴角度
-	if((Remote_RxData.Remote_L_RL>1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1030)//根据摇杆改变偏航
+	if((Remote_RxData.Remote_L_RL>1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1028)//根据摇杆改变偏航
 	{
 		if(PC_Spin==0)
 		Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((Remote_RxData.Remote_L_RL-1024)/660.0f);
 		else
 		Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2);
 	}
-	else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1020)
+	else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1022)
 	{
 		if(PC_Spin==0)
 		Gimbal_YawAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((1024-Remote_RxData.Remote_L_RL)/660.0f);
@@ -261,7 +261,7 @@ void Gimbal_Rammer(void)
 	
 	PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
 	M3508_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
-	Delay_ms(1);
+	Delay_us(1500);
 	//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
 }
 
diff --git a/云台/云台/Objects/Project.axf b/云台/云台/Objects/Project.axf
index c2824b5..0247f14 100644
Binary files a/云台/云台/Objects/Project.axf and b/云台/云台/Objects/Project.axf differ
diff --git a/云台/云台/Objects/Project.build_log.htm b/云台/云台/Objects/Project.build_log.htm
index 44e1c32..fed9c0d 100644
--- a/云台/云台/Objects/Project.build_log.htm
+++ b/云台/云台/Objects/Project.build_log.htm
@@ -28,54 +28,56 @@ Project File Date:  03/24/2026
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin'
 Rebuild target 'Target 1'
 assembling startup_stm32f40_41xxx.s...
-compiling misc.c...
-compiling stm32f4xx_cec.c...
 compiling system_stm32f4xx.c...
+compiling misc.c...
 compiling stm32f4xx_crc.c...
-compiling stm32f4xx_cryp.c...
-compiling stm32f4xx_cryp_tdes.c...
-compiling stm32f4xx_flash.c...
-compiling stm32f4xx_dma2d.c...
-compiling stm32f4xx_can.c...
-compiling stm32f4xx_dac.c...
-compiling stm32f4xx_fsmc.c...
-compiling stm32f4xx_dsi.c...
-compiling stm32f4xx_adc.c...
-compiling stm32f4xx_exti.c...
-compiling stm32f4xx_gpio.c...
-compiling stm32f4xx_fmpi2c.c...
-compiling stm32f4xx_flash_ramfunc.c...
-compiling stm32f4xx_dbgmcu.c...
-compiling stm32f4xx_dcmi.c...
 compiling stm32f4xx_dfsdm.c...
+compiling stm32f4xx_cryp.c...
 compiling stm32f4xx_cryp_des.c...
+compiling stm32f4xx_cec.c...
+compiling stm32f4xx_cryp_tdes.c...
+compiling stm32f4xx_can.c...
+compiling stm32f4xx_adc.c...
+compiling stm32f4xx_dac.c...
+compiling stm32f4xx_dsi.c...
+compiling stm32f4xx_dbgmcu.c...
 compiling stm32f4xx_dma.c...
+compiling stm32f4xx_flash_ramfunc.c...
+compiling stm32f4xx_fmpi2c.c...
+compiling stm32f4xx_exti.c...
+compiling stm32f4xx_dcmi.c...
+compiling stm32f4xx_flash.c...
+compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_dma2d.c...
+compiling stm32f4xx_fsmc.c...
 compiling stm32f4xx_cryp_aes.c...
-compiling stm32f4xx_hash_md5.c...
 compiling stm32f4xx_hash.c...
-compiling stm32f4xx_lptim.c...
+compiling stm32f4xx_hash_md5.c...
 compiling stm32f4xx_hash_sha1.c...
-compiling stm32f4xx_iwdg.c...
 compiling stm32f4xx_i2c.c...
-compiling stm32f4xx_qspi.c...
+compiling stm32f4xx_iwdg.c...
+compiling stm32f4xx_lptim.c...
 compiling stm32f4xx_pwr.c...
-compiling stm32f4xx_rng.c...
-compiling stm32f4xx_ltdc.c...
-compiling stm32f4xx_rcc.c...
-compiling stm32f4xx_sai.c...
+compiling stm32f4xx_qspi.c...
 compiling stm32f4xx_spdifrx.c...
-compiling stm32f4xx_rtc.c...
-compiling stm32f4xx_sdio.c...
-compiling stm32f4xx_syscfg.c...
-compiling Delay.c...
-compiling stm32f4xx_spi.c...
-compiling stm32f4xx_wwdg.c...
+compiling stm32f4xx_rng.c...
 compiling TIM.c...
+compiling stm32f4xx_wwdg.c...
+compiling stm32f4xx_ltdc.c...
+compiling stm32f4xx_syscfg.c...
+compiling stm32f4xx_sai.c...
+compiling Delay.c...
+compiling stm32f4xx_rcc.c...
+compiling stm32f4xx_spi.c...
 compiling AHRS_middleware.c...
+compiling stm32f4xx_sdio.c...
 compiling stm32f4xx_usart.c...
 compiling UART.c...
-compiling user_lib.c...
+compiling stm32f4xx_rtc.c...
 compiling stm32f4xx_tim.c...
+compiling user_lib.c...
+compiling MyI2C.c...
+compiling CAN.c...
 compiling WaveFiltering_Kalman_Filtering.c...
 Control\WaveFiltering_Kalman_Filtering.c(13): warning:  #177-D: variable "pDst"  was declared but never referenced
   	   float pDst,pDst1=1.0f;
@@ -84,35 +86,33 @@ Control\WaveFiltering_Kalman_Filtering.c(13): warning:  #177-D: variable "pDst1"
 Control\WaveFiltering_Kalman_Filtering.c(32): warning:  #1-D: last line of file ends without a newline
    
 Control\WaveFiltering_Kalman_Filtering.c: 3 warnings, 0 errors
-compiling CAN.c...
-compiling MyI2C.c...
 compiling LED.c...
 compiling Buzzer.c...
 compiling Remote.c...
+compiling BMI088.c...
 compiling IST8310.c...
 compiling Laser.c...
-compiling BMI088.c...
 compiling M3508.c...
-compiling GM6020.c...
 compiling LinkCheck.c...
 compiling M2006.c...
-compiling Warming.c...
+compiling GM6020.c...
 compiling CToC.c...
+compiling Warming.c...
 compiling CloseLoopControl.c...
-compiling IMUTemperatureControl.c...
 compiling AttitudeAlgorithms.c...
 compiling PID.c...
+compiling IMUTemperatureControl.c...
 compiling Visual.c...
 CarBody\Visual.c(68): warning:  #9-D: nested comment is not allowed
   	UART2_Printf("%f %f %f %f  \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f*/
 CarBody\Visual.c(165): warning:  #1-D: last line of file ends without a newline
   }
 CarBody\Visual.c: 2 warnings, 0 errors
-compiling Gimbal.c...
 compiling RefereeSystem.c...
+compiling Gimbal.c...
 compiling Keyboard.c...
-compiling main.c...
 compiling stm32f4xx_it.c...
+compiling main.c...
 linking...
 Program Size: Code=31688 RO-data=1236 RW-data=552 ZI-data=3544  
 ".\Objects\Project.axf" - 0 Error(s), 5 Warning(s).
@@ -127,7 +127,7 @@ Package Vendor: Keil
 <h2>Collection of Component include folders:</h2>
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:05
+Build Time Elapsed:  00:00:04
 </pre>
 </body>
 </html>
diff --git a/云台/云台/Objects/Project.htm b/云台/云台/Objects/Project.htm
index c7d7071..f58b7e1 100644
--- a/云台/云台/Objects/Project.htm
+++ b/云台/云台/Objects/Project.htm
@@ -3,7 +3,7 @@
 <title>Static Call Graph - [.\Objects\Project.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\Project.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Fri Mar 27 09:17:46 2026
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sat Mar 28 08:56:26 2026
 <BR><P>
 <H3>Maximum Stack Usage =        280 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -1066,7 +1066,6 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IST8310_Init
 <LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_Init
 <LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay_s
-<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Rammer
 </UL>
 
 <P><STRONG><a name="[da]"></a>Delay_s</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, delay.o(i.Delay_s))
@@ -1079,6 +1078,7 @@ Global Symbols
 
 <P><STRONG><a name="[d9]"></a>Delay_us</STRONG> (Thumb, 74 bytes, Stack size 0 bytes, delay.o(i.Delay_us))
 <BR><BR>[Called By]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay_ms
+<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Rammer
 <LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
@@ -1259,10 +1259,10 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_MoveControl
 </UL>
 
-<P><STRONG><a name="[ee]"></a>Gimbal_Rammer</STRONG> (Thumb, 182 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_Rammer))
+<P><STRONG><a name="[ee]"></a>Gimbal_Rammer</STRONG> (Thumb, 184 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_Rammer))
 <BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = Gimbal_Rammer &rArr; M3508_CANSetHIDCurrent &rArr; CAN_TransmitStatus
 </UL>
-<BR>[Calls]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay_ms
+<BR>[Calls]<UL><LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay_us
 <LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_PositionCalc
 <LI><a href="#[ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;M3508_CANSetHIDCurrent
 </UL>
diff --git a/云台/云台/Objects/Project_Target 1.dep b/云台/云台/Objects/Project_Target 1.dep
index d23090b..b016f5e 100644
--- a/云台/云台/Objects/Project_Target 1.dep	
+++ b/云台/云台/Objects/Project_Target 1.dep	
@@ -1741,7 +1741,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632)
 I (.\Library\stm32f4xx_fsmc.h)(0x69B4F632)
 I (System\MyI2C.h)(0x69B4F633)
 F (.\System\MyI2C.h)(0x69B4F633)()
-F (.\System\CAN.c)(0x69C52105)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include

-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"

-o .\objects\can.o --omf_browse .\objects\can.crf --depend .\objects\can.d)
+F (.\System\CAN.c)(0x69C60212)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include

-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"

-o .\objects\can.o --omf_browse .\objects\can.crf --depend .\objects\can.d)
 I (.\Start\stm32f4xx.h)(0x69B4F633)
 I (.\Start\core_cm4.h)(0x69B4F633)
 I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2273,7 +2273,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632)
 I (.\Library\stm32f4xx_fsmc.h)(0x69B4F632)
 I (.\Hardware\Remote.h)(0x69B4F631)
 I (Function\CToC.h)(0x69B4F631)
-I (.\User\Parameter.h)(0x69C5DA88)
+I (.\User\Parameter.h)(0x69C72734)
 I (.\CarBody\RefereeSystem.h)(0x69B4F631)
 F (.\Function\CToC.h)(0x69B4F631)()
 F (.\Function\CloseLoopControl.c)(0x69B4F631)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include

-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"

-o .\objects\closeloopcontrol.o --omf_browse .\objects\closeloopcontrol.crf --depend .\objects\closeloopcontrol.d)
@@ -2442,7 +2442,7 @@ I (Control\WaveFiltering_Kalman_Filtering.h)(0x69B4F631)
 I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 F (.\Control\WaveFiltering_Kalman_Filtering.h)(0x69B4F631)()
-F (.\CarBody\Gimbal.c)(0x69C5DAB3)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include

-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"

-o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d)
+F (.\CarBody\Gimbal.c)(0x69C607BD)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include

-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"

-o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d)
 I (.\Start\stm32f4xx.h)(0x69B4F633)
 I (.\Start\core_cm4.h)(0x69B4F633)
 I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2477,7 +2477,7 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F631)
 I (.\Library\stm32f4xx_dac.h)(0x69B4F632)
 I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632)
 I (.\Library\stm32f4xx_fsmc.h)(0x69B4F632)
-I (.\User\Parameter.h)(0x69C5DA88)
+I (.\User\Parameter.h)(0x69C72734)
 I (.\Control\PID.h)(0x69B7BCD4)
 I (.\Hardware\Remote.h)(0x69B4F631)
 I (.\Function\AttitudeAlgorithms.h)(0x69B4F631)
@@ -2671,13 +2671,13 @@ I (.\Function\CToC.h)(0x69B4F631)
 I (.\Function\IMUTemperatureControl.h)(0x69B4F631)
 I (.\Function\AttitudeAlgorithms.h)(0x69B4F631)
 I (.\Function\Warming.h)(0x69B4F631)
-I (User\Parameter.h)(0x69C5DA88)
+I (User\Parameter.h)(0x69C72734)
 I (.\CarBody\Gimbal.h)(0x69B4F631)
 I (.\CarBody\Visual.h)(0x69B4F631)
 I (.\CarBody\RefereeSystem.h)(0x69B4F631)
 I (.\CarBody\Keyboard.h)(0x69B4F631)
 F (.\User\RM_C.h)(0x69B4F633)()
-F (.\User\Parameter.h)(0x69C5DA88)()
+F (.\User\Parameter.h)(0x69C72734)()
 F (.\User\stm32f4xx_conf.h)(0x69B4F633)()
 F (.\User\stm32f4xx_it.c)(0x69B4F633)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include

-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"

-o .\objects\stm32f4xx_it.o --omf_browse .\objects\stm32f4xx_it.crf --depend .\objects\stm32f4xx_it.d)
 I (User\stm32f4xx_it.h)(0x69B4F633)
diff --git a/云台/云台/Objects/can.crf b/云台/云台/Objects/can.crf
index e5ee336..aecc006 100644
Binary files a/云台/云台/Objects/can.crf and b/云台/云台/Objects/can.crf differ
diff --git a/云台/云台/Objects/ctoc.crf b/云台/云台/Objects/ctoc.crf
index 07581bf..885ba1b 100644
Binary files a/云台/云台/Objects/ctoc.crf and b/云台/云台/Objects/ctoc.crf differ
diff --git a/云台/云台/Objects/gimbal.crf b/云台/云台/Objects/gimbal.crf
index 864d942..da7a6d2 100644
Binary files a/云台/云台/Objects/gimbal.crf and b/云台/云台/Objects/gimbal.crf differ
diff --git a/云台/云台/Objects/main.crf b/云台/云台/Objects/main.crf
index 49dc6b5..21008a3 100644
Binary files a/云台/云台/Objects/main.crf and b/云台/云台/Objects/main.crf differ
diff --git a/云台/云台/Project.uvguix.LSMushui b/云台/云台/Project.uvguix.LSMushui
index 1a94519..b877c54 100644
--- a/云台/云台/Project.uvguix.LSMushui
+++ b/云台/云台/Project.uvguix.LSMushui
@@ -111,7 +111,7 @@
       <RegID>0</RegID>
       <MDITabState>
         <Len>756</Len>
-        <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000006000000030000000100000047433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C53797374656D5C43414E2E63000000000543414E2E6300000000C5D4F200FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C6D61696E2E6300000000066D61696E2E6300000000FFDC7800FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C506172616D657465722E68000000000B506172616D657465722E6800000000BECEA100FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C436172426F64795C47696D62616C2E63000000000847696D62616C2E6300000000F0A0A100FFFFFFFF48433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C4D6F746F725C4D333530382E6300000000074D333530382E6300000000BCA8E100FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C524D5F432E680000000006524D5F432E68000000009CC1B600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000002C01000066000000AB060000F0020000</Data>
+        <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000006000000020000000100000047433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C53797374656D5C43414E2E63000000000543414E2E6300000000C5D4F200FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C6D61696E2E6300000000066D61696E2E6300000000FFDC7800FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C506172616D657465722E68000000000B506172616D657465722E6800000000BECEA100FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C436172426F64795C47696D62616C2E63000000000847696D62616C2E6300000000F0A0A100FFFFFFFF48433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C4D6F746F725C4D333530382E6300000000074D333530382E6300000000BCA8E100FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C524D5F432E680000000006524D5F432E68000000009CC1B600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000002C01000066000000AB060000F0020000</Data>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -1822,7 +1822,7 @@
         <Name>Build</Name>
         <Buttons>
           <Len>976</Len>
-          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000002001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
+          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000004001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
         </Buttons>
         <OriginalItems>
           <Len>583</Len>
@@ -1862,19 +1862,19 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>3</ActiveTab>
+      <ActiveTab>2</ActiveTab>
       <Doc>
         <Name>.\System\CAN.c</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>31</CurrentLine>
+        <ColumnNumber>63</ColumnNumber>
+        <TopLine>214</TopLine>
+        <CurrentLine>215</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>.\User\main.c</Name>
-        <ColumnNumber>33</ColumnNumber>
+        <ColumnNumber>31</ColumnNumber>
         <TopLine>1</TopLine>
         <CurrentLine>20</CurrentLine>
         <Folding>1</Folding>
@@ -1883,18 +1883,18 @@
       </Doc>
       <Doc>
         <Name>.\User\Parameter.h</Name>
-        <ColumnNumber>55</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>14</CurrentLine>
+        <ColumnNumber>49</ColumnNumber>
+        <TopLine>3</TopLine>
+        <CurrentLine>13</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>.\CarBody\Gimbal.c</Name>
-        <ColumnNumber>4</ColumnNumber>
-        <TopLine>193</TopLine>
-        <CurrentLine>210</CurrentLine>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>188</TopLine>
+        <CurrentLine>223</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
diff --git a/云台/云台/System/CAN.c b/云台/云台/System/CAN.c
index cf88e7d..614fd04 100644
--- a/云台/云台/System/CAN.c
+++ b/云台/云台/System/CAN.c
@@ -12,7 +12,7 @@
 uint8_t CAN_CAN1DeviceNumber=6;//CAN1总线上设备数量
 uint8_t CAN_CAN2DeviceNumber=2;//CAN2总线上设备数量
 uint8_t CAN_DeviceNumber=8;//CAN总线上设备数量
-uint32_t CAN_CAN1IDList[10][2]={{CAN_M3508,M3508_7},{CAN_GM6020,GM6020_2},{CAN_M3508,M3508_1},{CAN_M3508,M3508_2},{CAN_M3508,M3508_3},{CAN_M3508,M3508_4},0};//CAN1总线上设备ID列表
+uint32_t CAN_CAN1IDList[10][2]={{CAN_GM6020,GM6020_2},{CAN_M3508,M3508_7},{CAN_M3508,M3508_1},{CAN_M3508,M3508_2},{CAN_M3508,M3508_3},{CAN_M3508,M3508_4},0};//CAN1总线上设备ID列表
 uint32_t CAN_CAN2IDList[10][2]={{CAN_GM6020,GM6020_1},{CAN_RoboMasterC,CToC_MasterID1},0};//CAN2总线上设备ID列表
 int8_t CAN_IDSelect=0;//CAN总线上ID列表选择位
 
@@ -222,8 +222,8 @@ void CAN1_RX0_IRQHandler(void)
 			{
 				RefereeSystem_ShooterOpenCounter=0;
 				RefereeSystem_ShooterOpenFlag=0;//发射机构离开上电期间
-				CAN_CAN1DeviceNumber=5;//添加CAN设备
-				CAN_DeviceNumber=6;
+				CAN_CAN1DeviceNumber=6;//添加CAN设备
+				CAN_DeviceNumber=8;
 			}
 		}
 		
@@ -269,8 +269,8 @@ void CAN2_RX1_IRQHandler(void)
 			{
 				RefereeSystem_ShooterOpenCounter=0;
 				RefereeSystem_ShooterOpenFlag=0;//发射机构离开上电期间
-				CAN_CAN1DeviceNumber=4;//添加CAN设备
-				CAN_DeviceNumber=6;
+				CAN_CAN1DeviceNumber=6;//添加CAN设备
+				CAN_DeviceNumber=8;
 			}
 		}
 				
diff --git a/云台/云台/User/Parameter.h b/云台/云台/User/Parameter.h
index e8cc63d..f5bda4c 100644
--- a/云台/云台/User/Parameter.h
+++ b/云台/云台/User/Parameter.h
@@ -10,7 +10,7 @@
 #define Pitch_GM6020AngleUpperLinit							-20.0f//Pitch轴编码器值上限
 
 /*=============================================云台参数=============================================*/
-#define Gimbal_FrictionWheelSpeed							-4000//摩擦轮转速 对应大弹丸11.7M/s
+#define Gimbal_FrictionWheelSpeed							-3000//摩擦轮转速 对应大弹丸11.7M/s
 #define Gimbal_RammerSpeed									-2500//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限
 #define Gimbal_RammerSingleAmmo								-200//拨弹盘3508单发旋转编码值
 
@@ -25,7 +25,7 @@
 
 #define PC_Spin												(Remote_RxData.Remote_Mouse_RL)//视角水平移动
 #define PC_Pitch											(Remote_RxData.Remote_Mouse_DU)//视角垂直移动
-#define PC_Mouse_RLSensitivity								3.0f//鼠标左右灵敏度
+#define PC_Mouse_RLSensitivity								4.0f//鼠标左右灵敏度
 #define PC_Mouse_DUSensitivity								8.0f//鼠标上下灵敏度
 
 #define PC_FrictionWheel									(Remote_RxData.Remote_KeyPush_Q)//摩擦轮
diff --git a/底盘/底盘/CarBody/Mecanum.c b/底盘/底盘/CarBody/Mecanum.c
index 0bfdef8..0d02f8f 100644
--- a/底盘/底盘/CarBody/Mecanum.c
+++ b/底盘/底盘/CarBody/Mecanum.c
@@ -56,7 +56,7 @@ void Mecanum_Init(void)
 	PID_PositionStructureInit(&Mecanum_TrackPID,Yaw_GM6020PositionValue);//底盘跟随
 	
 	//Raw Code//
-	PID_PositionSetParameter(&Mecanum_TrackPID,0.01,0,1);//随便写的PID值，勉强可以用
+	PID_PositionSetParameter(&Mecanum_TrackPID,0.02,0,5);//随便写的PID值，勉强可以用
 	//Testing Code//
 	//PID_PositionSetParameter(&Mecanum_TrackPID,0,0,0);
 	
diff --git a/底盘/底盘/Objects/Project.axf b/底盘/底盘/Objects/Project.axf
index 7f02f65..fb9f303 100644
Binary files a/底盘/底盘/Objects/Project.axf and b/底盘/底盘/Objects/Project.axf differ
diff --git a/底盘/底盘/Objects/Project.build_log.htm b/底盘/底盘/Objects/Project.build_log.htm
index af3b1b7..c24565c 100644
--- a/底盘/底盘/Objects/Project.build_log.htm
+++ b/底盘/底盘/Objects/Project.build_log.htm
@@ -28,70 +28,70 @@ Project File Date:  03/26/2026
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin'
 Rebuild target 'Target 1'
 assembling startup_stm32f40_41xxx.s...
-compiling misc.c...
 compiling system_stm32f4xx.c...
 compiling stm32f4xx_cec.c...
-compiling stm32f4xx_flash_ramfunc.c...
-compiling stm32f4xx_dcmi.c...
-compiling stm32f4xx_dma2d.c...
-compiling stm32f4xx_adc.c...
-compiling stm32f4xx_can.c...
-compiling stm32f4xx_cryp_des.c...
-compiling stm32f4xx_cryp_tdes.c...
 compiling stm32f4xx_crc.c...
-compiling stm32f4xx_dfsdm.c...
-compiling stm32f4xx_exti.c...
-compiling stm32f4xx_dma.c...
-compiling stm32f4xx_dsi.c...
-compiling stm32f4xx_fmpi2c.c...
-compiling stm32f4xx_gpio.c...
-compiling stm32f4xx_dbgmcu.c...
-compiling stm32f4xx_dac.c...
-compiling stm32f4xx_flash.c...
+compiling misc.c...
 compiling stm32f4xx_cryp.c...
+compiling stm32f4xx_cryp_des.c...
+compiling stm32f4xx_flash_ramfunc.c...
+compiling stm32f4xx_can.c...
+compiling stm32f4xx_adc.c...
+compiling stm32f4xx_flash.c...
 compiling stm32f4xx_fsmc.c...
+compiling stm32f4xx_dac.c...
+compiling stm32f4xx_exti.c...
+compiling stm32f4xx_dfsdm.c...
+compiling stm32f4xx_fmpi2c.c...
+compiling stm32f4xx_cryp_tdes.c...
+compiling stm32f4xx_dbgmcu.c...
+compiling stm32f4xx_dsi.c...
+compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_dma2d.c...
+compiling stm32f4xx_dcmi.c...
+compiling stm32f4xx_dma.c...
 compiling stm32f4xx_cryp_aes.c...
-compiling stm32f4xx_hash_md5.c...
 compiling stm32f4xx_hash.c...
+compiling stm32f4xx_hash_md5.c...
 compiling stm32f4xx_hash_sha1.c...
 compiling stm32f4xx_i2c.c...
 compiling stm32f4xx_iwdg.c...
 compiling stm32f4xx_lptim.c...
-compiling stm32f4xx_pwr.c...
 compiling stm32f4xx_qspi.c...
+compiling stm32f4xx_pwr.c...
 compiling stm32f4xx_ltdc.c...
 compiling stm32f4xx_rng.c...
-compiling stm32f4xx_rcc.c...
 compiling stm32f4xx_sai.c...
 compiling stm32f4xx_spdifrx.c...
-compiling stm32f4xx_sdio.c...
-compiling stm32f4xx_syscfg.c...
 compiling TIM.c...
-compiling stm32f4xx_wwdg.c...
-compiling stm32f4xx_spi.c...
-compiling stm32f4xx_rtc.c...
+compiling stm32f4xx_syscfg.c...
 compiling Delay.c...
+compiling stm32f4xx_rcc.c...
+compiling stm32f4xx_wwdg.c...
+compiling stm32f4xx_sdio.c...
+compiling stm32f4xx_spi.c...
 compiling stm32f4xx_usart.c...
 compiling UART.c...
+compiling stm32f4xx_rtc.c...
 compiling stm32f4xx_tim.c...
-compiling Buzzer.c...
-compiling LED.c...
 compiling CAN.c...
-compiling Remote.c...
+compiling LED.c...
+compiling Buzzer.c...
 compiling GM6020.c...
 compiling M3508.c...
+compiling Remote.c...
 compiling LinkCheck.c...
 compiling Warming.c...
 compiling CToC.c...
 compiling CloseLoopControl.c...
 compiling PID.c...
 compiling RefereeSystem.c...
-compiling RefereeSystem_CRCTable.c...
 compiling Mecanum.c...
-compiling Ultra_CAP.c...
+compiling RefereeSystem_CRCTable.c...
 compiling UI.c...
-compiling stm32f4xx_it.c...
 compiling UI_Base.c...
+compiling Ultra_CAP.c...
+compiling stm32f4xx_it.c...
 compiling main.c...
 compiling UI_Library.c...
 linking...
diff --git a/底盘/底盘/Objects/Project.htm b/底盘/底盘/Objects/Project.htm
index 2ac68aa..e67cf48 100644
--- a/底盘/底盘/Objects/Project.htm
+++ b/底盘/底盘/Objects/Project.htm
@@ -3,7 +3,7 @@
 <title>Static Call Graph - [.\Objects\Project.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\Project.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Fri Mar 27 09:19:29 2026
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sat Mar 28 08:58:46 2026
 <BR><P>
 <H3>Maximum Stack Usage =        232 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
diff --git a/底盘/底盘/Objects/Project_Target 1.dep b/底盘/底盘/Objects/Project_Target 1.dep
index cca49db..f63388f 100644
--- a/底盘/底盘/Objects/Project_Target 1.dep	
+++ b/底盘/底盘/Objects/Project_Target 1.dep	
@@ -2132,7 +2132,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
 I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
 I (Control\PID.h)(0x69B4F634)
 F (.\Control\PID.h)(0x69B4F634)()
-F (.\CarBody\Mecanum.c)(0x69C5DB1B)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include

-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx

-o .\objects\mecanum.o --omf_browse .\objects\mecanum.crf --depend .\objects\mecanum.d)
+F (.\CarBody\Mecanum.c)(0x69C5E285)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include

-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx

-o .\objects\mecanum.o --omf_browse .\objects\mecanum.crf --depend .\objects\mecanum.d)
 I (.\Start\stm32f4xx.h)(0x69B4F635)
 I (.\Start\core_cm4.h)(0x69B4F635)
 I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2172,7 +2172,7 @@ I (.\Motor\M3508.h)(0x69B4F634)
 I (.\Motor\GM6020.h)(0x69B4F634)
 I (.\Hardware\Remote.h)(0x69B4F634)
 I (.\Control\PID.h)(0x69B4F634)
-I (.\User\Parameter.h)(0x69C5DA94)
+I (.\User\Parameter.h)(0x69C727C0)
 I (CarBody\RefereeSystem.h)(0x69B4F633)
 I (CarBody\Ultra_CAP.h)(0x69B4F633)
 I (CarBody\Mecanum.h)(0x69B4F633)
@@ -2458,14 +2458,14 @@ I (.\Function\LinkCheck.h)(0x69B4F634)
 I (.\Function\CloseLoopControl.h)(0x69B4F634)
 I (.\Function\CToC.h)(0x69B4F634)
 I (.\Function\Warming.h)(0x69B4F634)
-I (User\Parameter.h)(0x69C5DA94)
+I (User\Parameter.h)(0x69C727C0)
 I (.\CarBody\Mecanum.h)(0x69B4F633)
 I (.\CarBody\RefereeSystem.h)(0x69B4F633)
 I (.\CarBody\RefereeSystem_CRCTable.h)(0x69B4F633)
 I (.\CarBody\Ultra_CAP.h)(0x69B4F633)
 I (.\CarBody\UI.h)(0x69B4F633)
 F (.\User\RM_C.h)(0x69B4F635)()
-F (.\User\Parameter.h)(0x69C5DA94)()
+F (.\User\Parameter.h)(0x69C727C0)()
 F (.\User\stm32f4xx_conf.h)(0x69B4F635)()
 F (.\User\stm32f4xx_it.c)(0x69B4F635)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include

-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx

-o .\objects\stm32f4xx_it.o --omf_browse .\objects\stm32f4xx_it.crf --depend .\objects\stm32f4xx_it.d)
 I (User\stm32f4xx_it.h)(0x69B4F635)
diff --git a/底盘/底盘/Objects/main.crf b/底盘/底盘/Objects/main.crf
index 2776a1b..c1fc3cf 100644
Binary files a/底盘/底盘/Objects/main.crf and b/底盘/底盘/Objects/main.crf differ
diff --git a/底盘/底盘/Objects/mecanum.crf b/底盘/底盘/Objects/mecanum.crf
index 4ce85ea..572cabb 100644
Binary files a/底盘/底盘/Objects/mecanum.crf and b/底盘/底盘/Objects/mecanum.crf differ
diff --git a/底盘/底盘/Project.uvguix.LSMushui b/底盘/底盘/Project.uvguix.LSMushui
index 03172e7..85b8028 100644
--- a/底盘/底盘/Project.uvguix.LSMushui
+++ b/底盘/底盘/Project.uvguix.LSMushui
@@ -93,8 +93,8 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-32000</xPos>
-        <yPos>-32000</yPos>
+        <xPos>-1</xPos>
+        <yPos>-1</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
@@ -111,7 +111,7 @@
       <RegID>0</RegID>
       <MDITabState>
         <Len>1005</Len>
-        <Data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ata>
+        <Data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ata>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -1822,7 +1822,7 @@
         <Name>Build</Name>
         <Buttons>
           <Len>976</Len>
-          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000002001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
+          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000004001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000002001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
         </Buttons>
         <OriginalItems>
           <Len>583</Len>
@@ -1862,12 +1862,12 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>0</ActiveTab>
+      <ActiveTab>2</ActiveTab>
       <Doc>
         <Name>.\CarBody\Mecanum.c</Name>
-        <ColumnNumber>2</ColumnNumber>
+        <ColumnNumber>3</ColumnNumber>
         <TopLine>49</TopLine>
-        <CurrentLine>59</CurrentLine>
+        <CurrentLine>72</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -1883,7 +1883,7 @@
       </Doc>
       <Doc>
         <Name>.\User\Parameter.h</Name>
-        <ColumnNumber>59</ColumnNumber>
+        <ColumnNumber>48</ColumnNumber>
         <TopLine>1</TopLine>
         <CurrentLine>5</CurrentLine>
         <Folding>1</Folding>
@@ -1901,7 +1901,7 @@
       </Doc>
       <Doc>
         <Name>.\User\main.c</Name>
-        <ColumnNumber>23</ColumnNumber>
+        <ColumnNumber>22</ColumnNumber>
         <TopLine>1</TopLine>
         <CurrentLine>14</CurrentLine>
         <Folding>1</Folding>
diff --git a/底盘/底盘/User/Parameter.h b/底盘/底盘/User/Parameter.h
index cde7ba6..94e2eb7 100644
--- a/底盘/底盘/User/Parameter.h
+++ b/底盘/底盘/User/Parameter.h
@@ -2,7 +2,7 @@
 #define __PARAMETER_H
 
 /*=============================================结构参数=============================================*/
-#define Yaw_GM6020PositionValue								5733//Yaw轴回正时编码器值
+#define Yaw_GM6020PositionValue								1637//Yaw轴回正时编码器值
 
 /*=============================================麦轮参数=============================================*/
 #define Mecanum_WheelRadius									7.0f//麦轮半径(单位cm)
@@ -11,7 +11,7 @@
 #define Mecanum_ry											18.75f//底盘中心到轮子中心的距离的y轴分量(单位cm)
 
 #define Mecanum_LeverSpeedMapRate							(1.2f/660.0f)//拨杆速度映射比例
-#define Mecanum_GyroScopeAngularVelocity					7.0f//小陀螺角速度
+#define Mecanum_GyroScopeAngularVelocity					8.0f//小陀螺角速度
 #define Mecanum_NormalSpeedRate								1.2f//底盘正常速度和超功率速度的比值
 
 #endif