diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h
index ea5d92c..197b74c 100644
--- a/energy/include/energy/energy.h
+++ b/energy/include/energy/energy.h
@@ -73,7 +73,7 @@ private:
     int anticlockwise_rotation_init_cnt;//装甲板逆时针旋转次数
     int last_mode;//上一帧的能量机关状态
     int manual_delta_x, manual_delta_y;//手动微调量
-    int extra_delta_y;//在风车运动到最高点附近的额外补偿量
+    int extra_delta_x, extra_delta_y;//在风车运动到最高点附近的额外补偿量
 
     float target_polar_angle;//待击打装甲板的极坐标角度
     float last_target_polar_angle;//上一帧待击打装甲板的极坐标角度
diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp
index 41123ce..2123b82 100644
--- a/energy/src/energy/clear/energy_init.cpp
+++ b/energy/src/energy/clear/energy_init.cpp
@@ -39,6 +39,7 @@ void Energy::initEnergy() {
     manual_delta_x = 0;
     manual_delta_y = 0;
     extra_delta_y = 0;
+    extra_delta_x = 0;
 
     target_polar_angle = -1000;
     last_target_polar_angle = -1000;
@@ -76,7 +77,7 @@ void Energy::initEnergy() {
 // 此函数对能量机关参数进行初始化
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::initEnergyPartParam() {
-    gimbal_energy_part_param_.GRAY_THRESH = 90;//home
+    gimbal_energy_part_param_.GRAY_THRESH = 120;//home
 //    gimbal_energy_part_param_.GRAY_THRESH = 200;//official
 //    gimbal_energy_part_param_.GRAY_THRESH = 225;
     gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 230;
diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp
index 8d7c6d2..d53d1f5 100644
--- a/energy/src/energy/get/aim_point_get.cpp
+++ b/energy/src/energy/get/aim_point_get.cpp
@@ -17,10 +17,32 @@ extern mcu_data mcuData;
 void Energy::getAimPoint(cv::Point target_point_) {
     float target_polar_angle_ = static_cast<float>(180 / PI * atan2(-1 * (target_point_.y - circle_center_point.y),
                                                                     (target_point_.x - circle_center_point.x)));
-    if (target_polar_angle_ > 50 && target_polar_angle_ < 130)extra_delta_y = -16;
-    else extra_delta_y = 0;
+    if (target_polar_angle_ > 40 && target_polar_angle_ < 140){
+        extra_delta_x = 0;
+        extra_delta_y = -14;
+    }
+    else if (target_polar_angle_ > 30 && target_polar_angle_ <= 40){
+        extra_delta_x = 8;
+        extra_delta_y = -8;
+    }
+    else if (target_polar_angle_ >= 140 && target_polar_angle_ < 150){
+        extra_delta_x = -8;
+        extra_delta_y = -8;
+    }
+    else {
+        extra_delta_x = 0;
+        extra_delta_y = 0;
+    }
 
-    double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x);
+//    if (target_polar_angle_ > 20 && target_polar_angle_ <= 90) {
+//        extra_delta_y = -17 * (target_polar_angle_ - 20) / 70;
+//    } else if (target_polar_angle_ > 90 && target_polar_angle_ < 160) {
+//        extra_delta_y = -17 * (160 - target_polar_angle_) / 70;
+//    } else {
+//        extra_delta_y = 0;
+//    }
+
+    double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x - extra_delta_x);
     double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcuData.delta_y - manual_delta_y - extra_delta_y);
     yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI;
     pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;