diff --git a/armor/src/armor_finder/send_target/send_target.cpp b/armor/src/armor_finder/send_target/send_target.cpp
index 0a77bfd..debf673 100644
--- a/armor/src/armor_finder/send_target/send_target.cpp
+++ b/armor/src/armor_finder/send_target/send_target.cpp
@@ -6,9 +6,35 @@
 #include <config/setconfig.h>
 #include <log.h>
 
-static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t shoot_delay) {
-    static short x_tmp, y_tmp, z_tmp;
-    uint8_t buff[10];
+// amadeus_26 协议: 15字节帧
+// | SOF(0xBB 0x77) | x_move(2B) | y_move(2B) | yaw(2B) | pitch(2B) | feed(2B) | key(1B) | crc8(1B) | EOF(0xEE) |
+constexpr uint8_t FRAME_HEADER_1 = 0xBB;
+constexpr uint8_t FRAME_HEADER_2 = 0x77;
+constexpr uint8_t FRAME_TAIL = 0xEE;
+constexpr int FRAME_LENGTH = 15;
+
+static uint8_t calculateCRC8(const uint8_t *data, size_t len) {
+    uint8_t crc = 0xFF;
+    for (size_t i = 0; i < len; i++) {
+        crc ^= data[i];
+        for (int j = 0; j < 8; j++) {
+            if (crc & 0x80) {
+                crc = (crc << 1) ^ 0x31;
+            } else {
+                crc <<= 1;
+            }
+        }
+    }
+    return crc;
+}
+
+static bool sendTarget(Serial &serial, double yaw, double pitch, double dist, uint16_t shoot_delay) {
+    int16_t x_move = 0;      // 平动左右 [-660, 660]
+    int16_t y_move = 0;      // 平动前后 [-660, 660]
+    int16_t yaw_val = 0;     // 云台偏航 [-660, 660]
+    int16_t pitch_val = 0;   // 云台俯仰 [-660, 660]
+    int16_t feed = 0;        // 拨弹轮 [-660, 660]
+    uint8_t key = 0;         // 按键 [0, 15]
 
 #ifdef WITH_COUNT_FPS
     static time_t last_time = time(nullptr);
@@ -16,7 +42,7 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t sh
     time_t t = time(nullptr);
     if (last_time != t) {
         last_time = t;
-        cout << "Armor: fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
+        cout << "Armor: fps:" << fps << ", (" << yaw << "," << pitch << "," << dist << ")" << endl;
         fps = 0;
     }
     fps += 1;
@@ -24,23 +50,56 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t sh
 
 #define MINMAX(value, min, max) value = ((value) < (min)) ? (min) : ((value) > (max) ? (max) : (value))
 
-    x_tmp = static_cast<short>(x * (32768 - 1) / 100);
-    y_tmp = static_cast<short>(y * (32768 - 1) / 100);
-    z_tmp = static_cast<short>(z * (32768 - 1) / 1000);
+    // 将角度转换为协议范围 [-660, 660]
+    yaw_val = static_cast<int16_t>(yaw * 10);     // 角度放大10倍
+    pitch_val = static_cast<int16_t>(pitch * 10);
+    MINMAX(yaw_val, -660, 660);
+    MINMAX(pitch_val, -660, 660);
 
-    buff[0] = 's';
-    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
-    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
-    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
-    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
-    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
-    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
-    buff[7] = static_cast<char>((shoot_delay >> 8) & 0xFF);
-    buff[8] = static_cast<char>((shoot_delay >> 0) & 0xFF);
-    buff[9] = 'e';
-//    if(buff[7]<<8 | buff[8])
-//        cout << (buff[7]<<8 | buff[8]) << endl;
-    return serial.WriteData(buff, sizeof(buff));
+    // 如果需要发弹，设置 feed 值
+    if (shoot_delay > 0) {
+        feed = 660;  // 开火
+    }
+
+    uint8_t frame[FRAME_LENGTH];
+    int idx = 0;
+
+    // 帧头
+    frame[idx++] = FRAME_HEADER_1;
+    frame[idx++] = FRAME_HEADER_2;
+
+    // 平动左右 (2 bytes, int16, 小端序)
+    frame[idx++] = x_move & 0xFF;
+    frame[idx++] = (x_move >> 8) & 0xFF;
+
+    // 平动前后 (2 bytes, 小端序)
+    frame[idx++] = y_move & 0xFF;
+    frame[idx++] = (y_move >> 8) & 0xFF;
+
+    // 云台偏航 (2 bytes, 小端序)
+    frame[idx++] = yaw_val & 0xFF;
+    frame[idx++] = (yaw_val >> 8) & 0xFF;
+
+    // 云台俯仰 (2 bytes, 小端序)
+    frame[idx++] = pitch_val & 0xFF;
+    frame[idx++] = (pitch_val >> 8) & 0xFF;
+
+    // 拨弹轮 (2 bytes, 小端序)
+    frame[idx++] = feed & 0xFF;
+    frame[idx++] = (feed >> 8) & 0xFF;
+
+    // 按键 (1 byte)
+    frame[idx++] = key;
+
+    // CRC8 (数据区: frame[2]到frame[12], 共11字节)
+    // 当前固定为0xCC，如需启用CRC校验，取消下面注释
+    // frame[idx++] = calculateCRC8(frame + 2, 11);
+    frame[idx++] = 0xCC;
+
+    // 帧尾
+    frame[idx++] = FRAME_TAIL;
+
+    return serial.WriteData(frame, sizeof(frame));
 }
 
 bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h
index 01d201c..404ccc5 100644
--- a/energy/include/energy/energy.h
+++ b/energy/include/energy/energy.h
@@ -35,7 +35,7 @@ public:
     Serial &serial;//串口
     void setEnergyInit();//设置能量机关初始化
     void sendEnergy();//发送能量机关数据
-    void sendTarget(Serial& serial, float x, float y, float z, uint16_t u);//发送数据
+    void sendTarget(Serial& serial, float yaw, float pitch, int16_t feed, uint8_t key);//发送数据 (amadeus_26 协议)
 
 
 private:
diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp
index 0eb358a..9a107cc 100644
--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -8,6 +8,13 @@
 
 using namespace std;
 
+// amadeus_26 协议: 15字节帧
+// | SOF(0xBB 0x77) | x_move(2B) | y_move(2B) | yaw(2B) | pitch(2B) | feed(2B) | key(1B) | crc8(1B) | EOF(0xEE) |
+constexpr uint8_t FRAME_HEADER_1 = 0xBB;
+constexpr uint8_t FRAME_HEADER_2 = 0x77;
+constexpr uint8_t FRAME_TAIL = 0xEE;
+constexpr int FRAME_LENGTH = 15;
+
 #define MINMAX(value, min, max) value = ((value) < (min)) ? (min) : ((value) > (max) ? (max) : (value))
 
 //----------------------------------------------------------------------------------------------------------------------
@@ -31,23 +38,32 @@ void Energy::sendEnergy() {
     last_yaw = tmp_yaw;
     last_pitch = tmp_pitch;
 
-    if (change_target) {
-        sendTarget(serial, yaw_rotation, pitch_rotation, 3, 0);//表示目标切换
-    } else if (is_guessing) {
-        sendTarget(serial, yaw_rotation, pitch_rotation, 4, 0);//表示猜测模式
-    } else {
-        sendTarget(serial, yaw_rotation, pitch_rotation, shoot, 0);//跟随或发弹
+    // 能量机关模式通过 key 字段区分
+    // 模式编码: 0=普通跟随, 3=目标切换, 4=猜测模式
+    uint8_t mode_key = 0;
+    int16_t feed = 0;
+    if (shoot) {
+        feed = 660;  // 开火
     }
 
+    if (change_target) {
+        mode_key = 3;  // 目标切换
+    } else if (is_guessing) {
+        mode_key = 4;  // 猜测模式
+    }
+
+    sendTarget(serial, yaw_rotation, pitch_rotation, feed, mode_key);
 }
 
 
 //----------------------------------------------------------------------------------------------------------------------
-// 此函数用于发送数据给主控板
+// 此函数用于发送数据给主控板 (amadeus_26 协议)
 // ---------------------------------------------------------------------------------------------------------------------
-void Energy::sendTarget(Serial &serial, float x, float y, float z, uint16_t u) {
-    short x_tmp, y_tmp, z_tmp;
-    uint8_t buff[10];
+void Energy::sendTarget(Serial &serial, float yaw, float pitch, int16_t feed, uint8_t key) {
+    int16_t x_move = 0;      // 平动左右 [-660, 660]
+    int16_t y_move = 0;      // 平动前后 [-660, 660]
+    int16_t yaw_val = 0;     // 云台偏航 [-660, 660]
+    int16_t pitch_val = 0;   // 云台俯仰 [-660, 660]
 
 #ifdef WITH_COUNT_FPS
     static auto last_time = time(nullptr);
@@ -55,27 +71,57 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z, uint16_t u) {
     time_t t = time(nullptr);
     if (last_time != t) {
         last_time = t;
-        cout << "Energy: fps:" << fps << ", (" << x << "," << y << "," << z << "," << u << ")" << endl;
+        cout << "Energy: fps:" << fps << ", (" << yaw << "," << pitch << ", feed:" << feed << ", key:" << (int)key << ")" << endl;
         curr_fps = fps;
         fps = 0;
     }
     fps += 1;
 #endif
 
-    x_tmp = static_cast<short>(x * (32768 - 1) / 100);
-    y_tmp = static_cast<short>(y * (32768 - 1) / 100);
-    z_tmp = static_cast<short>(z * (32768 - 1) / 100);
-    buff[0] = 's';
-    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
-    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
-    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
-    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
-    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
-    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
-    buff[7] = static_cast<char>((u >> 8) & 0xFF);
-    buff[8] = static_cast<char>((u >> 0) & 0xFF);
-    buff[9] = 'e';
-    serial.WriteData(buff, sizeof(buff));
+    // 将角度转换为协议范围 [-660, 660]
+    yaw_val = static_cast<int16_t>(yaw * 10);     // 角度放大10倍
+    pitch_val = static_cast<int16_t>(pitch * 10);
+    MINMAX(yaw_val, -660, 660);
+    MINMAX(pitch_val, -660, 660);
+
+    uint8_t frame[FRAME_LENGTH];
+    int idx = 0;
+
+    // 帧头
+    frame[idx++] = FRAME_HEADER_1;
+    frame[idx++] = FRAME_HEADER_2;
+
+    // 平动左右 (2 bytes, int16, 小端序)
+    frame[idx++] = x_move & 0xFF;
+    frame[idx++] = (x_move >> 8) & 0xFF;
+
+    // 平动前后 (2 bytes, 小端序)
+    frame[idx++] = y_move & 0xFF;
+    frame[idx++] = (y_move >> 8) & 0xFF;
+
+    // 云台偏航 (2 bytes, 小端序)
+    frame[idx++] = yaw_val & 0xFF;
+    frame[idx++] = (yaw_val >> 8) & 0xFF;
+
+    // 云台俯仰 (2 bytes, 小端序)
+    frame[idx++] = pitch_val & 0xFF;
+    frame[idx++] = (pitch_val >> 8) & 0xFF;
+
+    // 拨弹轮 (2 bytes, 小端序)
+    frame[idx++] = feed & 0xFF;
+    frame[idx++] = (feed >> 8) & 0xFF;
+
+    // 按键 (1 byte) - 用于能量机关模式标识
+    frame[idx++] = key;
+
+    // CRC8 (数据区: frame[2]到frame[12], 共11字节)
+    // 当前固定为0xCC
+    frame[idx++] = 0xCC;
+
+    // 帧尾
+    frame[idx++] = FRAME_TAIL;
+
+    serial.WriteData(frame, sizeof(frame));
     send_cnt += 1;
 //    LOGM(STR_CTR(WORD_LIGHT_PURPLE, "send"));
 }