diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h
index 122f3e2..71a5455 100644
--- a/energy/include/energy/energy.h
+++ b/energy/include/energy/energy.h
@@ -60,6 +60,8 @@ private:
 	double phi;//电机yaw轴应旋转的角度
 	float yaw_rotation;
 	float pitch_rotation;
+	int position_mode;
+	int last_position_mode;
     int isLeftVertexFound, isTopVertexFound, isRightVertexFound, isBottomVertexFound;
 
 	std::vector<EnergyPart> fans;
diff --git a/energy/src/energy/calculate/cycle_calculate.cpp b/energy/src/energy/calculate/cycle_calculate.cpp
index b8d44d2..7593555 100644
--- a/energy/src/energy/calculate/cycle_calculate.cpp
+++ b/energy/src/energy/calculate/cycle_calculate.cpp
@@ -58,7 +58,7 @@ void Energy::cycleLeastFit()
     radius = 0.0f;
     if (all_armor_centers.size() < 3)
     {
-        cout<<"Cannot calculate a circle"<<endl;
+//        cout<<"Cannot calculate a circle"<<endl;
         return;
     }
 
diff --git a/energy/src/energy/calibrate/structing.cpp b/energy/src/energy/calibrate/structing.cpp
index 0e16da7..35fd77c 100644
--- a/energy/src/energy/calibrate/structing.cpp
+++ b/energy/src/energy/calibrate/structing.cpp
@@ -17,20 +17,25 @@ void Energy::StructingElementClose(cv::Mat &src,int length, int width){
 
 void Energy::StructingElementErodeDilate(cv::Mat &src) {
     cv::Mat src_out, src_out_out;
-    Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(6, 6));
-    Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(10, 10));
-    Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(2, 2));
-    Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3));
+    Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(3, 3));
+    Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(2, 1));
+    Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(8, 6));
+    Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(4,4));
+    Mat element_dilate_3 = getStructuringElement(MORPH_RECT, Size(3, 3));
 
-    dilate(src, src, element_dilate_1);
-    imshow("dilate_1", src);
+
+//    dilate(src, src, element_dilate_1);
+//    imshow("dilate_1", src);
 
     erode(src,src, element_erode_1);
     imshow("erode_1", src);
 
-//    dilate(src, src, element_dilate_2);
-//    imshow("dilate_2", src);
-//
-//    erode(src,src, element_erode_2);
-//    imshow("erode_2", src);
+    dilate(src, src, element_dilate_2);
+    imshow("dilate_2", src);
+
+    erode(src,src, element_erode_2);
+    imshow("erode_2", src);
+
+    dilate(src, src, element_dilate_3);
+    imshow("dilate_3", src);
 }
diff --git a/energy/src/energy/energy.cpp b/energy/src/energy/energy.cpp
index 18ae357..0aad5d2 100644
--- a/energy/src/energy/energy.cpp
+++ b/energy/src/energy/energy.cpp
@@ -50,6 +50,9 @@ Energy::Energy(Uart &u):uart(u),
 	top = Point(640, 480);
 	bottom = Point(0, 0);
 
+	position_mode = 0;
+	last_position_mode = 0;
+
 	initEnergyPartParam();
 }
 
diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp
index 798a715..04cca3e 100644
--- a/energy/src/energy/find/energy_finder.cpp
+++ b/energy/src/energy/find/energy_finder.cpp
@@ -71,6 +71,7 @@ int Energy::findArmor(const cv::Mat &src, vector<EnergyPart> &armors, int &last_
     std::vector<vector<Point> > armor_contours_external;//用总轮廓减去外轮廓，只保留内轮廓，除去流动条的影响。
 
     StructingElementErodeDilate(src_bin);
+//    StructingElementClose(src_bin,10,10);
     imshow("armor struct",src_bin);
 
 	findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
diff --git a/energy/src/energy/get/gimble_rotation_get.cpp b/energy/src/energy/get/gimble_rotation_get.cpp
index 6042706..977648c 100644
--- a/energy/src/energy/get/gimble_rotation_get.cpp
+++ b/energy/src/energy/get/gimble_rotation_get.cpp
@@ -24,7 +24,28 @@ void Energy::gimbleRotation(){
 //    pitch_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(PITCH_ORIGIN_RAD)-real_hit_point.y), ATTACK_DISTANCE));
 
     yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_yaw*PI/180)-real_hit_point.x), attack_distance));
-    pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
+    if(position_mode == 1){
+        pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
+    }
+    if(position_mode == 2){
+        pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
+    }
+    if(position_mode == 3){
+        pitch_rotation = 4.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
+    }
+    if(position_mode == 4){
+        pitch_rotation = 4.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
+    }
+    if(position_mode == 5){
+        pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
+    }
+    if(position_mode == 6){
+        pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
+    }
+//    else{
+//        pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
+//    }
+
 
 //    yaw_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(3.5*PI/180)-STRETCH*(hit_point.x-cycle_center.x)), ATTACK_DISTANCE));
 //    pitch_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(9.1*PI/180)-STRETCH*(hit_point.y-cycle_center.y)), ATTACK_DISTANCE));
diff --git a/energy/src/energy/get/hit_point_get.cpp b/energy/src/energy/get/hit_point_get.cpp
index c5221e2..552c5a1 100644
--- a/energy/src/energy/get/hit_point_get.cpp
+++ b/energy/src/energy/get/hit_point_get.cpp
@@ -16,38 +16,47 @@ void Energy::getHitPoint(){
     int angle_interval = 60;
 
     if(energy_part_rotation==1){    //顺时针
-        if(target_armor>=15 && target_armor<=15+limit_angle){
+        if(target_armor>=0 && target_armor<=limit_angle){
             hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
             hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
             hit_position = -1*angle_interval;
+            position_mode = 1;
+//            cout<<"666"<<'\t'<<hit_position<<endl;
+
+        }
+        else if(target_armor>=angle_interval && target_armor<angle_interval+limit_angle){
+            hit_point.x = cycle_center.x + static_cast<int>(radius);
+            hit_point.y = cycle_center.y;
+            hit_position = 0;
+            position_mode = 2;
+        }
+        else if(target_armor>=angle_interval*2 && target_armor<=angle_interval*2+limit_angle){
+            hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
+            hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
+            hit_position = angle_interval;
+            position_mode = 3;
+        }
+        else if(target_armor>=-180 && target_armor<-180+limit_angle){
+            hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
+            hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
+            hit_position = 2*angle_interval;
+            position_mode = 4;
+        }
+        else if(target_armor>=-2*angle_interval&&target_armor<-2*angle_interval+limit_angle){
+            hit_point.x = cycle_center.x - static_cast<int>(radius);
+            hit_point.y = cycle_center.y;
+            hit_position = 180;
+            position_mode = 5;
+        }
+        else if(target_armor>=-1*angle_interval&&target_armor<-1*angle_interval+limit_angle) {
+            hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
+            hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
+            hit_position = -2 * angle_interval;
+            position_mode = 6;
         }
-//        if(target_armor>=angle_interval && target_armor<angle_interval+limit_angle){
-//            hit_point.x = cycle_center.x + static_cast<int>(radius);
-//            hit_point.y = cycle_center.y;
-//            hit_position = 0;
-//        }
-//        if(target_armor>=angle_interval*2 && target_armor<=angle_interval*2+limit_angle){
-//            hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
-//            hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
-//            hit_position = angle_interval;
-//        }
-//        if(target_armor>=-180 && target_armor<-180+limit_angle){
-//            hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
-//            hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
-//            hit_position = 2*angle_interval;
-//        }
-//        if(target_armor>=-2*angle_interval&&target_armor<-2*angle_interval+limit_angle){
-//            hit_point.x = cycle_center.x - static_cast<int>(radius);
-//            hit_point.y = cycle_center.y;
-//            hit_position = 180;
-//        }
-//        if(target_armor>=-1*angle_interval&&target_armor<-1*angle_interval+limit_angle) {
-//            hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
-//            hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
-//            hit_position = -2 * angle_interval;
-//        }
         else{
-            last_hit_position = 2000;
+//            last_hit_position = 2000;
+            position_mode = 0;
             return;
         }
     }
@@ -57,54 +66,84 @@ void Energy::getHitPoint(){
             hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
             hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
             hit_position = 2*angle_interval;
+            position_mode = 1;
         }
-        if(target_armor>=angle_interval && target_armor<angle_interval+limit_angle){
+        else if(target_armor>=angle_interval && target_armor<angle_interval+limit_angle){
             hit_point.x = cycle_center.x - static_cast<int>(radius);
             hit_point.y = cycle_center.y;
             hit_position = 180;
+            position_mode = 2;
         }
-        if(target_armor>=angle_interval*2 && target_armor<=angle_interval*2+limit_angle){
+        else if(target_armor>=angle_interval*2 && target_armor<=angle_interval*2+limit_angle){
             hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
             hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
             hit_position = -2*angle_interval;
+            position_mode = 3;
         }
-        if(target_armor>=-180 && target_armor<-180+limit_angle){
+        else if(target_armor>=-180 && target_armor<-180+limit_angle){
             hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
             hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
             hit_position = -1*angle_interval;
+            position_mode = 4;
         }
-        if(target_armor>=-2*angle_interval&&target_armor<-2*angle_interval+limit_angle){
+        else if(target_armor>=-2*angle_interval&&target_armor<-2*angle_interval+limit_angle){
             hit_point.x = cycle_center.x + static_cast<int>(radius);
             hit_point.y = cycle_center.y;
             hit_position = 0;
+            position_mode = 5;
         }
-        if(target_armor>=-1*angle_interval&&target_armor<-1*angle_interval+limit_angle){
+        else if(target_armor>=-1*angle_interval&&target_armor<-1*angle_interval+limit_angle){
             hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
             hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
             hit_position = angle_interval;
+            position_mode = 6;
         }
         else{
-            last_hit_position = 2000;
+//            last_hit_position = 2000;
+            position_mode = 0;
             return;
         }
     }
 
-    if(hit_position>360&&last_hit_position>360){
-        isSendTarget = false;
-        return;
-    }
 
-    if(fabs(hit_position - last_hit_position) < 30||fabs(hit_position - last_hit_position) > 330 && fabs(hit_position - last_hit_position) <= 360){
-        last_hit_position = hit_position;
-        isSendTarget = false;
-        return;
-    }
-    else{
-        last_hit_position = hit_position;
+//    cout<<"last: "<<last_position_mode<<'\t'<<"now: "<<position_mode<<endl;
+
+    if(position_mode!=0 && position_mode!=last_position_mode){
+//        last_hit_position = hit_position;
+        last_position_mode = position_mode;
         isSendTarget = true;
         cout<<"hit position: "<<hit_position<<endl;
         return;
     }
+    else if(position_mode == 0){
+//        last_hit_position = hit_position;
+//        last_position_mode = position_mode;
+        isSendTarget = false;
+        return;
+    }
+    else{
+//        last_hit_position = hit_position;
+        last_position_mode = position_mode;
+        isSendTarget = false;
+        return;
+    }
+
+//    if(hit_position>360&&last_hit_position>360){
+//        isSendTarget = false;
+//        return;
+//    }
+
+//    if(fabs(hit_position - last_hit_position) < 15||fabs(hit_position - last_hit_position) > 345 && fabs(hit_position - last_hit_position) <= 360){
+//        last_hit_position = hit_position;
+//        isSendTarget = false;
+//        return;
+//    }
+//    else{
+//        last_hit_position = hit_position;
+//        isSendTarget = true;
+//        cout<<"hit position: "<<hit_position<<endl;
+//        return;
+//    }
 
 //    double rad = static_cast<double>(energy_part_rotation * energy_part_param_.RPM
 //                * energy_part_param_.HIT_TIME * 360 / 60);
diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp
index 783b484..9bae15a 100644
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -12,7 +12,7 @@ extern float curr_yaw, curr_pitch, mark_yaw, mark_pitch;
 extern int mark;
 
 int Energy::run(cv::Mat &src){
-//    imshow("src",src);
+    imshow("src",src);
     fans.clear();
     armors.clear();
     fanPosition.clear();
@@ -52,14 +52,14 @@ int Energy::run(cv::Mat &src){
 //    cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl;
     cycleLeastFit();
 
-//    cycle_center = cv::Point(338,296);
-//    radius = 119.22;
-    attack_distance = ATTACK_DISTANCE * 130 / radius;
+//    cycle_center = cv::Point(335, 246);
+//    radius = 116.936;
+    attack_distance = ATTACK_DISTANCE * 120/ radius;
 
     getFanPosition(fanPosition, fans, cycle_center, radius);
     getArmorPosition(armorPosition, armors, cycle_center, radius);
     findTarget(fanPosition, armorPosition, target_armor);
-    cout << "The target armor's position is " << target_armor << endl;
+//    cout << "The target armor's position is " << target_armor << endl;
 //    cout<<"The target armor center is: "<<target_center<<endl;
 
     getHitPoint();
@@ -68,7 +68,8 @@ int Energy::run(cv::Mat &src){
 
 
     if(!isSendTarget)return 0;
-    cout<<"send"<<endl;
+//    cout<<"send"<<endl;
+    cout<<"position mode: "<<position_mode<<endl;
 
     gimbleRotation();
 
diff --git a/main.cpp b/main.cpp
index f8c92fe..8406a57 100644
--- a/main.cpp
+++ b/main.cpp
@@ -26,116 +26,115 @@ using namespace cv;
 using namespace std;
 
 
-int state = ARMOR_STATE;
-float curr_yaw = 0, curr_pitch = 0;
-float mark_yaw = 0, mark_pitch = 0;
+int state = ENERGY_STATE;
+float curr_yaw=0, curr_pitch=0;
+float mark_yaw=0, mark_pitch=0;
 int mark = 0;
 
-void uartReceive(Uart *uart);
+void uartReceive(Uart* uart);
 
-int main(int argc, char *argv[]) {
+int main(int argc, char *argv[]){
     process_options(argc, argv);
     Uart uart;
     thread receive(uartReceive, &uart);
-    bool flag = true;
+	bool flag = true;
 
-    while (flag) {
+	while (flag){
         int ally_color = ALLY_RED;
         int energy_part_rotation = CLOCKWISE;
 
-        int from_camera = 1;
-        if (!run_with_camera) {
+	    int from_camera = 1;
+	    if(!run_with_camera) {
             cout << "Input 1 for camera, 0 for video files" << endl;
             cin >> from_camera;
         }
 
-        WrapperHead *video_armor;
+		WrapperHead *video_armor;
         WrapperHead *video_energy;
-        if (from_camera) {
-            video_armor = new CameraWrapper(0);
+		if(from_camera) {
+//            video_armor = new CameraWrapper(0);
             video_energy = new CameraWrapper(1);
-        } else {
-            video_armor = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
-            video_energy = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
-        }
-        if (video_armor->init()) {
-            cout << "Video source initialization successfully." << endl;
+        }else {
+            video_armor = new VideoWrapper("r_l_640.avi");
+            video_energy = new VideoWrapper("r_l_640.avi");
         }
+		if (video_energy->init()) {
+			cout << "Video source initialization successfully." << endl;
+		}
 
-        Mat energy_src, armor_src;
-        ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
+		Mat energy_src, armor_src;
+
+		ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
 
         Energy energy(uart);
         energy.setAllyColor(ally_color);
         energy.setRotation(energy_part_rotation);
 
-        bool ok = true;
+        bool ok=true;
 
-        while (ok) {
-            CNT_TIME(WORD_LIGHT_CYAN, "Total", {
+		while (ok){
+//		    CNT_TIME(WORD_LIGHT_CYAN, "Total", {
+//                ok = video_energy->read(energy_src) && video_energy->read(armor_src);
+            ok = video_energy->read(energy_src);
+                if (show_origin) {
+                    imshow("enery src", energy_src);
+                    imshow("armor src", armor_src);
+                }
                 if (state == ENERGY_STATE) {
-                    ok = video_energy->read(energy_src);
-                    if (show_origin) {
-                        imshow("energy src", energy_src);
-                    }
                     if (from_camera == 0) {
                         energy.extract(energy_src);
                     }
                     energy.run(energy_src);
                 } else {
-                    ok = video_armor->read(armor_src);
-                    if (show_origin) {
-                        imshow("armor src", armor_src);
-                    }
-                    CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", {
-                            armorFinder.run(armor_src);
-                    });
+//                    CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", {
+//                        armorFinder.run(armor_src);
+//                    });
                 }
                 if (waitKey(1) == 'q') {
                     flag = false;
                     break;
                 }
-            });
-        }
-        delete video_armor;
-        cout << "Program fails. Restarting" << endl;
-    }
+//            });
+		}
+		delete video_energy;
+		cout << "Program fails. Restarting" << endl;
+	}
 
-    return 0;
+	return 0;
 }
 
-#define RECEIVE_LOG_LEVEL LOG_NOTHING
+#define RECEIVE_LOG_LEVEL LOG_MSG
 
-void uartReceive(Uart *uart) {
+void uartReceive(Uart* uart){
     char buffer[100];
-    int cnt = 0;
-    while (true) {
+    int cnt=0;
+    while(true){
         char data;
-        while ((data = uart->receive()) != '\n') {
+        while((data=uart->receive()) != '\n'){
             buffer[cnt++] = data;
-            if (cnt >= 100) {
+            if(cnt >= 100){
                 LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
-                cnt = 0;
+                    cnt = 0;
             }
         }
-        if (cnt == 10) {
-            if (buffer[8] == 'e') {
+        if(cnt == 10){
+            if(buffer[8] == 'e'){
                 state = ENERGY_STATE;
-                LOG(RECEIVE_LOG_LEVEL, "Energy state");
-            } else if (buffer[8] == 'a') {
+//                LOG(RECEIVE_LOG_LEVEL, "Energy state");
+            }else if(buffer[8] == 'a'){
                 state = ARMOR_STATE;
-                LOG(RECEIVE_LOG_LEVEL, "Armor state");
+//                LOG(RECEIVE_LOG_LEVEL, "Armor state");
             }
             memcpy(&curr_yaw, buffer, 4);
-            memcpy(&curr_pitch, buffer + 4, 4);
-            LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
-            if (buffer[9] == 1) {
-                if (mark == 0) {
+            memcpy(&curr_pitch, buffer+4, 4);
+//            LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
+            if(buffer[9] == 1){
+                if(mark == 0){
                     mark = 1;
                     mark_yaw = curr_yaw;
                     mark_pitch = curr_pitch;
                 }
-                LOG(RECEIVE_LOG_LEVEL, "Marked");
+//                LOG(RECEIVE_LOG_LEVEL, "Marked");
             }
         }
         cnt = 0;