diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp
index 4b1e309..2a9ab2e 100644
--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -18,24 +18,29 @@ void Energy::sendEnergy() {
         if (camera_cnt == 1) {
             sum_yaw += yaw_rotation;
             sum_pitch += pitch_rotation;
-            if(ROBOT_ID == 3 || ROBOT_ID == 4 || ROBOT_ID == 8){
+            if (ROBOT_ID == 3 || ROBOT_ID == 4 || ROBOT_ID == 8) {
                 MINMAX(sum_yaw, -100, 100);
                 MINMAX(sum_yaw, -100, 100);
-            } else if(ROBOT_ID ==7){
+            } else if (ROBOT_ID == 7) {
                 float yaw_I_component = BIG_YAW_AIM_KI * sum_yaw;
                 float pitch_I_component = BIG_PITCH_AIM_KI * sum_pitch;
                 MINMAX(yaw_I_component, -3, 3);
                 MINMAX(pitch_I_component, -3, 3);
+//                MINMAX(yaw_I_component, -2, 2);
+//                MINMAX(pitch_I_component, -2, 2);
             }
 
             double tmp_yaw = yaw_rotation;
             double tmp_pitch = pitch_rotation;
-            yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw + BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
+            yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw +
+                           BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
             pitch_rotation = BIG_PITCH_AIM_KP * pitch_rotation + BIG_PITCH_AIM_KI * sum_pitch +
-                    BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+                             BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+//            cout << BIG_YAW_AIM_KP * yaw_rotation << '\t' << BIG_YAW_AIM_KI * sum_yaw << '\t'
+//                 << BIG_YAW_AIM_KD * (yaw_rotation - last_yaw) << endl;
             last_yaw = tmp_yaw;
             last_pitch = tmp_pitch;
-            if(ROBOT_ID == 7){
+            if (ROBOT_ID == 7) {
                 MINMAX(yaw_rotation, -6, 6);
                 MINMAX(pitch_rotation, -6, 6);
             }
@@ -49,12 +54,12 @@ void Energy::sendEnergy() {
 //            last_yaw = tmp_yaw;
 //            last_pitch = tmp_pitch;
         }
-    } else if (is_small){
+    } else if (is_small) {
         double tmp_yaw = yaw_rotation;
         double tmp_pitch = pitch_rotation;
         yaw_rotation = SMALL_YAW_AIM_KP * yaw_rotation + SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
         pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
-        if(ROBOT_ID == 7){
+        if (ROBOT_ID == 7) {
             MINMAX(yaw_rotation, -6, 6);
             MINMAX(pitch_rotation, -6, 6);
         }