diff --git a/energy/include/energy/param_struct_define.h b/energy/include/energy/param_struct_define.h
index f222368..dc82c6c 100644
--- a/energy/include/energy/param_struct_define.h
+++ b/energy/include/energy/param_struct_define.h
@@ -33,7 +33,9 @@ struct EnergyPartParam {
 	long FAN_CONTOUR_AREA_MAX;
 	long FAN_CONTOUR_AREA_MIN;
 	long FAN_CONTOUR_LENGTH_MIN;
+    long FAN_CONTOUR_LENGTH_MAX;
 	long FAN_CONTOUR_WIDTH_MIN;
+    long FAN_CONTOUR_WIDTH_MAX;
 	float FAN_CONTOUR_HW_RATIO_MAX;
 	float FAN_CONTOUR_HW_RATIO_MIN;
 
diff --git a/energy/src/energy/calibrate/structing.cpp b/energy/src/energy/calibrate/structing.cpp
index 4916b45..da8a130 100644
--- a/energy/src/energy/calibrate/structing.cpp
+++ b/energy/src/energy/calibrate/structing.cpp
@@ -11,7 +11,7 @@ using std::vector;
 void Energy::StructingElementClose(cv::Mat &src){
     if (src.empty())return;
     //threshold(src, src, energy_part_param_.CAMERA_GRAY_THRESH, 255, THRESH_BINARY);
-    Mat element = getStructuringElement(MORPH_RECT, Size(4, 4));
+    Mat element = getStructuringElement(MORPH_RECT, Size(10, 10));
     morphologyEx(src, src, MORPH_CLOSE, element);
 }
 
diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp
index a547c84..0b928fb 100644
--- a/energy/src/energy/find/energy_finder.cpp
+++ b/energy/src/energy/find/energy_finder.cpp
@@ -19,7 +19,7 @@ int Energy::findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans
 	std::vector<vector<Point> > fan_contours;
 
 	StructingElementClose(src_bin);
-//	imshow("fan struct",src_bin);
+	imshow("fan struct",src_bin);
 
 	findContours(src_bin, fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
 
@@ -28,25 +28,26 @@ int Energy::findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans
 			continue;
 		}
 
-//        double cur_contour_area = contourArea(fan_contour);
-//        RotatedRect cur_rect = minAreaRect(fan_contour);
-//        Size2f cur_size = cur_rect.size;
+        double cur_contour_area = contourArea(fan_contour);
+        RotatedRect cur_rect = minAreaRect(fan_contour);
+        Size2f cur_size = cur_rect.size;
 //
 //		  cout<<"cur_contour_area: "<<cur_contour_area<<'\t'<<"rect_area: "<<cur_size.area()<<'\t'<<"ratio: "<<cur_contour_area/cur_size.area()<<endl;
 
-//        float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
-//        float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;
+        float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
+        float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;
 
-//		if(length>5&&width>5){
+//		if(length>20&&width>20){
 //			cout<<cur_rect.center;
 //			fans.emplace_back(fan_contour);
 //			cout<<"fan area: "<<length<<'\t'<<width<<endl;
 //		}
-
+//
         fans.emplace_back(fan_contour);
 //        cout<<"fan area: "<<length<<'\t'<<width<<endl;
 
 	}
+//	cout<<fans.size()<<endl;
 	if(fans.size() < last_fans_cnt){
 		last_fans_cnt = static_cast<int>(fans.size());
 		return -1;
@@ -100,13 +101,14 @@ int Energy::findArmor(const cv::Mat &src, vector<EnergyPart> &armors, int &last_
         float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
         float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;
 
-//        if(length>10&&width>10){
+//        if(length>10&&width>5){
+//            armors.emplace_back(armor_contour);
+//            cout<<"armor area: "<<length<<'\t'<<width<<'\t'<<cur_rect.center<<endl;
 //            armors.emplace_back(armor_contour);
-//            cout<<"armor area: "<<length<<'\t'<<width<<endl;
 //        }
         armors.emplace_back(armor_contour);
-        cout<<"armor area: "<<length<<'\t'<<width<<endl;
 
+//        cout<<"armor area: "<<length<<'\t'<<width<<endl;
 	}
 	if(armors.size() < last_armors_cnt){
 		last_armors_cnt = static_cast<int>(armors.size());
@@ -164,7 +166,8 @@ bool Energy::isValidFanContour(const vector<cv::Point> &fan_contour) {
 	Size2f cur_size = cur_rect.size;
 	float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
 	float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;
-	if (length < energy_part_param_.FAN_CONTOUR_LENGTH_MIN || width < energy_part_param_.FAN_CONTOUR_WIDTH_MIN)
+	if (length < energy_part_param_.FAN_CONTOUR_LENGTH_MIN || width < energy_part_param_.FAN_CONTOUR_WIDTH_MIN ||
+            length > energy_part_param_.FAN_CONTOUR_LENGTH_MAX || width > energy_part_param_.FAN_CONTOUR_WIDTH_MAX)
 	{
 		//cout<<"length width min fail."<<endl;
 		return false;
diff --git a/energy/src/energy/param_init.cpp b/energy/src/energy/param_init.cpp
index 36bcc3c..55240d2 100644
--- a/energy/src/energy/param_init.cpp
+++ b/energy/src/energy/param_init.cpp
@@ -11,7 +11,7 @@ using std::vector;
 void Energy::initEnergyPartParam() {
 
     energy_part_param_.RPM = 10;
-    energy_part_param_.HIT_TIME = 1.5;
+    energy_part_param_.HIT_TIME = 1.14;
 
 	energy_part_param_.GRAY_THRESH = 240;
 	energy_part_param_.SPLIT_GRAY_THRESH = 80;
@@ -19,17 +19,19 @@ void Energy::initEnergyPartParam() {
 	energy_part_param_.ARMOR_GRAY_THRESH = 80;
 
 	energy_part_param_.FAN_CONTOUR_AREA_MAX = 17000;
-	energy_part_param_.FAN_CONTOUR_AREA_MIN = 7000;
-	energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 150;
-	energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 50;
+	energy_part_param_.FAN_CONTOUR_AREA_MIN = 0;
+	energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 100;
+    energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 140;
+	energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 40;
+    energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 60;
 	energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4;
 	energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1;
 
 	energy_part_param_.ARMOR_CONTOUR_AREA_MAX = 100000;
 	energy_part_param_.ARMOR_CONTOUR_AREA_MIN = 0;
-	energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 50;
-	energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 25;
-	energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 80;
+	energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 30;
+	energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 20;
+	energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 60;
 	energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 50;
 	energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX = 3;
 	energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MIN = 1;
diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp
index 99e2217..8c57071 100644
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -63,9 +63,9 @@ int Energy::run(cv::Mat &src){
     cycleLeastFit();
 
 
-    cycle_center = cv::Point(332,233);
-    radius = 208.835;
-    attack_distance = ATTACK_DISTANCE * 203.728 / radius;
+//    cycle_center = cv::Point(212,246);
+//    radius = 123.942;
+    attack_distance = ATTACK_DISTANCE * 123.323 / radius;
 
     getFanPosition(fanPosition, fans, cycle_center, radius);
     getArmorPosition(armorPosition, armors, cycle_center, radius);
@@ -74,7 +74,7 @@ int Energy::run(cv::Mat &src){
     cout<<"The target armor center is: "<<target_center<<endl;
 
     getHitPoint();
-    hit_point = target_center;
+//    hit_point = target_center;
     cout << "The hit point position is " << hit_point << endl;
 //    hit_point = cycle_center;
 
diff --git a/main.cpp b/main.cpp
index b925fa4..211df2f 100644
--- a/main.cpp
+++ b/main.cpp
@@ -23,7 +23,7 @@ using namespace std;
 #define ENERGY_STATE 1
 #define ARMOR_STATE 0
 
-int state = ARMOR_STATE;
+int state = ENERGY_STATE;
 float curr_yaw=0, curr_pitch=0;
 float mark_yaw=0, mark_pitch=0;
 int mark = 0;
@@ -99,24 +99,28 @@ void uartReceive(Uart* uart){
         while((data=uart->receive()) != '\n'){
             buffer[cnt++] = data;
             if(cnt >= 100){
-                LOGE("data receive over flow!");
+//                LOGE("data receive over flow!");
             }
         }
         if(cnt == 10){
             if(buffer[8] == 'e'){
                 state = ENERGY_STATE;
-                LOGM("Energy state");
+//                LOGM("Energy state");
             }else if(buffer[8] == 'a'){
                 state = ARMOR_STATE;
-                LOGM("Armor state");
+//                LOGM("Armor state");
             }
             memcpy(&curr_yaw, buffer, 4);
             memcpy(&curr_pitch, buffer+4, 4);
-            LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
+//            LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
             if(buffer[9] == 1){
-                mark_yaw = curr_yaw;
-                mark_pitch = curr_pitch;
-                LOGM("Marked");
+                if(mark == 0){
+                    mark = 1;
+                    mark_yaw = curr_yaw;
+                    mark_pitch = curr_pitch;
+                }
+
+//                LOGM("Marked");
             }
         }
         cnt = 0;