diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp
index d5964e7..1b7a974 100644
--- a/energy/src/energy/clear/energy_init.cpp
+++ b/energy/src/energy/clear/energy_init.cpp
@@ -91,9 +91,9 @@ void Energy::initEnergyPartParam() {
 
     gimbal_energy_part_param_.FAN_CONTOUR_AREA_MAX = 5000;
     gimbal_energy_part_param_.FAN_CONTOUR_AREA_MIN = 1500;
-    gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 55;
+    gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 45;
     gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 100;
-    gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 20;
+    gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 10;
     gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 52;
     gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 3.5;
     gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1.2;
@@ -105,10 +105,10 @@ void Energy::initEnergyPartParam() {
 
     gimbal_energy_part_param_.ARMOR_CONTOUR_AREA_MAX = 500;
     gimbal_energy_part_param_.ARMOR_CONTOUR_AREA_MIN = 180;
-    gimbal_energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 16;
-    gimbal_energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 32;
-    gimbal_energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 5;
-    gimbal_energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 20;
+    gimbal_energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 10;
+    gimbal_energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 50;
+    gimbal_energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 0;
+    gimbal_energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 30;
     gimbal_energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX = 3;
     gimbal_energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MIN = 1;
 
diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp
index d382300..68aea4b 100644
--- a/energy/src/energy/get/aim_point_get.cpp
+++ b/energy/src/energy/get/aim_point_get.cpp
@@ -29,6 +29,7 @@ void Energy::getAimPoint(cv::Point target_point_) {
         extra_delta_y = 0;
     }
 
+
     double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcu_data.delta_x - manual_delta_x - extra_delta_x);
     double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcu_data.delta_y - manual_delta_y - extra_delta_y);
     yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI;
diff --git a/energy/src/energy/judge/judge_shoot.cpp b/energy/src/energy/judge/judge_shoot.cpp
index 83ad028..ee9f413 100644
--- a/energy/src/energy/judge/judge_shoot.cpp
+++ b/energy/src/energy/judge/judge_shoot.cpp
@@ -30,7 +30,7 @@ void Energy::judgeShootInWorld() {
 // 此函数用于判断云台坐标系下是否可以发弹
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::judgeShootInGimbal() {
-    if (abs(yaw_rotation) < 0.5 && abs(pitch_rotation) < 0.5) {
+    if (abs(yaw_rotation) < 0.7 && abs(pitch_rotation) < 0.7) {
         shoot = 4;
 //        is_predicting = false;
 //        is_guessing = true;
diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp
index cc0da07..a0bc804 100644
--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -15,67 +15,70 @@ using namespace std;
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::sendEnergy() {
     if (is_big) {
-        if (camera_cnt == 1) {
-            sum_yaw += yaw_rotation;
-            sum_pitch += pitch_rotation;
-            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) {
-                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;
-            if (mcu_data.mark == 1) {
-                yaw_rotation = TRY_BIG_YAW_AIM_KP * yaw_rotation + TRY_BIG_YAW_AIM_KI * sum_yaw +
-                               TRY_BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
-                pitch_rotation = TRY_BIG_PITCH_AIM_KP * pitch_rotation + TRY_BIG_PITCH_AIM_KI * sum_pitch +
-                                 TRY_BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
-            } else {
-                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);
-            }
-
-//            cout << "yaw: "<<BIG_YAW_AIM_KP * yaw_rotation << '\t' << BIG_YAW_AIM_KI * sum_yaw << '\t'
-//                 << BIG_YAW_AIM_KD * (yaw_rotation - last_yaw) << endl;
-//            cout << "pitch: "<<BIG_PITCH_AIM_KP * pitch_rotation << '\t' << BIG_PITCH_AIM_KI * sum_pitch << '\t'
-//                 << BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch) << endl;
-            last_yaw = tmp_yaw;
-            last_pitch = tmp_pitch;
-            if (ROBOT_ID == 7) {
-                MINMAX(yaw_rotation, -6, 6);
-                MINMAX(pitch_rotation, -6, 6);
-            }
-        } else if (is_chassis) {
-//            sum_yaw += yaw_rotation - mcu_data.curr_yaw;
-//            sum_pitch += pitch_rotation - mcu_data.curr_pitch;
-//            double tmp_yaw = yaw_rotation;
-//            double tmp_pitch = pitch_rotation;
-//            yaw_rotation = BIG_YAW_AIM_KP * (yaw_rotation - mcu_data.curr_yaw) + BIG_YAW_AIM_KI * sum_yaw;
-//            pitch_rotation = BIG_PITCH_AIM_KP * (pitch_rotation - mcu_data.curr_pitch) + BIG_PITCH_AIM_KI * sum_pitch;
-//            last_yaw = tmp_yaw;
-//            last_pitch = tmp_pitch;
+        sum_yaw += yaw_rotation;
+        sum_pitch += pitch_rotation;
+        if (ROBOT_ID == 4) {
+            MINMAX(sum_yaw, -100, 100);
+            MINMAX(sum_yaw, -100, 100);
+        } else if (ROBOT_ID == 3 || ROBOT_ID == 7 || ROBOT_ID == 8) {
+            float yaw_I_component = BIG_YAW_AIM_KI * sum_yaw;
+            float pitch_I_component = BIG_PITCH_AIM_KI * sum_pitch;
+            MINMAX(yaw_I_component, -2, 2);
+            MINMAX(pitch_I_component, -2, 2);
         }
-    } else if (is_small) {
+
         double tmp_yaw = yaw_rotation;
         double tmp_pitch = pitch_rotation;
         if (mcu_data.mark == 1) {
-            yaw_rotation = TRY_SMALL_YAW_AIM_KP * yaw_rotation + TRY_SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
-            pitch_rotation =
-                    TRY_SMALL_PITCH_AIM_KP * pitch_rotation + TRY_SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+            yaw_rotation = TRY_BIG_YAW_AIM_KP * yaw_rotation + TRY_BIG_YAW_AIM_KI * sum_yaw +
+                           TRY_BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
+            pitch_rotation = TRY_BIG_PITCH_AIM_KP * pitch_rotation + TRY_BIG_PITCH_AIM_KI * sum_pitch +
+                             TRY_BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
         } else {
-            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);
+            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);
         }
-        if (ROBOT_ID == 7) {
+
+//        cout << "yaw: "<<BIG_YAW_AIM_KP * yaw_rotation << '\t' << BIG_YAW_AIM_KI * sum_yaw << '\t'
+//             << BIG_YAW_AIM_KD * (yaw_rotation - last_yaw) << endl;
+//        cout << "pitch: "<<BIG_PITCH_AIM_KP * pitch_rotation << '\t' << BIG_PITCH_AIM_KI * sum_pitch << '\t'
+//             << BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch) << endl;
+        if (ROBOT_ID == 3 || ROBOT_ID == 7 || ROBOT_ID == 8) {
+            MINMAX(yaw_rotation, -6, 6);
+            MINMAX(pitch_rotation, -6, 6);
+        }
+        last_yaw = tmp_yaw;
+        last_pitch = tmp_pitch;
+    } else if (is_small) {
+        sum_yaw += yaw_rotation;
+        sum_pitch += pitch_rotation;
+        if (ROBOT_ID == 4) {
+            MINMAX(sum_yaw, -100, 100);
+            MINMAX(sum_yaw, -100, 100);
+        } else if (ROBOT_ID == 3 || ROBOT_ID == 7 || ROBOT_ID == 8) {
+            float yaw_I_component = SMALL_YAW_AIM_KI * sum_yaw;
+            float pitch_I_component = SMALL_PITCH_AIM_KI * sum_pitch;
+            MINMAX(yaw_I_component, -2, 2);
+            MINMAX(pitch_I_component, -2, 2);
+        }
+
+        double tmp_yaw = yaw_rotation;
+        double tmp_pitch = pitch_rotation;
+        if (mcu_data.mark == 1) {
+            yaw_rotation = TRY_SMALL_YAW_AIM_KP * yaw_rotation + TRY_SMALL_YAW_AIM_KI * sum_yaw +
+                           TRY_SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
+            pitch_rotation =
+                    TRY_SMALL_PITCH_AIM_KP * pitch_rotation + TRY_SMALL_PITCH_AIM_KI * sum_pitch +
+                    TRY_SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+        } else {
+            yaw_rotation = SMALL_YAW_AIM_KP * yaw_rotation + SMALL_YAW_AIM_KI * sum_yaw +
+                           SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
+            pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KI * sum_pitch +
+                             SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+        }
+        if (ROBOT_ID == 3 || ROBOT_ID == 7 || ROBOT_ID == 8) {
             MINMAX(yaw_rotation, -6, 6);
             MINMAX(pitch_rotation, -6, 6);
         }
@@ -88,9 +91,7 @@ void Energy::sendEnergy() {
         sendTarget(serial, yaw_rotation, pitch_rotation, 5, 0);
     } else if (is_guessing) {
         sendTarget(serial, yaw_rotation, pitch_rotation, 6, 0);
-    } /*else if (fans_cnt >= 4) {
-        sendTarget(serial, yaw_rotation, pitch_rotation, 7, 0);
-    }*/ else {
+    } else {
         sendTarget(serial, yaw_rotation, pitch_rotation, shoot, 0);
     }