diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp
index 51863d7..4b1e309 100644
--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -18,12 +18,16 @@ void Energy::sendEnergy() {
         if (camera_cnt == 1) {
             sum_yaw += yaw_rotation;
             sum_pitch += pitch_rotation;
-            MINMAX(sum_yaw, -100, 100);
-            MINMAX(sum_yaw, -100, 100);
-//            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);
+            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);
+            }
+
             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);
@@ -31,8 +35,10 @@ void Energy::sendEnergy() {
                     BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
             last_yaw = tmp_yaw;
             last_pitch = tmp_pitch;
-//            MINMAX(yaw_rotation, -6, 6);
-//            MINMAX(pitch_rotation, -6, 6);
+            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;
@@ -48,8 +54,10 @@ void Energy::sendEnergy() {
         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);
-//        MINMAX(yaw_rotation, -6, 6);
-//        MINMAX(pitch_rotation, -6, 6);
+        if(ROBOT_ID == 7){
+            MINMAX(yaw_rotation, -6, 6);
+            MINMAX(pitch_rotation, -6, 6);
+        }
         last_yaw = tmp_yaw;
         last_pitch = tmp_pitch;
     }
diff --git a/others/include/config/setconfig.h b/others/include/config/setconfig.h
index d0f71a5..bed009d 100644
--- a/others/include/config/setconfig.h
+++ b/others/include/config/setconfig.h
@@ -31,6 +31,11 @@
 #ifndef ENERGY_CAMERA_GAIN
     #define ENERGY_CAMERA_GAIN  (20)
 #endif
+
+#ifndef ROBOT_ID
+    #define ROBOT_ID (0)
+#endif
+
 #ifndef SMALL_YAW_AIM_KD
     #define SMALL_YAW_AIM_KD (0.35)
 #endif