diff --git a/energy/src/energy/energy.cpp b/energy/src/energy/energy.cpp
index 60e7b2d..5825cff 100644
--- a/energy/src/energy/energy.cpp
+++ b/energy/src/energy/energy.cpp
@@ -80,7 +80,7 @@ void Energy::setSmallEnergyInit() {
 
     FILE *fp = fopen(PROJECT_DIR"/Mark/delta.txt", "r");
     if (fp) {
-        fscanf(fp, "%d %d", &manual_delta_x, &manual_delta_y);
+        fscanf(fp, "delta_x: %d, delta_y: %d", &manual_delta_x, &manual_delta_y);
         fclose(fp);
     }
 }
\ No newline at end of file
diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp
index 68aea4b..cb551cc 100644
--- a/energy/src/energy/get/aim_point_get.cpp
+++ b/energy/src/energy/get/aim_point_get.cpp
@@ -20,18 +20,26 @@ void Energy::getAimPoint(cv::Point target_point_) {
 
     if (target_polar_angle_ > 0 && target_polar_angle_ <= 90) {
         extra_delta_x = EXTRA_DELTA_X * (90 - target_polar_angle_) / 90;
-        extra_delta_y = - EXTRA_DELTA_Y * target_polar_angle_  / 90;
+        extra_delta_y = -EXTRA_DELTA_Y * target_polar_angle_ / 90;
     } else if (target_polar_angle_ > 90 && target_polar_angle_ < 180) {
-        extra_delta_x = - EXTRA_DELTA_X * (target_polar_angle_ - 90) / 90;
-        extra_delta_y = - EXTRA_DELTA_Y * (180 - target_polar_angle_) / 90;
+        extra_delta_x = -EXTRA_DELTA_X * (target_polar_angle_ - 90) / 90;
+        extra_delta_y = -EXTRA_DELTA_Y * (180 - target_polar_angle_) / 90;
     } else {
         extra_delta_x = 0;
         extra_delta_y = 0;
     }
 
+    int compensate_yaw = 0, compensate_pitch = 0;
+    if (mcu_data.enemy_color == ENEMY_BLUE) {
+        compensate_yaw = RED_COMPENSATE_YAW;
+        compensate_pitch = RED_COMPENSATE_PITCH;
+    } else if (mcu_data.enemy_color == ENEMY_RED) {
+        compensate_yaw = BLUE_COMPENSATE_YAW;
+        compensate_pitch = BLUE_COMPENSATE_PITCH;
+    }
 
-    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);
+    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;
     pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;
 //    cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
diff --git a/energy/src/energy/mark/mark.cpp b/energy/src/energy/mark/mark.cpp
index 355cf2f..b851fe2 100644
--- a/energy/src/energy/mark/mark.cpp
+++ b/energy/src/energy/mark/mark.cpp
@@ -22,27 +22,25 @@ void Energy::writeDownSlightChange(cv::Mat &src) {
             fclose(fp_delta);
         }
     }
-    if(fans_cnt>=1){
-        FILE *fp_data = fopen(PROJECT_DIR"/Mark/data.txt", "a");
-        if (fp_data) {
-            if(mcu_data.mark == 1){
-                fprintf(fp_data, "PID: %s\t", "new");
-            } else {
-                fprintf(fp_data, "PID: %s\t", "default");
-            }
-            if(is_big){
-                fprintf(fp_data, "state: %s\t", "big");
-            } else if(is_small){
-                fprintf(fp_data, "state: %s\t", "small");
-            }
-            fprintf(fp_data, "fps: %d\t", curr_fps);
-            fprintf(fp_data, "fans_cnt: %d\t", fans_cnt);
-            fprintf(fp_data, "shoot: %d\t", int(shoot));
-            fprintf(fp_data, "yaw: %lf , pitch: %lf\t", yaw_rotation, pitch_rotation);
-            fprintf(fp_data, "delta_x: %d, delta_y: %d\n", mcu_data.delta_x + manual_delta_x,
-                    mcu_data.delta_y + manual_delta_y);
-            fclose(fp_data);
+    FILE *fp_data = fopen(PROJECT_DIR"/Mark/data.txt", "a");
+    if (fp_data) {
+        if(mcu_data.mark == 1){
+            fprintf(fp_data, "PID: %s\t", "new");
+        } else {
+            fprintf(fp_data, "PID: %s\t", "default");
         }
+        if(is_big){
+            fprintf(fp_data, "state: %s\t", "big");
+        } else if(is_small){
+            fprintf(fp_data, "state: %s\t", "small");
+        }
+        fprintf(fp_data, "fps: %d\t", curr_fps);
+        fprintf(fp_data, "fans_cnt: %d\t", fans_cnt);
+        fprintf(fp_data, "shoot: %d\t", int(shoot));
+        fprintf(fp_data, "yaw: %lf , pitch: %lf\t", yaw_rotation, pitch_rotation);
+        fprintf(fp_data, "delta_x: %d, delta_y: %d\n", mcu_data.delta_x + manual_delta_x,
+                mcu_data.delta_y + manual_delta_y);
+        fclose(fp_data);
     }
 }
 
diff --git a/main.cpp b/main.cpp
index bcead53..24afb72 100644
--- a/main.cpp
+++ b/main.cpp
@@ -30,10 +30,10 @@ using namespace std;
 McuData mcu_data = {    // 单片机端回传结构体
         0,              // 当前云台yaw角
         0,              // 当前云台pitch角
-        ARMOR_STATE,    // 当前状态，自瞄-大符-小符
+        BIG_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
         0,              // 云台角度标记位
         0,              // 是否为反陀螺模式
-        ENEMY_BLUE,      // 敌方颜色
+        ENEMY_RED,      // 敌方颜色
         0,              // 能量机关x轴补偿量
         0,              // 能量机关y轴补偿量
 };
@@ -66,7 +66,7 @@ int main(int argc, char *argv[]) {
             video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
             video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
         } else {
-            video_gimbal = new VideoWrapper(PROJECT_DIR"/test_video/red_small.avi");
+            video_gimbal = new VideoWrapper(PROJECT_DIR"/test_video/blue_small.avi");
             video_chassis = new VideoWrapper(PROJECT_DIR"/test_video/red_small.avi");
         }
         if (video_gimbal->init()) {