diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp
index cc0da07..9f132e0 100644
--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -18,10 +18,10 @@ 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 == 4 || ROBOT_ID == 8) {
                 MINMAX(sum_yaw, -100, 100);
                 MINMAX(sum_yaw, -100, 100);
-            } else if (ROBOT_ID == 7) {
+            } else if (ROBOT_ID == 3 || 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);
@@ -50,7 +50,7 @@ void Energy::sendEnergy() {
 //                 << BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch) << endl;
             last_yaw = tmp_yaw;
             last_pitch = tmp_pitch;
-            if (ROBOT_ID == 7) {
+            if (ROBOT_ID == 3 || ROBOT_ID == 7) {
                 MINMAX(yaw_rotation, -6, 6);
                 MINMAX(pitch_rotation, -6, 6);
             }
@@ -68,14 +68,18 @@ void Energy::sendEnergy() {
         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);
+            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_KD * (pitch_rotation - last_pitch);
+                    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_KD * (yaw_rotation - last_yaw);
-            pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+            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 == 7) {
+        if (ROBOT_ID == 3 || ROBOT_ID == 7) {
             MINMAX(yaw_rotation, -6, 6);
             MINMAX(pitch_rotation, -6, 6);
         }
diff --git a/main.cpp b/main.cpp
index e008b3c..6675d6a 100644
--- a/main.cpp
+++ b/main.cpp
@@ -33,7 +33,7 @@ McuData mcu_data = {    // 单片机端回传结构体
         BIG_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
         0,              // 云台角度标记位
         1,              // 是否启用数字识别
-        ENEMY_RED,      // 敌方颜色
+        ENEMY_BLUE,      // 敌方颜色
         0,              // 能量机关x轴补偿量
         0,              // 能量机关y轴补偿量
 };
@@ -66,8 +66,8 @@ 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("/home/sun/桌面/video_8.8/8.7.4-big.avi");
-            video_chassis = new VideoWrapper("/home/sun/桌面/video_8.8/8.7.4-big.avi");
+            video_gimbal = new VideoWrapper("/home/sun/桌面/video_8.7/round1-8-5-7-big.avi");
+            video_chassis = new VideoWrapper("/home/sun/桌面/video_8.7/round1-8-5-7-big.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");