diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp
index d03156a..cc0da07 100644
--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -32,11 +32,11 @@ void Energy::sendEnergy() {
 
             double tmp_yaw = yaw_rotation;
             double tmp_pitch = pitch_rotation;
-            if(mcu_data.mark == 1){
+            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);
+                               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);
+                                 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);
@@ -67,8 +67,14 @@ void Energy::sendEnergy() {
     } else if (is_small) {
         double tmp_yaw = yaw_rotation;
         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);
+        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);
+        } 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);
+        }
         if (ROBOT_ID == 7) {
             MINMAX(yaw_rotation, -6, 6);
             MINMAX(pitch_rotation, -6, 6);
diff --git a/main.cpp b/main.cpp
index bdf8f50..47ba097 100644
--- a/main.cpp
+++ b/main.cpp
@@ -33,7 +33,7 @@ McuData mcu_data = {    // 单片机端回传结构体
         SMALL_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_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
 };
@@ -93,6 +93,7 @@ int main(int argc, char *argv[]) {
         bool ok = true;
         cout << "start running" << endl;
         do {
+            cout<<"save_mark: "<<save_mark<<endl;
             char curr_state = mcu_data.state;
             CNT_TIME("Total", {
             if (curr_state == BIG_ENERGY_STATE) {//大能量机关模式