diff --git a/energy/src/energy/clear/clear.cpp b/energy/src/energy/clear/clear.cpp
index 8efbdbc..bd7d946 100644
--- a/energy/src/energy/clear/clear.cpp
+++ b/energy/src/energy/clear/clear.cpp
@@ -8,11 +8,10 @@ using namespace std;
 using namespace cv;
 
 
-
 //----------------------------------------------------------------------------------------------------------------------
 // 此函数用于清空各vector
 // ---------------------------------------------------------------------------------------------------------------------
-void Energy::clearAll(){
+void Energy::clearAll() {
     fans.clear();
     armors.clear();
     flow_strip_fans.clear();
@@ -24,10 +23,11 @@ void Energy::clearAll(){
 //----------------------------------------------------------------------------------------------------------------------
 // 此函数用于图像预处理
 // ---------------------------------------------------------------------------------------------------------------------
-void Energy::initImage(cv::Mat &src){
+void Energy::initImage(cv::Mat &src) {
 //    imagePreprocess(src);
 //    if(show_process)imshow("img_preprocess", src);
     if (src.type() == CV_8UC3)cvtColor(src, src, COLOR_BGR2GRAY);
     threshold(src, src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY);
     if (show_process)imshow("bin", src);
+    if (show_energy)waitKey(1);
 }
diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp
index 80caba9..c518df5 100644
--- a/energy/src/energy/clear/energy_init.cpp
+++ b/energy/src/energy/clear/energy_init.cpp
@@ -82,7 +82,7 @@ void Energy::initEnergy() {
 void Energy::initEnergyPartParam() {
 //    gimbal_energy_part_param_.GRAY_THRESH = 120;//home
 //    gimbal_energy_part_param_.GRAY_THRESH = 200;//official
-    gimbal_energy_part_param_.GRAY_THRESH = 180;//game
+    gimbal_energy_part_param_.GRAY_THRESH =180;//game
     gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 180;
     gimbal_energy_part_param_.FAN_GRAY_THRESH = 75;
     gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80;
diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp
index 9cf3006..fd5d95b 100644
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -106,6 +106,8 @@ void Energy::runBig(cv::Mat &gimbal_src) {
     if (save_mark)writeDownSlightChange(gimbal_src);
     getPredictPoint(target_point);
     getAimPoint(predict_point);
+//    cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << '\t' << "shoot: " << shoot << endl;
+//    waitKey(0);
     judgeShootInGimbal();
     sendEnergy();
 }
diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp
index 2feaa77..2a9ab2e 100644
--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -18,34 +18,51 @@ void Energy::sendEnergy() {
         if (camera_cnt == 1) {
             sum_yaw += yaw_rotation;
             sum_pitch += pitch_rotation;
-            MINMAX(sum_yaw, -100, 100);
-            MINMAX(sum_pitch, -100, 100);
+            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;
-            yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw + BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
+            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);
+                             BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+//            cout << BIG_YAW_AIM_KP * yaw_rotation << '\t' << BIG_YAW_AIM_KI * sum_yaw << '\t'
+//                 << BIG_YAW_AIM_KD * (yaw_rotation - last_yaw) << 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 - 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;
         }
-    } else if (is_small){
-        sum_yaw += yaw_rotation;
-        sum_pitch += pitch_rotation;
-        MINMAX(sum_yaw, -100, 100);
-        MINMAX(sum_pitch, -100, 100);
+    } 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 (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 c8bc35c..492b1a7 100644
--- a/others/include/config/setconfig.h
+++ b/others/include/config/setconfig.h
@@ -35,35 +35,40 @@
 #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)
+    #define SMALL_YAW_AIM_KD (0.35)
 #endif
 #ifndef SMALL_YAW_AIM_KP
-    #define SMALL_YAW_AIM_KP (4)
+    #define SMALL_YAW_AIM_KP (0.85)
 #endif
 #ifndef SMALL_PITCH_AIM_KD
-    #define SMALL_PITCH_AIM_KD (0)
+    #define SMALL_PITCH_AIM_KD (0.35)
 #endif
 #ifndef SMALL_PITCH_AIM_KP
-    #define SMALL_PITCH_AIM_KP (3.7)
+    #define SMALL_PITCH_AIM_KP (0.85)
 #endif
 #ifndef BIG_YAW_AIM_KD
-    #define BIG_YAW_AIM_KD (0)
+    #define BIG_YAW_AIM_KD (0.35)
 #endif
 #ifndef BIG_YAW_AIM_KP
-    #define BIG_YAW_AIM_KP (6.5)
+    #define BIG_YAW_AIM_KP (0.85)
 #endif
 #ifndef BIG_YAW_AIM_KI
-    #define BIG_YAW_AIM_KI (0.1)
+    #define BIG_YAW_AIM_KI (0)
 #endif
 #ifndef BIG_PITCH_AIM_KD
-    #define BIG_PITCH_AIM_KD (0)
+    #define BIG_PITCH_AIM_KD (0.35)
 #endif
 #ifndef BIG_PITCH_AIM_KP
-    #define BIG_PITCH_AIM_KP (6.5)
+    #define BIG_PITCH_AIM_KP (0.85)
 #endif
 #ifndef BIG_PITCH_AIM_KI
-    #define BIG_PITCH_AIM_KI (0.1)
+    #define BIG_PITCH_AIM_KI (0)
 #endif
 #ifndef COMPENSATE_YAW
     #define COMPENSATE_YAW (5)
@@ -72,7 +77,7 @@
     #define COMPENSATE_PITCH (74)
 #endif
 #ifndef EXTRA_DELTA_X
-    #define EXTRA_DELTA_X (10)
+    #define EXTRA_DELTA_X (0)
 #endif
 #ifndef EXTRA_DELTA_Y
     #define EXTRA_DELTA_Y (10)