diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h
index 8509d32..ea5d92c 100644
--- a/energy/include/energy/energy.h
+++ b/energy/include/energy/energy.h
@@ -73,6 +73,7 @@ private:
     int anticlockwise_rotation_init_cnt;//装甲板逆时针旋转次数
     int last_mode;//上一帧的能量机关状态
     int manual_delta_x, manual_delta_y;//手动微调量
+    int extra_delta_y;//在风车运动到最高点附近的额外补偿量
 
     float target_polar_angle;//待击打装甲板的极坐标角度
     float last_target_polar_angle;//上一帧待击打装甲板的极坐标角度
diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp
index d86cc50..41123ce 100644
--- a/energy/src/energy/clear/energy_init.cpp
+++ b/energy/src/energy/clear/energy_init.cpp
@@ -38,6 +38,7 @@ void Energy::initEnergy() {
     last_mode = -1;//既不是大符也不是小符
     manual_delta_x = 0;
     manual_delta_y = 0;
+    extra_delta_y = 0;
 
     target_polar_angle = -1000;
     last_target_polar_angle = -1000;
@@ -75,7 +76,7 @@ void Energy::initEnergy() {
 // 此函数对能量机关参数进行初始化
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::initEnergyPartParam() {
-    gimbal_energy_part_param_.GRAY_THRESH = 100;//home
+    gimbal_energy_part_param_.GRAY_THRESH = 90;//home
 //    gimbal_energy_part_param_.GRAY_THRESH = 200;//official
 //    gimbal_energy_part_param_.GRAY_THRESH = 225;
     gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 230;
diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp
index 2c83150..8d7c6d2 100644
--- a/energy/src/energy/get/aim_point_get.cpp
+++ b/energy/src/energy/get/aim_point_get.cpp
@@ -14,9 +14,14 @@ extern mcu_data mcuData;
 //----------------------------------------------------------------------------------------------------------------------
 // 此函数通过自瞄逻辑击打目标点，用于大符的自动对心和小符直接打击
 // ---------------------------------------------------------------------------------------------------------------------
-void Energy::getAimPoint(cv::Point target_point) {
-    double dx = -(target_point.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x);
-    double dy = -(target_point.y - 240 - COMPENSATE_PITCH - mcuData.delta_y - manual_delta_y);
+void Energy::getAimPoint(cv::Point target_point_) {
+    float target_polar_angle_ = static_cast<float>(180 / PI * atan2(-1 * (target_point_.y - circle_center_point.y),
+                                                                    (target_point_.x - circle_center_point.x)));
+    if (target_polar_angle_ > 50 && target_polar_angle_ < 130)extra_delta_y = -16;
+    else extra_delta_y = 0;
+
+    double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x);
+    double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcuData.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/main.cpp b/main.cpp
index a10e8ec..c5b60bb 100644
--- a/main.cpp
+++ b/main.cpp
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
             video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
             video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "energy"*/);
         } else {
-            video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimbal255.avi");
-            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal255.avi");
+            video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi");
+            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");