diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp
index 610ed61..9cf3006 100644
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -107,8 +107,6 @@ void Energy::runBig(cv::Mat &gimbal_src) {
     getPredictPoint(target_point);
     getAimPoint(predict_point);
     judgeShootInGimbal();
-//    cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << '\t' << "shoot: " << shoot << endl;
-//    waitKey(0);
     sendEnergy();
 }
 
diff --git a/others/include/config/setconfig.h b/others/include/config/setconfig.h
index 0768d1c..d0f71a5 100644
--- a/others/include/config/setconfig.h
+++ b/others/include/config/setconfig.h
@@ -32,34 +32,34 @@
     #define ENERGY_CAMERA_GAIN  (20)
 #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)
@@ -68,7 +68,7 @@
     #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)