diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h
index dd4507e..2f07dfc 100644
--- a/energy/include/energy/energy.h
+++ b/energy/include/energy/energy.h
@@ -80,6 +80,7 @@ private:
     float yaw_rotation, pitch_rotation;//云台yaw轴和pitch轴应该转到的角度
     float origin_yaw, origin_pitch;//初始的云台角度设定值
     float shoot;//若为2，则要求主控板发弹
+    float sum_yaw, sum_pitch;//yaw和pitch的累计误差，即PID中积分项
 
     timeval time_start_guess;
 
diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp
index e91b640..0d1f34d 100644
--- a/energy/src/energy/clear/energy_init.cpp
+++ b/energy/src/energy/clear/energy_init.cpp
@@ -47,6 +47,8 @@ void Energy::initEnergy() {
     yaw_rotation = 0;
     pitch_rotation = 0;
     shoot = 0;
+    sum_yaw = 0;
+    sum_pitch = 0;
 
     circle_center_point = Point(0, 0);
     target_point = Point(0, 0);
diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp
index 4c3ac74..749c9e1 100644
--- a/energy/src/energy/get/aim_point_get.cpp
+++ b/energy/src/energy/get/aim_point_get.cpp
@@ -13,17 +13,12 @@ using namespace cv;
 // 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, dy;
 //五号车
 //    double dx = -(target_point.x - 320 - 10);
 //    double dy = -(target_point.y - 240 - 22);
 //四号车
-#ifndef COMPENSATE_YAW
-    dx = -(target_point.x - 320 - COMPENSATE_YAW);
-#endif
-#ifndef COMPENSATE_PITCH
-    dy = -(target_point.y - 240 - COMPENSATE_PITCH);
-#endif
+    double dx = -(target_point.x - 320 - COMPENSATE_YAW);
+    double dy = -(target_point.y - 240 - COMPENSATE_PITCH);
     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/energy/src/energy/judge/judge_shoot.cpp b/energy/src/energy/judge/judge_shoot.cpp
index dbdb33c..149974f 100644
--- a/energy/src/energy/judge/judge_shoot.cpp
+++ b/energy/src/energy/judge/judge_shoot.cpp
@@ -40,16 +40,8 @@ void Energy::judgeShootInGimbal(){
     } else
         shoot = 2;
 
-    static float sum_yaw = 0;
-    static float sum_pitch = 0;
     sum_yaw += yaw_rotation;
     sum_pitch += pitch_rotation;
-#ifndef AIM_KP
-    yaw_rotation = AIM_KP * yaw_rotation;
-    pitch_rotation = AIM_KP * pitch_rotation;
-#endif
-#ifndef AIM_KI
-    yaw_rotation = yaw_rotation +  AIM_KI * sum_yaw;
-    pitch_rotation = pitch_rotation * pitch_rotation + AIM_KI * sum_pitch;
-#endif
+    yaw_rotation = AIM_KP * yaw_rotation +  AIM_KI * sum_yaw;
+    pitch_rotation = AIM_KP * pitch_rotation + AIM_KI * sum_pitch;
 }