diff --git a/armor/include/armor_finder/armor_finder.h b/armor/include/armor_finder/armor_finder.h
index f508f9a..3c70f8d 100644
--- a/armor/include/armor_finder/armor_finder.h
+++ b/armor/include/armor_finder/armor_finder.h
@@ -123,7 +123,7 @@ private:
 
 public:
     void run(cv::Mat &src);                             // 自瞄主函数
-    bool sendBoxPosition();                             // 和主控板通讯
+    bool sendBoxPosition(bool shoot);                             // 和主控板通讯
 };
 
 #endif /* _ARMOR_FINDER_H_ */
diff --git a/armor/src/armor_finder/anti_top/anti_top.cpp b/armor/src/armor_finder/anti_top/anti_top.cpp
index 71f9afa..beb8b85 100644
--- a/armor/src/armor_finder/anti_top/anti_top.cpp
+++ b/armor/src/armor_finder/anti_top/anti_top.cpp
@@ -10,25 +10,35 @@ static double getTimeIntervalms(const timeval& now, const timeval &last){
 }
 
 void ArmorFinder::antiTop() {
-    double top_periodms = 0;
+    static double top_periodms = 0;
+    static double last_top_periodms = 0;
     timeval curr_time;
-    if(anti_top_state == ANTI_TOP){
+    bool shoot = 0;
+    /*if(anti_top_state == ANTI_TOP){
         cout << "anti top" << endl;
     }else if(anti_top_state == NORMAL){
         cout << "Normal" << endl;
-    }
+    }*/
     ArmorBox::BoxOrientation orientation = armor_box.getOrientation();
     if(orientation == ArmorBox::UNKNOWN){
         if(anti_top_state == NORMAL){
-            sendBoxPosition();
+            sendBoxPosition(shoot);
             return;
         }else{
             return;
         }
     }
+    gettimeofday(&curr_time, nullptr);
+    auto interval = getTimeIntervalms(curr_time, last_front_time);
+    LOGM("interval:%.1lf", interval);
+    if(anti_top_state == ANTI_TOP && (top_periodms+last_top_periodms)/2.0-130<interval&&interval<(top_periodms+last_top_periodms)/2.0-70){
+        shoot = 1;
+//        LOGM(STR_CTR(WORD_RED,"Shoot!!!"));
+    }else if(interval > 700){
+        anti_top_state = NORMAL;
+        anti_top_cnt = 0;
+    }
     if(orientation != last_orient){
-        gettimeofday(&curr_time, nullptr);
-        auto interval = getTimeIntervalms(curr_time, last_front_time);
         if(interval > 700){
             anti_top_cnt = 0;
             anti_top_state = NORMAL;
@@ -39,6 +49,7 @@ void ArmorFinder::antiTop() {
             if(orientation == ArmorBox::FRONT){
                 anti_top_cnt++;
                 if(anti_top_state == ANTI_TOP){
+                    last_top_periodms = top_periodms;
                     top_periodms = interval;
                     LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), top_periodms);
                 }
@@ -53,10 +64,10 @@ void ArmorFinder::antiTop() {
 
     if(anti_top_state == ANTI_TOP){
         if(orientation == ArmorBox::FRONT){
-            sendBoxPosition();
+            sendBoxPosition(shoot);
         }
     }else if(anti_top_state == NORMAL){
-        sendBoxPosition();
+        sendBoxPosition(shoot);
     }
 
 
diff --git a/armor/src/armor_finder/send_target/send_target.cpp b/armor/src/armor_finder/send_target/send_target.cpp
index 5ef44d0..cc3b24c 100644
--- a/armor/src/armor_finder/send_target/send_target.cpp
+++ b/armor/src/armor_finder/send_target/send_target.cpp
@@ -4,11 +4,11 @@
 
 #include <armor_finder/armor_finder.h>
 
-static bool sendTarget(Serial &serial, double x, double y, double z) {
+static bool sendTarget(Serial &serial, double x, double y, double z, uint8_t shoot) {
     static short x_tmp, y_tmp, z_tmp;
     static time_t last_time = time(nullptr);
     static int fps;
-    uint8_t buff[8];
+    uint8_t buff[9];
 
     time_t t = time(nullptr);
     if (last_time != t) {
@@ -29,12 +29,13 @@ static bool sendTarget(Serial &serial, double x, double y, double z) {
     buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
     buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
     buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
-    buff[7] = 'e';
+    buff[7] = shoot;
+    buff[8] = 'e';
 
     return serial.WriteData(buff, sizeof(buff));
 }
 
-bool ArmorFinder::sendBoxPosition() {
+bool ArmorFinder::sendBoxPosition(bool shoot) {
     if(armor_box.rect == cv::Rect2d()) return false;
     auto rect = armor_box.rect;
     double dx = rect.x + rect.width / 2 - 320;
@@ -43,5 +44,5 @@ bool ArmorFinder::sendBoxPosition() {
     double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
     double dist = DISTANCE_HEIGHT / rect.height;
 //    cout << yaw << endl;
-    return sendTarget(serial, yaw, -pitch, dist);
+    return sendTarget(serial, yaw, -pitch, dist, shoot);
 }