diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp
index 80caba9..afd640d 100644
--- a/energy/src/energy/clear/energy_init.cpp
+++ b/energy/src/energy/clear/energy_init.cpp
@@ -82,7 +82,8 @@ 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;//single game
+    gimbal_energy_part_param_.GRAY_THRESH =100;//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..610ed61 100644
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -107,6 +107,8 @@ 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/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp
index 2feaa77..f310129 100644
--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -25,6 +25,7 @@ void Energy::sendEnergy() {
             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);
+            MINMAX(yaw_rotation, -10, 10);
             last_yaw = tmp_yaw;
             last_pitch = tmp_pitch;
         } else if (is_chassis) {
diff --git a/main.cpp b/main.cpp
index 10671d7..850a291 100644
--- a/main.cpp
+++ b/main.cpp
@@ -30,7 +30,7 @@ using namespace std;
 McuData mcu_data = {    // 单片机端回传结构体
         0,              // 当前云台yaw角
         0,              // 当前云台pitch角
-        ARMOR_STATE,    // 当前状态，自瞄-大符-小符
+        BIG_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
         0,              // 云台角度标记位
         1,              // 是否启用数字识别
         ENEMY_RED,      // 敌方颜色
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
             video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
             video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
         } else {
-            video_gimbal = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi");
-            video_chassis = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi");
+            video_gimbal = new VideoWrapper("/home/sun/桌面/shiying/blue_1.avi");
+            video_chassis = new VideoWrapper("/home/sun/桌面/shiying/blue_1.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");
@@ -94,90 +94,90 @@ int main(int argc, char *argv[]) {
         cout << "start running" << endl;
         do {
             CNT_TIME("Total", {
-            if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
-                if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
-                    LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
-                    destroyAllWindows();
-                    if (from_camera) {
-                        delete video_gimbal;
-                        video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
-                        if (video_gimbal->init()) {
-                            LOGM("video_gimbal source initialization successfully.");
-                        } else {
-                            LOGW("video_gimbal source unavailable!");
+                if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
+                    if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
+                        LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
+                        destroyAllWindows();
+                        if (from_camera) {
+                            delete video_gimbal;
+                            video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
+                            if (video_gimbal->init()) {
+                                LOGM("video_gimbal source initialization successfully.");
+                            } else {
+                                LOGW("video_gimbal source unavailable!");
+                            }
                         }
+                        checkReconnect(video_chassis->read(chassis_src));
+                        energy.setBigEnergyInit();
                     }
-                    checkReconnect(video_chassis->read(chassis_src));
-                    energy.setBigEnergyInit();
-                }
-                last_state = mcu_data.state;//更新上一帧状态
-                ok = checkReconnect(video_gimbal->read(gimbal_src));
-                video_chassis->read(chassis_src);
+                    last_state = mcu_data.state;//更新上一帧状态
+                    ok = checkReconnect(video_gimbal->read(gimbal_src));
+                    video_chassis->read(chassis_src);
 #ifdef GIMBAL_FLIP_MODE
-                flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
+                    flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
 #endif
 #ifdef CHASSIS_FLIP_MODE
-                flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
+                    flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
 #endif
-                if (!from_camera) extract(gimbal_src, chassis_src);
-                if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
-                if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
-                energy.runBig(gimbal_src, chassis_src);
-//                energy.runBig(gimbal_src);
-            } else if (mcu_data.state == SMALL_ENERGY_STATE) {
-                if (last_state != SMALL_ENERGY_STATE) {
-                    LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
-                    destroyAllWindows();
-                    if (from_camera) {
-                        delete video_gimbal;
-                        video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
-                        if (video_gimbal->init()) {
-                            LOGM("video_gimbal source initialization successfully.");
-                        } else {
-                            LOGW("video_gimbal source unavailable!");
+                    if (!from_camera) extract(gimbal_src, chassis_src);
+                    if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
+                    if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
+//                energy.runBig(gimbal_src, chassis_src);
+                    energy.runBig(gimbal_src);
+                } else if (mcu_data.state == SMALL_ENERGY_STATE) {
+                    if (last_state != SMALL_ENERGY_STATE) {
+                        LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
+                        destroyAllWindows();
+                        if (from_camera) {
+                            delete video_gimbal;
+                            video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
+                            if (video_gimbal->init()) {
+                                LOGM("video_gimbal source initialization successfully.");
+                            } else {
+                                LOGW("video_gimbal source unavailable!");
+                            }
+                        }
+                        energy.setSmallEnergyInit();
+                    }
+                    last_state = mcu_data.state;//更新上一帧状态
+                    ok = checkReconnect(video_gimbal->read(gimbal_src));
+#ifdef GIMBAL_FLIP_MODE
+                    flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
+#endif
+                    if (!from_camera) extract(gimbal_src);
+                    if (save_video) saveVideos(gimbal_src);//保存视频
+                    if (show_origin) showOrigin(gimbal_src);//显示原始图像
+                    energy.runSmall(gimbal_src);
+                } else {                                         // 自瞄模式
+                    if (last_state != ARMOR_STATE) {
+                        LOGM(STR_CTR(WORD_RED, "Start Armor!"));
+                        destroyAllWindows();
+                        if (from_camera) {
+                            delete video_gimbal;
+                            video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
+                            if (video_gimbal->init()) {
+                                LOGM("video_gimbal source initialization successfully.");
+                            } else {
+                                LOGW("video_gimbal source unavailable!");
+                            }
                         }
                     }
-                    energy.setSmallEnergyInit();
-                }
-                last_state = mcu_data.state;//更新上一帧状态
-                ok = checkReconnect(video_gimbal->read(gimbal_src));
+                    last_state = mcu_data.state;
+                    CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
+                            if (!checkReconnect(video_gimbal->read(gimbal_src))) continue;
+                    });
 #ifdef GIMBAL_FLIP_MODE
-                flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
-#endif
-                if (!from_camera) extract(gimbal_src);
-                if (save_video) saveVideos(gimbal_src);//保存视频
-                if (show_origin) showOrigin(gimbal_src);//显示原始图像
-                energy.runSmall(gimbal_src);
-            } else {                                         // 自瞄模式
-                if (last_state != ARMOR_STATE) {
-                    LOGM(STR_CTR(WORD_RED, "Start Armor!"));
-                    destroyAllWindows();
-                    if (from_camera) {
-                        delete video_gimbal;
-                        video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
-                        if (video_gimbal->init()) {
-                            LOGM("video_gimbal source initialization successfully.");
-                        } else {
-                            LOGW("video_gimbal source unavailable!");
-                        }
-                    }
-                }
-                last_state = mcu_data.state;
-                CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
-                    if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
-                });
-#ifdef GIMBAL_FLIP_MODE
-                flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
+                    flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
 #endif
 //                CNT_TIME("something whatever", {
                     if (!from_camera) extract(gimbal_src);
                     if (save_video) saveVideos(gimbal_src);
                     if (show_origin) showOrigin(gimbal_src);
 //                });
-                CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
-                    armor_finder.run(gimbal_src);
-                });
-            }
+                    CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
+                            armor_finder.run(gimbal_src);
+                    });
+                }
 //            cv::waitKey(0);
             });
         } while (ok);