diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx
index 55731e3..4e7b59f 100644
--- a/MDK-ARM/R2.uvoptx
+++ b/MDK-ARM/R2.uvoptx
@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>6</nTsel>
+        <nTsel>3</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+        <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
@@ -140,7 +140,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name>(105=-1,-1,-1,-1,0)</Name>
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf
index 5c9f8b8..e2feb1d 100644
Binary files a/MDK-ARM/R2/R2.axf and b/MDK-ARM/R2/R2.axf differ
diff --git a/User/Module/config.c b/User/Module/config.c
index 82ef92b..9c56d78 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -97,7 +97,7 @@ static const ConfigParam_t param ={
     /*运球*/
     .DribbleConfig_Config = {
 		.dribble_flag=0,
-    .m3508_init_angle = 50,
+    .m3508_init_angle = -5,
     .m3508_translate_angle = -930,
     .m3508_dribble_Reverse_speed=-3500,
     . m3508_dribble_speed= 4000, // 转动速度
@@ -112,7 +112,8 @@ static const ConfigParam_t param ={
     .PitchConfig_Config = {
     .m2006_init_angle =-170,    
 	  .m2006_trigger_angle =0,
-    .go1_init_position = -50,   
+    .go1_init_position = -50, 
+		.go1_Receive_ball  = -5, //偏下	
 	  .go1_release_threshold =-210,
 		.m2006_Screw_init=0,	
 		.Pitch_angle  =56,
diff --git a/User/Module/up.c b/User/Module/up.c
index ceaeddf..5bd5c88 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -93,7 +93,10 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
 	}	
 
 	u->cmd =c;
-	
+	/*光电状态更新*/
+	u->DribbleContext .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port  ,LIGHT_C_Pin);
+	u->DribbleContext .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port  ,LIGHT_B_Pin);
+
 	return 0;
 }
 
@@ -270,7 +273,6 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 		is_pitch=0;	
 			} //让初始go位置只读一次，后面按调整模式更改的来,后面稳定了之后，可以跟随调整模式下一块删
 		u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;
-		u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 
 		u->PitchContext .PitchState   = PITCH_PREPARE;  //状态更新,开始夹球
 
 		    /*运球*/
@@ -279,18 +281,23 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 			for(int i=0;i<3;i++){
 	    	u->motor_target.Dribble_M3508_speed[i]=0;
 			}
-    u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle;
+    u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_translate_angle;
 	  u->DribbleContext .DribbleState  = DRIBBLE_PREPARE; //重置最初状态
 
 				break;
 			
 		case Pitch :
+//				if (u->PitchContext .PitchState  ==PITCH_PREPARE) 
+//				{
+//		      u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
+//				}
+
+//			 Pitch_Process(u,out);
 				if (u->PitchContext .PitchState  ==PITCH_PREPARE) 
 				{
-		      u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
-				}
-
-			 Pitch_Process(u,out,c);
+				     u->CoContext .CoState =CoTRANSLATE_OUT;
+				}		
+        Co_Process(u,out);
 
 				 break ;
 		case UP_Adjust: //测试用
@@ -308,10 +315,6 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 				u->DribbleContext .DribbleState=DRIBBLE_TRANSLATE;			
 			}
 			//光电状态更新
-			u->DribbleContext .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port  ,LIGHT_C_Pin);
-			u->DribbleContext .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port  ,LIGHT_B_Pin);
-      a=HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port  ,LIGHT_C_Pin);
-			b=HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port  ,LIGHT_B_Pin);
 			 Dribble_Process(u,out);
 		}break ;
 
@@ -341,12 +344,14 @@ return 0;
 
 
 
-int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
+int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
 {
 
 	switch(u->PitchContext .PitchState){
 	
 		case PITCH_START:
+//					u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 
+
 			u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold;
 		
 		if(u->motorfeedback .go_data ->Pos < -209){ //检测go位置到达最上面，这里的检测条件可以更改
@@ -361,11 +366,21 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
 		
 			if( u->motorfeedback .DJmotor_feedback [4].total_angle>-1)  //当2006的总角度小于1，可以认为已经勾上,误差为1
 			{
-         u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position; 
+         u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_Receive_ball; 
+				if(is_reached (u->motorfeedback .go_data ->Pos ,u->motor_target .go_shoot ,1.0f))
+			  {
+				u->PitchContext .PitchState=PITCH_LAUNCHING;			
+			  }
 			}
-		
-			break ;
+		  
 
+			
+			break ;
+		
+		case PITCH_LAUNCHING: //等待发射			
+		break ;
+		case PITCH_COMPLETE:  //发射完成
+	  break ;
 		
 	
 	}
@@ -389,7 +404,9 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
 	switch (u->DribbleContext.DribbleState) {
 
 		case DRIBBLE_TRANSLATE:
-		if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_translate_angle,1.0f))
+		u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 
+
+		if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主
 		{
 			u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，转移状态
 		}
@@ -412,13 +429,12 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
 				  common_speed_flag =1;
 			}
 			if(common_speed_flag){
-				if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){//球下落检测，反转
+				if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){//球下落检测，反转
 				u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
 				u->motor_target.Dribble_M3508_speed[1]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
 				u->motor_target.Dribble_M3508_speed[2]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
 
 			  u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP;
-						
 				}
 				
 			} 
@@ -426,12 +442,14 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
 			
 			break;
 		case DRIBBLE_PROCESS_UP:
-			  if((u->motorfeedback .DJmotor_feedback [0].rpm<0)&&			
-			     (u->motorfeedback .DJmotor_feedback [1].rpm>0)&&
-			     (u->motorfeedback .DJmotor_feedback [2].rpm>0) 
+							  common_speed_flag =0;
+
+			  if((u->motorfeedback .DJmotor_feedback [0].rpm<-2000)&&			
+			     (u->motorfeedback .DJmotor_feedback [1].rpm>2000)&&
+			     (u->motorfeedback .DJmotor_feedback [2].rpm>2000) 
 			   ){
 		
-				   if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){
+				   if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){
 			     u->DribbleContext .DribbleState=DRIBBLE_DONE;
 				   RELAY1_TOGGLE(0);  //关闭气缸
 				  }
@@ -454,5 +472,89 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
 	}
     return 0;
 }
+//    CoPREPARE,            // 准备阶段
+//	  CoTRANSLATE_OUT,//上方平移,去运球
+//	  CoDRIBBLE,       //运球阶段
+//	  CoTRANSLATE_IN,//上方平移，送球发射，回到运球位置
+//	  CoPITCH,       //发射
+//	  CoDONE,        
+	  
+int8_t Co_Process(UP_t *u, CAN_Output_t *out)
+{
+	switch(u->CoContext .CoState )
+	{
+		case CoPREPARE:
+			
+		break ;
+		case CoTRANSLATE_OUT:
+			u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 
+
+		if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主
+			{
+				u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，运球转移状态
+				u->PitchContext .PitchState = PITCH_START;
+
+				u->CoContext .CoState =CoDRIBBLE;
+			}
+		break;
+
+		case CoDRIBBLE:
+			 Dribble_Process(u,out);  //状态停在DRIBBLE_DONE
+			 Pitch_Process(u,out);    //状态停在PITCH_PULL_TRIGGER
+		//状态停在对应位置时,平移去给发射送球
+		if(u->DribbleContext .DribbleState ==DRIBBLE_DONE && u->PitchContext.PitchState ==PITCH_LAUNCHING)
+		{
+			u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle;			
+		}
+		if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_init_angle,1.0f))
+		{
+			u->motor_target.Dribble_M3508_speed[0]=1000;
+			u->motor_target.Dribble_M3508_speed[1]=-1000;
+			u->motor_target.Dribble_M3508_speed[2]=-1000;
+
+			u->CoContext .CoState =CoTRANSLATE_IN;
+		}
+		
+    break ;	
+		case CoTRANSLATE_IN:
+			
+				if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm,
+				u->motorfeedback .DJmotor_feedback [1].rpm,
+		   	u->motorfeedback .DJmotor_feedback [2].rpm,
+			  u->motor_target.Dribble_M3508_speed [0],
+			  u->motor_target.Dribble_M3508_speed [1],
+				u->motor_target.Dribble_M3508_speed[2],	
+			  50.0f,100)
+			) {
+   		  	RELAY1_TOGGLE(1);  //速度达到后打开气缸,送给发射
+			}
+			if(u->DribbleContext .DribbleConfig.light_ball_flag == 0)
+			{
+			  u->motor_target.Dribble_M3508_speed[0]=0;
+			  u->motor_target.Dribble_M3508_speed[1]=0;
+			  u->motor_target.Dribble_M3508_speed[2]=0;	
+				u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 
+			
+			}
+			
+		  if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主,卡到最右端
+			{
+				u->CoContext .CoState =CoPITCH;
+			}
+    break ;
+			
+    case CoPITCH:
+			
+		    u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position; 
+
+			
+			break ;
+
+	}
+	
+	
+	
 
 
+}
+
diff --git a/User/Module/up.h b/User/Module/up.h
index f06865c..d915ebf 100644
--- a/User/Module/up.h
+++ b/User/Module/up.h
@@ -26,16 +26,24 @@
 运行函数，switch(状态) 运行相应函数
 
 
-
-
-
-
-
-
-
-
-
 */
+/*配合过程状态,co是合作的意思*/
+typedef enum {
+    CoPREPARE,            // 准备阶段
+	  CoTRANSLATE_OUT,//上方平移,去运球
+	  CoDRIBBLE,       //运球和蓄力阶段,再平移回去
+	  CoTRANSLATE_IN,//上方平移，送球发射，回到运球位置
+	  CoPITCH,       //发射
+	  CoDONE,        
+	  
+
+}CoState_t;
+/*总配合上下文*/
+typedef struct {
+    CoState_t CoState;
+
+    uint8_t is_initialized ;
+} CoContext_t;
 
 
 
@@ -46,7 +54,9 @@ typedef enum {
 	  PITCH_START,            //启动，拉扳机
     PITCH_PULL_TRIGGER,  
     PITCH_LAUNCHING,        // 发射中
+	
     PITCH_COMPLETE          // 完成
+	
 } PitchState_t;
 
 /* 投球参数配置 */
@@ -55,8 +65,10 @@ typedef struct {
 	  fp32 m2006_trigger_angle;   // M2006触发角度0,用来合并扳机
     fp32 go1_init_position;     // GO电机触发位置,0,初始位置
 	  fp32 go1_release_threshold; // go上升去合并扳机，扳机位置
+	  fp32 go1_Receive_ball;      //用在配合过程，用来接平移后的球
 	  fp32 m2006_Screw_init;
 	  fp32 Pitch_angle;
+	
 } PitchConfig_t;
 
 /* 投球控制上下文 */
@@ -108,8 +120,6 @@ typedef struct {
 	   
     uint8_t is_initialized;
 
-	
-
 } DribbleContext_t;
 
 
@@ -164,7 +174,8 @@ typedef struct{
 	
    uint8_t up_task_run; 
    const	UP_Param_t *param;  
-		/*运球过程*/
+   CoContext_t	CoContext;
+	/*运球过程*/
   DribbleContext_t DribbleContext;
     /*投篮过程*/
 	PitchContext_t PitchContext;
@@ -262,7 +273,8 @@ int8_t DJ_Angle_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Angle
 int8_t DJ_Speed_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Speed_pid,fp32 target_speed);
 
 int8_t Dribble_Process(UP_t *u, CAN_Output_t *out);
-int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c);
+int8_t Pitch_Process(UP_t *u, CAN_Output_t *out);
+int8_t Co_Process(UP_t *u, CAN_Output_t *out);
 
 
 #endif