diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx
index 0a52c45..6aef15d 100644
--- a/MDK-ARM/R2.uvoptx
+++ b/MDK-ARM/R2.uvoptx
@@ -200,6 +200,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>\\R2\../User/task/chassis_task.c\chassis.param-&gt;M3508_param.d</ItemText>
         </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>\\R2\../User/task/nuc_task.c\cmd_fromnuc</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf
index 8b58b3a..d886012 100644
Binary files a/MDK-ARM/R2/R2.axf and b/MDK-ARM/R2/R2.axf differ
diff --git a/User/Module/Chassis.c b/User/Module/Chassis.c
index 76573aa..40c1642 100644
--- a/User/Module/Chassis.c
+++ b/User/Module/Chassis.c
@@ -42,9 +42,11 @@ int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_fre
     if (c == NULL) return CHASSIS_ERR_NULL;
     c->param = param;
 
-    for (int i = 0; i < 4; i++) {
+    for (int i = 0; i < 3; i++) {
         PID_init(&(c->pid.chassis_3508VecPID[i]), PID_POSITION_D, &(c->param->M3508_param));
     }
+        PID_init(&(c->pid.chassis_3508VecPID[3]), PID_POSITION_D, &(c->param->M3508_param_other));
+		
     PID_init(&(c->pid.chassis_PICKWzPID_HIGN), PID_POSITION, &(c->param->chassis_PICKWzPID_HIGN_param));
     PID_init(&(c->pid.chassis_PICKWzPID_LOW), PID_POSITION, &(c->param->chassis_PICKWzPID_LOW_param));
     /*sick*/
diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h
index 30e89b1..3148035 100644
--- a/User/Module/Chassis.h
+++ b/User/Module/Chassis.h
@@ -72,7 +72,9 @@ typedef struct
 	
 	
 	/*该部分决定PID的参数整定在config中修改*/
-  pid_param_t M3508_param;	
+  pid_param_t M3508_param;
+  pid_param_t M3508_param_other;
+	
 
 	pid_param_t chassis_PICKWzPID_HIGN_param;
 	pid_param_t chassis_PICKWzPID_LOW_param;
diff --git a/User/Module/config.c b/User/Module/config.c
index b95bed2..bef7c04 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -75,11 +75,11 @@ static const ConfigParam_t param ={
 
     /*投球*/
     .LaunchCfg = {
-    .m2006_init = -130.0f,    // M2006初始角度
+    .m2006_init = -140.0f,    // M2006初始角度
     .m2006_trig = 0.0f,       // M2006触发角度
     .go_pull_pos = -210.0f,   // go上升去合并扳机，扳机位置
-    .go_up_speed = 12.0f,     // 上升速度
-    .go_down_speed = 10.0f,     // 下降速度
+    .go_up_speed = 15.0f,     // 上升速度
+    .go_down_speed = 12.0f,     // 下降速度
 		.Pitch_angle = 58,	           //俯仰角
 		.go_init	 = -50
 },
@@ -117,7 +117,18 @@ static const ConfigParam_t param ={
 //		 .i_limit = 200.0f,
 //		 .out_limit =6000.0f,
 		 .p = 20.5f,
-		 .i = 0.00011f,
+		 .i = 0.00005f,
+		 .d = 3.2f,
+		 .i_limit = 200.0f,
+		 .out_limit =6000.0f,
+			 
+			 
+	 },	
+		 
+	 .M3508_param_other= {
+
+		 .p = 16.5f,
+		 .i = 0.00001f,
 		 .d = 3.2f,
 		 .i_limit = 200.0f,
 		 .out_limit =6000.0f,
diff --git a/User/Module/up.c b/User/Module/up.c
index a15f93d..e2561c7 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -132,7 +132,7 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
 {
 		/*目标值限位*/
 		abs_limit_min_max_fp(&u->motor_target.go_shoot ,-215.0f,0.0f);
-		abs_limit_min_max_fp(&u->motor_target.Pitch_angle ,48.0f,67.0f);
+		abs_limit_min_max_fp(&u->motor_target.Pitch_angle ,48.0f,71.5f);
 	
 	
 
@@ -423,10 +423,10 @@ int8_t UP_AUTO_Control(UP_t *u,CAN_Output_t *out,CMD_t *c){
       /*俯仰角度，力度转换，加数值限位*/
 	
 			if(u->MID360Context.Curve==CURVE_58){
-					MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis)+0.1f,3.3,4.3,&u->MID360Context.Curve);
+					MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis)+0.25f,3.3,4.3,&u->MID360Context.Curve);
 			}
 			else {
-					MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis),3.3,4.3,&u->MID360Context.Curve);
+					MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis)+0.1f,3.3,4.3,&u->MID360Context.Curve);
 				
 			}
 			if (u->MID360Context.Curve == CURVE_58) {
diff --git a/User/device/can_use.c b/User/device/can_use.c
index b00a8d4..007bddd 100644
--- a/User/device/can_use.c
+++ b/User/device/can_use.c
@@ -88,7 +88,7 @@ void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback,
                              const uint8_t *raw) {
   if (feedback == NULL || raw == NULL) return;
 	switch(raw[1])//判断编码器id
-	{
+		{
 		case 0x01:
 			
 		   switch(raw[2])//判断指令id