diff --git a/MDK-ARM/AUTO_CHASSIS.uvoptx b/MDK-ARM/AUTO_CHASSIS.uvoptx
index 5f23ba8..7f33d80 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvoptx
+++ b/MDK-ARM/AUTO_CHASSIS.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>
@@ -140,12 +140,12 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Horco CMSIS-DAP" -U4626385832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-X"Horco CMSIS-DAP" -U8626380832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name>(105=-1,-1,-1,-1,0)</Name>
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -235,6 +235,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>flaggg,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>16</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ddd</ItemText>
+        </Ww>
       </WatchWindow1>
       <WatchWindow2>
         <Ww>
diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
index 1b1ae25..dd93e1a 100644
Binary files a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf and b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf differ
diff --git a/User/Module/config.c b/User/Module/config.c
index 78ab050..32fc173 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -38,14 +38,14 @@ static const ConfigParam_t param_chassis ={
 },
 .M3508_angle_param = {  
     .p = 10.0f,        
-    .i = 0.0f,         
-    .d = 1.5f,         
+    .i = 0.5f,         
+    .d = 0.0f,         
     .i_limit = 1000.0f,
     .out_limit = 3000.0f,
 },
 .M3508_speed_param={
-		 .p = 5.1f,
-		 .i = 0.02f,
+		 .p = 6.0f,
+		 .i = 0.0f,
 		 .d = 3.2f,
 		 .i_limit = 200.0f,
 		 .out_limit =6000.0f,
@@ -77,25 +77,25 @@ static const ConfigParam_t param_chassis ={
     .rev = 0,
 	  .T=0.1,
 	  .W=0.1,
-	  .K_P=0.10f,
+	  .K_P=0.20f,
 	  .K_W=0.1,
 },
 /*上层其他参数*/
     /*运球*/
     .DribbleConfig_Config = {
-    .m3508_init_angle = 0,
-    .m3508_high_angle = 900,
-    .go2_init_angle =  35,
-    .go2_flip_angle = -130,
+    .m3508_init_angle = 50,
+    .m3508_high_angle = 1200,
+    .go2_init_angle =  0,
+    .go2_flip_angle = -250,
     .flip_timing = 200,
-    .release_threshold = -1.2f,
+    .go2_release_threshold = -550.0f,
 },
     /*投球*/
     .PitchConfig_Config = {
-    .m2006_init_angle =-140,    
+    .m2006_init_angle =-150,    
 	  .m2006_trigger_angle =0,
-    .go1_init_position = 0,   
-	  .go1_release_threshold =-2050,
+    .go1_init_position = -300,   
+	  .go1_release_threshold =-1900,
 },
 	
 	
diff --git a/User/Module/up.c b/User/Module/up.c
index 1c00309..9d37a0d 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -45,15 +45,13 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
 		  u->DribbleContext .DribbleConfig = u->param ->DribbleConfig_Config ;//赋值
       u->DribbleContext .DribbleState  = Dribble_PREPARE;  
       u->DribbleContext .is_initialized = 1;
-		  u->DribbleContext .Dribble_run_num =0;//记录运行次数
+		
     }
 
 	if (!u->PitchContext  .is_initialized) { 
 		  u->PitchContext .PitchConfig  = u->param ->PitchConfig_Config  ;//赋值
       u->PitchContext .PitchState   = PITCH_PREPARE;  //状态更新,开始夹球
       u->PitchContext .is_initialized = 1;
-			u->PitchContext .Pitch_run_num  =0;//记录运行次数
-
     }
 
 
@@ -201,7 +199,7 @@ int8_t GO_SendData(UP_t *u,int id,float pos)
 {
 	
 	 GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), id,u->param->go_param[id] .rev ,u->param->go_param[id] .T ,u->param->go_param[id] .W ,AngleChange(RADIAN,pos),u->param->go_param [id].K_P ,u->param->go_param[id] .K_W );
-  return 0;
+   return 0;
 
 }
 
@@ -246,47 +244,52 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 	{
 	case UP_RCcontrol:  //在手动模式下
 		
-   switch (c->CMD_UP_mode ) 
+   switch (c-> CMD_UP_mode ) 
 			{
 				
 		case Normal :
          /*投篮*/
 		u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ;
 		u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;
+		u->PitchContext .PitchState   = PITCH_PREPARE;  //状态更新,开始夹球
+
 		    /*运球*/
 		u->motor_target .go_spin = u->DribbleContext.DribbleConfig .go2_init_angle ;
 		u->motor_target .M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle ;
+	  u->DribbleContext .DribbleState  = Dribble_PREPARE; //重置最初状态
 
 
-      	RELAY1_TOGGLE (1);//接球，1开0关
-      	RELAY2_TOGGLE (1);//夹球，0关1开
+      	RELAY1_TOGGLE (1);//夹球，0夹1开
+      	RELAY2_TOGGLE (0);//球，0接1收
     				
 				
 				break;
 				
 		case Pitch :
-        Pitch_Process(u,out);
-		    u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
-		  
+				if (u->PitchContext .PitchState  ==PITCH_PREPARE) //首次启动
+				{
+		      u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
+				}
+
+			 Pitch_Process(u,out);
+
 				 break ;
 		 
 		case Dribble:
 		{
 			/*夹球 -> 3508 升起 ，同时go2翻转 -> 到位置后，继电器开，放球，同时3508降，go2翻回->接球，收		*/
-			Dribble_Process(u,out);
-			u->DribbleContext .DribbleState =STATE_GRAB_BALL;//置标志位用于启动运球
-			
+
+			if(u->DribbleContext.DribbleState== Dribble_PREPARE){
+				
+				u->DribbleContext .DribbleState =STATE_GRAB_BALL;
+			}
+			 Dribble_Process(u,out);
+
+
 		}break ;
-		
-		case PICK_Pitch_START :
+		case Dribbl_transfer:
 			
-      Pitch_Process(u,out);
-		  u->PitchContext .PitchState=PITCH_START;//置标志位用于启动视觉辅助投篮
-	
-				break;
-
-
-	
+        Dribbl_transfer_a(u,out);
 			}
 			break;
 						
@@ -311,12 +314,15 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
 		case PITCH_START:
 			u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold;
 		
-		if(u->motorfeedback .GO_motor_info[0]->Pos < -35.0) //检测go位置到达最上面，这里的检测条件可以更改
+		if(u->motorfeedback .GO_motor_info[0]->Pos < -32.40){ //检测go位置到达最上面，这里的检测条件可以更改
 			u->motor_target .M2006_angle = u->PitchContext .PitchConfig .m2006_trigger_angle ;//设置2006角度，0
-			u->PitchContext .PitchState =PITCH_PULL_TRIGGER;	//更改标志位
+		
+				  u->PitchContext .PitchState=PITCH_PULL_TRIGGER;//置标志位用于启动视觉辅助投篮
+}//更改标志位
+
 			break ;
 		case PITCH_PULL_TRIGGER:
-			if(u->motorfeedback .M2006 .total_angle <5)    //当2006的总角度小于5，可以认为已经勾上
+			if(u->motorfeedback .M2006 .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;//go下拉
 				u->PitchContext.PitchState   =PITCH_LAUNCHING;//转移标志位
@@ -324,18 +330,17 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
 		
 			break ;
 		case PITCH_LAUNCHING:
-		if(u->motorfeedback .GO_motor_info [0]->Pos <2.0f)
+		if(u->motorfeedback .GO_motor_info [0]->Pos >0)
 		{
-			u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle  ;//给-140角度发射
+//			u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle  ;//给-140角度发射
 			u->PitchContext .PitchState =PITCH_COMPLETE;
 		}
 		
 		
 			break ;
 		case PITCH_COMPLETE://完成运行动作后，恢复2006，-140度，go，pos0位置
-			u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle  ;//给-140角度
+			u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;//给-140角度
 			u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_init_position;
-		u->PitchContext .Pitch_run_num ++;//运行次数+1
 
 			break ;
 		
@@ -349,6 +354,8 @@ return 0;
 
 
 
+//      	RELAY1_TOGGLE (1);//夹球，0夹1开
+//      	RELAY2_TOGGLE (0);//夹球，0接1收
 
 
 
@@ -358,18 +365,18 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
     switch (u->DribbleContext.DribbleState) {
     case STATE_GRAB_BALL://开始
 			
-			RELAY2_TOGGLE (0);//夹球
+			RELAY1_TOGGLE (0);//夹球
 		
 			u->motor_target.M3508_angle =u->DribbleContext .DribbleConfig .m3508_high_angle;//3508升起
 			u->motor_target.go_spin     =u->DribbleContext .DribbleConfig .go2_flip_angle;
 
 		
 		if((u->motorfeedback .M3508 .total_angle >400)) {
-				RELAY1_TOGGLE (0); 
+				RELAY2_TOGGLE (1); 
 		
 
-		if((u->motorfeedback.GO_motor_info[1]->angle) <-53){
-
+		if(((u->motorfeedback.GO_motor_info[1]->Pos ) <-1.1)&&(u->motorfeedback.M3508 .total_angle >1190)){
+			
 				u->DribbleContext .DribbleState  = STATE_RELEASE_BALL;  //当go2到标准位置，标志位改变		
 			}
 		
@@ -378,13 +385,13 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
 
 
     case STATE_RELEASE_BALL:
-				RELAY2_TOGGLE (1);//松球
+				RELAY1_TOGGLE (1);//松球
 
 		
 		
 		
-		if((u->motorfeedback.GO_motor_info[1]->angle) <-60){
-				u->motor_target.go_spin     =u->DribbleContext .DribbleConfig .go2_init_angle ; //恢复go2位置	
+		if((u->motorfeedback.GO_motor_info[1]->Pos ) <-1.3){
+				u->motor_target.go_spin     =-40; //恢复go2位置	
       	u->DribbleContext .DribbleState  = STATE_CATCH_PREP;  //当go2到标准位置，标志位改变		
 
 			}
@@ -392,22 +399,25 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
         break;
 
     case STATE_CATCH_PREP:
-			if((u->motorfeedback.GO_motor_info[1]->angle) > -0){
-				u->motor_target.M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle ;  //当go2到初始位置，3508降       
+			if((u->motorfeedback.GO_motor_info[1]->Pos )> -0.4){
+				u->motor_target.M3508_angle =0 ;  //当go2到初始位置，3508降       
 		
-			  RELAY1_TOGGLE (1);//接球
+			  RELAY2_TOGGLE (0);//接球
 			}
-			if(u->motorfeedback .M3508 .total_angle <5){
-			  u->DribbleContext .DribbleState  = STATE_CATCH_DONE;
+			if(u->motorfeedback .M3508 .total_angle <51.0f){
+				      	RELAY1_TOGGLE (0);//夹球，0夹1开		
+
+			  u->DribbleContext .DribbleState  = STATE_TRANSFER;
 			}
+			
         break;
+			
+
+		
+			
+		break ;
 
-    case STATE_CATCH_DONE:
-				RELAY2_TOGGLE (1);//松球
-			  RELAY1_TOGGLE (0); 
-			u->DribbleContext .Dribble_run_num ++;//运行次数增加
 
-        break;
 
     default:
         break;
@@ -416,3 +426,42 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
     return 0;
 }
 
+void Dribbl_transfer_a(UP_t *u, CAN_Output_t *out)
+{
+    switch (u->DribbleContext.DribbleState) {
+			
+			
+			
+			case STATE_TRANSFER:
+			if((u->motorfeedback.M3508 .total_angle <52.0f )) //满足这个状态时认为go和3508到达初始位置，再夹上球
+			{
+				
+        u->motor_target .go_spin =u->DribbleContext .DribbleConfig .go2_release_threshold ;			
+			}
+			
+			if(u->motorfeedback .GO_motor_info [1]->Pos < -4.9) 
+			{
+	      	RELAY1_TOGGLE (1);//夹球，0夹1开		
+				
+				if(u->motorfeedback .GO_motor_info [1]->Pos > -4.8)
+				{
+	      	u->DribbleContext .DribbleState  = STATE_CATCH_DONE;  //当go2到标准位置，标志位改变		
+				}
+			}
+		
+			
+		break ;
+
+    case STATE_CATCH_DONE:
+			
+		    RELAY1_TOGGLE (1);//夹球，0夹1开
+      	RELAY2_TOGGLE (0);//夹球，0接1收
+
+		    	u->motor_target.go_spin=u->DribbleContext .DribbleConfig.go2_init_angle ;
+
+        break;
+
+        break;
+
+		}	
+}
diff --git a/User/Module/up.h b/User/Module/up.h
index 5250861..3019478 100644
--- a/User/Module/up.h
+++ b/User/Module/up.h
@@ -44,7 +44,7 @@
 typedef enum {
     PITCH_PREPARE,          // 准备阶段
 	  PITCH_START,            //启动，拉扳机
-    PITCH_PULL_TRIGGER,     // 扳机拉动
+    PITCH_PULL_TRIGGER,  
     PITCH_LAUNCHING,        // 发射中
     PITCH_COMPLETE          // 完成
 } PitchState_t;
@@ -63,7 +63,6 @@ typedef struct {
 	  PitchConfig_t PitchConfig;
 
     uint8_t is_initialized ;
-    uint8_t Pitch_run_num;
 } PitchContext_t;
 
 
@@ -80,6 +79,7 @@ typedef enum {
     STATE_RELEASE_BALL,     // 释放球体
     STATE_CATCH_PREP,       // 接球准备
     STATE_CATCH_BALL,       // 接球动作
+	  STATE_TRANSFER,         //转移球
 	  STATE_CATCH_DONE        //完成
 } DribbleState_t;
 
@@ -90,7 +90,8 @@ typedef struct {
     fp32 go2_init_angle;       // GO2初始角度
     fp32 go2_flip_angle;       // GO2翻转角度
     fp32 flip_timing;       // 翻转触发时机
-    fp32 release_threshold;    // 释放球
+//	  fp32 
+    fp32 go2_release_threshold;    // 释放球
 } DribbleConfig_t;
 
 /* 状态机上下文 */
@@ -99,7 +100,6 @@ typedef struct {
 	  DribbleConfig_t DribbleConfig;
 	   
     uint8_t is_initialized;
-	  uint8_t Dribble_run_num;
 
 } DribbleContext_t;
 
@@ -177,7 +177,7 @@ typedef struct{
    uint8_t up_task_run; 
    const	UP_Param_t *param;  
 	
-	int state;
+	 int state;
 	
 	
 	
@@ -260,7 +260,7 @@ typedef struct{
 	
 	 LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */
 	
-	   fp32 vofa_send[8];
+	fp32 vofa_send[8];
 	
 
 	
@@ -282,5 +282,6 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out);
 
 int8_t Dribble_Process(UP_t *u, CAN_Output_t *out);
 
+void Dribbl_transfer_a(UP_t *u, CAN_Output_t *out);
 
 #endif
diff --git a/User/device/cmd.c b/User/device/cmd.c
index 88a50c0..961968d 100644
--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@@ -43,9 +43,12 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
 
 /*遥控器，上下层通用，按键控制，统一到cmd*/
 int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
-
+	
+	
  if(cmd == NULL) return -1;
-
+  const  CMD_CtrlType_t  prev_CtrlType = cmd->CMD_CtrlType ;
+	const  CMD_UP_mode_t   prev_mode     = cmd->CMD_UP_mode ;//保存旧状态
+	
   if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
      cmd->CMD_CtrlType =RELAXED;
   }	
@@ -54,7 +57,7 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
 		cmd ->CMD_CtrlType =UP_RCcontrol;
 		if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左上，右上，投篮
 		if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左上，右中，无模式
-	  if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Dribble; //左上，右上，运球
+	  if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左上，右上，运球
 	}
 	
 	else if(rc->sw_l==CMD_SW_MID)
@@ -74,13 +77,16 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
 	}
 	else if(rc->sw_l==CMD_SW_DOWN)
 	{
-		cmd ->CMD_CtrlType =PICK_t;
-		if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =PICK_Pitch_Normal; //左下，右上，投篮
-		if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左下，右中，无模式
-	  if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =PICK_Pitch_START; //左下，右上，投篮
+		cmd ->CMD_CtrlType =UP_RCcontrol;
+		if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Dribbl_transfer; //左下，右上，投篮
+		if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Dribble; //左下，右中，无模式
+	  if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左下，右上，无模式
 	}	
-	
-	
+    
+   if (prev_CtrlType!= cmd->CMD_CtrlType ) cmd ->last_CMD_CtrlType = prev_CtrlType;
+	 if (prev_mode!=cmd->CMD_UP_mode  ) cmd ->last_CMD_UP_mode  =prev_mode;
+
+
 	return 0;
 }
 
diff --git a/User/device/cmd.h b/User/device/cmd.h
index 24e998b..cb73edc 100644
--- a/User/device/cmd.h
+++ b/User/device/cmd.h
@@ -26,8 +26,7 @@ typedef  enum{
 	
 	  /*视觉辅助下的投篮*/
     PICK_Pitch_Normal,
-	  PICK_Pitch_START
-
+   Dribbl_transfer
   }CMD_UP_mode_t;
 typedef struct {
  uint8_t  status_fromnuc;
@@ -99,7 +98,8 @@ typedef struct {
  
    CMD_UP_mode_t CMD_UP_mode;
    CMD_CtrlType_t CMD_CtrlType;
-	 
+   CMD_CtrlType_t last_CMD_CtrlType;
+	 CMD_UP_mode_t last_CMD_UP_mode;
 	
 } CMD_t;
 
diff --git a/User/task/up_task.c b/User/task/up_task.c
index 63701fd..5f1b52a 100644
--- a/User/task/up_task.c
+++ b/User/task/up_task.c
@@ -67,19 +67,16 @@ void Task_up(void *argument)
 			
 			
 //			
-//			GO_SendData(&UP, 1,CCC);
-//			GO_SendData(&UP, 0,aaa);
 
       UP_control(&UP,&UP_CAN_out,&up_cmd);
 //			UP.motor_target .go_shoot =aaa;
 //			UP.motor_target .M2006_angle =bbb ;
 
-//      UP_control(&UP,&UP_CAN_out,&up_cmd);
 //			UP.motor_target .M3508_angle =CCC;
 //			UP.motor_target .go_shoot =aaa;
 //			UP.motor_target .M2006_angle =bbb;
 //			UP.motor_target .go_spin  =ddd;
-			
+//			
 			ALL_Motor_Control(&UP,&UP_CAN_out);
 
 		osDelay(1);