diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
index 32d3906..4590adc 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 2372880..ae4bd2b 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -76,11 +76,11 @@ static const ConfigParam_t param_chassis ={
 },
     /*投球*/
     .PitchConfig_Config = {
-    .m2006_init_angle =-150,    
+    .m2006_init_angle =-170,    
 	  .m2006_trigger_angle =0,
-    .go1_init_position = 0,   
-	  .go1_release_threshold =0,
-		.m2006_Screw_init=0	
+    .go1_init_position = -50,   
+	  .go1_release_threshold =-210,
+		.m2006_Screw_init=0,	
 },
 	
 	
diff --git a/User/Module/up.c b/User/Module/up.c
index 5d1e45d..0434088 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -120,7 +120,7 @@ int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
 
 }
 
-
+int aaaaaaaaaaa=1;
 
 
 /*go电机控制*/	 
@@ -130,17 +130,17 @@ int8_t GO_SendData(UP_t *u, float pos, float limit)
 	static int is_calibration=0;
 	static fp32 error=0; //误差量
 
-	GO_MotorData_t *GO_calibration;//校准前，原始数据
-	GO_calibration = get_GO_measure_point() ;
-	if(is_calibration==0)
-	{
-		is_calibration=HAL_GPIO_ReadPin (GPIOE ,GPIO_PIN_9 );
-		u->go_cmd.Pos = -50; //上电之后跑		
-	  error= GO_calibration->Pos ;
-	}	  
-    u->motorfeedback .go_data  = GO_calibration;
-	  u->motorfeedback .go_data ->Pos= error  ;
-    u->go_cmd.Pos = pos;
+//	GO_MotorData_t *GO_calibration;//校准前，原始数据
+	   u->motorfeedback .go_data = get_GO_measure_point() ;
+//	if(is_calibration==0)
+//	{
+//		is_calibration=HAL_GPIO_ReadPin (GPIOE ,GPIO_PIN_9 );
+//		u->go_cmd.Pos = -50; //上电之后跑		
+//	  error= GO_calibration->Pos ;
+//	}	  
+//    u->motorfeedback .go_data  = GO_calibration;
+//	  u->motorfeedback .go_data ->Pos= error  ;
+//    u->go_cmd.Pos = pos;
 
     // 读取参数
     float tff = u->go_cmd.T;          // 前馈力矩
@@ -181,7 +181,7 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
 	                 &u->pid .Pitch_M2006_angle ,
 	                 &u->pid .Pitch_M2006_speed ,
 	                 u->motor_target .Pitch_M2006_angle );
-	GO_SendData(u,u->motor_target .go_shoot,1 );
+	GO_SendData(u,u->motor_target .go_shoot,5 );
 
 	
 	for(int i=0;i<4;i++){
@@ -218,8 +218,8 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 		u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ;
 		is_pitch=0;	
 		}
-//		u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;
-//		u->PitchContext .PitchState   = PITCH_PREPARE;  //状态更新,开始夹球
+		u->motor_target .Shoot_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 ;
@@ -234,12 +234,12 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 				break;
 				
 		case Pitch :
-				if (u->PitchContext .PitchState  ==PITCH_PREPARE) //首次启动
+				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);
+			 Pitch_Process(u,out,c);
 
 				 break ;
 		 
@@ -256,7 +256,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 
 		}break ;
 		case Dribbl_transfer:
-			
+			break ;
 //        Dribbl_transfer_a(u,out);
 			}
 			break;
@@ -286,52 +286,52 @@ return 0;
 
 
 
-//int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
-//{
-//	static fp32 go1_position,M2006_Screw_position ;
-//	static int is_initialize=1;
-//	if(is_initialize)
-//	{
-//		go1_position=u->PitchContext .PitchConfig .go1_init_position ;
-//		M2006_Screw_position=u->PitchContext .PitchConfig .m2006_Screw_init;
-//		is_initialize=0;
-//	}
+int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
+{
+	static fp32 go1_position,M2006_Screw_position ;
+	static int is_initialize=1;
+	if(is_initialize)
+	{
+		go1_position=u->PitchContext .PitchConfig .go1_init_position ;
+		M2006_Screw_position=u->PitchContext .PitchConfig .m2006_Screw_init;
+		is_initialize=0;
+	}
 
-//	switch(u->PitchContext .PitchState){
-//	
-//		case PITCH_START:
-//			u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold;
-//		
-////		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
+	switch(u->PitchContext .PitchState){
+	
+		case PITCH_START:
+			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
+			u->motor_target .Shoot_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
 
-//			break ;
-//		case PITCH_PULL_TRIGGER:
-//			
-//		
-//			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 = go1_position;//go下拉
-//		    u->motor_target .M3508_angle = M2006_Screw_position;//丝杠上的2006
-//				go1_position = go1_position + c->Vx ;
-//		    M2006_Screw_position=M2006_Screw_position+ c->Vy;
-//		
-//				
-//			}
-//		
-//			break ;
+			break ;
+		case PITCH_PULL_TRIGGER:
+			
+		
+			if(u->motorfeedback .DJmotor_feedback [0].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 = go1_position;//go下拉
+		    u->motor_target .Pitch_M2006_angle = M2006_Screw_position;//丝杠上的2006
+				go1_position = go1_position + c->Vx ;
+		    M2006_Screw_position=M2006_Screw_position+ c->Vy;
+		
+				
+			}
+		
+			break ;
 
-//		
-//	
-//	
-//	}
-//		
-//return 0;
-//	
-//}
+		
+	
+	
+	}
+		
+return 0;
+	
+}
 
 
 
diff --git a/User/Module/up.h b/User/Module/up.h
index cc81c4f..2621bfa 100644
--- a/User/Module/up.h
+++ b/User/Module/up.h
@@ -228,6 +228,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c);
 int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
 int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle);
 int8_t DJ_Angle_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Angle_pid,pid_type_def *Speed_pid,fp32 target_angle);
+int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c);
 
 
 #endif
diff --git a/User/task/up_task.c b/User/task/up_task.c
index 1f96fc2..2c3c423 100644
--- a/User/task/up_task.c
+++ b/User/task/up_task.c
@@ -68,9 +68,9 @@ void Task_up(void *argument)
 		    	
 //			
 
-//      UP_control(&UP,&UP_CAN_out,&up_cmd);
-			UP.motor_target .Pitch_M2006_angle =aaa;
-//			UP.motor_target .M2006_angle =bbb ;
+      UP_control(&UP,&UP_CAN_out,&up_cmd);
+//			UP.motor_target .go_shoot =aaa;
+//			UP.motor_target .Shoot_M2006_angle =bbb ;
 
 //			UP.motor_target .M3508_angle =CCC;
 //			UP.motor_target .go_shoot =aaa;