diff --git a/MDK-ARM/.vscode/c_cpp_properties.json b/MDK-ARM/.vscode/c_cpp_properties.json
index 05c8383..cf39a49 100644
--- a/MDK-ARM/.vscode/c_cpp_properties.json
+++ b/MDK-ARM/.vscode/c_cpp_properties.json
@@ -3,26 +3,26 @@
         {
             "name": "R1",
             "includePath": [
-                "d:\\Desktop\\r1\\R1_up\\Core\\Inc",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\CMSIS\\Include",
-                "d:\\Desktop\\r1\\R1_up\\User\\bsp",
-                "d:\\Desktop\\r1\\R1_up\\User\\module",
-                "d:\\Desktop\\r1\\R1_up\\User\\task",
-                "d:\\Desktop\\r1\\R1_up\\User\\lib",
-                "d:\\Desktop\\r1\\R1_up\\User\\device",
-                "D:\\keil\\ARM\\ARMCC\\include",
-                "D:\\keil\\ARM\\ARMCC\\include\\rw",
-                "d:\\Desktop\\r1\\R1_up\\MDK-ARM",
-                "d:\\Desktop\\r1\\R1_up\\Core\\Src",
-                "d:\\Desktop\\r1\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Src",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source",
-                "d:\\Desktop\\r1\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
+                "d:\\Desktop\\R1_up\\Core\\Inc",
+                "d:\\Desktop\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+                "d:\\Desktop\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+                "d:\\Desktop\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+                "d:\\Desktop\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+                "d:\\Desktop\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+                "d:\\Desktop\\R1_up\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+                "d:\\Desktop\\R1_up\\Drivers\\CMSIS\\Include",
+                "d:\\Desktop\\R1_up\\User\\bsp",
+                "d:\\Desktop\\R1_up\\User\\module",
+                "d:\\Desktop\\R1_up\\User\\task",
+                "d:\\Desktop\\R1_up\\User\\lib",
+                "d:\\Desktop\\R1_up\\User\\device",
+                "D:\\Develop\\keil\\ARM\\ARMCC\\include",
+                "D:\\Develop\\keil\\ARM\\ARMCC\\include\\rw",
+                "d:\\Desktop\\R1_up\\MDK-ARM",
+                "d:\\Desktop\\R1_up\\Core\\Src",
+                "d:\\Desktop\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+                "d:\\Desktop\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+                "d:\\Desktop\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
             ],
             "defines": [
                 "USE_HAL_DRIVER",
diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 7f2107f..128b61b 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -164,3 +164,11 @@
 
 [info] Log at : 2025/7/16|22:26:06|GMT+0800
 
+[info] Log at : 2025/8/26|11:04:50|GMT+0800
+
+[info] Log at : 2025/8/27|09:22:50|GMT+0800
+
+[info] Log at : 2025/8/27|21:26:07|GMT+0800
+
+[info] Log at : 2025/8/28|09:52:37|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index d53ce22..8f4f133 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,9 +1,76 @@
-*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
-Build target 'R1'
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\Develop\keil\ARM\ARMCC\Bin'
+Rebuild target 'R1'
+assembling startup_stm32f407xx.s...
+compiling crc.c...
+compiling dma.c...
+compiling gpio.c...
+compiling tim.c...
+compiling stm32f4xx_hal_rcc_ex.c...
+compiling spi.c...
+compiling stm32f4xx_hal_can.c...
+compiling main.c...
+compiling usart.c...
+compiling freertos.c...
+compiling stm32f4xx_it.c...
+compiling can.c...
+compiling stm32f4xx_hal_msp.c...
+compiling stm32f4xx_hal_rcc.c...
+compiling stm32f4xx_hal_cortex.c...
+compiling stm32f4xx_hal_pwr.c...
+compiling stm32f4xx_hal_crc.c...
+compiling stm32f4xx_hal_dma.c...
+compiling stm32f4xx_hal_pwr_ex.c...
+compiling stm32f4xx_hal_flash_ex.c...
+compiling stm32f4xx_hal_flash_ramfunc.c...
+compiling stm32f4xx_hal_flash.c...
+compiling stm32f4xx_hal.c...
+compiling stm32f4xx_hal_gpio.c...
+compiling stm32f4xx_hal_exti.c...
+compiling croutine.c...
+compiling stm32f4xx_hal_dma_ex.c...
+compiling stm32f4xx_hal_spi.c...
+compiling event_groups.c...
+compiling list.c...
+compiling stream_buffer.c...
+compiling queue.c...
+compiling heap_4.c...
+compiling timers.c...
+compiling stm32f4xx_hal_tim.c...
+compiling port.c...
+compiling tasks.c...
+compiling calc_lib.c...
+compiling crc_ccitt.c...
+compiling kalman.c...
+compiling gpio_it.c...
+compiling system_stm32f4xx.c...
+compiling can_it.c...
+compiling bsp_delay.c...
+compiling can_init.c...
+compiling bsp_buzzer.c...
+compiling uart_it.c...
+compiling stm32f4xx_hal_tim_ex.c...
+compiling stm32f4xx_hal_uart.c...
+compiling user_math.c...
+compiling filter.c...
+compiling pid.c...
+compiling buzzer.c...
+compiling userTask.c...
+compiling cmsis_os2.c...
+compiling detect.c...
+compiling vofa.c...
+compiling GO_M8010_6_Driver.c...
+compiling remote_control.c...
+compiling initTask.c...
+compiling nuc.c...
+compiling nucTask.cpp...
+compiling encodeCan.cpp...
+compiling djiMotor.c...
 compiling ballTask.cpp...
 compiling shootTask.cpp...
+compiling shoot.cpp...
+compiling ball.cpp...
 linking...
-Program Size: Code=31984 RO-data=1832 RW-data=272 ZI-data=32264  
+Program Size: Code=31312 RO-data=1832 RW-data=280 ZI-data=32264  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:00:05
+Build Time Elapsed:  00:00:25
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index 36bc0c7..32571ad 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/16 22:30:59
\ No newline at end of file
+2025/8/27 9:23:25
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index 2a42658..a1c0ce5 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -12,7 +12,7 @@
     <lExt>*.lib</lExt>
     <tExt>*.txt; *.h; *.inc; *.md</tExt>
     <pExt>*.plm</pExt>
-    <CppX>*.cpp</CppX>
+    <CppX>*.cpp; *.cc; *.cxx</CppX>
     <nMigrate>0</nMigrate>
   </Extensions>
 
@@ -26,7 +26,7 @@
     <ToolsetNumber>0x4</ToolsetNumber>
     <ToolsetName>ARM-ADS</ToolsetName>
     <TargetOption>
-      <CLKADS>12000000</CLKADS>
+      <CLKADS>25000000</CLKADS>
       <OPTTT>
         <gFlags>1</gFlags>
         <BeepAtEnd>1</BeepAtEnd>
@@ -93,7 +93,7 @@
         <tRbreak>1</tRbreak>
         <tRwatch>1</tRwatch>
         <tRmem>1</tRmem>
-        <tRfunc>1</tRfunc>
+        <tRfunc>0</tRfunc>
         <tRbox>1</tRbox>
         <tRtrace>1</tRtrace>
         <sRSysVw>1</sRSysVw>
@@ -117,11 +117,6 @@
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
-        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMRTXEVENTFLAGS</Key>
@@ -144,100 +139,34 @@
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
-          <Key>UL2CM3</Key>
-          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))</Name>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
-          <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U00160029510000164E574E32 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
-<<<<<<< HEAD
-<<<<<<< HEAD
-=======
->>>>>>> 上层测试
       <WatchWindow1>
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rc_ctrl,0x0A</ItemText>
+          <ItemText>and1</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>shoot,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>1</WinNumber>
-<<<<<<< HEAD
-          <ItemText>ball,0x0A</ItemText>
-=======
-          <ItemText>ball</ItemText>
->>>>>>> 上层测试
-        </Ww>
-        <Ww>
-          <count>3</count>
-          <WinNumber>1</WinNumber>
-<<<<<<< HEAD
-          <ItemText>nucbuf</ItemText>
-=======
-          <ItemText>and1</ItemText>
->>>>>>> 上层测试
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>1</WinNumber>
-<<<<<<< HEAD
-          <ItemText>nuc_v</ItemText>
-=======
-          <ItemText>and1</ItemText>
->>>>>>> 上层测试
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-<<<<<<< HEAD
-          <ItemText>abc,0x0A</ItemText>
-=======
-          <ItemText>nucbuf</ItemText>
->>>>>>> 上层测试
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
-<<<<<<< HEAD
-          <ItemText>shoot_wait,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>7</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>error_code</ItemText>
+          <ItemText>ws</ItemText>
         </Ww>
       </WatchWindow1>
-=======
->>>>>>> 上层测试
-=======
-          <ItemText>drop_message,0x0A</ItemText>
-        </Ww>
-      </WatchWindow1>
->>>>>>> 上层测试
-      <MemoryWindow4>
-        <Mm>
-          <WinNumber>4</WinNumber>
-          <SubType>0</SubType>
-          <ItemText>nucbuf</ItemText>
-          <AccSizeX>0</AccSizeX>
-        </Mm>
-      </MemoryWindow4>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
       <DebugFlag>
         <trace>0</trace>
-        <periodic>1</periodic>
+        <periodic>0</periodic>
         <aLwin>1</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
@@ -256,7 +185,7 @@
         <aPa1>0</aPa1>
         <AscS4>0</AscS4>
         <aSer4>0</aSer4>
-        <StkLoc>1</StkLoc>
+        <StkLoc>0</StkLoc>
         <TrcWin>0</TrcWin>
         <newCpu>0</newCpu>
         <uProt>0</uProt>
@@ -276,7 +205,7 @@
       <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
-        <EnableFlashSeq>0</EnableFlashSeq>
+        <EnableFlashSeq>1</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -990,7 +919,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1114,7 +1043,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/MDK-ARM/R1.uvprojx b/MDK-ARM/R1.uvprojx
index 68230c7..f84a542 100644
--- a/MDK-ARM/R1.uvprojx
+++ b/MDK-ARM/R1.uvprojx
@@ -137,7 +137,7 @@
             <DriverSelection>4101</DriverSelection>
           </Flash1>
           <bUseTDR>1</bUseTDR>
-          <Flash2>BIN\UL2V8M.DLL</Flash2>
+          <Flash2>BIN\UL2CM3.DLL</Flash2>
           <Flash3></Flash3>
           <Flash4></Flash4>
           <pFcarmOut></pFcarmOut>
diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h
index 9524760..9d74009 100644
--- a/User/bsp/TopDefine.h
+++ b/User/bsp/TopDefine.h
@@ -16,7 +16,7 @@
 #endif
 
 
-#define ONE_CONTROL 1
+#define ONE_CONTROL 0
 
 //是否使用大疆DT7遥控器
 #ifndef DT7
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index 25a7c46..7018515 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -39,7 +39,7 @@ const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
 #define CHANEGE_POS -205
 #define GO_ERROR 1.0f
 #define Tigger_DO -10
-#define Tigger_ZERO 125
+#define Tigger_ZERO 140
 #define Tigger_ERROR 3
 
 float knob_increment;
@@ -172,6 +172,7 @@ int Shoot::GO_SendData(float pos, float limit)
 // 左旋 sw[7] 200 --1800
 
 
+float ws=-5.0f;
 float and1=0.0f;
 
 void Shoot::rc_mode()
@@ -273,8 +274,12 @@ void Shoot::shoot_control()
     {
     case VSION:
         //fire_pos = distance; // 视觉拟合的力
-         //fire_pos =shoot_fitting(distance)+and1;
-        fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+        if(distance<=3.1f)
+        {
+            ws=-8.0f;
+        }
+         fire_pos =shoot_fitting(distance)+and1+ws;
+        //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
 
         switch (rc_key)
         {
@@ -316,7 +321,7 @@ void Shoot::shoot_control()
     case PASS:
         // 实时可调蓄力位置
         //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
-        fire_pos =pass_fitting(pass_distance);
+        fire_pos =pass_fitting(6.9f);
         switch (rc_key)
         {
         case DOWN1: