diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 8d5c96e..6298a8b 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -102,3 +102,7 @@
 
 [info] Log at : 2025/7/4|09:10:46|GMT+0800
 
+[info] Log at : 2025/7/6|22:01:26|GMT+0800
+
+[info] Log at : 2025/7/6|22:02:13|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 001bdc4..2fea10e 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,13 +1,18 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1'
-compiling shootTask.cpp...
-compiling nuc.c...
+compiling userTask.c...
+compiling remote_control.c...
 compiling initTask.c...
-compiling ball.cpp...
+compiling main.c...
+compiling djiMotor.c...
 compiling nucTask.cpp...
 compiling shoot.cpp...
+compiling encodeCan.cpp...
+compiling ball.cpp...
+compiling shootTask.cpp...
+compiling ballTask.cpp...
 linking...
-Program Size: Code=32960 RO-data=1832 RW-data=268 ZI-data=32220  
+Program Size: Code=31240 RO-data=1832 RW-data=268 ZI-data=32220  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:02:09
+Build Time Elapsed:  00:00:09
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index 397b7bf..ce12a24 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/4 9:21:52
\ No newline at end of file
+2025/7/6 22:22:20
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index 09e32bf..e374b68 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -173,22 +173,32 @@
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucbuf</ItemText>
+          <ItemText>ball_exit,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd_fromnuc</ItemText>
+          <ItemText>nucbuf</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>drop_message,0x0A</ItemText>
+          <ItemText>nuc_v</ItemText>
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>error_code,0x0A</ItemText>
+          <ItemText>test_exit,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ttttt1,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ball_exit,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow4>
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 9136a96..d447c12 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -11,13 +11,11 @@ extern int ball_exit;
 
 // 伸缩
 //外死点168  外163 中150  内127  限位124.8
-#define I_ANGLE 127
-#define O_ANGLE 163
+#define I_ANGLE 124.8
+#define O_ANGLE 168
 #define WAIT_POS 150
-#define IN 124.8
-#define OUT 168
 
-// PE11 气缸
+// PE11 气缸git stash apply
 
 Ball ::Ball()
 {
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index 62765dd..49d409e 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -84,7 +84,7 @@ void Shoot::trigger_control()
 
 float shoot_fitting(float x)
 {
-    return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f;
+    return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f-3.8f;
 }
 
 float pass_fitting(float x)
@@ -405,6 +405,8 @@ void Shoot::shoot_control()
         {
         case VSION:
             fire_pos = shoot_fitting(distance); // 视觉拟合的力
+            //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+
             switch (rc_key)
             {
             case MIDDLE1: