diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index b06872f..62df037 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -152,3 +152,7 @@
 
 [info] Log at : 2025/7/13|16:42:25|GMT+0800
 
+[info] Log at : 2025/7/13|22:38:15|GMT+0800
+
+[info] Log at : 2025/7/14|07:52:29|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 85b4dd4..ed37286 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,18 +1,8 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1'
-compiling userTask.c...
-compiling remote_control.c...
-compiling initTask.c...
-compiling main.c...
-compiling shootTask.cpp...
-compiling djiMotor.c...
-compiling nucTask.cpp...
-compiling encodeCan.cpp...
-compiling ballTask.cpp...
 compiling ball.cpp...
-compiling shoot.cpp...
 linking...
-Program Size: Code=32032 RO-data=1832 RW-data=284 ZI-data=32268  
+Program Size: Code=32056 RO-data=1832 RW-data=284 ZI-data=32268  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:00:09
+Build Time Elapsed:  00:00:05
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index c28d343..0bfbb9d 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/13 17:07:34
\ No newline at end of file
+2025/7/14 7:54:12
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index 0d9928a..43f788a 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -154,6 +154,33 @@
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>rc_ctrl,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ball</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>and1</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>and1</ItemText>
+        </Ww>
+      </WatchWindow1>
       <MemoryWindow4>
         <Mm>
           <WinNumber>4</WinNumber>
diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h
index 9d74009..9524760 100644
--- a/User/bsp/TopDefine.h
+++ b/User/bsp/TopDefine.h
@@ -16,7 +16,7 @@
 #endif
 
 
-#define ONE_CONTROL 0
+#define ONE_CONTROL 1
 
 //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 0246bbc..584e51c 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -171,6 +171,9 @@ int Shoot::GO_SendData(float pos, float limit)
 //     sw[5] 👆 200 👇1800
 // 左旋 sw[7] 200 --1800
 
+
+float and1=0.0f;
+
 void Shoot::rc_mode()
 {
     // 底部光电检测（假设0为到位，1为未到位，根据实际硬件调整）
@@ -222,23 +225,44 @@ void Shoot::rc_mode()
     {
         ready_key = DEFENSE;
     }
+    //400--640为1  730--860为2 900到1200为3档中间  1300--1500为4
+    if(rc_ctrl.sw[7]<=300)
+    {
+        and1=0.0f;
+    }
+    if(rc_ctrl.sw[7]>=400&&rc_ctrl.sw[7]<=640)
+    {
+        and1=-2.0f;
+    }
+    if(rc_ctrl.sw[7]>=730&&rc_ctrl.sw[7]<=860)
+    {
+        and1=-1.0f;
+    }
+    if(rc_ctrl.sw[7]>=900&&rc_ctrl.sw[7]<=1200)
+    {
+        and1=0.0f;
+    }
+    if(rc_ctrl.sw[7]>=1300&&rc_ctrl.sw[7]<=1500)
+    {
+        and1=1.0f;
+    }
 
-    // 旋钮映射部分不变
-    const int knob_min = 200;
-    const int knob_max = 1800;
-    const float map_min = 130.0f;
-    const float map_max = -60.0f;
-    int current_knob_value = rc_ctrl.sw[7];
-    if (current_knob_value < knob_min)
-        current_knob_value = knob_min;
-    if (current_knob_value > knob_max)
-        current_knob_value = knob_max;
-    knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
+    // // 旋钮映射部分不变
+    // const int knob_min = 200;
+    // const int knob_max = 1800;
+    // const float map_min = 130.0f;
+    // const float map_max = -60.0f;
+    // int current_knob_value = rc_ctrl.sw[7];
+    // if (current_knob_value < knob_min)
+    //     current_knob_value = knob_min;
+    // if (current_knob_value > knob_max)
+    //     current_knob_value = knob_max;
+    // knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
 }
 
 #if ONE_CONTROL == 0
 
-float and1=0.0f;
+
 void Shoot::shoot_control()
 {
 
@@ -415,8 +439,6 @@ void Shoot::RemoveError()
 
 #if ONE_CONTROL
 
-//float and1=-1.5f;
-float and1=0;
 float and2=0;
 
 void Shoot::shoot_control()
@@ -618,7 +640,7 @@ void Shoot ::ball_receive()
         break;
     case BAKC:
         control_pos = BOTTOM_POS;
-        limit_speed = TO_BOTTOM; // 慢速下来
+        limit_speed = 8.0f; // 慢速下来
         if (feedback.fd_gopos >= BOTTOM_POS - 1.0f && feedback.fd_gopos <= BOTTOM_POS + 1.0f)
         {