diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index 53306b8..73eea2c 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -158,42 +158,27 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>shoot,0x0A</ItemText>
+          <ItemText>rc_ctrl,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucData,0x0A</ItemText>
+          <ItemText>shoot,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucbuf</ItemText>
+          <ItemText>ball,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>wzcsb,0x0A</ItemText>
+          <ItemText>nucbuf</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nuc_v</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>abc,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>shoot_wait,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>7</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>error_code</ItemText>
+          <ItemText>cmd_fromnuc</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow4>
@@ -962,7 +947,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1054,7 +1039,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1086,7 +1071,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 3911d37..cce6747 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -9,10 +9,13 @@
 extern RC_ctrl_t rc_ctrl;
 extern int ball_exit;
 
+// 外死点168  外163 中150  内127  限位124.8
 // 伸缩
-#define I_ANGLE 147
-#define O_ANGLE 187
-#define WAIT_POS 170
+#define I_ANGLE 127
+#define O_ANGLE 163
+#define WAIT_POS 150
+#define IN 124.8
+#define OUT 168
 
 // PE11 气缸
 
@@ -75,7 +78,7 @@ void Ball::rc_mode()
     }
     if (rc_ctrl.sw[5] == 200)
     {
-        ready_key = 0; // 默认不准备
+        ready_key = DE; // 默认不准备
     }
 }
 
@@ -234,17 +237,17 @@ void Ball::ball_control()
             ballHadling();
             break;
         }
+        Send_control();
     }
     // 防守
-    else
+    if(ready_key == DEFENSE)
     {
         xiaomi.position = I_ANGLE;                                     // 保持收回
         HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);   // 确保下气缸关闭
+        Send_control();
     }
 
-    // 发送小米电机控制数据
-    Send_control();
 }
 
 // 任务通知来作全过程
diff --git a/User/module/ball.hpp b/User/module/ball.hpp
index f92b606..4a0a678 100644
--- a/User/module/ball.hpp
+++ b/User/module/ball.hpp
@@ -39,7 +39,8 @@ typedef enum
     DOWN2,
     IN,
     OUT,
-    SIDE
+    SIDE,
+    DE
 }ball_rc_mode;
 
 // 定义光电传感器检测宏
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index 168d0c1..c50162a 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -22,7 +22,7 @@ void FunctionBall(void *argument)
 
     const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
 	
-		osDelay(6000);//等待极致控制板启动
+	osDelay(6000);//等待极致控制板启动
     XiaomiWait_init(1,&hcan2); //小米电机初始化
     
     uint32_t tick = osKernelGetTickCount();