diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h
index 9db2f32..2413b4c 100644
--- a/User/bsp/TopDefine.h
+++ b/User/bsp/TopDefine.h
@@ -1,10 +1,63 @@
 #ifndef TOP_DEFINE_H
 #define TOP_DEFINE_H
-#define RTOS 1
-#define DEBUG 1
-#define AUTO 0
 
+//===================用户配置===================
+//是否使用freertos
+#ifndef _FREERTOS
+#define _FREERTOS 1
+#endif
+//是否开启调试
+#ifndef DEBUG
+#define DEBUG 1
+#endif
+//是否使用自动
+#ifndef _AUTO
+#define _AUTO 0
+#endif
+//是否使用大疆DT7遥控器
+#ifndef DT7
+#define DT7 0
+#endif
+//是否使用三摩擦
+#ifndef HANDLING3
+#define HANDLING3 1
+#endif
+//云台使用类型
+#ifndef GM6020ING
+#define GM6020ING 1
+#endif
+//=============================================
+//================任务通知,时间组================//
 //事件组
 #define EVENT_RC    (1<<1)
 #define EVENT_CAN   (1<<2)
+
+//================任务通知================//
+//运球
+#define BALL_OK	(1<<1)
+//接到放球命令
+#define PUT_CMD	(1<<2)
+//运球结束
+#define PUT_OK	(1<<2)
+
+
+//take任务要等待上面两个标志位
+#define TAKE_WAIT (0x0C)
+//要发送ok了
+#define BALL_SEND (1<<6)
+//能够处理放球命令
+#define PUT_ENABLE (1<<7)
+
+
+//userTask里定义机器人状态
+typedef enum
+{
+    ROBOT_IN_ONE = 1,
+    // ROBOT_IN_TWO,
+    ROBOT_FIND_BALL,
+    ROBOT_PUT_BALL,
+    ROBOT_ERROR
+}robot_status_e;
+
+
 #endif
diff --git a/User/device/device.h b/User/device/device.h
index 5ab6d87..1f1b4e8 100644
--- a/User/device/device.h
+++ b/User/device/device.h
@@ -29,11 +29,15 @@ DEVICE_ERR_OVERFLOW = -5,
 #define SIGNAL_IST8310_MAGN_NEW_DATA (1u << 8)
 #define SIGNAL_IST8310_MAGN_RAW_REDY (1u << 9)
 
-#define SIGNAL_REFEREE_RAW_REDY (1u << 10)
-#define SIGNAL_REFEREE_FAST_REFRESH_UI (1u << 11)
-#define SIGNAL_REFEREE_SLOW_REFRESH_UI (1u << 12)
+#define SIGNAL_R12DS_BUF0_REDY (1u << 7)
+#define SIGNAL_NUC_RAW_REDY (1u << 8)
+#define SIGNAL_IST8310_MAGN_RAW_REDY (1u << 9)
+#define SIGNAL_ACTION_RAW_REDY (1u << 10)
+#define SIGNAL_OPSTIMER_REDY  (1u << 11)
+#define SIGNAL_R12DS_BUF1_REDY (1u << 12)
 
 #define SIGNAL_AI_RAW_REDY (1u << 14)
+#define SIGNAL_KEY_REDY (1u << 15)
 
 #ifdef __cplusplus
 }
diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c
index e2042c4..39d30a7 100644
--- a/User/device/djiMotor.c
+++ b/User/device/djiMotor.c
@@ -159,7 +159,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     
 }
 #else
-static osEventFlagsId_t eventReceive;
+//static osEventFlagsId_t eventReceive;
 static osThreadId_t thread_alert;
 /**
   * @brief          自定义大疆电机回调函数
@@ -285,6 +285,110 @@ void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeD
     HAL_CAN_AddTxMessage(hcan, &tx_meessage_2ff, can_send_data_2ff, &send_mail_box);
 }
 
+//控制四个vesc的发送 
+int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan)
+{
+ 
+  uint32_t send_mail_box;
+  int Byte[4];
+  Vesc_ByteGet raw[4];
+
+    //将期望的四个电机输出值分别对应到四个联合体 为了下面的拆分字节
+   raw[0].as_array = speed;
+   raw[1].as_array = speed;
+
+  for(int i=0 ; i < 2 ; i ++)
+  {			 
+
+    //将单个电机的期望输出值通过联合体拆分
+   Byte[0] = raw[i].byte.byte1;
+   Byte[1] = raw[i].byte.byte2;
+   Byte[2] = raw[i].byte.byte3;
+   Byte[3] = raw[i].byte.byte4;
+    
+   raw_tx.tx_header.ExtId = id+i+CAN_VESC_CTRL_ID_BASE;
+   raw_tx.tx_header.IDE = CAN_ID_EXT;
+   raw_tx.tx_header.RTR = CAN_RTR_DATA;
+   raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
+
+   raw_tx.tx_data[0] = Byte[3];
+   raw_tx.tx_data[1] = Byte[2];
+   raw_tx.tx_data[2] = Byte[1];
+   raw_tx.tx_data[3] = Byte[0];
+   raw_tx.tx_data[4] = 0;
+   raw_tx.tx_data[5] = 0;
+   raw_tx.tx_data[6] = 0;
+   raw_tx.tx_data[7] = 0;
+
+   HAL_CAN_AddTxMessage(hcan, &raw_tx.tx_header, raw_tx.tx_data, &send_mail_box);
+  }
+
+return DEVICE_OK;
+
+}
+
+/**
+   * @brief          限制vesc电机转速
+   * @param[in/out]  rpm:  vesce电机转速
+   * @retval         none
+   *
+   * 如果rpm的绝对值大于wtrcfg_VESC_COMMAND_ERPM_MAX,
+   * 则将rpm的值设置为wtrcfg_VESC_COMMAND_ERPM_MAX或-wtrcfg_VESC_COMMAND_ERPM_MAX
+   */
+  void assert_param_rpm(float *rpm){
+    if( fabsf(*rpm) > wtrcfg_VESC_COMMAND_ERPM_MAX )
+      *rpm = *rpm > 0 ? wtrcfg_VESC_COMMAND_ERPM_MAX : - wtrcfg_VESC_COMMAND_ERPM_MAX ;
+  }
+  
+  /**
+    * @brief          使vesc电机进入转速模式
+    * @param[in]      controller_id: vesc电机控制器id
+    * @param[in]      RPM: 电机转速
+    * @retval         RPM（1000-50000之间的数）
+    */
+  void  CAN_VESC_RPM(uint8_t controller_id, float RPM)
+  {
+        uint32_t id;
+        int32_t data;
+        uint32_t send_mail_box;
+    
+        id = controller_id | ((uint32_t)CAN_PACKET_SET_RPM << 8);
+        assert_param_rpm(&RPM);
+        data = (int32_t)(RPM);
+    
+        vesc_tx_message.ExtId = id;
+        vesc_tx_message.IDE = CAN_ID_EXT;
+        vesc_tx_message.RTR = CAN_RTR_DATA;
+        vesc_tx_message.DLC = 0x04;
+        vesc_send_data[0] = data >> 24 ;
+        vesc_send_data[1] = data >> 16 ;
+        vesc_send_data[2] = data >> 8 ;
+        vesc_send_data[3] = data ;
+    
+        HAL_CAN_AddTxMessage(&hcan2, &vesc_tx_message, vesc_send_data, &send_mail_box);
+  }
+  
+  
+  /**
+    * @brief          使vesc电机进入制动模式
+    * @param[in]      controller_id: vesc电机控制器id
+    * @retval         none
+    */
+  void  CAN_VESC_HEAD(uint8_t controller_id)
+  {
+        uint32_t id;
+        uint32_t send_mail_box;
+    
+        id = controller_id | ((uint32_t)CAN_PACKET_SET_CURRENT_BRAKE << 8);
+    
+        vesc_tx_message.ExtId = id;
+        vesc_tx_message.IDE = CAN_ID_EXT;
+        vesc_tx_message.RTR = CAN_RTR_DATA;
+        vesc_tx_message.DLC = 0x04;
+    
+        HAL_CAN_AddTxMessage(&hcan2, &vesc_tx_message, vesc_send_data, &send_mail_box);
+}
+
 /**
   * @brief          返回电机数据指针
   * @param[in]      i: 电机编号
@@ -295,106 +399,7 @@ void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeD
      return &motor_chassis[i];
  }
 
- int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan)
+ CAN_MotorFeedback_t *get_vesc_point(uint8_t i)
  {
-  
-   uint32_t send_mail_box;
-   int Byte[4];
-   Vesc_ByteGet raw[4];
-
-     //将期望的四个电机输出值分别对应到四个联合体 为了下面的拆分字节
-    raw[0].as_array = speed;
-    raw[1].as_array = speed;
-
-   for(int i=0 ; i < 2 ; i ++)
-   {			 
-
-     //将单个电机的期望输出值通过联合体拆分
-    Byte[0] = raw[i].byte.byte1;
-    Byte[1] = raw[i].byte.byte2;
-    Byte[2] = raw[i].byte.byte3;
-    Byte[3] = raw[i].byte.byte4;
-     
-    raw_tx.tx_header.ExtId = id+i+CAN_VESC_CTRL_ID_BASE;
-    raw_tx.tx_header.IDE = CAN_ID_EXT;
-    raw_tx.tx_header.RTR = CAN_RTR_DATA;
-    raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
-
-    raw_tx.tx_data[0] = Byte[3];
-    raw_tx.tx_data[1] = Byte[2];
-    raw_tx.tx_data[2] = Byte[1];
-    raw_tx.tx_data[3] = Byte[0];
-    raw_tx.tx_data[4] = 0;
-    raw_tx.tx_data[5] = 0;
-    raw_tx.tx_data[6] = 0;
-    raw_tx.tx_data[7] = 0;
-
-    HAL_CAN_AddTxMessage(hcan, &raw_tx.tx_header, raw_tx.tx_data, &send_mail_box);
-   }
-
-return DEVICE_OK;
-
-}
-
-
- /**
-    * @brief          限制vesc电机转速
-    * @param[in/out]  rpm:  vesce电机转速
-    * @retval         none
-    *
-    * 如果rpm的绝对值大于wtrcfg_VESC_COMMAND_ERPM_MAX,
-    * 则将rpm的值设置为wtrcfg_VESC_COMMAND_ERPM_MAX或-wtrcfg_VESC_COMMAND_ERPM_MAX
-    */
-   void assert_param_rpm(float *rpm){
-     if( fabsf(*rpm) > wtrcfg_VESC_COMMAND_ERPM_MAX )
-       *rpm = *rpm > 0 ? wtrcfg_VESC_COMMAND_ERPM_MAX : - wtrcfg_VESC_COMMAND_ERPM_MAX ;
-   }
-   
-   /**
-     * @brief          使vesc电机进入转速模式
-     * @param[in]      controller_id: vesc电机控制器id
-     * @param[in]      RPM: 电机转速
-     * @retval         RPM（1000-50000之间的数）
-     */
-   void  CAN_VESC_RPM(uint8_t controller_id, float RPM)
-   {
-         uint32_t id;
-         int32_t data;
-         uint32_t send_mail_box;
-     
-         id = controller_id | ((uint32_t)CAN_PACKET_SET_RPM << 8);
-         assert_param_rpm(&RPM);
-         data = (int32_t)(RPM);
-     
-         vesc_tx_message.ExtId = id;
-         vesc_tx_message.IDE = CAN_ID_EXT;
-         vesc_tx_message.RTR = CAN_RTR_DATA;
-         vesc_tx_message.DLC = 0x04;
-         vesc_send_data[0] = data >> 24 ;
-         vesc_send_data[1] = data >> 16 ;
-         vesc_send_data[2] = data >> 8 ;
-         vesc_send_data[3] = data ;
-     
-         HAL_CAN_AddTxMessage(&hcan2, &vesc_tx_message, vesc_send_data, &send_mail_box);
-   }
-   
-   
-   /**
-     * @brief          使vesc电机进入制动模式
-     * @param[in]      controller_id: vesc电机控制器id
-     * @retval         none
-     */
-   void  CAN_VESC_HEAD(uint8_t controller_id)
-   {
-         uint32_t id;
-         uint32_t send_mail_box;
-     
-         id = controller_id | ((uint32_t)CAN_PACKET_SET_CURRENT_BRAKE << 8);
-     
-         vesc_tx_message.ExtId = id;
-         vesc_tx_message.IDE = CAN_ID_EXT;
-         vesc_tx_message.RTR = CAN_RTR_DATA;
-         vesc_tx_message.DLC = 0x04;
-     
-         HAL_CAN_AddTxMessage(&hcan2, &vesc_tx_message, vesc_send_data, &send_mail_box);
+    return &motor_5065[i];
  }
diff --git a/User/device/djiMotor.h b/User/device/djiMotor.h
index 982e1e2..ce2ed5f 100644
--- a/User/device/djiMotor.h
+++ b/User/device/djiMotor.h
@@ -152,6 +152,7 @@ extern void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_Hand
   */
  extern motor_measure_t *get_motor_point(uint8_t i);
 
+ extern CAN_MotorFeedback_t *get_vesc_point(uint8_t i);
 /**
  * @brief           数据处理函数
  * @param[in]       none
diff --git a/User/device/nuc.c b/User/device/nuc.c
index 40a6d23..cc5dba2 100644
--- a/User/device/nuc.c
+++ b/User/device/nuc.c
@@ -2,17 +2,19 @@
 #include <string.h>
 #include "crc_ccitt.h"
 
+static osThreadId_t thread_alert;
+
 uint8_t nucbuf[32];
 uint8_t packet[32]; // 假设最大数据包长度为 32 字节
 
 static void NUC_IdleCallback(void) {	
-	// osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
-	// detect_hook(NUC_TOE);
+	osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
+
 }
 
 int8_t NUC_Init(NUC_t *nuc){
     if(nuc == NULL) return DEVICE_ERR_NULL;
-  //信号量的东西 // if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
+    if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
    BSP_UART_RegisterCallback(BSP_UART_AI,BSP_UART_IDLE_LINE_CB,
                             NUC_IdleCallback);
 	
@@ -35,9 +37,9 @@ int8_t NUC_Restart(void) {
 
 
 bool_t NUC_WaitDmaCplt(void) {
-  // return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
-  //         SIGNAL_NUC_RAW_REDY);
-  return 1;
+  return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
+          SIGNAL_NUC_RAW_REDY);
+
 }
 
 int8_t NUC_SendPacket(void *data, uint16_t length) {
diff --git a/User/device/nuc.h b/User/device/nuc.h
index 690abe2..6c8ff79 100644
--- a/User/device/nuc.h
+++ b/User/device/nuc.h
@@ -4,6 +4,7 @@
 extern "C" {
 #endif
 
+#include <cmsis_os2.h>
 #include "struct_typedef.h"
 #include "device.h"
 #include "uart_it.h"
diff --git a/User/device/remote_control.h b/User/device/remote_control.h
index 005ffdc..1bd1c62 100644
--- a/User/device/remote_control.h
+++ b/User/device/remote_control.h
@@ -22,13 +22,12 @@
 extern "C"{
 #endif
 
+#include "TopDefine.h"
 #include "struct_typedef.h"
 #include "usart.h"
 #include <string.h>
 #include <stdlib.h>
 
-#define DT7 0
-
 #if DT7==1
 
 #define DBUS_MAX_LEN     (50)//通过 UART 串口接收的最大数据长度
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 1ea8443..74b4cf6 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -2,24 +2,20 @@
 #include "bsp_delay.h"
 #include "remote_control.h"
 #include "detect.h"
+#include "userTask.h"
 
 extern RC_ctrl_t rc_ctrl;
 extern int key;
 
-// 定义状态机变量
-BallState_t currentState1 = BALL_IDLE; // 当前状态
-uint32_t startTime = 0;             // 用于记录延时的起始时间
-int speedm=0;
-int speedm1=0;
-
-#define MOTOR_SPEED 1000
+#if HANDLING3 == 1
+//三摩擦轮运球！！！
+//添加平移3508 得跑位置吧
 
 const fp32 Ball:: M3508_speed_PID[3] = {5, 0.01, 0};
-
+int speedm=0;
+int speedm1=0;
 //PE11 气缸
 
-//三摩擦轮运球！！！
-
 Ball ::Ball()
 {  
    detect_init();
@@ -34,11 +30,11 @@ Ball ::Ball()
     result[i] = 0;
     speedSet[i] = 0;    
  }
+  //状态机状态初始化
+  currentState1= BALL_IDLE;
      
 }
 
-#if HANDLING3 == 1
-
 void Ball ::Spin(float speed,float speed2)
 {
 
@@ -100,7 +96,6 @@ void Ball::ballHadling(void)
         if (ball_state == 0) 
         {
             
-            //flag=2;   //抽象的计次
             speedm=0; // 停止电机
             speedm1=0;
             currentState1 = BALL_CLOSE; // 切换到完成状态
@@ -115,15 +110,7 @@ void Ball::ballHadling(void)
            HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
            currentState1 = BALL_FINISH; // 切换到完成状态
        }
-        // if (flag == 2) 
-        // {
-        //     if(ball_state == 0)
-        //     {
-        //         HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
-        //         currentState1 = BALL_FINISH; // 切换到完成状态
-        //     }
-          
-        // }
+
         break;    
 
     case BALL_FINISH:
@@ -132,6 +119,7 @@ void Ball::ballHadling(void)
         flag=0;
         speedm=0;
         speedm1=0;
+        osThreadFlagsSet(task_struct.thread.shoot, BALL_OK);
         currentState1 = BALL_IDLE; // 回到空闲状态
         break;
 
@@ -150,62 +138,8 @@ void Ball::Send_control()
 }
 
 #else
-int flag =0;
-int ball_state = 0;
-// void Ball::ballHadling(void)
-// {
-//     ball_state =HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);//有球 0 无球 1
-//     switch (currentState1)
-//     {
-//     case BALL_IDLE:
-    
-//     if (key > 0) // 检测按键是否被按下
-//      {
-//         currentState1 = BALL_FORWARD; // 切换到正转状态
-        
-//      }
-//         break;
 
-//     case BALL_FORWARD:
-//     HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET);
-//     osDelay(50); 
-//     HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET);
-
-//     currentState1 = BALL_DROP; // 切换到球下落状态
-//         break;
-
-//     case BALL_DROP:
-//     osDelay(100); // 
-//     HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
-//     currentState1 = BALL_CLOSE; // 切换到反转状态
-//      break;
-
-//     case BALL_CLOSE:
-//         osDelay(100);
-//         if(ball_state == 0)
-//         {
-//            HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); 
-//            currentState1 = BALL_REVERSE; // 切换到反转状态 
-//         }
-     
-     
-
-//     break;
-
-//     case BALL_REVERSE:
-//      osDelay(50); // 延时200ms
-//      HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET);
-//      HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
-//      key=0; // 重置按键状态
-//      currentState1 = BALL_IDLE; // 回到空闲状态
-//      break;
-    
-//      default:
-//       currentState1 = BALL_IDLE; // 默认回到空闲状态
-//       break;
-//   }
-    
-// }    
+ int ball_state = 0;
  int triggerCount = 0; // 光电传感器触发计数
  int last_ball_state = 1; // 上一次的光电状态
 void Ball::ballHadling(void)
diff --git a/User/module/ball.hpp b/User/module/ball.hpp
index d0e4cd4..2ea05e9 100644
--- a/User/module/ball.hpp
+++ b/User/module/ball.hpp
@@ -1,14 +1,14 @@
 #ifndef BALL_HPP
 #define BALL_HPP
 #include "main.h"
+#include "TopDefine.h"
 #include "cmsis_os.h"
 #include "FreeRTOS.h"
+#include <cmsis_os2.h>
 #include "bsp_delay.h"
 #include "djiMotor.h"
 #include "pid.h"
 
-#define HANDLING3  1
-
 // 定义状态枚举
 typedef enum {
     BALL_IDLE,         // 空闲状态
@@ -17,7 +17,11 @@ typedef enum {
     BALL_REVERSE,      // 反转状态
     BALL_FLAG,
     BALL_CLOSE,         // 关闭状态
-    BALL_FINISH        // 完成状态
+    BALL_FINISH,        // 完成状态
+//持球状态
+    BALL_TAKE,
+    BALL_LOSE
+
 } BallState_t;
 
 typedef enum
@@ -39,14 +43,17 @@ public:
     void Spin(float speed,float speed2);
     void ballHadling(void);
     void Send_control(void);
-    void ballStateMachine(void);
 
+    BallState_t currentState1; // 当前状态
+    
     int16_t result[MOTOR_NUM];
     motor_measure_t *hand_Motor[MOTOR_NUM];
-private:
+//==========================公共变量==========================//
+    //用于传接球,运球后通知
+    volatile BallState_t ballStatus;//是否有球
+    volatile uint32_t flag_thread;//接收传回的线程通知
 
-    int up_ball_state; //上球状态 0:无球 1:有球
-  
+private:  
     //三个摩擦轮
     static const float M3508_speed_PID[3];
     static const float M3508_angle_PID[3];
diff --git a/User/module/gimbal.hpp b/User/module/gimbal.hpp
index ce07120..5d3306f 100644
--- a/User/module/gimbal.hpp
+++ b/User/module/gimbal.hpp
@@ -6,7 +6,6 @@
 #include "pid.h"
 #include "nuc.h"
 
-#define GM6020ING 1
 class Gimbal
 {
 public:
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index 0b31659..b4b8d14 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -7,48 +7,62 @@
 #include "calc_lib.h"
 extern RC_ctrl_t rc_ctrl;
 #define SHOOT_SPEED 40000
-#define SHOOT_SPEED_BACK -4000
+#define SHOOT_SPEED_BACK -2000
 #define STOP 0
+#define Trigger 3000
 
-// 定义状态机变量
-ShootState_t currentState = SHOOT_IDLE;
+const fp32 Shoot:: M2006_speed_PID[3] = {5, 0.01, 0};
+int t=0;
 
 Shoot::Shoot()
 {
-    // motor_5065[0] = get_5065_motor_point(0);//获取电机数据指针
-    // motor_5065[1] = get_5065_motor_point(1);//获取电机数据指针
-    CAN_VESC_RPM(1, STOP); 
-    CAN_VESC_RPM(2, STOP); 
-	
+    //扳机初始化
+    trigger_Motor= get_motor_point(4);
+    trigger_Motor->type=M3508;
+    PID_init(&speed_pid,PID_POSITION,M2006_speed_PID,16000, 10000);//pid初始化
+    speedSet = 0; 
+    result = 0;
+   
+    //发射摩擦轮
+    motor_5065[0] = get_vesc_point(0);//获取电机数据指针
+    motor_5065[1] = get_vesc_point(1);//获取电机数据指针
+    speed_5065=0;
+    currentState= SHOOT_IDLE;
+}
+
+void Shoot::trigger_spin()
+{
+    if(t>0)
+    {
+        speedSet=Trigger;
+        if(trigger_Motor->speed_rpm<5)
+        {
+            speedSet=-Trigger;
+        }
+    }
+
 }
 
 void Shoot::shootThree()
 {
     if((rc_ctrl.sw[1]>500))
     {
-        speed_5065 = map((float)rc_ctrl.sw[1],500,1694,30000,45000);
+        speed_5065 = SHOOT_SPEED;
         
-        // CAN_VESC_RPM(1, speed_5065); 
-        // CAN_VESC_RPM(2, speed_5065); 
     }
     else
     {
         speed_5065=STOP;
-       // CAN_VESC_Control(1,STOP,&hcan2);
-        // CAN_VESC_RPM(1, STOP); 
-        // CAN_VESC_RPM(2, STOP); 
+
     }
     if(rc_ctrl.sw[5]==1694)
     {
         speed_5065=SHOOT_SPEED_BACK;
-        // CAN_VESC_Control(1,SHOOT_SPEED_BACK,&hcan2);
-        // CAN_VESC_RPM(1, SHOOT_SPEED_BACK); 
-        // CAN_VESC_RPM(2, SHOOT_SPEED_BACK);
-        
+
     }
-    //CAN_VESC_Control(1,speed_5065,&hcan2);
-    CAN_VESC_RPM(1, speed_5065); 
-    CAN_VESC_RPM(2, speed_5065); 
+    CAN_VESC_Control(1,speed_5065,&hcan2);
+    // CAN_VESC_RPM(1, speed_5065); 
+    // CAN_VESC_RPM(2, speed_5065); 
 }
 
 void Shoot::shootBack()
@@ -69,12 +83,6 @@ void Shoot::shootStop()
   
 }
 
-void Shoot::shootControl()
-{
-        shootThree();
-  
-}
-
 void Shoot::shootStateMachine() {
     switch (currentState) {
         case SHOOT_IDLE: {
diff --git a/User/module/shoot.hpp b/User/module/shoot.hpp
index 89cea5a..b7d8a83 100644
--- a/User/module/shoot.hpp
+++ b/User/module/shoot.hpp
@@ -1,6 +1,7 @@
 #ifndef SHOOT_HPP
 #define SHOOT_HPP
 #include "djiMotor.h"
+#include "pid.h"
 
 // 定义状态枚举
 typedef enum {
@@ -10,6 +11,15 @@ typedef enum {
     SHOOT_RETURN       // 自动返回状态
 } ShootState_t;
 
+// 定义状态枚举
+typedef enum {
+    BALL_IDLE,         // 空闲状态
+    BALL_FINISH,        // 完成状态
+//持球状态
+    BALL_TAKE,
+    BALL_LOSE
+
+} BallState_t;
 
 // 光电传感器读取宏
 #define IS_PHOTOELECTRIC_TRIGGERED() (HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin) == GPIO_PIN_RESET)
@@ -21,12 +31,27 @@ public:
     void shootThree(void);
     void shootStop(void);
     void shootBack(void);
-    void shootControl(void);
     void shootStateMachine(void);
+    void trigger_spin(void);
     float speed_5065;
+    ShootState_t currentState;
+
+  //==========================公共变量==========================
+    volatile BallState_t ballStatus;//是否有球
+    volatile uint32_t flag_thread;//接收传回的线程通知
+
 private:
 
-   CAN_MotorFeedback_t *motor_5065[2];
+    //扳机2006
+    static const float M2006_speed_PID[3];
+    //电机速度pid结构体
+    pid_type_def speed_pid;
+    motor_measure_t *trigger_Motor;
+    int16_t result;
+    float speedSet;
+
+    CAN_MotorFeedback_t *motor_5065[2];
+
 };
 
 
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index ff14774..21b846f 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -29,7 +29,7 @@ void FunctionBall(void *argument)
        abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
        //abc=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
 
-       ball.ballHadling(); // 处理摩擦轮转动
+      ball.ballHadling(); // 处理摩擦轮转动
       ball.Spin(speedm,speedm1);
       ball.Send_control();
 
diff --git a/User/task/shootTask.cpp b/User/task/shootTask.cpp
index 57cf53c..c7c67ed 100644
--- a/User/task/shootTask.cpp
+++ b/User/task/shootTask.cpp
@@ -25,7 +25,13 @@ while(1)
 	task_struct.stack_water_mark.shoot = osThreadGetStackSpace(osThreadGetId());  
 #endif
 
-	shoot.shootThree();
+	shoot.flag_thread=osThreadFlagsGet();
+
+	if(shoot.flag_thread & BALL_OK)
+	{
+	  shoot.shootThree();
+	}
+
 	//shoot.shootBack();
 
 	osDelay(2);