diff --git a/MDK-ARM/.vscode/c_cpp_properties.json b/MDK-ARM/.vscode/c_cpp_properties.json
index 120b12d..479213b 100644
--- a/MDK-ARM/.vscode/c_cpp_properties.json
+++ b/MDK-ARM/.vscode/c_cpp_properties.json
@@ -3,26 +3,26 @@
         {
             "name": "R1-shooter",
             "includePath": [
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Inc",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Include",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\bsp",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\module",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\task",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\lib",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\device",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Core\\Inc",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Include",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\bsp",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\module",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\task",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\lib",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\device",
                 "D:\\keil\\ARM\\ARMCC\\include",
                 "D:\\keil\\ARM\\ARMCC\\include\\rw",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\MDK-ARM",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Src",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Src",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source",
-                "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\MDK-ARM",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Core\\Src",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+                "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
             ],
             "defines": [
                 "USE_HAL_DRIVER",
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 2ac5c03..8c2e769 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,8 +1,30 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1-shooter'
+compiling gpio.c...
+compiling main.c...
+compiling userTask.c...
+compiling usart.c...
+compiling gimbal.cpp...
+compiling shoot.cpp...
+compiling remote_control.c...
+compiling nuc.c...
+compiling user_math.c...
+compiling uart_it.c...
+compiling motor.cpp...
+compiling GO_M8010_6_Driver.c...
+compiling djiMotor.c...
+..\User\device\djiMotor.c(162): warning:  #177-D: variable "eventReceive"  was declared but never referenced
+  static osEventFlagsId_t eventReceive;
+..\User\device\djiMotor.c: 1 warning, 0 errors
+compiling initTask.c...
 compiling ball.cpp...
+compiling ballTask.cpp...
+compiling encodeCan.cpp...
+compiling gimbalTask.cpp...
+compiling nucTask.cpp...
+compiling shootTask.cpp...
 linking...
-Program Size: Code=26644 RO-data=1812 RW-data=240 ZI-data=23520  
+Program Size: Code=26664 RO-data=1812 RW-data=244 ZI-data=23516  
 FromELF: creating hex file...
-"R1-shooter\R1-shooter.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:00:03
+"R1-shooter\R1-shooter.axf" - 0 Error(s), 1 Warning(s).
+Build Time Elapsed:  00:00:24
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index e1bf9c5..f60a07e 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/4/26 16:32:18
\ No newline at end of file
+2025/6/14 13:19:08
\ No newline at end of file
diff --git a/MDK-ARM/R1-shooter.uvoptx b/MDK-ARM/R1-shooter.uvoptx
index a3a851b..ab98bf0 100644
--- a/MDK-ARM/R1-shooter.uvoptx
+++ b/MDK-ARM/R1-shooter.uvoptx
@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>3</nTsel>
+        <nTsel>6</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>BIN\CMSIS_AGDI.dll</pMon>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
@@ -140,7 +140,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name></Name>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -1041,7 +1041,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c
index e2042c4..1172199 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
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index d51f707..9b77ad1 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -217,6 +217,8 @@ void Ball::ballHadling(void)
     {
     case BALL_IDLE:
         HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸闭合
+        HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
+        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
         if (key > 0) // 检测按键是否被按下
         {
             key = 0; // 重置按键状态