diff --git a/User/task/shoot_task.c b/User/task/shoot_task.c
index c664a1b..2478165 100644
--- a/User/task/shoot_task.c
+++ b/User/task/shoot_task.c
@@ -13,22 +13,16 @@
 extern RC_mess_t RC_mess;
 extern Encoder_t encoder;
 extern motor_measure_t *trigger_motor_data;//3508电机数据
-extern int mode;
 extern GO go;
 int shoot_flag = 0;
 int trigger_flag = 0;
 int pos=0;
 int gopos=0;
+int speed_5065=0;
+
 
-#define GO1_SHOOT 0
-#define ODRIVE_SHOOT 0
 #define VESC_SHOOT 1
 
-//odrive发射
-#define SHOOT3 12
-#define TOP 6
-#define MIDDLE 3
-#define BOTTOM 0
 
 void Task_Shoot(void *argument)
 {
@@ -41,52 +35,47 @@ void Task_Shoot(void *argument)
 
  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
 
-	 go.angleSetgo[0] = 0; //id暂时未知
+	 //go.angleSetgo[0] = 0; //id暂时未知
 	  GO_TURN_ball(TURN,go,gopos); //发射舵机位置
-	osDelay(1000);
+	  osDelay(500);
     while(1)
     {
-     #if GO1_SHOOT == 1
-   
-    shoot_ball(0);
-
-     #elif ODRIVE_SHOOT == 1
-     
-    if(mode == THREE)
-    {
-      shoot_odrive(SHOOT3);    
-    }	
-    else if(mode == DZ)
-    {
-      if(trigger_motor_data->total_angle ==0)//扳机已闭合
-      {
-        shoot_back(DZ);  
-      }
-     
-    }
-   
-
-     #endif
+    
       #if VESC_SHOOT == 1
-     gopos=35;
-      GO_TURN_ball(TURN,go,gopos); //发射舵机位置
-      if(shoot_flag==1)
+      gopos=35;//云台位置
+      GO_TURN_ball(GIMBAL,go,gopos); //锁云台
+
+
+      if(shoot_flag==1||RC_mess.RC_data.sw[0]==306)//加速
       {
-        CAN_VESC_RPM(0, 10000); //发射电机转速
-        CAN_VESC_RPM(1, 10000); //发射电机转速
-        if(trigger_flag == 1)
-         {
-          trigger_pos(pos); //扳机电机转速
-          trigger_flag = 0;
-         }
+
+        if(HAL_GPIO_ReadPin(ball_in1_GPIO_Port, ball_in1_Pin) == GPIO_PIN_RESET)
+        {
+          CAN_VESC_HEAD(1);
+          CAN_VESC_HEAD(2);
+        }
+        else
+        {
+          speed_5065=35000;
+          CAN_VESC_RPM(1, speed_5065); //发射电机转速
+          CAN_VESC_RPM(2, speed_5065); //发射电机转速
+          
+        }
 
 
+      }
+      else if(shoot_flag == 2 || RC_mess.RC_data.sw[5]==1694)//返回//不拨动为306
+      {
+        speed_5065=-5000;
+        CAN_VESC_RPM(1, speed_5065); //发射电机转速
+        CAN_VESC_RPM(2, speed_5065); //发射电机转速
+        
       }
       else if(shoot_flag == 0)
       {
-        CAN_VESC_RPM(0, 0); //发射电机转速
         CAN_VESC_RPM(1, 0); //发射电机转速
-        trigger_pos(0); //扳机电机转速
+        CAN_VESC_RPM(2, 0); //发射电机转速
+       
       }