From d6e1ccabd075faa85874793e73e2e0e2eb36be71 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Tue, 17 Mar 2026 11:34:48 +0800
Subject: [PATCH] fix

---
 User/module/cmd/cmd.c | 26 +++++++++++++-------------
 User/module/config.c  |  3 ++-
 User/module/shoot.c   |  2 +-
 3 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
index e60c015..9c99b58 100644
--- a/User/module/cmd/cmd.c
+++ b/User/module/cmd/cmd.c
@@ -635,19 +635,19 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
 
   CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE);
 
-#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT
-  if (ctx->input.online[CMD_SRC_NUC]) {
-    if (ctx->active_source==CMD_SRC_RC) {
-      if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
-        ctx->output.gimbal.source = CMD_SRC_NUC;
-        ctx->output.shoot.source = CMD_SRC_NUC;
-#if CMD_ENABLE_MODULE_REFUI
-        ctx->output.refui.source = CMD_SRC_NUC;
-#endif
-      }
-    }
-  }
-#endif
+// #if CMD_ENABLE_SRC_NUC && CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT
+//   if (ctx->input.online[CMD_SRC_NUC]) {
+//     if (ctx->active_source==CMD_SRC_RC) {
+//       if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
+//         ctx->output.gimbal.source = CMD_SRC_NUC;
+//         ctx->output.shoot.source = CMD_SRC_NUC;
+// #if CMD_ENABLE_MODULE_REFUI
+//         ctx->output.refui.source = CMD_SRC_NUC;
+// #endif
+//       }
+//     }
+//   }
+// #endif
 
   return CMD_OK;
 }
diff --git a/User/module/config.c b/User/module/config.c
index a074bad..897f95c 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -4,6 +4,7 @@
 
 /* Includes ----------------------------------------------------------------- */
 #include "module/config.h"
+#include "module/balance_chassis.h"
 #include <stdbool.h>
 
 
@@ -507,7 +508,7 @@ Config_RobotParam_t robot_config = {
 #if CMD_ENABLE_MODULE_BALANCE_CHASSIS
             .balance_sw_up   = CHASSIS_MODE_RELAX,
             .balance_sw_mid  = CHASSIS_MODE_WHELL_LEG_BALANCE,
-            .balance_sw_down = CHASSIS_MODE_CLIMB_STEP,
+            .balance_sw_down = CHASSIS_MODE_BALANCE_ROTOR,
 #endif
         },
     },
diff --git a/User/module/shoot.c b/User/module/shoot.c
index 4e76a51..473f657 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -995,5 +995,5 @@ void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui) {
 
 void Shoot_DumpAI(Shoot_t *s, Shoot_AI_t *ai) {
     ai->num_shooted=s->var_trig.num_shooted;
-    ai->bullet_speed=12.0f;
+    ai->bullet_speed=22.0f;
 }