diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index 20b8468..d7799d3 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -189,7 +189,7 @@ static void LimitChassisOutput()
 //                  motor_rb->motor_controller.motor_power_predict +
 //                  motor_lb->motor_controller.motor_power_predict +
 //                  motor_lf->motor_controller.motor_power_predict + 3.6f;
-    float P_max = 60 - 10;
+    float P_max = 55;
     float K = P_max/P_cmdall;
 
 
@@ -261,7 +261,7 @@ void ChassisTask()
             chassis_cmd_recv.wz = -2000;
         break;
     case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
-        chassis_cmd_recv.wz = 1600;
+        chassis_cmd_recv.wz = 2300;
         break;
     default:
         break;
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 66f2be0..ba03b48 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -129,10 +129,12 @@ static void update_ui_data()
 }
 static void pitch_limit()
 {
-    if(gimbal_fetch_data.pitch_motor_total_angle > horizontal_angle + 1500)
-        gimbal_cmd_send.pitch -= 0.1f;
-    if(gimbal_fetch_data.pitch_motor_total_angle < horizontal_angle - 4000)
-        gimbal_cmd_send.pitch += 0.1f;
+//    if(gimbal_fetch_data.pitch_motor_total_angle > horizontal_angle + 1500)
+//        gimbal_cmd_send.pitch -= 0.1f;
+//    if(gimbal_fetch_data.pitch_motor_total_angle < horizontal_angle - 4000)
+//        gimbal_cmd_send.pitch += 0.1f;
+      if(gimbal_cmd_send.pitch>18) gimbal_cmd_send.pitch = 18;
+      if(gimbal_cmd_send.pitch<-38) gimbal_cmd_send.pitch = -38;
 }
 /**
  * @brief 控制输入为遥控器(调试时)的模式和控制量设置
@@ -149,7 +151,7 @@ static void RemoteControlSet()
     }
     else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘跟随云台
     {
-        chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+        chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
         gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
     }
 
@@ -231,6 +233,7 @@ static void RemoteControlSet()
     else
         shoot_cmd_send.load_mode = LOAD_STOP;
     // 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
+    shoot_cmd_send.shoot_rate = 10;
 }
 
 /**
@@ -260,7 +263,10 @@ static void MouseKeySet()
     switch (rc_data[TEMP].mouse.press_l) // 左键发射模式
     {
     case 1:
-        shoot_cmd_send.load_mode = LOAD_1_BULLET;
+        if(shoot_cmd_send.friction_mode == FRICTION_ON)
+            shoot_cmd_send.load_mode = LOAD_1_BULLET;
+        else
+            shoot_cmd_send.load_mode = LOAD_STOP;
         break;
     default:
         shoot_cmd_send.load_mode = LOAD_STOP;
@@ -284,6 +290,17 @@ static void MouseKeySet()
         shoot_cmd_send.friction_mode = FRICTION_ON;
         break;
     }
+    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关小陀螺
+    {
+        case 0:
+            chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+            gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
+            break;
+        default:
+            chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
+            gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
+            break;
+    }
     switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 4) // C键设置底盘速度
     {
     case 0:
diff --git a/application/robot_def.h b/application/robot_def.h
index defd436..4e1b1d5 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -36,8 +36,8 @@
 #define REDUCTION_RATIO_LOADER 19.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f//初始是49
 #define NUM_PER_CIRCLE 5            // 拨盘一圈的装载量
 // 机器人底盘修改的参数,单位为mm(毫米)
-#define WHEEL_BASE 420           // 纵向轴距(前进后退方向)
-#define TRACK_WIDTH 450            // 横向轮距(左右平移方向)
+#define WHEEL_BASE 433.86           // 纵向轴距(前进后退方向)
+#define TRACK_WIDTH 463.92            // 横向轮距(左右平移方向)
 #define CENTER_GIMBAL_OFFSET_X 0    // 云台旋转中心距底盘几何中心的距离,前后方向,云台位于正中心时默认设为0
 #define CENTER_GIMBAL_OFFSET_Y 0    // 云台旋转中心距底盘几何中心的距离,左右方向,云台位于正中心时默认设为0
 #define RADIUS_WHEEL 75             // 轮子半径
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index e23f7d5..8ca2d3d 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -23,6 +23,7 @@ static float hibernate_time = 0, dead_time = 0;
 
 static uint16_t locked_time;
 
+
 void ShootInit()
 {
     // 摩擦轮
@@ -32,12 +33,12 @@ void ShootInit()
         },
         .controller_param_init_config = {
             .speed_PID = {
-                .Kp = 1.5f, // 20
-                .Ki = 0.2f, // 1
+                .Kp = 2, // 20
+                .Ki = 1, // 1
                 .Kd = 0,
                 .Improve = PID_Integral_Limit,
                 .IntegralLimit = 10000,
-                .MaxOut = 15000,
+                .MaxOut = 28000,
             },
             .current_PID = {
                 .Kp = 0, // 0.7
@@ -164,7 +165,7 @@ void ShootTask()
         stop_location = loader->measure.total_angle;
         DJIMotorSetRef(loader, loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度
         hibernate_time = DWT_GetTimeline_ms();                                             // 记录触发指令的时间
-        dead_time = 2000;                                                                    // 完成1发弹丸发射的时间
+        dead_time = 300;                                                                    // 完成1发弹丸发射的时间
         break;
     // 三连发,如果不需要后续可能删除
     case LOAD_3_BULLET:
@@ -176,7 +177,7 @@ void ShootTask()
     // 连发模式,对速度闭环,射频后续修改为可变,目前固定为1Hz
     case LOAD_BURSTFIRE:
         DJIMotorOuterLoop(loader, SPEED_LOOP);
-        DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 5);
+        DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER);
         // x颗/秒换算成速度: 已知一圈的载弹量,由此计算出1s需要转的角度,注意换算角速度(DJIMotor的速度单位是)
         break;
     // 拨盘反转,对速度闭环,后续增加卡弹检测(通过裁判系统剩余热量反馈和电机电流)
@@ -194,7 +195,7 @@ void ShootTask()
     {
             DJIMotorSetRef(friction_l, 39000);
             DJIMotorSetRef(friction_r, 39000);
-            DJIMotorSetRef(friction_z, 39000);
+            DJIMotorSetRef(friction_z, 39000);//39000/6 = 6500
     }
     else // 关闭摩擦轮
     {
@@ -216,7 +217,6 @@ void ShootTask()
     // 反馈数据,目前暂时没有要设定的反馈数据,后续可能增加应用离线监测以及卡弹反馈
 
     //推送消息
-    //ui_data.friction_mode = shoot_cmd_recv.friction_mode;
     PubPushMessage(shoot_pub, (void *)&shoot_feedback_data);
 
 }
\ No newline at end of file
diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c
index 846d060..8be64a5 100644
--- a/modules/referee/referee_task.c
+++ b/modules/referee/referee_task.c
@@ -62,8 +62,8 @@ static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
 
 void MyUIInit()
 {
-    if (!referee_recv_info->init_flag)
-        vTaskDelete(NULL); // 如果没有初始化裁判系统则直接删除ui任务
+//    if (!referee_recv_info->init_flag)
+//        vTaskDelete(NULL); // 如果没有初始化裁判系统则直接删除ui任务
     while (referee_recv_info->GameRobotState.robot_id == 0)
         osDelay(100); // 若还未收到裁判系统数据,等待一段时间后再检查
 
@@ -89,8 +89,8 @@ void MyUIInit()
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
     UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "frict:");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]);
-    UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
-    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
+//    UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
+//    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
 
     // 绘制车辆状态标志，动态
     // 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新
@@ -102,8 +102,8 @@ void MyUIInit()
     UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
     UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "off");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
-    UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
-    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
+//    UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
+//    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
 
     // 底盘功率显示，静态
     UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
@@ -240,12 +240,12 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
         _Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
     }
     // lid
-    if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
-    {
-        UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, _Interactive_data->lid_mode == LID_OPEN ? "open " : "close");
-        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
-        _Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
-    }
+//    if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
+//    {
+//        UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, _Interactive_data->lid_mode == LID_OPEN ? "open " : "close");
+//        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
+//        _Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
+//    }
     // power
     if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
     {