diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index 887f748..22ebe57 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -59,6 +59,7 @@ float chassis_power = 0;
 static float chassis_vx, chassis_vy;     // 将云台系的速度投影到底盘
 static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出,待进行限幅
 float P_cmdall = 0;
+
 void ChassisInit()
 {
     // 四个轮子的参数一样,改tx_id和反转标志位即可
@@ -66,9 +67,9 @@ void ChassisInit()
         .can_init_config.can_handle = &hcan1,
         .controller_param_init_config = {
             .speed_PID = {
-                .Kp = 17, // 17
-                .Ki = 3,  // 3
-                .Kd = 0.02f,  // 0.02
+                .Kp = 4, // 4
+                .Ki = 1.2f,  // 1.2
+                .Kd = 0.01f,  // 0.01
                 .IntegralLimit = 3000,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .MaxOut = 12000,
@@ -86,14 +87,14 @@ void ChassisInit()
             .angle_feedback_source = MOTOR_FEED,
             .speed_feedback_source = MOTOR_FEED,
             .outer_loop_type = SPEED_LOOP,
-            .close_loop_type = SPEED_LOOP | CURRENT_LOOP,
-        //功率限制必须要用电流环
-            .power_limit_flag = NO_POWER_LIMIT,
+            .close_loop_type = SPEED_LOOP,
+
+            .power_limit_flag = POWER_LIMIT_ON,
         },
         .motor_type = M3508,
     };
     //  @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改.
-    chassis_motor_config.can_init_config.tx_id = 2;
+    chassis_motor_config.can_init_config.tx_id = 3;
     chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
     motor_lf = DJIMotorInit(&chassis_motor_config);
 
@@ -105,7 +106,7 @@ void ChassisInit()
     chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
     motor_lb = DJIMotorInit(&chassis_motor_config);
 
-    chassis_motor_config.can_init_config.tx_id = 3;
+    chassis_motor_config.can_init_config.tx_id = 2;
     chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
     motor_rb = DJIMotorInit(&chassis_motor_config);
 
@@ -119,13 +120,13 @@ void ChassisInit()
         }};
     cap = SuperCapInit(&cap_conf); // 超级电容初始化
 
-    PowerMeter_Init_Config_s power_conf = {
-            .can_config = {
-                    .can_handle = &hcan2,
-                    .rx_id = 0x211,
-            }
-    };
-    power_meter = PowerMeterInit(&power_conf);
+//    PowerMeter_Init_Config_s power_conf = {
+//            .can_config = {
+//                    .can_handle = &hcan2,
+//                    .rx_id = 0x211,
+//            }
+//    };
+//    power_meter = PowerMeterInit(&power_conf);
 
     // 发布订阅初始化,如果为双板,则需要can comm来传递消息
 #ifdef CHASSIS_BOARD
@@ -231,7 +232,6 @@ void ChassisTask()
 #ifdef CHASSIS_BOARD
     chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(chasiss_can_comm);
 #endif // CHASSIS_BOARD
-
     if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE)
     { // 如果出现重要模块离线或遥控器设置为急停,让电机停止
         DJIMotorStop(motor_lf);
@@ -278,7 +278,7 @@ void ChassisTask()
     // 根据控制模式进行正运动学解算,计算底盘输出
     MecanumCalculate();
     //读取底盘功率，方便功率控制
-    chassis_power = PowerMeterGet(power_meter);
+//    chassis_power = PowerMeterGet(power_meter);
     // 根据裁判系统的反馈数据和电容数据对输出限幅并设定闭环参考值
     LimitChassisOutput();
     // 根据电机的反馈速度和IMU(如果有)计算真实速度
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 646a76a..1493db1 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -119,7 +119,13 @@ static void CalcOffsetAngle()
 //        chassis_cmd_send.offset_angle = chassis_cmd_send.offset_angle;
 }
 
-
+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;
+}
 /**
  * @brief 控制输入为遥控器(调试时)的模式和控制量设置
  *
@@ -147,10 +153,7 @@ static void RemoteControlSet()
     {
         gimbal_cmd_send.yaw += 0.003f * (float)rc_data[TEMP].rc.rocker_l_;
         gimbal_cmd_send.pitch += 0.0007f * (float)rc_data[TEMP].rc.rocker_l1;
-        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;
+        pitch_limit();
 
     }
     // 左侧开关状态为[下],视觉模式
@@ -219,12 +222,12 @@ static void RemoteControlSet()
  */
 static void MouseKeySet()
 {
-    chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测
-    chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300;
-
-    gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测
-    gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10;
+    chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 7000 - rc_data[TEMP].key[KEY_PRESS].d * 7000; // 系数待测
+    chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 7000 - rc_data[TEMP].key[KEY_PRESS].s * 7000;
 
+    gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 7; // 系数待测
+    gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 7;
+    pitch_limit();
     switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速
     {
     case 0:
diff --git a/application/robot_def.h b/application/robot_def.h
index b14054c..defd436 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -26,7 +26,7 @@
 
 /* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
 // 云台参数
-#define YAW_CHASSIS_ALIGN_ECD 891  // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
+#define YAW_CHASSIS_ALIGN_ECD 295  // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
 #define YAW_ECD_GREATER_THAN_4096 1 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
 #define PITCH_HORIZON_ECD 3412      // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
 #define PITCH_MAX_ANGLE 0           // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index cb85170..3787e92 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -64,7 +64,7 @@ void ShootInit()
     friction_r = DJIMotorInit(&friction_config);
 
     friction_config.can_init_config.tx_id = 6; // 上摩擦轮,改txid和方向就行
-    friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
+    friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
     friction_z = DJIMotorInit(&friction_config);
 
 
@@ -77,21 +77,21 @@ void ShootInit()
         .controller_param_init_config = {
             .angle_PID = {
                 // 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降
-                .Kp = 130, // 10
+                .Kp = 50, // 10
                 .Ki = 0,
                 .Kd = 0,
                 .MaxOut = 15000,
             },
             .speed_PID = {
-                .Kp = 5, // 10
+                .Kp = 2.4f, // 10
                 .Ki = 0, // 1
                 .Kd = 0,
                 .Improve = PID_Integral_Limit,
                 .IntegralLimit = 5000,
-                .MaxOut = 10000,
+                .MaxOut = 28000,
             },
             .current_PID = {
-                .Kp = 0.7f, // 0.7
+                .Kp = 0, // 0.7
                 .Ki = 0, // 0.1
                 .Kd = 0,
                 .Improve = PID_Integral_Limit,
@@ -175,7 +175,7 @@ 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 / 8);
+        DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 5);
         // 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)
diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c
index 6d0162d..a6e88e2 100644
--- a/modules/motor/DJImotor/dji_motor.c
+++ b/modules/motor/DJImotor/dji_motor.c
@@ -323,13 +323,13 @@ void DJIMotorControl()
                 if(pid_ref < 0)
                 {
                     float temp = (-b - sqrtf(b*b-4*a*c))/(2*a);
-                    if(temp < -15000) pid_ref = -15000;
+                    if(temp < -28000) pid_ref = -28000;
                     else pid_ref = temp;
                 }
                 else
                 {
                     float temp = (-b + sqrtf(b*b-4*a*c))/(2*a);
-                    if(temp > 15000) pid_ref = 15000;
+                    if(temp > 28000) pid_ref = 28000;
                     else pid_ref = temp;
                 }
             }
diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c
index 9950066..4827507 100644
--- a/modules/referee/referee_task.c
+++ b/modules/referee/referee_task.c
@@ -69,14 +69,16 @@ void MyUIInit()
     DeterminRobotID();                                            // 确定ui要发送到的目标客户端
     UIDelete(&referee_recv_info->referee_id, UI_Data_Del_ALL, 0); // 清空UI
 
+
     // 绘制发射基准线
     UILineDraw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]);
-    UILineDraw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740);
+    UILineDraw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, 740, shoot_line_location[1], 340, shoot_line_location[1]);
     UILineDraw(&UI_shoot_line[2], "sl2", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[2], 1110, shoot_line_location[2]);
     UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[3], 1110, shoot_line_location[3]);
     UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
     UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]);
 
+
     // 绘制车辆状态标志指示
     UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]);