diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index e43e52a..06428c7 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -113,7 +113,7 @@ void ChassisInit()
         .can_init_config.can_handle   = &hcan1,
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp                = 12,
+                .Kp                = 50,//15
                 .Ki                = 0.2,
                 .Kd                = 0,
                 .CoefA             = 3,
@@ -125,7 +125,7 @@ void ChassisInit()
                 .DeadBand          = 0.5,
             },
             .speed_PID = {
-                .Kp            = 40,
+                .Kp            = 50,//25
                 .Ki            = 3,
                 .Kd            = 0,
                 .Improve       = PID_Integral_Limit | PID_Derivative_On_Measurement | PID_ChangingIntegrationRate | PID_OutputFilter,
@@ -154,7 +154,7 @@ void ChassisInit()
         .Kp                = 1.05, // 6
         .Ki                = 0,
         .Kd                = 0.1, // 0.495
-         .DeadBand          = 0.5f,// 启用死区，值为0.5度
+        // .DeadBand          = 0.5f,// 启用死区，值为0.5度
         //.CoefA             = 0.2,
         //.CoefB             = 0.3,
         //.Improve           = PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_DerivativeFilter | PID_Derivative_On_Measurement | PID_Integral_Limit | PID_Derivative_On_Measurement,
@@ -412,7 +412,9 @@ void ChassisTask()
         {
             single_round_offset += 360.0f;
         }
-        chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100;
+
+            chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100;
+        // chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100;
         // chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, chassis_cmd_recv.offset_angle, 0)/100;
         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
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 1c0e786..128d024 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -84,9 +84,9 @@ void RobotCMDInit()
 static void CalcOffsetAngle()
 {
     static float last_offset_angle = 0;
-    const float smooth_factor = 0.3f; // 平滑因子,0~1之间,值越大平滑效果越明显
+    const float smooth_factor = 0.2f; // 平滑因子,0~1之间,值越大平滑效果越明显
 
-    const float deadband = 3.0f;       // 死区值
+    //const float deadband = 3.0f;       // 死区值
     // 新增：跟踪模式变化，用于重置基准角度
     // static chassis_mode_e last_chassis_mode = CHASSIS_NO_FOLLOW;//
     //
@@ -108,14 +108,14 @@ static void CalcOffsetAngle()
     else if (angle_diff < -180.0f)
         new_offset += 360.0f;
     /////
-    // 应用死区
-    if (fabs(new_offset) < deadband) {
-        new_offset = 0.0f;
-    } else if (new_offset > 0) {
-       new_offset -= deadband;
-   } else {
-        new_offset += deadband;
-    }//////
+   //  // 应用死区
+   //  if (fabs(new_offset) < deadband) {
+   //      new_offset = 0.0f;
+   //  } else if (new_offset > 0) {
+   //     new_offset -= deadband;
+   // } else {
+   //      new_offset += deadband;
+   //  }//////
          chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor;
      last_offset_angle = chassis_cmd_send.offset_angle;
     // // 更新模式状态
@@ -203,14 +203,14 @@ static void RemoteControlSet()
     // 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
     if (switch_is_down(rc_data[TEMP].rc.switch_left) )
     { // 按照摇杆的输出大小进行角度增量,增益系数需调整
-        gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_;
-        gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1;
+        gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_r_;
+        gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_r1;
     }
     // 云台软件限位
 
     // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整
-    chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
-    chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向
+    chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_l_; // _水平方向
+    chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_l1; // 1数值方向
 
     // // 发射参数
     // if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index cbaea8a..298bc32 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -66,7 +66,7 @@ void GimbalInit()
     Motor_Init_Config_s pitch_config = {
         .can_init_config = {
             .can_handle = &hcan2,
-            .tx_id = 4,//2
+            .tx_id = 2,//2
         },
         .controller_param_init_config = {
             .angle_PID = {
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index 514ea36..7a89e8e 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -55,7 +55,7 @@ void ShootInit()
     friction_config.can_init_config.tx_id = 1,
     friction_l = DJIMotorInit(&friction_config);
 
-    friction_config.can_init_config.tx_id = 2; // 右摩擦轮,改txid和方向就行
+    friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行
     friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
     friction_r = DJIMotorInit(&friction_config);