diff --git a/src/component/comp_cmd.hpp b/src/component/comp_cmd.hpp
index c43fda26a2da7852c06ee63c4952333c96b71edc..3db2763d72efd880e98e2f3e8280c8e95f0ad436 100644
--- a/src/component/comp_cmd.hpp
+++ b/src/component/comp_cmd.hpp
@@ -16,6 +16,12 @@ class CMD {
     CTRL_SOURCE_NUM
   } ControlSource;
 
+  typedef struct {
+    float yaw; /* 偏航角（Yaw angle） */
+    float pit; /* 俯仰角（Pitch angle） */
+    float rol; /* 翻滚角（Roll angle） */
+  } Eulr;
+
   typedef enum {
     CMD_OP_CTRL,
     CMD_AUTO_CTRL,
@@ -25,11 +31,7 @@ class CMD {
   typedef Type::Vector3 ChassisCMD;
 
   typedef struct {
-    struct {
-      float yaw; /* 偏航角（Yaw angle） */
-      float pit; /* 俯仰角（Pitch angle） */
-      float rol; /* 翻滚角（Roll angle） */
-    } eulr;
+    Eulr eulr;
     GimbalCommandMode mode;
   } GimbalCMD;
 
@@ -100,6 +102,7 @@ class CMD {
   static void SetCtrlSource(ControlSource source) {
     self_->ctrl_source_ = source;
   }
+  static uint8_t GetCtrlMode() { return self_->mode_; }
 
  private:
   bool online_ = false;
diff --git a/src/component/comp_mixer.cpp b/src/component/comp_mixer.cpp
index 35d18a506fc8517b46a56ff4ba1da0f80fd60154..3f9ec3b4851b4afd1fcaa1fc8a9b854e98f35c96 100644
--- a/src/component/comp_mixer.cpp
+++ b/src/component/comp_mixer.cpp
@@ -71,6 +71,12 @@ bool Mixer::Apply(Component::Type::MoveVector &move_vec, float *out) {
       break;
 
     case OMNICROSS:
+      ASSERT(this->len_ == 4);
+      out[0] = move_vec.vx - move_vec.vy + move_vec.wz;
+      out[1] = move_vec.vx + move_vec.vy + move_vec.wz;
+      out[2] = -move_vec.vx + move_vec.vy + move_vec.wz;
+      out[3] = -move_vec.vx - move_vec.vy + move_vec.wz;
+      break;
     case OMNIPLUS:
       break;
 
diff --git a/src/device/ai/dev_ai.cpp b/src/device/ai/dev_ai.cpp
index dfa9e091b4aa8cbb37da82188676148eef183dda..86ad8b1a63411751e055ac0ed7de2642a8430e9d 100644
--- a/src/device/ai/dev_ai.cpp
+++ b/src/device/ai/dev_ai.cpp
@@ -16,7 +16,10 @@ static uint8_t txbuf[AI_LEN_TX_BUFF];
 
 using namespace Device;
 
-AI::AI() : data_ready_(false), cmd_tp_("cmd_ai") {
+AI::AI()
+    : data_ready_(false),
+      event_(Message::Event::FindEvent("cmd_event")),
+      cmd_tp_("cmd_ai") {
   auto rx_cplt_callback = [](void *arg) {
     AI *ai = static_cast<AI *>(arg);
     ai->data_ready_.Post();
@@ -69,10 +72,10 @@ bool AI::StartRecv() {
 }
 
 bool AI::PraseHost() {
-  if (Component::CRC16::Verify(rxbuf, sizeof(this->form_host_))) {
+  if (Component::CRC16::Verify(rxbuf, sizeof(this->from_host_))) {
     this->cmd_.online = true;
     this->last_online_time_ = bsp_time_get_ms();
-    memcpy(&(this->form_host_), rxbuf, sizeof(this->form_host_));
+    memcpy(&(this->from_host_), rxbuf, sizeof(this->from_host_));
     memset(rxbuf, 0, AI_LEN_RX_BUFF);
     return true;
   }
@@ -133,34 +136,75 @@ bool AI::PackRef() {
 }
 
 bool AI::PackCMD() {
-  this->cmd_.gimbal.mode = Component::CMD::GIMBAL_ABSOLUTE_CTRL;
-
-  memcpy(&(this->cmd_.gimbal.eulr), &(this->form_host_.data.gimbal),
+  memcpy(&(this->cmd_.gimbal.eulr), &(this->from_host_.data.gimbal),
          sizeof(this->cmd_.gimbal.eulr));
 
   memcpy(&(this->cmd_.ext.extern_channel),
-         &(this->form_host_.data.extern_channel),
+         &(this->from_host_.data.extern_channel),
          sizeof(this->cmd_.ext.extern_channel));
 
-  memcpy(&(this->cmd_.chassis), &(this->form_host_.data.chassis_move_vec),
-         sizeof(this->form_host_.data.chassis_move_vec));
+  memcpy(&(this->cmd_.chassis), &(this->from_host_.data.chassis_move_vec),
+         sizeof(this->from_host_.data.chassis_move_vec));
+
+  memcpy(&(this->fire_command_), &(this->from_host_.data.notice),
+         sizeof(this->from_host_.data.notice));
+
+  /* 控制权在AI */
+  if (Component::CMD::GetCtrlMode() == Component::CMD::CMD_AUTO_CTRL) {
+    if (this->cmd_.online) {
+      if (this->last_eulr_.yaw == this->cmd_.gimbal.eulr.yaw &&
+          this->last_eulr_.pit == this->cmd_.gimbal.eulr.pit) {
+        this->ai_data_status_ = this->IS_INVALID_AMING_DATA;
+      } else {
+        this->ai_data_status_ = this->IS_USEFUL_AMING_DATA;
+      }
+    } else {
+      this->ai_data_status_ = this->AI_OFFLINE;
+    }
+
+    /*AI云台数据无效，巡逻模式 */
+    if (this->ai_data_status_ == this->IS_INVALID_AMING_DATA) {
+      this->event_.Active(AI_AUTOPATROL);
+    }
+
+    /* AI转向 */
+    /* 自瞄优先级高于转向 */
+    if (this->ai_data_status_ == IS_INVALID_AMING_DATA &&
+        this->cmd_.chassis.z != 0) {
+      /* 将底盘wz复制给yaw,实现AI间接控制云台进而控制底盘 */
+      this->cmd_.gimbal.eulr.yaw = this->cmd_.chassis.z;
+      this->cmd_.gimbal.mode = Component::CMD::GIMBAL_RELATIVE_CTRL;
+      this->event_.Active(AI_TURN);
+    }
+
+    /*AI云台数据有效，自动瞄准模式 */
+    if (this->ai_data_status_ == IS_USEFUL_AMING_DATA) {
+      this->cmd_.gimbal.mode = Component::CMD::GIMBAL_ABSOLUTE_CTRL;
+      this->event_.Active(AI_FIND_TARGET);
+      if (fire_command_ == AI_NOTICE_FIRE) {
+        this->event_.Active(AI_FIRE_COMMAND); /* AI开火发弹指令 */
+      }
+    }
+  }
+
+  memcpy(&(this->last_eulr_), &(this->cmd_.gimbal.eulr),
+         sizeof(this->cmd_.gimbal.eulr));
 
   this->cmd_.ctrl_source = Component::CMD::CTRL_SOURCE_AI;
 
   this->cmd_tp_.Publish(this->cmd_);
-
   return true;
 }
 
 void AI::PraseRef() {
 #if RB_HERO
-  this->ref_.ball_speed = this->ref_.data_.robot_status.launcher_42_speed_limit;
+  this->ref_.ball_speed = BULLET_SPEED_LIMIT_42MM
 #else
-  this->ref_.ball_speed =
-      this->raw_ref_.robot_status.launcher_id1_17_speed_limit;
+  this->ref_.ball_speed = BULLET_SPEED_LIMIT_17MM;
 #endif
 
-  this->ref_.max_hp = this->raw_ref_.robot_status.max_hp;
+                          this->ref_.max_hp =
+      this->raw_ref_.robot_status.max_hp;
 
   this->ref_.hp = this->raw_ref_.robot_status.remain_hp;
 
@@ -171,9 +215,10 @@ void AI::PraseRef() {
   }
   this->ref_.status = this->raw_ref_.status;
 
-  if (this->raw_ref_.rfid.high_ground == 1) {
+  if (this->raw_ref_.rfid.own_highland_annular == 1 ||
+      this->raw_ref_.rfid.enemy_highland_annular == 1) {
     this->ref_.robot_buff |= AI_RFID_SNIP;
-  } else if (this->raw_ref_.rfid.energy_mech == 1) {
+  } else if (this->raw_ref_.rfid.own_energy_mech_activation == 1) {
     this->ref_.robot_buff |= AI_RFID_BUFF;
   } else {
     this->ref_.robot_buff = 0;
diff --git a/src/device/ai/dev_ai.hpp b/src/device/ai/dev_ai.hpp
index 97b75136faa0b27f66cd88cebea713814e02e2ef..426dcbb96088a103dc3e981896df61fc42ea6b2a 100644
--- a/src/device/ai/dev_ai.hpp
+++ b/src/device/ai/dev_ai.hpp
@@ -31,6 +31,18 @@ class AI {
     uint32_t hp;
   } RefForAI;
 
+  typedef enum {
+    IS_INVALID_AMING_DATA,
+    IS_USEFUL_AMING_DATA,
+    AI_OFFLINE,
+  } AIDataStatus;
+  typedef enum {
+    AI_FIND_TARGET = 128,
+    AI_AUTOPATROL,
+    AI_TURN,
+    AI_FIRE_COMMAND,
+  } AIControlData;
+
   AI();
 
   bool StartRecv();
@@ -51,9 +63,14 @@ class AI {
 
  private:
   bool ref_updated_ = false;
+
   uint32_t last_online_time_ = 0;
 
-  Protocol_DownPackage_t form_host_{};
+  Protocol_DownPackage_t from_host_{};
+
+  uint8_t ai_data_status_;
+
+  uint8_t fire_command_;
 
   struct {
     RefereePckage ref{};
@@ -66,10 +83,14 @@ class AI {
 
   System::Semaphore data_ready_;
 
+  Message::Event event_;
+
   Message::Topic<Component::CMD::Data> cmd_tp_;
 
   Component::CMD::Data cmd_{};
 
+  Component::CMD::Eulr last_eulr_;
+
   Component::Type::Quaternion quat_{};
   Device::Referee::Data raw_ref_{};
 };
diff --git a/src/device/custom_controller/dev_custom_controller.hpp b/src/device/custom_controller/dev_custom_controller.hpp
index e1a7e9425ba8c6fd48c6ba7d0ac52d5857288eac..e12eb453addd07d54d7d05781bc59b8b2badbd30 100644
--- a/src/device/custom_controller/dev_custom_controller.hpp
+++ b/src/device/custom_controller/dev_custom_controller.hpp
@@ -6,7 +6,7 @@ class CustomController {
  public:
   CustomController();
 
-  typedef enum { NUM = 31 } ControllerEvent;
+  typedef enum { NUM = 144 } ControllerEvent;
 
   bool StartRecv();
 
diff --git a/src/device/referee/dev_referee.cpp b/src/device/referee/dev_referee.cpp
index e7d2125fe3e80fce8c6c0ee77b99b235a994f692..9abf72587c54cf8fe39093c03735544858d6a665 100644
--- a/src/device/referee/dev_referee.cpp
+++ b/src/device/referee/dev_referee.cpp
@@ -166,14 +166,6 @@ void Referee::Prase() {
         destination = &(this->ref_data_.game_robot_hp);
         size = sizeof(this->ref_data_.game_robot_hp);
         break;
-      case REF_CMD_ID_DART_STATUS:
-        destination = &(this->ref_data_.dart_status);
-        size = sizeof(this->ref_data_.dart_status);
-        break;
-      case REF_CMD_ID_ICRA_ZONE_STATUS:
-        destination = &(this->ref_data_.icra_zone);
-        size = sizeof(this->ref_data_.icra_zone);
-        break;
       case REF_CMD_ID_FIELD_EVENTS:
         destination = &(this->ref_data_.field_event);
         size = sizeof(this->ref_data_.field_event);
@@ -238,6 +230,18 @@ void Referee::Prase() {
         destination = &(this->ref_data_.radar_mark_progress);
         size = sizeof(this->ref_data_.radar_mark_progress);
         break;
+      case REF_CMD_ID_SENTRY_DECISION:
+        destination = &(this->ref_data_.sentry_decision);
+        size = sizeof(this->ref_data_.sentry_decision);
+        break;
+      case REF_CMD_ID_RADAR_DECISION:
+        destination = &(this->ref_data_.radar_decision);
+        size = sizeof(this->ref_data_.radar_decision);
+        break;
+      case REF_CMD_ID_INTER_STUDENT:
+        destination = &(this->ref_data_.robot_ineraction_data);
+        size = sizeof(this->ref_data_.robot_ineraction_data);
+        break;
       case REF_CMD_ID_INTER_STUDENT_CUSTOM:
         destination = &(this->ref_data_.custom_controller);
         size = sizeof(this->ref_data_.custom_controller);
@@ -250,6 +254,10 @@ void Referee::Prase() {
         destination = &(this->ref_data_.keyboard_mouse);
         size = sizeof(this->ref_data_.keyboard_mouse);
         break;
+      case REF_CMD_ID_MAP_ROBOT_DATA:
+        destination = &(this->ref_data_.map_robot_data);
+        size = sizeof(this->ref_data_.map_robot_data);
+        break;
       case REF_CMD_ID_CUSTOM_KEYBOARD_MOUSE:
         destination = &(this->ref_data_.custom_key_mouse_data);
         size = sizeof(this->ref_data_.custom_key_mouse_data);
@@ -258,6 +266,10 @@ void Referee::Prase() {
         destination = &(this->ref_data_.sentry_postion);
         size = sizeof(this->ref_data_.sentry_postion);
         break;
+      case REF_CMD_ID_ROBOT_POS_DATA:
+        destination = &(this->ref_data_.robot_position);
+        size = sizeof(this->ref_data_.robot_position);
+        break;
 
       default:
         return;
@@ -290,8 +302,6 @@ void Referee::Prase() {
 #endif
   this->ref_data_.power_heat.launcher_id1_17_heat = REF_HEAT_LIMIT_17;
   this->ref_data_.power_heat.launcher_42_heat = REF_HEAT_LIMIT_42;
-  this->ref_data_.robot_status.launcher_id1_17_speed_limit = REF_LAUNCH_SPEED;
-  this->ref_data_.robot_status.launcher_42_speed_limit = REF_LAUNCH_SPEED;
   this->ref_data_.robot_status.chassis_power_limit = REF_POWER_LIMIT;
   this->ref_data_.power_heat.chassis_pwr_buff = REF_POWER_BUFF;
 #endif
diff --git a/src/device/referee/dev_referee.hpp b/src/device/referee/dev_referee.hpp
index 41e751805aa739e707407ffaa2338f749c8d9a74..a7a76e1227b1ea0881dd7e209d479db92f80c55e 100644
--- a/src/device/referee/dev_referee.hpp
+++ b/src/device/referee/dev_referee.hpp
@@ -1,5 +1,6 @@
 /*
   裁判系统抽象。
+  2024_03_21 已修改。
 */
 
 #pragma once
@@ -11,6 +12,9 @@
 #define GAME_HEAT_INCREASE_42MM (100.0f) /* 每发射一颗42mm弹丸增加100热量 */
 #define GAME_HEAT_INCREASE_17MM (10.0f) /* 每发射一颗17mm弹丸增加10热量 */
 
+#define BULLET_SPEED_LIMIT_42MM (16.0)
+#define BULLET_SPEED_LIMIT_17MM (30.0)
+
 #define GAME_CHASSIS_MAX_POWER_WO_REF 40.0f /* 裁判系统离线时底盘最大功率 */
 #define REF_UI_BOX_UP_OFFSET (4)
 #define REF_UI_BOX_BOT_OFFSET (-14)
@@ -50,11 +54,10 @@ class Referee {
   } Status;
 
   typedef enum {
+    /* DRONE空中机器人,DART飞镖,RADAR雷达 */
     REF_CMD_ID_GAME_STATUS = 0x0001,
     REF_CMD_ID_GAME_RESULT = 0x0002,
     REF_CMD_ID_GAME_ROBOT_HP = 0x0003,
-    REF_CMD_ID_DART_STATUS = 0x0004,
-    REF_CMD_ID_ICRA_ZONE_STATUS = 0x0005,
     REF_CMD_ID_FIELD_EVENTS = 0x0101,
     REF_CMD_ID_SUPPLY_ACTION = 0x0102,
     REF_CMD_ID_WARNING = 0x0104,
@@ -71,12 +74,16 @@ class Referee {
     REF_CMD_ID_DART_CLIENT = 0x020A,
     REF_CMD_ID_ROBOT_POS_TO_SENTRY = 0X020B,
     REF_CMD_ID_RADAR_MARK = 0X020C,
+    REF_CMD_ID_SENTRY_DECISION = 0x020D, /* 哨兵自主决策相关信息同步 */
+    REF_CMD_ID_RADAR_DECISION = 0x020E, /* 雷达自主决策相关信息同步 */
     REF_CMD_ID_INTER_STUDENT = 0x0301,
     REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302,
     REF_CMD_ID_CLIENT_MAP = 0x0303,
     REF_CMD_ID_KEYBOARD_MOUSE = 0x0304,
+    REF_CMD_ID_MAP_ROBOT_DATA = 0x0305,  // 0x0305
     REF_CMD_ID_CUSTOM_KEYBOARD_MOUSE = 0X0306,
     REF_CMD_ID_SENTRY_POS_DATA = 0x0307,
+    REF_CMD_ID_ROBOT_POS_DATA = 0x0308, /* 选手端小地图接受机器人消息 */
   } CommandID;
 
   typedef enum {
@@ -98,11 +105,11 @@ class Referee {
     uint8_t game_progress : 4;
     uint16_t stage_remain_time;
     uint64_t sync_time_stamp;
-  } GameStatus;
+  } GameStatus; /* 0x0001 */
 
   typedef struct __attribute__((packed)) {
     uint8_t winner;
-  } GameResult;
+  } GameResult; /* 0x0002 */
 
   typedef struct __attribute__((packed)) {
     uint16_t red_1;
@@ -110,7 +117,6 @@ class Referee {
     uint16_t red_3;
     uint16_t red_4;
     uint16_t red_5;
-    uint16_t red_6;
     uint16_t red_7;
     uint16_t red_outpose;
     uint16_t red_base;
@@ -119,78 +125,60 @@ class Referee {
     uint16_t blue_3;
     uint16_t blue_4;
     uint16_t blue_5;
-    uint16_t blue_6;
     uint16_t blue_7;
     uint16_t blue_outpose;
     uint16_t blue_base;
-  } RobotHP;
-
-  typedef struct __attribute__((packed)) {
-    uint8_t dart_belong;
-    uint16_t stage_remain_time;
-  } DartStatus;
-
-  typedef struct __attribute__((packed)) {
-    uint8_t f1_status : 1;
-    uint8_t f1_buff_status : 3;
-    uint8_t f2_status : 1;
-    uint8_t f2_buff_status : 3;
-    uint8_t f3_status : 1;
-    uint8_t f3_buff_status : 3;
-    uint8_t f4_status : 1;
-    uint8_t f4_buff_status : 3;
-    uint8_t f5_status : 1;
-    uint8_t f5_buff_status : 3;
-    uint8_t f6_status : 1;
-    uint8_t f6_buff_status : 3;
-    uint16_t red1_bullet_remain;
-    uint16_t red2_bullet_remain;
-    uint16_t blue1_bullet_remain;
-    uint16_t blue2_bullet_remain;
-  } IcraZoneStatus;
-
-  typedef struct __attribute__((packed)) {
-    uint8_t copter_pad : 2;
-    uint8_t energy_mech : 2;
-    uint8_t virtual_shield : 1;
-    uint32_t res : 27;
-  } FieldEvents;
-
-  typedef struct __attribute__((packed)) {
-    uint8_t supply_id;
-    uint8_t robot_id;
+  } RobotHP; /* 0x0003 */
+  typedef struct __attribute__((packed)) {
+    uint32_t blood_supply_before_status : 1;
+    uint32_t blood_supply_inner_status : 1;
+    uint32_t blood_supply_status_RMUL : 1;
+    uint32_t energy_mech_activation_status : 1;
+    uint32_t energy_mech_small_status : 1;
+    uint32_t energy_mech_big_status : 1;
+    uint32_t highland_annular : 2;
+
+    uint32_t highland_trapezium_1 : 2;
+    uint32_t highland_trapezium_2 : 2;
+    uint32_t virtual_shield_value : 8;
+    uint32_t last_hit_time : 9;
+    uint32_t last_hit_target : 2;
+    uint32_t res : 1;
+  } FieldEvents; /* 0x0101 */
+  typedef struct __attribute__((packed)) {
+    uint8_t res;
+    uint8_t supply_robot_id;
     uint8_t supply_step;
     uint8_t supply_sum;
-  } SupplyAction;
+  } SupplyAction; /* 0x0102 */
 
   typedef struct __attribute__((packed)) {
     uint8_t level;
     uint8_t robot_id;
-  } Warning;
+    uint8_t count;
+  } Warning; /* 0x0104 */
 
   typedef struct __attribute__((packed)) {
     uint8_t countdown;
-  } DartCountdown;
+
+    uint16_t dart_last_target : 2;
+    uint16_t attack_count : 3;
+    uint16_t dart_target : 2;
+    uint16_t res : 9;
+  } DartCountdown; /* 0x0105 */
 
   typedef struct __attribute__((packed)) {
     uint8_t robot_id;
     uint8_t robot_level;
     uint16_t remain_hp;
     uint16_t max_hp;
-    uint16_t launcher_id1_17_cooling_rate;
-    uint16_t launcher_id1_17_heat_limit;
-    uint16_t launcher_id1_17_speed_limit;
-    uint16_t launcher_id2_17_cooling_rate;
-    uint16_t launcher_id2_17_heat_limit;
-    uint16_t launcher_id2_17_speed_limit;
-    uint16_t launcher_42_cooling_rate;
-    uint16_t launcher_42_heat_limit;
-    uint16_t launcher_42_speed_limit;
+    uint16_t shooter_cooling_value;
+    uint16_t shooter_heat_limit;
     uint16_t chassis_power_limit;
     uint8_t power_gimbal_output : 1;
     uint8_t power_chassis_output : 1;
     uint8_t power_launcher_output : 1;
-  } RobotStatus;
+  } RobotStatus; /* 0x0201 */
 
   typedef struct __attribute__((packed)) {
     uint16_t chassis_volt;
@@ -200,96 +188,74 @@ class Referee {
     uint16_t launcher_id1_17_heat;
     uint16_t launcher_id2_17_heat;
     uint16_t launcher_42_heat;
-  } PowerHeat;
+  } PowerHeat; /* 0x0202 */
 
   typedef struct __attribute__((packed)) {
     float x;
     float y;
-    float z;
-    float yaw;
-  } RobotPOS;
+    float angle;
+  } RobotPOS; /* 0x0203 */
 
   typedef struct __attribute__((packed)) {
-    uint8_t healing : 1;
-    uint8_t cooling_acc : 1;
-    uint8_t defense_buff : 1;
-    uint8_t attack_buff : 1;
-    uint8_t res : 4;
-  } RobotBuff;
+    uint8_t healing_buff;
+    uint8_t cooling_acc;
+    uint8_t defense_buff;
+    uint8_t vulnerability_buff;
+    uint16_t attack_buff;
+  } RobotBuff; /* 0x0204 */
 
   typedef struct __attribute__((packed)) {
+    uint8_t status;
     uint8_t attack_countdown;
-  } DroneEnergy;
+  } DroneEnergy; /* 0x0205 */
 
   typedef struct __attribute__((packed)) {
     uint8_t armor_id : 4;
     uint8_t damage_type : 4;
-  } RobotDamage;
+  } RobotDamage; /* 0x0206 */
 
   typedef struct __attribute__((packed)) {
     uint8_t bullet_type;
     uint8_t launcherer_id;
     uint8_t bullet_freq;
     float bullet_speed;
-  } LauncherData;
+  } LauncherData; /* 0x0207 */
 
   typedef struct __attribute__((packed)) {
     uint16_t bullet_17_remain;
     uint16_t bullet_42_remain;
     uint16_t coin_remain;
-  } BulletRemain;
-
-  typedef struct __attribute__((packed)) {
-    uint8_t base : 1;
-    uint8_t high_ground : 1;
-    uint8_t energy_mech : 1;
-    uint8_t slope : 1;
-    uint8_t outpose : 1;
-    uint8_t resource : 1;
-    uint8_t healing_card : 1;
-    uint32_t res : 24;
-  } RFID;
-
-  typedef struct __attribute__((packed)) {
-    uint8_t opening;
+  } BulletRemain; /* 0x0208 */
+
+  typedef struct __attribute__((packed)) {
+    uint32_t own_base : 1;
+    uint32_t own_highland_annular : 1;
+    uint32_t enemy_highland_annular : 1;
+    uint32_t own_trapezium_R3B3 : 1;
+    uint32_t enemy_trapezium_R3B3 : 1;
+    uint32_t own_trapezium_R4B4 : 1;
+    uint32_t enemy_trapezium_R4B4 : 1;
+    uint32_t own_energy_mech_activation : 1;
+    uint32_t own_slope_before : 1;
+    uint32_t own_slope_after : 1;
+    uint32_t enemy_slope_before : 1;
+    uint32_t enemy_slope_after : 1;
+    uint32_t own_outpose : 1;
+    uint32_t own_blood_supply : 1;
+    uint32_t own_sentry_area : 1;
+    uint32_t enemy_sentry_area : 1;
+    uint32_t own_resource : 1;
+    uint32_t enemy_resource : 1;
+    uint32_t own_exchange_area : 1;
+    uint32_t res : 13;
+  } RFID; /* 0x0209 */
+
+  typedef struct __attribute__((packed)) {
+    uint8_t opening_status;
     uint8_t target;
-    uint8_t target_changable_countdown;
-    uint8_t dart1_speed;
-    uint8_t dart2_speed;
-    uint8_t dart3_speed;
-    uint8_t dart4_speed;
-    uint16_t last_dart_launch_time;
+    uint16_t target_changable_countdown;
     uint16_t operator_cmd_launch_time;
-  } DartClient;
-
-  typedef struct __attribute__((packed)) {
-    float position_x;
-    float position_y;
-    float position_z;
-    uint8_t commd_keyboard;
-    uint16_t robot_id;
-  } ClientMap;
-
-  typedef struct __attribute__((packed)) {
-    int16_t mouse_x;
-    int16_t mouse_y;
-    int16_t mouse_wheel;
-    int8_t button_l;
-    int8_t button_r;
-    uint16_t keyboard_value;
-    uint16_t res;
-  } KeyboardMouse;
-  typedef struct __attribute__((packed)) {
-    uint8_t intention;
-    uint16_t start_position_x;
-    uint16_t start_position_y;
-    std::array<int8_t, 49> delta_x;
-    std::array<int8_t, 49> delta_y;
-  } SentryPosition;
-
-  typedef struct __attribute__((packed)) {
-    std::array<uint8_t, 30> data;
-  } CustomController;
+  } DartClient; /* 0x020A */
   typedef struct __attribute__((packed)) {
     float hero_x;
     float hero_y;
@@ -301,7 +267,7 @@ class Referee {
     float standard_4_y;
     float standard_5_x;
     float standard_5_y;
-  } RobotPosForSentry;
+  } RobotPosForSentry; /* 0x020B */
   typedef struct __attribute__((packed)) {
     uint8_t mark_hero_progress;
     uint8_t mark_engineer_progress;
@@ -309,15 +275,75 @@ class Referee {
     uint8_t mark_standard_4_progress;
     uint8_t mark_standard_5_progress;
     uint8_t mark_sentry_progress;
-  } RadarMarkProgress;
+  } RadarMarkProgress; /* 0x020C */
+  typedef struct __attribute__((packed)) {
+    uint32_t exchanged_bullet_num : 11;
+    uint32_t exchanged_bullet_times : 4;
+    uint32_t exchanged_blood_times : 4;
+    uint32_t res : 13;
+  } SentryInfo; /* 0x020D */
+  typedef struct __attribute__((packed)) {
+    uint8_t qualification : 2;
+    uint8_t enemy_status : 1;
+    uint8_t res : 5;
+  } RadarInfo; /* 0x020E */
+  typedef struct __attribute__((packed)) {
+    uint16_t data_cmd_id;
+    uint16_t sender_id;
+    uint16_t receiver_id;
+    std::array<int8_t, 113> user_data;
+    /*最大值113*/
+  } RobotInteractionData; /* 0x0301 */
+
+  typedef struct __attribute__((packed)) {
+    std::array<uint8_t, 30> data;
+  } CustomController; /* 0x0302 */
+
+  typedef struct __attribute__((packed)) {
+    float position_x;
+    float position_y;
+    uint8_t commd_keyboard;
+    uint8_t robot_id;
+    uint8_t cmd_source;
+  } ClientMap; /* 0x0303 */
+
+  typedef struct __attribute__((packed)) {
+    int16_t mouse_x;
+    int16_t mouse_y;
+    int16_t mouse_wheel;
+    int8_t button_l;
+    int8_t button_r;
+    uint16_t keyboard_value;
+    uint16_t res;
+  } KeyboardMouse; /* 0x0304 */
+  typedef struct __attribute__((packed)) {
+    uint16_t target_robot_id;
+    float target_position_x;
+    float target_position_y;
+  } MapRobotData; /* 0x0305 */
+
   typedef struct __attribute__((packed)) {
     uint16_t key_value;
     uint16_t x_position : 12;
     uint16_t mouse_left : 4;
     uint16_t y_position : 12;
     uint16_t mouse_right : 4;
-    uint16_t reserved;
-  } CustomKeyMouseData;
+    uint16_t res;
+  } CustomKeyMouseData; /* 0x0306 */
+
+  typedef struct __attribute__((packed)) {
+    uint8_t intention;
+    uint16_t start_position_x;
+    uint16_t start_position_y;
+    std::array<int8_t, 49> delta_x;
+    std::array<int8_t, 49> delta_y;
+    uint16_t sender_id;
+  } SentryPosition; /* 0x0307 */
+  typedef struct __attribute__((packed)) {
+    uint16_t sender_id;
+    uint16_t receiver_id;
+    std::array<int8_t, 30> user_data;
+  } RobotPosition; /* 0x0308 */
 
   typedef uint16_t Tail;
 
@@ -363,6 +389,8 @@ class Referee {
     REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
     REF_STDNT_CMD_ID_UI_STR = 0x0110,
     REF_STDNT_CMD_ID_CUSTOM = 0x0200,
+    REF_STDNT_CMD_ID_SENTRY_COMMAND = 0X0120,
+    REF_STDNT_CMD_ID_RADAR_COMMAND = 0X0121,
   } CMDID;
 
   typedef struct __attribute__((packed)) {
@@ -373,32 +401,35 @@ class Referee {
 
   typedef struct {
     Status status;
-    GameStatus game_status;
-    GameResult game_result;
-    RobotHP game_robot_hp;
-    DartStatus dart_status;
-    IcraZoneStatus icra_zone;
-    FieldEvents field_event;
-    SupplyAction supply_action;
-    Warning warning;
-    DartCountdown dart_countdown;
-    RobotStatus robot_status;
-    PowerHeat power_heat;
-    RobotPOS robot_pos;
-    RobotBuff robot_buff;
-    DroneEnergy drone_energy;
-    RobotDamage robot_damage;
-    LauncherData launcher_data;
-    BulletRemain bullet_remain;
-    RFID rfid;
-    DartClient dart_client;
-    ClientMap client_map;
-    KeyboardMouse keyboard_mouse;
-    SentryPosition sentry_postion;
-    CustomController custom_controller;
-    RobotPosForSentry robot_pos_for_snetry;
-    RadarMarkProgress radar_mark_progress;
-    CustomKeyMouseData custom_key_mouse_data;
+    GameStatus game_status;                     /* 0x0001 */
+    GameResult game_result;                     /* 0x0002 */
+    RobotHP game_robot_hp;                      /* 0x0003 */
+    FieldEvents field_event;                    /* 0x0101 */
+    SupplyAction supply_action;                 /* 0x0102 */
+    Warning warning;                            /* 0x0104 */
+    DartCountdown dart_countdown;               /* 0x0105 */
+    RobotStatus robot_status;                   /* 0x0201 */
+    PowerHeat power_heat;                       /* 0x0202 */
+    RobotPOS robot_pos;                         /* 0x0203 */
+    RobotBuff robot_buff;                       /* 0x0204 */
+    DroneEnergy drone_energy;                   /* 0x0205 */
+    RobotDamage robot_damage;                   /* 0x0206 */
+    LauncherData launcher_data;                 /* 0x0207 */
+    BulletRemain bullet_remain;                 /* 0x0208 */
+    RFID rfid;                                  /* 0x0209 */
+    DartClient dart_client;                     /* 0x020A */
+    ClientMap client_map;                       /* 0x0303 */
+    KeyboardMouse keyboard_mouse;               /* 0x0304 */
+    SentryPosition sentry_postion;              /* 0x0307 */
+    RobotPosition robot_position;               /* 0x0308 */
+    CustomController custom_controller;         /* 0x0302 */
+    RobotPosForSentry robot_pos_for_snetry;     /* 0x020B */
+    RadarMarkProgress radar_mark_progress;      /* 0x020C */
+    SentryInfo sentry_decision;                 /* 0x020D */
+    RadarInfo radar_decision;                   /* 0x020E */
+    RobotInteractionData robot_ineraction_data; /* 0x0301 */
+    MapRobotData map_robot_data;                /* 0x0305 */
+    CustomKeyMouseData custom_key_mouse_data;   /* 0x0306 */
   } Data;
 
   typedef struct __attribute__((packed)) {
diff --git a/src/module/gimbal/mod_gimbal.cpp b/src/module/gimbal/mod_gimbal.cpp
index 0d1613b6a309daacacf79fe190ab0bddbbe20232..fdf7dfc2d665d3f5d7cd67d4173b8fe0c5435988 100644
--- a/src/module/gimbal/mod_gimbal.cpp
+++ b/src/module/gimbal/mod_gimbal.cpp
@@ -1,7 +1,3 @@
-/*
- * 云台模组
- */
-
 #include "mod_gimbal.hpp"
 
 #include <comp_cmd.hpp>
@@ -30,12 +26,19 @@ Gimbal::Gimbal(Param& param, float control_freq)
       case SET_MODE_ABSOLUTE:
         gimbal->SetMode(static_cast<Mode>(event));
         break;
+
       case START_AUTO_AIM:
         Component::CMD::SetCtrlSource(Component::CMD::CTRL_SOURCE_AI);
         break;
       case STOP_AUTO_AIM:
         Component::CMD::SetCtrlSource(Component::CMD::CTRL_SOURCE_RC);
         break;
+      case SET_AUTOPATROL:
+        gimbal->SetMode(static_cast<Mode>(AUTOPATROL));
+        break;
+      case SET_AI_TURN:
+        gimbal->SetMode(static_cast<Mode>(TURN));
+        break;
     }
     gimbal->ctrl_lock_.Post();
   };
@@ -54,16 +57,16 @@ Gimbal::Gimbal(Param& param, float control_freq)
 
     while (1) {
       /* 读取控制指令、姿态、IMU、电机反馈 */
-      eulr_sub.DumpData(gimbal->eulr_);
-      gyro_sub.DumpData(gimbal->gyro_);
-      cmd_sub.DumpData(gimbal->cmd_);
+      eulr_sub.DumpData(gimbal->eulr_); /* imu */
+      gyro_sub.DumpData(gimbal->gyro_); /* imu */
+      cmd_sub.DumpData(gimbal->cmd_);   /* cmd */
 
       gimbal->ctrl_lock_.Wait(UINT32_MAX);
       gimbal->UpdateFeedback();
       gimbal->Control();
       gimbal->ctrl_lock_.Post();
 
-      gimbal->yaw_tp_.Publish(gimbal->yaw_);
+      gimbal->yaw_tp_.Publish(gimbal->yaw_); /* 底盘用的yaw_ */
 
       /* 运行结束，等待下一次唤醒 */
       gimbal->thread_.SleepUntil(2, last_online_time);
@@ -79,10 +82,21 @@ Gimbal::Gimbal(Param& param, float control_freq)
 }
 
 void Gimbal::UpdateFeedback() {
-  this->pit_motor_.Update();
+  this->pit_motor_.Update(); /* 电机*/
   this->yaw_motor_.Update();
+  switch (this->mode_) {
+    case RELAX:
+    case ABSOLUTE:
+    case TURN:
+      this->yaw_ = this->yaw_motor_.GetAngle() - this->param_.mech_zero.yaw;
+      break;
+    case AUTOPATROL:
+      this->yaw_ = this->yaw_motor_.GetAngle() - this->param_.mech_zero.yaw -
+                   this->param_.patrol_range *
+                       sin(this->param_.patrol_omega * bsp_time_get_ms());
 
-  this->yaw_ = this->yaw_motor_.GetAngle() - this->param_.mech_zero.yaw;
+      break;
+  }
 }
 
 void Gimbal::Control() {
@@ -121,23 +135,43 @@ void Gimbal::Control() {
   this->setpoint_.eulr_.pit += gimbal_pit_cmd;
 
   /* 控制相关逻辑 */
+  float yaw_out = 0;
+  float pit_out = 0;
+  float autopatrol_yaw = 0;
   switch (this->mode_) {
     case RELAX:
       this->yaw_motor_.Relax();
       this->pit_motor_.Relax();
       break;
     case ABSOLUTE:
+    case TURN:
       /* Yaw轴角速度环参数计算 */
-      float yaw_out = this->yaw_actuator_.Calculate(
+      yaw_out = this->yaw_actuator_.Calculate(
           this->setpoint_.eulr_.yaw, this->gyro_.z, this->eulr_.yaw, this->dt_);
 
-      float pit_out = this->pit_actuator_.Calculate(
+      pit_out = this->pit_actuator_.Calculate(
           this->setpoint_.eulr_.pit, this->gyro_.x, this->eulr_.pit, this->dt_);
 
       this->yaw_motor_.Control(yaw_out);
       this->pit_motor_.Control(pit_out);
 
       break;
+
+    case AUTOPATROL:
+      /* 以sin变化左右摆头 */
+      this->setpoint_.eulr_.yaw = this->eulr_.yaw; /* 巡逻中间值 */
+      autopatrol_yaw = this->setpoint_.eulr_.yaw +
+                       this->param_.patrol_range *
+                           sin(this->param_.patrol_omega * bsp_time_get_ms());
+
+      yaw_out = this->yaw_actuator_.Calculate(autopatrol_yaw, this->gyro_.z,
+                                              this->eulr_.yaw, this->dt_);
+      pit_out = this->pit_actuator_.Calculate(
+          this->setpoint_.eulr_.pit, this->gyro_.x, this->eulr_.pit, this->dt_);
+
+      this->yaw_motor_.Control(yaw_out);
+      this->pit_motor_.Control(pit_out);
+      break;
   }
 }
 
diff --git a/src/module/gimbal/mod_gimbal.hpp b/src/module/gimbal/mod_gimbal.hpp
index 0c65e0d941be8dd517ba376b861f7be6c5b44265..15c28a6921a1827189d91922af60ead89efbe61f 100644
--- a/src/module/gimbal/mod_gimbal.hpp
+++ b/src/module/gimbal/mod_gimbal.hpp
@@ -1,7 +1,3 @@
-/*
- * 云台模组
- */
-
 #pragma once
 
 #include <comp_type.hpp>
@@ -25,6 +21,8 @@ class Gimbal {
   typedef enum {
     RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
     ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
+    AUTOPATROL,
+    TURN,
   } Mode;
 
   enum {
@@ -39,7 +37,9 @@ class Gimbal {
     SET_MODE_RELAX,
     SET_MODE_ABSOLUTE,
     START_AUTO_AIM,
-    STOP_AUTO_AIM
+    STOP_AUTO_AIM,
+    SET_AUTOPATROL,
+    SET_AI_TURN,
   } GimbalEvent;
 
   typedef struct {
@@ -54,6 +54,9 @@ class Gimbal {
 
     Component::Type::Eulr mech_zero;
 
+    float patrol_range;
+    float patrol_omega;
+
     struct {
       Component::Type::CycleValue pitch_max;
       Component::Type::CycleValue pitch_min;
@@ -84,7 +87,7 @@ class Gimbal {
 
   Param param_;
 
-  Gimbal::Mode mode_ = RELAX; /* 云台模式 */
+  Gimbal::Mode mode_ = ABSOLUTE; /* 云台模式 */
 
   struct {
     Component::Type::Eulr eulr_; /* 表示云台姿态的欧拉角 */
diff --git a/src/module/launcher/mod_launcher.cpp b/src/module/launcher/mod_launcher.cpp
index 6d10de4ee72f961a7388dd6e58a6431cab73ed5e..a0b14fb1e6d68a41f81fa51cf275f35ec0f77222 100644
--- a/src/module/launcher/mod_launcher.cpp
+++ b/src/module/launcher/mod_launcher.cpp
@@ -1,14 +1,3 @@
-/**
- * @file launcher.c
- * @author Qu Shen (503578404@qq.com)
- * @brief 弹丸发射器模块
- * @version 1.0.0
- * @date 2021-05-04
- *
- * @copyright Copyright (c) 2021
- *
- */
-
 #include "mod_launcher.hpp"
 
 #include "bsp_pwm.h"
@@ -40,13 +29,18 @@ Launcher::Launcher(Param& param, float control_freq)
 
   auto event_callback = [](LauncherEvent event, Launcher* launcher) {
     launcher->ctrl_lock_.Wait(UINT32_MAX);
-
-    switch (event) {
+    switch (event) { /* 根据event设置模式 */
       case CHANGE_FIRE_MODE_RELAX:
       case CHANGE_FIRE_MODE_SAFE:
       case CHANGE_FIRE_MODE_LOADED:
         launcher->SetFireMode(static_cast<FireMode>(event));
         break;
+      case LAUNCHER_START_FIRE: /* 摩擦轮开启条件下，开火控制fire为ture */
+        if (launcher->fire_ctrl_.fire_mode_ == LOADED) {
+          launcher->fire_ctrl_.fire = true;
+        }
+        break;
+
       case CHANGE_TRIG_MODE_SINGLE:
       case CHANGE_TRIG_MODE_BURST:
         launcher->SetTrigMode(static_cast<TrigMode>(event));
@@ -55,11 +49,6 @@ Launcher::Launcher(Param& param, float control_freq)
         launcher->SetTrigMode(static_cast<TrigMode>(
             (launcher->fire_ctrl_.trig_mode_ + 1) % CONTINUED));
         break;
-      case LAUNCHER_START_FIRE:
-        if (launcher->fire_ctrl_.fire_mode_ == LOADED) {
-          launcher->fire_ctrl_.fire = true;
-        }
-        break;
       case OPEN_COVER:
         launcher->cover_mode_ = OPEN;
         break;
@@ -101,8 +90,7 @@ Launcher::Launcher(Param& param, float control_freq)
     }
   };
 
-  this->thread_.Create(launcher_thread, this, "launcher_thread",
-                       MODULE_LAUNCHER_TASK_STACK_DEPTH,
+  this->thread_.Create(launcher_thread, this, "launcher_thread", 512,
                        System::Thread::MEDIUM);
   System::Timer::Create(this->DrawUIStatic, this, 2200);
 
@@ -146,7 +134,7 @@ void Launcher::Control() {
       max_burst = 1;
       break;
   }
-
+  /* 发弹量设置 */
   switch (this->fire_ctrl_.trig_mode_) {
     case SINGLE: /* 点射开火模式 */
     case BURST:  /* 爆发开火模式 */
@@ -224,7 +212,7 @@ void Launcher::Control() {
       this->fire_ctrl_.last_launch = bsp_time_get_ms();
     }
   }
-
+  /* 计算摩擦轮和拨弹盘并输出 */
   switch (this->fire_ctrl_.fire_mode_) {
     case RELAX:
       for (size_t i = 0; i < LAUNCHER_ACTR_TRIG_NUM; i++) {
@@ -268,7 +256,8 @@ void Launcher::Control() {
       break;
   }
 }
-
+/* 拨弹盘模式 */
+/* SINGLE,BURST,CONTINUED,  */
 void Launcher::SetTrigMode(TrigMode mode) {
   if (mode == this->fire_ctrl_.trig_mode_) {
     return;
@@ -276,9 +265,10 @@ void Launcher::SetTrigMode(TrigMode mode) {
 
   this->fire_ctrl_.trig_mode_ = mode;
 }
-
+/* 设置摩擦轮模式 */
+/* RELEX SAFE LOADED三种模式可以选择 */
 void Launcher::SetFireMode(FireMode mode) {
-  if (mode == this->fire_ctrl_.fire_mode_) {
+  if (mode == this->fire_ctrl_.fire_mode_) { /* 未更改，return */
     return;
   }
 
@@ -286,7 +276,7 @@ void Launcher::SetFireMode(FireMode mode) {
 
   for (size_t i = 0; i < LAUNCHER_ACTR_FRIC_NUM; i++) {
     this->fric_actuator_[i]->Reset();
-  }
+  } /* reset 所有电机执行器PID等参数 */
 
   if (mode == LOADED) {
     this->fire_ctrl_.to_launch = 0;
@@ -300,24 +290,21 @@ void Launcher::HeatLimit() {
     /* 根据机器人型号获得对应数据 */
     if (this->param_.model == LAUNCHER_MODEL_42MM) {
       this->heat_ctrl_.heat = this->ref_.power_heat.launcher_42_heat;
-      this->heat_ctrl_.heat_limit =
-          this->ref_.robot_status.launcher_42_heat_limit;
-      this->heat_ctrl_.speed_limit =
-          this->ref_.robot_status.launcher_42_speed_limit;
+      this->heat_ctrl_.heat_limit = this->ref_.robot_status.shooter_heat_limit;
+      this->heat_ctrl_.speed_limit = BULLET_SPEED_LIMIT_42MM;
       this->heat_ctrl_.cooling_rate =
-          this->ref_.robot_status.launcher_42_cooling_rate;
+          this->ref_.robot_status.shooter_cooling_value;
       this->heat_ctrl_.heat_increase = GAME_HEAT_INCREASE_42MM;
     } else if (this->param_.model == LAUNCHER_MODEL_17MM) {
       this->heat_ctrl_.heat = this->ref_.power_heat.launcher_id1_17_heat;
-      this->heat_ctrl_.heat_limit =
-          this->ref_.robot_status.launcher_id1_17_heat_limit;
-      this->heat_ctrl_.speed_limit =
-          this->ref_.robot_status.launcher_id1_17_speed_limit;
+      this->heat_ctrl_.heat_limit = this->ref_.robot_status.shooter_heat_limit;
+      this->heat_ctrl_.speed_limit = BULLET_SPEED_LIMIT_17MM;
       this->heat_ctrl_.cooling_rate =
-          this->ref_.robot_status.launcher_id1_17_cooling_rate;
+          this->ref_.robot_status.shooter_cooling_value;
       this->heat_ctrl_.heat_increase = GAME_HEAT_INCREASE_17MM;
     }
     /* 检测热量更新后,计算可发射弹丸 */
+
     if ((this->heat_ctrl_.heat != this->heat_ctrl_.last_heat) ||
         this->heat_ctrl_.available_shot == 0 || (this->heat_ctrl_.heat == 0)) {
       this->heat_ctrl_.available_shot = static_cast<uint32_t>(
@@ -343,7 +330,7 @@ void Launcher::PraseRef() {
   this->ref_.status = this->raw_ref_.status;
 }
 
-float Launcher::LimitLauncherFreq() {
+float Launcher::LimitLauncherFreq() { /* 热量限制计算 */
   float heat_percent = this->heat_ctrl_.heat / this->heat_ctrl_.heat_limit;
   float stable_freq =
       this->heat_ctrl_.cooling_rate / this->heat_ctrl_.heat_increase;
diff --git a/src/module/launcher/mod_launcher.hpp b/src/module/launcher/mod_launcher.hpp
index 9f8a12309ec00c8038a51f39c988f2c530062288..b7e0c773f1ddfef0d451dd526d142b413b11fb76 100644
--- a/src/module/launcher/mod_launcher.hpp
+++ b/src/module/launcher/mod_launcher.hpp
@@ -1,14 +1,3 @@
-/**
- * @file launcher.h
- * @author Qu Shen (503578404@qq.com)
- * @brief 弹丸发射器模块
- * @version 1.0.0
- * @date 2021-05-04
- *
- * @copyright Copyright (c) 2021
- *
- */
-
 #pragma once
 
 #include <module.hpp>
@@ -48,7 +37,7 @@ class Launcher {
     CHANGE_TRIG_MODE,
     OPEN_COVER,
     CLOSE_COVER,
-    LAUNCHER_START_FIRE,
+    LAUNCHER_START_FIRE, /* 开火，拨弹盘开始发弹 */
   } LauncherEvent;
 
   enum {
@@ -66,7 +55,6 @@ class Launcher {
     LAUNCHER_CTRL_FRIC1_SPEED_IDX = 0, /* 摩擦轮1控制的速度环控制器的索引值 */
     LAUNCHER_CTRL_FRIC2_SPEED_IDX, /* 摩擦轮2控制的速度环控制器的索引值 */
     LAUNCHER_CTRL_TRIG_SPEED_IDX, /* 拨弹电机控制的速度环控制器的索引值 */
-    LAUNCHER_CTRL_TRIG_ANGLE_IDX, /* 拨弹电机控制的角度环控制器的索引值 */
     LAUNCHER_CTRL_NUM,            /* 总共的控制器数量 */
   };
 
diff --git a/src/robot/sentry/robot.cpp b/src/robot/sentry/robot.cpp
index 45e586b77588e4e37d9aba4a8a7ff5b3e431081f..4a9e64cf83d9dbbd7912674d92a725328c7b2741 100644
--- a/src/robot/sentry/robot.cpp
+++ b/src/robot/sentry/robot.cpp
@@ -7,12 +7,12 @@
 #include "system.hpp"
 
 /* clang-format off */
-Robot::Infantry::Param param = {
+Robot::Sentry::Param param = {
     .chassis={
-      .type = Component::Mixer::MECANUM,
+      .type = Component::Mixer::OMNICROSS,
 
       .follow_pid_param = {
-      .k = 0.5f,
+      .k = 0.8f,
       .p = 1.0f,
       .i = 0.0f,
       .d = 0.0f,
@@ -29,14 +29,26 @@ Robot::Infantry::Param param = {
       },
       Component::CMD::EventMapItem{
         Device::DR16::DR16_SW_L_POS_TOP,
-        Module::RMChassis::SET_MODE_RELAX
+        Module::RMChassis::SET_MODE_RELAX,
+      },
+      Component::CMD::EventMapItem{
+        Device::DR16::DR16_SW_L_POS_MID,/* 模拟找到目标模式，云台绝对 */
+        Module::RMChassis::SET_MODE_ROTOR,
+      },
+      Component::CMD::EventMapItem{
+        Device::DR16::DR16_SW_L_POS_BOT,/* 模拟未找到目标，巡逻模式 */
+        Module::RMChassis::SET_MODE_ROTOR,
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_L_POS_MID,
-        Module::RMChassis::SET_MODE_INDENPENDENT
+        Device::AI::AI_FIND_TARGET,
+        Module::RMChassis::SET_MODE_ROTOR
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_L_POS_BOT,
+        Device::AI::AI_AUTOPATROL,
+        Module::RMChassis::SET_MODE_ROTOR
+      },
+      Component::CMD::EventMapItem{
+        Device::AI::AI_TURN,
         Module::RMChassis::SET_MODE_ROTOR
       }
     },
@@ -44,7 +56,7 @@ Robot::Infantry::Param param = {
     .actuator_param = {
       Component::SpeedActuator::Param{
         .speed = {
-          .k = 0.00015f,
+          .k = 0.00020f,
           .p = 1.0f,
           .i = 0.0f,
           .d = 0.0f,
@@ -77,7 +89,7 @@ Robot::Infantry::Param param = {
       },
       Component::SpeedActuator::Param{
         .speed = {
-          .k = 0.00015f,
+          .k = 0.00020f,
           .p = 1.0f,
           .i = 0.0f,
           .d = 0.0f,
@@ -93,7 +105,7 @@ Robot::Infantry::Param param = {
       },
       Component::SpeedActuator::Param{
         .speed = {
-          .k = 0.00015f,
+          .k = 0.00022f,
           .p = 1.0f,
           .i = 0.0f,
           .d = 0.0f,
@@ -159,7 +171,7 @@ Robot::Infantry::Param param = {
     .yaw_actr = {
       .speed = {
           /* GIMBAL_CTRL_YAW_OMEGA_IDX */
-          .k = 0.14f,
+          .k = 0.6f,
           .p = 1.f,
           .i = 3.f,
           .d = 0.f,
@@ -171,10 +183,10 @@ Robot::Infantry::Param param = {
 
         .position = {
           /* GIMBAL_CTRL_YAW_ANGLE_IDX */
-          .k = 20.0f,
+          .k = 5.0f,
           .p = 1.0f,
           .i = 0.0f,
-          .d = 0.0f,
+          .d = 1.4f,
           .i_limit = 0.0f,
           .out_limit = 10.0f,
           .d_cutoff_freq = -1.0f,
@@ -188,7 +200,7 @@ Robot::Infantry::Param param = {
     .pit_actr = {
         .speed = {
           /* GIMBAL_CTRL_PIT_OMEGA_IDX */
-          .k = 0.1f,
+          .k = 0.25f,
           .p = 1.0f,
           .i = 0.f,
           .d = 0.f,
@@ -200,7 +212,7 @@ Robot::Infantry::Param param = {
 
         .position = {
           /* GIMBAL_CTRL_PIT_ANGLE_IDX */
-          .k = 20.0f,
+          .k = 16.0f,
           .p = 1.0f,
           .i = 0.0f,
           .d = 0.0f,
@@ -216,28 +228,31 @@ Robot::Infantry::Param param = {
     },
 
     .yaw_motor = {
-      .id_feedback = 0x209,
-      .id_control = GM6020_CTRL_ID_EXTAND,
+      .id_feedback = 0x206,
+      .id_control = GM6020_CTRL_ID_BASE,
       .model = Device::RMMotor::MOTOR_GM6020,
       .can = BSP_CAN_1,
     },
 
     .pit_motor = {
-      .id_feedback = 0x20A,
+      .id_feedback = 0x209,
       .id_control = GM6020_CTRL_ID_EXTAND,
       .model = Device::RMMotor::MOTOR_GM6020,
       .can = BSP_CAN_2,
     },
 
     .mech_zero = {
-      .yaw = 1.3f,
+      .yaw = 3.12f,
       .pit = 4.0f,
       .rol = 0.0f,
     },
 
+    .patrol_range = 0.25,
+    .patrol_omega = 0.005,
+
     .limit = {
-      .pitch_max = 3.8f,
-      .pitch_min = 3.0f,
+      .pitch_max = 0.57f,
+      .pitch_min = 0.23f,
     },
 
     .EVENT_MAP = {
@@ -250,25 +265,37 @@ Robot::Infantry::Param param = {
         Module::Gimbal::SET_MODE_ABSOLUTE
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_R_POS_MID,
+        Device::DR16::DR16_SW_L_POS_MID,/* 模拟找到目标模式，云台绝对 */
         Module::Gimbal::SET_MODE_ABSOLUTE
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_R_POS_BOT,
+        Device::DR16::DR16_SW_L_POS_BOT,/* 模拟未找到目标，巡逻模式 */
+        Module::Gimbal::SET_AUTOPATROL
+      },
+      Component::CMD::EventMapItem{
+        Device::AI::AI_FIND_TARGET,
         Module::Gimbal::SET_MODE_ABSOLUTE
+      },
+      Component::CMD::EventMapItem{
+        Device::AI::AI_AUTOPATROL,
+        Module::Gimbal::SET_AUTOPATROL
+      },
+      Component::CMD::EventMapItem{
+        Device::AI::AI_TURN,
+        Module::Gimbal::SET_AI_TURN
       }
     },
 
   },
 
-  .launcher = {
+  .launcher1 = {
     .num_trig_tooth = 8.0f,
     .trig_gear_ratio = 36.0f,
     .fric_radius = 0.03f,
     .cover_open_duty = 0.125f,
     .cover_close_duty = 0.075f,
     .model = Module::Launcher::LAUNCHER_MODEL_17MM,
-    .default_bullet_speed = 30.f,
+    .default_bullet_speed = 15.f,
     .min_launch_delay = static_cast<uint32_t>(1000.0f / 20.0f),
 
     .trig_actr = {
@@ -302,7 +329,7 @@ Robot::Infantry::Param param = {
     },
 
     .fric_actr = {
-      Component::SpeedActuator::Param{
+     Component::SpeedActuator::Param{
         .speed = {
           .k = 0.00015f,
           .p = 1.0f,
@@ -338,7 +365,7 @@ Robot::Infantry::Param param = {
 
     .trig_motor = {
       Device::RMMotor::Param{
-        .id_feedback = 0x207,
+        .id_feedback = 0x206,
         .id_control = M3508_M2006_CTRL_ID_EXTAND,
         .model = Device::RMMotor::MOTOR_M2006,
         .can = BSP_CAN_2,
@@ -347,17 +374,17 @@ Robot::Infantry::Param param = {
 
     .fric_motor = {
       Device::RMMotor::Param{
-          .id_feedback = 0x205,
-          .id_control = M3508_M2006_CTRL_ID_EXTAND,
+          .id_feedback = 0x204,
+          .id_control = M3508_M2006_CTRL_ID_BASE,
           .model = Device::RMMotor::MOTOR_M3508,
           .can = BSP_CAN_2,
       },
       Device::RMMotor::Param{
-          .id_feedback = 0x206,
-          .id_control = M3508_M2006_CTRL_ID_EXTAND,
+          .id_feedback = 0x203,
+          .id_control = M3508_M2006_CTRL_ID_BASE,
           .model = Device::RMMotor::MOTOR_M3508,
           .can = BSP_CAN_2,
-      },
+      }
     },
 
     .EVENT_MAP = {
@@ -370,24 +397,178 @@ Robot::Infantry::Param param = {
         Module::Launcher::CHANGE_FIRE_MODE_SAFE
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_R_POS_MID,
+        Device::DR16::DR16_SW_R_POS_MID,/* 模拟找到目标模式，云台绝对 */
         Module::Launcher::CHANGE_FIRE_MODE_LOADED
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_R_POS_BOT,
+        Device::DR16::DR16_SW_R_POS_BOT,/* 模拟未找到目标，巡逻模式 */
         Module::Launcher::CHANGE_FIRE_MODE_LOADED
       },
       Component::CMD::EventMapItem{
-        Device::DR16::DR16_SW_R_POS_BOT,
+        Device::DR16::DR16_SW_R_POS_BOT,/* 模拟未找到目标，巡逻模式 */
         Module::Launcher::LAUNCHER_START_FIRE
       },
       Component::CMD::EventMapItem{
-        Device::DR16::KEY_L_PRESS,
+        Device::AI::AIControlData::AI_FIND_TARGET,
+        Module::Launcher::CHANGE_FIRE_MODE_LOADED
+      },
+      Component::CMD::EventMapItem{
+        Device::AI::AIControlData::AI_FIRE_COMMAND,
+          Module::Launcher::CHANGE_FIRE_MODE_LOADED
+      },
+        Component::CMD::EventMapItem{
+        Device::AI::AIControlData::AI_FIRE_COMMAND,
         Module::Launcher::LAUNCHER_START_FIRE
+      },
+      Component::CMD::EventMapItem{
+        Device::AI::AIControlData::AI_FIRE_COMMAND,
+        Module::Launcher::CHANGE_TRIG_MODE_SINGLE
       }
+
+    },
+  }, /* launcher1 */
+.launcher2 = {
+    .num_trig_tooth = 8.0f,
+    .trig_gear_ratio = 36.0f,
+    .fric_radius = 0.03f,
+    .cover_open_duty = 0.125f,
+    .cover_close_duty = 0.075f,
+    .model = Module::Launcher::LAUNCHER_MODEL_17MM,
+    .default_bullet_speed = 15.f,
+    .min_launch_delay = static_cast<uint32_t>(1000.0f / 20.0f),
+
+    .trig_actr = {
+      Component::PosActuator::Param{
+        .speed = {
+          .k = 1.0f,
+          .p = 1.0f,
+          .i = 0.0f,
+          .d = 0.03f,
+          .i_limit = 0.5f,
+          .out_limit = 0.5f,
+          .d_cutoff_freq = -1.0f,
+          .cycle = false,
+        },
+
+        .position = {
+          .k = 1.0f,
+          .p = 1.0f,
+          .i = 0.0f,
+          .d = 0.012f,
+          .i_limit = 1.0f,
+          .out_limit = 1.0f,
+          .d_cutoff_freq = -1.0f,
+          .cycle = true,
+        },
+
+        .in_cutoff_freq = -1.0f,
+
+        .out_cutoff_freq = -1.0f,
+      },
     },
-  }, /* launcher */
 
+    .fric_actr = {
+      Component::SpeedActuator::Param{
+        .speed = {
+          .k = 0.00015f,
+          .p = 1.0f,
+          .i = 0.4f,
+          .d = 0.01f,
+          .i_limit = 0.5f,
+          .out_limit = 0.5f,
+          .d_cutoff_freq = -1.0f,
+          .cycle = false,
+        },
+
+        .in_cutoff_freq = -1.0f,
+
+        .out_cutoff_freq = -1.0f,
+      },
+      Component::SpeedActuator::Param{
+        .speed = {
+          .k = 0.00015f,
+          .p = 1.0f,
+          .i = 0.4f,
+          .d = 0.01f,
+          .i_limit = 0.5f,
+          .out_limit = 0.5f,
+          .d_cutoff_freq = -1.0f,
+          .cycle = false,
+        },
+
+        .in_cutoff_freq = -1.0f,
+
+        .out_cutoff_freq = -1.0f,
+      },
+    },
+
+    .trig_motor = {
+      Device::RMMotor::Param{
+        .id_feedback =0x207,
+        .id_control = M3508_M2006_CTRL_ID_EXTAND,
+        .model = Device::RMMotor::MOTOR_M2006,
+        .can = BSP_CAN_2,
+        .reverse = true,
+      },
+    },
+
+    .fric_motor = {
+       Device::RMMotor::Param{
+          .id_feedback = 0x202,
+          .id_control = M3508_M2006_CTRL_ID_BASE,
+          .model = Device::RMMotor::MOTOR_M3508,
+          .can = BSP_CAN_2,
+          .reverse = true,
+      },
+      Device::RMMotor::Param{
+          .id_feedback = 0x201,
+          .id_control = M3508_M2006_CTRL_ID_BASE,
+          .model = Device::RMMotor::MOTOR_M3508,
+          .can = BSP_CAN_2,
+          .reverse = true,
+      },
+    },
+
+    .EVENT_MAP = {
+     Component::CMD::EventMapItem{
+        Component::CMD::CMD_EVENT_LOST_CTRL,
+        Module::Launcher::CHANGE_FIRE_MODE_RELAX
+      },
+      Component::CMD::EventMapItem{
+        Device::DR16::DR16_SW_R_POS_TOP,
+        Module::Launcher::CHANGE_FIRE_MODE_SAFE
+      },
+      Component::CMD::EventMapItem{
+        Device::DR16::DR16_SW_R_POS_MID,/* 模拟找到目标模式，云台绝对 */
+        Module::Launcher::CHANGE_FIRE_MODE_LOADED
+      },
+      Component::CMD::EventMapItem{
+        Device::DR16::DR16_SW_R_POS_BOT,/* 模拟未找到目标，巡逻模式 */
+        Module::Launcher::CHANGE_FIRE_MODE_LOADED
+      },
+      Component::CMD::EventMapItem{
+        Device::DR16::DR16_SW_R_POS_BOT,/* 模拟未找到目标，巡逻模式 */
+        Module::Launcher::LAUNCHER_START_FIRE
+      },
+      Component::CMD::EventMapItem{
+        Device::AI::AIControlData::AI_FIND_TARGET,
+        Module::Launcher::CHANGE_FIRE_MODE_LOADED
+      },
+      Component::CMD::EventMapItem{
+        Device::AI::AIControlData::AI_FIRE_COMMAND,
+          Module::Launcher::CHANGE_FIRE_MODE_LOADED
+      },
+        Component::CMD::EventMapItem{
+        Device::AI::AIControlData::AI_FIRE_COMMAND,
+        Module::Launcher::LAUNCHER_START_FIRE
+      },
+      Component::CMD::EventMapItem{
+        Device::AI::AIControlData::AI_FIRE_COMMAND,
+        Module::Launcher::CHANGE_TRIG_MODE_SINGLE
+      }
+
+    },
+  }, /* launcher */
   .bmi088_rot = {
     .rot_mat = {
       { +1, +0, +0},
@@ -405,5 +586,5 @@ Robot::Infantry::Param param = {
 /* clang-format on */
 
 void robot_init() {
-  System::Start<Robot::Infantry, Robot::Infantry::Param>(param, 500.0f);
+  System::Start<Robot::Sentry, Robot::Sentry::Param>(param, 500.0f);
 }
diff --git a/src/robot/sentry/robot.hpp b/src/robot/sentry/robot.hpp
index 2c8444cef6922acefee7745d2f5aeed5ce9c8ee3..29b5d8a6dfa69eed3ace2f390c179b6bacfaf687 100644
--- a/src/robot/sentry/robot.hpp
+++ b/src/robot/sentry/robot.hpp
@@ -13,12 +13,13 @@
 
 void robot_init();
 namespace Robot {
-class Infantry {
+class Sentry {
  public:
   typedef struct Param {
     Module::RMChassis::Param chassis;
     Module::Gimbal::Param gimbal;
-    Module::Launcher::Param launcher;
+    Module::Launcher::Param launcher1;
+    Module::Launcher::Param launcher2;
     Device::BMI088::Rotation bmi088_rot{};
     Device::Cap::Param cap{};
   } Param;
@@ -36,14 +37,15 @@ class Infantry {
 
   Module::RMChassis chassis_;
   Module::Gimbal gimbal_;
-  Module::Launcher launcher_;
-
-  Infantry(Param& param, float control_freq)
+  Module::Launcher launcher1_;
+  Module::Launcher launcher2_;
+  Sentry(Param& param, float control_freq)
       : cmd_(Component::CMD::CMD_AUTO_CTRL),
         bmi088_(param.bmi088_rot),
         cap_(param.cap),
         chassis_(param.chassis, control_freq),
         gimbal_(param.gimbal, control_freq),
-        launcher_(param.launcher, control_freq) {}
+        launcher1_(param.launcher1, control_freq),
+        launcher2_(param.launcher2, control_freq) {}
 };
 }  // namespace Robot