diff --git a/CU/Catch.py b/CU/Catch.py
index 04e7491..cd5be19 100644
--- a/CU/Catch.py
+++ b/CU/Catch.py
@@ -65,19 +65,19 @@ class Catch:
                 self.drop_continue.SetReset()
 
         if self.catch_status == CatchStatus.CShake:     # 1500
-                self.shake_Q = not self.shake_Q   #   10
-                # self.robotClient.sendIOControl(self.robotClient.con_ios[2], 1 if self.shake_Q else 0)
+            self.shake_Q = not self.shake_Q   #   10
+            if not self.shake_continue.Q(True, 600):
                 if self.shake_Q:
                     open(0, 0, 1)
                 else:
                     close(0, 0, 1)
-            # else:
-            #     self.shake_continue.SetReset()
-            #     self.catch_status = CatchStatus.COk
-            #     #if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
-            #     # self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0)
-            #     close(0, 0, 1)
-                # print("震动结束")
+            else:
+                self.shake_continue.SetReset()
+                self.catch_status = CatchStatus.COk
+                #if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[2]):
+                # self.robotClient.sendIOControl(self.robotClient.con_ios[2], 0)
+                close(0, 0, 1)
+                print("震动结束")
 
         if self.catch_status == CatchStatus.COk :
             # self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1')
diff --git a/CU/Feeding.py b/CU/Feeding.py
index bc13aa5..6632980 100644
--- a/CU/Feeding.py
+++ b/CU/Feeding.py
@@ -485,19 +485,16 @@ class Feeding(QObject):
             if self.get_current_position().get_position().compare(real_position,is_action=True):
                 # TODO 震动方案
                 self.log_signal.emit(logging.INFO, Constant.str_feed_shake)
-
+                if self.catch.catch_status == CatchStatus.COk:
+                    self.catch.catch_status = CatchStatus.CNone
+                    self.next_position()
                 if self.catch.catch_status == CatchStatus.CNone:
                     self.catch.catch_status = CatchStatus.CShake
                     return
                 if self.catch.catch_status == CatchStatus.CShake:
                     return
 
-                if self.feedConfig.feedLine.start_to_take[self.feedConfig.feedLine.feeding2end_pos_index+1].status != FeedStatus.FShake:
-                    self.catch.catch_status = CatchStatus.COk
 
-                if self.catch.catch_status == CatchStatus.COk:
-                    self.catch.catch_status = CatchStatus.CNone
-                    self.next_position()
 
         elif self.feedStatus == FeedStatus.FDropBag: