diff --git a/CU/Catch.py b/CU/Catch.py
index 1ec5696..04e7491 100644
--- a/CU/Catch.py
+++ b/CU/Catch.py
@@ -4,7 +4,7 @@ from enum import Enum
 import Constant
 from COM.COM_Robot import RobotClient
 from Util.util_time import CClockPulse, CTon
-
+from EMV import *
 
 class CatchStatus(Enum):
     CNone = 0
@@ -32,7 +32,10 @@ class Catch:
 
         if self.catch_status == CatchStatus.CTake:
             if not self.is_send_take_command:
-                self.robotClient.sendIOControl(self.robotClient.con_ios[0],1)
+                # 本身IO
+                ##self.robotClient.sendIOControl(self.robotClient.con_ios[0],1)
+                # 网络继电器
+                open(1, 0, 0)
                 self.is_send_take_command = True
             else:
                 if self.take_continue.Q(True,self.robotClient.time_delay_take*1000):
@@ -41,12 +44,19 @@ class Catch:
 
         if self.catch_status == CatchStatus.CDrop:
             if not self.is_send_command:
-                self.robotClient.sendIOControl(self.robotClient.con_ios[0], 0)
+                # 本身IO
+                # self.robotClient.sendIOControl(self.robotClient.con_ios[0], 0)
+                # 网络继电器
+                close(1, 0, 0)
                 for _ in range(self.drop_count):
-                    self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1, delay=self.robotClient.time_delay_put)
-                    self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0)
+                    # self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1, delay=self.robotClient.time_delay_put)
+                    open(0, 1, 0)
+                    time.sleep(self.robotClient.time_delay_put) # 会造成这个时间点 其他命令插入不进去 需要另开线程
+                    close(0, 1, 0)
+                    # self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0)
 
-                self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1)
+                # self.robotClient.sendIOControl(self.robotClient.con_ios[1], 1)
+                open(0, 1, 0)
                 self.is_send_command = True
             if self.drop_continue.Q(True,self.robotClient.time_delay_put*1000*self.drop_count):
                 # if Constant.Debug or self.robotClient.check_outputQ(self.robotClient.con_ios[1]) and not self.robotClient.check_outputQ(self.robotClient.con_ios[0]):
@@ -54,19 +64,25 @@ class Catch:
                 self.catch_status = CatchStatus.COk
                 self.drop_continue.SetReset()
 
-        if self.catch_status == CatchStatus.CShake:
-            if not self.shake_continue.Q(True, 600):       # 1500
+        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)
-            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)
-                print("震动结束")
+                # self.robotClient.sendIOControl(self.robotClient.con_ios[2], 1 if self.shake_Q else 0)
+                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")
 
-        if self.catch_status == CatchStatus.COk:
-            self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1')
+        if self.catch_status == CatchStatus.COk :
+            # self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1')
+            close(0, 1, 0)
+            close(0, 0, 1)
             pass
 
 
diff --git a/EMV.py b/CU/EMV.py
similarity index 91%
rename from EMV.py
rename to CU/EMV.py
index d9713a2..89a1d2d 100644
--- a/EMV.py
+++ b/CU/EMV.py
@@ -39,6 +39,7 @@ def open(grasp, throw, shake):
     if grasp:
         print("打开电磁阀 1")#抓取
         send_command(valve_commands[1]['open'])
+        #缺少反馈函数 不知道命令是否下发正确   是否需要等待延时
     if throw:
         print("打开电磁阀 2")#扔袋
         send_command(valve_commands[2]['open'])
@@ -59,4 +60,4 @@ def close(grasp, throw, shake ):
         print("关闭电磁阀 3")
         send_command(valve_commands[3]['close'])
 
-close(True,True,True)#参数传True和False
\ No newline at end of file
+# close(True,True,True)#参数传True和False
\ No newline at end of file
diff --git a/CU/Feeding.py b/CU/Feeding.py
index 8a9f7d9..bc13aa5 100644
--- a/CU/Feeding.py
+++ b/CU/Feeding.py
@@ -491,6 +491,10 @@ class Feeding(QObject):
                     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()