diff --git a/StrategySystem.cpp b/StrategySystem.cpp
index c89293c..844459b 100644
--- a/StrategySystem.cpp
+++ b/StrategySystem.cpp
@@ -311,7 +311,8 @@ void CStrategySystem::Freeball() {
 	}
 }
 
-double CStrategySystem::atwo(int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4) // 两直线间夹角
+// 两直线间夹角
+double CStrategySystem::atwo(int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4) 
 {
 	double j = 0;
 	double k1 = (y1 - y2) / (x1 - x2);
@@ -440,6 +441,8 @@ double CStrategySystem::atwo(int x1, int y1, int x2, int y2, int x3, int y3, int
 // 	for (int i = 1; i < 11; i++) // 1-10
 // 		control(i);
 //}
+
+//控球具体实现
 void CStrategySystem::Possession() {
 	CPoint pos[10];
 	RelPos rp[10];
@@ -1208,10 +1211,79 @@ void CStrategySystem::Possession() {
 		}
 	}
 	else { // TODO 无中央球员
+		 if (fm_id() == 4 || fm_id() == 6) {
+			pos[0] = CPoint(ball.position.x + (int)cos(0* PI / 180) * 40, ball.position.y + (int)sin(20* PI / 180) * 40);
+			pos[1] = CPoint(ball.position.x + (int)cos(45.0 * PI / 180.0) * 20, ball.position.y + (int)sin(45.0 * PI / 180.0) * 20);
+			pos[2] = CPoint(ball.position.x + (int)cos(90.0 * PI / 180.0) * 20, ball.position.y + (int)sin(90.0 * PI / 180.0) * 20);
+			pos[3] = CPoint(pos[0].x + (int)cos(0.0 * PI / 180.0) * 40, pos[0].y + (int)sin(0.0 * PI / 180.0) * 40);
+			pos[4] = CPoint(pos[0].x + (int)cos(15.0 * PI / 180.0) * 40, pos[0].y + (int)sin(15.0 * PI / 180.0) * 40);
+			pos[5] = CPoint(pos[0].x + (int)cos(30.0 * PI / 180.0) * 40, pos[0].y + (int)sin(30.0 * PI / 180.0) * 40);
+			pos[6] = CPoint(pos[0].x + (int)cos(45.0 * PI / 180.0) * 40, pos[0].y + (int)sin(45.0 * PI / 180.0) * 40);
+			pos[7] = CPoint(pos[0].x + (int)cos(50.0 * PI / 180.0) * 60, pos[0].y + (int)sin(50.0 * PI / 180.0) * 60);
+			pos[8] = CPoint(pos[0].x + (int)cos(60.0 * PI / 180.0) * 60, pos[0].y + (int)sin(60.0 * PI / 180.0) * 60);
+			pos[9] = CPoint(pos[0].x + (int)cos(75.0 * PI / 180.0) * 60, pos[0].y + (int)sin(75.0 * PI / 180.0) * 60);
+
+			fp_sort(rp);
+			fp_sort(rp, 0, 2);
+			Direction(rp[0].id, pos[1]);
+			Direction(rp[1].id, pos[2]);
+			fp_sort(rp, 2, 5);
+			Direction(rp[2].id, pos[3]);
+			Direction(rp[3].id, pos[4]);
+			Direction(rp[4].id, pos[5]);
+			fp_sort(rp, 5, 9);
+			Direction(rp[5].id, pos[6]);
+			Direction(rp[6].id, pos[7]);
+			Direction(rp[7].id, pos[8]);
+			Direction(rp[8].id, pos[9]);
+			
+		}
+		else if (fm_id() == 5) {
+			pos[0] = CPoint(ball.position.x + (int)cos(0 * PI / 180) * 40, ball.position.y - (int)sin(20 * PI / 180) * 40);
+			pos[1] = CPoint(ball.position.x + (int)cos(0.0 * PI / 180.0) * 20, ball.position.y + (int)sin(0.0 * PI / 180.0) * 20);
+			pos[2] = CPoint(ball.position.x + (int)cos(-90.0 * PI / 180.0) * 20, ball.position.y + (int)sin(-90.0 * PI / 180.0) * 20);
+			pos[3] = CPoint(pos[0].x + (int)cos(0.0 * PI / 180.0) * 40, pos[0].y + (int)sin(0.0 * PI / 180.0) * 40);
+			pos[4] = CPoint(pos[0].x + (int)cos(-15.0 * PI / 180.0) * 40, pos[0].y + (int)sin(-15.0 * PI / 180.0) * 40);
+			pos[5] = CPoint(pos[0].x + (int)cos(-30.0 * PI / 180.0) * 40, pos[0].y + (int)sin(-30.0 * PI / 180.0) * 40);
+			pos[6] = CPoint(pos[0].x + (int)cos(-45.0 * PI / 180.0) * 40, pos[0].y + (int)sin( - 45.0 * PI / 180.0) * 40);
+			pos[7] = CPoint(pos[0].x + (int)cos(-50.0 * PI / 180.0) * 60, pos[0].y + (int)sin(-50.0 * PI / 180.0) * 60);
+			pos[8] = CPoint(pos[0].x + (int)cos(-60.0 * PI / 180.0) * 60, pos[0].y + (int)sin(-60.0 * PI / 180.0) * 60);
+			pos[9] = CPoint(pos[0].x + (int)cos(-75.0 * PI / 180.0) * 60, pos[0].y + (int)sin(-75.0 * PI / 180.0) * 60);
+
+			fp_sort(rp);
+			fp_sort(rp, 0, 2);
+			Direction(rp[0].id, pos[1]);
+			Direction(rp[1].id, pos[2]);
+			fp_sort(rp, 2, 5);
+			Direction(rp[2].id, pos[3]);
+			Direction(rp[3].id, pos[4]);
+			Direction(rp[4].id, pos[5]);
+			fp_sort(rp, 5, 9);
+			Direction(rp[5].id, pos[6]);
+			Direction(rp[6].id, pos[7]);
+			Direction(rp[7].id, pos[8]);
+			Direction(rp[8].id, pos[9]);
+		}
+		
 	}
 }
 
-int CStrategySystem::cp_id() { // 中央球员 ID
+//搜索最近球员位置
+CPoint CStrategySystem::searchNear(int which) {
+	CPoint cur_pos[10]{ home1.position, home2.position, home3.position, home4.position, home5.position, home6.position, home7.position, home8.position, home9.position, home10.position };
+	double ddd = 10000;
+	CPoint near;
+	for (int i = 0; i < 10; i++) {
+		if (Distance(cur_pos[i], ball.position) < ddd) {
+			ddd = Distance(cur_pos[i], ball.position);
+			near = cur_pos[i];
+		}
+	}
+	return near;
+}
+
+// 中央球员 ID
+int CStrategySystem::cp_id() { 
 	int id = 0;
 	CPoint cur_pos[10]{ home1.position, home2.position, home3.position, home4.position, home5.position, home6.position, home7.position, home8.position, home9.position, home10.position };
 	if (fm_id() == 1) {
@@ -1311,7 +1383,8 @@ int CStrategySystem::cp_id() { // 中央球员 ID
 	return id;
 }
 
-int CStrategySystem::fm_id() { // 阵型 ID
+// 阵型 ID
+int CStrategySystem::fm_id() { 
 	if (ball.position.x < 290) {
 		if (ball.position.y < 217)
 			return 1;
@@ -1344,7 +1417,9 @@ int CStrategySystem::fm_id() { // 阵型 ID
 // 	double dis;
 // 	double ang;  // (-π, π]
 // };
-void CStrategySystem::fp_sort(RelPos *rp, int h, int t) { // 阵型球员排序，h 为该层前的球员数量，t 为包含该层后的球员数量
+
+// 阵型球员排序，h 为该层前的球员数量，t 为包含该层后的球员数量
+void CStrategySystem::fp_sort(RelPos *rp, int h, int t) { 
 	RelPos r;
 	if (!h && !t) {
 		for (int i = 1; i < 10; i++) {
@@ -1366,7 +1441,8 @@ void CStrategySystem::fp_sort(RelPos *rp, int h, int t) { // 阵型球员排序
 	}
 }
 
-CPoint CStrategySystem::coor(int which) // 返回机器人的位置
+// 返回机器人的位置
+CPoint CStrategySystem::coor(int which) 
 {
 	Robot2 *robot;
 	switch (which) {
@@ -1407,7 +1483,8 @@ CPoint CStrategySystem::coor(int which) // 返回机器人的位置
 	return robot->position;
 }
 
-void CStrategySystem::shot(int which, bool de) // 0向下门框射
+// 0向下门框射
+void CStrategySystem::shot(int which, bool de) 
 {
 	Robot2 *robot;
 	switch (which) {
@@ -1481,7 +1558,8 @@ void CStrategySystem::shot(int which, bool de) // 0向下门框射
 		Position(which, t3); // 机器人到足够近的点t3
 }
 
-bool CStrategySystem::canshot() // 射？
+// 射？
+bool CStrategySystem::canshot() 
 {
 	bool t; // 判断球在敌方上半还是下半；0为下半
 	CPoint D1, D2, t4;
@@ -1574,7 +1652,8 @@ bool CStrategySystem::canshot() // 射？
 	// }
 }
 
-void CStrategySystem::shot(int which, bool de, CPoint t) // 把球向t点射,de向上还是向下射
+// 把球向t点射,de向上还是向下射
+void CStrategySystem::shot(int which, bool de, CPoint t) 
 {
 	Robot2 *robot;
 	switch (which) {
@@ -1654,7 +1733,8 @@ void CStrategySystem::shot(int which, bool de, CPoint t) // 把球向t点射,de
 		Position(which, t3); // 机器人到足够近的点t3
 }
 
-void CStrategySystem::shot1(int which, double o, CPoint t) { // 直射
+// 直射
+void CStrategySystem::shot1(int which, double o, CPoint t) { 
 	Robot2 *robot;
 	switch (which) {
 	case HOME9:
@@ -2176,7 +2256,8 @@ void CStrategySystem::shot1(int which, double o, CPoint t) { // 直射
 // 	PositionSE(which, Navigation[which]);
 // }
 
-int CStrategySystem::search1() // 查找在大区里的机器人
+// 查找在大区里的机器人
+int CStrategySystem::search1() 
 {
 	int sum = 0;
 	if ((home1.position.x >= 105 && home1.position.x <= 157 && home1.position.y >= 247 && home1.position.y <= 577) || (home1.position.x >= 65 && home1.position.x <= 157 && home1.position.y >= 217 && home1.position.y <= 247) || (home1.position.x >= 65 && home1.position.x <= 157 && home1.position.y >= 577 && home1.position.y <= 607))
@@ -2202,7 +2283,8 @@ int CStrategySystem::search1() // 查找在大区里的机器人
 	return sum;
 }
 
-int CStrategySystem::search2() // 查找在小区里的机器人
+// 查找在小区里的机器人
+int CStrategySystem::search2() 
 {
 	int sum = 0;
 	if (home1.position.x >= 65 && home1.position.x < 105 && home1.position.y >= 247 && home1.position.y <= 577)
@@ -2282,7 +2364,8 @@ void CStrategySystem::Goalie() { // TODO 两侧卡顿
 	ball.oldPosition = ball.position;
 }
 
-CPoint CStrategySystem::shooter_pos() { // 对方射门者位置
+// 对方射门者位置
+CPoint CStrategySystem::shooter_pos() { 
 	CPoint cur_pos[11]{ opponent.position1, opponent.position2, opponent.position3, opponent.position4, opponent.position5, opponent.position6, opponent.position7, opponent.position8, opponent.position9, opponent.position10, opponent.position11 };
 	for (int i = 0; i < 11; i++) {
 		if (cur_pos[i].x >= ball.position.x)
diff --git a/StrategySystem.h b/StrategySystem.h
index 5adbcbf..c4a9968 100644
--- a/StrategySystem.h
+++ b/StrategySystem.h
@@ -41,6 +41,7 @@ private:
 	bool canshot();							   // 射？
 	int search1();							   // 查找在大区里的机器人
 	int search2();							   // 查找在小区里的机器人
+	CPoint searchNear(int which);			   // 查找最近的机器人
 	// void control(int which);
 	// void ccd(int which, double d, double j);									 // 曲线行驶
 	double atwo(int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4); // 两直线间夹角