diff --git "a/2025/\347\254\2545\347\273\204(CanMV-K230)/\346\235\216\344\270\234\346\265\251/\344\272\214\347\273\264\350\210\265\346\234\272\344\272\221\345\217\260/PIDcontrol.py" "b/2025/\347\254\2545\347\273\204(CanMV-K230)/\346\235\216\344\270\234\346\265\251/\344\272\214\347\273\264\350\210\265\346\234\272\344\272\221\345\217\260/PIDcontrol.py"
new file mode 100644
index 0000000000000000000000000000000000000000..589383bb3c8f7595059a5892f32ff1cfe59ab347
--- /dev/null
+++ "b/2025/\347\254\2545\347\273\204(CanMV-K230)/\346\235\216\344\270\234\346\265\251/\344\272\214\347\273\264\350\210\265\346\234\272\344\272\221\345\217\260/PIDcontrol.py"
@@ -0,0 +1,57 @@
+from machine import Pin, PWM
+from media.sensor import *
+import time
+class PID:
+    #kp比例系数/ki积分系数/kd微分系数
+    def __init__(self, kp=0, ki=0, kd=0, maxi, maxo):
+        #静态参数
+        self.kp = kp
+        self.ki = ki
+        self.kd = kd
+        #动态参数
+        self.change_p = 0
+        self.change_i = 0
+        self.change_d = 0
+
+        self.maxi = maxi     #积分限幅
+        self.mini = mini
+        self.maxo = maxout     #输出限幅
+        self.mino = minout
+
+        self.error_1 = 0  #当前误差
+        self.error_0 = 0  #之前误差
+
+    def change_zero(self): #PID变化累计的参数清零
+        self.change_p = 0
+        self.change_i = 0
+        self.change_d = 0
+
+    def pid_calc(self, reference, feedback): #reference=目标位置	feedback=当前位置
+        self.error_0 = self.error_1
+        self.error_1 = reference - feedback #获取新的误差
+
+        #计算微分
+        der = (self.error_1 - self.error_0) * self.kd
+
+        #计算比例
+        pro = self.error_1 * self.kp
+
+        #计算积分
+        self.change_i += self.error_1 * self.ki
+
+        #积分限幅
+        if self.maxi > self.max_change_i :
+            self.maxi = self.max_change_i
+        elif self.maxi < -self.max_change_i:
+            self.maxi = -self.max_change_i
+
+        #计算输出
+        self.u = pro + der + self.maxi
+
+        #输出限幅
+        if self.u > self.maxo:
+            self.u = self.maxo
+        elif self.u < -self.maxo:
+            self.u = -self.maxo
+
+        return self.u
diff --git "a/2025/\347\254\2545\347\273\204(CanMV-K230)/\346\235\216\344\270\234\346\265\251/\344\272\214\347\273\264\350\210\265\346\234\272\344\272\221\345\217\260/servo.py" "b/2025/\347\254\2545\347\273\204(CanMV-K230)/\346\235\216\344\270\234\346\265\251/\344\272\214\347\273\264\350\210\265\346\234\272\344\272\221\345\217\260/servo.py"
new file mode 100644
index 0000000000000000000000000000000000000000..b43b6172f23519965dc05db25a8ca004fd089b8d
--- /dev/null
+++ "b/2025/\347\254\2545\347\273\204(CanMV-K230)/\346\235\216\344\270\234\346\265\251/\344\272\214\347\273\264\350\210\265\346\234\272\344\272\221\345\217\260/servo.py"
@@ -0,0 +1,37 @@
+from machine import Pin, PWM, FPIOA
+import time
+
+# X轴排针引脚号13
+pwm_io1 = FPIOA()
+pwm_io1.set_function(42, FPIOA.PWM0)
+pwm_x = PWM(0, freq=50,duty=50,enable=True)  #配置PWM0,默认频率50Hz,占空比50%
+
+# Y轴排针引脚号15
+pwm_io2 = FPIOA()
+pwm_io2.set_function(43, FPIOA.PWM1)
+pwm_y = PWM(1, freq=50,duty=50,enable=True)  #配置PWM1,默认频率50Hz,占空比50%
+
+KEY=Pin(21,Pin.IN,Pin.PULL_UP) #构建KEY对象
+
+def Servo(servo,angle):
+    servo.duty(int((angle+90)/180*10+2.5))
+
+#舵机复位
+Servo(pwm_x,90)
+Servo(pwm_y,90)
+
+flag = 0;
+while True:
+    if KEY.value()==0:   #按键按下
+        time.sleep_ms(10) #消抖
+        if KEY.value()==0: #确认按键按下
+            if(flag):
+                Servo(pwm_x,45)
+                Servo(pwm_y,60)
+            else:
+                Servo(pwm_x,0)
+                Servo(pwm_y,0)
+            flag=not flag
+
+            while not KEY.value(): #检测按键是否松开
+                pass
diff --git "a/2025/\347\254\2545\347\273\204(CanMV-K230)/\346\235\216\344\270\234\346\265\251/\347\254\224\350\256\260/figures/b1e0b39d090bfc4640958ffdb11d9741.png" "b/2025/\347\254\2545\347\273\204(CanMV-K230)/\346\235\216\344\270\234\346\265\251/\347\254\224\350\256\260/figures/b1e0b39d090bfc4640958ffdb11d9741.png"
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