diff --git a/TaiChi/servoTaiChi.cpp b/TaiChi/servoTaiChi.cpp
index 94c0d33..660db85 100644
--- a/TaiChi/servoTaiChi.cpp
+++ b/TaiChi/servoTaiChi.cpp
@@ -182,6 +182,14 @@ void Servo::GainCatch(float speed = SERVO_NORMAL_SPEED)
 }
 
 
+//增益点抬升，指定速度
+void Servo::GainUp(float speed)
+{
+    SetActionGroupSpeed(ACTION_GAINUP_NUM, speed);
+    RunActionGroup(ACTION_GAINUP_NUM, 1);
+}
+
+
 //停止舵机并恢复初始状态，指定速度
 void Servo::StopAndReset(float speed)
 {
diff --git a/TaiChi/servoTaiChi.h b/TaiChi/servoTaiChi.h
index 5fa7bc6..e97f68e 100644
--- a/TaiChi/servoTaiChi.h
+++ b/TaiChi/servoTaiChi.h
@@ -41,6 +41,7 @@
 #define ACTION_RELEASE_NUM 102
 #define ACTION_GAINDOWN_NUM 103
 #define ACTION_GAINCATCH_NUM 104
+#define ACTION_GAINUP_NUM 105
 
 
 //默认动作组速度
@@ -68,6 +69,7 @@ public:
     void Release(float speed = SERVO_NORMAL_SPEED); //释放，指定速度
     void GainDown(float speed = SERVO_NORMAL_SPEED); //增益点放下爪子，指定速度
     void GainCatch(float speed = SERVO_NORMAL_SPEED); //增益点抓取，指定速度
+    void GainUp(float speed = SERVO_NORMAL_SPEED); //增益点抬升，指定速度
     void StopAndReset(float speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度
 
 private: