diff --git a/empty.c b/empty.c
index 55249a3..cdcde4e 100644
--- a/empty.c
+++ b/empty.c
@@ -30,18 +30,16 @@
  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "ti_msp_dl_config.h"
-#include "delay.h"
-#include "mt6701.h"
-#include "dfoc.h"
-#include <stdio.h>
-#include <string.h>
-#include <pwm.h>
 #include "config.h"
+#include "delay.h"
+#include "dfoc.h"
+#include "mt6701.h"
+#include "ti_msp_dl_config.h"
 #include <ctype.h>
+#include <pwm.h>
+#include <stdio.h>
 #include <stdlib.h>
-
-
+#include <string.h>
 
 extern float angle_f;
 
@@ -49,121 +47,107 @@ extern bool gIsI2cError;
 
 const float num_f = 0.123456f;
 
-volatile uint16_t count = 0  ;
-volatile float Target = 0; //串口目标值
-
-
-const int pp = 7; //电机极对数
-const int Dir = -1; //电机编码器方向
+volatile uint16_t count = 0;
+volatile float Target = 0; // 串口目标值
 
+const int pp = 7;  // 电机极对数
+const int Dir = 1; // 电机编码器方向
 
 #define UART_PACKET_SIZE (6)
 
 /* Data received from UART */
-volatile uint8_t gUartRxPacket[UART_PACKET_SIZE] ={'a','b','c','d','e','f'};
+volatile uint8_t gUartRxPacket[UART_PACKET_SIZE] = {'a', 'b', 'c',
+                                                    'd', 'e', 'f'};
 
 volatile bool gCheckUART;
 
-
-
-void parse_uart_cmd(void)
-{
-		 char  num[10]={0};
-	 int i = 1; 
-   int j = 0;
-				 if(gUartRxPacket[0] == 'T' && gUartRxPacket[UART_PACKET_SIZE-1] == '\n')//数据第一位与数据的最后一位
-			 {
-					 if(gUartRxPacket[1] != '-')//接受到的数据为正数
-					 {
-						 while (gUartRxPacket[i] != '\n' && (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {num[j++] = gUartRxPacket[i++];}
-						 Target = atof(num);
-//						 Serial_SendFloatNumber(Target,3,2);
-					 }
-					 else//接收到的数据为负数
-					 {
-						 i=2;
-						 while (gUartRxPacket[i] != '\n' && (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {num[j++] = gUartRxPacket[i++];}
-						 Target = -(atof(num));
-//						 Serial_SendFloatNumber(Target,3,2);
-					}
-					printf("%s",gUartRxPacket);
-			 }
-			 else
-			 {
-				   printf((char *)"Input format error\n");
-			 }
-}
-
-
-
-
-
-int main(void)
-{
-	
-    SYSCFG_DL_init();
-	
-	    /* Configure DMA source, destination and size */
-    DL_DMA_setSrcAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t)(&UART_0_INST->RXDATA));
-    DL_DMA_setDestAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t) &gUartRxPacket[0]);
-    DL_DMA_setTransferSize(DMA, DMA_CH1_CHAN_ID, UART_PACKET_SIZE);
-    DL_DMA_enableChannel(DMA, DMA_CH1_CHAN_ID);
-	
-	
-    NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
-    DL_TimerA_startCounter(PWM_0_INST);
-
-    NVIC_EnableIRQ(TIMER_0_INST_INT_IRQN);
-    DL_TimerG_startCounter(TIMER_0_INST);
-
-
-    FOC_Init(12.6);
-    DL_SYSTICK_resetValue();
-
-    while(1)
+void parse_uart_cmd(void) {
+  char num[10] = {0};
+  int i = 1;
+  int j = 0;
+  if (gUartRxPacket[0] == 'T' &&
+      gUartRxPacket[UART_PACKET_SIZE - 1] == '\n') // 数据第一位与数据的最后一位
+  {
+    if (gUartRxPacket[1] != '-') // 接受到的数据为正数
     {
-        //DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
-        //delay_ms(10);
-
-        //开环
-        //velocityopenloop(Target);
-        //闭环
-        //Set_Angle(Target);
-				if(gCheckUART)
-				{
-					gCheckUART = false;
-					parse_uart_cmd();
-					Set_Angle(Target);
-				}
-				delay_ms(10);
-
-
-    }
-}
-
-
-void TIMER_0_INST_IRQHandler(void)
-{
-    switch(DL_TimerA_getPendingInterrupt(TIMER_0_INST))
+      while (gUartRxPacket[i] != '\n' &&
+             (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {
+        num[j++] = gUartRxPacket[i++];
+      }
+      Target = atof(num);
+      //						 Serial_SendFloatNumber(Target,3,2);
+    } else // 接收到的数据为负数
     {
-        case DL_TIMERG_INTERRUPT_ZERO_EVENT:
-            
-						printf("Target is %f \n", Target);
-						//printf("%s",gUartRxPacket);
-				    DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
+      i = 2;
+      while (gUartRxPacket[i] != '\n' &&
+             (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {
+        num[j++] = gUartRxPacket[i++];
+      }
+      Target = -(atof(num));
+      //						 Serial_SendFloatNumber(Target,3,2);
+    }
+    printf("%s", gUartRxPacket);
+  } else {
+    printf((char *)"Input format error\n");
+  }
+}
 
-            break;
-        default:
-            break;
+int main(void) {
+
+  SYSCFG_DL_init();
+
+  /* Configure DMA source, destination and size */
+  DL_DMA_setSrcAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t)(&UART_0_INST->RXDATA));
+  DL_DMA_setDestAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t)&gUartRxPacket[0]);
+  DL_DMA_setTransferSize(DMA, DMA_CH1_CHAN_ID, UART_PACKET_SIZE);
+  DL_DMA_enableChannel(DMA, DMA_CH1_CHAN_ID);
+
+  NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
+  DL_TimerA_startCounter(PWM_0_INST);
+
+  NVIC_EnableIRQ(TIMER_0_INST_INT_IRQN);
+  DL_TimerG_startCounter(TIMER_0_INST);
+
+  FOC_Init(12.6);
+  DL_SYSTICK_resetValue();
+
+  while (1) {
+    // DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
+    // delay_ms(10);
+
+    // 开环
+    // velocityopenloop(Target);
+    // 闭环
+    Set_Angle(Target);
+    if (gCheckUART) {
+      gCheckUART = false;
+      parse_uart_cmd();
+      // Set_Angle(Target);
     }
+    delay_ms(10);
+  }
 }
-void UART_0_INST_IRQHandler(void)
-{
-    switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) {
-        case DL_UART_MAIN_IIDX_DMA_DONE_RX:
-            gCheckUART = true;
-            break;
-        default:
-            break;
-    }
+
+void TIMER_0_INST_IRQHandler(void) {
+  switch (DL_TimerA_getPendingInterrupt(TIMER_0_INST)) {
+  case DL_TIMERG_INTERRUPT_ZERO_EVENT:
+
+    printf("Target is %f \n", Target);
+    // printf("%s",gUartRxPacket);
+    printf("angle is %f \n", angle_f);
+    DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
+    Target = Target + 1;
+    break;
+  default:
+    break;
+  }
+}
+void UART_0_INST_IRQHandler(void) {
+  switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) {
+  case DL_UART_MAIN_IIDX_DMA_DONE_RX:
+    gCheckUART = true;
+    break;
+  default:
+    break;
+  }
 }