diff --git a/APP/mymain.c b/APP/mymain.c
index c99bf0e..14a8eeb 100644
--- a/APP/mymain.c
+++ b/APP/mymain.c
@@ -20,25 +20,20 @@ void mymain()
     while(i<3300*3)
     {
         Angel_closed_loop(motorx,&FOCStruct_X,-0.2);
-        Angel_closed_loop(motory,&FOCStruct_Y,0.7);
+        Angel_closed_loop(motory,&FOCStruct_Y,2.3);
         i++;
     }
     LED_ON;
-
-
     while(1)
     {
-        MpuGetData();//
-
-
-
+        MpuGetData();
         GetAngle(&ICM42688,&Angle);
         x = Angle.pitch;
         y = Angle.roll ;
-//        Zitai_closed_loop(motorx,&FOCStruct_X,x);
-//        Zitai_closed_loop(motory,&FOCStruct_Y,-y);
-//        x = getAngle(motorx);
-//        y = getAngle(motory);
+        Zitai_closed_loop(motorx,&FOCStruct_X,x);
+        Zitai_closed_loop(motory,&FOCStruct_Y,-y);
+        x = getAngle(motorx);
+        y = getAngle(motory);
 //        printf("%fY%f\n",x,y);
 //        speed_closed_loop(motorx,&FOCStruct_X,_2PI*5);
 //        speed_closed_loop(motory,&FOCStruct_Y,_2PI*2);
@@ -49,7 +44,7 @@ void mymain()
 //        }
 //        i++;
 //
-        Data_send(x,y,0,0);
+//        Data_send(x,y,0,0);
 //        HAL_Delay(3);
     }
 }
\ No newline at end of file