diff --git a/arduino/Betas/RGB_V1.1.1/main/data/index.html b/arduino/Betas/RGB_V1.1.1/main/data/index.html
index 156ab71..324f4fb 100644
--- a/arduino/Betas/RGB_V1.1.1/main/data/index.html
+++ b/arduino/Betas/RGB_V1.1.1/main/data/index.html
@@ -4,192 +4,187 @@ HW:Ver 1.5
 FW:Ver 1.2
 -->
 <html lang="zh-cn">
+
 <head>
-<title>自平衡莱洛三角形</title>
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
-<meta http-equiv="X-UA-Compatible" content="ie=edge">
- <meta http-equiv="Cache-Control" content="max-age=7200" />
-<meta content="width=device-width, initial-scale=1.0, minimum-scale=1.0, maximum-scale=1.0, user-scalable=no" name="viewport">
-<style>
-/*input框*/
-input, button {
-            border: none;
-            outline: none;
-        }
-.tl-input{
-    width: 100%;
-    border: 1px solid #ccc;
-    padding: 7px 0;
-    background: #F4F4F7;
-    text-align: center;
-    border-radius: 3px;
-    padding-left:5px;
-    -webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075);
-    box-shadow: inset 0 1px 1px rgba(0,0,0,.075);
-    -webkit-transition: border-color ease-in-out .15s,-webkit-box-shadow ease-in-out .15s;
-    -o-transition: border-color ease-in-out .15s,box-shadow ease-in-out .15s;
-    transition: border-color ease-in-out .15s,box-shadow ease-in-out .15s
-}
-.tl-input:focus{
-    border-color: #66afe9;
-    outline: 0;
-    -webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075),0 0 8px rgba(102,175,233,.6);
-    box-shadow: inset 0 1px 1px rgba(0,0,0,.075),0 0 8px rgba(102,175,233,.6)
-}
+  <title>自平衡莱洛三角形</title>
+  <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+  <meta http-equiv="X-UA-Compatible" content="ie=edge">
+  <meta http-equiv="Cache-Control" content="max-age=7200" />
+  <meta content="width=device-width, initial-scale=1.0, minimum-scale=1.0, maximum-scale=1.0, user-scalable=no" name="viewport">
+  <style>
+    /*input框*/
+    input,
+    button {
+      border: none;
+      outline: none;
+    }
 
-.ant-btn {
-    line-height: 1.499;
-    position: relative;
-    display: inline-block;
-    font-weight: 400;
-    white-space: nowrap;
-    text-align: center;
-    background-image: none;
-    border: 1px solid transparent;
-    -webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.015);
-    box-shadow: 0 2px 0 rgba(0,0,0,0.015);
-    cursor: pointer;
-    -webkit-transition: all .3s cubic-bezier(.645, .045, .355, 1);
-    transition: all .3s cubic-bezier(.645, .045, .355, 1);
-    -webkit-user-select: none;
-    -moz-user-select: none;
-    -ms-user-select: none;
-    user-select: none;
-    -ms-touch-action: manipulation;
-    touch-action: manipulation;
-    height: 32px;
-    padding: 0 15px;
-    font-size: 14px;
-    border-radius: 4px;
-    color: rgba(0,0,0,0.65);
-    background-color: #fff;
-    border-color: #d9d9d9;
-}
+    .tl-input {
+      width: 100%;
+      border: 1px solid #ccc;
+      padding: 7px 0;
+      background: #F4F4F7;
+      text-align: center;
+      border-radius: 3px;
+      padding-left: 5px;
+      -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075);
+      box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075);
+      -webkit-transition: border-color ease-in-out .15s, -webkit-box-shadow ease-in-out .15s;
+      -o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
+      transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s
+    }
 
-.ant-btn-primary {
-    color: #fff;
-    background-color: #1890ff;
-    border-color: #1890ff;
-    text-shadow: 0 -1px 0 rgba(0,0,0,0.12);
-    -webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.045);
-    box-shadow: 0 2px 0 rgba(0,0,0,0.045);
-}
-.ant-btn-red {
-    color: #fff;
-    background-color: #FF5A44;
-    border-color: #FF5A44;
-    text-shadow: 0 -1px 0 rgba(0,0,0,0.12);
-    -webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.045);
-    box-shadow: 0 2px 0 rgba(0,0,0,0.045);
-}
+    .tl-input:focus {
+      border-color: #66afe9;
+      outline: 0;
+      -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075), 0 0 8px rgba(102, 175, 233, .6);
+      box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075), 0 0 8px rgba(102, 175, 233, .6)
+    }
 
-/* 这里不考虑浏览器的兼容性 */
-#control input {
-    border: none;
-    background-color: transparent;
-    margin: 20px 0;
-    outline: none;
-}
+    .ant-btn {
+      line-height: 1.499;
+      position: relative;
+      display: inline-block;
+      font-weight: 400;
+      white-space: nowrap;
+      text-align: center;
+      background-image: none;
+      border: 1px solid transparent;
+      -webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.015);
+      box-shadow: 0 2px 0 rgba(0, 0, 0, 0.015);
+      cursor: pointer;
+      -webkit-transition: all .3s cubic-bezier(.645, .045, .355, 1);
+      transition: all .3s cubic-bezier(.645, .045, .355, 1);
+      -webkit-user-select: none;
+      -moz-user-select: none;
+      -ms-user-select: none;
+      user-select: none;
+      -ms-touch-action: manipulation;
+      touch-action: manipulation;
+      height: 32px;
+      padding: 0 15px;
+      font-size: 14px;
+      border-radius: 4px;
+      color: rgba(0, 0, 0, 0.65);
+      background-color: #fff;
+      border-color: #d9d9d9;
+    }
 
-#control input[type="text"] {
-    width: 100%;
-    font-size: 25px;
-    appearance: none;
-    padding-bottom: 5px;
-    border-bottom: 3px solid #ededed;
-    color: #ededed;
-}
+    .ant-btn-primary {
+      color: #fff;
+      background-color: #1890ff;
+      border-color: #1890ff;
+      text-shadow: 0 -1px 0 rgba(0, 0, 0, 0.12);
+      -webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
+      box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
+    }
 
-#control input[type="range"] {
-    width: 100%;
-    -webkit-appearance: none;
-    /* background-color: silver; */
-    height: 8px;
-    border-radius: 4px;
-    background: -webkit-linear-gradient(#ffa200, #ffa200) no-repeat white;
-    background-size: 50% 100%;
-}
+    .ant-btn-red {
+      color: #fff;
+      background-color: #FF5A44;
+      border-color: #FF5A44;
+      text-shadow: 0 -1px 0 rgba(0, 0, 0, 0.12);
+      -webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
+      box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
+    }
 
-#control input[type="range"]::-webkit-slider-thumb {
-    -webkit-appearance: none;
-    background-color: #aaa;
-    width: 8px;
-    height: 20px;
-    border-radius: 4px;
-    cursor: pointer;
-}
+    /* 这里不考虑浏览器的兼容性 */
+    #control input {
+      border: none;
+      background-color: transparent;
+      margin: 20px 0;
+      outline: none;
+    }
 
-#control input[type="range"]::-webkit-slider-thumb:hover {
-    background: #666;
-}
+    #control input[type="text"] {
+      width: 100%;
+      font-size: 25px;
+      appearance: none;
+      padding-bottom: 5px;
+      border-bottom: 3px solid #ededed;
+      color: #ededed;
+    }
 
-#control #voltage {
-    background-size: 0% 100%;
-}
+    #control input[type="range"] {
+      width: 100%;
+      -webkit-appearance: none;
+      /* background-color: silver; */
+      height: 8px;
+      border-radius: 4px;
+      background: -webkit-linear-gradient(#ffa200, #ffa200) no-repeat white;
+      background-size: 50% 100%;
+    }
 
-#control #speed {
-    background: linear-gradient(to right, #ffa200, white 0%, white);
-    background-size: 100% 100%;
-}
-#control input[type="button"] {
-    padding: 5px;
-    margin: 5px 0;
-    background: linear-gradient(to bottom right, red 10%, white 90%);
-    border: 0px;
-    width: 100%;
-    color: white;
-    font-weight: white;
-}
-</style>
-<script type="text/javascript" src="jquery.js"></script> 
-<script type="text/javascript" src="highcharts.js"></script>
+    #control input[type="range"]::-webkit-slider-thumb {
+      -webkit-appearance: none;
+      background-color: #aaa;
+      width: 8px;
+      height: 20px;
+      border-radius: 4px;
+      cursor: pointer;
+    }
+
+    #control input[type="range"]::-webkit-slider-thumb:hover {
+      background: #666;
+    }
+
+    #control #voltage {
+      background-size: 0% 100%;
+    }
+
+    #control #speed {
+      background: linear-gradient(to right, #ffa200, white 0%, white);
+      background-size: 100% 100%;
+    }
+
+    #control input[type="button"] {
+      padding: 5px;
+      margin: 5px 0;
+      background: linear-gradient(to bottom right, red 10%, white 90%);
+      border: 0px;
+      width: 100%;
+      color: white;
+      font-weight: white;
+    }
+  </style>
+  <script type="text/javascript" src="jquery.js"></script>
+  <script type="text/javascript" src="highcharts.js"></script>
 
 <script type="text/javascript">
-var ShaftVelocity;
-
+var HighchartsData = new Array(8);
 $(function () {
-$(document).ready(function() {
-	Highcharts.setOptions({global: {useUTC: false} });
-	var chart;
-	$('#container').highcharts({    
-		chart: {type: 'spline',  animation: Highcharts.svg, marginRight: 10, events: { 
-				load: function() {   
-					// set up the updating of the chart each second 
-					var series = this.series[0];  
-					setInterval(function() {
-						var x = (new Date()).getTime(), 	y = parseFloat(ShaftVelocity); 
-						series.addPoint([x, y], true, true);
-					}, 1000); 
-				} 
-			}   
-		},      
-		title: {text: '动态走势图' },      
-		xAxis: {type: 'datetime', tickPixelInterval: 100 },
-		yAxis: {title: {text: '动态走势图' },  plotLines: [{value: 0, width: 1, color: '#808080' }] },
-		tooltip: {
-			formatter: function() {
-				return '<b>'+ this.series.name +'</b><br/>'+ 
-				Highcharts.dateFormat('%Y-%m-%d %H:%M:%S', this.x) +'<br/>'+
-				Highcharts.numberFormat(this.y, 2); 
-				}
-		},
-		legend: { enabled: false },
-		exporting: { enabled: false},    
-		series: [{name: 'ShaftVelocity',
-			data: (function() {
-				// generate an array of random data  
-				var data = [], time = (new Date()).getTime(), i;
-				for (i = -30; i <= 0; i++) {
-					data.push({
-						x: time + i * 1000, 
-						y: 0 
-					}); 
-				} 
-				return data;  
-			})()
-		}]
-	});
-}); 
+  $(document).ready(function () {
+    Highcharts.setOptions({ global: { useUTC: false } });
+    var chart, time = new Date().getTime();
+    $("#container").highcharts({
+      chart: { type: "spline", animation: Highcharts.svg, marginRight: 10, events: { load: function () {
+			var series = this.series;
+			setInterval(function () {
+			  var x = new Date().getTime();
+			  for(i=0; i<HighchartsData.length;i++){
+				series[i].addPoint([x, HighchartsData[i]], true, true);
+			  }
+			}, 1000);
+          }
+        }
+      },
+      title: { text: "自平衡莱洛三角形" }, xAxis: { type: "datetime", tickPixelInterval: 100 }, yAxis: { title: { text: "Value" }, plotLines: [{ value: 0, width: 1, color: "#808080" }] },
+      tooltip: { formatter: function () { return ( "<b>" + this.series.name + "</b><br/>" + Highcharts.dateFormat("%Y-%m-%d %H:%M:%S", this.x) + "<br/>" + Highcharts.numberFormat(this.y, 2) ); } },
+      legend: { enabled: true },
+      exporting: { enabled: false },
+      plotOptions: { spline: {  marker: { radius: 4, lineColor: "#666666", lineWidth: 1} } },
+      series: [
+	  {name: "轴速度",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
+	  {name: "电机电压",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
+	  {name: "目标速度",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
+	  {name: "摆角",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
+	  {name: "目标角",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
+	  {name: "pitch",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
+	  {name: "kalAngleZ",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
+	  {name: "回旋速率",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()}
+      ]
+    });
+  });
 });
 </script>
 <script>
@@ -210,7 +205,7 @@ function loadXMLDoc(path,element)
     {
         if (xmlhttp.readyState==4 && xmlhttp.status==200)
         {
-            document.getElementById(element).innerHTML=xmlhttp.responseText;
+			document.getElementById(element).innerHTML=xmlhttp.responseText;
         }
     }
     xmlhttp.open("GET",path,true);
@@ -219,25 +214,19 @@ function loadXMLDoc(path,element)
 
 function UpdateInfo()
 {
-    var xmlhttp;
-    if (window.XMLHttpRequest)
-    {
-        //  IE7+, Firefox, Chrome, Opera, Safari 浏览器执行代码
+	var xmlhttp;
+	if (window.XMLHttpRequest){	//  IE7+, Firefox, Chrome, Opera, Safari 浏览器执行代码
         xmlhttp=new XMLHttpRequest();
-    }
-    else
-    {
-        // IE6, IE5 浏览器执行代码
-        xmlhttp=new ActiveXObject("Microsoft.XMLHTTP");
-    }
-    xmlhttp.onreadystatechange=function()
-    {
-        if (xmlhttp.readyState==4 && xmlhttp.status==200)
-        {
-            var arr=xmlhttp.responseText.split(",");
-
-            document.getElementById('TimeDiv').innerHTML=arr[0];
-            document.getElementById('CurrentMillis').innerHTML=arr[1];
+    } else {	// IE6, IE5 浏览器执行代码
+		xmlhttp=new ActiveXObject("Microsoft.XMLHTTP");
+	}
+	xmlhttp.onreadystatechange=function()
+	{
+		if (xmlhttp.readyState==4 && xmlhttp.status==200)
+		{
+			var arr=xmlhttp.responseText.split(",");
+			document.getElementById('TimeDiv').innerHTML=arr[0];
+			document.getElementById('CurrentMillis').innerHTML=arr[1];
 			document.getElementById('log_control').value=arr[2];
 			document.getElementById('debug_log_control').value=arr[3];
 			document.getElementById('test_flag').value=arr[4];
@@ -251,15 +240,15 @@ function UpdateInfo()
 				document.getElementById('tvv_btn').innerHTML='开启速度测试';
 				document.getElementById('tvq_btn').innerHTML='开启电压测试';
 			}
-            document.getElementById('BAT_VOLTAGE').innerHTML=arr[5];
+			document.getElementById('BAT_VOLTAGE').innerHTML=arr[5];
 
-            document.getElementById('target_angle_ROM').innerHTML=arr[6];
-            document.getElementById('swing_up_voltage').innerHTML=arr[7];
-            document.getElementById('swing_up_angle').innerHTML=arr[8];
-            document.getElementById('v_i_1').innerHTML=arr[9];
-            document.getElementById('v_p_1').innerHTML=arr[10];
-            document.getElementById('v_i_2').innerHTML=arr[11];
-            document.getElementById('v_p_2').innerHTML=arr[12];
+			document.getElementById('target_angle_ROM').innerHTML=arr[6];
+			document.getElementById('swing_up_voltage').innerHTML=arr[7];
+			document.getElementById('swing_up_angle').innerHTML=arr[8];
+			document.getElementById('v_i_1').innerHTML=arr[9];
+			document.getElementById('v_p_1').innerHTML=arr[10];
+			document.getElementById('v_i_2').innerHTML=arr[11];
+			document.getElementById('v_p_2').innerHTML=arr[12];
 
 			if(document.getElementById('target_angle_ROM2').value=="") document.getElementById('target_angle_ROM2').value=arr[6];
 			if(document.getElementById('swing_up_voltage2').value=="") document.getElementById('swing_up_voltage2').value=arr[7];
@@ -270,7 +259,9 @@ function UpdateInfo()
 			if(document.getElementById('v_p_22').value=="") document.getElementById('v_p_22').value=arr[12];
 
 			if(document.getElementById('log_control').value=="1" && arr[13]!=""){
-				ShaftVelocity	= arr[13];
+				for(i=0; i<HighchartsData.length;i++){
+					HighchartsData[i] = parseFloat(arr[i+13]);
+				}
 				document.getElementById('Shaft_Velocity').innerHTML	=arr[13]+"<br>"+document.getElementById('Shaft_Velocity').innerHTML;
 				document.getElementById('motor_voltage_q').innerHTML=arr[14]+"<br>"+document.getElementById('motor_voltage_q').innerHTML;
 				document.getElementById('target_velocity').innerHTML=arr[15]+"<br>"+document.getElementById('target_velocity').innerHTML;
@@ -280,253 +271,251 @@ function UpdateInfo()
 				document.getElementById('kalAngleZ').innerHTML=arr[19]+"<br>"+document.getElementById('kalAngleZ').innerHTML;
 				document.getElementById('gyroZrate').innerHTML=arr[20]+"<br>"+document.getElementById('gyroZrate').innerHTML;
 			}
-			
+
 			if(document.getElementById('debug_log_control').value=="1"){
 				document.getElementById('debug_log').style.display='block';
 				document.getElementById('debug_log').value	+=	arr[21];
 			}
         }
     }
-    xmlhttp.open("GET",'/update',true);
-    xmlhttp.send();
+	xmlhttp.open("GET",'/update',true);
+	xmlhttp.send();
 }
 
-    function MyAutoRun()
-    { 
-       UpdateInfo();
-    } 
-    setInterval("MyAutoRun()",1000);
+function MyAutoRun() {
+  UpdateInfo();
+}
+setInterval("MyAutoRun()", 1000);
 
-    function clearLog()
-    { 
-            document.getElementById('Shaft_Velocity').innerHTML ="";
-            document.getElementById('motor_voltage_q').innerHTML ="";
-            document.getElementById('target_velocity').innerHTML ="";
-            document.getElementById('pendulum_angle').innerHTML ="";
-            document.getElementById('target_angle').innerHTML ="";
-            document.getElementById('pitch').innerHTML ="";
-            document.getElementById('kalAngleZ').innerHTML ="";
-            document.getElementById('gyroZrate').innerHTML ="";
-    } 
-    function clearDebugLog()
-    { 
-            document.getElementById('debug_log').value ="";
-    } 
+function clearLog() {
+  document.getElementById("Shaft_Velocity").innerHTML = "";
+  document.getElementById("motor_voltage_q").innerHTML = "";
+  document.getElementById("target_velocity").innerHTML = "";
+  document.getElementById("pendulum_angle").innerHTML = "";
+  document.getElementById("target_angle").innerHTML = "";
+  document.getElementById("pitch").innerHTML = "";
+  document.getElementById("kalAngleZ").innerHTML = "";
+  document.getElementById("gyroZrate").innerHTML = "";
+}
+function clearDebugLog() {
+  document.getElementById("debug_log").value = "";
+}
 
 function checkNum(obj) {
-     //检查是否是非数字值
-     if (isNaN(obj.value)) {
-         obj.value = "";
-     }
-     if (obj != null) {
-         //检查小数点后是否对于两位
-         if (obj.value.toString().split(".").length > 1 && obj.value.toString().split(".")[1].length > 2) {
-             //alert("小数点后多于两位！");
-             obj.value = Number(obj.value).toPrecision(2);
-         }
-     }
- };
-
+  if (isNaN(obj.value)) {  //检查是否是非数字值
+    obj.value = "";
+  }
+  if (obj != null) {    //检查小数点后是否对于两位
+    if (
+      obj.value.toString().split(".").length > 1 &&
+      obj.value.toString().split(".")[1].length > 2
+    ) {      //alert("小数点后多于两位！");
+      obj.value = Number(obj.value).toPrecision(2);
+    }
+  }
+}
 
  </script>
 </head>
 <body style="background-color:black;color:white">
 
-
-    <font size=6 onclick="(document.getElementById('debug_hidden').value%6==5)?(document.getElementById('debug_show').style.display='block'):document.getElementById('debug_hidden').value++;">自平衡莱洛三角形
-        <input id="debug_hidden" hidden>
-        <span id="TimeDiv" hidden>datetime</Span>
-    </font>
-</div>
-    <table border="0">
-        <tr>
-            <td height="50">已启动：<span id=CurrentMillis></span>
-			&nbsp;&nbsp;&nbsp;&nbsp;电池电压：<span id="BAT_VOLTAGE" style="color:#de87b8;"></span> V
-			<span id="OperationHit" style="color:#ffa200;"></span>
+  <font size="6" onclick="(document.getElementById('debug_hidden').value%6==5)?(document.getElementById('debug_show').style.display='block'):document.getElementById('debug_hidden').value++;">自平衡莱洛三角形
+    <input id="debug_hidden" hidden>
+    <span id="TimeDiv" hidden>datetime</Span>
+  </font>
+  </div>
+  <table border="0">
+    <tr>
+      <td height="50">已启动：<span id=CurrentMillis></span>
+        &nbsp;&nbsp;&nbsp;&nbsp;电池电压：<span id="BAT_VOLTAGE" style="color:#de87b8;"></span> V
+        <span id="OperationHit" style="color:#ffa200;"></span>
+      </td>
+    </tr>
+    <tr>
+      <td height="50">
+        <button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=0','OperationHit')" class="ant-btn ant-btn-red">开灯</button>
+        <button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=1','OperationHit')" class="ant-btn ant-btn-red">+</button>
+        <button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=2','OperationHit')" class="ant-btn ant-btn-red">-</button>
+        <button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=3','OperationHit')" class="ant-btn ant-btn-red">关灯</button>
+        <button type="button" onclick="loadXMLDoc('/Control?Type=1&Index=99&Operation=0','OperationHit')" class="ant-btn ant-btn-red">电机启停</button>
+        <button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=4','OperationHit')" class="ant-btn ant-btn-red">重启</button>
+      </td>
+    </tr>
+    <tr>
+      <td align="left">
+        <table border="1" cellspacing="0" cellpadding="0">
+          <tr>
+            <td align="center"><span style="color:#398ad9;">期望角度TA</span></td>
+            <td align="center"><span style="color:#5bec8d;">摇摆电压SV</span></td>
+            <td align="center"><span style="color:#fd42ac;">摇摆角度SA</span></td>
+            <td align="center"><span style="color:#4b8200;">速度环P1</span></td>
+            <td align="center"><span style="color:#ff33ff;">速度环I1</span></td>
+            <td align="center"><span style="color:#4b8200;">速度环P2</span></td>
+            <td align="center"><span style="color:#ff33ff;">速度环I2</span></td>
+          </tr>
+          <tr>
+            <td align="center"><span style="color:#ff5c5c;" id="target_angle_ROM"></span></td>
+            <td align="center"><span style="color:#5bec8d;" id="swing_up_voltage"></span></td>
+            <td align="center"><span style="color:#fd42ac;" id="swing_up_angle"></span></td>
+            <td align="center"><span style="color:#4b8200;" id="v_p_1"></span></td>
+            <td align="center"><span style="color:#ff33ff;" id="v_i_1"></span></td>
+            <td align="center"><span style="color:#4b8200;" id="v_p_2"></span></td>
+            <td align="center"><span style="color:#ff33ff;" id="v_i_2"></span></td>
+          </tr>
+          <tr>
+            <td align="center">
+              <div style="width: 90px;float: left"><input class="tl-input" type="text" name="target_angle_ROM" id="target_angle_ROM2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)+0.5;">+</button>
+                <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)-0.5;">-</button><br>
+                <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=0&Operation='+document.getElementById('target_angle_ROM2').value,'OperationHit')">发送</button>
             </td>
-        </tr>
-        <tr>
-            <td height="50">
-		<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=0','OperationHit')" class="ant-btn ant-btn-red">开灯</button>
-		<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=1','OperationHit')" class="ant-btn ant-btn-red">+</button>
-		<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=2','OperationHit')" class="ant-btn ant-btn-red">-</button>
-		<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=3','OperationHit')" class="ant-btn ant-btn-red">关灯</button>
-		<button type="button" onclick="loadXMLDoc('/Control?Type=1&Index=99&Operation=0','OperationHit')" class="ant-btn ant-btn-red">电机启停</button>
-		<button type="button" onclick="loadXMLDoc('/Control?Type=0&Index=0&Operation=4','OperationHit')" class="ant-btn ant-btn-red">重启</button>
+            <td align="center">
+              <div style="width: 90px;float: left"><input class="tl-input" name="swing_up_voltage" id="swing_up_voltage2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)+0.10).toPrecision(2);">+</button>
+                <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)-0.10).toPrecision(2);">-</button><br>
+                <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=1&Operation='+document.getElementById('swing_up_voltage2').value,'OperationHit')">发送</button>
             </td>
-        </tr>
-        <tr>
-            <td align="left">
-    <table border="1" cellspacing="0" cellpadding="0">
-		<tr>
-<td align="center"><span style="color:#398ad9;">期望角度TA</span></td>
-<td align="center"><span style="color:#5bec8d;">摇摆电压SV</span></td>
-<td align="center"><span style="color:#fd42ac;">摇摆角度SA</span></td>
-<td align="center"><span style="color:#4b8200;">速度环P1</span></td>
-<td align="center"><span style="color:#ff33ff;">速度环I1</span></td>
-<td align="center"><span style="color:#4b8200;">速度环P2</span></td>
-<td align="center"><span style="color:#ff33ff;">速度环I2</span></td>
-       </tr>
-        <tr>
-<td align="center"><span style="color:#ff5c5c;" id="target_angle_ROM"></span></td>
-<td align="center"><span style="color:#5bec8d;" id="swing_up_voltage"></span></td>
-<td align="center"><span style="color:#fd42ac;" id="swing_up_angle"></span></td>
-<td align="center"><span style="color:#4b8200;" id="v_p_1"></span></td>
-<td align="center"><span style="color:#ff33ff;" id="v_i_1"></span></td>
-<td align="center"><span style="color:#4b8200;" id="v_p_2"></span></td>
-<td align="center"><span style="color:#ff33ff;" id="v_i_2"></span></td>
-		</tr>
-        <tr>
-<td align="center">
-<div style="width: 90px;float: left"><input class="tl-input" type="text" name="target_angle_ROM" id="target_angle_ROM2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary"  onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)+0.5;">+</button>
-<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)-0.5;">-</button><br>
-<button type="button" class="ant-btn ant-btn-red"  onclick="loadXMLDoc('/Control?Type=1&Index=0&Operation='+document.getElementById('target_angle_ROM2').value,'OperationHit')">发送</button></td>
-<td align="center">
-<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_voltage" id="swing_up_voltage2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary"  onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)+0.10).toPrecision(2);">+</button>
-<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)-0.10).toPrecision(2);">-</button><br>
-<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=1&Operation='+document.getElementById('swing_up_voltage2').value,'OperationHit')">发送</button>
-</td>
-<td align="center">
-<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_angle" id="swing_up_angle2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary"  onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)+1;">+</button>
-<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)-1;">-</button><br>
-<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=2&Operation='+document.getElementById('swing_up_angle2').value,'OperationHit')">发送</button>
-</td>
-<td align="center">
-<div style="width: 90px;float: left"><input class="tl-input" name="v_p_1" id="v_p_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary"  onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)+0.1).toPrecision(2);">+</button>
-<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)-0.1).toPrecision(2);">-</button><br>
-<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=3&Operation='+document.getElementById('v_p_12').value,'OperationHit')">发送</button>
-</td>
-<td align="center">
-<div style="width: 90px;float: left"><input class="tl-input" name="v_i_1" id="v_i_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary"  onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)+0.5;">+</button>
-<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)-0.5;">-</button><br>
-<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=4&Operation='+document.getElementById('v_i_12').value,'OperationHit')">发送</button>
-</td>
-<td align="center">
-<div style="width: 90px;float: left"><input class="tl-input" name="v_p_2" id="v_p_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary"  onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)+0.1).toPrecision(2);">+</button>
-<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)-0.1).toPrecision(2);">-</button><br>
-<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=5&Operation='+document.getElementById('v_p_22').value,'OperationHit')">发送</button>
-</td>
-<td align="center">
-<div style="width: 90px;float: left"><input class="tl-input" name="v_i_2" id="v_i_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary"  onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)+0.5;">+</button>
-<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)-0.5;">-</button><br>
-<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=6&Operation='+document.getElementById('v_i_22').value,'OperationHit')">发送</button>
-</td>
-		</tr>
-	 </table>
+            <td align="center">
+              <div style="width: 90px;float: left"><input class="tl-input" name="swing_up_angle" id="swing_up_angle2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)+1;">+</button>
+                <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)-1;">-</button><br>
+                <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=2&Operation='+document.getElementById('swing_up_angle2').value,'OperationHit')">发送</button>
             </td>
-        </tr>
-        <tr>
-            <td>
-    <table border="0" cellspacing="0" cellpadding="0" ID="control" width="100%">
-		<tr>
+            <td align="center">
+              <div style="width: 90px;float: left"><input class="tl-input" name="v_p_1" id="v_p_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)+0.1).toPrecision(2);">+</button>
+                <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)-0.1).toPrecision(2);">-</button><br>
+                <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=3&Operation='+document.getElementById('v_p_12').value,'OperationHit')">发送</button>
+            </td>
+            <td align="center">
+              <div style="width: 90px;float: left"><input class="tl-input" name="v_i_1" id="v_i_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)+0.5;">+</button>
+                <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)-0.5;">-</button><br>
+                <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=4&Operation='+document.getElementById('v_i_12').value,'OperationHit')">发送</button>
+            </td>
+            <td align="center">
+              <div style="width: 90px;float: left"><input class="tl-input" name="v_p_2" id="v_p_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)+0.1).toPrecision(2);">+</button>
+                <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)-0.1).toPrecision(2);">-</button><br>
+                <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=5&Operation='+document.getElementById('v_p_22').value,'OperationHit')">发送</button>
+            </td>
+            <td align="center">
+              <div style="width: 90px;float: left"><input class="tl-input" name="v_i_2" id="v_i_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)+0.5;">+</button>
+                <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)-0.5;">-</button><br>
+                <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=6&Operation='+document.getElementById('v_i_22').value,'OperationHit')">发送</button>
+            </td>
+          </tr>
+        </table>
+      </td>
+    </tr>
+    <tr>
+      <td>
+        <table border="0" cellspacing="0" cellpadding="0" ID="control" width="100%">
+          <tr>
             <td height="50" width="50"><button type="button" class="ant-btn ant-btn-red" onclick="(this.innerHTML=='关闭速度测试'?(this.innerHTML='开启速度测试'):this.innerHTML='关闭速度测试');(document.getElementById('tvq_btn').innerHTML=='关闭电压测试'?(document.getElementById('tvq_btn').innerHTML='开启电压测试'):'');loadXMLDoc('/Control?Type=1&Index=88&Operation=0','OperationHit')" id="tvv_btn">开启速度测试</button></td>
-			<td width="40" align="center"><span id="speedNum">0</span></td>
-            <td><input type="range" id="speed" value="0" min="-100" max="100" step="1"  onchange="changeV()"></td>
-		</tr>
-		<tr>
+            <td width="40" align="center"><span id="speedNum">0</span></td>
+            <td><input type="range" id="speed" value="0" min="-100" max="100" step="1" onchange="changeV()"></td>
+          </tr>
+          <tr>
             <td height="50" width="50"><button type="button" class="ant-btn ant-btn-red" onclick="(this.innerHTML=='关闭电压测试'?(this.innerHTML='开启电压测试'):this.innerHTML='关闭电压测试');(document.getElementById('tvv_btn').innerHTML=='关闭速度测试'?(document.getElementById('tvv_btn').innerHTML='开启速度测试'):'');loadXMLDoc('/Control?Type=1&Index=77&Operation=0','OperationHit')" id="tvq_btn">开启电压测试</button></td>
-			<td width="40" align="center"><span id="voltageNum">0</span></td>
+            <td width="40" align="center"><span id="voltageNum">0</span></td>
             <td>
-		<input type="hidden" name="test_flag" id="test_flag">
-		<input type="range" id="voltage" value="0" min="-12" max="12" step="1" onchange="changeV()">
-		</td>
-		</tr>
-	 </table>
+              <input type="hidden" name="test_flag" id="test_flag">
+              <input type="range" id="voltage" value="0" min="-12" max="12" step="1" onchange="changeV()">
             </td>
-        </tr>
-        <tr>
+          </tr>
+        </table>
+      </td>
+    </tr>
+    <tr>
+      <td>
+        <table border="0" cellspacing="0" cellpadding="0" ID="debug_show" width="100%" style="display:none">
+          <tr>
             <td>
-    <table border="0" cellspacing="0" cellpadding="0" ID="debug_show" width="100%" style="display:none">
-        <tr>
-            <td>
-		<button type="button" onclick="document.getElementById('debug_log_control').value=1;loadXMLDoc('/Control?Type=0&Index=6&Operation=1','OperationHit');document.getElementById('debug_log').style.display='block';">开启Debug</button>
-		<button type="button" onclick="document.getElementById('debug_log_control').value=0;loadXMLDoc('/Control?Type=0&Index=6&Operation=0','OperationHit');">关闭Debug</button>
-		<button type="button" onclick="document.getElementById('debug_log').style.display='block';">显示记录</button>
-		<button type="button" onclick="document.getElementById('debug_log').style.display='none';">隐藏记录</button>
-		<button type="button" onclick="clearDebugLog()">清除记录</button>
-		<input type="hidden" name="debug_log_control" id="debug_log_control">
+              <button type="button" onclick="document.getElementById('debug_log_control').value=1;loadXMLDoc('/Control?Type=0&Index=6&Operation=1','OperationHit');document.getElementById('debug_log').style.display='block';">开启Debug</button>
+              <button type="button" onclick="document.getElementById('debug_log_control').value=0;loadXMLDoc('/Control?Type=0&Index=6&Operation=0','OperationHit');">关闭Debug</button>
+              <button type="button" onclick="document.getElementById('debug_log').style.display='block';">显示记录</button>
+              <button type="button" onclick="document.getElementById('debug_log').style.display='none';">隐藏记录</button>
+              <button type="button" onclick="clearDebugLog()">清除记录</button>
+              <input type="hidden" name="debug_log_control" id="debug_log_control">
             </td>
-        </tr>
-        <tr>
-            <td align="left"><textarea name="debug_log" rows="10" cols="80"  id="debug_log" style="display:none"></textarea></td>
-		</tr>
-	 </table>
-	 </td>
-		</tr>
-        <tr>
-            <td height="50">
-		<button type="button" onclick="document.getElementById('log_control').value=1;loadXMLDoc('/Control?Type=0&Index=5&Operation=1','OperationHit')">开启记录</button>
-		<button type="button" onclick="document.getElementById('log_control').value=0;loadXMLDoc('/Control?Type=0&Index=5&Operation=0','OperationHit')">停止记录</button>
-		<button type="button" onclick="document.getElementById('loglist').style.display='block';">显示记录</button>
-		<button type="button" onclick="document.getElementById('loglist').style.display='none';">隐藏记录</button>
-		<button type="button" onclick="clearLog()">清除记录</button>
-		<input type="hidden" name="log_control" id="log_control">
+          </tr>
+          <tr>
+            <td align="left"><textarea name="debug_log" rows="10" cols="80" id="debug_log" style="display:none"></textarea></td>
+          </tr>
+        </table>
+      </td>
+    </tr>
+    <tr>
+      <td height="50">
+        <button type="button" onclick="document.getElementById('log_control').value=1;loadXMLDoc('/Control?Type=0&Index=5&Operation=1','OperationHit')">开启记录</button>
+        <button type="button" onclick="document.getElementById('log_control').value=0;loadXMLDoc('/Control?Type=0&Index=5&Operation=0','OperationHit')">停止记录</button>
+        <button type="button" onclick="document.getElementById('loglist').style.display='block';">显示记录</button>
+        <button type="button" onclick="document.getElementById('loglist').style.display='none';">隐藏记录</button>
+        <button type="button" onclick="clearLog()">清除记录</button>
+        <input type="hidden" name="log_control" id="log_control">
+      </td>
+    </tr>
+    <tr>
+      <td align="left">
+        <table border="1" cellspacing="0" cellpadding="0" ID="logchart" width="100%">
+          <tr>
+            <td align="center">
+              <div id="container" style="width:700px;height:400px;margin:0 auto;"></div>
+              <div style="text-align:center;clear:both;">
             </td>
-        </tr>
-        <tr>
-            <td align="left">
-    <table border="1" cellspacing="0" cellpadding="0" ID="logchart" width="100%">
-		<tr>
-            <td align="center"><div id="container" style="width:700px;height:400px;margin:0 auto;"></div>
-<div style="text-align:center;clear:both;"></td>
-		</tr>
-	</table>
-	</td>
-		</tr>
-        <tr>
-            <td align="left">
-    <table border="1" cellspacing="0" cellpadding="0" ID="loglist" width="100%">
-		<tr>
+          </tr>
+        </table>
+      </td>
+    </tr>
+    <tr>
+      <td align="left">
+        <table border="1" cellspacing="0" cellpadding="0" ID="loglist" width="100%">
+          <tr>
             <td align="center"><span style="color:#ff5c5c;">Shaft<br>Velocity</span></td>
-			<td align="center"><span style="color:#398ad9;">motor<br>voltage q</span></td>
-			<td align="center"><span style="color:#ff5c5c;">target<br>velocity</span></td>
-			<td align="center"><span style="color:#5bec8d;">pendulum<br>angle</span></td>
-			<td align="center"><span style="color:#fd42ac;">target<br>angle</span></td>
-			<td align="center"><span style="color:#4b8200;">pitch</span></td>
-			<td align="center"><span style="color:#ff33ff;">kalAngleZ</span></td>
-			<td align="center"><span style="color:#4b8200;">gyroZrate</span></td>
-       </tr>
-        <tr>
-<td align="center"><span style="color:#ff5c5c;" id="Shaft_Velocity"></span></td>
-<td align="center"><span style="color:#398ad9;" id="motor_voltage_q"></span></td>
-<td align="center"><span style="color:#ff5c5c;" id="target_velocity"></span></td>
-<td align="center"><span style="color:#5bec8d;" id="pendulum_angle"></span></td>
-<td align="center"><span style="color:#fd42ac;" id="target_angle"></span></td>
-<td align="center"><span style="color:#4b8200;" id="pitch"></span></td>
-<td align="center"><span style="color:#ff33ff;" id="kalAngleZ"></span></td>
-<td align="center"><span style="color:#4b8200;" id="gyroZrate"></span></td>
-		</tr>
-	</table>
-	</td>
-		</tr>
-	 </table>
+            <td align="center"><span style="color:#398ad9;">motor<br>voltage q</span></td>
+            <td align="center"><span style="color:#ff5c5c;">target<br>velocity</span></td>
+            <td align="center"><span style="color:#5bec8d;">pendulum<br>angle</span></td>
+            <td align="center"><span style="color:#fd42ac;">target<br>angle</span></td>
+            <td align="center"><span style="color:#4b8200;">pitch</span></td>
+            <td align="center"><span style="color:#ff33ff;">kalAngleZ</span></td>
+            <td align="center"><span style="color:#4b8200;">gyroZrate</span></td>
+          </tr>
+          <tr>
+            <td align="center"><span style="color:#ff5c5c;" id="Shaft_Velocity"></span></td>
+            <td align="center"><span style="color:#398ad9;" id="motor_voltage_q"></span></td>
+            <td align="center"><span style="color:#ff5c5c;" id="target_velocity"></span></td>
+            <td align="center"><span style="color:#5bec8d;" id="pendulum_angle"></span></td>
+            <td align="center"><span style="color:#fd42ac;" id="target_angle"></span></td>
+            <td align="center"><span style="color:#4b8200;" id="pitch"></span></td>
+            <td align="center"><span style="color:#ff33ff;" id="kalAngleZ"></span></td>
+            <td align="center"><span style="color:#4b8200;" id="gyroZrate"></span></td>
+          </tr>
+        </table>
+      </td>
+    </tr>
+  </table>
 
 <script>
-const voltage = document.getElementById('voltage');
-const speed = document.getElementById('speed');
+  const voltage = document.getElementById('voltage');
+  const speed = document.getElementById('speed');
 
-function changeV() {
+  function changeV() {
     voltageVal = parseFloat(voltage.value);
     spdVal = parseFloat(speed.value);
-    const voltagePercent = Math.abs(parseFloat(voltageVal/12, 2) * 50)
-    const speedPercent = Math.abs(parseFloat((spdVal/100), 2) * 100)*1.5
-	if (voltageVal<0)
-		voltage.style.background = `linear-gradient(to right, #ffa200 ${voltagePercent}%, white ${voltagePercent}%`
-	else
-		voltage.style.background = `linear-gradient(to left, #ffa200 ${voltagePercent}%, white ${voltagePercent}%`
-	if (spdVal<0)
-		speed.style.background = `linear-gradient(to right, #ffa200, white ${speedPercent}%`
-	else
-		speed.style.background = `linear-gradient(to left, #ffa200, white ${speedPercent}%`
-	document.getElementById('voltageNum').innerHTML = voltageVal;
-	document.getElementById('speedNum').innerHTML = spdVal;
-	if( document.getElementById('test_flag').value=='1' ){
-		loadXMLDoc('/Control?Type=1&Index=7&Operation='+voltageVal,'OperationHit');
-	}
-	if( document.getElementById('test_flag').value=='2' ){
-		loadXMLDoc('/Control?Type=1&Index=8&Operation='+spdVal,'OperationHit');
-	}
-};
+    const voltagePercent = Math.abs(parseFloat(voltageVal / 12, 2) * 50)
+    const speedPercent = Math.abs(parseFloat((spdVal / 100), 2) * 100) * 1.5
+    if (voltageVal < 0)
+      voltage.style.background = `linear-gradient(to right, #ffa200 ${voltagePercent}%, white ${voltagePercent}%`
+    else
+      voltage.style.background = `linear-gradient(to left, #ffa200 ${voltagePercent}%, white ${voltagePercent}%`
+    if (spdVal < 0)
+      speed.style.background = `linear-gradient(to right, #ffa200, white ${speedPercent}%`
+    else
+      speed.style.background = `linear-gradient(to left, #ffa200, white ${speedPercent}%`
+    document.getElementById('voltageNum').innerHTML = voltageVal;
+    document.getElementById('speedNum').innerHTML = spdVal;
+    if (document.getElementById('test_flag').value == '1') {
+      loadXMLDoc('/Control?Type=1&Index=7&Operation=' + voltageVal, 'OperationHit');
+    }
+    if (document.getElementById('test_flag').value == '2') {
+      loadXMLDoc('/Control?Type=1&Index=8&Operation=' + spdVal, 'OperationHit');
+    }
+  };
 </script>
 </body>
 </html>
\ No newline at end of file
