diff --git a/Robot_V2/device/ADC.cpp b/Robot_V2/device/ADC.cpp
index c97df3b..0b1d412 100644
--- a/Robot_V2/device/ADC.cpp
+++ b/Robot_V2/device/ADC.cpp
@@ -109,9 +109,10 @@ void adc_config(void) {
 /**
  * @brief 采样类初始化
  */
-void sampler::init() {
+sampler::sampler() {
 	dma_config(); // DMA采样ADC初始化
 	adc_config(); // ADC初始化
+	// 初始采样
 	for (int i = 0; i < FILTER_SIZE + 1; i++) {
 		mcu_temp_samples[i] =
 			(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp
index 9ad9f83..4509f37 100644
--- a/Robot_V2/device/Can.cpp
+++ b/Robot_V2/device/Can.cpp
@@ -22,6 +22,7 @@
 extern CAN_transmiter CAN0_transmiter;
 extern FOC_Controlroller FOC;
 extern sampler sampler;
+extern angle_sensor KTH7823;
 
 // 添加DMA相关变量
 dma_parameter_struct dma_rx_parameter;
@@ -346,7 +347,7 @@ void canfd_loopback_test(void) {
 void can_loopback_test(void) {
 	can_trasnmit_message_struct transmit_message;
 	can_receive_message_struct receive_message;
-	uint32_t timeout = 0xF;
+	uint32_t timeout = 0xFF;
 	uint8_t transmit_mailbox = 0;
 
 	std::mt19937 gen(rand()); // 使用随机设备生成的种子
@@ -429,7 +430,7 @@ void CAN_transmiter::update(void) {
 	mcu_temp = sampler.get_mcu_temp() * 100;
 	motor_temp = sampler.get_drv_temp() * 100;
 	Power_Voltage = sampler.get_vbus_voltage() * 1000;
-	rt_angle_union.f = KHT7823_readAngle();
+	rt_angle_union.f = KTH7823.readAngle();
 	rt_velocity_union.f = 0.0f;
 	Status_code = (gpio_input_bit_get(GPIOB, GPIO_PIN_2) == SET) ? 0 : 1;
 
diff --git a/Robot_V2/device/Can.h b/Robot_V2/device/Can.h
index 75a628c..1a12631 100644
--- a/Robot_V2/device/Can.h
+++ b/Robot_V2/device/Can.h
@@ -89,7 +89,6 @@ class CAN_transmiter {
 
 	can_trasnmit_message_struct transmit_message; // 发送消息结构体
 	u8 transmit_mailbox = CAN_NOMAILBOX;		  // 初始化为无mailbox状态
-	u32 timeout = 0XFFFF;						  // 默认超时为0xFFFF
 	u8 transmit_data[64];						  // CANFD最大64字节
 
 	void update(); 								// 更新数据
diff --git a/Robot_V2/device/Timer.cpp b/Robot_V2/device/Timer.cpp
index ff9ec0c..e610a8c 100644
--- a/Robot_V2/device/Timer.cpp
+++ b/Robot_V2/device/Timer.cpp
@@ -12,10 +12,6 @@
 #include <stdint.h>
 #include <stdio.h>
 
-// 配置定时器每100微秒中断一次
-// 系统时钟为120MHz，要得到100微秒的中断周期
-// 可以使用预分频器119，定时器时钟为120MHz/(119+1) = 1MHz
-// 然后设置周期为99，即计数100次，1MHz/100 = 10kHz = 100微秒
 constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz
 constexpr int TIMER2_PERIOD = 99;	  // 1MHz / 100 = 100us
 constexpr int TIMER3_PRESCALER = 119; // 120MHz / 120 = 1MHz
diff --git a/Robot_V2/device/adc.h b/Robot_V2/device/adc.h
index 59a0e28..244464a 100644
--- a/Robot_V2/device/adc.h
+++ b/Robot_V2/device/adc.h
@@ -19,7 +19,7 @@ class sampler {
 	float tempora_sample;
 
   public:
-	void init();
+	sampler();
 	void update_mcu_temp(void);
 	void update_drv_temp(void);
 	void update_vbus_voltage(void);
diff --git a/Robot_V2/device/ang_sensor.cpp b/Robot_V2/device/ang_sensor.cpp
index 5614dcd..43d45f2 100644
--- a/Robot_V2/device/ang_sensor.cpp
+++ b/Robot_V2/device/ang_sensor.cpp
@@ -4,7 +4,6 @@
 #include "gd32c10x_spi.h"
 #include <stdint.h>
 
-
 #define SPI_CS_ENABLE() gpio_bit_reset(GPIOA, GPIO_PIN_15)
 #define SPI_CS_DISABLE() gpio_bit_set(GPIOA, GPIO_PIN_15)
 
@@ -179,7 +178,7 @@ extern "C" void DMA0_Channel1_IRQHandler(void) {
  * @brief 角度传感器初始化
  * @param 无
  */
-void KHT7823_gpio_init(void) {
+void KTH7823_gpio_init(void) {
 	rcu_periph_clock_enable(RCU_GPIOA);
 	rcu_periph_clock_enable(RCU_GPIOB);
 	rcu_periph_clock_enable(RCU_SPI0);
@@ -204,7 +203,7 @@ void KHT7823_gpio_init(void) {
  *
  * @details Configures SPI hardware and initializes necessary settings
  */
-void KHT7823_spi_init(void) {
+void KTH7823_spi_init(void) {
 	spi_parameter_struct spi_init_str;
 	spi_struct_para_init(&spi_init_str);
 
@@ -224,27 +223,34 @@ void KHT7823_spi_init(void) {
 }
 
 /**
- * @brief KHT7823 初始化
+ * @brief KTH7823 初始化
  */
-void KHT7823_init(void) {
-	KHT7823_gpio_init(); // GPIO初始化
-	KHT7823_spi_init();	 // SPI初始化
+void angle_sensor::KTH7823_init(void) {
+	KTH7823_gpio_init(); // GPIO初始化
+	KTH7823_spi_init();	 // SPI初始化
 	spi_dma_init();		 // DMA初始化
 }
+/**
+ * @brief 角度传感器构造函数
+ */
+angle_sensor::angle_sensor(void) { KTH7823_init(); }
 
 /**
  * @brief 读取传感器数据
  * @return 传感器数据
  */
-float KHT7823_readAngle() {
+float angle_sensor::readAngle(void) {
+	u16 u16data = FAULT_RECEIVE;
+
 	SPI_CS_ENABLE();
 	// 使用DMA发送命令并接收数据
-	u16 u16data;
 	if (spi_rw_half_word_dma(SPI0, DEFAULT_COMMAND, &u16data) == 0) {
 		SPI_CS_DISABLE();
 		return u16data * ANGLE_FACTOR;
 	} else {
 		SPI_CS_DISABLE();
+		// 处理读取错误
+		printf("Error reading angle from sensor.\n");
 		return FAULT_RECEIVE; // 错误返回
 	}
 }
\ No newline at end of file
diff --git a/Robot_V2/device/ang_sensor.h b/Robot_V2/device/ang_sensor.h
index 84a6e8a..f1f6c76 100644
--- a/Robot_V2/device/ang_sensor.h
+++ b/Robot_V2/device/ang_sensor.h
@@ -1,15 +1,24 @@
 #ifndef _angsensor_H
 #define _angsensor_H
+#include <cstdio>
 #ifdef __cplusplus
 extern "C" {
 #endif
 #include "gd32c10x_eval.h"
 #include "stdio.h"
 
-void KHT7823_init(void);
 u16 spi_rw_half_word(u32 spi_periph, const u16 i_HalfWord);
-float KHT7823_readAngle(void);
-int spi_rw_half_word_dma(uint32_t spi_periph, uint16_t tx_data, uint16_t* rx_data);
+int spi_rw_half_word_dma(uint32_t spi_periph, uint16_t tx_data,
+						 uint16_t *rx_data);
+
+class angle_sensor {
+  public:
+	angle_sensor();
+	float readAngle(void);
+
+  protected:
+	void KTH7823_init(void);
+};
 
 #ifdef __cplusplus
 }
diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp
index 17fc34f..2cce2d2 100644
--- a/Robot_V2/main.cpp
+++ b/Robot_V2/main.cpp
@@ -3,29 +3,27 @@
 #include "DengFOC.h"
 #include "Timer.h"
 #include "adc.h"
-#include "core_cm4.h"
 #include "ang_sensor.h"
+#include "core_cm4.h"
 #include "initial.h"
 #include "systick.h"
 
 // 全局变量定义
-CAN_transmiter CAN0_transmiter;	//CAN初始化
+CAN_transmiter CAN0_transmiter; // CAN初始化
 FOC_Controlroller FOC;			// FOC控制初始化
 sampler sampler;				// 采样器初始化
+angle_sensor KTH7823;			// 角度传感器初始化
 
 int main(void) {
-	systick_config();	// 系统时钟初始化
-	USART0_init();		// 调试串口初始化
-	User_timer_init();	// Timer初始化
-	sampler.init();		// ADC采样器初始化
-	KHT7823_init();		// 角度传感器初始化
-	driver_init();		// 电机驱动初始化
-
-	watchdog_init(5000);
+	systick_config();	 // 系统时钟初始化
+	USART0_init();		 // 调试串口初始化
+	User_timer_init();	 // Timer初始化
+	driver_init();		 // 电机驱动初始化
+	watchdog_init(5000); // 看门狗初始化
 	
 	while (1) {
 		// delay_1ms(100);
-		fwdgt_counter_reload();	// 看门狗复位
+		fwdgt_counter_reload();				   // 看门狗复位
 		CAN0_transmiter.communication_check(); // CAN通信
 	}
-}
+}
\ No newline at end of file