diff --git a/src/MindVisionMain.cpp b/src/MindVisionMain.cpp
index 6bf0198..612fd6c 100644
--- a/src/MindVisionMain.cpp
+++ b/src/MindVisionMain.cpp
@@ -24,33 +24,29 @@
 PidController pitch_pid(0.1f, 0.01f, 0.05f); // Default PID values for pitch
 PidController yaw_pid(0.1f, 0.01f, 0.05f);   // Default PID values for yaw
 
-// Global pointers to PID controllers to be accessed by trackbar callbacks
-PidController* g_pitch_pid = &pitch_pid;
-PidController* g_yaw_pid = &yaw_pid;
-
-// Callback functions for trackbars
+// Callback functions for trackbars - use direct access to global objects
 void on_pitch_kp_trackbar(int pos, void*) {
-    g_pitch_pid->setKp(pos / 100.0f);
+    pitch_pid.setKp(pos / 100.0f);
 }
 
 void on_pitch_ki_trackbar(int pos, void*) {
-    g_pitch_pid->setKi(pos / 1000.0f);
+    pitch_pid.setKi(pos / 1000.0f);
 }
 
 void on_pitch_kd_trackbar(int pos, void*) {
-    g_pitch_pid->setKd(pos / 100.0f);
+    pitch_pid.setKd(pos / 100.0f);
 }
 
 void on_yaw_kp_trackbar(int pos, void*) {
-    g_yaw_pid->setKp(pos / 100.0f);
+    yaw_pid.setKp(pos / 100.0f);
 }
 
 void on_yaw_ki_trackbar(int pos, void*) {
-    g_yaw_pid->setKi(pos / 1000.0f);
+    yaw_pid.setKi(pos / 1000.0f);
 }
 
 void on_yaw_kd_trackbar(int pos, void*) {
-    g_yaw_pid->setKd(pos / 100.0f);
+    yaw_pid.setKd(pos / 100.0f);
 }
 
 // Function to output control data to TTL device (with enable control)
@@ -71,7 +67,7 @@ void output_control_data(const cv::Point2f* ballistic_point,
         static auto last_time = std::chrono::high_resolution_clock::now();
         auto current_time = std::chrono::high_resolution_clock::now();
         float dt = std::chrono::duration<float>(current_time - last_time).count();
-        if (dt < 0.001f) dt = 0.01f; // Minimum dt to avoid division by zero
+        if (dt <= 0) dt = 0.01f; // Minimum dt to avoid division by zero
         last_time = current_time;
 
         // Apply PID control to the pitch (vertical) component
@@ -82,16 +78,16 @@ void output_control_data(const cv::Point2f* ballistic_point,
 
         // Convert PID outputs to the expected format
         // The PID output might be large, so we might need to scale it
-        int ballistic_offset_yaw = 1.9 * (-static_cast<int>(pid_yaw_output));
-        int ballistic_offset_pitch = 1.9 * (-static_cast<int>(pid_pitch_output));
+        int ballistic_offset_yaw = static_cast<int>(pid_yaw_output);
+        int ballistic_offset_pitch = static_cast<int>(pid_pitch_output);
 
         // Apply same limits as before
         if (abs(ballistic_offset_yaw) > 320) {
-            ballistic_offset_yaw = (ballistic_offset_yaw / abs(ballistic_offset_yaw)) * 220*1.9; // Keep the scale factor
+            ballistic_offset_yaw = (ballistic_offset_yaw / abs(ballistic_offset_yaw)) * 220; // Keep the scale factor
         }
         if (abs(ballistic_offset_pitch) > 180) {
             // Use the same scale factor as before
-            ballistic_offset_pitch = (ballistic_offset_pitch / abs(ballistic_offset_pitch)) * 180 * 1.9;
+            ballistic_offset_pitch = (ballistic_offset_pitch / abs(ballistic_offset_pitch)) * 180 * ;
         }
 
         // Color simplification mapping
@@ -126,8 +122,8 @@ int main(int /*argc*/, char* /*argv*/[]) {
     static int Numbe = 0;
     std::string target_color = "red";
     int cam_id = 0;
-    cv::Size default_resolution(1280, 720); // Changed to 640x480 for consistency with SJTU project
-    bool use_ttl = true; // Set to false to disable TTL communication
+    cv::Size default_resolution(640, 480); // Changed to 640x480 for consistency with SJTU project
+    bool use_ttl = false; // Set to false to disable TTL communication
 
 
     if (Numbe == 0) {
@@ -378,14 +374,6 @@ int main(int /*argc*/, char* /*argv*/[]) {
                 initialized_trackbars = true;
             }
 
-            // Update trackbar positions in case they were changed externally
-            cv::setTrackbarPos("Pitch Kp", "PID Tuning", static_cast<int>(pitch_pid.getKp() * 100));
-            cv::setTrackbarPos("Pitch Ki", "PID Tuning", static_cast<int>(pitch_pid.getKi() * 1000));
-            cv::setTrackbarPos("Pitch Kd", "PID Tuning", static_cast<int>(pitch_pid.getKd() * 100));
-            cv::setTrackbarPos("Yaw Kp", "PID Tuning", static_cast<int>(yaw_pid.getKp() * 100));
-            cv::setTrackbarPos("Yaw Ki", "PID Tuning", static_cast<int>(yaw_pid.getKi() * 1000));
-            cv::setTrackbarPos("Yaw Kd", "PID Tuning", static_cast<int>(yaw_pid.getKd() * 100));
-
             // Display windows
             cv::imshow("Armor Detection", frame);
             cv::imshow(target_color + " Mask", mask);