diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID_1.c
similarity index 98%
rename from diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID.c
rename to diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID_1.c
index bd38ed1..9efa26f 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_PID_1.c
@@ -43,8 +43,8 @@ void GF_MSP_PID_Now_Der_adj_Com_Weld(double Current_Angle, double Desire_Angle_I
 /* 将角度归一化到 [-180, 180) */
 static float normalize_angle(float angle)
 {
-    while (angle >= 180.0f) angle -= 360.0f;
-    while (angle < -180.0f) angle += 360.0f;
+    if (angle >= 180.0f) angle -= 360.0f;
+    else if (angle < -180.0f) angle += 360.0f;
     return angle;
 }