diff --git a/Code/Filter.vi b/Code/Filter.vi
index c39ac1e..c77afd5 100644
Binary files a/Code/Filter.vi and b/Code/Filter.vi differ
diff --git a/Code/STM32/Core/Src/Components/Robot.cpp b/Code/STM32/Core/Src/Components/Robot.cpp
index 1b5cefc..d4b7a1b 100644
--- a/Code/STM32/Core/Src/Components/Robot.cpp
+++ b/Code/STM32/Core/Src/Components/Robot.cpp
@@ -79,13 +79,13 @@ void Robot::init(){
 	DWT->CYCCNT = 0; // reset the counter
 	DWT->CTRL |= 1 ; // enable the counter
 	debug.info("Init DWT end");
+	debug.info("Init ESP8266 begin");
+	HAL_Delay(10000);
+	debug.info("Init ESP8266 end");
 	debug.info("Init IMU begin");
 	imu0.setup(0x68, MPU9250Setting(), &hi2c1);
 	imu0.calibrateAccelGyro();
 	debug.info("Init IMU end");
-	debug.info("Init ESP8266 begin");
-	HAL_Delay(10000);
-	debug.info("Init ESP8266 end");
 	motor0.setEncoder(&encoder0);
 	motor1.setEncoder(&encoder1);
 	motor0.kp = 1.3016/CONVERSION;
diff --git a/Code/Untitled 1.vi b/Code/Untitled 1.vi
index 61bda18..8163ee8 100644
Binary files a/Code/Untitled 1.vi and b/Code/Untitled 1.vi differ