diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index 41b6e10..a4a260a 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -232,7 +232,7 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed)
     while (norm_rotation < -180.0f) {
         norm_rotation += 360.0f;
     }
-    float threshold = 90.0f;
+    float threshold = 110.0f;
     float target_single=fmodf(target_angle,360.0f);
     if(target_single<0.0f) target_single+=360.0f;
 
@@ -241,15 +241,15 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed)
 
 
     if (fabsf(norm_rotation) > threshold) {
-        int32_t round_diff = (int32_t)(target_angle / 360.0f) - (int32_t)(actual_angle / 360.0f);
+        int32_t round_diff = (int32_t)((target_angle-actual_angle) / 360.0f);
         *angle = actual_angle + norm_rotation-180.0f+round_diff*360.0f;
         *speed = -(*speed);
     }else if(norm_rotation<-threshold){
-        int32_t round_diff = (int32_t)(target_angle / 360.0f) - (int32_t)(actual_angle / 360.0f);
+        int32_t round_diff = (int32_t)((target_angle-actual_angle) / 360.0f);
         *angle = actual_angle + norm_rotation+180.0f+round_diff*360.0f;
         *speed = -(*speed);
     }
-    ANGLE_LIMIT_360_TO_180_ABS(*angle);
+    // ANGLE_LIMIT_360_TO_180_ABS(*angle);
     // float rotation = *angle - *last_angle;
     // ANGLE_LIMIT_360_TO_180_ABS(rotation);
     // if (rotation > 90) {