diff --git a/arduino/main/main.ino b/arduino/main/main.ino
index b9a5c19..62f5ec6 100644
--- a/arduino/main/main.ino
+++ b/arduino/main/main.ino
@@ -70,10 +70,12 @@ double target_angle = 91;
 double target_voltage = 0;
 void onPacketCallBack(AsyncUDPPacket packet)
 {
- 
-  target_velocity = atoi((char*)(packet.data()));
-  Serial.print("数据内容: ");
-  Serial.println(target_velocity);
+  char* da;
+  da= (char*)(packet.data());
+  Serial.println(da);
+//  target_velocity = atoi();
+//  Serial.print("数据内容: ");
+//  Serial.println(target_velocity);
   wifi_flag = 1;
 //  packet.print("reply data");
 }
@@ -357,4 +359,5 @@ void wifi_print(char * s,double num)
   strcat(str, n);
   strcat(buf+strlen(buf), str);
   strcat(buf, ",");
+
 }
diff --git a/ctest/com.cpp b/ctest/com.cpp
new file mode 100644
index 0000000..58c3cb1
--- /dev/null
+++ b/ctest/com.cpp
@@ -0,0 +1,26 @@
+#include "com.h"
+void Command::run(char* str){
+  for(int i=0; i < call_count; i++){
+        if(call_ids[i]){
+          call_list[i](&str);
+          break;
+        }
+      }
+}
+void Command::add(char* id, CommandCallback onCommand){
+  call_list[call_count] = onCommand;
+  call_ids[call_count] = id;
+  call_count++;
+}
+void Command::scalar(float* value,  char* user_cmd){
+  *value = atof(user_cmd);
+}
+bool Commander::isSentinel(char* ch,char* str)
+{
+	char s[strlen(ch)];
+	strncpy(s,str,strlen(ch));
+	if(strcmp(ch, s) == 0)
+    	return true;
+	else 
+  		return false;
+}
diff --git a/ctest/com.h b/ctest/com.h
new file mode 100644
index 0000000..0c4a509
--- /dev/null
+++ b/ctest/com.h
@@ -0,0 +1,16 @@
+// callback function pointer definiton
+typedef void (* CommandCallback)(char*); //!< command callback function pointer
+class Command
+{
+	public:
+		void add(char* id , CommandCallback onCommand);
+		void run(char* str);
+		void Command::scalar(float* value,  char* user_cmd);
+		bool Commander::isSentinel(char* ch);
+	private:
+	    // Subscribed command callback variables
+	    CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
+	    char* call_ids[20]; //!< added callback commands
+	    int call_count = 0;//!< number callbacks that are subscribed
+	
+}
diff --git a/ctest/ctest1.cpp b/ctest/ctest1.cpp
new file mode 100644
index 0000000..dfb59b3
--- /dev/null
+++ b/ctest/ctest1.cpp
@@ -0,0 +1,41 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include "com.h"
+char buf[255];
+void wifi_print(char * s,double num)
+{
+	char str[255];
+	char n[255];
+	sprintf(n, "%.2f",num);
+	strcpy(str,s);
+	strcat(str, n);
+	strcat(buf+strlen(buf), str);
+	strcat(buf, ",");
+}
+float v = 0.1;
+void re_command(float *num)
+{
+	*num = *num + 1;
+}
+char* str = "abc23";
+char* cmd_id = "abc";
+main()
+{
+	re_command(&v);
+	char s[strlen(cmd_id)];
+	
+	strncpy(s,str,strlen(cmd_id));
+	printf("%s", s);
+	if(strcmp(cmd_id, s) == 0)
+	{
+		printf("%f", v);
+		v = atof(str+strlen(cmd_id));
+		printf("%f", v);
+	}
+		
+//	char* da;
+//	da = "123456";
+//	if (da[0] == '2')
+    
+}
diff --git a/ctest/ctest1.exe b/ctest/ctest1.exe
new file mode 100644
index 0000000..f9108e6
Binary files /dev/null and b/ctest/ctest1.exe differ