diff --git a/MDK-ARM/LWIP.uvguix.29643 b/MDK-ARM/LWIP.uvguix.29643
index f8be66a..25a41e1 100644
--- a/MDK-ARM/LWIP.uvguix.29643
+++ b/MDK-ARM/LWIP.uvguix.29643
@@ -3741,9 +3741,9 @@
       </Doc>
       <Doc>
         <Name>..\usersrc\udpclient.c</Name>
-        <ColumnNumber>0</ColumnNumber>
+        <ColumnNumber>5</ColumnNumber>
         <TopLine>68</TopLine>
-        <CurrentLine>69</CurrentLine>
+        <CurrentLine>97</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
diff --git a/usersrc/encoder.c b/usersrc/encoder.c
index 3968ab3..05d3154 100644
--- a/usersrc/encoder.c
+++ b/usersrc/encoder.c
@@ -23,13 +23,13 @@ void encoder_all_stop(void)
     }
 }
 
-bool encoder_clear_counter(TIM_HandleTypeDef *tim_handler)
+bool encoder_clear_counter(encoder_usage_t encoder)
 {
     for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
     {
-        if (tim_handler == m_uarts[i].tim_handler)
+        if (encoder == i)
         {
-            __HAL_TIM_GET_COUNTER(tim_handler) = 0;
+            __HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler) = 0;
             return true;
         }
     }
diff --git a/usersrc/encoder.h b/usersrc/encoder.h
index dfe67d7..cf7b2dc 100644
--- a/usersrc/encoder.h
+++ b/usersrc/encoder.h
@@ -16,6 +16,6 @@ typedef struct
 
 void encoder_all_start(void);
 void encoder_all_stop(void);
-bool encoder_clear_counter(TIM_HandleTypeDef *tim_handler);
+bool encoder_clear_counter(encoder_usage_t encoder);
 void encoder_all_clear_counter(void);
 bool encoder_read_with_encoder(encoder_usage_t encoder, uint32_t *encoder_value);
diff --git a/usersrc/udpclient.c b/usersrc/udpclient.c
index 3684685..a131022 100644
--- a/usersrc/udpclient.c
+++ b/usersrc/udpclient.c
@@ -9,7 +9,6 @@
 #include "protocol.h"
 #include "encoder.h"
 #include "zport.h"
-#include "zboard.h"
 
 #define cmd_checksum(data)                                             \
     if (computesum8((char *)data, recv_datalen - 1) != data->checksum) \
@@ -225,10 +224,10 @@ void udp_client_parse(int recv_datalen)
                 encoder_all_clear_counter();
                 break;
             case CLEAR_ENCODER_1:
-                encoder_clear_counter(&camera_encoder);
+                encoder_clear_counter(CAMERA_ENCODER);
                 break;
             case CLEAR_ENCODER_2:
-                encoder_clear_counter(&driven_encoder_gear);
+                encoder_clear_counter(DRIVEN_ENCODER_GEAR);
                 break;
 
             default: