diff --git a/MDK-ARM/LWIP.uvguix.29643 b/MDK-ARM/LWIP.uvguix.29643
index 43eb047..7788da2 100644
--- a/MDK-ARM/LWIP.uvguix.29643
+++ b/MDK-ARM/LWIP.uvguix.29643
@@ -111,7 +111,7 @@
       <RegID>0</RegID>
       <MDITabState>
         <Len>616</Len>
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       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -1806,7 +1806,7 @@
         <Name>File</Name>
         <Buttons>
           <Len>2537</Len>
-          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         </Buttons>
         <OriginalItems>
           <Len>1423</Len>
@@ -3603,7 +3603,7 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>3</ActiveTab>
+      <ActiveTab>2</ActiveTab>
       <Doc>
         <Name>..\usersrc\config.c</Name>
         <ColumnNumber>19</ColumnNumber>
@@ -3634,8 +3634,8 @@
       <Doc>
         <Name>..\usersrc\udpclient.c</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>314</TopLine>
-        <CurrentLine>337</CurrentLine>
+        <TopLine>271</TopLine>
+        <CurrentLine>293</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
diff --git a/usersrc/encoder.c b/usersrc/encoder.c
index cc0ed9c..aa335e4 100644
--- a/usersrc/encoder.c
+++ b/usersrc/encoder.c
@@ -2,6 +2,7 @@
 #include "zboard.h"
 #include <stdio.h>
 #include "zport.h"
+#include "udpclient.h"
 
 static encoder_light_state_t camera_encoder_state = STANDBY;
 static encoder_light_state_t driven_encoder_gear_state = STANDBY;
@@ -138,3 +139,29 @@ encoder_light_state_t encoder_get_state(encoder_usage_t encoder)
     }
     return ENCODER_STATE_NUMBER_AND_ERR_STATE;
 }
+
+void encoder_all_encoder_clear_counter_and_structer_count(void)
+{
+    udp_client_get_active_report_data_structer()->encoder_1_count = 0;
+    udp_client_get_active_report_data_structer()->encoder_2_count = 0;
+    encoder_all_clear_counter();
+}
+
+void encoder_switch_encoder_clear_count_and_structer_count(encoder_usage_t encoder)
+{
+
+    switch (encoder)
+    {
+    case CAMERA_ENCODER:
+        udp_client_get_active_report_data_structer()->encoder_1_count = 0;
+        encoder_clear_counter(CAMERA_ENCODER);
+        break;
+    case DRIVEN_ENCODER_GEAR:
+        udp_client_get_active_report_data_structer()->encoder_2_count = 0;
+        encoder_clear_counter(DRIVEN_ENCODER_GEAR);
+        break;
+
+    default:
+        break;
+    }
+}
diff --git a/usersrc/encoder.h b/usersrc/encoder.h
index bc52d1f..df461f5 100644
--- a/usersrc/encoder.h
+++ b/usersrc/encoder.h
@@ -30,3 +30,5 @@ bool encoder_read_with_encoder(encoder_usage_t encoder, uint32_t *encoder_value)
 void encoder_light_schedule(void);
 void encoder_set_state(encoder_usage_t encoder, encoder_light_state_t state);
 encoder_light_state_t encoder_get_state(encoder_usage_t encoder);
+void encoder_all_encoder_clear_counter_and_structer_count(void);
+void encoder_switch_encoder_clear_count_and_structer_count(encoder_usage_t encoder);
diff --git a/usersrc/udpclient.c b/usersrc/udpclient.c
index a35cf16..f6886b2 100644
--- a/usersrc/udpclient.c
+++ b/usersrc/udpclient.c
@@ -268,13 +268,13 @@ void udp_client_parse(int recv_datalen)
             switch (rxcmd->data)
             {
             case CLEAR_ENCODER_ALL:
-                encoder_all_clear_counter();
+                encoder_all_encoder_clear_counter_and_structer_count();
                 break;
             case CLEAR_ENCODER_1:
-                encoder_clear_counter(CAMERA_ENCODER);
+                encoder_switch_encoder_clear_count_and_structer_count(CAMERA_ENCODER);
                 break;
             case CLEAR_ENCODER_2:
-                encoder_clear_counter(DRIVEN_ENCODER_GEAR);
+                encoder_switch_encoder_clear_count_and_structer_count(DRIVEN_ENCODER_GEAR);
                 break;
 
             default:
diff --git a/usersrc/usermain.c b/usersrc/usermain.c
index 6e13d76..d689c4a 100644
--- a/usersrc/usermain.c
+++ b/usersrc/usermain.c
@@ -49,12 +49,12 @@ static void onkey(zkey_t *key, zkey_state_t key_state)
   {
     if (strcmp(key->name, CHEAR_ENCODER_1_KEY_NAME) == 0)
     {
-      encoder_clear_counter(CAMERA_ENCODER);
+      encoder_switch_encoder_clear_count_and_structer_count(CAMERA_ENCODER);
       printf("clear encoder 1 count\r\n");
     }
     else if (strcmp(key->name, CHEAR_ENCODER_2_KEY_NAME) == 0)
     {
-      encoder_clear_counter(DRIVEN_ENCODER_GEAR);
+      encoder_switch_encoder_clear_count_and_structer_count(DRIVEN_ENCODER_GEAR);
       printf("clear encoder 2 count\r\n");
     }
   }