diff --git a/controller/fw/embed/src/main.cpp b/controller/fw/embed/src/main.cpp
index c7640d8..b342add 100644
--- a/controller/fw/embed/src/main.cpp
+++ b/controller/fw/embed/src/main.cpp
@@ -52,7 +52,7 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
   driver->pwm_frequency = 20000;
   driver->voltage_power_supply = 24;
   driver->voltage_limit = 24;
-  driver->init();  
+  driver->init();
 
   current_sense->linkDriver(driver);
   current_sense->init();
@@ -61,23 +61,23 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
   motor->linkDriver(driver);
   motor->linkCurrentSense(current_sense);
   motor->useMonitoring(Serial);
-  motor->monitor_downsample = 5000; // default 0
+  motor->monitor_downsample = 5000;  // default 0
   motor->controller = MotionControlType::angle;
   motor->torque_controller = TorqueControlType::voltage;
   motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
 
-  //PID start
+  //  PID start
   motor->PID_velocity.P = 0.75;
   motor->PID_velocity.I = 20;
-  motor->LPF_velocity.Tf = 0.005; 
-  motor->P_angle.P = 0.5 ;
-  motor->LPF_angle.Tf = 0.001;  
-  //PID end
+  motor->LPF_velocity.Tf = 0.005;
+  motor->P_angle.P = 0.5;
+  motor->LPF_angle.Tf = 0.001;
+  //  PID end
 
-  motor->velocity_limit = 40; // Ограничение по скорости вращения rad/s (382 rpm)
+  motor->velocity_limit = 40;  // Ограничение по скорости вращения rad/s (382 rpm)
   motor->voltage_limit = 24;
   motor->current_limit = 0.5;
-  
+
   motor->sensor_direction = Direction::CCW;
   motor->init();
   motor->initFOC();
@@ -176,7 +176,7 @@ void setup() {
   Can.setBaudRate(1000000);
   TIM_TypeDef *Instance = TIM2;
   HardwareTimer *SendTimer = new HardwareTimer(Instance);
-  SendTimer->setOverflow(100, HERTZ_FORMAT); // 50 Hz
+  SendTimer->setOverflow(100, HERTZ_FORMAT);  // 50 Hz
   SendTimer->attachInterrupt(send_data);
   SendTimer->resume();
   setup_foc(&encoder, &motor, &driver, &current_sense, &command, doMotor);