diff --git a/angleData/cox_data_#20201107175328911_ori100_rot100_20201107175331-20201107175332.txt b/angleData/cox_data_#20201107175328911_ori100_rot100_20201107175331-20201107175332.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1eb6ce1b98afac9cbcfc8148b66b7c3abcb32d6d
--- /dev/null
+++ b/angleData/cox_data_#20201107175328911_ori100_rot100_20201107175331-20201107175332.txt
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diff --git a/angleData/cox_data_#20201107175328911_ori100_rot100_20201107175332-20201107175333.txt b/angleData/cox_data_#20201107175328911_ori100_rot100_20201107175332-20201107175333.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da93e05270e3ecfa07682678db35c5dd6f3a4bb7
--- /dev/null
+++ b/angleData/cox_data_#20201107175328911_ori100_rot100_20201107175332-20201107175333.txt
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diff --git a/angleData/cox_data_#20201107175328911_ori100_rot100_20201107175334-20201107175335.txt b/angleData/cox_data_#20201107175328911_ori100_rot100_20201107175334-20201107175335.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ff2939fda57ac9e017dd53780b664abfc89ef7f7
--- /dev/null
+++ b/angleData/cox_data_#20201107175328911_ori100_rot100_20201107175334-20201107175335.txt
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diff --git a/angleData/putAngleDataHere.txt b/angleData/putAngleDataHere.txt
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/distanceData/putDistanceDataHere.txt b/distanceData/putDistanceDataHere.txt
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/fileParse.py b/fileParse.py
index cf1db370807a7a146caf833c3c116a6ea5a2b6c0..5fdcaf650954b25f5443bd73a0a879f2f09886c2 100644
--- a/fileParse.py
+++ b/fileParse.py
@@ -14,17 +14,27 @@ class FileParse:
             unlink(file_path)
         except Exception as e:
             print("failed to delete")
-    
-    def read(self):
+
+    def removeAllFile(self):
         file_list = listdir(self.folderPath)
+        for file in file_list:
+            file_path = join(self.folderPath, file)
+            self.removeFile(file_path)
+        return
+    
+    def read(self,idx, delete):
+        file_list = sorted(listdir(self.folderPath))
         data = ""
 
-        for i, file in enumerate(file_list):
-            file_path = join(self.folderPath, file)
-            if i==(len(file_list)-1):
-                f = open(file_path, "r")
-                data = f.read()
-                f.close()
+        if len(file_list) == 0:
+            return null
+
+        file_path = join(self.folderPath, file_list[idx])
+        f = open(file_path, "r")
+        data = f.read()
+        f.close()
+
+        if delete:
             self.removeFile(file_path)
 
         result = []
@@ -37,6 +47,7 @@ class FileParse:
                 
         return result
 
+
 if __name__ == "__main__": 
     fp = FileParse("./test")
     print(fp.read())
\ No newline at end of file
diff --git a/team.py b/team.py
index 2a66f185d3beddba109e9416ff67831e26f09e99..080da67461c9ce77b7b8fabe9f6b62ed175e2a13 100644
--- a/team.py
+++ b/team.py
@@ -7,6 +7,7 @@ import time
 from fileParse import FileParse
 import math
 import statistics
+import _thread
 
 duration = 0.1 # duration of the sine wave
 sleepDuration = 0.1 # duration of waiting for sine wave to play
@@ -22,11 +23,11 @@ sg = sineGenerator(fs)
 fpDistance = FileParse("./distanceData") #place folder path here
 fpAngle = FileParse("./angleData") #place folder path here
 player.play()
-meanRadian = 0
+radian = 0
 
 if(fpDistance.fileCount()>0):
     try:
-        datas = fpDistance.read()
+        datas = fpDistance.read(0,True)
         for data in datas:
             print(data)
             distance = int(data[1])
@@ -45,15 +46,15 @@ if(fpDistance.fileCount()>0):
                 time.sleep(speechDuration)
             if mode == '3':
                 distance2 = int(data[2])
-                print(fpAngle.fileCount())
                 if fpAngle.fileCount()>0:
-                    angleDatas = [angle for angle in fpAngle.read() if angle[1]=='4']
-                    meanRadian = math.radians(statistics.mean([float(a) for a in angleDatas[5]]))
-                height = distance*math.cos(meanRadian) + distance2*math.sin(meanRadian) 
-                width = distance2*math.cos(meanRadian)
+                    angleDatas = [angle for angle in fpAngle.read(-1, False) if angle[1]=='4']
+                    _thread.start_new_thread(fpAngle.removeAllFile,())
+                    pitch = statistics.mean([float(a) for a in angleDatas[4]])* 2 / 32767 * math.pi
+                    roll = statistics.mean([float(a) for a in angleDatas[5]])* 2 / 32767 * math.pi
+                    radian = math.acos(math.sqrt(1 / (1 + math.tan(pitch) * math.tan(pitch) + math.tan(roll) * math.tan(roll))))
+                height = distance*math.cos(radian) + distance2*math.sin(radian) 
+                width = distance2*math.cos(radian)
                 print("Height: ", height, " Width: ", width)
 
-                
-                
     except KeyboardInterrupt:   # Ctrl+C
         del player
diff --git a/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175328-20201107175330.txt b/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175328-20201107175330.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9ab797284aee13e28de0040ffb8f0af8b9bc9f8c
--- /dev/null
+++ b/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175328-20201107175330.txt
@@ -0,0 +1,186 @@
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+0,4,0,378,-1042,-1085
+1000,5,0,1665,1646,-588,16205
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diff --git a/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175331-20201107175332.txt b/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175331-20201107175332.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1eb6ce1b98afac9cbcfc8148b66b7c3abcb32d6d
--- /dev/null
+++ b/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175331-20201107175332.txt
@@ -0,0 +1,408 @@
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diff --git a/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175332-20201107175333.txt b/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175332-20201107175333.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da93e05270e3ecfa07682678db35c5dd6f3a4bb7
--- /dev/null
+++ b/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175332-20201107175333.txt
@@ -0,0 +1,298 @@
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diff --git a/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175334-20201107175335.txt b/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175334-20201107175335.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ff2939fda57ac9e017dd53780b664abfc89ef7f7
--- /dev/null
+++ b/testAngleData/cox_data_#20201107175328911_ori100_rot100_20201107175334-20201107175335.txt
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diff --git a/testDistanceData/distanceData.txt b/testDistanceData/distanceData.txt
new file mode 100644
index 0000000000000000000000000000000000000000..38a5bac6cb05481ad22fa49aa38644d36d703c03
--- /dev/null
+++ b/testDistanceData/distanceData.txt
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