diff --git a/include/dto/act_data.h b/include/dto/act_data.h
index a7468e2..91c3666 100644
--- a/include/dto/act_data.h
+++ b/include/dto/act_data.h
@@ -8,9 +8,9 @@
 #pragma pack(push, 1)
 struct ActData {
   IcdId message_id;
-  int32_t a_motor_theta;
+  int32_t a_motor_rad;
   int32_t a_motor_omega;
-  int32_t b_motor_theta;
+  int32_t b_motor_rad;
   int32_t b_motor_omega;
 };
 #pragma pack(pop)
diff --git a/include/dto/act_info.h b/include/dto/act_info.h
index 55bff19..02d18cb 100644
--- a/include/dto/act_info.h
+++ b/include/dto/act_info.h
@@ -4,10 +4,11 @@
 #include <cstdint>
 
 #include "../enum/icd_id.h"
-#include "../fsm/act_status.h"
+#include "../fsm/act_status.hpp"
 #include "act_data.h"
 #include "common_parameter.h"
 
+
 #pragma pack(push, 1)
 struct ActInfo {
   IcdId message_id;
diff --git a/include/dto/pin_control_main_command.h b/include/dto/pin_control_main_command.h
index 7d2d5bc..b7e8925 100644
--- a/include/dto/pin_control_main_command.h
+++ b/include/dto/pin_control_main_command.h
@@ -8,8 +8,8 @@
 #pragma pack(push, 1)
 struct PinControlMainCommand {
   IcdId message_id;
-  int32_t a_motor_theta;
-  int32_t b_motor_theta;
+  int32_t a_motor_rad;
+  int32_t b_motor_rad;
 };
 #pragma pack(pop)
 
diff --git a/include/dto/pin_control_req.h b/include/dto/pin_control_req.h
index 0b22ca0..c604677 100644
--- a/include/dto/pin_control_req.h
+++ b/include/dto/pin_control_req.h
@@ -8,8 +8,8 @@
 #pragma pack(push, 1)
 struct PinControlReq {
   IcdId message_id;
-  int32_t a_motor_theta;
-  int32_t b_motor_theta;
+  int32_t a_motor_rad;
+  int32_t b_motor_rad;
 };
 #pragma pack(pop)