diff --git a/README.md b/README.md
index b63ba32..75bb437 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,6 @@
 # 滤波器
 
+[![Download](https://api.bintray.com/packages/mechdancer/maven/filters/images/download.svg) ](https://bintray.com/mechdancer/maven/filters/_latestVersion)
 [![Build Status](https://www.travis-ci.org/MechDancer/filters.svg?branch=master)](https://www.travis-ci.org/MechDancer/filters)
 
 ## 概述
@@ -37,5 +38,45 @@
 * 卡尔曼滤波器
 
   
-
+## 开始使用
+
+* Gradle
+* Maven
+* Bintray
+
+您需要将其添加至  [仓库和依赖](https://docs.gradle.org/current/userguide/declaring_dependencies.html) 中。
+
+### Gradle
+
+```groovy
+repositories {
+    jcenter()
+}
+dependencies {
+    compile 'org.mechdancer:filters:0.1.0'
+}
+```
+
+### Maven
+
+```xml
+<repositories>
+   <repository>
+     <id>jcenter</id>
+     <name>JCenter</name>
+     <url>https://jcenter.bintray.com/</url>
+   </repository>
+</repositories>
+
+<dependency>
+  <groupId>org.mechdancer</groupId>
+  <artifactId>filters</artifactId>
+  <version>0.1.0</version>
+  <type>pom</type>
+</dependency>
+```
+
+### Bintray
+
+您总可以从 bintray 直接下载 jar：[![Download](https://api.bintray.com/packages/mechdancer/maven/filters/images/download.svg) ](https://bintray.com/mechdancer/maven/filters/_latestVersion)
   
\ No newline at end of file
diff --git a/src/main/kotlin/org/mechdancer/filters/signalAndSystem/LowpassFilter.kt b/src/main/kotlin/org/mechdancer/filters/signalAndSystem/LowpassFilter.kt
index 0c06c44..a549bef 100644
--- a/src/main/kotlin/org/mechdancer/filters/signalAndSystem/LowpassFilter.kt
+++ b/src/main/kotlin/org/mechdancer/filters/signalAndSystem/LowpassFilter.kt
@@ -1,11 +1,11 @@
 package org.mechdancer.filters.signalAndSystem
 
-class LowpassFilter(private val _forgetRate: Double) : IMemorableOnlineSystem {
+class LowpassFilter(private val forgetRate: Double) : IMemorableOnlineSystem {
 	var memory = .0
 		private set
 
 	override fun invoke(data: Double): Double {
-		memory = memory * (1 - _forgetRate) + data * _forgetRate
+		memory = memory * (1 - forgetRate) + data * forgetRate
 		return memory
 	}
 
diff --git a/src/main/kotlin/org/mechdancer/filters/signalAndSystem/PID.kt b/src/main/kotlin/org/mechdancer/filters/signalAndSystem/PID.kt
index e9fc807..82c3f0c 100644
--- a/src/main/kotlin/org/mechdancer/filters/signalAndSystem/PID.kt
+++ b/src/main/kotlin/org/mechdancer/filters/signalAndSystem/PID.kt
@@ -2,26 +2,25 @@ package org.mechdancer.filters.signalAndSystem
 
 import java.lang.Math.abs
 
-class PID(private val _k: Double,
-          private val _ki: Double,
-          private val _kd: Double,
-          private val _integrateIArea: Double,
-          private val _deadArea: Double)
+class PID(private val k: Double,
+          private val ki: Double,
+          private val kd: Double,
+          private val integrateIArea: Double,
+          private val deadArea: Double)
 	: IMemorableOnlineSystem {
 
 	/** 运行参数  */
 	private var sum = 0.0
 	private var last = 0.0
 
-	@Suppress("PARAMETER_NAME_CHANGED_ON_OVERRIDE")
-	override fun invoke(error: Double): Double {
-		val value = abs(error)
-		sum = if (value > _integrateIArea) .0 else sum + error
-		if (value < _deadArea) sum *= .75
+	override fun invoke(data: Double): Double {
+		val value = abs(data)
+		sum = if (value > integrateIArea) .0 else sum + data
+		if (value < deadArea) sum *= .75
 		//计算
-		val result = error + _kd * (error - last) + _ki * sum
-		last = error
-		return _k * result
+		val result = data + kd * (data - last) + ki * sum
+		last = data
+		return k * result
 	}
 
 	/** 重置运行间参数  */