diff --git a/Bingoo/common/CMakeLists.txt b/Bingoo/CANmotor/CMakeLists.txt
similarity index 72%
rename from Bingoo/common/CMakeLists.txt
rename to Bingoo/CANmotor/CMakeLists.txt
index b746c1d..06cceae 100644
--- a/Bingoo/common/CMakeLists.txt
+++ b/Bingoo/CANmotor/CMakeLists.txt
@@ -9,7 +9,7 @@ else()
 endif()
 
 if(TARGET base)
-    target_link_libraries(common PUBLIC base)
+    target_link_libraries(CANmotor PUBLIC base)
 else()
-    message(WARNING "[common] Dependency 'base' not found.")
+    message(WARNING "[CANmotor] Dependency 'base' not found.")
 endif()
\ No newline at end of file
diff --git a/Bingoo/common/bsp_FDCAN.c b/Bingoo/CANmotor/bsp_FDCAN.c
similarity index 99%
rename from Bingoo/common/bsp_FDCAN.c
rename to Bingoo/CANmotor/bsp_FDCAN.c
index 762fbc3..1326a75 100644
--- a/Bingoo/common/bsp_FDCAN.c
+++ b/Bingoo/CANmotor/bsp_FDCAN.c
@@ -4,7 +4,7 @@
  *  Created on: Oct 26, 2023
  *      Author: shiya
  */
-#ifdef BUILD_COMMON
+#ifdef BUILD_CANMOTOR
 #include "bsp_FDCAN.h"
 #include "main.h"
 #include <stdlib.h>
@@ -326,4 +326,4 @@ void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,
 
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/Bingoo/common/include/bsp_FDCAN.h b/Bingoo/CANmotor/include/bsp_FDCAN.h
similarity index 99%
rename from Bingoo/common/include/bsp_FDCAN.h
rename to Bingoo/CANmotor/include/bsp_FDCAN.h
index 7459ce6..5d5e68b 100644
--- a/Bingoo/common/include/bsp_FDCAN.h
+++ b/Bingoo/CANmotor/include/bsp_FDCAN.h
@@ -4,7 +4,7 @@
  *  Created on: Oct 26, 2023
  *      Author: shiya
  */
-#ifdef BUILD_COMMON
+#ifdef BUILD_CANMOTOR
 #ifndef INC_BSP_FDCAN_H_
 #define INC_BSP_FDCAN_H_
 #include "bsp_Error.pb.h"
diff --git a/Bingoo/CANmotor/include/motor.h b/Bingoo/CANmotor/include/motor.h
new file mode 100644
index 0000000..c51d6dc
--- /dev/null
+++ b/Bingoo/CANmotor/include/motor.h
@@ -0,0 +1,45 @@
+/*
+ * motor.h
+ *
+ *  Created on: 2026年4月20日
+ *      Author: Lizongdi
+ */
+#ifdef BUILD_CANMOTOR
+#ifndef FSM_INC_MOTOR_H_
+#define FSM_INC_MOTOR_H_
+
+#include "bsp_FDCAN.h"
+#include "BHBF_ROBOT.h"
+
+typedef enum
+{    
+    M_TYPE_MOVELEFT, 
+    M_TYPE_MOVERIGHT,
+    M_TYPE_SWING
+}EMotorType;
+
+typedef struct
+{
+    int32_t MotorID;
+    EMotorType MotorType;
+    int32_t HeartbeatID;
+    FDCANHandler *fHandler;
+    TT_MotorParameters *pMotorParam;
+}TMotorCtrl;
+
+/*待适配接口*/
+void MotorGetState(TMotorCtrl *ptMotorCtrl, char *buffer);
+
+void WheelFuncInit(TMotorCtrl *ptLeftMotorCtrl, TMotorCtrl *ptRightMotorCtrl);
+void WheelFuncProc(TMotorCtrl *ptLeftMotorCtrl, TMotorCtrl *ptRightMotorCtrl);
+void WheelSetVelcity(TMotorCtrl *ptMotorCtrl, float fSpeed_M_min);
+
+void SwingFuncInit(TMotorCtrl *ptMotorCtrl);
+void SwingFuncProc(TMotorCtrl *ptMotorCtrl);
+void SwingSetPosition(TMotorCtrl *ptMotorCtrl, float fPositionAngle, int32_t iVelcityDegreeS);
+
+/*对外接口声明*/
+void MotorInit(void);
+
+#endif
+#endif /* FSM_INC_MOTOR_H_ */
diff --git a/Bingoo/CANmotor/motor.c b/Bingoo/CANmotor/motor.c
new file mode 100644
index 0000000..6bb6d3c
--- /dev/null
+++ b/Bingoo/CANmotor/motor.c
@@ -0,0 +1,141 @@
+/*
+ * motor.c
+ *
+ *  Created on: 2026年4月20日
+ *      Author: Lizongdi
+ */
+#ifdef BUILD_CANMOTOR
+
+#include "motor.h"
+
+TMotorCtrl *g_leftmotor;
+TMotorCtrl *g_rightmotor;
+TMotorCtrl *g_swingmotor;
+
+char a[10];
+int32_t fluat_flag=0;
+
+static void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length)
+{
+
+	memcpy(a,buffer,8);
+    fluat_flag = canID - 0x580;
+	switch (fluat_flag)
+	{
+		case 1:
+		{
+			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID1_LeftMotor", 1);
+			MotorGetState(g_leftmotor, buffer);
+		}
+			break;
+		case 2:
+		{
+			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID2_RightMotor", 1);
+			MotorGetState(g_rightmotor, buffer);
+		}
+			break;
+		case 3:
+		{
+			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "ZQ_CAN_ID3_SwingMotor", 1);
+			MotorGetState(g_swingmotor, buffer);
+		}
+			break;
+	}
+
+}
+
+static void MotorCommandsLoop()
+{
+    static char TT_Motor_Need_To_Activate = 1;
+    WheelSetVelcity(g_leftmotor, GV.Left_Speed_M_min);
+    WheelSetVelcity(g_rightmotor, GV.Right_Speed_M_min);
+
+    if (TT_Motor_Need_To_Activate == 1)
+	{
+		WheelFuncInit(g_leftmotor, g_rightmotor);
+	    TT_Motor_Need_To_Activate = 0;
+	}
+	else
+	{
+        WheelFuncProc(g_leftmotor, g_rightmotor);
+	}	
+}
+
+static void MotorCommandsLoop_2_Position()
+{
+    static char TT_Motor_Need_To_Activate_1 = 1;
+    SwingSetPosition(g_swingmotor, GV.Tar_Position_angle, GV.Tar_Position_Velcity_Degree_S);
+
+	if (TT_Motor_Need_To_Activate_1 == 1)
+	{
+	    SwingFuncInit(g_swingmotor);
+		TT_Motor_Need_To_Activate_1 = 0;
+	}
+	else
+	{
+	    SwingFuncProc(g_swingmotor);
+	}
+}
+
+static TMotorCtrl *MotorControllerInit(int32_t MotorID, EMotorType MotorType, 
+    int32_t HeartbeatID, FDCANHandler *fHandler)
+{
+    TMotorCtrl *ptMotorCtrl = malloc(sizeof(TMotorCtrl));
+
+    if (ptMotorCtrl == NULL)
+    {
+        return NULL;
+    }
+    
+    ptMotorCtrl->pMotorParam = malloc(sizeof(TT_MotorParameters));
+
+    if (ptMotorCtrl->pMotorParam == NULL)
+    {
+        return NULL;
+    }
+    
+    if (M_TYPE_MOVELEFT == MotorType)
+    {
+        ptMotorCtrl->pMotorParam = &GV.LeftMotor;  
+        HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID1_LeftMotor",  1, ComError_ZQ_CAN_ID1_LeftMotor);
+    }
+    else if (M_TYPE_MOVERIGHT == MotorType)
+    {
+        ptMotorCtrl->pMotorParam = &GV.RightMotor;
+        HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID2_RightMotor", 1, ComError_ZQ_CAN_ID2_RightMotor);
+    }
+    else if (M_TYPE_SWING == MotorType)
+    {
+        ptMotorCtrl->pMotorParam = &GV.SwingMotor; 
+        HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID3_SwingMotor", 1, ComError_ZQ_CAN_ID3_SwingMotor);
+    }
+    
+    ptMotorCtrl->pMotorParam->MotorID = MotorID;  
+    ptMotorCtrl->MotorID = MotorID;
+    ptMotorCtrl->MotorType = MotorType;
+    ptMotorCtrl->HeartbeatID = HeartbeatID;
+    ptMotorCtrl->fHandler = fHandler;
+    
+	ptMotorCtrl->fHandler->CAN_Decode = Roughening_MotorDecodeCAN;    
+	ptMotorCtrl->fHandler->dispacherController->DispacherCallTime = 2;
+
+    if (M_TYPE_SWING == MotorType)
+    {
+        ptMotorCtrl->fHandler->dispacherController->Add_Dispatcher_List(ptMotorCtrl->fHandler->dispacherController, MotorCommandsLoop_2_Position);
+    }
+    else if (M_TYPE_MOVELEFT == MotorType || M_TYPE_MOVERIGHT == MotorType)
+    {
+        ptMotorCtrl->fHandler->dispacherController->Add_Dispatcher_List(ptMotorCtrl->fHandler->dispacherController, MotorCommandsLoop);
+    }
+    
+    return ptMotorCtrl;
+}
+
+void MotorInit(void)
+{
+    g_leftmotor = MotorControllerInit(1, M_TYPE_MOVELEFT, 0x707, &FD_CAN_1_Handler);
+    g_rightmotor = MotorControllerInit(2, M_TYPE_MOVERIGHT, 0x708, &FD_CAN_1_Handler);
+    g_swingmotor = MotorControllerInit(3, M_TYPE_SWING, 0x709, &FD_CAN_2_Handler);
+}
+
+#endif
diff --git a/Bingoo/library/CMakeLists.txt b/Bingoo/library/CMakeLists.txt
index c49b03b..7d4ea94 100644
--- a/Bingoo/library/CMakeLists.txt
+++ b/Bingoo/library/CMakeLists.txt
@@ -178,7 +178,11 @@ else()
     if(MY_BUILD_STATIC)
         add_library(${TARGET_NAME} STATIC ${MODULE_SRCS})
     else()
-        add_library(${TARGET_NAME} SHARED ${MODULE_SRCS})
+        if(A_BUILD_MAIN_AS_STATIC_LIB)
+            add_library(${TARGET_NAME} OBJECT ${MODULE_SRCS})
+        else()
+            add_library(${TARGET_NAME} SHARED ${MODULE_SRCS})
+        endif()
     endif()
 	
 	if(CMAKE_BUILD_TYPE STREQUAL "Debug")
diff --git a/Bingoo/main/CMakeLists.txt b/Bingoo/main/CMakeLists.txt
index 4b98222..a12b9e7 100644
--- a/Bingoo/main/CMakeLists.txt
+++ b/Bingoo/main/CMakeLists.txt
@@ -1,9 +1,9 @@
 cmake_minimum_required(VERSION 3.10)
 
-option(A_BUILD_MAIN_AS_STATIC_LIB "Build as a static library instead of an executable" OFF)
-
 get_filename_component(TARGET_NAME ${CMAKE_CURRENT_SOURCE_DIR} NAME)
 
+option(A_BUILD_MAIN_AS_STATIC_LIB "Build as a static library instead of an executable" OFF)
+
 set(MAIN_SRCS
     main.c
 )
diff --git a/Bingoo/motor/CMakeLists.txt b/Bingoo/motor/CMakeLists.txt
index 5f3c0e1..deab195 100644
--- a/Bingoo/motor/CMakeLists.txt
+++ b/Bingoo/motor/CMakeLists.txt
@@ -14,8 +14,8 @@ else()
     message(WARNING "[motor] Dependency 'base' not found.")
 endif()
 
-if(TARGET common)
-    target_link_libraries(motor PUBLIC common)
+if(TARGET CANmotor)
+    target_link_libraries(motor PUBLIC CANmotor)
 else()
-    message(WARNING "[motor] Dependency 'common' not found.")
+    message(WARNING "[motor] Dependency 'CANmotor' not found.")
 endif()
\ No newline at end of file
diff --git a/Bingoo/motor/include/motor.h b/Bingoo/motor/include/motor.h
deleted file mode 100644
index 54bf76f..0000000
--- a/Bingoo/motor/include/motor.h
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
- * motor.h
- *
- *  Created on: 2026年4月20日
- *      Author: Lizongdi
- */
-#ifdef BUILD_MOTOR
-#ifndef FSM_INC_MOTOR_H_
-#define FSM_INC_MOTOR_H_
-
-#include "bsp_FDCAN.h"
-
-typedef enum
-{    
-    M_TYPE_MOVELEFT, 
-    M_TYPE_MOVERIGHT,
-    M_TYPE_SWING
-}EMotorType;
-
-typedef struct
-{
-    int32_t MotorID;
-    EMotorType MotorType;
-    int32_t HeartbeatID;
-    FDCANHandler *fHandler;
-}TMotorCtrl;
-
-typedef struct
-{
-    void (*MotorFuncInit)(TMotorCtrl *ptMotorCtrl);
-}TMotorInterface;
-
-void MotorInit(void);
-#endif
-#endif /* FSM_INC_MOTOR_H_ */
diff --git a/Bingoo/motor/include/msp_TTMotor_ZQ.h b/Bingoo/motor/include/msp_TTMotor_ZQ.h
index 55c2f6c..5cebc5d 100644
--- a/Bingoo/motor/include/msp_TTMotor_ZQ.h
+++ b/Bingoo/motor/include/msp_TTMotor_ZQ.h
@@ -66,6 +66,11 @@ extern "C"{
 /*==============================================*
  *      constants or macros define              *
  *----------------------------------------------*/
+#define Move_Base_Speed_Count_m_Min 201.7*7.64//天太电机1m/min
+    
+#define Swing_Speed_Deg_Sencond_motor 201.7//HJ32-121
+#define middle_position_motor -944334
+#define TT_One_Deg_Count_motor 	11014///32768*121/360(减速比121)=11014
 
 
 /*==============================================*
@@ -85,8 +90,6 @@ extern void Configure_Asynchronous_Mode(TMotorCtrl *ptMotorCtrl, int32_t Node_Nu
 extern void Consumer_Or_microcontroller_Heartbeat(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
 extern void Driver_ReadError(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
 extern void Enable_NMT(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
-extern void MotorMoveCAN2ParamInit(void);
-extern void MotorMoveParamInit(void);
 extern void Position_Immediately_Setting(TMotorCtrl *ptMotorCtrl, int32_t Deri_Position, int32_t Deri_Speed, int32_t WaitTime);
 extern void Position_Lag_Setting(TMotorCtrl *ptMotorCtrl, int32_t Deri_Position, int32_t Deri_Speed, int32_t WaitTime);
 extern void Position_Lay_Setting(TMotorCtrl *ptMotorCtrl, int32_t Deri_Position,int32_t Deri_Speed, int32_t WaitTime);
@@ -97,7 +100,7 @@ extern void Postion_Velcocity_Stop(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
 extern void SetMotorTargetPosition(TMotorCtrl *ptMotorCtrl, int32_t TargetPosition, int32_t WaitTime);
 extern void Set_Current_Positon_Zero(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
 extern void SpeedModeSetup(TMotorCtrl *ptMotorCtrl, int32_t WaitTime, int32_t Acc, int32_t Dec, int32_t TargetVelocity);
-extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
+extern void TT_Analytic_Fun(TMotorCtrl *ptMotorCtrl, char *buffer);
 extern void TT_Request_Current(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
 extern void TT_Request_Fault(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
 extern void TT_Request_Position(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
diff --git a/Bingoo/motor/motor.c b/Bingoo/motor/motor.c
deleted file mode 100644
index 6a70d4e..0000000
--- a/Bingoo/motor/motor.c
+++ /dev/null
@@ -1,198 +0,0 @@
-/*
- * motor.c
- *
- *  Created on: 2026年4月20日
- *      Author: Lizongdi
- */
-#ifdef BUILD_MOTOR
-
-#include "bsp_FDCAN.h"
-#include "motor.h"
-#include "BHBF_ROBOT.h"
-#include "msp_TTMotor_ZQ.h"
-
-TMotorCtrl *g_leftmotor;
-TMotorCtrl *g_rightmotor;
-TMotorCtrl *g_swingmotor;
-
-char a[10];
-int32_t fluat_flag=0;
-
-extern TT_MotorParameters *TT_Motor[7];
-
-static void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length)
-{
-
-	memcpy(a,buffer,8);
-    fluat_flag = canID - 0x580;
-	switch (fluat_flag)
-	{
-
-		case 1:
-		{
-			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID1_LeftMotor", 1);
-			TT_Analytic_Fun(1, buffer);
-		}
-			break;
-		case 2:
-		{
-			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID2_RightMotor", 1);
-			TT_Analytic_Fun(2, buffer);
-		}
-			break;
-		case 3:
-		{
-			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "ZQ_CAN_ID3_SwingMotor", 1);
-			TT_Analytic_Fun(3, buffer);
-		}
-			break;
-	}
-
-}
-
-static void MotorCommandsLoop()
-{
-    static char TT_Motor_Need_To_Activate = 1;
-//
-//	if(start_time<15000)
-//	{
-//		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID1_LeftMotor", 1);
-//		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID2_RightMotor", 1);
-//	}
-    static int Heartbeat_Flag_01;
-    MotorMoveParamInit();
-
-    if (TT_Motor_Need_To_Activate == 1)
-	{
-		ActivateMotor(g_leftmotor, 6000);
-		ActivateMotor(g_rightmotor, 2000);
-		ActivateMotor(g_leftmotor, 2000);
-		ActivateMotor(g_rightmotor, 2000);
-		ActivateMotor(g_leftmotor, 2000);
-		ActivateMotor(g_rightmotor, 2000);
-		ActivateMotor(g_leftmotor, 2000);
-		ActivateMotor(g_rightmotor, 2000);
-
-		Enable_NMT(g_leftmotor,1000);
-		Enable_NMT(g_rightmotor,1000);
-
-		Configure_Asynchronous_Mode(g_leftmotor, 7,600);
-		Consumer_Or_microcontroller_Heartbeat(g_leftmotor,  4);
-		Configure_Asynchronous_Mode(g_rightmotor, 8,600);
-		Consumer_Or_microcontroller_Heartbeat(g_leftmotor,  4);
-		SpeedModeSetup(g_leftmotor, 6, 500, 500, 0);
-		Consumer_Or_microcontroller_Heartbeat(g_rightmotor,  4);
-		SpeedModeSetup(g_rightmotor, 6, 500, 500, 0);
-		Consumer_Or_microcontroller_Heartbeat(g_leftmotor,  4);
-		Consumer_Or_microcontroller_Heartbeat(g_rightmotor,  4);
-		TT_Motor_Need_To_Activate = 0;
-	}
-	else
-	{
-		TT_Request_Position(g_leftmotor, 6);
-		TT_Request_Velocity(g_leftmotor, 6);
-		TT_Request_Current(g_leftmotor, 6);
-		TT_Request_Fault(g_leftmotor, 6);
-
-        TT_Request_Position(g_rightmotor, 6);
-		TT_Request_Velocity(g_rightmotor, 6);
-		TT_Request_Current(g_rightmotor, 6);
-		TT_Request_Fault(g_rightmotor, 6);
-        
-		TT_SpeedMode_Set_TargetSpeed(g_leftmotor, 6, GV.LeftMotor.Target_Velcity);
-		TT_SpeedMode_Set_TargetSpeed(g_rightmotor, 6, GV.RightMotor.Target_Velcity);
-	}
-
-	Heartbeat_Flag_01++;
-	if(Heartbeat_Flag_01%7==0)
-	{
-		Consumer_Or_microcontroller_Heartbeat(g_leftmotor,  4);
-		Consumer_Or_microcontroller_Heartbeat(g_rightmotor,  4);
-		Heartbeat_Flag_01=0;
-	}
-}
-
-static void MotorCommandsLoop_2_Position()
-{
-    static char TT_Motor_Need_To_Activate_1 = 1;
-//	if(start_time<15000)
-//	{
-//	    HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "ZQ_CAN_ID3_SwingMotor", 1);
-//	}
-    MotorMoveCAN2ParamInit();
-
-	if (TT_Motor_Need_To_Activate_1 == 1)
-	{
-		ActivateMotor(g_swingmotor, 6000);
-		ActivateMotor(g_swingmotor, 2000);
-		ActivateMotor(g_swingmotor, 2000);
-		ActivateMotor(g_swingmotor, 2000);
-		ActivateMotor(g_swingmotor, 2000);
-		Postion_Velcocity_Run_SetParameter(g_swingmotor, 0, 0, 500, 500, 100);
-		TT_Motor_Need_To_Activate_1 = 0;
-	}
-	else
-	{
-		TT_Request_Position(g_swingmotor, 10);
-		TT_Request_Fault(g_swingmotor, 10);
-
-		switch(GV.SwingMotor.Position_immediately1_Lag2)
-		{
-			case 1:
-				Position_Immediately_Setting(g_swingmotor, GV.SwingMotor.Tar_Position_count,GV.SwingMotor.Tar_Position_Velcity_RPM,30);
-				break;
-			case 2:
-				Position_Lag_Setting(g_swingmotor, GV.SwingMotor.Tar_Position_count,GV.SwingMotor.Tar_Position_Velcity_RPM,30);
-				break;
-		}
-	}
-}
-
-static TMotorCtrl *MotorControllerInit(int32_t MotorID, EMotorType MotorType, 
-    int32_t HeartbeatID, FDCANHandler *fHandler)
-{
-    TMotorCtrl *ptMotorCtrl = malloc(sizeof(TMotorCtrl));
-    if (M_TYPE_MOVELEFT == MotorType)
-    {
-        TT_Motor[M_TYPE_MOVELEFT] = &GV.LeftMotor;  
-        HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID1_LeftMotor",  1, ComError_ZQ_CAN_ID1_LeftMotor);
-    }
-    else if (M_TYPE_MOVERIGHT == MotorType)
-    {
-        TT_Motor[M_TYPE_MOVERIGHT] = &GV.RightMotor;
-        HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID2_RightMotor", 1, ComError_ZQ_CAN_ID2_RightMotor);
-    }
-    else if (M_TYPE_SWING == MotorType)
-    {
-        TT_Motor[M_TYPE_SWING] = &GV.SwingMotor; 
-        HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID3_SwingMotor", 1, ComError_ZQ_CAN_ID3_SwingMotor);
-    }
-    TT_Motor[MotorType]->MotorID = MotorID;  
-    ptMotorCtrl->MotorID = MotorID;
-    ptMotorCtrl->MotorType = MotorType;
-    ptMotorCtrl->HeartbeatID = HeartbeatID;
-    ptMotorCtrl->fHandler = fHandler;
-    
-	ptMotorCtrl->fHandler->CAN_Decode = Roughening_MotorDecodeCAN;
-
-    if (M_TYPE_SWING == MotorType)
-    {
-        ptMotorCtrl->fHandler->dispacherController->Add_Dispatcher_List(ptMotorCtrl->fHandler->dispacherController, MotorCommandsLoop_2_Position);
-    }
-    else
-    {
-        ptMotorCtrl->fHandler->dispacherController->Add_Dispatcher_List(ptMotorCtrl->fHandler->dispacherController, MotorCommandsLoop);
-    }
-	ptMotorCtrl->fHandler->dispacherController->DispacherCallTime = 2;
-    
-    return ptMotorCtrl;
-}
-
-void MotorInit(void)
-{
-    g_leftmotor = MotorControllerInit(1, M_TYPE_MOVELEFT, 0x707, &FD_CAN_1_Handler);
-    g_rightmotor = MotorControllerInit(2, M_TYPE_MOVERIGHT, 0x708, &FD_CAN_1_Handler);
-    g_swingmotor = MotorControllerInit(3, M_TYPE_SWING, 0x709, &FD_CAN_2_Handler);
-}
-
-#endif
diff --git a/Bingoo/motor/motor_adapter.c b/Bingoo/motor/motor_adapter.c
new file mode 100644
index 0000000..ec02d20
--- /dev/null
+++ b/Bingoo/motor/motor_adapter.c
@@ -0,0 +1,151 @@
+/******************************************************************************
+
+                  版权所有 (C), 2018-2099, Radkil
+
+ ******************************************************************************
+  文 件 名   : motor_adapter.c
+  版 本 号   : 初稿
+  作    者   : radkil
+  生成日期   : 2026年4月21日
+  最近修改   :
+  功能描述   : 电机适配层
+  
+  修改历史   :
+  1.日    期   : 2026年4月21日
+    作    者   : radkil
+    修改内容   : 创建文件
+
+******************************************************************************/
+#ifdef BUILD_MOTOR
+#include "motor.h"
+#include "msp_TTMotor_ZQ.h"
+
+/*----------------------------------------------*
+ * 外部变量说明                                 *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 外部函数原型说明                             *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 内部函数原型说明                             *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 全局变量                                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 模块级变量                                   *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 常量定义                                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 宏定义                                       *
+ *----------------------------------------------*/
+
+static void WheelSendHeartbeat(TMotorCtrl *ptLeftMotorCtrl, TMotorCtrl *ptRightMotorCtrl)
+{    
+    static int Heartbeat_Flag_01;
+    Heartbeat_Flag_01++;
+	if(Heartbeat_Flag_01%7==0)
+	{
+		Consumer_Or_microcontroller_Heartbeat(ptLeftMotorCtrl,  4);
+		Consumer_Or_microcontroller_Heartbeat(ptRightMotorCtrl,  4);
+		Heartbeat_Flag_01=0;
+	}
+}
+
+void MotorGetState(TMotorCtrl *ptMotorCtrl, char *buffer)
+{
+    TT_Analytic_Fun(ptMotorCtrl, buffer);
+}
+
+void WheelFuncInit(TMotorCtrl *ptLeftMotorCtrl, TMotorCtrl *ptRightMotorCtrl)
+{    
+    ActivateMotor(ptLeftMotorCtrl, 6000);
+	ActivateMotor(ptRightMotorCtrl, 2000);
+	ActivateMotor(ptLeftMotorCtrl, 2000);
+	ActivateMotor(ptRightMotorCtrl, 2000);
+	ActivateMotor(ptLeftMotorCtrl, 2000);
+	ActivateMotor(ptRightMotorCtrl, 2000);
+	ActivateMotor(ptLeftMotorCtrl, 2000);
+	ActivateMotor(ptRightMotorCtrl, 2000);
+
+	Enable_NMT(ptLeftMotorCtrl,1000);
+	Enable_NMT(ptRightMotorCtrl,1000);
+
+	Configure_Asynchronous_Mode(ptLeftMotorCtrl, 7,600);
+	Consumer_Or_microcontroller_Heartbeat(ptLeftMotorCtrl,  4);
+	Configure_Asynchronous_Mode(ptRightMotorCtrl, 8,600);
+	Consumer_Or_microcontroller_Heartbeat(ptLeftMotorCtrl,  4);
+	SpeedModeSetup(ptLeftMotorCtrl, 6, 500, 500, 0);
+	Consumer_Or_microcontroller_Heartbeat(ptRightMotorCtrl,  4);
+	SpeedModeSetup(ptRightMotorCtrl, 6, 500, 500, 0);
+	Consumer_Or_microcontroller_Heartbeat(ptLeftMotorCtrl,  4);
+	Consumer_Or_microcontroller_Heartbeat(ptRightMotorCtrl,  4);
+
+    WheelSendHeartbeat(ptLeftMotorCtrl, ptRightMotorCtrl);
+}
+
+void WheelFuncProc(TMotorCtrl *ptLeftMotorCtrl, TMotorCtrl *ptRightMotorCtrl)
+{    
+    TT_Request_Position(ptLeftMotorCtrl, 6);
+    TT_Request_Velocity(ptLeftMotorCtrl, 6);
+    TT_Request_Current(ptLeftMotorCtrl, 6);
+    TT_Request_Fault(ptLeftMotorCtrl, 6);
+
+    TT_Request_Position(ptRightMotorCtrl, 6);
+    TT_Request_Velocity(ptRightMotorCtrl, 6);
+    TT_Request_Current(ptRightMotorCtrl, 6);
+    TT_Request_Fault(ptRightMotorCtrl, 6);
+
+    TT_SpeedMode_Set_TargetSpeed(ptLeftMotorCtrl, 6, GV.LeftMotor.Target_Velcity);
+    TT_SpeedMode_Set_TargetSpeed(ptRightMotorCtrl, 6, GV.RightMotor.Target_Velcity);
+    
+    WheelSendHeartbeat(ptLeftMotorCtrl, ptRightMotorCtrl);
+}
+
+void WheelSetVelcity(TMotorCtrl *ptMotorCtrl, float fSpeed_M_min)
+{
+    ptMotorCtrl->pMotorParam->Target_Velcity = (int32_t)(fSpeed_M_min * Move_Base_Speed_Count_m_Min);
+}
+
+void SwingFuncInit(TMotorCtrl *ptMotorCtrl)
+{
+    ActivateMotor(ptMotorCtrl, 6000);
+    ActivateMotor(ptMotorCtrl, 2000);
+    ActivateMotor(ptMotorCtrl, 2000);
+    ActivateMotor(ptMotorCtrl, 2000);
+    ActivateMotor(ptMotorCtrl, 2000);
+    Postion_Velcocity_Run_SetParameter(ptMotorCtrl, 0, 0, 500, 500, 100);
+}
+
+void SwingFuncProc(TMotorCtrl *ptMotorCtrl)
+{
+    TT_Request_Position(ptMotorCtrl, 10);
+    TT_Request_Fault(ptMotorCtrl, 10);
+    
+    switch(GV.SwingMotor.Position_immediately1_Lag2)
+    {
+        case 1:
+            Position_Immediately_Setting(ptMotorCtrl, GV.SwingMotor.Tar_Position_count,GV.SwingMotor.Tar_Position_Velcity_RPM,30);
+            break;
+        case 2:
+            Position_Lag_Setting(ptMotorCtrl, GV.SwingMotor.Tar_Position_count,GV.SwingMotor.Tar_Position_Velcity_RPM,30);
+            break;
+    }
+}
+
+void SwingSetPosition(TMotorCtrl *ptMotorCtrl, float fPositionAngle, int32_t iVelcityDegreeS)
+{    
+    ptMotorCtrl->pMotorParam->Tar_Position_count = (int32_t)(middle_position_motor - fPositionAngle * TT_One_Deg_Count_motor);
+    ptMotorCtrl->pMotorParam->Tar_Position_Velcity_RPM = iVelcityDegreeS*Swing_Speed_Deg_Sencond_motor;
+}
+
+#endif
+
diff --git a/Bingoo/motor/msp_TTMotor_ZQ.c b/Bingoo/motor/msp_TTMotor_ZQ.c
index c20f148..5c6ddcd 100644
--- a/Bingoo/motor/msp_TTMotor_ZQ.c
+++ b/Bingoo/motor/msp_TTMotor_ZQ.c
@@ -7,27 +7,6 @@
 #ifdef BUILD_MOTOR
 #include "msp_TTMotor_ZQ.h"
 #include "BHBF_ROBOT.h"
-#include "motor.h"
-
-#define Move_Base_Speed_Count_m_Min 201.7*7.64//天太电机1m/min
-
-#define Swing_Speed_Deg_Sencond_motor 201.7//HJ32-121
-#define middle_position_motor -944334
-#define TT_One_Deg_Count_motor 	11014///32768*121/360(减速比121)=11014
-
-TT_MotorParameters *TT_Motor[7];
-
-void MotorMoveParamInit(void)
-{
-    GV.LeftMotor.Target_Velcity=(int)(GV.Left_Speed_M_min*Move_Base_Speed_Count_m_Min);
-    GV.RightMotor.Target_Velcity=(int)(GV.Right_Speed_M_min*Move_Base_Speed_Count_m_Min);
-}
-
-void MotorMoveCAN2ParamInit(void)
-{
-	GV.SwingMotor.Tar_Position_count=(int32_t)(middle_position_motor-GV.Tar_Position_angle*TT_One_Deg_Count_motor);
-	GV.SwingMotor.Tar_Position_Velcity_RPM=GV.Tar_Position_Velcity_Degree_S*Swing_Speed_Deg_Sencond_motor;
-}
 
 void ActivateMotor(TMotorCtrl *ptMotorCtrl, int32_t WaitTime)
 {
@@ -283,7 +262,7 @@ void TT_Request_Current(TMotorCtrl *ptMotorCtrl, int32_t WaitTime)
 	        WaitTime);
 }
 
-void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer)
+void TT_Analytic_Fun(TMotorCtrl *ptMotorCtrl, char *buffer)
 {
 
 	int Function_code = (int) ((int16_t) (buffer[1] | buffer[2] << 8));
@@ -291,71 +270,71 @@ void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer)
 	{
 
 		case 24672:
-			TT_Motor[ID_A_T_A]->Cont_Posi_Suc = 1;
+			ptMotorCtrl->pMotorParam->Cont_Posi_Suc = 1;
 			break;
 		case 24707:
-			TT_Motor[ID_A_T_A]->Acc_Suc = 1;
+			ptMotorCtrl->pMotorParam->Acc_Suc = 1;
 			break;
 		case 24708:
-			TT_Motor[ID_A_T_A]->Dec_Suc = 1;
+			ptMotorCtrl->pMotorParam->Dec_Suc = 1;
 			break;
 		case 24698:
-			TT_Motor[ID_A_T_A]->Target_Posi_Suc = 1;
+			ptMotorCtrl->pMotorParam->Target_Posi_Suc = 1;
 			break;
 		case 24705:
-			TT_Motor[ID_A_T_A]->Run_Speed_Suc = 1;
+			ptMotorCtrl->pMotorParam->Run_Speed_Suc = 1;
 			break;
 		case 24640:
-			TT_Motor[ID_A_T_A]->Clear_Suc = 1;
+			ptMotorCtrl->pMotorParam->Clear_Suc = 1;
 			break;
 		case 8220:
-			TT_Motor[ID_A_T_A]->Acc_Suc_Speed = 1;
+			ptMotorCtrl->pMotorParam->Acc_Suc_Speed = 1;
 			break;
 		case 24831:
-			TT_Motor[ID_A_T_A]->Suc_Speed_S = 1;
+			ptMotorCtrl->pMotorParam->Suc_Speed_S = 1;
 			break;
 		case 8221:
-			TT_Motor[ID_A_T_A]->Dec_Suc_Speed = 1;
+			ptMotorCtrl->pMotorParam->Dec_Suc_Speed = 1;
 			break;
 		case 24676:
 		{
-			TT_Motor[ID_A_T_A]->Real_Position = (int) (buffer[4]
+			ptMotorCtrl->pMotorParam->Real_Position = (int) (buffer[4]
 			        | (buffer[5]) << 8 | (buffer[6]) << 16 | (buffer[7] << 24));
-			if (TT_Motor[ID_A_T_A]->Start_Measuring == 1)
+			if (ptMotorCtrl->pMotorParam->Start_Measuring == 1)
 			{
-				TT_Motor[ID_A_T_A]->Start_Measuring =0;
-				TT_Motor[ID_A_T_A]->Number_Of_Rounds=0;
+				ptMotorCtrl->pMotorParam->Start_Measuring =0;
+				ptMotorCtrl->pMotorParam->Number_Of_Rounds=0;
 
-				TT_Motor[ID_A_T_A]->Start_Measuring_Position=TT_Motor[ID_A_T_A]->Real_Position;
-				TT_Motor[ID_A_T_A]->Last_Real_Position=TT_Motor[ID_A_T_A]->Real_Position;
+				ptMotorCtrl->pMotorParam->Start_Measuring_Position=ptMotorCtrl->pMotorParam->Real_Position;
+				ptMotorCtrl->pMotorParam->Last_Real_Position=ptMotorCtrl->pMotorParam->Real_Position;
 			}
 			else
 			{
 				if (abs(
-				        TT_Motor[ID_A_T_A]->Real_Position
-				                - TT_Motor[ID_A_T_A]->Last_Real_Position)
+				        ptMotorCtrl->pMotorParam->Real_Position
+				                - ptMotorCtrl->pMotorParam->Last_Real_Position)
 				        >= 30000)
 				{
-					if (TT_Motor[ID_A_T_A]->Real_Position > 0)
+					if (ptMotorCtrl->pMotorParam->Real_Position > 0)
 					{
-						TT_Motor[ID_A_T_A]->Number_Of_Rounds -= 1;
+						ptMotorCtrl->pMotorParam->Number_Of_Rounds -= 1;
 					}
 					else
 					{
-						TT_Motor[ID_A_T_A]->Number_Of_Rounds += 1;
+						ptMotorCtrl->pMotorParam->Number_Of_Rounds += 1;
 					}
 				}
 			}
 
-			TT_Motor[ID_A_T_A]->Last_Real_Position =
-			        TT_Motor[ID_A_T_A]->Real_Position;
+			ptMotorCtrl->pMotorParam->Last_Real_Position =
+			        ptMotorCtrl->pMotorParam->Real_Position;
 
 			double CircleLength = 3.14 * 280/1000 ; //pi*d //m
 
-			double _tempDeltCounts = TT_Motor[ID_A_T_A]->Real_Position
-			        - TT_Motor[ID_A_T_A]->Start_Measuring_Position;
-			TT_Motor[ID_A_T_A]->Real_Disatnce = (_tempDeltCounts/ 32768/101
-			        + (double) TT_Motor[ID_A_T_A]->Number_Of_Rounds
+			double _tempDeltCounts = ptMotorCtrl->pMotorParam->Real_Position
+			        - ptMotorCtrl->pMotorParam->Start_Measuring_Position;
+			ptMotorCtrl->pMotorParam->Real_Disatnce = (_tempDeltCounts/ 32768/101
+			        + (double) ptMotorCtrl->pMotorParam->Number_Of_Rounds
 			                )
 			        * CircleLength;
 
@@ -363,16 +342,16 @@ void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer)
 
 			break;
 		case 24684:
-			TT_Motor[ID_A_T_A]->Real_Velcity = (int) (buffer[4]
+			ptMotorCtrl->pMotorParam->Real_Velcity = (int) (buffer[4]
 			        | (buffer[5]) << 8 | (buffer[6]) << 16 | (buffer[7] << 24));
 			break;
 
 		case 24696:
-			TT_Motor[ID_A_T_A]->Real_Current = (int) (buffer[4]
+			ptMotorCtrl->pMotorParam->Real_Current = (int) (buffer[4]
 			        | (buffer[5]) << 8 | (buffer[6]) << 16 | (buffer[7] << 24)); //0.1A
 			break;
 		case 12298://0x3001
-			TT_Motor[ID_A_T_A]->TT_Motor_Fault = (int) (buffer[4]
+			ptMotorCtrl->pMotorParam->TT_Motor_Fault = (int) (buffer[4]
 			        | (buffer[5]) << 8 | (buffer[6]) << 16 | (buffer[7] << 24));
 
 			break;
@@ -380,7 +359,7 @@ void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer)
 		default:
 			if ((buffer[0] == (0XAA)) | (buffer[1] == (0XBB)))
 			{
-				TT_Motor[ID_A_T_A]->Act_Suc = 1;
+				ptMotorCtrl->pMotorParam->Act_Suc = 1;
 			}
 			break;
 	}
diff --git a/CMakePresets.json b/CMakePresets.json
index e6ce463..80933b3 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -22,7 +22,8 @@
       "cacheVariables": {
       "BUILD_CONTROLLER": "ON",
       "BUILD_PAINT": "ON",
-      "BUILD_MOTOR": "ON"
+      "BUILD_MOTOR": "ON",
+	    "BUILD_CANMOTOR": "ON"
       }
     },
     {
@@ -33,6 +34,7 @@
       "cacheVariables": {
       "BUILD_CTRL2": "ON",
       "BUILD_MOTORTT": "ON",
+	    "BUILD_CANMOTOR": "ON",
       "BUILD_PAINT": "ON",
       "BUILD_SWING": "ON"
       }
diff --git a/Core/Src/main.c b/Core/Src/main.c
index acbf43a..2a6e815 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -39,7 +39,6 @@
 #include <bsp_tempature.h>
 #include "motor.h"
 #include "bsp_FDCAN.h"
-#include "msp_TTMotor_ZQ.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/