diff --git a/CMakeLists.txt b/CMakeLists.txt
index bef24da..3417205 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -122,7 +122,7 @@ add_module(lua lua OFF ON)
 add_module(bspMCU bspMCU OFF OFF)
 add_module(RBcore RBcore OFF OFF)
 add_module(motor motor OFF OFF)
-add_module(optional optional OFF OFF)
+add_module(controller controller OFF OFF)
 add_module(Spoolend project/Spoolend OFF OFF)
 add_module(paint_robot_new project/paint_robot_new OFF OFF)
 add_module(Spoolold project_old/Spoolold OFF OFF)
diff --git a/RBcore/drv_interface.c b/RBcore/drv_interface.c
index dc86928..8d033b7 100644
--- a/RBcore/drv_interface.c
+++ b/RBcore/drv_interface.c
@@ -226,16 +226,6 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
 	}
 }
 
-void Read_MK32(void *argument)
-{
-    char pcBuffer[52] = {0};
-
-    while(1)
-    {
-        rd_ComRead(g_ptSbus, pcBuffer, 25);
-    }
-}
-
 void Read_PV(void *argument)
 {
     char pcBuffer[64] = {0};
@@ -257,8 +247,6 @@ void Read_motor(void *argument)
 }
 
 extern void MotorTask(void *argument);
-extern int check_MK32(char *_pBuffer, uint32_t _iSize);
-extern void decode_MK32(const char *buf, uint32_t _iSize);
 extern int check_PV(char *_pBuffer, uint32_t _iSize);
 extern void decode_PV(const char *buf, uint32_t _iSize);
 extern void ground_manger_init(void);
@@ -266,6 +254,7 @@ extern void Custom_Task(void *argument);
 void SendIV_Init(void);
 void TL720D_Init(void);
 void RBcore_Init(void);
+void controller_init(void);
 
 void Drv_InterfaceInit(void)
 {
@@ -300,16 +289,7 @@ void Drv_InterfaceInit(void)
 
 	RBcore_Init();
 
-	TUartUserData *ptSbus = UART_userdata_init(5, -1, 512);
-	g_ptSbus = rd_ComCreate(check_MK32, decode_MK32, E28_SBUS_Send, ptSbus->m_buf_size, ptSbus);
-	UART_IT_init(g_ptSbus);
-
-    const osThreadAttr_t MK32_Task_attributes = {
-        .name = "Read_MK32",
-        .stack_size = 2048,
-        .priority = (osPriority_t) osPriorityRealtime1,
-    };
-    (void)osThreadNew(Read_MK32, NULL, &MK32_Task_attributes);
+	controller_init();
 
     TUartUserData *ptUartUserData = UART_userdata_init(0, -1, 512);
 	g_ptlpuart = rd_ComCreate(check_PV, decode_PV, LPUART_PV_Send, ptUartUserData->m_buf_size, ptUartUserData);
diff --git a/controller/CMakeLists.txt b/controller/CMakeLists.txt
new file mode 100644
index 0000000..d904896
--- /dev/null
+++ b/controller/CMakeLists.txt
@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.10)
+
+get_filename_component(TARGET_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+set(COMMON_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../library/CMakeLists.txt")
+
+if(EXISTS ${COMMON_CMAKE_PATH})
+    include(${COMMON_CMAKE_PATH})
+else()
+    message(FATAL_ERROR "Cannot find common build logic at ${COMMON_CMAKE_PATH}")
+endif()
+
+if(TARGET peripheral)
+    target_link_libraries(${TARGET_NAME} PUBLIC peripheral)
+else()
+    message(FATAL_ERROR "[${TARGET_NAME}] Dependency 'peripheral' not found.")
+endif()
+
+if(TARGET RBcore)
+    target_link_libraries(${TARGET_NAME} PUBLIC RBcore)
+else()
+    message(FATAL_ERROR "[${TARGET_NAME}] Dependency 'RBcore' not found.")
+endif()
\ No newline at end of file
diff --git a/controller/msp_MK32.c b/controller/msp_MK32.c
new file mode 100644
index 0000000..3a8c7d2
--- /dev/null
+++ b/controller/msp_MK32.c
@@ -0,0 +1,144 @@
+/******************************************************************************
+
+                  版权所有 (C), 2018-2099, Radkil
+
+ ******************************************************************************
+  文 件 名   : msp_MK32.c
+  版 本 号   : 初稿
+  作    者   : radkil
+  生成日期   : 2026年9月10日
+  最近修改   :
+  功能描述   : MK32驱动文件
+  
+  修改历史   :
+  1.日    期   : 2026年9月10日
+    作    者   : radkil
+    修改内容   : 创建文件
+
+******************************************************************************/
+#include "BHBF.h"
+#include "msg_center.h"
+#include "msp_MK32.pb.h"
+#include "rd_time.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                                   *
+ *----------------------------------------------*/
+static SP_MSP_MK32_Button RB_MK32;
+/*----------------------------------------------*
+ * 常量定义                                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 宏定义                                       *
+ *----------------------------------------------*/
+
+int check_MK32(char *_pBuffer, uint32_t _iSize) 
+{
+  if (_iSize < 25)
+    return 0; // 数据不足25字节，不读[24]不误判，等下一包
+  if (_pBuffer[0] != 0x0f)
+    return -1;
+  if (_pBuffer[24] != 0x00)
+    return -1;
+  return 25;
+}
+
+void decode_MK32(const char *buf, uint32_t _iSize) 
+{
+  static uint32_t uiLastSendTick = 0;
+
+  int32_t CH[16];
+  int Start_byte = 0;
+
+  CH[0] = ((buf[Start_byte + 1] | buf[Start_byte + 2] << 8) & 0x07FF);
+  CH[1] = ((buf[Start_byte + 2] >> 3 | buf[Start_byte + 3] << 5) & 0x07FF);
+  CH[2] = ((buf[Start_byte + 3] >> 6 | buf[Start_byte + 4] << 2 |
+            buf[Start_byte + 5] << 10) &
+           0x07FF);
+  CH[3] = ((buf[Start_byte + 5] >> 1 | buf[Start_byte + 6] << 7) & 0x07FF);
+  CH[4] = ((buf[Start_byte + 6] >> 4 | buf[Start_byte + 7] << 4) & 0x07FF);
+  CH[5] = ((buf[Start_byte + 7] >> 7 | buf[Start_byte + 8] << 1 |
+            buf[Start_byte + 9] << 9) &
+           0x07FF);
+  CH[6] = ((buf[Start_byte + 9] >> 2 | buf[Start_byte + 10] << 6) & 0x07FF);
+  CH[7] = ((buf[Start_byte + 10] >> 5 | buf[Start_byte + 11] << 3) & 0x07FF);
+  CH[8] = ((buf[Start_byte + 12] | buf[Start_byte + 13] << 8) & 0x07FF);
+  CH[9] = ((buf[Start_byte + 13] >> 3 | buf[Start_byte + 14] << 5) & 0x07FF);
+  CH[10] = ((buf[Start_byte + 14] >> 6 | buf[Start_byte + 15] << 2 |
+             buf[Start_byte + 16] << 10) &
+            0x07FF);
+  CH[11] = ((buf[Start_byte + 16] >> 1 | buf[Start_byte + 17] << 7) & 0x07FF);
+  CH[12] = ((buf[Start_byte + 17] >> 4 | buf[Start_byte + 18] << 4) & 0x07FF);
+  CH[13] = ((buf[Start_byte + 18] >> 7 | buf[Start_byte + 19] << 1 |
+             buf[Start_byte + 20] << 9) &
+            0x07FF);
+  CH[14] = ((buf[Start_byte + 20] >> 2 | buf[Start_byte + 21] << 6) & 0x07FF);
+  CH[15] = ((buf[Start_byte + 21] >> 5 | buf[Start_byte + 22] << 3) & 0x07FF);
+
+  // 按键数值转换：1050为中间值，272-1712
+  for (int i = 0; i < 16; i++) 
+  {
+    CH[i] = (int32_t)((CH[i] - 992) * 1.388889);
+  }
+
+  RD_MEMCPY(&(RB_MK32.CH0_RY_H), CH, sizeof(CH));
+
+  if (buf[23] == 0) 
+  {
+    RB_MK32.IsOnline = 1;
+  } 
+  else 
+  {
+    RB_MK32.IsOnline = 0;
+  }
+  RB_MK32.RxIndex++;
+
+  uint32_t uiNowTick = Rd_GetTime();
+  if ((int32_t)(uiNowTick - uiLastSendTick) >= 50) 
+  {
+    uiLastSendTick = uiNowTick;
+    MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_MK32, (void *)&RB_MK32,
+                     sizeof(RB_MK32));
+  }
+}
+
+void Read_MK32(void *argument) 
+{
+  char pcBuffer[52] = {0};
+
+  while (1) 
+  {
+    rd_ComRead(g_ptSbus, pcBuffer, 25);
+  }
+}
+
+void controller_init(void)
+{
+  TUartUserData *ptSbus = UART_userdata_init(5, -1, 512);
+  g_ptSbus = rd_ComCreate(check_MK32, decode_MK32, E28_SBUS_Send, ptSbus->m_buf_size, ptSbus);
+  UART_IT_init(g_ptSbus);
+
+  const osThreadAttr_t MK32_Task_attributes = {
+      .name = "Read_MK32",
+      .stack_size = 2048,
+      .priority = (osPriority_t) osPriorityRealtime1,
+  };
+  (void)osThreadNew(Read_MK32, NULL, &MK32_Task_attributes);
+}
\ No newline at end of file
diff --git a/project/paint_robot_new/paint_robot_new_MK32.c b/project/paint_robot_new/paint_robot_new_MK32.c
deleted file mode 100644
index 8c49958..0000000
--- a/project/paint_robot_new/paint_robot_new_MK32.c
+++ /dev/null
@@ -1,113 +0,0 @@
-/******************************************************************************
-
-                  版权所有 (C), 2018-2099, Radkil
-
- ******************************************************************************
-  文 件 名   : paint_robot_new_MK32.c
-  版 本 号   : 初稿
-  作    者   : radkil
-  生成日期   : 2026年8月21日
-  最近修改   :
-  功能描述   : 新喷涂机器人遥控器逻辑
-  
-  修改历史   :
-  1.日    期   : 2026年8月21日
-    作    者   : radkil
-    修改内容   : 创建文件
-
-******************************************************************************/
-#include "BHBF.h"
-#include "Protobuf/PSource/msp_MK32.pb.h"
-#include "msg_center.h"
-#include "rd_time.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                                   *
- *----------------------------------------------*/
-static SP_MSP_MK32_Button RB_MK32;
-
-/*----------------------------------------------*
- * 常量定义                                     *
- *----------------------------------------------*/
-
-/*----------------------------------------------*
- * 宏定义                                       *
- *----------------------------------------------*/
-
-int check_MK32(char *_pBuffer, uint32_t _iSize)
-{
-    if (_iSize < 25) return 0;          // 数据不足25字节，不读[24]不误判，等下一包
-    if (_pBuffer[0] != 0x0f) return -1;
-    if (_pBuffer[24] != 0x00) return -1;
-    return 25;
-}
-
-void decode_MK32(const char *buf, uint32_t _iSize)
-{
-    static uint32_t uiLastSendTick = 0;
-
-	int32_t CH[16];
-	int Start_byte = 0;
-
-	CH[0] = ((buf[Start_byte + 1] | buf[Start_byte + 2] << 8) & 0x07FF);
-	CH[1] = ((buf[Start_byte + 2] >> 3 | buf[Start_byte + 3] << 5) & 0x07FF);
-	CH[2] = ((buf[Start_byte + 3] >> 6 | buf[Start_byte + 4] << 2
-			| buf[Start_byte + 5] << 10) & 0x07FF);
-	CH[3] = ((buf[Start_byte + 5] >> 1 | buf[Start_byte + 6] << 7) & 0x07FF);
-	CH[4] = ((buf[Start_byte + 6] >> 4 | buf[Start_byte + 7] << 4) & 0x07FF);
-	CH[5] = ((buf[Start_byte + 7] >> 7 | buf[Start_byte + 8] << 1
-			| buf[Start_byte + 9] << 9) & 0x07FF);
-	CH[6] = ((buf[Start_byte + 9] >> 2 | buf[Start_byte + 10] << 6) & 0x07FF);
-	CH[7] = ((buf[Start_byte + 10] >> 5 | buf[Start_byte + 11] << 3) & 0x07FF);
-	CH[8] = ((buf[Start_byte + 12] | buf[Start_byte + 13] << 8) & 0x07FF);
-	CH[9] = ((buf[Start_byte + 13] >> 3 | buf[Start_byte + 14] << 5) & 0x07FF);
-	CH[10] = ((buf[Start_byte + 14] >> 6 | buf[Start_byte + 15] << 2
-			| buf[Start_byte + 16] << 10) & 0x07FF);
-	CH[11] = ((buf[Start_byte + 16] >> 1 | buf[Start_byte + 17] << 7) & 0x07FF);
-	CH[12] = ((buf[Start_byte + 17] >> 4 | buf[Start_byte + 18] << 4) & 0x07FF);
-	CH[13] = ((buf[Start_byte + 18] >> 7 | buf[Start_byte + 19] << 1
-			| buf[Start_byte + 20] << 9) & 0x07FF);
-	CH[14] = ((buf[Start_byte + 20] >> 2 | buf[Start_byte + 21] << 6) & 0x07FF);
-	CH[15] = ((buf[Start_byte + 21] >> 5 | buf[Start_byte + 22] << 3) & 0x07FF);
-
-	// 按键数值转换：1050为中间值，272-1712
-	for (int i = 0; i < 16; i++)
-	{
-		CH[i] = (int32_t)((CH[i] - 992) * 1.388889);
-	}
-
-	RD_MEMCPY(&(RB_MK32.CH0_RY_H), CH, sizeof(CH));
-
-	if (buf[23] == 0)
-	{
-		RB_MK32.IsOnline = 1;
-	}
-	else
-	{
-		RB_MK32.IsOnline = 0;
-	}
-	RB_MK32.RxIndex++;
-
-    uint32_t uiNowTick = Rd_GetTime();
-    if ((int32_t)(uiNowTick - uiLastSendTick) >= 50)
-    {
-        uiLastSendTick = uiNowTick;
-	    MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_MK32, (void *)&RB_MK32, sizeof(RB_MK32));
-    }
-}