diff --git a/RBcore/drv_interface.c b/RBcore/drv_interface.c
index 058b1f6..56b52db 100644
--- a/RBcore/drv_interface.c
+++ b/RBcore/drv_interface.c
@@ -245,7 +245,7 @@ void Read_PV(void *argument)
     }
 }
 
-extern void MotorInit(void);
+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);
@@ -257,7 +257,15 @@ void Drv_InterfaceInit(void)
 {
 	MsgCenter_Init();
 //	ground_manger_init();
-	MotorInit();
+
+	// 创建电机任务
+	const osThreadAttr_t motor_task_attributes = {
+		.name = MODULE_NAME_MOTOR,
+		.stack_size = 1024,
+		.priority = (osPriority_t) osPriorityRealtime,
+	};
+	(void)osThreadNew(MotorTask, NULL, &motor_task_attributes);
+
 //	RBcore_Init();
 
 	TUartUserData *ptSbus = UART_userdata_init(5, -1, 512);
diff --git a/motor/CMakeLists.txt b/motor/CMakeLists.txt
index 9f262e6..e275e8d 100644
--- a/motor/CMakeLists.txt
+++ b/motor/CMakeLists.txt
@@ -9,8 +9,8 @@ else()
     message(FATAL_ERROR "Cannot find common build logic at ${COMMON_CMAKE_PATH}")
 endif()
 
-if(TARGET RBcore)
-    target_link_libraries(${TARGET_NAME} PUBLIC RBcore)
+if(TARGET peripheral)
+    target_link_libraries(${TARGET_NAME} PUBLIC peripheral)
 else()
-    message(FATAL_ERROR "[${TARGET_NAME}] Dependency 'RBcore' not found.")
+    message(FATAL_ERROR "[${TARGET_NAME}] Dependency 'peripheral' not found.")
 endif()
\ No newline at end of file
diff --git a/motor/motor_example.c b/motor/motor_example.c
index 26fe5eb..cb323b7 100644
--- a/motor/motor_example.c
+++ b/motor/motor_example.c
@@ -16,9 +16,6 @@
     修改内容   : 创建文件
 
  ******************************************************************************/
-#include "BHBF.h"
-#include "motor_manager.h"
-#include "msp_motor_leisai.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -39,8 +36,7 @@
 /*----------------------------------------------*
  * 模块级变量                                   *
  *----------------------------------------------*/
-static Motor_Instance_t *g_apstMotors[MOTOR_INSTANCE_MAX] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
-static uint32_t g_uiMotorModuleID = 0;
+
 /*----------------------------------------------*
  * 常量定义                                     *
  *----------------------------------------------*/
@@ -181,207 +177,3 @@ void MotorExample_MultiProtocol(void)
     }
 }
 #endif
-
-void MotorTask(void *argument)
-{
-	MotorMgr_ResetAll(g_apstMotors[0]);
-	Rd_Delay(500);
-	MotorMgr_ResetAll(g_apstMotors[1]);
-	Rd_Delay(500);
-
-	int iCount = 6;
-	while(iCount--)
-	{
-		MotorMgr_ActivateAll(g_apstMotors[0]);
-		Rd_Delay(500);
-		MotorMgr_ActivateAll(g_apstMotors[1]);
-		Rd_Delay(500);
-	}
-
-	MotorMgr_SetHome(g_apstMotors[0]);
-	MotorMgr_SetHome(g_apstMotors[1]);
-	MotorMgr_SpeedModeInit(g_apstMotors[0]);
-	MotorMgr_SpeedModeInit(g_apstMotors[1]);
-
-    while(1)
-    {
-        // 处理消息
-        //MsgCenter_ProcessWait(g_uiMotorModuleID, 2);
-
-        for (int i = 0; i < MOTOR_INSTANCE_MAX; i++)
-        {
-            if (g_apstMotors[i] != NULL)
-            {
-                // 读取位置、速度、故障
-//                MotorMgr_RequestPosition(g_apstMotors[i]);
-//                MotorMgr_RequestFault(g_apstMotors[i]);
-//                MotorMgr_RequestVelocity(g_apstMotors[i]);
-                MotorMgr_SetTargetSpeed(g_apstMotors[i], 50000);
-                Rd_Delay(2);
-            }
-        }
-
-        Rd_Delay(2); // 2ms周期
-    }
-}
-
-/*==============================================*
- *      电机模块消息处理                         *
- *==============================================*/
-
-static void Motor_ModuleHandler(const Msg_t *pstMsg)
-{
-    if (NULL == pstMsg)
-    {
-        return;
-    }
-
-    switch (pstMsg->m_uiMsgID)
-    {
-        case MOTOR_CMD_SET_SPEED:
-        {
-            if (pstMsg->m_uiDataLen >= sizeof(Motor_CmdData_t))
-            {
-                Motor_CmdData_t *pstData = (Motor_CmdData_t *)pstMsg->m_aucData;
-                if (pstData->m_ucMotorIndex < 2 && g_apstMotors[pstData->m_ucMotorIndex] != NULL)
-                {
-                    MotorMgr_SetTargetSpeed(g_apstMotors[pstData->m_ucMotorIndex], pstData->m_iValue);
-                }
-            }
-            break;
-        }
-        case MOTOR_CMD_STOP:
-        {
-            for (int i = 0; i < 2; i++)
-            {
-                if (g_apstMotors[i] != NULL)
-                {
-                    MotorMgr_SetTargetSpeed(g_apstMotors[i], 0);
-                }
-            }
-            break;
-        }
-        case MOTOR_CMD_SET_HOME:
-        {
-            if (pstMsg->m_uiDataLen >= sizeof(Motor_CmdData_t))
-            {
-                Motor_CmdData_t *pstData = (Motor_CmdData_t *)pstMsg->m_aucData;
-                if (pstData->m_ucMotorIndex < 2 && g_apstMotors[pstData->m_ucMotorIndex] != NULL)
-                {
-                    MotorMgr_SetHome(g_apstMotors[pstData->m_ucMotorIndex]);
-                }
-            }
-            break;
-        }
-        case MOTOR_CMD_GET_STATUS:
-        {
-            // 回复状态给请求者
-            Motor_StatusData_t stStatus;
-            for (int i = 0; i < 2; i++)
-            {
-                if (g_apstMotors[i] != NULL)
-                {
-                    const Motor_Data_t *pstData = MotorMgr_GetData(g_apstMotors[i]);
-                    if (pstData != NULL)
-                    {
-                        stStatus.m_ucMotorIndex = i;
-                        stStatus.m_iPosition = pstData->m_iRealPosition;
-                        stStatus.m_iVelocity = pstData->m_iRealVelocity;
-                        stStatus.m_uiFaultCode = pstData->m_uiFaultCode;
-
-                        // 回复给请求者
-                        MsgCenter_SendTo(MODULE_NAME_RBCORE, 0x10, &stStatus, sizeof(stStatus));
-                    }
-                }
-            }
-            break;
-        }
-        default:
-            break;
-    }
-}
-
-// 雷赛电机CAN响应检查函数
-// 雷赛响应ID范围：0x581 - 0x5FF (0x580 + MotorID)
-static int check_LeiSaiMotor(char *_pBuffer, uint32_t _iSize)
-{
-    if (NULL == _pBuffer || _iSize < 4)
-    {
-        return 0;
-    }
-
-    // 从buffer中提取CAN ID（前4字节）
-    uint32_t uiFrameID = (uint32_t)(_pBuffer[0] & 0xFF)
-                        | ((_pBuffer[1] & 0xFF) << 8)
-                        | ((_pBuffer[2] & 0xFF) << 16)
-                        | ((_pBuffer[3] & 0xFF) << 24);
-
-    // 雷赛响应ID范围：0x581 - 0x5FF
-    if (uiFrameID >= 0x581 && uiFrameID <= 0x5FF)
-    {
-        return 8 + 4; // 数据长度8 + CAN ID长度4
-    }
-
-    return 0;
-}
-
-// 雷赛电机CAN响应解码函数
-static void decode_LeiSaiMotor(const char *_pBuffer, uint32_t _iSize)
-{
-    if (NULL == _pBuffer || _iSize < 12) // 4字节CAN ID + 8字节数据
-    {
-        return;
-    }
-
-    // 从buffer中提取CAN ID
-    uint32_t uiFrameID = (uint32_t)(_pBuffer[0] & 0xFF)
-                        | ((_pBuffer[1] & 0xFF) << 8)
-                        | ((_pBuffer[2] & 0xFF) << 16)
-                        | ((_pBuffer[3] & 0xFF) << 24);
-
-    // 提取电机ID (0x580 + MotorID)
-    uint8_t ucMotorID = (uint8_t)(uiFrameID - 0x580);
-
-    // 调用电机管理模块解析响应
-    MotorMgr_ParseResponse(ucMotorID, (const uint8_t *)&_pBuffer[4], 8);
-}
-
-void MotorInit(void)
-{
-	// 初始化FDCAN1，使用雷赛电机的回调
-	TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 32, 0);
-	g_ptCAN1 = rd_ComCreate(check_LeiSaiMotor, decode_LeiSaiMotor, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
-	CAN_IT_init(g_ptCAN1);
-
-    // 初始化电机管理模块
-    MotorMgr_Init();
-
-    // 配置左轮电机
-    Motor_Config_t stLeftMotorConfig = {
-        .m_ucMotorID = 1,
-        .m_uiPulsePerRound = 10000,
-        .m_uiReductionRatio = 70,
-        .m_fWheelDiameter = 0.26f
-    };
-    g_apstMotors[0] = MotorMgr_Create(&stLeftMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
-
-    // 配置右轮电机
-    Motor_Config_t stRightMotorConfig = {
-        .m_ucMotorID = 2,
-        .m_uiPulsePerRound = 10000,
-        .m_uiReductionRatio = 70,
-        .m_fWheelDiameter = 0.26f
-    };
-    g_apstMotors[1] = MotorMgr_Create(&stRightMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
-
-    g_uiMotorModuleID = MsgCenter_Register(MODULE_NAME_MOTOR, Motor_ModuleHandler);
-
-    // 创建电机任务
-    const osThreadAttr_t motor_task_attributes = {
-        .name = MODULE_NAME_MOTOR,
-        .stack_size = 1024,
-        .priority = (osPriority_t) osPriorityRealtime,
-    };
-    (void)osThreadNew(MotorTask, NULL, &motor_task_attributes);
-}
-
diff --git a/project/paint_robot_new/CMakeLists.txt b/project/paint_robot_new/CMakeLists.txt
index ca8cfea..b8d1666 100644
--- a/project/paint_robot_new/CMakeLists.txt
+++ b/project/paint_robot_new/CMakeLists.txt
@@ -13,4 +13,10 @@ if(TARGET RBcore)
     target_link_libraries(${TARGET_NAME} PUBLIC RBcore)
 else()
     message(FATAL_ERROR "[${TARGET_NAME}] Dependency 'RBcore' not found.")
+endif()
+
+if(TARGET motor)
+    target_link_libraries(${TARGET_NAME} PUBLIC motor)
+else()
+    message(FATAL_ERROR "[${TARGET_NAME}] Dependency 'motor' not found.")
 endif()
\ No newline at end of file
diff --git a/project/paint_robot_new/include/paint_robot_new.h b/project/paint_robot_new/include/paint_robot_new.h
deleted file mode 100644
index 49cedc0..0000000
--- a/project/paint_robot_new/include/paint_robot_new.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/******************************************************************************
-
-                  版权所有 (C), 2018-2099, Radkil
-
- ******************************************************************************
-  文 件 名   : paint_robot_new.h
-  版 本 号   : 初稿
-  作    者   : radkil
-  生成日期   : 2026年7月14日
-  最近修改   :
-  功能描述   : paint_robot_new.c 的头文件
-  
-  修改历史   :
-  1.日    期   : 2026年7月14日
-    作    者   : radkil
-    修改内容   : 创建文件
-
-******************************************************************************/
-
-/*----------------------------------------------*
- * 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                                       *
- *----------------------------------------------*/
-
-#ifndef __PAINT_ROBOT_NEW_H__
-#define __PAINT_ROBOT_NEW_H__
-
-
-#ifdef __cplusplus
-#if __cplusplus
-extern "C"{
-#endif
-#endif /* __cplusplus */
-
-
-/*==============================================*
- *      include header files                    *
- *----------------------------------------------*/
-#include <stdint.h>
-
-
-
-/*==============================================*
- *      constants or macros define              *
- *----------------------------------------------*/
-
-
-/*==============================================*
- *      project-wide global variables           *
- *----------------------------------------------*/
-
-
-
-/*==============================================*
- *      routines' or functions' implementations *
- *----------------------------------------------*/
-
-
-#ifdef __cplusplus
-#if __cplusplus
-}
-#endif
-#endif /* __cplusplus */
-
-
-#endif /* __PAINT_ROBOT_NEW_H__ */
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index 0e4a0d4..c603520 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -18,8 +18,7 @@
 ******************************************************************************/
 #include "BHBF.h"
 #include "msg_center.h"
-#include "../Protobuf/PSource/msp_MK32.pb.h"
-#include "../Protobuf/PSource/bsp_PV.pb.h"
+#include "Protobuf/PSource/bsp_PV.pb.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -40,7 +39,6 @@
 /*----------------------------------------------*
  * 模块级变量                                   *
  *----------------------------------------------*/
-static SP_MSP_MK32_Button RB_MK32;
 static uint32_t g_uiCustomModuleID = 0;
 
 /*----------------------------------------------*
@@ -51,97 +49,6 @@ static uint32_t g_uiCustomModuleID = 0;
  * 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)
-{
-	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++;
-
-	int angle;
-	angle = atan2(RB_MK32.CH1_RY_V, RB_MK32.CH0_RY_H) * 180 / M_PI;
-
-	if(RB_MK32.CH5_SB == 0)
-	{
-		// 前进
-		if((angle >= 45) && (angle <= 135))
-		{
-			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
-		}
-		// 后退
-		else if((angle >= -135) && (angle < -45))
-		{
-			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
-		}
-		else
-		{
-			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
-		}
-	}
-	else
-	{
-		// 前进
-		if((angle >= 45) && (angle <= 135))
-		{
-			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
-		}
-		// 后退
-		else if((angle >= -135) && (angle < -45))
-		{
-			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
-		}
-		else
-		{
-			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
-		}
-	}
-}
-
 static void Custom_ModuleHandler(const Msg_t *pstMsg)
 {
     if (NULL == pstMsg)
diff --git a/project/paint_robot_new/paint_robot_new_MK32.c b/project/paint_robot_new/paint_robot_new_MK32.c
new file mode 100644
index 0000000..40aed70
--- /dev/null
+++ b/project/paint_robot_new/paint_robot_new_MK32.c
@@ -0,0 +1,140 @@
+/******************************************************************************
+
+                  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"
+
+/*----------------------------------------------*
+ * 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)
+{
+	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++;
+
+	int angle;
+	angle = atan2(RB_MK32.CH1_RY_V, RB_MK32.CH0_RY_H) * 180 / M_PI;
+
+	if(RB_MK32.CH5_SB == 0)
+	{
+		// 前进
+		if((angle >= 45) && (angle <= 135))
+		{
+			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
+		}
+		// 后退
+		else if((angle >= -135) && (angle < -45))
+		{
+			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
+		}
+		else
+		{
+			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
+		}
+	}
+	else
+	{
+		// 前进
+		if((angle >= 45) && (angle <= 135))
+		{
+			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
+		}
+		// 后退
+		else if((angle >= -135) && (angle < -45))
+		{
+			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
+		}
+		else
+		{
+			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
+		}
+	}
+}
diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c
new file mode 100644
index 0000000..a117fb4
--- /dev/null
+++ b/project/paint_robot_new/paint_robot_new_motors.c
@@ -0,0 +1,243 @@
+/******************************************************************************
+
+                  版权所有 (C), 2018-2099, Radkil
+
+ ******************************************************************************
+  文 件 名   : paint_robot_new_motors.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   : 喷涂机器人电机逻辑
+  
+  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 "motor_manager.h"
+#include "msp_motor_leisai.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 Motor_Instance_t *g_apstMotors[MOTOR_INSTANCE_MAX] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
+static uint32_t g_uiMotorModuleID = 0;
+
+/*----------------------------------------------*
+ * 常量定义                                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 宏定义                                       *
+ *----------------------------------------------*/
+
+static void Motor_ModuleHandler(const Msg_t *pstMsg)
+{
+    if (NULL == pstMsg)
+    {
+        return;
+    }
+
+    switch (pstMsg->m_uiMsgID)
+    {
+        case MOTOR_CMD_SET_SPEED:
+        {
+            if (pstMsg->m_uiDataLen >= sizeof(Motor_CmdData_t))
+            {
+                Motor_CmdData_t *pstData = (Motor_CmdData_t *)pstMsg->m_aucData;
+                if (pstData->m_ucMotorIndex < 2 && g_apstMotors[pstData->m_ucMotorIndex] != NULL)
+                {
+                    MotorMgr_SetTargetSpeed(g_apstMotors[pstData->m_ucMotorIndex], pstData->m_iValue);
+                }
+            }
+            break;
+        }
+        case MOTOR_CMD_STOP:
+        {
+            for (int i = 0; i < 2; i++)
+            {
+                if (g_apstMotors[i] != NULL)
+                {
+                    MotorMgr_SetTargetSpeed(g_apstMotors[i], 0);
+                }
+            }
+            break;
+        }
+        case MOTOR_CMD_SET_HOME:
+        {
+            if (pstMsg->m_uiDataLen >= sizeof(Motor_CmdData_t))
+            {
+                Motor_CmdData_t *pstData = (Motor_CmdData_t *)pstMsg->m_aucData;
+                if (pstData->m_ucMotorIndex < 2 && g_apstMotors[pstData->m_ucMotorIndex] != NULL)
+                {
+                    MotorMgr_SetHome(g_apstMotors[pstData->m_ucMotorIndex]);
+                }
+            }
+            break;
+        }
+        case MOTOR_CMD_GET_STATUS:
+        {
+            // 回复状态给请求者
+            Motor_StatusData_t stStatus;
+            for (int i = 0; i < 2; i++)
+            {
+                if (g_apstMotors[i] != NULL)
+                {
+                    const Motor_Data_t *pstData = MotorMgr_GetData(g_apstMotors[i]);
+                    if (pstData != NULL)
+                    {
+                        stStatus.m_ucMotorIndex = i;
+                        stStatus.m_iPosition = pstData->m_iRealPosition;
+                        stStatus.m_iVelocity = pstData->m_iRealVelocity;
+                        stStatus.m_uiFaultCode = pstData->m_uiFaultCode;
+
+                        // 回复给请求者
+                        MsgCenter_SendTo(MODULE_NAME_RBCORE, 0x10, &stStatus, sizeof(stStatus));
+                    }
+                }
+            }
+            break;
+        }
+        default:
+            break;
+    }
+}
+
+// 雷赛电机CAN响应检查函数
+// 雷赛响应ID范围：0x581 - 0x5FF (0x580 + MotorID)
+static int check_LeiSaiMotor(char *_pBuffer, uint32_t _iSize)
+{
+    if (NULL == _pBuffer || _iSize < 4)
+    {
+        return 0;
+    }
+
+    // 从buffer中提取CAN ID（前4字节）
+    uint32_t uiFrameID = (uint32_t)(_pBuffer[0] & 0xFF)
+                        | ((_pBuffer[1] & 0xFF) << 8)
+                        | ((_pBuffer[2] & 0xFF) << 16)
+                        | ((_pBuffer[3] & 0xFF) << 24);
+
+    // 雷赛响应ID范围：0x581 - 0x5FF
+    if (uiFrameID >= 0x581 && uiFrameID <= 0x5FF)
+    {
+        return 8 + 4; // 数据长度8 + CAN ID长度4
+    }
+
+    return 0;
+}
+
+// 雷赛电机CAN响应解码函数
+static void decode_LeiSaiMotor(const char *_pBuffer, uint32_t _iSize)
+{
+    if (NULL == _pBuffer || _iSize < 12) // 4字节CAN ID + 8字节数据
+    {
+        return;
+    }
+
+    // 从buffer中提取CAN ID
+    uint32_t uiFrameID = (uint32_t)(_pBuffer[0] & 0xFF)
+                        | ((_pBuffer[1] & 0xFF) << 8)
+                        | ((_pBuffer[2] & 0xFF) << 16)
+                        | ((_pBuffer[3] & 0xFF) << 24);
+
+    // 提取电机ID (0x580 + MotorID)
+    uint8_t ucMotorID = (uint8_t)(uiFrameID - 0x580);
+
+    // 调用电机管理模块解析响应
+    MotorMgr_ParseResponse(ucMotorID, (const uint8_t *)&_pBuffer[4], 8);
+}
+
+static void MotorInit(void)
+{
+	// 初始化FDCAN1，使用雷赛电机的回调
+	TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 32, 0);
+	g_ptCAN1 = rd_ComCreate(check_LeiSaiMotor, decode_LeiSaiMotor, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
+	CAN_IT_init(g_ptCAN1);
+
+    // 初始化电机管理模块
+    MotorMgr_Init();
+
+    // 配置左轮电机
+    Motor_Config_t stLeftMotorConfig = {
+        .m_ucMotorID = 1,
+        .m_uiPulsePerRound = 10000,
+        .m_uiReductionRatio = 70,
+        .m_fWheelDiameter = 0.26f
+    };
+    g_apstMotors[0] = MotorMgr_Create(&stLeftMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
+
+    // 配置右轮电机
+    Motor_Config_t stRightMotorConfig = {
+        .m_ucMotorID = 2,
+        .m_uiPulsePerRound = 10000,
+        .m_uiReductionRatio = 70,
+        .m_fWheelDiameter = 0.26f
+    };
+    g_apstMotors[1] = MotorMgr_Create(&stRightMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
+
+    g_uiMotorModuleID = MsgCenter_Register(MODULE_NAME_MOTOR, Motor_ModuleHandler);
+}
+
+void MotorTask(void *argument)
+{
+	MotorInit();
+
+	MotorMgr_ResetAll(g_apstMotors[0]);
+	Rd_Delay(500);
+	MotorMgr_ResetAll(g_apstMotors[1]);
+	Rd_Delay(500);
+
+	int iCount = 6;
+	while(iCount--)
+	{
+		MotorMgr_ActivateAll(g_apstMotors[0]);
+		Rd_Delay(500);
+		MotorMgr_ActivateAll(g_apstMotors[1]);
+		Rd_Delay(500);
+	}
+
+	MotorMgr_SetHome(g_apstMotors[0]);
+	MotorMgr_SetHome(g_apstMotors[1]);
+	MotorMgr_SpeedModeInit(g_apstMotors[0]);
+	MotorMgr_SpeedModeInit(g_apstMotors[1]);
+
+    while(1)
+    {
+        // 处理消息
+        MsgCenter_ProcessWait(g_uiMotorModuleID, 2);
+
+        for (int i = 0; i < MOTOR_INSTANCE_MAX; i++)
+        {
+            if (g_apstMotors[i] != NULL)
+            {
+                // 读取位置、速度、故障
+                MotorMgr_RequestPosition(g_apstMotors[i]);
+                MotorMgr_RequestFault(g_apstMotors[i]);
+                MotorMgr_RequestVelocity(g_apstMotors[i]);
+                MotorMgr_SetTargetSpeed(g_apstMotors[i], 50000);
+            }
+        }
+
+        Rd_Delay(2); // 2ms周期
+    }
+}