diff --git a/firmware/src/Driver/inc/motor.h b/firmware/src/Driver/inc/motor.h
index 3aa0cc0..47ac929 100644
--- a/firmware/src/Driver/inc/motor.h
+++ b/firmware/src/Driver/inc/motor.h
@@ -36,8 +36,11 @@ typedef struct _motor
 /* Exported Functions --------------------------------------------------------*/
 extern motor_t motor_info;
 
+void motor_init(void);
 void motor_start(void);
 void motor_stop(void);
 void motor_step(void);
+void motor_set_speed(s16 speed);
+
 #endif
 /*********************************END OF FILE**********************************/
diff --git a/firmware/src/Driver/motor.c b/firmware/src/Driver/motor.c
index b5ac7bc..f5fd67c 100644
--- a/firmware/src/Driver/motor.c
+++ b/firmware/src/Driver/motor.c
@@ -13,6 +13,23 @@
 /* Definition ----------------------------------------------------------------*/
 motor_t motor_info;
 /* Functions -----------------------------------------------------------------*/
+/*******************************************************************************
+  * @brief  电机初始化            
+  * @param  None              
+  * @retval None              
+  * @note   None              
+*******************************************************************************/
+void motor_init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+  GPIO_WriteBit(GPIOB, GPIO_Pin_12, RESET); //关闭MOS输出
+  motor_info.dir = MOTOR_DIR_CCW;
+}
+
 /*******************************************************************************
   * @brief  启动电机            
   * @param  None              
@@ -21,10 +38,11 @@ motor_t motor_info;
 *******************************************************************************/
 void motor_start(void)
 {
-    motor_info.state = 1;
-    //TODO:开启霍尔捕捉中断
-    motor_info.hall_position = get_hall_position();
-    motor_step();
+  motor_info.state = 1;
+  GPIO_WriteBit(GPIOB, GPIO_Pin_12, SET);
+  //TODO:开启霍尔捕捉中断
+  motor_info.hall_position = get_hall_position();
+  motor_step();
 }
 
 /*******************************************************************************
@@ -35,17 +53,17 @@ void motor_start(void)
 *******************************************************************************/
 void motor_stop(void)
 {
-    motor_info.state = MOTOR_STATE_STOP;
-    TIM1->CCR1 = 0;
-    TIM1->CCR2 = 0;
-    TIM1->CCR3 = 0;
-    TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
-    TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
-    TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
+  motor_info.state = MOTOR_STATE_STOP;
+  TIM1->CCR1 = 0;
+  TIM1->CCR2 = 0;
+  TIM1->CCR3 = 0;
+  TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
+  TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
+  TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
 
-    TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
-    TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
-    TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+  TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
+  TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
+  TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
 }
 
 /*******************************************************************************
@@ -57,78 +75,91 @@ void motor_stop(void)
 *******************************************************************************/
 void motor_step(void)
 {
-    u8 step = motor_info.hall_position;
-    switch (step)
-    {
-    case 0x03: //第二步 C+ B-
-        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
-        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
-        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
-        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
-        break;
-    case 0x01: //第三步 C+ A-
-        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
-        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
-        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
-        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
-        break;
-    case 0x05: //第四步 B+ A-
-        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
-        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
-        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
-        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
-        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
-        break;
-    case 0x04: //第五步 B+ C-
-        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
-        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
-        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
-        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_Active);
-        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
-        break;
-    case 0x06: //第六步 A+ C-
-        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
-        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
-        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
-        TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_Active);
-        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
-        break;
-    case 0x02: //第一步 A+ B-
-        // GPIO_WritePin(&PB5, HIGH);
-        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
-        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
-        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
-        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
-        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
-        break;
-
-    default:
+  u8 step = motor_info.dir == MOTOR_DIR_CCW ? motor_info.hall_position ^ 0x7 : motor_info.hall_position;
+  switch (step)
+  {
+  case 0x03: //第二步 C+ B-
+    TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
+    TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
+    TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
+    TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
+    TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
+    TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+    break;
+  case 0x01: //第三步 C+ A-
+    TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
+    TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
+    TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
+    TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
+    TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
+    TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+    break;
+  case 0x05: //第四步 B+ A-
+    TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
+    TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
+    TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
+    TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
+    TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
+    TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+    break;
+  case 0x04: //第五步 B+ C-
+    TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
+    TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
+    TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
+    TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
+    TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_Active);
+    TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
+    break;
+  case 0x06: //第六步 A+ C-
+    TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
+    TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
+    TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
+    TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
+    TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_Active);
+    TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
+    break;
+  case 0x02: //第一步 A+ B-
     // GPIO_WritePin(&PB5, HIGH);
-        GPIO_WritePin(&PB5, LOW);
-        //motor_stop();
-        break;
-    }
-    TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
+    TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
+    TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
+    TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
+    TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
+    TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
+    TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
+    TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+    break;
+
+  default:
+    // GPIO_WritePin(&PB5, HIGH);
+    GPIO_WritePin(&PB5, LOW);
+    //motor_stop();
+    break;
+  }
+  TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
+}
+
+/*******************************************************************************
+  * @brief  设置电机运行速度            
+  * @param  None              
+  * @retval None              
+  * @note   None              
+*******************************************************************************/
+void motor_set_speed(s16 speed)
+{
+  TIM1->CCR1 = speed;
+  TIM1->CCR2 = speed;
+  TIM1->CCR3 = speed;
 }
 
 /*********************************END OF FILE**********************************/
diff --git a/firmware/src/Driver/pwm.c b/firmware/src/Driver/pwm.c
index 0bbadc8..7bb00e1 100644
--- a/firmware/src/Driver/pwm.c
+++ b/firmware/src/Driver/pwm.c
@@ -20,7 +20,7 @@
 *******************************************************************************/
 void PWM_Config(void)
 {
-  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitTypeDef GPIO_InitStructure;           //端口结构体变量定义
   TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //基本结构体变量定义
   TIM_OCInitTypeDef TIM_OCInitStructure;         //输出结构体变量定义
   TIM_BDTRInitTypeDef TIM_BDTRInitStructure;     //死区刹车结构体变量定义
@@ -59,23 +59,19 @@ void PWM_Config(void)
   TIM_OCInitStructure.TIM_OCMode = TIM_ForcedAction_InActive; //PWM2:递增计数时CNT<CCRx,OC输出无效电平;递减计数时CNT>CCRx,OC输出有效电平 TIM_ForcedAction_InActive
   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
   TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
-  TIM_OCInitStructure.TIM_Pulse = 700;
+  TIM_OCInitStructure.TIM_Pulse = 0;
   TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
   TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
   TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //TIM_OCIdleState_Set;TIM_OCIdleState_Reset
   TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
   TIM_OC1Init(TIM1, &TIM_OCInitStructure);
-
-  TIM_OCInitStructure.TIM_Pulse = 700;
   TIM_OC2Init(TIM1, &TIM_OCInitStructure);
-
-  TIM_OCInitStructure.TIM_Pulse = 700;
   TIM_OC3Init(TIM1, &TIM_OCInitStructure);
 
   TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM输出通道4初始化，用来触发AD注入采样
   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
   TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
-  TIM_OCInitStructure.TIM_Pulse = 1400;
+  TIM_OCInitStructure.TIM_Pulse = 0;
   TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
   TIM_OC4Init(TIM1, &TIM_OCInitStructure);
 
diff --git a/firmware/src/User/main.c b/firmware/src/User/main.c
index c742adf..4a6a6d7 100644
--- a/firmware/src/User/main.c
+++ b/firmware/src/User/main.c
@@ -55,18 +55,33 @@ int main(void)
   GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); //关闭jtag，保留swd。
   SysTick_init();
   GPIO_Config(&PB5, GPIO_Mode_Out_PP);
-  GPIO_Config(&PB12, GPIO_Mode_Out_PP);
-  GPIO_WritePin(&PB12, HIGH);
+
   // USART_Config(USART1, 9600);
   HALL_Config();
   PWM_Config();
+  motor_init();
   motor_start();
-
+  delay_ms(5000);
+  motor_set_speed(100);
+  delay_ms(5000);
+  motor_set_speed(300);
+  delay_ms(5000);
+  motor_set_speed(500);
+  delay_ms(5000);
+  motor_set_speed(700);
+  motor_info.dir=MOTOR_DIR_CW;
+  delay_ms(5000);
+  motor_set_speed(900);
+  delay_ms(5000);
+  motor_set_speed(1200);
+  delay_ms(5000);
+  motor_set_speed(1400);
+  delay_ms(5000);
   while (1)
   {
-    // GPIO_WritePin(&PB5, HIGH);
-    // delay_ms(500);
-    // GPIO_WritePin(&PB5, LOW);
+    GPIO_WritePin(&PB5, HIGH);
+    delay_ms(500);
+    GPIO_WritePin(&PB5, LOW);
     delay_ms(500);
   }
 }