diff --git a/src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStartCommand.java b/src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStartCommand.java
new file mode 100644
index 0000000..bb9a378
--- /dev/null
+++ b/src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStartCommand.java
@@ -0,0 +1,55 @@
+package com.iflytop.handacid.app.command.control;
+
+import com.iflytop.handacid.app.common.annotation.CommandMapping;
+import com.iflytop.handacid.app.common.enums.ChannelCode;
+import com.iflytop.handacid.app.common.enums.Direction;
+import com.iflytop.handacid.app.common.utils.CommandUtil;
+import com.iflytop.handacid.app.core.command.BaseCommandHandler;
+import com.iflytop.handacid.app.core.command.CommandFuture;
+import com.iflytop.handacid.app.core.command.DeviceCommand;
+import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.app.model.dto.CommandDTO;
+import com.iflytop.handacid.app.service.ChannelCtrlService;
+import com.iflytop.handacid.app.service.DeviceCommandService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 蠕动泵旋转
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("pump_rotate_start")
+public class PumpRotateStartCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    private final ChannelCtrlService channelCtrlService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        ChannelCode channelCode = commandDTO.getEnumParam("channelCode", ChannelCode.class);
+        if (channelCode == null) {
+            throw new IllegalArgumentException("参数 channelCode 不能为空");
+        }
+        Direction direction = commandDTO.getEnumParam("direction", Direction.class);
+        if (direction == null) {
+            throw new IllegalArgumentException("参数 direction 不能为空");
+        }
+        return runAsync(() -> {
+            if(Direction.FORWARD.equals(direction)) {
+                DeviceCommand deviceCommand = channelCtrlService.getPumpForwardRotateCommandByChannel(channelCode);
+                CommandFuture commandFuture = deviceCommandService.sendCommand(deviceCommand);
+                CommandUtil.wait(commandFuture);
+            }else{
+                DeviceCommand deviceCommand = channelCtrlService.getPumpBackwardRotateCommandByChannel(channelCode);
+                CommandFuture commandFuture = deviceCommandService.sendCommand(deviceCommand);
+                CommandUtil.wait(commandFuture);
+            }
+
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStopCommand.java b/src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStopCommand.java
new file mode 100644
index 0000000..336759d
--- /dev/null
+++ b/src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStopCommand.java
@@ -0,0 +1,42 @@
+package com.iflytop.handacid.app.command.control;
+
+import com.iflytop.handacid.app.common.annotation.CommandMapping;
+import com.iflytop.handacid.app.common.enums.ChannelCode;
+import com.iflytop.handacid.app.common.utils.CommandUtil;
+import com.iflytop.handacid.app.core.command.BaseCommandHandler;
+import com.iflytop.handacid.app.core.command.CommandFuture;
+import com.iflytop.handacid.app.core.command.DeviceCommand;
+import com.iflytop.handacid.app.model.dto.CommandDTO;
+import com.iflytop.handacid.app.service.ChannelCtrlService;
+import com.iflytop.handacid.app.service.DeviceCommandService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 蠕动泵停止旋转
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("pump_rotate_stop")
+public class PumpRotateStopCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    private final ChannelCtrlService channelCtrlService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        ChannelCode channelCode = commandDTO.getEnumParam("channelCode", ChannelCode.class);
+        if (channelCode == null) {
+            throw new IllegalArgumentException("参数 channelCode 不能为空");
+        }
+        return runAsync(() -> {
+            DeviceCommand deviceCommand = channelCtrlService.getPumpStopCommandByChannel(channelCode);
+            CommandFuture commandFuture = deviceCommandService.sendCommand(deviceCommand);
+            CommandUtil.wait(commandFuture);
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/handacid/app/common/enums/Direction.java b/src/main/java/com/iflytop/handacid/app/common/enums/Direction.java
new file mode 100644
index 0000000..6897df4
--- /dev/null
+++ b/src/main/java/com/iflytop/handacid/app/common/enums/Direction.java
@@ -0,0 +1,5 @@
+package com.iflytop.handacid.app.common.enums;
+
+public enum Direction {
+    FORWARD, BACKWARD;
+}