diff --git a/src/main/java/com/iflytop/handacid/app/core/command/DeviceCommandGenerator.java b/src/main/java/com/iflytop/handacid/app/core/command/DeviceCommandGenerator.java
index a27b13c..33e6aee 100644
--- a/src/main/java/com/iflytop/handacid/app/core/command/DeviceCommandGenerator.java
+++ b/src/main/java/com/iflytop/handacid/app/core/command/DeviceCommandGenerator.java
@@ -1,1226 +1,191 @@
 package com.iflytop.handacid.app.core.command;
 
 import com.iflytop.handacid.common.command.DeviceCommandParams;
-import com.iflytop.handacid.common.enums.*;
+import com.iflytop.handacid.common.enums.Action;
+import com.iflytop.handacid.common.enums.Device;
+import com.iflytop.handacid.common.enums.MotorDirection;
 
 /**
  * 生成给设备发送的指令
  */
 public class DeviceCommandGenerator {
-    // =========================================== 三色灯 ====================================================
+//=========================================== 阀 =================================================================
 
+//=========================================== 泵 =================================================================
     /**
-     * 三色灯开启
-     *
-     * @param color red | green | blue
+     * 泵 1 设置速度
      */
-    public static DeviceCommand tricolorLightOpen(TricolorLightColor color) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setColor(color);
-        return controlCmd(Device.TRICOLOR_LIGHT, Action.OPEN, params);
-    }
-
-    /**
-     * 三色灯关闭
-     */
-    public static DeviceCommand tricolorLightClose() {
-        return controlCmd(Device.TRICOLOR_LIGHT, Action.CLOSE, null);
-    }
-    // =========================================== 蜂鸣器 ====================================================
-
-    /**
-     * 蜂鸣器开启
-     *
-     * @param mode alarm | info
-     */
-    public static DeviceCommand beepOpen(BeepMode mode) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setMode(mode);
-        return controlCmd(Device.BEEP, Action.OPEN, params);
-    }
-
-    /**
-     * 蜂鸣器关闭
-     */
-    public static DeviceCommand beepClose() {
-        return controlCmd(Device.MAGNET, Action.CLOSE, null);
-    }
-    // =========================================== 磁子开关 ====================================================
-
-    /**
-     * 电磁开启
-     */
-    public static DeviceCommand magnetOpen() {
-        return controlCmd(Device.MAGNET, Action.OPEN, null);
-    }
-
-    /**
-     * 电磁关闭
-     */
-    public static DeviceCommand magnetClose() {
-        return controlCmd(Device.BEEP, Action.CLOSE, null);
-    }
-    // =========================================== 加热棒 ====================================================
-
-    /**
-     * 加热棒 1 获取参数  todo  controlCmd->getInfoCmd
-     */
-    public static DeviceCommand heatRod1Get() {
-        return controlCmd(Device.HEAT_ROD_1, Action.GET, null);
-    }
-
-    /**
-     * 加热棒 1 打开
-     */
-    public static DeviceCommand heatRod1Open(Double temperature) {
-        return controlCmd(Device.HEAT_ROD_1, Action.OPEN, null);
-    }
-
-    /**
-     * 加热棒 1 关闭
-     */
-    public static DeviceCommand heatRod1Close() {
-        return controlCmd(Device.HEAT_ROD_1, Action.CLOSE, null);
-    }
-
-    /**
-     * 加热棒 2 获取参数
-     */
-    public static DeviceCommand heatRod2Get() {
-        return controlCmd(Device.HEAT_ROD_2, Action.GET, null);
-    }
-
-    /**
-     * 加热棒 2 打开
-     */
-    public static DeviceCommand heatRod2Open(Double temperature) {
-        return controlCmd(Device.HEAT_ROD_1, Action.OPEN, null);
-    }
-
-    /**
-     * 加热棒 2 关闭
-     */
-    public static DeviceCommand heatRod2Close() {
-        return controlCmd(Device.HEAT_ROD_1, Action.CLOSE, null);
-    }
-
-    // =========================================== 夹爪 ====================================================
-
-    /**
-     * 设置参数
-     */
-    public static DeviceCommand clawSet(Double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(speed);
-        return setInfoCmd(Device.CLAW, Action.SET, params);
-    }
-
-    /**
-     * 夹爪移动
-     */
-    public static DeviceCommand clawMove(Double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlMotorCmd(Device.CLAW, Action.MOVE, params);
-    }
-
-    /**
-     * 夹爪停止
-     */
-    public static DeviceCommand clawStop() {
-        return controlMotorCmd(Device.CLAW, Action.STOP, null);
-    }
-
-
-    // =========================================== 步进泵 ====================================================
-
-    /**
-     * 步进泵 1 设置速度
-     */
-    public static DeviceCommand stepPump1SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.STEP_PUMP_1, Action.SET, params);
-    }
-
-    /**
-     * 步进泵 1 正向旋转
-     */
-    public static DeviceCommand stepPump1ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.STEP_PUMP_1, Action.ROTATE, params);
-    }
-
-    /**
-     * 步进泵 1 反向旋转
-     */
-    public static DeviceCommand stepPump1BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.STEP_PUMP_1, Action.ROTATE, params);
-    }
-
-    /**
-     * 步进泵 1 相对移动
-     */
-    public static DeviceCommand stepPump1MoveBy(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.STEP_PUMP_1, Action.MOVE_BY, null);
-    }
-
-    /**
-     * 步进泵 1 停止
-     */
-    public static DeviceCommand stepPump1Stop() {
-        return controlCmd(Device.STEP_PUMP_1, Action.STOP, null);
-    }
-
-    /**
-     * 步进泵 2 设置速度
-     */
-    public static DeviceCommand stepPump2SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.STEP_PUMP_2, Action.SET, params);
-    }
-
-    /**
-     * 步进泵 2 正向旋转
-     */
-    public static DeviceCommand stepPump2ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.STEP_PUMP_2, Action.ROTATE, params);
-    }
-
-    /**
-     * 步进泵 2 反向旋转
-     */
-    public static DeviceCommand stepPump2BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.STEP_PUMP_2, Action.ROTATE, params);
-    }
-
-    /**
-     * 步进泵 2 相对移动
-     */
-    public static DeviceCommand stepPump2MoveBy(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.STEP_PUMP_2, Action.MOVE_BY, null);
-    }
-
-    /**
-     * 步进泵 2 停止
-     */
-    public static DeviceCommand stepPump2Stop() {
-        return controlCmd(Device.STEP_PUMP_2, Action.STOP, null);
-    }
-
-    /**
-     * 步进泵 3 设置速度
-     */
-    public static DeviceCommand stepPump3SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.STEP_PUMP_3, Action.SET, params);
-    }
-
-    /**
-     * 步进泵 3 正向旋转
-     */
-    public static DeviceCommand stepPump3ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.STEP_PUMP_3, Action.ROTATE, params);
-    }
-
-    /**
-     * 步进泵 3 反向旋转
-     */
-    public static DeviceCommand stepPump3BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.STEP_PUMP_3, Action.ROTATE, params);
-    }
-
-    /**
-     * 步进泵 3 相对移动
-     */
-    public static DeviceCommand stepPump3MoveBy(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.STEP_PUMP_3, Action.MOVE_BY, null);
-    }
-
-
-    /**
-     * 步进泵 3 停止
-     */
-    public static DeviceCommand stepPump3Stop() {
-        return setInfoCmd(Device.STEP_PUMP_3, Action.STOP, null);
-    }
-    // =========================================== 无刷泵 ====================================================
-
-    /**
-     * 陶瓷泵 1 设置速度
-     */
-    public static DeviceCommand brushlessPump1SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_1, Action.SET, params);
-    }
-
-    /**
-     * 无刷泵 1 正向旋转
-     */
-    public static DeviceCommand brushlessPump1ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_1, Action.ROTATE, params);
-    }
-
-    /**
-     * 无刷泵 1 反向旋转
-     */
-    public static DeviceCommand brushlessPump1BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_1, Action.ROTATE, params);
-    }
-
-    /**
-     * 无刷泵 1 相对移动
-     */
-    public static DeviceCommand brushlessPump1MoveBy(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.BRUSHLESS_PUMP_1, Action.MOVE_BY, params);
-    }
-
-    /**
-     * 无刷泵 1 停止
-     */
-    public static DeviceCommand brushlessPump1Stop() {
-        return controlCmd(Device.BRUSHLESS_PUMP_1, Action.STOP, null);
-    }
-
-    /**
-     * 陶瓷泵 2 设置速度
-     */
-    public static DeviceCommand brushlessPump2SetSpeed(double speed) {
+    public static DeviceCommand pump1SetSpeed(double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setSpeed(speed);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_2, Action.SET, params);
+        return setInfoCmd(Device.PUMP_1, Action.SET, params);
     }
 
     /**
-     * 无刷泵 2 正向旋转
+     * 泵 1 正向旋转
      */
-    public static DeviceCommand brushlessPump2ForwardRotate() {
+    public static DeviceCommand pump1ForwardRotate() {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_2, Action.ROTATE, params);
+        return setInfoCmd(Device.PUMP_1, Action.ROTATE, params);
     }
 
     /**
-     * 无刷泵 2 反向旋转
+     * 泵 1 反向旋转
      */
-    public static DeviceCommand brushlessPump2BackwardRotate() {
+    public static DeviceCommand pump1BackwardRotate() {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_2, Action.ROTATE, params);
+        return setInfoCmd(Device.PUMP_1, Action.ROTATE, params);
     }
 
     /**
-     * 无刷泵 2 相对移动
+     * 泵 1 相对移动
      */
-    public static DeviceCommand brushlessPump2MoveBy(double position) {
+    public static DeviceCommand pump1MoveBy(double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlCmd(Device.BRUSHLESS_PUMP_2, Action.MOVE_BY, params);
+        return controlCmd(Device.PUMP_1, Action.MOVE_BY, null);
     }
 
     /**
-     * 无刷泵 2 停止
+     * 泵 1 停止
      */
-    public static DeviceCommand brushlessPump2Stop() {
-        return controlCmd(Device.BRUSHLESS_PUMP_2, Action.STOP, null);
+    public static DeviceCommand pump1Stop() {
+        return controlCmd(Device.PUMP_1, Action.STOP, null);
     }
 
     /**
-     * 陶瓷泵 3 设置速度
+     * 泵 2 设置速度
      */
-    public static DeviceCommand brushlessPump3SetSpeed(double speed) {
+    public static DeviceCommand pump2SetSpeed(double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setSpeed(speed);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_3, Action.SET, params);
+        return setInfoCmd(Device.PUMP_2, Action.SET, params);
     }
 
     /**
-     * 无刷泵 3 正向旋转
+     * 泵 2 正向旋转
      */
-    public static DeviceCommand brushlessPump3ForwardRotate() {
+    public static DeviceCommand pump2ForwardRotate() {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_3, Action.ROTATE, params);
+        return setInfoCmd(Device.PUMP_2, Action.ROTATE, params);
     }
 
     /**
-     * 无刷泵 3 反向旋转
+     * 泵 2 反向旋转
      */
-    public static DeviceCommand brushlessPump3BackwardRotate() {
+    public static DeviceCommand pump2BackwardRotate() {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_3, Action.ROTATE, params);
+        return setInfoCmd(Device.PUMP_2, Action.ROTATE, params);
     }
 
     /**
-     * 无刷泵 3 相对移动
+     * 泵 2 相对移动
      */
-    public static DeviceCommand brushlessPump3MoveBy(double position) {
+    public static DeviceCommand pump2MoveBy(double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlCmd(Device.BRUSHLESS_PUMP_3, Action.MOVE_BY, params);
-    }
-
-    /**
-     * 无刷泵 3 停止
-     */
-    public static DeviceCommand brushlessPump3Stop() {
-        return controlCmd(Device.BRUSHLESS_PUMP_3, Action.STOP, null);
-    }
-
-    /**
-     * 陶瓷泵 4 设置速度
-     */
-    public static DeviceCommand brushlessPump4SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_4, Action.SET, params);
-    }
-
-    /**
-     * 无刷泵 4 正向旋转
-     */
-    public static DeviceCommand brushlessPump4ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_4, Action.ROTATE, params);
-    }
-
-    /**
-     * 无刷泵 4 反向旋转
-     */
-    public static DeviceCommand brushlessPump4BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_4, Action.ROTATE, params);
+        return controlCmd(Device.PUMP_2, Action.MOVE_BY, null);
     }
 
     /**
-     * 无刷泵 4 相对移动
+     * 泵 2 停止
      */
-    public static DeviceCommand brushlessPump4MoveBy(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.BRUSHLESS_PUMP_4, Action.MOVE_BY, params);
+    public static DeviceCommand pump2Stop() {
+        return controlCmd(Device.PUMP_2, Action.STOP, null);
     }
 
-    /**
-     * 无刷泵 4 停止
-     */
-    public static DeviceCommand brushlessPump4Stop() {
-        return controlCmd(Device.BRUSHLESS_PUMP_4, Action.STOP, null);
-    }
 
     /**
-     * 陶瓷泵 5 设置速度
+     * 泵 3 设置速度
      */
-    public static DeviceCommand brushlessPump5SetSpeed(double speed) {
+    public static DeviceCommand pump3SetSpeed(double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setSpeed(speed);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_5, Action.SET, params);
+        return setInfoCmd(Device.PUMP_3, Action.SET, params);
     }
 
     /**
-     * 无刷泵 5 正向旋转
+     * 泵 3 正向旋转
      */
-    public static DeviceCommand brushlessPump5ForwardRotate() {
+    public static DeviceCommand pump3ForwardRotate() {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_5, Action.ROTATE, params);
+        return setInfoCmd(Device.PUMP_3, Action.ROTATE, params);
     }
 
     /**
-     * 无刷泵 5 反向旋转
+     * 泵 3 反向旋转
      */
-    public static DeviceCommand brushlessPump5BackwardRotate() {
+    public static DeviceCommand pump3BackwardRotate() {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_5, Action.ROTATE, params);
+        return setInfoCmd(Device.PUMP_3, Action.ROTATE, params);
     }
 
     /**
-     * 无刷泵 5 相对移动
+     * 泵 3 相对移动
      */
-    public static DeviceCommand brushlessPump5MoveBy(double position) {
+    public static DeviceCommand pump3MoveBy(double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlCmd(Device.BRUSHLESS_PUMP_5, Action.MOVE_BY, params);
-    }
-
-    /**
-     * 无刷泵 5 停止
-     */
-    public static DeviceCommand brushlessPump5Stop() {
-        return controlCmd(Device.BRUSHLESS_PUMP_5, Action.STOP, null);
-    }
-
-    /**
-     * 陶瓷泵 6 设置速度
-     */
-    public static DeviceCommand brushlessPump6SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_6, Action.SET, params);
-    }
-
-    /**
-     * 无刷泵 6 正向旋转
-     */
-    public static DeviceCommand brushlessPump6ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_6, Action.ROTATE, params);
+        return controlCmd(Device.PUMP_3, Action.MOVE_BY, null);
     }
 
     /**
-     * 无刷泵 6 反向旋转
+     * 泵 3 停止
      */
-    public static DeviceCommand brushlessPump6BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_6, Action.ROTATE, params);
-    }
-
-    /**
-     * 无刷泵 6 相对移动
-     */
-    public static DeviceCommand brushlessPump6MoveBy(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.BRUSHLESS_PUMP_6, Action.MOVE_BY, params);
+    public static DeviceCommand pump3Stop() {
+        return controlCmd(Device.PUMP_3, Action.STOP, null);
     }
 
-    /**
-     * 无刷泵 6 停止
-     */
-    public static DeviceCommand brushlessPump6Stop() {
-        return controlCmd(Device.BRUSHLESS_PUMP_6, Action.STOP, null);
-    }
 
     /**
-     * 陶瓷泵 7 设置速度
+     * 泵 4 设置速度
      */
-    public static DeviceCommand brushlessPump7SetSpeed(double speed) {
+    public static DeviceCommand pump4SetSpeed(double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setSpeed(speed);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_7, Action.SET, params);
+        return setInfoCmd(Device.PUMP_4, Action.SET, params);
     }
 
     /**
-     * 无刷泵 7 正向旋转
+     * 泵 4 正向旋转
      */
-    public static DeviceCommand brushlessPump7ForwardRotate() {
+    public static DeviceCommand pump4ForwardRotate() {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_7, Action.ROTATE, params);
+        return setInfoCmd(Device.PUMP_4, Action.ROTATE, params);
     }
 
     /**
-     * 无刷泵 7 反向旋转
+     * 泵 4 反向旋转
      */
-    public static DeviceCommand brushlessPump7BackwardRotate() {
+    public static DeviceCommand pump4BackwardRotate() {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_7, Action.ROTATE, params);
+        return setInfoCmd(Device.PUMP_4, Action.ROTATE, params);
     }
 
     /**
-     * 无刷泵 7 相对移动
+     * 泵 4 相对移动
      */
-    public static DeviceCommand brushlessPump7MoveBy(double position) {
+    public static DeviceCommand pump4MoveBy(double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlCmd(Device.BRUSHLESS_PUMP_7, Action.MOVE_BY, params);
-    }
-
-    /**
-     * 无刷泵 7 停止
-     */
-    public static DeviceCommand brushlessPump7Stop() {
-        return controlCmd(Device.BRUSHLESS_PUMP_7, Action.STOP, null);
-    }
-
-    /**
-     * 陶瓷泵 8 设置速度
-     */
-    public static DeviceCommand brushlessPump8SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_8, Action.SET, params);
-    }
-
-    /**
-     * 无刷泵 8 正向旋转
-     */
-    public static DeviceCommand brushlessPump8ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_8, Action.ROTATE, params);
+        return controlCmd(Device.PUMP_4, Action.MOVE_BY, null);
     }
 
     /**
-     * 无刷泵 8 反向旋转
+     * 泵 4 停止
      */
-    public static DeviceCommand brushlessPump8BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_8, Action.ROTATE, params);
+    public static DeviceCommand pump4Stop() {
+        return controlCmd(Device.PUMP_4, Action.STOP, null);
     }
-
-    /**
-     * 无刷泵 8 相对移动
-     */
-    public static DeviceCommand brushlessPump8MoveBy(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.BRUSHLESS_PUMP_8, Action.MOVE_BY, params);
-    }
-
-    /**
-     * 无刷泵 8 停止
-     */
-    public static DeviceCommand brushlessPump8Stop() {
-        return controlCmd(Device.BRUSHLESS_PUMP_8, Action.STOP, null);
-    }
-
-    /**
-     * 陶瓷泵 9 设置速度
-     */
-    public static DeviceCommand brushlessPump9SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_9, Action.SET, params);
-    }
-
-    /**
-     * 无刷泵 9 正向旋转
-     */
-    public static DeviceCommand brushlessPump9ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_9, Action.ROTATE, params);
-    }
-
-    /**
-     * 无刷泵 9 反向旋转
-     */
-    public static DeviceCommand brushlessPump9BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_9, Action.ROTATE, params);
-    }
-
-    /**
-     * 无刷泵 9 相对移动
-     */
-    public static DeviceCommand brushlessPump9MoveBy(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.BRUSHLESS_PUMP_9, Action.MOVE_BY, params);
-    }
-
-    /**
-     * 无刷泵 9 停止
-     */
-    public static DeviceCommand brushlessPump9Stop() {
-        return controlCmd(Device.BRUSHLESS_PUMP_9, Action.STOP, null);
-    }
-
-    /**
-     * 陶瓷泵 10 设置速度
-     */
-    public static DeviceCommand brushlessPump10SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_10, Action.SET, params);
-    }
-
-    /**
-     * 无刷泵 10 正向旋转
-     */
-    public static DeviceCommand brushlessPump10ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_10, Action.ROTATE, params);
-    }
-
-    /**
-     * 无刷泵 10 反向旋转
-     */
-    public static DeviceCommand brushlessPump10BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.BRUSHLESS_PUMP_10, Action.ROTATE, params);
-    }
-
-    /**
-     * 无刷泵 10 相对移动
-     */
-    public static DeviceCommand brushlessPump10MoveBy(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.BRUSHLESS_PUMP_10, Action.MOVE_BY, params);
-    }
-
-    /**
-     * 无刷泵 10 停止
-     */
-    public static DeviceCommand brushlessPump10Stop() {
-        return controlCmd(Device.BRUSHLESS_PUMP_10, Action.STOP, null);
-    }
-    // =========================================== 陶瓷泵 ====================================================
-
-    /**
-     * 陶瓷泵 1 设置速度
-     */
-    public static DeviceCommand ceramicPump1SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.CERAMIC_PUMP_1, Action.SET, params);
-    }
-
-    /**
-     * 陶瓷泵 1 正向旋转
-     */
-    public static DeviceCommand ceramicPump1ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.CERAMIC_PUMP_1, Action.ROTATE, params);
-    }
-
-    /**
-     * 陶瓷泵 1 反向旋转
-     */
-    public static DeviceCommand ceramicPump1BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.CERAMIC_PUMP_1, Action.ROTATE, params);
-    }
-
-    /**
-     * 陶瓷泵 1 相对移动
-     */
-    public static DeviceCommand ceramicPump1MoveBy(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.CERAMIC_PUMP_1, Action.MOVE_BY, null);
-    }
-
-    /**
-     * 陶瓷泵 1 停止
-     */
-    public static DeviceCommand ceramicPump1Stop() {
-        return controlCmd(Device.CERAMIC_PUMP_1, Action.STOP, null);
-    }
-
-    /**
-     * 陶瓷泵 2 设置速度
-     */
-    public static DeviceCommand ceramicPump2SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.CERAMIC_PUMP_2, Action.SET, params);
-    }
-
-    /**
-     * 陶瓷泵 2 正向旋转
-     */
-    public static DeviceCommand ceramicPump2ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.CERAMIC_PUMP_2, Action.ROTATE, params);
-    }
-
-    /**
-     * 陶瓷泵 2 反向旋转
-     */
-    public static DeviceCommand ceramicPump2BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.CERAMIC_PUMP_2, Action.ROTATE, params);
-    }
-
-    /**
-     * 陶瓷泵 2 相对移动
-     */
-    public static DeviceCommand ceramicPump2MoveBy(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.CERAMIC_PUMP_2, Action.MOVE_BY, null);
-    }
-
-    /**
-     * 陶瓷泵 2 停止
-     */
-    public static DeviceCommand ceramicPump2Stop() {
-
-        return controlCmd(Device.CERAMIC_PUMP_2, Action.STOP, null);
-    }
-
-    // =========================================== 滴定移动电机 ====================================================
-
-    /**
-     * titration_motor_1 回原点
-     */
-    public static DeviceCommand titrationMotor1Origin() {
-
-        return controlMotorCmd(Device.TITRATION_MOTOR_1, Action.ORIGIN, null);
-    }
-
-    /**
-     * titration_motor_1 停止
-     */
-    public static DeviceCommand titrationMotor1Stop() {
-
-        return controlMotorCmd(Device.TITRATION_MOTOR_1, Action.STOP, null);
-    }
-
-    /**
-     * titration_motor_1 使能
-     */
-    public static DeviceCommand titrationMotor1Enable() {
-
-        return setInfoCmd(Device.TITRATION_MOTOR_1, Action.ENABLE, null);
-    }
-
-    /**
-     * titration_motor_1 失能
-     */
-    public static DeviceCommand titrationMotor1Disable() {
-
-        return setInfoCmd(Device.TITRATION_MOTOR_1, Action.DISABLE, null);
-    }
-
-    /**
-     * titration_motor_1 设置速度
-     */
-    public static DeviceCommand titrationMotor1SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.TITRATION_MOTOR_1, Action.SET, params);
-    }
-
-    /**
-     * titration_motor_1  绝对移动
-     */
-    public static DeviceCommand titrationMotor1MoveTo(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.TITRATION_MOTOR_1, Action.MOVE, params);
-    }
-
-    /**
-     * titration_motor_1  相对移动
-     */
-    public static DeviceCommand titrationMotor1MoveBy(double distance) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(distance);
-        return controlCmd(Device.TITRATION_MOTOR_1, Action.MOVE_BY, params);
-    }
-
-    /**
-     * titration_motor_2 回原点
-     */
-    public static DeviceCommand titrationMotor2Origin() {
-
-        return controlMotorCmd(Device.TITRATION_MOTOR_2, Action.ORIGIN, null);
-    }
-
-    /**
-     * titration_motor_2 停止
-     */
-    public static DeviceCommand titrationMotor2Stop() {
-
-        return controlMotorCmd(Device.TITRATION_MOTOR_2, Action.STOP, null);
-    }
-
-    /**
-     * titration_motor_2 使能
-     */
-    public static DeviceCommand titrationMotor2Enable() {
-
-        return setInfoCmd(Device.TITRATION_MOTOR_2, Action.ENABLE, null);
-    }
-
-    /**
-     * titration_motor_2 失能
-     */
-    public static DeviceCommand titrationMotor2Disable() {
-
-        return setInfoCmd(Device.TITRATION_MOTOR_2, Action.DISABLE, null);
-    }
-
-    /**
-     * titration_motor_2 设置速度
-     */
-    public static DeviceCommand titrationMotor2SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.TITRATION_MOTOR_2, Action.SET, params);
-    }
-
-
-    /**
-     * titration_motor_2  绝对移动
-     */
-    public static DeviceCommand titrationMotor2MoveTo(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.TITRATION_MOTOR_2, Action.MOVE, params);
-    }
-
-    /**
-     * titration_motor_2  相对移动
-     */
-    public static DeviceCommand titrationMotor2MoveBy(double distance) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(distance);
-        return controlCmd(Device.TITRATION_MOTOR_2, Action.MOVE_BY, params);
-    }
-    // =========================================== 机械臂大臂移动电机 ====================================================
-
-    /**
-     * 机械臂大臂回原点
-     */
-    public static DeviceCommand roboticArmBigMotorOrigin() {
-
-        return controlMotorCmd(Device.ROBOTIC_ARM_BIG, Action.ORIGIN, null);
-    }
-
-    /**
-     * 机械臂大臂停止
-     */
-    public static DeviceCommand roboticArmBigMotorStop() {
-
-        return controlMotorCmd(Device.ROBOTIC_ARM_BIG, Action.STOP, null);
-    }
-
-    /**
-     * 机械臂大臂 使能
-     */
-    public static DeviceCommand roboticArmBigMotorEnable() {
-
-        return setInfoCmd(Device.ROBOTIC_ARM_BIG, Action.ENABLE, null);
-    }
-
-    /**
-     * 机械臂大臂 失能
-     */
-    public static DeviceCommand roboticArmBigMotorDisable() {
-
-        return setInfoCmd(Device.ROBOTIC_ARM_BIG, Action.DISABLE, null);
-    }
-
-    /**
-     * 机械臂大臂 设置速度
-     */
-    public static DeviceCommand roboticArmBigMotorSetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.ROBOTIC_ARM_BIG, Action.SET, params);
-    }
-
-    /**
-     * 机械臂大臂  绝对移动
-     */
-    public static DeviceCommand roboticArmBigMotorMoveTo(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.ROBOTIC_ARM_BIG, Action.MOVE, params);
-    }
-
-    /**
-     * 机械臂大臂  相对移动
-     */
-    public static DeviceCommand roboticArmBigMotorMoveBy(double distance) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(distance);
-        return controlCmd(Device.ROBOTIC_ARM_BIG, Action.MOVE_BY, params);
-    }
-// =========================================== 机械臂小臂移动电机 ====================================================
-
-    /**
-     * 机械臂小臂 回原点
-     */
-    public static DeviceCommand roboticArmSmallMotorOrigin() {
-
-        return controlMotorCmd(Device.ROBOTIC_ARM_SMALL, Action.ORIGIN, null);
-    }
-
-    /**
-     * 机械臂小臂 停止
-     */
-    public static DeviceCommand roboticArmSmallMotorStop() {
-
-        return controlMotorCmd(Device.ROBOTIC_ARM_SMALL, Action.STOP, null);
-    }
-
-    /**
-     * 机械臂小臂 使能
-     */
-    public static DeviceCommand roboticArmSmallMotorEnable() {
-
-        return setInfoCmd(Device.ROBOTIC_ARM_SMALL, Action.ENABLE, null);
-    }
-
-    /**
-     * 机械臂小臂 失能
-     */
-    public static DeviceCommand roboticArmSmallMotorDisable() {
-
-        return setInfoCmd(Device.ROBOTIC_ARM_SMALL, Action.DISABLE, null);
-    }
-
-    /**
-     * 机械臂小臂 设置速度
-     */
-    public static DeviceCommand roboticArmSmallMotorSetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.ROBOTIC_ARM_SMALL, Action.SET, params);
-    }
-
-
-    /**
-     * 机械臂小臂  绝对移动
-     */
-    public static DeviceCommand roboticArmSmallMotorMoveTo(double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlCmd(Device.ROBOTIC_ARM_SMALL, Action.MOVE, params);
-    }
-
-    /**
-     * 机械臂小臂  相对移动
-     */
-    public static DeviceCommand roboticArmSmallMotorMoveBy(double distance) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(distance);
-        return controlCmd(Device.ROBOTIC_ARM_SMALL, Action.MOVE_BY, params);
-    }
-    // =========================================== 磁子搅拌电机 ====================================================
-
-    /**
-     * 搅拌电机 1 正向旋转
-     */
-    public static DeviceCommand stirMotor1ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.STIR_MOTOR_1, Action.ROTATE, params);
-    }
-
-    /**
-     * 搅拌电机 1 反向旋转
-     */
-    public static DeviceCommand stirMotor1BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.STIR_MOTOR_1, Action.ROTATE, params);
-    }
-
-    /**
-     * STIR_MOTOR_1 回原点
-     */
-    public static DeviceCommand stirMotor1Origin() {
-
-        return controlMotorCmd(Device.STIR_MOTOR_1, Action.ORIGIN, null);
-    }
-
-    /**
-     * STIR_MOTOR_1 停止
-     */
-    public static DeviceCommand stirMotor1Stop() {
-
-        return controlMotorCmd(Device.STIR_MOTOR_1, Action.STOP, null);
-    }
-
-    /**
-     * STIR_MOTOR_1 使能
-     */
-    public static DeviceCommand stirMotor1Enable() {
-
-        return setInfoCmd(Device.STIR_MOTOR_1, Action.ENABLE, null);
-    }
-
-    /**
-     * STIR_MOTOR_1 失能
-     */
-    public static DeviceCommand stirMotor1Disable() {
-
-        return setInfoCmd(Device.STIR_MOTOR_1, Action.DISABLE, null);
-    }
-
-    /**
-     * STIR_MOTOR_1 设置速度
-     */
-    public static DeviceCommand stirMotor1SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.STIR_MOTOR_1, Action.SET, params);
-    }
-
-
-    /**
-     * STIR_MOTOR_1  相对移动
-     */
-    public static DeviceCommand stirMotor1MoveBy(double distance) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(distance);
-        return controlCmd(Device.STIR_MOTOR_1, Action.MOVE_BY, params);
-    }
-
-    /**
-     * STIR_MOTOR_2 回原点
-     */
-    public static DeviceCommand stirMotor2Origin() {
-
-        return controlMotorCmd(Device.STIR_MOTOR_2, Action.ORIGIN, null);
-    }
-
-    /**
-     * 搅拌电机 2 正向旋转
-     */
-    public static DeviceCommand stirMotor2ForwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.FORWARD);
-        return setInfoCmd(Device.STIR_MOTOR_2, Action.ROTATE, params);
-    }
-
-    /**
-     * 搅拌电机 2 反向旋转
-     */
-    public static DeviceCommand stirMotor2BackwardRotate() {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(MotorDirection.BACKWARD);
-        return setInfoCmd(Device.STIR_MOTOR_2, Action.ROTATE, params);
-    }
-
-    /**
-     * STIR_MOTOR_2 停止
-     */
-    public static DeviceCommand stirMotor2Stop() {
-
-        return controlMotorCmd(Device.STIR_MOTOR_2, Action.STOP, null);
-    }
-
-    /**
-     * STIR_MOTOR_2 使能
-     */
-    public static DeviceCommand stirMotor2Enable() {
-
-        return setInfoCmd(Device.STIR_MOTOR_2, Action.ENABLE, null);
-    }
-
-    /**
-     * STIR_MOTOR_2 失能
-     */
-    public static DeviceCommand stirMotor2Disable() {
-
-        return setInfoCmd(Device.STIR_MOTOR_2, Action.DISABLE, null);
-    }
-
-    /**
-     * STIR_MOTOR_2 设置速度
-     */
-    public static DeviceCommand stirMotor2SetSpeed(double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(Device.STIR_MOTOR_2, Action.SET, params);
-    }
-
-    /**
-     * STIR_MOTOR_2  相对移动
-     */
-    public static DeviceCommand stirMotor2MoveBy(double distance) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(distance);
-        return controlCmd(Device.TITRATION_MOTOR_2, Action.MOVE_BY, params);
-    }
-
-    // =========================================== Z 轴升降电机 ====================================================
-
-    /**
-     * 设置参数
-     */
-    public static DeviceCommand zSet(Double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(speed);
-        return setInfoCmd(Device.Z_MOTOR, Action.SET, params);
-    }
-
-    /**
-     * z轴移动
-     */
-    public static DeviceCommand zMove(Double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlMotorCmd(Device.Z_MOTOR, Action.MOVE, params);
-    }
-
-    /**
-     * z轴相对移动
-     */
-    public static DeviceCommand zMoveBy(Double position) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setPosition(position);
-        return controlMotorCmd(Device.Z_MOTOR, Action.MOVE_BY, params);
-    }
-
-    /**
-     * z轴回原点
-     */
-    public static DeviceCommand zOrigin() {
-        return controlMotorCmd(Device.Z_MOTOR, Action.ORIGIN, null);
-    }
-
-    /**
-     * z轴停止
-     */
-    public static DeviceCommand zStop() {
-        return controlMotorCmd(Device.Z_MOTOR, Action.STOP, null);
-    }
-
-    /**
-     * z轴使能
-     */
-    public static DeviceCommand zEnable() {
-        return setInfoCmd(Device.Z_MOTOR, Action.ENABLE, null);
-    }
-
-    /**
-     * z轴失能
-     */
-    public static DeviceCommand zDisable() {
-        return setInfoCmd(Device.Z_MOTOR, Action.DISABLE, null);
-    }
-
-//===========================================PRIVATE====================================================================
+//=========================================== 私有方法 ============================================================
 
     /**
      * 控制设备电机指令
diff --git a/src/main/java/com/iflytop/handacid/common/enums/Device.java b/src/main/java/com/iflytop/handacid/common/enums/Device.java
index 676f086..6b4d5b2 100644
--- a/src/main/java/com/iflytop/handacid/common/enums/Device.java
+++ b/src/main/java/com/iflytop/handacid/common/enums/Device.java
@@ -3,44 +3,14 @@ package com.iflytop.handacid.common.enums;
 import lombok.Getter;
 
 public enum Device {
-    Z_MOTOR(HardwareType.STEPPER_MOTOR, "Z 轴升降电机"),
-    CERAMIC_PUMP_1(HardwareType.STEPPER_MOTOR, "陶瓷泵 1"),
-    CERAMIC_PUMP_2(HardwareType.STEPPER_MOTOR, "陶瓷泵 2"),
-    BRUSHLESS_PUMP_1(HardwareType.STEPPER_MOTOR, "无刷泵 1"),
-    BRUSHLESS_PUMP_2(HardwareType.STEPPER_MOTOR, "无刷泵 2"),
-    BRUSHLESS_PUMP_3(HardwareType.STEPPER_MOTOR, "无刷泵 3"),
-    BRUSHLESS_PUMP_4(HardwareType.STEPPER_MOTOR, "无刷泵 4"),
-    BRUSHLESS_PUMP_5(HardwareType.STEPPER_MOTOR, "无刷泵 5"),
-    BRUSHLESS_PUMP_6(HardwareType.STEPPER_MOTOR, "无刷泵 6"),
-    BRUSHLESS_PUMP_7(HardwareType.STEPPER_MOTOR, "无刷泵 7"),
-    BRUSHLESS_PUMP_8(HardwareType.STEPPER_MOTOR, "无刷泵 8"),
-    BRUSHLESS_PUMP_9(HardwareType.STEPPER_MOTOR, "无刷泵 9"),
-    BRUSHLESS_PUMP_10(HardwareType.STEPPER_MOTOR, "无刷泵 10"),
-    STEP_PUMP_1(HardwareType.STEPPER_MOTOR, "步进泵 1"),
-    STEP_PUMP_2(HardwareType.STEPPER_MOTOR, "步进泵 2"),
-    STEP_PUMP_3(HardwareType.STEPPER_MOTOR, "步进泵 3"),
-    STIR_MOTOR_1(HardwareType.STEPPER_MOTOR, "搅拌电机 1"),
-    STIR_MOTOR_2(HardwareType.STEPPER_MOTOR, "搅拌电机 2"),
-    TITRATION_MOTOR_1(HardwareType.STEPPER_MOTOR, "滴定移动电机 1"),
-    TITRATION_MOTOR_2(HardwareType.STEPPER_MOTOR, "滴定移动电机 2"),
-    CLAW(HardwareType.SERVO_MOTOR, "夹爪"),
-    ROBOTIC_ARM_BIG(HardwareType.STEPPER_MOTOR, "双轴机械臂大臂"),
-    ROBOTIC_ARM_SMALL(HardwareType.STEPPER_MOTOR, "双轴机械臂小臂"),
-    HEAT_ROD_1(HardwareType.IO_DEVICE, "加热棒 1"),
-    HEAT_ROD_2(HardwareType.IO_DEVICE, "加热棒 2"),
-    TRICOLOR_LIGHT(HardwareType.IO_DEVICE, "三色灯"),
-    BEEP(HardwareType.IO_DEVICE, "蜂鸣器"),
-    MAGNET(HardwareType.IO_DEVICE, "电磁开关"),
-    CONTAINER_LOW_LEVEL_1(HardwareType.IO_DEVICE, "容器低液位检测 1"),
-    CONTAINER_LOW_LEVEL_2(HardwareType.IO_DEVICE, "容器低液位检测 2"),
-    CONTAINER_LOW_LEVEL_3(HardwareType.IO_DEVICE, "容器低液位检测 3"),
-    CONTAINER_LOW_LEVEL_4(HardwareType.IO_DEVICE, "容器低液位检测 4"),
-    CONTAINER_LOW_LEVEL_5(HardwareType.IO_DEVICE, "容器低液位检测 5"),
-    CONTAINER_LOW_LEVEL_6(HardwareType.IO_DEVICE, "容器低液位检测 6"),
-    CONTAINER_LOW_LEVEL_7(HardwareType.IO_DEVICE, "容器低液位检测 7"),
-    CONTAINER_LOW_LEVEL_8(HardwareType.IO_DEVICE, "容器低液位检测 8"),
-    HEATER_TUBE_EXIST_1(HardwareType.IO_DEVICE, "加热位是否存在试管 1"),
-    HEATER_TUBE_EXIST_2(HardwareType.IO_DEVICE, "加热位是否存在试管 2"),
+    PUMP_1(HardwareType.STEPPER_MOTOR, "泵 1"),
+    PUMP_2(HardwareType.STEPPER_MOTOR, "泵 2"),
+    PUMP_3(HardwareType.STEPPER_MOTOR, "泵 3"),
+    PUMP_4(HardwareType.STEPPER_MOTOR, "泵 4"),
+    VALVE_1(HardwareType.IO_DEVICE, "阀 1"),
+    VALVE_2(HardwareType.IO_DEVICE, "阀 2"),
+    VALVE_3(HardwareType.IO_DEVICE, "阀 3"),
+    VALVE_4(HardwareType.IO_DEVICE, "阀 4"),
     ;
 
     /**
diff --git a/src/main/java/com/iflytop/handacid/hardware/command/handlers/MotorHandler.java b/src/main/java/com/iflytop/handacid/hardware/command/handlers/MotorHandler.java
index a0b7c87..17a526b 100644
--- a/src/main/java/com/iflytop/handacid/hardware/command/handlers/MotorHandler.java
+++ b/src/main/java/com/iflytop/handacid/hardware/command/handlers/MotorHandler.java
@@ -25,26 +25,10 @@ public class MotorHandler extends CommandHandler {
     private final MotorWrapperDriver driver_;
 
     private final Map<Device, StepMotorMId> stepMotorMIdMap_ = Map.ofEntries(
-            Map.entry(Device.ROBOTIC_ARM_BIG, StepMotorMId.DualRobot1M),
-            Map.entry(Device.ROBOTIC_ARM_SMALL, StepMotorMId.DualRobot2M),
-            Map.entry(Device.Z_MOTOR, StepMotorMId.RobotArmZM),
-            Map.entry(Device.BRUSHLESS_PUMP_1, StepMotorMId.BrushlessPump1M),
-            Map.entry(Device.BRUSHLESS_PUMP_2, StepMotorMId.BrushlessPump2M),
-            Map.entry(Device.BRUSHLESS_PUMP_3, StepMotorMId.BrushlessPump3M),
-            Map.entry(Device.BRUSHLESS_PUMP_4, StepMotorMId.BrushlessPump4M),
-            Map.entry(Device.BRUSHLESS_PUMP_5, StepMotorMId.BrushlessPump5M),
-            Map.entry(Device.BRUSHLESS_PUMP_6, StepMotorMId.BrushlessPump6M),
-            Map.entry(Device.BRUSHLESS_PUMP_7, StepMotorMId.BrushlessPump7M),
-            Map.entry(Device.BRUSHLESS_PUMP_8, StepMotorMId.BrushlessPump8M),
-            Map.entry(Device.BRUSHLESS_PUMP_9, StepMotorMId.BrushlessPump9M),
-            Map.entry(Device.BRUSHLESS_PUMP_10, StepMotorMId.BrushlessPump10M),
-            Map.entry(Device.STEP_PUMP_1, StepMotorMId.StepPump1M),
-            Map.entry(Device.STEP_PUMP_2, StepMotorMId.StepPump2M),
-            Map.entry(Device.STEP_PUMP_3, StepMotorMId.StepPump3M),
-            Map.entry(Device.STIR_MOTOR_1, StepMotorMId.TitratorStir1M),
-            Map.entry(Device.STIR_MOTOR_2, StepMotorMId.TitratorStir2M),
-            Map.entry(Device.TITRATION_MOTOR_1, StepMotorMId.Titrator1M),
-            Map.entry(Device.TITRATION_MOTOR_2, StepMotorMId.Titrator2M)
+            Map.entry(Device.PUMP_1, StepMotorMId.BrushlessPump1M),
+            Map.entry(Device.PUMP_2, StepMotorMId.BrushlessPump2M),
+            Map.entry(Device.PUMP_3, StepMotorMId.BrushlessPump3M),
+            Map.entry(Device.PUMP_4, StepMotorMId.BrushlessPump4M)
     );
     private final Map<Device, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
             collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));