diff --git a/src/main/java/com/iflytop/colortitration/app/command/selftest/ShakeMotorOriginCommand.java b/src/main/java/com/iflytop/colortitration/app/command/selftest/ShakeMotorOriginCommand.java
new file mode 100644
index 0000000..e68bc95
--- /dev/null
+++ b/src/main/java/com/iflytop/colortitration/app/command/selftest/ShakeMotorOriginCommand.java
@@ -0,0 +1,41 @@
+package com.iflytop.colortitration.app.command.selftest;
+
+import com.iflytop.colortitration.app.common.annotation.CommandMapping;
+import com.iflytop.colortitration.app.common.utils.CommandUtil;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.core.command.CommandFuture;
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.app.core.command.DeviceCommandGenerator;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.DeviceCommandService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 摇匀电机回原点
+ */
+@Slf4j
+@Component("checkShakeMotorOriginCommand")
+@RequiredArgsConstructor
+@CommandMapping("check_shake_motor_origin")
+public class ShakeMotorOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        return runAsync(() -> {
+            DeviceCommand device1Command = DeviceCommandGenerator.titrationMotor1Origin();
+            CommandFuture command1Future = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), device1Command);
+            CommandUtil.wait(command1Future);
+
+            DeviceCommand device2Command = DeviceCommandGenerator.titrationMotor2Origin();
+            CommandFuture command2Future = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), device2Command);
+            CommandUtil.wait(command2Future);
+        });
+    }
+}
+
+
diff --git a/src/main/java/com/iflytop/colortitration/app/command/selftest/StirMotorOriginCommand.java b/src/main/java/com/iflytop/colortitration/app/command/selftest/StirMotorOriginCommand.java
new file mode 100644
index 0000000..43df42d
--- /dev/null
+++ b/src/main/java/com/iflytop/colortitration/app/command/selftest/StirMotorOriginCommand.java
@@ -0,0 +1,41 @@
+package com.iflytop.colortitration.app.command.selftest;
+
+import com.iflytop.colortitration.app.common.annotation.CommandMapping;
+import com.iflytop.colortitration.app.common.utils.CommandUtil;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.core.command.CommandFuture;
+import com.iflytop.colortitration.app.core.command.DeviceCommand;
+import com.iflytop.colortitration.app.core.command.DeviceCommandGenerator;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.DeviceCommandService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 磁子都放电机移动电机回原点
+ */
+@Slf4j
+@Component("checkStirMotorOriginCommand")
+@RequiredArgsConstructor
+@CommandMapping("check_stir_motor_origin")
+public class StirMotorOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        return runAsync(() -> {
+            DeviceCommand device1Command = DeviceCommandGenerator.titrationMotor1Origin();
+            CommandFuture command1Future = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), device1Command);
+            CommandUtil.wait(command1Future);
+
+            DeviceCommand device2Command = DeviceCommandGenerator.titrationMotor2Origin();
+            CommandFuture command2Future = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), device2Command);
+            CommandUtil.wait(command2Future);
+        });
+    }
+}
+
+
diff --git a/src/main/java/com/iflytop/colortitration/app/command/selftest/GantryXYOriginCommand.java b/src/main/java/com/iflytop/colortitration/app/command/selftest/XYOriginCommand.java
similarity index 91%
rename from src/main/java/com/iflytop/colortitration/app/command/selftest/GantryXYOriginCommand.java
rename to src/main/java/com/iflytop/colortitration/app/command/selftest/XYOriginCommand.java
index 31c7ccf..16e891f 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/selftest/GantryXYOriginCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/selftest/XYOriginCommand.java
@@ -15,13 +15,13 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 龙门架机械臂z轴回原点
+ * 机械臂回原点
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("check_gantry_xy_origin")//业务指令注解
-public class GantryXYOriginCommand extends BaseCommandHandler {
+@CommandMapping("check_xy_origin")//业务指令注解
+public class XYOriginCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
diff --git a/src/main/java/com/iflytop/colortitration/app/command/selftest/GantryZOriginCommand.java b/src/main/java/com/iflytop/colortitration/app/command/selftest/ZOriginCommand.java
similarity index 89%
rename from src/main/java/com/iflytop/colortitration/app/command/selftest/GantryZOriginCommand.java
rename to src/main/java/com/iflytop/colortitration/app/command/selftest/ZOriginCommand.java
index 638e598..c72b604 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/selftest/GantryZOriginCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/selftest/ZOriginCommand.java
@@ -15,13 +15,13 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 龙门架机械臂z轴回原点
+ * z轴回原点
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("check_gantry_z_origin")//业务指令注解
-public class GantryZOriginCommand extends BaseCommandHandler {
+@CommandMapping("check_z_origin")//业务指令注解
+public class ZOriginCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
diff --git a/src/main/java/com/iflytop/colortitration/app/controller/SelfTestController.java b/src/main/java/com/iflytop/colortitration/app/controller/SelfTestController.java
index 16e4708..c45dc5d 100644
--- a/src/main/java/com/iflytop/colortitration/app/controller/SelfTestController.java
+++ b/src/main/java/com/iflytop/colortitration/app/controller/SelfTestController.java
@@ -18,12 +18,6 @@ import org.springframework.web.bind.annotation.RestController;
 public class SelfTestController {
     private final DeviceState deviceState;
 
-//    @Operation(summary = "获取自检状态")
-//    @GetMapping("/status")
-//    public Result<SelfTestState> getSelfTestStatus() {
-//        return Result.success(selfTestService.getSelfTestState());
-//    }
-
     @Operation(summary = "自检完毕")
     @PostMapping("/finish")
     public Result<?> selfTestFinish() throws Exception {