diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/BrushlessPumpMoveCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/BrushlessPumpMoveCommand.java
index 24eee8b..a962eb2 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/BrushlessPumpMoveCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/BrushlessPumpMoveCommand.java
@@ -30,7 +30,7 @@ public class BrushlessPumpMoveCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CommandDTO commandDTO) {
         String pumpCode = commandDTO.getStringParam("pumpCode");
         Double speed = commandDTO.getDoubleParam("speed");
-        Double position = commandDTO.getDoubleParam("position");
+        Double distance = commandDTO.getDoubleParam("distance");
         return runAsync(() -> {
             if (speed != null) {
                 DeviceCommand deviceSetCommand = switch (pumpCode) {
@@ -51,16 +51,16 @@ public class BrushlessPumpMoveCommand extends BaseCommandHandler {
             }
 
             DeviceCommand deviceMoveCommand = switch (pumpCode) {
-                case "brushless_pump_1" -> DeviceCommandGenerator.brushlessPump1MoveBy(position);
-                case "brushless_pump_2" -> DeviceCommandGenerator.brushlessPump2MoveBy(position);
-                case "brushless_pump_3" -> DeviceCommandGenerator.brushlessPump3MoveBy(position);
-                case "brushless_pump_4" -> DeviceCommandGenerator.brushlessPump4MoveBy(position);
-                case "brushless_pump_5" -> DeviceCommandGenerator.brushlessPump5MoveBy(position);
-                case "brushless_pump_6" -> DeviceCommandGenerator.brushlessPump6MoveBy(position);
-                case "brushless_pump_7" -> DeviceCommandGenerator.brushlessPump7MoveBy(position);
-                case "brushless_pump_8" -> DeviceCommandGenerator.brushlessPump8MoveBy(position);
-                case "brushless_pump_9" -> DeviceCommandGenerator.brushlessPump9MoveBy(position);
-                case "brushless_pump_10" -> DeviceCommandGenerator.brushlessPump10MoveBy(position);
+                case "brushless_pump_1" -> DeviceCommandGenerator.brushlessPump1MoveBy(distance);
+                case "brushless_pump_2" -> DeviceCommandGenerator.brushlessPump2MoveBy(distance);
+                case "brushless_pump_3" -> DeviceCommandGenerator.brushlessPump3MoveBy(distance);
+                case "brushless_pump_4" -> DeviceCommandGenerator.brushlessPump4MoveBy(distance);
+                case "brushless_pump_5" -> DeviceCommandGenerator.brushlessPump5MoveBy(distance);
+                case "brushless_pump_6" -> DeviceCommandGenerator.brushlessPump6MoveBy(distance);
+                case "brushless_pump_7" -> DeviceCommandGenerator.brushlessPump7MoveBy(distance);
+                case "brushless_pump_8" -> DeviceCommandGenerator.brushlessPump8MoveBy(distance);
+                case "brushless_pump_9" -> DeviceCommandGenerator.brushlessPump9MoveBy(distance);
+                case "brushless_pump_10" -> DeviceCommandGenerator.brushlessPump10MoveBy(distance);
                 default -> throw new AppException(ResultCode.INVALID_PARAMETER);//参数无效
             };
             CommandFuture moveCommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceMoveCommand);
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/CeramicPumpMoveCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/CeramicPumpMoveCommand.java
index 9cf2258..cf9b7ee 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/CeramicPumpMoveCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/CeramicPumpMoveCommand.java
@@ -30,7 +30,7 @@ public class CeramicPumpMoveCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CommandDTO commandDTO) {
         String pumpCode = commandDTO.getStringParam("pumpCode");
         Double speed = commandDTO.getDoubleParam("speed");
-        Double position = commandDTO.getDoubleParam("position");
+        Double distance = commandDTO.getDoubleParam("distance");
         return runAsync(() -> {
             if (speed != null) {
                 DeviceCommand deviceSetCommand = switch (pumpCode) {
@@ -43,8 +43,8 @@ public class CeramicPumpMoveCommand extends BaseCommandHandler {
             }
 
             DeviceCommand deviceMoveCommand = switch (pumpCode) {
-                case "ceramic_pump_1" -> DeviceCommandGenerator.ceramicPump1MoveBy(position);
-                case "ceramic_pump_2" -> DeviceCommandGenerator.ceramicPump2MoveBy(position);
+                case "ceramic_pump_1" -> DeviceCommandGenerator.ceramicPump1MoveBy(distance);
+                case "ceramic_pump_2" -> DeviceCommandGenerator.ceramicPump2MoveBy(distance);
                 default -> throw new AppException(ResultCode.INVALID_PARAMETER);//参数无效
             };
             CommandFuture moveCommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceMoveCommand);
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/ClawOpenCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/ClawOpenCommand.java
index 7b36bfe..babfa93 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/ClawOpenCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/ClawOpenCommand.java
@@ -1,5 +1,6 @@
 package com.iflytop.colortitration.app.command.debug;
 
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
 import com.iflytop.colortitration.app.common.utils.CommandUtil;
 import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
 import com.iflytop.colortitration.app.core.command.CommandFuture;
@@ -20,6 +21,7 @@ import java.util.concurrent.TimeUnit;
 @Slf4j
 @Component
 @RequiredArgsConstructor
+@CommandDebugMapping("claw_open")
 public class ClawOpenCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
@@ -27,7 +29,7 @@ public class ClawOpenCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CommandDTO commandDTO) {
         Double speed = commandDTO.getDoubleParam("speed");
         Double times = commandDTO.getDoubleParam("times");
-        Double position = commandDTO.getDoubleParam("position");
+        Double distance = commandDTO.getDoubleParam("distance");
         return runAsync(() -> {
             if (speed != null) {
                 DeviceCommand deviceSetCommand = DeviceCommandGenerator.clawSet(speed);
@@ -36,7 +38,7 @@ public class ClawOpenCommand extends BaseCommandHandler {
             }
             if (times != null) {
                 for (int i = 0; i < times; i++) {
-                    DeviceCommand deviceMoveCommand = DeviceCommandGenerator.clawMove(position);
+                    DeviceCommand deviceMoveCommand = DeviceCommandGenerator.clawMove(distance);
                     CommandFuture moveCommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceMoveCommand);
                     CommandUtil.wait(moveCommandFuture);
                     TimeUnit.MILLISECONDS.sleep(500);
@@ -46,7 +48,7 @@ public class ClawOpenCommand extends BaseCommandHandler {
                 }
 
             } else {
-                DeviceCommand deviceMoveCommand = DeviceCommandGenerator.clawMove(position);
+                DeviceCommand deviceMoveCommand = DeviceCommandGenerator.clawMove(distance);
                 CommandFuture moveCommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceMoveCommand);
                 CommandUtil.wait(moveCommandFuture);
             }
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/ClawCloseCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/ClawStopCommand.java
similarity index 87%
rename from src/main/java/com/iflytop/colortitration/app/command/debug/ClawCloseCommand.java
rename to src/main/java/com/iflytop/colortitration/app/command/debug/ClawStopCommand.java
index fa6768c..dc6ea55 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/ClawCloseCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/ClawStopCommand.java
@@ -1,5 +1,6 @@
 package com.iflytop.colortitration.app.command.debug;
 
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
 import com.iflytop.colortitration.app.common.utils.CommandUtil;
 import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
 import com.iflytop.colortitration.app.core.command.CommandFuture;
@@ -19,7 +20,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-public class ClawCloseCommand extends BaseCommandHandler {
+@CommandDebugMapping("claw_stop")
+public class ClawStopCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/MagnetCloseCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/MagnetCloseCommand.java
new file mode 100644
index 0000000..8303d07
--- /dev/null
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/MagnetCloseCommand.java
@@ -0,0 +1,33 @@
+package com.iflytop.colortitration.app.command.debug;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+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;
+
+/**
+ * 电磁开关打开
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("magnet_close")
+public class MagnetCloseCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        return runAsync(() -> {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.magnetClose();
+            deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceCommand);
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/MagnetOpenCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/MagnetOpenCommand.java
new file mode 100644
index 0000000..efe8c30
--- /dev/null
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/MagnetOpenCommand.java
@@ -0,0 +1,33 @@
+package com.iflytop.colortitration.app.command.debug;
+
+import com.iflytop.colortitration.app.common.annotation.CommandDebugMapping;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+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;
+
+/**
+ * 电磁开关打开
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("magnet_open")
+public class MagnetOpenCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+        return runAsync(() -> {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.magnetOpen();
+            deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceCommand);
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigDisableCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorDisableCommand.java
similarity index 94%
rename from src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigDisableCommand.java
rename to src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorDisableCommand.java
index d298c17..3d666f4 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigDisableCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorDisableCommand.java
@@ -21,7 +21,7 @@ import java.util.concurrent.CompletableFuture;
 @Component
 @RequiredArgsConstructor
 @CommandDebugMapping("robotic_arm_big_disable")
-public class RoboticArmBigDisableCommand extends BaseCommandHandler {
+public class RoboticArmBigMotorDisableCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigEnableCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorEnableCommand.java
similarity index 94%
rename from src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigEnableCommand.java
rename to src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorEnableCommand.java
index 859ff2f..f1415b7 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigEnableCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorEnableCommand.java
@@ -21,7 +21,7 @@ import java.util.concurrent.CompletableFuture;
 @Component
 @RequiredArgsConstructor
 @CommandDebugMapping("robotic_arm_big_enable")
-public class RoboticArmBigEnableCommand extends BaseCommandHandler {
+public class RoboticArmBigMotorEnableCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorMoveByCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorMoveByCommand.java
index abbcf7d..e57ce46 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorMoveByCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorMoveByCommand.java
@@ -24,7 +24,7 @@ import java.util.concurrent.TimeUnit;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("robotic_arm_big_motor_move_by")
+@CommandDebugMapping("robotic_arm_big_move_by")
 public class RoboticArmBigMotorMoveByCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
@@ -33,8 +33,8 @@ public class RoboticArmBigMotorMoveByCommand extends BaseCommandHandler {
         String motorCode = commandDTO.getStringParam("motorCode");
         Double speed = commandDTO.getDoubleParam("speed");
         Integer times = commandDTO.getIntegerParam("times");
-        Double distance = commandDTO.getDoubleParam("distance");
-        if (StringUtils.isEmpty(motorCode) || distance == null) {
+        Double angle = commandDTO.getDoubleParam("angle");
+        if (StringUtils.isEmpty(motorCode) || angle == null) {
             throw new AppException(ResultCode.INVALID_PARAMETER);
         }
         return runAsync(() -> {
@@ -45,17 +45,17 @@ public class RoboticArmBigMotorMoveByCommand extends BaseCommandHandler {
             }
             if (times != null) {
                 for (int i = 0; i < times; i++) {
-                    DeviceCommand deviceCommand = DeviceCommandGenerator.roboticArmBigMotorMoveBy(distance);
+                    DeviceCommand deviceCommand = DeviceCommandGenerator.roboticArmBigMotorMoveBy(angle);
                     CommandFuture commandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceCommand);
                     CommandUtil.wait(commandFuture);
                     TimeUnit.MILLISECONDS.sleep(500);
-                    DeviceCommand deviceBackCommand = DeviceCommandGenerator.roboticArmBigMotorMoveBy(-distance);
+                    DeviceCommand deviceBackCommand = DeviceCommandGenerator.roboticArmBigMotorMoveBy(-angle);
                     CommandFuture backCommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceBackCommand);
                     CommandUtil.wait(backCommandFuture);
                 }
 
             } else {
-                DeviceCommand deviceCommand = DeviceCommandGenerator.roboticArmBigMotorMoveBy(distance);
+                DeviceCommand deviceCommand = DeviceCommandGenerator.roboticArmBigMotorMoveBy(angle);
                 CommandFuture commandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceCommand);
                 CommandUtil.wait(commandFuture);
             }
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorMoveToCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorMoveToCommand.java
index 564e18c..b22212a 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorMoveToCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorMoveToCommand.java
@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("robotic_arm_big_motor_move_to")
+@CommandDebugMapping("robotic_arm_big_move_to")
 public class RoboticArmBigMotorMoveToCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorOriginCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorOriginCommand.java
index 2754cfe..9dcb652 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorOriginCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorOriginCommand.java
@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("robotic_arm_big_motor_origin")
+@CommandDebugMapping("robotic_arm_big_origin")
 public class RoboticArmBigMotorOriginCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorStopCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorStopCommand.java
index d57320c..a9e907f 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorStopCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmBigMotorStopCommand.java
@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("robotic_arm_big_motor_stop")
+@CommandDebugMapping("robotic_arm_big_stop")
 public class RoboticArmBigMotorStopCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallDisableCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorDisableCommand.java
similarity index 94%
rename from src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallDisableCommand.java
rename to src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorDisableCommand.java
index 668fc40..bd259f9 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallDisableCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorDisableCommand.java
@@ -21,7 +21,7 @@ import java.util.concurrent.CompletableFuture;
 @Component
 @RequiredArgsConstructor
 @CommandDebugMapping("robotic_arm_small_disable")
-public class RoboticArmSmallDisableCommand extends BaseCommandHandler {
+public class RoboticArmSmallMotorDisableCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallEnableCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorEnableCommand.java
similarity index 94%
rename from src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallEnableCommand.java
rename to src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorEnableCommand.java
index b6fdfbd..f2b4bbe 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallEnableCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorEnableCommand.java
@@ -21,7 +21,7 @@ import java.util.concurrent.CompletableFuture;
 @Component
 @RequiredArgsConstructor
 @CommandDebugMapping("robotic_arm_small_enable")
-public class RoboticArmSmallEnableCommand extends BaseCommandHandler {
+public class RoboticArmSmallMotorEnableCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorMoveByCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorMoveByCommand.java
index ad97234..59131da 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorMoveByCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorMoveByCommand.java
@@ -24,7 +24,7 @@ import java.util.concurrent.TimeUnit;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("robotic_arm_small_motor_move_by")
+@CommandDebugMapping("robotic_arm_small_move_by")
 public class RoboticArmSmallMotorMoveByCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
@@ -33,8 +33,8 @@ public class RoboticArmSmallMotorMoveByCommand extends BaseCommandHandler {
         String motorCode = commandDTO.getStringParam("motorCode");
         Double speed = commandDTO.getDoubleParam("speed");
         Integer times = commandDTO.getIntegerParam("times");
-        Double distance = commandDTO.getDoubleParam("distance");
-        if (StringUtils.isEmpty(motorCode) || distance == null) {
+        Double angle = commandDTO.getDoubleParam("angle");
+        if (StringUtils.isEmpty(motorCode) || angle == null) {
             throw new AppException(ResultCode.INVALID_PARAMETER);
         }
         return runAsync(() -> {
@@ -45,17 +45,17 @@ public class RoboticArmSmallMotorMoveByCommand extends BaseCommandHandler {
             }
             if (times != null) {
                 for (int i = 0; i < times; i++) {
-                    DeviceCommand deviceCommand = DeviceCommandGenerator.roboticArmSmallMotorMoveBy(distance);
+                    DeviceCommand deviceCommand = DeviceCommandGenerator.roboticArmSmallMotorMoveBy(angle);
                     CommandFuture commandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceCommand);
                     CommandUtil.wait(commandFuture);
                     TimeUnit.MILLISECONDS.sleep(500);
-                    DeviceCommand deviceBackCommand = DeviceCommandGenerator.roboticArmSmallMotorMoveBy(-distance);
+                    DeviceCommand deviceBackCommand = DeviceCommandGenerator.roboticArmSmallMotorMoveBy(-angle);
                     CommandFuture backCommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceBackCommand);
                     CommandUtil.wait(backCommandFuture);
                 }
 
             } else {
-                DeviceCommand deviceCommand = DeviceCommandGenerator.roboticArmSmallMotorMoveBy(distance);
+                DeviceCommand deviceCommand = DeviceCommandGenerator.roboticArmSmallMotorMoveBy(angle);
                 CommandFuture commandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceCommand);
                 CommandUtil.wait(commandFuture);
             }
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorMoveToCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorMoveToCommand.java
index 8d878e0..f3e372f 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorMoveToCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorMoveToCommand.java
@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("robotic_arm_small_motor_move_to")
+@CommandDebugMapping("robotic_arm_small_move_to")
 public class RoboticArmSmallMotorMoveToCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorOriginCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorOriginCommand.java
index 86c98b8..fe8c59d 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorOriginCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorOriginCommand.java
@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("robotic_arm_small_motor_origin")
+@CommandDebugMapping("robotic_arm_small_origin")
 public class RoboticArmSmallMotorOriginCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorStopCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorStopCommand.java
index 306b7ac..92f80c7 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorStopCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/RoboticArmSmallMotorStopCommand.java
@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("robotic_arm_small_motor_stop")
+@CommandDebugMapping("robotic_arm_small_stop")
 public class RoboticArmSmallMotorStopCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/StepPumpMoveCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/StepPumpMoveCommand.java
index b40a05e..58439fc 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/StepPumpMoveCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/StepPumpMoveCommand.java
@@ -30,7 +30,7 @@ public class StepPumpMoveCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CommandDTO commandDTO) {
         String pumpCode = commandDTO.getStringParam("pumpCode");
         Double speed = commandDTO.getDoubleParam("speed");
-        Double position = commandDTO.getDoubleParam("position");
+        Double distance = commandDTO.getDoubleParam("distance");
         return runAsync(() -> {
             if (speed != null) {
                 DeviceCommand deviceSetCommand = switch (pumpCode) {
@@ -44,9 +44,9 @@ public class StepPumpMoveCommand extends BaseCommandHandler {
             }
 
             DeviceCommand deviceMoveCommand = switch (pumpCode) {
-                case "set_pump_01" -> DeviceCommandGenerator.stepPump1MoveBy(position);
-                case "set_pump_02" -> DeviceCommandGenerator.stepPump2MoveBy(position);
-                case "set_pump_03" -> DeviceCommandGenerator.stepPump3MoveBy(position);
+                case "set_pump_01" -> DeviceCommandGenerator.stepPump1MoveBy(distance);
+                case "set_pump_02" -> DeviceCommandGenerator.stepPump2MoveBy(distance);
+                case "set_pump_03" -> DeviceCommandGenerator.stepPump3MoveBy(distance);
                 default -> throw new AppException(ResultCode.INVALID_PARAMETER);//参数无效
             };
             CommandFuture moveCommandFuture = deviceCommandService.sendCommand(commandDTO.getCommandId(), commandDTO.getCommand(), deviceMoveCommand);
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorDisableCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorDisableCommand.java
index 066bafe..3c5c206 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorDisableCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorDisableCommand.java
@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("z_motor_disable")
+@CommandDebugMapping("z_disable")
 public class ZMotorDisableCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorEnableCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorEnableCommand.java
index b5e6248..2f766e2 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorEnableCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorEnableCommand.java
@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("z_motor_enable")
+@CommandDebugMapping("z_enable")
 public class ZMotorEnableCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorMoveByCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorMoveByCommand.java
index 59f9a66..83eb503 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorMoveByCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorMoveByCommand.java
@@ -24,7 +24,7 @@ import java.util.concurrent.TimeUnit;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("z_motor_move_by")
+@CommandDebugMapping("z_move_by")
 public class ZMotorMoveByCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorMoveToCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorMoveToCommand.java
index e70f8a3..ca2b769 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorMoveToCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorMoveToCommand.java
@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("z_motor_move_to")
+@CommandDebugMapping("z_move_to")
 public class ZMotorMoveToCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorOriginCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorOriginCommand.java
index cd83849..b45325a 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorOriginCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorOriginCommand.java
@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("z_motor_origin")
+@CommandDebugMapping("z_origin")
 public class ZMotorOriginCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorStopCommand.java b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorStopCommand.java
index ff70588..13bee5b 100644
--- a/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorStopCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/command/debug/ZMotorStopCommand.java
@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandDebugMapping("z_motor_stop")
+@CommandDebugMapping("z_stop")
 public class ZMotorStopCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
diff --git a/src/main/java/com/iflytop/colortitration/app/core/command/DeviceCommandGenerator.java b/src/main/java/com/iflytop/colortitration/app/core/command/DeviceCommandGenerator.java
index eff88f8..d2477cb 100644
--- a/src/main/java/com/iflytop/colortitration/app/core/command/DeviceCommandGenerator.java
+++ b/src/main/java/com/iflytop/colortitration/app/core/command/DeviceCommandGenerator.java
@@ -43,6 +43,21 @@ public class DeviceCommandGenerator {
      * 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 ====================================================
diff --git a/src/main/java/com/iflytop/colortitration/common/enums/Device.java b/src/main/java/com/iflytop/colortitration/common/enums/Device.java
index 9fb4c14..2d042ce 100644
--- a/src/main/java/com/iflytop/colortitration/common/enums/Device.java
+++ b/src/main/java/com/iflytop/colortitration/common/enums/Device.java
@@ -30,6 +30,7 @@ public enum Device {
     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"),