diff --git a/src/main/java/com/iflytop/colortitration/app/common/command/DeviceCommand.java b/src/main/java/com/iflytop/colortitration/app/common/command/DeviceCommand.java
index c345d44..cdc2201 100644
--- a/src/main/java/com/iflytop/colortitration/app/common/command/DeviceCommand.java
+++ b/src/main/java/com/iflytop/colortitration/app/common/command/DeviceCommand.java
@@ -1,8 +1,8 @@
 package com.iflytop.colortitration.app.common.command;
 
-import com.iflytop.colortitration.common.cmd.DeviceCommandParams;
-import com.iflytop.colortitration.common.enums.Action;
-import com.iflytop.colortitration.common.enums.Device;
+import com.iflytop.colortitration.common.command.DeviceCommandParams;
+import com.iflytop.colortitration.common.enums.command.Action;
+import com.iflytop.colortitration.common.enums.command.Device;
 import lombok.Data;
 
 @Data
diff --git a/src/main/java/com/iflytop/colortitration/app/common/command/DeviceCommandBundle.java b/src/main/java/com/iflytop/colortitration/app/common/command/DeviceCommandBundle.java
deleted file mode 100644
index f9b422f..0000000
--- a/src/main/java/com/iflytop/colortitration/app/common/command/DeviceCommandBundle.java
+++ /dev/null
@@ -1,19 +0,0 @@
-package com.iflytop.colortitration.app.common.command;
-
-import lombok.Data;
-
-@Data
-public class DeviceCommandBundle {
-
-    /**
-     * 指令名称
-     */
-    private String cmdName;
-
-    /**
-     * 指令
-     */
-    private DeviceCommand deviceCommand;
-
-}
-
diff --git a/src/main/java/com/iflytop/colortitration/app/common/command/DeviceCommandGenerator.java b/src/main/java/com/iflytop/colortitration/app/common/command/DeviceCommandGenerator.java
index 5a9ea8e..dabcc14 100644
--- a/src/main/java/com/iflytop/colortitration/app/common/command/DeviceCommandGenerator.java
+++ b/src/main/java/com/iflytop/colortitration/app/common/command/DeviceCommandGenerator.java
@@ -1,11 +1,709 @@
 package com.iflytop.colortitration.app.common.command;
 
-
+import com.iflytop.colortitration.common.command.DeviceCommandParams;
+import com.iflytop.colortitration.common.enums.command.Action;
+import com.iflytop.colortitration.common.enums.command.Device;
+import com.iflytop.colortitration.common.enums.command.MotorDirection;
+import com.iflytop.colortitration.common.enums.command.TricolorLightColor;
 
 /**
  * 生成给设备发送的指令
  */
 public class DeviceCommandGenerator {
+    // =========================================== 三色灯 ====================================================
+
+    /**
+     * 三色灯开启
+     *
+     * @param color red | green | blue
+     */
+    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);
+    }
+    // =========================================== 加热棒 ====================================================
+
+    /**
+     * 加热棒 1 获取参数
+     */
+    public static DeviceCommand heatRod01Get() {
+        return controlCmd(Device.HEAT_ROD_1, Action.GET, null);
+    }
+
+    /**
+     * 加热棒 1 打开
+     */
+    public static DeviceCommand heatRod01Open(Double temperature) {
+        return controlCmd(Device.HEAT_ROD_1, Action.OPEN, null);
+    }
+
+    /**
+     * 加热棒 1 关闭
+     */
+    public static DeviceCommand heatRod01Close() {
+        return controlCmd(Device.HEAT_ROD_1, Action.CLOSE, null);
+    }
+
+    /**
+     * 加热棒 2 获取参数
+     */
+    public static DeviceCommand heatRod02Get() {
+        return controlCmd(Device.HEAT_ROD_2, Action.GET, null);
+    }
+
+    /**
+     * 加热棒 2 打开
+     */
+    public static DeviceCommand heatRod02Open(Double temperature) {
+        return controlCmd(Device.HEAT_ROD_1, Action.OPEN, null);
+    }
+
+    /**
+     * 加热棒 2 关闭
+     */
+    public static DeviceCommand heatRod02Close() {
+        return controlCmd(Device.HEAT_ROD_1, Action.CLOSE, null);
+    }
+
+    // =========================================== 夹爪 ====================================================
+
+    /**
+     * 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);
+    }
+
+    // =========================================== 搅拌电机 ====================================================
+
+    /**
+     * 搅拌电机 1 正向旋转
+     */
+    public static DeviceCommand stirMotor01ForwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.forward);
+        return controlMotorCmd(Device.STIR_MOTOR_1, Action.ROTATE, params);
+    }
+
+    /**
+     * 搅拌电机 1 反向旋转
+     */
+    public static DeviceCommand stirMotor01BackwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.backward);
+        return controlMotorCmd(Device.STIR_MOTOR_1, Action.ROTATE, params);
+    }
+
+    /**
+     * 搅拌电机 1 停止
+     */
+    public static DeviceCommand stirMotor01Stop() {
+        return controlMotorCmd(Device.STIR_MOTOR_1, Action.STOP, null);
+    }
+
+
+    /**
+     * 搅拌电机 2 正向旋转
+     */
+    public static DeviceCommand stirMotor02ForwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.forward);
+        return controlMotorCmd(Device.STIR_MOTOR_2, Action.ROTATE, params);
+    }
+
+    /**
+     * 搅拌电机 2 反向旋转
+     */
+    public static DeviceCommand stirMotor02BackwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.backward);
+        return controlMotorCmd(Device.STIR_MOTOR_2, Action.ROTATE, params);
+    }
+
+    /**
+     * 搅拌电机 2 停止
+     */
+    public static DeviceCommand stirMotor02Stop() {
+        return controlMotorCmd(Device.STIR_MOTOR_2, Action.STOP, null);
+    }
+
+
+    // =========================================== 步进泵 ====================================================
+
+    /**
+     * 步进泵 1 正向旋转
+     */
+    public static DeviceCommand stepPump01ForwardRotate() {
+        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 stepPump01BackwardRotate() {
+        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 stepPump01MoveBy() {
+        return setInfoCmd(Device.STEP_PUMP_1, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 步进泵 1 停止
+     */
+    public static DeviceCommand stepPump01Stop() {
+        return setInfoCmd(Device.STEP_PUMP_1, Action.STOP, null);
+    }
+
+
+    /**
+     * 步进泵 2 正向旋转
+     */
+    public static DeviceCommand stepPump02ForwardRotate() {
+        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 stepPump02BackwardRotate() {
+        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 stepPump02MoveBy() {
+        return setInfoCmd(Device.STEP_PUMP_2, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 步进泵 2 停止
+     */
+    public static DeviceCommand stepPump02Stop() {
+        return setInfoCmd(Device.STEP_PUMP_2, Action.STOP, null);
+    }
+
+    /**
+     * 步进泵 3 正向旋转
+     */
+    public static DeviceCommand stepPump03ForwardRotate() {
+        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 stepPump03BackwardRotate() {
+        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 stepPump03MoveBy() {
+        return setInfoCmd(Device.STEP_PUMP_3, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 步进泵 3 停止
+     */
+    public static DeviceCommand stepPump03Stop() {
+        return setInfoCmd(Device.STEP_PUMP_3, Action.STOP, null);
+    }
+    // =========================================== 无刷泵 ====================================================
+
+    /**
+     * 无刷泵 1 正向旋转
+     */
+    public static DeviceCommand brushlessPump01ForwardRotate() {
+        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 brushlessPump01BackwardRotate() {
+        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 brushlessPump01MoveBy() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_1, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 无刷泵 1 停止
+     */
+    public static DeviceCommand brushlessPump01Stop() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_1, Action.STOP, null);
+    }
+
+    /**
+     * 无刷泵 2 正向旋转
+     */
+    public static DeviceCommand brushlessPump02ForwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.forward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_2, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 2 反向旋转
+     */
+    public static DeviceCommand brushlessPump02BackwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.backward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_2, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 2 相对移动
+     */
+    public static DeviceCommand brushlessPump02MoveBy() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_2, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 无刷泵 2 停止
+     */
+    public static DeviceCommand brushlessPump02Stop() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_2, Action.STOP, null);
+    }
+
+    /**
+     * 无刷泵 3 正向旋转
+     */
+    public static DeviceCommand brushlessPump03ForwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.forward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_3, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 3 反向旋转
+     */
+    public static DeviceCommand brushlessPump03BackwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.backward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_3, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 3 相对移动
+     */
+    public static DeviceCommand brushlessPump03MoveBy() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_3, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 无刷泵 3 停止
+     */
+    public static DeviceCommand brushlessPump03Stop() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_3, Action.STOP, null);
+    }
+
+    /**
+     * 无刷泵 4 正向旋转
+     */
+    public static DeviceCommand brushlessPump04ForwardRotate() {
+        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 brushlessPump04BackwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.backward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_4, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 4 相对移动
+     */
+    public static DeviceCommand brushlessPump04MoveBy() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_4, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 无刷泵 4 停止
+     */
+    public static DeviceCommand brushlessPump4Stop() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_4, Action.STOP, null);
+    }
+
+    /**
+     * 无刷泵 5 正向旋转
+     */
+    public static DeviceCommand brushlessPump05ForwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.forward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_5, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 5 反向旋转
+     */
+    public static DeviceCommand brushlessPump05BackwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.backward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_5, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 5 相对移动
+     */
+    public static DeviceCommand brushlessPump05MoveBy() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_5, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 无刷泵 5 停止
+     */
+    public static DeviceCommand brushlessPump05Stop() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_5, Action.STOP, null);
+    }
+
+    /**
+     * 无刷泵 6 正向旋转
+     */
+    public static DeviceCommand brushlessPump06ForwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.forward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_6, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 6 反向旋转
+     */
+    public static DeviceCommand brushlessPump06BackwardRotate() {
+        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 brushlessPump06MoveBy() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_6, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 无刷泵 6 停止
+     */
+    public static DeviceCommand brushlessPump06Stop() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_6, Action.STOP, null);
+    }
+
+    /**
+     * 无刷泵 7 正向旋转
+     */
+    public static DeviceCommand brushlessPump07ForwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.forward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_7, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 7 反向旋转
+     */
+    public static DeviceCommand brushlessPump07BackwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.backward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_7, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 7 相对移动
+     */
+    public static DeviceCommand brushlessPump07MoveBy() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_7, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 无刷泵 7 停止
+     */
+    public static DeviceCommand brushlessPump07Stop() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_7, Action.STOP, null);
+    }
+
+    /**
+     * 无刷泵 8 正向旋转
+     */
+    public static DeviceCommand brushlessPump08ForwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.forward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_8, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 8 反向旋转
+     */
+    public static DeviceCommand brushlessPump08BackwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.backward);
+        return setInfoCmd(Device.BRUSHLESS_PUMP_8, Action.ROTATE, params);
+    }
+
+    /**
+     * 无刷泵 8 相对移动
+     */
+    public static DeviceCommand brushlessPump08MoveBy() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_8, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 无刷泵 8 停止
+     */
+    public static DeviceCommand brushlessPump08Stop() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_8, Action.STOP, null);
+    }
+
+    /**
+     * 无刷泵 9 正向旋转
+     */
+    public static DeviceCommand brushlessPump09ForwardRotate() {
+        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 brushlessPump09BackwardRotate() {
+        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 brushlessPump09MoveBy() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_9, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 无刷泵 9 停止
+     */
+    public static DeviceCommand brushlessPump09Stop() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_9, Action.STOP, null);
+    }
+
+    /**
+     * 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() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_10, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 无刷泵 10 停止
+     */
+    public static DeviceCommand brushlessPump10Stop() {
+        return setInfoCmd(Device.BRUSHLESS_PUMP_10, Action.STOP, null);
+    }
+    // =========================================== 陶瓷泵 ====================================================
+
+    /**
+     * 陶瓷泵 1 正向旋转
+     */
+    public static DeviceCommand ceramicPump01ForwardRotate() {
+        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 ceramicPump01BackwardRotate() {
+        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 ceramicPump01MoveBy() {
+        return setInfoCmd(Device.CERAMIC_PUMP_1, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 陶瓷泵 1 停止
+     */
+    public static DeviceCommand ceramicPump01Stop() {
+        return setInfoCmd(Device.CERAMIC_PUMP_1, Action.STOP, null);
+    }
+
+    /**
+     * 陶瓷泵 2 正向旋转
+     */
+    public static DeviceCommand ceramicPump02ForwardRotate() {
+        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 ceramicPump02BackwardRotate() {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(MotorDirection.backward);
+        return setInfoCmd(Device.CERAMIC_PUMP_2, Action.ROTATE, params);
+    }
+
+    /**
+     * 陶瓷泵 1 相对移动
+     */
+    public static DeviceCommand ceramicPump02MoveBy() {
+        return setInfoCmd(Device.CERAMIC_PUMP_2, Action.MOVE_BY, null);
+    }
+
+    /**
+     * 陶瓷泵 2 停止
+     */
+    public static DeviceCommand ceramicPump02Stop() {
+        return setInfoCmd(Device.CERAMIC_PUMP_2, Action.STOP, null);
+    }
+
+    // =========================================== Z 轴升降电机 ====================================================
+
+    /**
+     * 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);
+    }
+
+//===========================================PRIVATE====================================================================
+
+    /**
+     * 控制设备电机指令
+     */
+    private static DeviceCommand controlMotorCmd(Device device, Action action, DeviceCommandParams params) {
+        return deviceCmd("controlMotorCmd", device, action, params);
+    }
+
+    /**
+     * 设置参数指令
+     */
+    private static DeviceCommand setInfoCmd(Device device, Action action, DeviceCommandParams params) {
+        return deviceCmd("setInfoCmd", device, action, params);
+    }
+
+    /**
+     * 获取参数指令
+     */
+    private static DeviceCommand getInfoCmd(Device device) {
+        return deviceCmd("getInfoCmd", device, Action.GET, null);
+    }
+
 
+    /**
+     * 设备控制指令
+     */
+    private static DeviceCommand controlCmd(Device device, Action action, DeviceCommandParams params) {
+        return deviceCmd("controlCmd", device, action, params);
+    }
 
+    /**
+     * 设备指令包装
+     */
+    private static DeviceCommand deviceCmd(String code, Device device, Action action, DeviceCommandParams params) {
+        DeviceCommand deviceCommand = new DeviceCommand();
+        deviceCommand.setCmdCode(code);
+        deviceCommand.setDevice(device);
+        deviceCommand.setAction(action);
+        deviceCommand.setParam(params);
+        return deviceCommand;
+    }
 }
diff --git a/src/main/java/com/iflytop/colortitration/common/cmd/DeviceCommandParams.java b/src/main/java/com/iflytop/colortitration/common/cmd/DeviceCommandParams.java
deleted file mode 100644
index 1b5ef05..0000000
--- a/src/main/java/com/iflytop/colortitration/common/cmd/DeviceCommandParams.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.iflytop.colortitration.common.cmd;
-
-
-import lombok.Data;
-
-@Data
-public class DeviceCommandParams {
-    private Double x;
-    private Double y;
-    private Double z;
-}
diff --git a/src/main/java/com/iflytop/colortitration/common/command/DeviceCommandParams.java b/src/main/java/com/iflytop/colortitration/common/command/DeviceCommandParams.java
new file mode 100644
index 0000000..b2cf810
--- /dev/null
+++ b/src/main/java/com/iflytop/colortitration/common/command/DeviceCommandParams.java
@@ -0,0 +1,22 @@
+package com.iflytop.colortitration.common.command;
+
+
+import com.iflytop.colortitration.common.enums.command.MotorDirection;
+import com.iflytop.colortitration.common.enums.command.TricolorLightColor;
+import lombok.Data;
+
+@Data
+public class DeviceCommandParams {
+    private String device;
+    private MotorDirection direction;
+    private Double position;
+    private Double speed;
+    private Double angle;
+    private Double volume;
+    private Double distance;
+    private Double temperature;
+    private TricolorLightColor color;
+    private Double x;
+    private Double y;
+    private Double z;
+}
diff --git a/src/main/java/com/iflytop/colortitration/common/enums/Action.java b/src/main/java/com/iflytop/colortitration/common/enums/Action.java
deleted file mode 100644
index bc94b35..0000000
--- a/src/main/java/com/iflytop/colortitration/common/enums/Action.java
+++ /dev/null
@@ -1,9 +0,0 @@
-package com.iflytop.colortitration.common.enums;
-
-public enum Action {
-    move, move_by, move_joint, move_point, origin, rotate, move_end,
-
-    open, close, stop, start, set, get,
-    open_power, close_power, open_circle, close_circle,
-    open_heart, close_heart, open_cool, close_cool, take_photo
-}
diff --git a/src/main/java/com/iflytop/colortitration/common/enums/command/Action.java b/src/main/java/com/iflytop/colortitration/common/enums/command/Action.java
new file mode 100644
index 0000000..95104b1
--- /dev/null
+++ b/src/main/java/com/iflytop/colortitration/common/enums/command/Action.java
@@ -0,0 +1,36 @@
+package com.iflytop.colortitration.common.enums.command;
+
+import lombok.Getter;
+
+/**
+ * 通用设备动作枚举
+ */
+public enum Action {
+    MOVE("绝对移动"),
+    MOVE_BY("相对移动"),
+    ORIGIN("回原点"),
+    ROTATE("旋转"),
+    STOP("停止"),
+    OPEN("打开"),
+    CLOSE("关闭"),
+    SET("设置"),
+    GET("获取"),
+    OPEN_CLAMP("打开抱闸"),
+    CLOSE_CLAMP("关闭抱闸"),
+    ;
+
+    /**
+     * 动作的中文描述
+     */
+    @Getter
+    private final String description;
+
+    Action(String description) {
+        this.description = description;
+    }
+
+    @Override
+    public String toString() {
+        return name();
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/com/iflytop/colortitration/common/enums/Device.java b/src/main/java/com/iflytop/colortitration/common/enums/command/Device.java
similarity index 90%
rename from src/main/java/com/iflytop/colortitration/common/enums/Device.java
rename to src/main/java/com/iflytop/colortitration/common/enums/command/Device.java
index a406ce5..a875479 100644
--- a/src/main/java/com/iflytop/colortitration/common/enums/Device.java
+++ b/src/main/java/com/iflytop/colortitration/common/enums/command/Device.java
@@ -1,5 +1,6 @@
-package com.iflytop.colortitration.common.enums;
+package com.iflytop.colortitration.common.enums.command;
 
+import com.iflytop.colortitration.common.enums.HardwareType;
 import lombok.Getter;
 
 public enum Device {
@@ -25,8 +26,8 @@ public enum Device {
     DUAL_ROBOT(HardwareType.STEPPER_MOTOR, "双轴机械臂"),
     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");
-
+    TRICOLOR_LIGHT(HardwareType.IO_DEVICE, "三色灯"),
+    ;
 
     /**
      * 设备所属硬件类型
diff --git a/src/main/java/com/iflytop/colortitration/common/enums/command/MotorDirection.java b/src/main/java/com/iflytop/colortitration/common/enums/command/MotorDirection.java
new file mode 100644
index 0000000..539b9ab
--- /dev/null
+++ b/src/main/java/com/iflytop/colortitration/common/enums/command/MotorDirection.java
@@ -0,0 +1,5 @@
+package com.iflytop.colortitration.common.enums.command;
+
+public enum MotorDirection {
+    forward, backward
+}
diff --git a/src/main/java/com/iflytop/colortitration/common/enums/command/TricolorLightColor.java b/src/main/java/com/iflytop/colortitration/common/enums/command/TricolorLightColor.java
new file mode 100644
index 0000000..a28ad8e
--- /dev/null
+++ b/src/main/java/com/iflytop/colortitration/common/enums/command/TricolorLightColor.java
@@ -0,0 +1,5 @@
+package com.iflytop.colortitration.common.enums.command;
+
+public enum TricolorLightColor {
+    red, green, blue
+}
diff --git a/src/main/java/com/iflytop/colortitration/common/handler/DeviceTypeHandler.java b/src/main/java/com/iflytop/colortitration/common/handler/DeviceTypeHandler.java
index bc61ca2..89f80ef 100644
--- a/src/main/java/com/iflytop/colortitration/common/handler/DeviceTypeHandler.java
+++ b/src/main/java/com/iflytop/colortitration/common/handler/DeviceTypeHandler.java
@@ -1,6 +1,6 @@
 package com.iflytop.colortitration.common.handler;
 
-import com.iflytop.colortitration.common.enums.Device;
+import com.iflytop.colortitration.common.enums.command.Device;
 import org.apache.ibatis.type.BaseTypeHandler;
 import org.apache.ibatis.type.JdbcType;
 import org.apache.ibatis.type.MappedJdbcTypes;
diff --git a/src/main/java/com/iflytop/colortitration/common/model/entity/Pump.java b/src/main/java/com/iflytop/colortitration/common/model/entity/Pump.java
index 60539f6..2bc7216 100644
--- a/src/main/java/com/iflytop/colortitration/common/model/entity/Pump.java
+++ b/src/main/java/com/iflytop/colortitration/common/model/entity/Pump.java
@@ -2,7 +2,7 @@ package com.iflytop.colortitration.common.model.entity;
 
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.iflytop.colortitration.common.base.BaseEntity;
-import com.iflytop.colortitration.common.enums.Device;
+import com.iflytop.colortitration.common.enums.command.Device;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 import lombok.EqualsAndHashCode;