diff --git a/src/main/java/com/iflytop/gd/hardware/controller/IOController.java b/src/main/java/com/iflytop/gd/hardware/controller/IOController.java
index ed61e2c..4e45502 100644
--- a/src/main/java/com/iflytop/gd/hardware/controller/IOController.java
+++ b/src/main/java/com/iflytop/gd/hardware/controller/IOController.java
@@ -1,5 +1,6 @@
 package com.iflytop.gd.hardware.controller;
 
+import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver;
 import com.iflytop.gd.hardware.type.IO.OutputIOMId;
 import io.swagger.v3.oas.annotations.tags.Tag;
@@ -19,12 +20,13 @@ public class IOController {
     private final OutputIOCtrlDriver driver;
 
     @PostMapping("/set-output")
-    public void setOutput(@RequestParam OutputIOMId index, @RequestParam boolean state) {
+    public Result<?> setOutput(@RequestParam OutputIOMId index, @RequestParam boolean state) {
         log.info("Setting IO output at index: {} to state: {}", index, state);
         try {
             driver.setIOState(index, state);
         } catch (Exception e) {
             log.error("Failed to set IO output: {}", e.getMessage());
         }
+        return Result.success();
     }
 }
diff --git a/src/main/java/com/iflytop/gd/hardware/controller/ServoController.java b/src/main/java/com/iflytop/gd/hardware/controller/ServoController.java
index 755091c..8ca3d19 100644
--- a/src/main/java/com/iflytop/gd/hardware/controller/ServoController.java
+++ b/src/main/java/com/iflytop/gd/hardware/controller/ServoController.java
@@ -1,5 +1,6 @@
 package com.iflytop.gd.hardware.controller;
 
+import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.hardware.type.Servo.DeviceServoId;
 import com.iflytop.gd.hardware.type.Servo.MiniServoRegIndex;
 import com.iflytop.gd.hardware.exception.HardwareException;
@@ -48,84 +49,96 @@ public class ServoController {
     // 基础操作
     @PostMapping("/enable")
     @Operation(summary = "电源开启")
-    public void enable(@RequestParam DeviceServoId deviceId) throws HardwareException {
+    public Result<?> enable(@RequestParam DeviceServoId deviceId) throws HardwareException {
         servoService.enable(deviceId, true);
+        return Result.success();
     }
 
     @PostMapping("/disable")
     @Operation(summary = "电源关闭")
-    public void disable(@RequestParam DeviceServoId deviceId) throws HardwareException {
+    public Result<?> disable(@RequestParam DeviceServoId deviceId) throws HardwareException {
         servoService.enable(deviceId, false);
+        return Result.success();
     }
 
     @PostMapping("/stop")
     @Operation(summary = "停止")
-    public void stop(@RequestParam DeviceServoId deviceId) throws HardwareException {
+    public Result<?> stop(@RequestParam DeviceServoId deviceId) throws HardwareException {
         servoService.stop(deviceId);
+        return Result.success();
     }
 
     @PostMapping("/move-to")
     @Operation(summary = "移动(绝对)")
-    public void moveTo(@RequestParam DeviceServoId deviceId, @RequestParam Integer pos) throws HardwareException {
+    public Result<?> moveTo(@RequestParam DeviceServoId deviceId, @RequestParam Integer pos) throws HardwareException {
         servoService.moveTo(deviceId, pos);
+        return Result.success();
     }
 
     @PostMapping("/rotate-forward")
     @Operation(summary = "正转")
-    public void rotateForward(@RequestParam DeviceServoId deviceId) throws HardwareException {
+    public Result<?> rotateForward(@RequestParam DeviceServoId deviceId) throws HardwareException {
         servoService.rotate(deviceId, 1);
+        return Result.success();
     }
 
     @PostMapping("/rotate-backward")
     @Operation(summary = "反转")
-    public void rotateBackward(@RequestParam DeviceServoId deviceId) throws HardwareException {
+    public Result<?> rotateBackward(@RequestParam DeviceServoId deviceId) throws HardwareException {
         servoService.rotate(deviceId, 0);
+        return Result.success();
     }
 
     @PostMapping("/rotate-with-torque")
     @Operation(summary = "旋转(力矩)")
-    public void rotateWithTorque(@RequestParam DeviceServoId deviceId, @RequestParam Integer pos) throws HardwareException {
+    public Result<?> rotateWithTorque(@RequestParam DeviceServoId deviceId, @RequestParam Integer pos) throws HardwareException {
         servoService.rotateWithTorque(deviceId, pos);
+        return Result.success();
     }
 
     @PostMapping("/move-to-zero")
     @Operation(summary = "回Home")
-    public void moveToZero(@RequestParam DeviceServoId deviceId) throws HardwareException {
+    public Result<?> moveToZero(@RequestParam DeviceServoId deviceId) throws HardwareException {
         servoService.moveToZero(deviceId);
+        return Result.success();
     }
 
     // 寄存器操作
     @PostMapping("/limit-velocity")
     @Operation(summary = "设置限速")
-    public void setLimitVelocity(
+    public Result<?> setLimitVelocity(
             @RequestParam DeviceServoId deviceId,
             @RequestParam Integer val) throws HardwareException {
         servoService.setLimitVelocity(deviceId, val);
+        return Result.success();
     }
 
     @PostMapping("/limit-torque")
     @Operation(summary = "设置限力矩")
-    public void setLimitTorque(
+    public Result<?> setLimitTorque(
             @RequestParam DeviceServoId deviceId,
             @RequestParam Integer val) throws HardwareException {
         servoService.setLimitTorque(deviceId, val);
+        return Result.success();
     }
 
     @PostMapping("/protective-torque")
     @Operation(summary = "设置保护力矩")
-    public void setProtectiveTorque(
+    public Result<?> setProtectiveTorque(
             @RequestParam DeviceServoId deviceId,
             @RequestParam Integer val) throws HardwareException {
         servoService.setProtectiveTorque(deviceId, val);
+        return Result.success();
     }
 
     @PostMapping("/reg")
     @Operation(summary = "设置寄存器")
-    public void setReg(
+    public Result<?> setReg(
             @RequestParam DeviceServoId deviceId,
             @RequestParam MiniServoRegIndex reg,
             @RequestParam Integer val) throws HardwareException {
         servoService.setReg(deviceId, reg, val);
+        return Result.success();
     }
 
     // 状态查询
diff --git a/src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java b/src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java
index 7aefb01..f247849 100644
--- a/src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java
+++ b/src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java
@@ -1,5 +1,6 @@
 package com.iflytop.gd.hardware.controller;
 
+import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.service.StepMotorService;
 import com.iflytop.gd.hardware.type.StepMotor.DeviceStepMotorId;
@@ -49,170 +50,192 @@ public class StepMotorController {
     // 基础设置
     @PostMapping("/speed-level")
     @Operation(summary = "设置速度等级")
-    public void setStepMotorSpeedLevel(@RequestParam StepMotorSpeedLevel speedLevel) {
+    public Result<?> setStepMotorSpeedLevel(@RequestParam StepMotorSpeedLevel speedLevel) {
         stepMotorService.setStepMotorSpeedLevel(speedLevel);
+        return Result.success();
     }
 
     // 基础操作
     @PostMapping("/enable")
     @Operation(summary = "电源开启")
-    public void enableMotor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
+    public Result<?> enableMotor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         stepMotorService.enableMotor(deviceId);
+        return Result.success();
     }
 
     @PostMapping("/disable")
     @Operation(summary = "电源关闭")
-    public void disableMotor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
+    public Result<?> disableMotor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         stepMotorService.disableMotor(deviceId);
+        return Result.success();
     }
 
     @PostMapping("/move-to-zero")
     @Operation(summary = "回Home")
-    public void stepMotorEasyMoveToZero(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
+    public Result<?> stepMotorEasyMoveToZero(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         stepMotorService.stepMotorEasyMoveToZero(deviceId);
+        return Result.success();
     }
 
     @PostMapping("/move-to-zero-quick")
     @Operation(summary = "快速回Home")
-    public void stepMotorEasyMoveToZeroPointQuickBlock(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
+    public Result<?> stepMotorEasyMoveToZeroPointQuickBlock(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         stepMotorService.stepMotorEasyMoveToZeroPointQuickBlock(deviceId);
+        return Result.success();
     }
 
     @PostMapping("/stop")
     @Operation(summary = "停止")
-    public void stepMotorStop(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
+    public Result<?> stepMotorStop(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         stepMotorService.stepMotorStop(deviceId);
+        return Result.success();
     }
 
     // 相对移动
     @PostMapping("/move-by-forward")
     @Operation(summary = "正向点动")
-    public void stepMotorEasyMoveByForward(
+    public Result<?> stepMotorEasyMoveByForward(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer dpos) throws HardwareException {
         stepMotorService.stepMotorEasyMoveByForward(deviceId, dpos);
+        return Result.success();
     }
 
     @PostMapping("/move-by-backward")
     @Operation(summary = "反向点动")
-    public void stepMotorEasyMoveByBackward(
+    public Result<?> stepMotorEasyMoveByBackward(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer dpos) throws HardwareException {
         stepMotorService.stepMotorEasyMoveByBackward(deviceId, dpos);
+        return Result.success();
     }
 
     // 绝对移动
     @PostMapping("/move-to")
     @Operation(summary = "移动(绝对)")
-    public void stepMotorEasyMoveTo(
+    public Result<?> stepMotorEasyMoveTo(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer pos) throws HardwareException {
         stepMotorService.stepMotorEasyMoveTo(deviceId, pos);
+        return Result.success();
     }
 
     // 旋转
     @PostMapping("/rotate-forward")
     @Operation(summary = "正转")
-    public void rotateForward(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
+    public Result<?> rotateForward(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         stepMotorService.rotateForward(deviceId);
+        return Result.success();
     }
 
     @PostMapping("/rotate-backward")
     @Operation(summary = "反转")
-    public void rotateBackward(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
+    public Result<?> rotateBackward(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         stepMotorService.rotateBackward(deviceId);
+        return Result.success();
     }
 
     // 寄存器配置
     @PostMapping("/mres")
     @Operation(summary = "设置细分")
-    public void setMres(
+    public Result<?> setMres(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer mres) throws HardwareException {
         stepMotorService.setMres(deviceId, mres);
+        return Result.success();
     }
 
     @PostMapping("/irun")
     @Operation(summary = "设置IRUN")
-    public void setIRUN(
+    public Result<?> setIRUN(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer irun) throws HardwareException {
         stepMotorService.setIRUN(deviceId, irun);
+        return Result.success();
     }
 
     @PostMapping("/ihold")
     @Operation(summary = "设置IHOLD")
-    public void setIHOLD(
+    public Result<?> setIHOLD(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer ihold) throws HardwareException {
         stepMotorService.setIHOLD(deviceId, ihold);
+        return Result.success();
     }
 
     @PostMapping("/start-stop-vel")
     @Operation(summary = "设置起停速度")
-    public void setStartAndStopVel(
+    public Result<?> setStartAndStopVel(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer v) throws HardwareException {
         stepMotorService.setStartAndStopVel(deviceId, v);
+        return Result.success();
     }
 
     @PostMapping("/v1")
     @Operation(summary = "设置V1")
-    public void setV1(
+    public Result<?> setV1(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer v) throws HardwareException {
         stepMotorService.setV1(deviceId, v);
+        return Result.success();
     }
 
     @PostMapping("/acceleration")
     @Operation(summary = "设置加速度")
-    public void setA1AndD1(
+    public Result<?> setA1AndD1(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer acc) throws HardwareException {
         stepMotorService.setA1AndD1(deviceId, acc);
+        return Result.success();
     }
 
     @PostMapping("/max-acceleration")
     @Operation(summary = "设置最大加速度")
-    public void setAmaxAndDmax(
+    public Result<?> setAmaxAndDmax(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer acc) throws HardwareException {
         stepMotorService.setAmaxAndDmax(deviceId, acc);
+        return Result.success();
     }
 
     @PostMapping("/default-velocity")
     @Operation(summary = "设置默认速度")
-    public void setDefaultVel(
+    public Result<?> setDefaultVel(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer v) throws HardwareException {
         stepMotorService.setDefaultVel(deviceId, v);
+        return Result.success();
     }
 
     @PostMapping("/speed")
     @Operation(summary = "设置速度")
-    public void setSpeed(
+    public Result<?> setSpeed(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer low,
             @RequestParam Integer mid,
             @RequestParam Integer high) throws HardwareException {
         stepMotorService.setSpeed(deviceId, low, mid, high);
+        return Result.success();
     }
 
     @PostMapping("/one-circle-pulse")
     @Operation(summary = "设置一圈脉冲数")
-    public void setOneCirclePulse(
+    public Result<?> setOneCirclePulse(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer pulse,
             @RequestParam Integer denominator) throws HardwareException {
         stepMotorService.setOneCirclePulse(deviceId, pulse, denominator);
+        return Result.success();
     }
 
     @PostMapping("/dzero")
     @Operation(summary = "设置DZero")
-    public void setDZero(
+    public Result<?> setDZero(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer dzero) throws HardwareException {
         stepMotorService.setDZero(deviceId, dzero);
+        return Result.success();
     }
 
     @GetMapping("/reg")
@@ -225,11 +248,12 @@ public class StepMotorController {
 
     @PostMapping("/reg")
     @Operation(summary = "设置寄存器")
-    public void setReg(
+    public Result<?> setReg(
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam StepMotorRegIndex reg,
             @RequestParam Integer val) throws HardwareException {
         stepMotorService.setReg(deviceId, reg, val);
+        return Result.success();
     }
 
     // 状态查询