diff --git a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommand.java b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommand.java
index c50aa50..aaed5d4 100644
--- a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommand.java
+++ b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommand.java
@@ -1,5 +1,6 @@
 package com.iflytop.gd.common.cmd;
 
+import com.iflytop.gd.common.enums.cmd.CmdAction;
 import lombok.Data;
 
 import java.util.Map;
@@ -29,10 +30,11 @@ public class DeviceCommand {
     /**
      * 执行动作
      */
-    private String action;
+    private CmdAction action;
 
     /**
      * 指令参数
      */
-    private Map<String, Object> param;
+    private DeviceCommandParams param;
 }
+
diff --git a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java
new file mode 100644
index 0000000..fe94dbd
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java
@@ -0,0 +1,17 @@
+package com.iflytop.gd.common.cmd;
+
+
+import com.iflytop.gd.common.enums.cmd.CmdAxis;
+import com.iflytop.gd.common.enums.cmd.CmdDirection;
+import lombok.Data;
+
+@Data
+public class DeviceCommandParams {
+    private String device;
+    private Double current;
+    private CmdDirection direction;
+    private Double position;
+    private Double speed;
+    private Double angle;
+    private CmdAxis axis;
+}
diff --git a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java
new file mode 100644
index 0000000..4ec1c71
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java
@@ -0,0 +1,5 @@
+package com.iflytop.gd.common.enums.cmd;
+
+public enum CmdAction {
+    open, close, stop, start, origin, move, move_joint, set
+}
diff --git a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAxis.java b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAxis.java
new file mode 100644
index 0000000..4956dd2
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAxis.java
@@ -0,0 +1,5 @@
+package com.iflytop.gd.common.enums.cmd;
+
+public enum CmdAxis {
+    joint1,joint2
+}
diff --git a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdDirection.java b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdDirection.java
new file mode 100644
index 0000000..d5882c2
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdDirection.java
@@ -0,0 +1,5 @@
+package com.iflytop.gd.common.enums.cmd;
+
+public enum CmdDirection {
+    forward, backward
+}
diff --git a/src/main/java/com/iflytop/gd/hardware/command/command_handler/FanHandler.java b/src/main/java/com/iflytop/gd/hardware/command/command/handler/FanHandler.java
similarity index 57%
rename from src/main/java/com/iflytop/gd/hardware/command/command_handler/FanHandler.java
rename to src/main/java/com/iflytop/gd/hardware/command/command/handler/FanHandler.java
index ea2ee44..a4b01ab 100644
--- a/src/main/java/com/iflytop/gd/hardware/command/command_handler/FanHandler.java
+++ b/src/main/java/com/iflytop/gd/hardware/command/command/handler/FanHandler.java
@@ -1,6 +1,8 @@
-package com.iflytop.gd.hardware.command.command_handler;
+package com.iflytop.gd.hardware.command.command.handler;
 
 import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.enums.cmd.CmdAction;
+import com.iflytop.gd.common.enums.cmd.CmdDirection;
 import com.iflytop.gd.hardware.command.CommandHandler;
 
 public class FanHandler extends CommandHandler {
@@ -14,28 +16,28 @@ public class FanHandler extends CommandHandler {
     @Override
     public boolean sendCommand(DeviceCommand command) {
         // 校验动作
-        checkAction(command.getAction());
+//        checkAction(command.getAction());
 
 
 
 
         // 发送命令
-        if (command.getAction().equals("open")) {
+        if (command.getAction() == CmdAction.open) {
 
             // 校验参数
-            checkParams(command.getParams());
+//            checkParams(command.getParams());
             // get 参数值
-            String speed = command.getParams().get("speed");
+            Double speed = command.getParam().getSpeed();
 
             // 打开风扇
-            String direction = command.getParams().get("direction");
+            CmdDirection direction = command.getParam().getDirection();
 
             // 组包
             // 发送命令
             HardwareService.sendPacket();
             return true;
         }
-        else if (command.getAction().equals("close")) {
+        else if (command.getAction() == CmdAction.close) {
             // 关闭风扇
             return true;
         }
diff --git a/src/main/java/com/iflytop/gd/hardware/service/HardwareService.java b/src/main/java/com/iflytop/gd/hardware/service/HardwareService.java
index 91e5de0..f70f33f 100644
--- a/src/main/java/com/iflytop/gd/hardware/service/HardwareService.java
+++ b/src/main/java/com/iflytop/gd/hardware/service/HardwareService.java
@@ -5,7 +5,7 @@ import com.iflytop.gd.common.cmd.DeviceCommand;
 import com.iflytop.gd.hardware.command.CommandHandler;
 import com.iflytop.gd.hardware.command.SupportDevice.CmdDevice;
 import com.iflytop.gd.hardware.command.SupportMethod;
-import com.iflytop.gd.hardware.command.command_handler.FanHandler;
+import com.iflytop.gd.hardware.command.command.handler.FanHandler;
 
 import java.security.InvalidParameterException;
 import java.util.HashMap;