diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorDisableCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorDisableCommand.java
new file mode 100644
index 0000000..c16df12
--- /dev/null
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorDisableCommand.java
@@ -0,0 +1,36 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 门回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("door_disable")
+public class DebugDoorDisableCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle doorSetDeviceCommandBundle = DeviceCommandGenerator.doorDisable();
+            CommandFuture doorSetDeviceCommandSetFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorSetDeviceCommandBundle);
+            CommandUtil.wait(doorSetDeviceCommandSetFuture);
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorEnableCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorEnableCommand.java
new file mode 100644
index 0000000..cf45139
--- /dev/null
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorEnableCommand.java
@@ -0,0 +1,36 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 门回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("door_enable")
+public class DebugDoorEnableCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle doorSetDeviceCommandBundle = DeviceCommandGenerator.doorEnable();
+            CommandFuture doorSetDeviceCommandSetFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorSetDeviceCommandBundle);
+            CommandUtil.wait(doorSetDeviceCommandSetFuture);
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java
index e596b64..7f0b22d 100644
--- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java
@@ -38,7 +38,7 @@ public class DebugDoorOpenCommand extends BaseCommandHandler {
                 CommandFuture doorSetDeviceCommandSetFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorSetDeviceCommandBundle);
                 CommandUtil.wait(doorSetDeviceCommandSetFuture);
             }
-            DeviceCommandBundle doorMoveDeviceCommand =DeviceCommandGenerator.doorMove(devicePosition.getDistance());
+            DeviceCommandBundle doorMoveDeviceCommand =DeviceCommandGenerator.doorMoveBy(devicePosition.getDistance());
             CommandFuture deviceCommandOpenFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorMoveDeviceCommand);
             CommandUtil.wait(deviceCommandOpenFuture);
         });
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOriginCommand.java
new file mode 100644
index 0000000..a79a3c1
--- /dev/null
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOriginCommand.java
@@ -0,0 +1,43 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 门回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("door_origin")
+public class DebugDoorOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        Double speed = cmdDTO.getDoubleParam("speed");
+        return runAsync(() -> {
+            if (speed != null) {
+                DeviceCommandBundle doorSetDeviceCommandBundle = DeviceCommandGenerator.doorSet(speed);
+                CommandFuture doorSetDeviceCommandSetFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorSetDeviceCommandBundle);
+                CommandUtil.wait(doorSetDeviceCommandSetFuture);
+            }
+            DeviceCommandBundle doorMoveDeviceCommand = DeviceCommandGenerator.doorOrigin();
+            CommandFuture doorMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorMoveDeviceCommand);
+            CommandUtil.wait(doorMoveDeviceCommandFuture);
+
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLightOpenCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLightOpenCommand.java
new file mode 100644
index 0000000..6848c43
--- /dev/null
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLightOpenCommand.java
@@ -0,0 +1,43 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import cn.hutool.core.lang.Assert;
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.enums.cmd.CmdColor;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 蜂鸣器打开
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("light_open")
+public class DebugLightOpenCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        String color = cmdDTO.getStringParam("color");
+        CmdColor colorEnum = CmdColor.valueOf(color);
+        return runAsync(() -> {
+            DeviceCommandBundle beeOpenDeviceCommand = DeviceCommandGenerator.tricolorLightOpen(colorEnum);
+            CommandFuture lightOpenDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), beeOpenDeviceCommand);
+            CommandUtil.wait(lightOpenDeviceCommandFuture);
+
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorDisableCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorDisableCommand.java
new file mode 100644
index 0000000..41d5536
--- /dev/null
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorDisableCommand.java
@@ -0,0 +1,36 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 加液位电机停止
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("liquid_motor_disable")
+public class DebugLiquidMotorDisableCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidMotorDisable();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorEnableCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorEnableCommand.java
new file mode 100644
index 0000000..d0d5e2d
--- /dev/null
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorEnableCommand.java
@@ -0,0 +1,36 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 加液位电机停止
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("liquid_motor_enable")
+public class DebugLiquidMotorEnableCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidMotorEnable();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXDisableCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXDisableCommand.java
new file mode 100644
index 0000000..6612c78
--- /dev/null
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXDisableCommand.java
@@ -0,0 +1,36 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * x轴电机停止
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("x_disable")
+public class DebugMotorXDisableCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXDisable();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXEnableCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXEnableCommand.java
new file mode 100644
index 0000000..217b4c2
--- /dev/null
+++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXEnableCommand.java
@@ -0,0 +1,36 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * x轴电机停止
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("x_enable")
+public class DebugMotorXEnableCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXEnable();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
+        });
+    }
+}
+