diff --git a/components/step_motor_45/step_motor_45.cpp b/components/step_motor_45/step_motor_45.cpp
index faa0f4c..f678283 100644
--- a/components/step_motor_45/step_motor_45.cpp
+++ b/components/step_motor_45/step_motor_45.cpp
@@ -57,16 +57,20 @@ void StepMotor45::initialize(cfg_t cfg) {
   return;
 }
 
-void StepMotor45::rotate(bool direction, int speed) {
+void StepMotor45::rotate(int direction, int speed) {
   CriticalContext cc;
-  if (direction) {
+  if (direction == 0) {
+    stop();
+  }
+
+  if (direction > 0) {
     if (getzeropinstate()) {
       m_calibration = true;
       m_pos         = 0;
     }
   }
   posmode = false;
-  m_state = direction ? kforward_rotation : krollback;
+  m_state = direction > 0 ? kforward_rotation : krollback;
   ZLOGI(TAG, "rotate %d", direction);
 }
 void StepMotor45::stop() {
diff --git a/components/step_motor_45/step_motor_45.hpp b/components/step_motor_45/step_motor_45.hpp
index 85fb920..36b46a5 100644
--- a/components/step_motor_45/step_motor_45.hpp
+++ b/components/step_motor_45/step_motor_45.hpp
@@ -61,8 +61,8 @@ class StepMotor45 {
  public:
   void initialize(cfg_t cfg);
 
-  void rotate(bool direction) { rotate(direction, defaultspeed); }
-  void rotate(bool direction, int speed);
+  void rotate(int direction) { rotate(direction, defaultspeed); }
+  void rotate(int direction, int speed);
   void moveBy(int pos, int speed);
   void moveBy(int pos) { moveBy(pos, defaultspeed); }
 
@@ -72,6 +72,7 @@ class StepMotor45 {
   bool isReachTargetPos();
   void stop();
   void zeroCalibration();
+  void setPos(int pos) { m_pos = pos; }
 
   int getPos() { return m_pos; }