diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha
index 4f72061..cc1ae30 100644
--- a/app/MDK-ARM/app.uvguix.h_zha
+++ b/app/MDK-ARM/app.uvguix.h_zha
@@ -6,7 +6,7 @@
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         <OriginalItems>
           <Len>1423</Len>
@@ -1838,7 +1838,7 @@
         <Name>Debug</Name>
         <Buttons>
           <Len>2373</Len>
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         <OriginalItems>
           <Len>898</Len>
@@ -3603,7 +3603,7 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>6</ActiveTab>
+      <ActiveTab>9</ActiveTab>
       <Doc>
         <Name>..\..\src\board\hardware.cpp</Name>
         <ColumnNumber>8</ColumnNumber>
@@ -3651,9 +3651,9 @@
       </Doc>
       <Doc>
         <Name>..\..\src\umain.cpp</Name>
-        <ColumnNumber>100</ColumnNumber>
+        <ColumnNumber>23</ColumnNumber>
         <TopLine>127</TopLine>
-        <CurrentLine>151</CurrentLine>
+        <CurrentLine>154</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3676,6 +3676,24 @@
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
+      <Doc>
+        <Name>..\..\src\lncubator_rotating_control_service.hpp</Name>
+        <ColumnNumber>24</ColumnNumber>
+        <TopLine>44</TopLine>
+        <CurrentLine>73</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\..\src\lncubator_rotating_control_service.cpp</Name>
+        <ColumnNumber>34</ColumnNumber>
+        <TopLine>79</TopLine>
+        <CurrentLine>101</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
     </MDIGroup>
   </MDIGroups>
 
diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx
index a3d6f61..e485916 100644
--- a/app/MDK-ARM/app.uvoptx
+++ b/app/MDK-ARM/app.uvoptx
@@ -970,6 +970,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>6</GroupNumber>
+      <FileNumber>43</FileNumber>
+      <FileType>8</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\..\src\lncubator_rotating_control_service.cpp</PathWithFileName>
+      <FilenameWithoutPath>lncubator_rotating_control_service.cpp</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -980,7 +992,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>43</FileNumber>
+      <FileNumber>44</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -992,7 +1004,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>44</FileNumber>
+      <FileNumber>45</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1004,7 +1016,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>45</FileNumber>
+      <FileNumber>46</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1016,7 +1028,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>46</FileNumber>
+      <FileNumber>47</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1028,7 +1040,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>47</FileNumber>
+      <FileNumber>48</FileNumber>
       <FileType>8</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1040,7 +1052,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>48</FileNumber>
+      <FileNumber>49</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1052,7 +1064,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>49</FileNumber>
+      <FileNumber>50</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1064,7 +1076,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>50</FileNumber>
+      <FileNumber>51</FileNumber>
       <FileType>8</FileType>
       <tvExp>0</tvExp>
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@@ -1076,7 +1088,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>51</FileNumber>
+      <FileNumber>52</FileNumber>
       <FileType>8</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1088,7 +1100,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>52</FileNumber>
+      <FileNumber>53</FileNumber>
       <FileType>8</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1100,7 +1112,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>53</FileNumber>
+      <FileNumber>54</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
diff --git a/app/MDK-ARM/app.uvprojx b/app/MDK-ARM/app.uvprojx
index c23f246..e6e2732 100644
--- a/app/MDK-ARM/app.uvprojx
+++ b/app/MDK-ARM/app.uvprojx
@@ -1230,6 +1230,11 @@
               <FileType>8</FileType>
               <FilePath>..\..\src\board\hardware.cpp</FilePath>
             </File>
+            <File>
+              <FileName>lncubator_rotating_control_service.cpp</FileName>
+              <FileType>8</FileType>
+              <FilePath>..\..\src\lncubator_rotating_control_service.cpp</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro
index 97f99a0..0e0fbea 160000
--- a/dep/libiflytop_micro
+++ b/dep/libiflytop_micro
@@ -1 +1 @@
-Subproject commit 97f99a0d5f562f7ee883b57908249e0d64dc9483
+Subproject commit 0e0fbea74859e71d34d2ccf6169b0da763fb95a4
diff --git a/src/lncubator_rotating_control_service.cpp b/src/lncubator_rotating_control_service.cpp
index ecf06fc..5292204 100644
--- a/src/lncubator_rotating_control_service.cpp
+++ b/src/lncubator_rotating_control_service.cpp
@@ -37,7 +37,7 @@ void LncubatorRotatingControlService::initialize(Hardware* hardware) {  //
    */
   m_motor->setMotorInPositionMode();
   hardware->registerListener(this);
-  m_motor->registerListener(this, TMC4361A::event_mask_t::ktarget_reached);
+  m_motor->registerListener(this, TMC4361A::ktarget_reached);
 }
 
 void LncubatorRotatingControlService::setVelocity(int32_t velocityMax) { m_maxVelocity = velocityMax; }
@@ -105,7 +105,7 @@ void LncubatorRotatingControlService::periodicJob() {
   }
 }
 void LncubatorRotatingControlService::TMC4361A_onEvent(uint32_t event) {
-  if (event & TMC4361A::event_mask_t::ktarget_reached) {
+  if (event & TMC4361A::ktarget_reached) {
     triggerEvent(kTMC4361AReachTargetEvent);
   }
 }
diff --git a/src/lncubator_rotating_control_service.hpp b/src/lncubator_rotating_control_service.hpp
index 01e36db..8adc0b3 100644
--- a/src/lncubator_rotating_control_service.hpp
+++ b/src/lncubator_rotating_control_service.hpp
@@ -70,7 +70,7 @@ class LncubatorRotatingControlService : public HardwareListener,  //
   int32_t m_outletPosition;  // 出口对其第0个孵育船的位置,出口理论上应该是入口+
 
   // 便宜修正，第一个仓位中心距离零点的距离
-  int32_t m_maxVelocity = 0;
+  int32_t m_maxVelocity;
   bool    m_workfinished;
   bool    m_homeKeyTriggered;
   int     m_jobStep;
diff --git a/src/umain.cpp b/src/umain.cpp
index a46fe16..912c78a 100644
--- a/src/umain.cpp
+++ b/src/umain.cpp
@@ -11,15 +11,25 @@
 #include "libiflytop_micro\stm32\basic\zsignal.hpp"
 #include "libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.hpp"
 #include "libiflytop_micro\stm32\component\tmp117\tmp117.hpp"
+#include "lncubator_rotating_control_service.hpp"
 #include "lncubator_temperature_control_service.hpp"
 #define TAG "main"
 
 #define ACTIVE_REG(reg, mask, initval) IflytopCanProtocolStackProcesser::activeReg(&IflytopCanStackConfig, reg, mask, initval)
+#define UPDATE_REG(reg, value, periodms)                       \
+  {                                                            \
+    static uint32_t lastReportTicket = 0;                      \
+    if (m_hardware.hasPassedMS(lastReportTicket) > periodms) { \
+      lastReportTicket = m_hardware.getTicket();               \
+      m_protocolStack.writeRegValue(reg, value, false);        \
+    }                                                          \
+  }
 
 using namespace iflytop;
 using namespace std;
 class Main : public HardwareListener,  //
-             public IflytopCanProtocolStackProcesserListener {
+             public IflytopCanProtocolStackProcesserListener,
+             public LncubatorRotatingControlServiceListener {
  public:
   Hardware m_hardware;
 
@@ -28,6 +38,7 @@ class Main : public HardwareListener,  //
   //
   IflytopCanProtocolStackProcesser   m_protocolStack;
   LncubatorTemperatureControlService m_tempCtrl;
+  LncubatorRotatingControlService    m_rotatingCtrl;
   IflytopMicroOS                    *os;
 
   Main() {}
@@ -36,6 +47,11 @@ class Main : public HardwareListener,  //
   void initializeIflytopCanProtocolStackProcesser();
   void updateRegList();
 
+  virtual void LncubatorRotatingControlService_onException(exception_id_t exception);
+  virtual void LncubatorRotatingControlService_onMoveToHomeJobFinished();
+  virtual void LncubatorRotatingControlService_onMoveSubPositionJobFinished();
+  virtual void LncubatorRotatingControlService_onMoveByJobFinished();
+
   /*******************************************************************************
    *                             override HardwareListener                        *
    *******************************************************************************/
@@ -51,7 +67,6 @@ class Main : public HardwareListener,  //
 
   virtual icps::error_t IflytopCanProtocolStack_onHostRegisterReadEvent(  //
       icps::Reg_t *reg, int32_t &value);
-
   virtual void IflytopCanProtocolStack_onRegisterValueAutoReportEvent(icps::Reg_t *reg, int32_t &value);
 };
 
@@ -170,14 +185,10 @@ void Main::initializeIflytopCanProtocolStackProcesser() {
   ACTIVE_REG(REG_TEMPERATURE_CTRL_SENSOR4_TEMPERATURE /*  */, icps::kr, 0);
 }
 
-#define UPDATE_REG(reg, value, periodms)                       \
-  {                                                            \
-    static uint32_t lastReportTicket = 0;                      \
-    if (m_hardware.hasPassedMS(lastReportTicket) > periodms) { \
-      lastReportTicket = m_hardware.getTicket();               \
-      m_protocolStack.writeRegValue(reg, value, false);        \
-    }                                                          \
-  }
+void Main::LncubatorRotatingControlService_onException(exception_id_t exception) {}
+void Main::LncubatorRotatingControlService_onMoveToHomeJobFinished() {}
+void Main::LncubatorRotatingControlService_onMoveSubPositionJobFinished() {}
+void Main::LncubatorRotatingControlService_onMoveByJobFinished() {}
 
 void Main::updateRegList() {  //
   UPDATE_REG(REG_TEMPERATURE_CTRL_MAIN_FAN_SPEED, m_hardware.fanReadState4(), 1000);
@@ -198,8 +209,10 @@ void Main::main(int argc, char const *argv[]) {
   m_hardware.registerListener(this);
   m_hardware.hardwareinit();
 
+  // 初始化协议栈
   initializeIflytopCanProtocolStackProcesser();
 
+  // 初始化温度控制器
   m_tempCtrl.initialize(&m_hardware);
   m_tempCtrl.setPidKp(m_protocolStack.readRegValue(REG_TEMPERATURE_CTRL_KP));
   m_tempCtrl.setPidKi(m_protocolStack.readRegValue(REG_TEMPERATURE_CTRL_KI));
@@ -207,6 +220,10 @@ void Main::main(int argc, char const *argv[]) {
   m_tempCtrl.setPidErrorLimit(m_protocolStack.readRegValue(REG_TEMPERATURE_CTRL_ERROR_LIMIT));
   m_tempCtrl.setTargetTemperature(m_protocolStack.readRegValue(REG_TEMPERATURE_CTRL_TARGET_TEMPERATURE));
 
+  // 初始化转盘控制器
+  m_rotatingCtrl.initialize(&m_hardware);
+  m_rotatingCtrl.registerListener(this);
+
   while (true) {
     m_hardware.periodicJob();
     updateRegList();