diff --git a/usersrc/encoder.c b/usersrc/encoder.c
index dcf554f..8c0968f 100644
--- a/usersrc/encoder.c
+++ b/usersrc/encoder.c
@@ -18,6 +18,7 @@ void encoder_all_start(void)
         HAL_TIM_Encoder_Start(m_uarts[i].tim_handler, m_uarts[i].tim_channel);
     }
 }
+
 void encoder_all_stop(void)
 {
     for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
@@ -26,6 +27,28 @@ void encoder_all_stop(void)
     }
 }
 
+bool encoder_clear_counter(TIM_HandleTypeDef *tim_handler)
+{
+    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
+    {
+        if (tim_handler == m_uarts[i].tim_handler)
+        {
+            __HAL_TIM_GET_COUNTER(tim_handler) = 0;
+            return true;
+        }
+    }
+
+    return false;
+}
+
+void encoder_all_clear_counter(void)
+{
+    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
+    {
+        __HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler) = 0; // 计数器值重新置位
+    }
+}
+
 void encoder_read_printf(void)
 {
     for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
diff --git a/usersrc/encoder.h b/usersrc/encoder.h
index 6b273e5..dcf66c0 100644
--- a/usersrc/encoder.h
+++ b/usersrc/encoder.h
@@ -1,5 +1,6 @@
 #pragma once
 #include "main.h"
+#include <stdbool.h>
 
 typedef struct
 {
@@ -9,4 +10,6 @@ typedef struct
 
 void encoder_all_start(void);
 void encoder_all_stop(void);
+bool encoder_clear_counter(TIM_HandleTypeDef *tim_handler);
+void encoder_all_clear_counter(void);
 void encoder_read_printf(void);