diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8964a62..f327827 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,12 +77,14 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
 
     # User/module sources
     User/module/config.c
+    User/module/arm.cpp
+    User/module/chassis.cpp
 
     # User/task sources
     User/task/atti_esit.c
     User/task/blink.c
-    User/task/ctrl_arm.c
-    User/task/ctrl_chassis.c
+    User/task/ctrl_arm.cpp
+    User/task/ctrl_chassis.cpp
     User/task/init.c
     User/task/monitor.c
     User/task/rc.c
diff --git a/User/device/motor_lz.c b/User/device/motor_lz.c
index 7ed7344..aed92fd 100644
--- a/User/device/motor_lz.c
+++ b/User/device/motor_lz.c
@@ -431,10 +431,10 @@ int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param) {
     return DEVICE_ERR_NO_DEV;
 }
 
-static MOTOR_LZ_Feedback_t* MOTOR_LZ_GetFeedback(MOTOR_LZ_Param_t *param) {
-    MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param);
-    if (motor && motor->motor.header.online) {
-        return &motor->lz_feedback;
-    }
-    return NULL;
-}
+// static MOTOR_LZ_Feedback_t* MOTOR_LZ_GetFeedback(MOTOR_LZ_Param_t *param) {
+//     MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param);
+//     if (motor && motor->motor.header.online) {
+//         return &motor->lz_feedback;
+//     }
+//     return NULL;
+// }
diff --git a/User/module/arm.cpp b/User/module/arm.cpp
new file mode 100644
index 0000000..e69de29
diff --git a/User/module/arm.hpp b/User/module/arm.hpp
new file mode 100644
index 0000000..e69de29
diff --git a/User/module/chassis.cpp b/User/module/chassis.cpp
new file mode 100644
index 0000000..d08fb8a
--- /dev/null
+++ b/User/module/chassis.cpp
@@ -0,0 +1,62 @@
+#include "module/chassis.hpp"
+#include "bsp/can.h"
+#include "device/motor_rm.h"
+
+
+Chassis::Chassis() {
+    motors_param[0] = {
+        .can = BSP_CAN_1,
+        .id = 0x201,
+        .module = MOTOR_M3508,
+        .reverse = false,
+        .gear = true
+    };
+    motors_param[1] = {
+        .can = BSP_CAN_1,
+        .id = 0x202,
+        .module = MOTOR_M3508,
+        .reverse = false,
+        .gear = true
+    };
+    motors_param[2] = {
+        .can = BSP_CAN_1,
+        .id = 0x203,
+        .module = MOTOR_M3508,
+        .reverse = false,
+        .gear = true
+    };
+    motors_param[3] = {
+        .can = BSP_CAN_1,
+        .id = 0x204,
+        .module = MOTOR_M3508,
+        .reverse = false,
+        .gear = true
+    };
+}
+
+void Chassis::init() {
+    BSP_CAN_Init();
+    MOTOR_RM_Register(&motors_param[0]);
+    MOTOR_RM_Register(&motors_param[1]);
+    MOTOR_RM_Register(&motors_param[2]);
+    MOTOR_RM_Register(&motors_param[3]);
+}
+
+void Chassis::operator()() {
+    MOTOR_RM_UpdateAll();
+
+    MOTOR_RM_t *motor = NULL;
+    motor = MOTOR_RM_GetMotor(&motors_param[0]);
+    chassis_motors[0] = motor->motor;
+    motor = MOTOR_RM_GetMotor(&motors_param[1]);
+    chassis_motors[1] = motor->motor;
+    motor = MOTOR_RM_GetMotor(&motors_param[2]);
+    chassis_motors[2] = motor->motor;
+    motor = MOTOR_RM_GetMotor(&motors_param[3]);
+    chassis_motors[3] = motor->motor;
+
+    // MOTOR_RM_SetOutput(&motors_param[0], 0.1f);
+    // MOTOR_RM_Ctrl(&motors_param[0]);
+
+
+}
diff --git a/User/module/chassis.hpp b/User/module/chassis.hpp
new file mode 100644
index 0000000..196af55
--- /dev/null
+++ b/User/module/chassis.hpp
@@ -0,0 +1,17 @@
+#pragma once
+
+#include "main.h"
+#include "bsp/can.h"
+#include "device/motor.h"
+#include "device/motor_rm.h"
+
+class Chassis {
+public:
+    Chassis();
+    void init();
+    void operator()();
+private:
+    MOTOR_RM_Param_t motors_param[4];
+    MOTOR_t chassis_motors[4];
+};
+
diff --git a/User/task/ctrl_arm.c b/User/task/ctrl_arm.cpp
similarity index 100%
rename from User/task/ctrl_arm.c
rename to User/task/ctrl_arm.cpp
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.cpp
similarity index 94%
rename from User/task/ctrl_chassis.c
rename to User/task/ctrl_chassis.cpp
index 8f0ba13..982566d 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.cpp
@@ -6,7 +6,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "module/chassis.hpp"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +14,7 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+Chassis chassis;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -30,13 +30,13 @@ void Task_ctrl_chassis(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  chassis.init();
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-
+    chassis();
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }