diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9da878a..208a3ea 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,6 +80,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/blink.c
     User/task/ctrl_chassis.c
     User/task/ctrl_gimbal.c
+    User/task/ctrl_shoot.c
     User/task/init.c
     User/task/monitor.c
     User/task/rc.c
diff --git a/User/task/config.yaml b/User/task/config.yaml
index 28adab5..79d617d 100644
--- a/User/task/config.yaml
+++ b/User/task/config.yaml
@@ -39,3 +39,10 @@
   function: Task_blink
   name: blink
   stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_ctrl_shoot
+  name: ctrl_shoot
+  stack: 256
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index 36c1a8b..b2dffb7 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -1,5 +1,6 @@
 /*
     ctrl_chassis Task
+    
 */
 
 /* Includes ----------------------------------------------------------------- */
@@ -16,14 +17,16 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-MOTOR_LK_Param_t chassis_motor_params[4] = {
-    {BSP_CAN_1, 0x201, MOTOR_LK_MF9025, false},
-    {BSP_CAN_1, 0x202, MOTOR_LK_MF9025, false},
-    {BSP_CAN_1, 0x203, MOTOR_LK_MF9025, false},
-    {BSP_CAN_1, 0x204, MOTOR_LK_MF9025, false}
+MOTOR_LZ_Param_t motor_lz_param = {
+    .can = BSP_CAN_3,
+    .motor_id = 125,
+    .host_id = 0xFF,
+    .module = MOTOR_LZ_RSO3,
+    .reverse = false,
+    .mode = MOTOR_LZ_MODE_MOTION,
 };
-MOTOR_LK_t *chassis_motors[4] = {NULL, NULL, NULL, NULL};
 
+float out = 0.0f;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -40,34 +43,15 @@ 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 */
   BSP_CAN_Init();
-  
-  // 注册所有底盘电机
-  for (int i = 0; i < 4; i++) {
-    MOTOR_LK_Register(&chassis_motor_params[i]);
-  }
-  
-  // 延时等待电机稳定
-  osDelay(100);
-  
-  // 开启所有电机
-  for (int i = 0; i < 4; i++) {
-    MOTOR_LK_MotorOn(&chassis_motor_params[i]);
-  }
+  MOTOR_LZ_Init();
+  MOTOR_LZ_Register(&motor_lz_param);
+
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-    // 更新所有电机数据
-    for (int i = 0; i < 4; i++) {
-      MOTOR_LK_Update(&chassis_motor_params[i]);
-    }
-    
-    // 设置电机输出
-    MOTOR_LK_SetOutput(&chassis_motor_params[0], 0.5f);
-    MOTOR_LK_SetOutput(&chassis_motor_params[1], 0.5f);
-    MOTOR_LK_SetOutput(&chassis_motor_params[2], 0.5f);
-    MOTOR_LK_SetOutput(&chassis_motor_params[3], 0.5f);
+    MOTOR_LZ_Enable(&motor_lz_param);
 
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
diff --git a/User/task/ctrl_gimbal.c b/User/task/ctrl_gimbal.c
index 0182846..409eae8 100644
--- a/User/task/ctrl_gimbal.c
+++ b/User/task/ctrl_gimbal.c
@@ -6,7 +6,9 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "bsp/can.h"
+#include "device/motor.h"
+#include "device/motor_dm.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +16,13 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+MOTOR_DM_Param_t motor_dm_yaw = {
+    .can = BSP_CAN_1,
+    .can_id = 0x1,
+    .master_id = 0x11,
+    .module = MOTOR_DM_J4310,
+    .reverse = false,
+};
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -30,13 +38,14 @@ void Task_ctrl_gimbal(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  BSP_CAN_Init();
+  MOTOR_DM_Register(&motor_dm_yaw);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-
+    MOTOR_DM_Enable(&motor_dm_yaw);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
diff --git a/User/task/ctrl_shoot.c b/User/task/ctrl_shoot.c
new file mode 100644
index 0000000..64a1e2b
--- /dev/null
+++ b/User/task/ctrl_shoot.c
@@ -0,0 +1,46 @@
+/*
+    ctrl_shoot Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "bsp/can.h"
+#include "device/motor.h"
+#include "device/motor_dm.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_ctrl_shoot(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_SHOOT_FREQ;
+
+  osDelay(CTRL_SHOOT_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}
\ No newline at end of file
diff --git a/User/task/init.c b/User/task/init.c
index 1335718..d35a09c 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -36,6 +36,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
   task_runtime.thread.monitor = osThreadNew(Task_monitor, NULL, &attr_monitor);
   task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
+  task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
diff --git a/User/task/user_task.c b/User/task/user_task.c
index d1a428e..3f1a996 100644
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@@ -38,4 +38,9 @@ const osThreadAttr_t attr_blink = {
     .name = "blink",
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_ctrl_shoot = {
+    .name = "ctrl_shoot",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
 };
\ No newline at end of file
diff --git a/User/task/user_task.h b/User/task/user_task.h
index 45ea231..fe9bec0 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -18,6 +18,7 @@ extern "C" {
 #define CTRL_GIMBAL_FREQ (500.0)
 #define MONITOR_FREQ (500.0)
 #define BLINK_FREQ (500.0)
+#define CTRL_SHOOT_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
@@ -27,6 +28,7 @@ extern "C" {
 #define CTRL_GIMBAL_INIT_DELAY (0)
 #define MONITOR_INIT_DELAY (0)
 #define BLINK_INIT_DELAY (0)
+#define CTRL_SHOOT_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -42,6 +44,7 @@ typedef struct {
         osThreadId_t ctrl_gimbal;
         osThreadId_t monitor;
         osThreadId_t blink;
+        osThreadId_t ctrl_shoot;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -69,6 +72,7 @@ typedef struct {
         UBaseType_t ctrl_gimbal;
         UBaseType_t monitor;
         UBaseType_t blink;
+        UBaseType_t ctrl_shoot;
     } stack_water_mark;
 
     /* 各任务运行频率 */
@@ -78,6 +82,7 @@ typedef struct {
         float ctrl_gimbal;
         float monitor;
         float blink;
+        float ctrl_shoot;
     } freq;
 
     /* 任务最近运行时间 */
@@ -87,6 +92,7 @@ typedef struct {
         float ctrl_gimbal;
         float monitor;
         float blink;
+        float ctrl_shoot;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -102,6 +108,7 @@ extern const osThreadAttr_t attr_ctrl_chassis;
 extern const osThreadAttr_t attr_ctrl_gimbal;
 extern const osThreadAttr_t attr_monitor;
 extern const osThreadAttr_t attr_blink;
+extern const osThreadAttr_t attr_ctrl_shoot;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
@@ -111,6 +118,7 @@ void Task_ctrl_chassis(void *argument);
 void Task_ctrl_gimbal(void *argument);
 void Task_monitor(void *argument);
 void Task_blink(void *argument);
+void Task_ctrl_shoot(void *argument);
 
 #ifdef __cplusplus
 }