diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index 70018ec..b9b951b 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -4,7 +4,8 @@
 #include "robot_def.h"
 #include "general_def.h"
 #include "ins_task.h"
-#include "HT04.h"
+// #include "HT04.h"
+#include "dmmotor.h"
 #include "LK9025.h"
 #include "controller.h"
 #include "can_comm.h"
@@ -31,7 +32,7 @@ static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
 static Chassis_Upload_Data_s chassis_feedback_data; // 底盘反馈数据
 static Chassis_Can_Comm chassis_can_recv;
 // 四个关节电机和两个驱动轮电机
-static HTMotorInstance *lf, *lb, *rf, *rb, *joint[4]; // 指针数组方便传参和调试
+static DMMotorInstance *lf, *lb, *rf, *rb, *joint[4]; // 指针数组方便传参和调试
 static LKMotorInstance *l_driven, *r_driven, *driven[2];
 
 // 两个腿的参数,0为左腿,1为右腿
@@ -102,19 +103,19 @@ void BalanceInit()
             .angle_feedback_source = MOTOR_FEED,
             .speed_feedback_source = MOTOR_FEED,
         },
-        .motor_type = HT04};
+        .motor_type = DM8009P};
     joint_conf.can_init_config.tx_id = 1;
     joint_conf.can_init_config.rx_id = 11;
-    joint[LF] = lf = HTMotorInit(&joint_conf);
+    joint[LF] = lf = DMMotorInit(&joint_conf);
     joint_conf.can_init_config.tx_id = 2;
     joint_conf.can_init_config.rx_id = 12;
-    joint[LB] = lb = HTMotorInit(&joint_conf);
+    joint[LB] = lb = DMMotorInit(&joint_conf);
     joint_conf.can_init_config.tx_id = 3;
     joint_conf.can_init_config.rx_id = 13;
-    joint[RF] = rf = HTMotorInit(&joint_conf);
+    joint[RF] = rf = DMMotorInit(&joint_conf);
     joint_conf.can_init_config.tx_id = 4;
     joint_conf.can_init_config.rx_id = 14;
-    joint[RB] = rb = HTMotorInit(&joint_conf);
+    joint[RB] = rb = DMMotorInit(&joint_conf);
 
     // 驱动轮电机
     Motor_Init_Config_s driven_conf = {
@@ -206,7 +207,7 @@ void BalanceInit()
 static void EnableAllMotor() /* 打开所有电机 */
 {
     for (uint8_t i = 0; i < JOINT_CNT; i++) // 打开关节电机
-        HTMotorEnable(joint[i]);
+        DMMotorEnable(joint[i]);
     for (uint8_t i = 0; i < DRIVEN_CNT; i++) // 打开驱动电机
         LKMotorEnable(driven[i]);
 }
@@ -293,22 +294,22 @@ static void ResetChassis()
     LKMotorSetRef(r_driven, -chassis_cmd_recv.vx + (float)chassis_cmd_recv.rotate_w);
 
     // 若关节完成复位,进入ready态
-    if (abs(lf->measure.total_angle) < 0.05 &&
-        abs(lb->measure.total_angle) < 0.05 &&
-        abs(rf->measure.total_angle) < 0.05 &&
-        abs(rb->measure.total_angle) < 0.05)
+    if (abs(lf->measure.total_round) < 0.05 &&
+        abs(lb->measure.total_round) < 0.05 &&
+        abs(rf->measure.total_round) < 0.05 &&
+        abs(rb->measure.total_round) < 0.05)
     {
         chassis_status = ROBOT_READY; // 底盘已经准备好重新站立
     }
-    else if (abs(lf->measure.total_angle) <= 0.03 &&
-             abs(lb->measure.total_angle) <= 0.03 &&
-             abs(rf->measure.total_angle) <= 0.03 &&
-             abs(rb->measure.total_angle) <= 0.03)
+    else if (abs(lf->measure.total_round) <= 0.03 &&
+             abs(lb->measure.total_round) <= 0.03 &&
+             abs(rf->measure.total_round) <= 0.03 &&
+             abs(rb->measure.total_round) <= 0.03)
     {                                 // 双阈值保证关节能够复位而不会进入死区
         chassis_status = ROBOT_READY; // 底盘已经准备好重新站立
 
         for (uint8_t i = 0; i < JOINT_CNT; i++)
-            HTMotorOuterLoop(joint[i], OPEN_LOOP); // 改回直接开环扭矩输入,让电调对扭矩闭环
+            DMMotorOuterLoop(joint[i], OPEN_LOOP); // 改回直接开环扭矩输入,让电调对扭矩闭环
 
         return; // 退出函数不再执行关节指令
     }
@@ -318,8 +319,8 @@ static void ResetChassis()
     // 还在复位中,关节改为位置环,执行复位
     for (uint8_t i = 0; i < JOINT_CNT; i++)
     {
-        HTMotorOuterLoop(joint[i], ANGLE_LOOP);
-        HTMotorSetRef(joint[i], 0);
+        DMMotorOuterLoop(joint[i], ANGLE_LOOP);
+        DMMotorSetRef(joint[i], 0);
     }
 }
 
@@ -342,7 +343,7 @@ static void WokingStateSet()
         // chassis_cmd_recv.offset_angle = chassis.target_yaw = chassis.yaw;
 
         for (uint8_t i = 0; i < JOINT_CNT; i++)
-            HTMotorStop(joint[i]);
+            DMMotorStop(joint[i]);
         for (uint8_t i = 0; i < DRIVEN_CNT; i++)
             LKMotorStop(driven[i]);
         return; // 关闭所有电机,发送的指令为零
@@ -352,7 +353,7 @@ static void WokingStateSet()
     EnableAllMotor();
     // 保证关节电机为开环扭矩控制
     for (uint8_t i = 0; i < JOINT_CNT; i++)
-        HTMotorOuterLoop(joint[i], OPEN_LOOP);
+        DMMotorOuterLoop(joint[i], OPEN_LOOP);
 
     // 设置目标速度/腿长/距离
     l_side.target_len += 0.00001f*(float)chassis_cmd_recv.delta_leglen;
@@ -396,16 +397,16 @@ static void ParamAssemble()
     chassis.roll_w = Chassis_IMU_data->Gyro[1];
 
     // HT04电机的角度是顺时针为正,LK9025电机的角度是逆时针为正
-    l_side.phi1 = PI + LIMIT_LINK_RAD - lb->measure.total_angle;
-    l_side.phi1_w = -lb->measure.speed_rads;
-    l_side.phi4 = -lf->measure.total_angle - LIMIT_LINK_RAD;
-    l_side.phi4_w = -lf->measure.speed_rads;
+    l_side.phi1 = PI + LIMIT_LINK_RAD - lb->measure.total_round;
+    l_side.phi1_w = -lb->measure.velocity;// 注意速度的正负,HT04电机顺时针旋转为正,而模型中左腿前关节顺时针旋转为负 原本是speed_rads
+    l_side.phi4 = -lf->measure.total_round - LIMIT_LINK_RAD;
+    l_side.phi4_w = -lf->measure.velocity;
     l_side.w_ecd = l_driven->measure.speed_rads;
 
-    r_side.phi1 = PI + LIMIT_LINK_RAD + rb->measure.total_angle;
-    r_side.phi1_w = rb->measure.speed_rads;
-    r_side.phi4 = rf->measure.total_angle - LIMIT_LINK_RAD;
-    r_side.phi4_w = rf->measure.speed_rads;
+    r_side.phi1 = PI + LIMIT_LINK_RAD + rb->measure.total_round;
+    r_side.phi1_w = rb->measure.velocity;
+    r_side.phi4 = rf->measure.total_round - LIMIT_LINK_RAD;
+    r_side.phi4_w = rf->measure.velocity;
     r_side.w_ecd = -r_driven->measure.speed_rads;
 }
 
@@ -451,10 +452,11 @@ static void LegControl() /* 腿长控制和Roll补偿 */
 
 static void WattLimitSet() /* 设定运动模态的输出 */
 {
-    HTMotorSetRef(lf, 0.2857f * -l_side.T_front); // 根据扭矩常数计算得到的系数
-    HTMotorSetRef(lb, 0.2857f * -l_side.T_back);
-    HTMotorSetRef(rf, 0.2857f * r_side.T_front);
-    HTMotorSetRef(rb, 0.2857f * r_side.T_back);
+    DMMotorSetRef(lf, 0.2857f * -l_side.T_front); // 根据扭矩常数计算得到的系数 todo 需修改
+    DMMotorSetRef(lb, 0.2857f * -l_side.T_back);
+    DMMotorSetRef(rf, 0.2857f * r_side.T_front);
+    DMMotorSetRef(rb, 0.2857f * r_side.T_back);
+
     LKMotorSetRef(l_driven, 195.3125 * l_side.T_wheel);
     LKMotorSetRef(r_driven, 195.3125 * -r_side.T_wheel);
 }
diff --git a/application/robot_def.h b/application/robot_def.h
index 2f4c4db..776457a 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -18,8 +18,8 @@
 
 /* 开发板类型定义,烧录时注意不要弄错对应功能;修改定义后需要重新编译,只能存在一个定义! */
 // #define ONE_BOARD // 单板控制整车
-// #define CHASSIS_BOARD //底盘板
-#define GIMBAL_BOARD  //云台板
+#define CHASSIS_BOARD //底盘板
+// #define GIMBAL_BOARD  //云台板
 
 #define VISION_USE_VCP  // 使用虚拟串口发送视觉数据
 // #define VISION_USE_UART // 使用串口发送视觉数据
diff --git a/modules/motor/motor_def.h b/modules/motor/motor_def.h
index d73476e..8bd3cd2 100644
--- a/modules/motor/motor_def.h
+++ b/modules/motor/motor_def.h
@@ -106,6 +106,7 @@ typedef enum
     M2006,
     LK9025,
     HT04,
+    DM8009P,
 } Motor_Type_e;
 
 /**