diff --git a/packet.md b/packet.md
index 97ea765..04d9e29 100644
--- a/packet.md
+++ b/packet.md
@@ -74,6 +74,25 @@
 
 控制示例 `00 06 21 01 01 FF`
 
+### 单轮控制 `0x22`
+
+| 轮数据 | 含义 |
+| -------- | ---- |
+| 0x00     | 左前轮 |
+| 0x01     | 左后轮 |
+| 0x02     | 右后轮 |
+| 0x03     | 右前轮 |
+
+| 方向数据 | 含义 |
+| -------- | ---- |
+| 0x00     | 停止 |
+| 0x01     | 顺时针 |
+| 0x02     | 逆时针 |
+
+包体 `00 07 22 轮 方向 速度 FF`
+
+控制示例 `00 07 22 01 01 01 FF`
+
 ## 设置
 
 ### 设置转向灵敏度 `0x30`
diff --git a/src/main.cpp b/src/main.cpp
index 8119a77..a10002d 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -21,7 +21,7 @@
 #define CMD_GET_DISTANCE 0x12
 #define CMD_MOTOR_MOVE_CONTROL 0x20
 #define CMD_MOTOR_ROTATE_CONTROL 0x21
-
+#define CMD_MOTOR_SINGLE_CONTROL 0x22
 // 全局变量
 int currentSpeed = 0;   // 当前速度
 int turnOffset = 0;     // 转向偏移量 (-100 到 100)
@@ -164,6 +164,7 @@ public:
     file.close();
   }
 };
+bool CarStorage::isMounted = false;
 
 void setup()
 {
@@ -226,7 +227,7 @@ void handleSerialPacket(uint8_t *packet, int length, BLECharacteristic &characte
 
   uint8_t packetLength = packet[1]; // 获取长度
   uint8_t cmd = packet[2];          // 获取指令
-  uint8_t direction, speed, time;
+  uint8_t direction, speed, time, wheel;
   float distance;
   uint8_t buffer[PACKET_MAX_LENGTH]; // 用于存储要发送的数据
   int bufferIndex = 0;
@@ -322,6 +323,29 @@ void handleSerialPacket(uint8_t *packet, int length, BLECharacteristic &characte
     }
     break;
 
+  case CMD_MOTOR_SINGLE_CONTROL:
+    wheel = packet[3];
+    direction = packet[4];
+    speed = packet[5];
+    Serial.println("CMD_MOTOR_SINGLE_CONTROL, wheel: " + String(wheel) + ", direction: " + String(direction) + ", speed: " + String(speed));
+    // 单轮控制
+    switch (wheel)
+    {
+    case 0x00:
+      motorControl(MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2, speed);
+      break;
+    case 0x01:
+      motorControl(MOTOR_B_PWMB, MOTOR_B_BIN2, MOTOR_B_BIN1, speed);
+      break;
+    case 0x02:
+      motorControl(MOTOR_C_PWMA, MOTOR_C_AIN2, MOTOR_C_AIN1, speed);
+      break;
+    case 0x03:
+      motorControl(MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2, speed);
+      break;
+    }
+    break;
+
   default:
     break;
   }