diff --git a/code/10.practice/common_modules/28byj-48/CMakeLists.txt b/code/10.practice/common_modules/28byj-48/CMakeLists.txt
new file mode 100644
index 0000000..0a454d0
--- /dev/null
+++ b/code/10.practice/common_modules/28byj-48/CMakeLists.txt
@@ -0,0 +1,6 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(hello_world)
diff --git a/code/10.practice/common_modules/28byj-48/main/CMakeLists.txt b/code/10.practice/common_modules/28byj-48/main/CMakeLists.txt
new file mode 100644
index 0000000..8a3ab69
--- /dev/null
+++ b/code/10.practice/common_modules/28byj-48/main/CMakeLists.txt
@@ -0,0 +1,2 @@
+idf_component_register(SRCS "main.c"
+                    INCLUDE_DIRS "")
diff --git a/code/10.practice/common_modules/28byj-48/main/main.c b/code/10.practice/common_modules/28byj-48/main/main.c
new file mode 100644
index 0000000..9d86abc
--- /dev/null
+++ b/code/10.practice/common_modules/28byj-48/main/main.c
@@ -0,0 +1,103 @@
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/gpio.h"
+
+// 定义 GPIO 引脚
+#define PIN1 GPIO_NUM_16
+#define PIN2 GPIO_NUM_17
+#define PIN3 GPIO_NUM_18
+#define PIN4 GPIO_NUM_19
+
+// 电机步数和旋转延迟（越小越快）
+#define STEPS_PER_REVOLUTION 4096
+int rotation_speed_ms = 10; // 全局速度变量，单位ms
+
+// 初始化 GPIO
+void stepper_gpio_init(void) {
+    gpio_config_t io_conf = {
+        .pin_bit_mask = (1ULL << PIN1) | (1ULL << PIN2) | (1ULL << PIN3) | (1ULL << PIN4),
+        .mode = GPIO_MODE_OUTPUT,
+        .pull_up_en = 0,
+        .pull_down_en = 0,
+        .intr_type = GPIO_INTR_DISABLE
+    };
+    gpio_config(&io_conf);
+    printf("步进电机 GPIO 初始化完成\n");
+}
+
+// 八步半步激励序列（半步驱动），共8步
+// 顺序依次是单相激励与双相激励交替，提升平滑度
+const int step_sequence[8][4] = {
+    {1, 0, 0, 0}, // 1
+    {1, 1, 0, 0}, // 1+2
+    {0, 1, 0, 0}, // 2
+    {0, 1, 1, 0}, // 2+3
+    {0, 0, 1, 0}, // 3
+    {0, 0, 1, 1}, // 3+4
+    {0, 0, 0, 1}, // 4
+    {1, 0, 0, 1}  // 4+1
+};
+
+int current_step_index = 0; // 全局步进索引
+
+// 输出对应步进序列的电平
+void step_motor(int step) {
+    int idx = step % 8;
+    gpio_set_level(PIN1, step_sequence[idx][0]);
+    gpio_set_level(PIN2, step_sequence[idx][1]);
+    gpio_set_level(PIN3, step_sequence[idx][2]);
+    gpio_set_level(PIN4, step_sequence[idx][3]);
+}
+
+// 顺时针旋转指定步数
+void rotate_clockwise(int steps) {
+    for (int i = 0; i < steps; i++) {
+        current_step_index = (current_step_index + 1) % 8;
+        step_motor(current_step_index);
+        vTaskDelay(pdMS_TO_TICKS(rotation_speed_ms));
+    }
+}
+
+// 逆时针旋转指定步数
+void rotate_counterclockwise(int steps) {
+    for (int i = 0; i < steps; i++) {
+        current_step_index = (current_step_index - 1 + 8) % 8;
+        step_motor(current_step_index);
+        vTaskDelay(pdMS_TO_TICKS(rotation_speed_ms));
+    }
+}
+
+// 旋转指定角度（正数顺时针，负数逆时针）
+void rotate_angle(float degrees) {
+    // 细分了，步数要乘以8/4=2倍
+    int steps = (int)(STEPS_PER_REVOLUTION * 2 * degrees / 360.0f);
+    if (steps > 0) {
+        rotate_clockwise(steps);
+    } else if (steps < 0) {
+        rotate_counterclockwise(-steps);
+    }
+}
+
+// 主任务
+void stepper_task(void *arg) {
+    while (1) {
+        printf("顺时针旋转一整圈...\n");
+        rotate_clockwise(STEPS_PER_REVOLUTION * 2);  // 注意步数乘2
+        vTaskDelay(pdMS_TO_TICKS(1000));
+
+        printf("逆时针旋转一整圈...\n");
+        rotate_counterclockwise(STEPS_PER_REVOLUTION * 2);
+        vTaskDelay(pdMS_TO_TICKS(1000));
+
+        printf("顺时针旋转25度...\n");
+        rotate_angle(25);
+        vTaskDelay(pdMS_TO_TICKS(1000));
+    }
+}
+
+// app_main 入口
+void app_main(void) {
+    stepper_gpio_init();
+    xTaskCreate(stepper_task, "stepper_task", 2048, NULL, 5, NULL);
+}
diff --git a/code/10.practice/common_modules/sg90/CMakeLists.txt b/code/10.practice/common_modules/sg90/CMakeLists.txt
new file mode 100644
index 0000000..0a454d0
--- /dev/null
+++ b/code/10.practice/common_modules/sg90/CMakeLists.txt
@@ -0,0 +1,6 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(hello_world)
diff --git a/code/10.practice/common_modules/sg90/main/CMakeLists.txt b/code/10.practice/common_modules/sg90/main/CMakeLists.txt
new file mode 100644
index 0000000..8a3ab69
--- /dev/null
+++ b/code/10.practice/common_modules/sg90/main/CMakeLists.txt
@@ -0,0 +1,2 @@
+idf_component_register(SRCS "main.c"
+                    INCLUDE_DIRS "")
diff --git a/code/10.practice/common_modules/sg90/main/main.c b/code/10.practice/common_modules/sg90/main/main.c
new file mode 100644
index 0000000..6694455
--- /dev/null
+++ b/code/10.practice/common_modules/sg90/main/main.c
@@ -0,0 +1,6 @@
+#include <stdio.h>
+
+void app_main(void)
+{
+  
+}