diff --git a/backend_control/main.py b/backend_control/main.py
index f88080d..062b775 100644
--- a/backend_control/main.py
+++ b/backend_control/main.py
@@ -9,12 +9,18 @@ MQTT_USER = "test"            # Имя пользователя
 MQTT_PASSWORD = "1234"         # Пароль
 
 # Топики
-MQTT_CONTROL_TOPIC = "motor/control/command"           # Топик для управления двигателем
 MQTT_DRIVER_TOPIC = "motor/control/driver"             # Топик для управления драйвером
-MQTT_SPEED_TOPIC = "motor/control/step_per_sec"       # Топик для установки скорости шагов в секунду
 MQTT_RPM_TOPIC = "motor/control/rpm"                   # Топик для установки скорости оборотов в минуту
 MQTT_RESET_STEPS_TOPIC = "motor/control/totalsteps/reset"  # Топик для сброса шагов
 
+# Топики для управления TMC2209
+MQTT_TMC_CURRENT_TOPIC = "motor/control/tmc/current_percent"         # Топик для установки тока TMC2209
+MQTT_TMC_MICROSTEPS_TOPIC = "motor/control/tmc/microsteps"  # Топик для установки микрошагов TMC2209
+MQTT_TMC_STALLGUARD_TOPIC = "motor/control/tmc/stallguard" # Топик для установки StallGuard TMC2209
+MQTT_TMC_ENABLE_TOPIC = "motor/control/tmc/enable"
+MQTT_TMC_STEALTHCHOP_TOPIC = "motor/control/tmc/stealthchop"
+MQTT_TMC_COOLSTEP_TOPIC = "motor/control/tmc/coolstep"
+
 def on_connect(client, userdata, flags, rc):
     if rc == 0:
         print("Connected to MQTT broker")
@@ -38,8 +44,6 @@ def handle_command(command):
     
     # Используем словарь для обработки команд
     command_handlers = {
-        "start": lambda: send_command(MQTT_CONTROL_TOPIC, "start"),
-        "stop": lambda: send_command(MQTT_CONTROL_TOPIC, "stop"),
         "turnon": lambda: send_command(MQTT_DRIVER_TOPIC, "turnon"),
         "turnoff": lambda: send_command(MQTT_DRIVER_TOPIC, "turnoff"),
         "resetsteps": lambda: send_command(MQTT_RESET_STEPS_TOPIC, "reset"),
@@ -52,16 +56,55 @@ def handle_command(command):
             send_command(MQTT_RPM_TOPIC, str(rpm))
         except ValueError:
             print("Invalid RPM value. Please enter a number.")
-    elif cmd == "speed" and len(parts) > 1:
+    elif cmd == "current" and len(parts) > 1:
         try:
-            speed = int(parts[1])
-            send_command(MQTT_SPEED_TOPIC, str(speed))
+            current = int(parts[1])
+            send_command(MQTT_TMC_CURRENT_TOPIC, str(current))
         except ValueError:
-            print("Invalid speed value. Please enter a number.")
+            print("Invalid current value. Please enter a number.")
+    elif cmd == "microsteps" and len(parts) > 1:
+        try:
+            microsteps = int(parts[1])
+            send_command(MQTT_TMC_MICROSTEPS_TOPIC, str(microsteps))
+        except ValueError:
+            print("Invalid microsteps value. Please enter a number.")
+    elif cmd == "stallguard" and len(parts) > 1:
+        try:
+            stallguard = int(parts[1])
+            send_command(MQTT_TMC_STALLGUARD_TOPIC, str(stallguard))
+        except ValueError:
+            print("Invalid stallguard value. Please enter a number.")
+    elif cmd == "enable" and len(parts) > 1:
+        try:
+            enable = parts[1].lower()
+            if enable in ["on", "off"]:
+                send_command(MQTT_TMC_ENABLE_TOPIC, enable)
+            else:
+                print("Invalid enable value. Please use 'on' or 'off'.")
+        except ValueError:
+            print("Invalid enable value. Please use 'on' or 'off'.")
+    elif cmd == "stealthchop" and len(parts) > 1:
+        try:
+            stealthchop = parts[1].lower()
+            if stealthchop in ["on", "off"]:
+                send_command(MQTT_TMC_STEALTHCHOP_TOPIC, stealthchop)
+            else:
+                print("Invalid stealthchop value. Please use 'on' or 'off'.")
+        except ValueError:
+            print("Invalid stealthchop value. Please use 'on' or 'off'.")
+    elif cmd == "coolstep" and len(parts) > 1:
+        try:
+            coolstep = parts[1].lower()
+            if coolstep in ["on", "off"]:
+                send_command(MQTT_TMC_COOLSTEP_TOPIC, coolstep)
+            else:
+                print("Invalid coolstep value. Please use 'on' or 'off'.")
+        except ValueError:
+            print("Invalid coolstep value. Please use 'on' or 'off'.")
     elif cmd in command_handlers:
         command_handlers[cmd]()
     else:
-        print("Unknown command. Use 'start', 'stop', 'rpm <value>', 'speed <value>', 'resetsteps', or 'exit'")
+        print("Unknown command. Use 'start', 'stop', 'rpm <value>', 'speed <value>', 'resetsteps', 'current <value>', 'microsteps <value>', 'stallguard <value>', 'enable <on/off>', 'stealthchop <on/off>', 'coolstep <on/off>', or 'exit'")
 
 def main():
     # Создание клиента MQTT
@@ -81,13 +124,16 @@ def main():
         
         print("MQTT Motor Controller")
         print("Commands:")
-        print("  start - запустить двигатель")
-        print("  stop - остановить двигатель")
         print("  turnon - включить управление двигателем")
         print("  turnoff - выключить управление двигателем")
         print("  rpm <value> - установить скорость оборотов (например: rpm 200)")
-        print("  speed <value> - установить скорость шагов в секунду (например: speed 2000)")
         print("  resetsteps - сбросить счетчик шагов")
+        print("  current <value> - установить ток в % TMC2209 (например: current 50)")
+        print("  microsteps <value> - установить микрошаги TMC2209 (например: microsteps 16)")
+        print("  stallguard <value> - установить StallGuard TMC2209 (например: stallguard 5)")
+        print("  enable <on/off> - включить/выключить TMC2209")
+        print("  stealthchop <on/off> - включить/выключить stealthchop")
+        print("  coolstep <on/off> - включить/выключить coolstep")
         print("  exit - выход")
         
         while True: