diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..11a2af0
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,15 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "cStandard": "c17",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        },
+        {
+            
+        }
+    ],
+    "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..82cca88
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,6 @@
+{
+    "clangd.arguments": ["--compile-commands-dir=build"],
+}
+
+
+
diff --git a/AGENTS.md b/AGENTS.md
new file mode 100644
index 0000000..d0d59ec
--- /dev/null
+++ b/AGENTS.md
@@ -0,0 +1,70 @@
+# Motion — AI Agent Instructions
+
+本项目是一个 **PLCopen 运动控制库** 的 C++ 实现，模拟 IEC 61131-3 标准的轴控制功能。
+
+## 快速开始
+
+```bash
+# Debug 构建
+cmake -S . -B build -DCMAKE_BUILD_TYPE=Debug
+cmake --build build
+
+# 运行
+./build/Debug/UNIX/MotionApp
+```
+
+## 项目结构
+
+```
+Motion/
+├── CMakeLists.txt          # 根构建文件 (C++17)
+├── AGENTS.md               # AI 代理指令 (本文件)
+├── App/                    # 可执行目标 MotionApp
+│   ├── CMakeLists.txt      # (注意: 覆盖为 C++11)
+│   ├── Inc/                # 应用级头文件
+│   └── Src/main.cpp        # 入口点
+└── MotionLib/              # 共享库 libMotionLib.so
+    ├── CMakeLists.txt      # (C++17)
+    ├── Inc/
+    │   ├── Types.h         # IEC 61131-3 类型映射 & 枚举
+    │   └── Axis.h          # 轴类 & 运动命令
+    └── Src/Axis.cpp        # 构造函数实现
+```
+
+## 架构要点
+
+- **命名空间**: 所有运动控制代码在 `namespace plcopen { ... }` 中
+- **两层架构**: `MotionLib` (共享库, 领域逻辑) → `MotionApp` (可执行文件, 入口)
+- **轴状态机**: `Disabled → Standstill → DiscreteMotion/ContinuousMotion/Homing → Stopping/ErrorStop`
+- **轴引用**: `AXIS_REF` 结构体持有轴编号、名称和指向 `Axis` 实例的指针
+
+## 编码约定
+
+| 项目 | 规范 |
+|------|------|
+| 语言标准 | C++17 (根), 但 `App/` 使用 C++11 |
+| 命名空间 | 小写: `plcopen` |
+| 类 | PascalCase: `Axis`, `MotionCommand` |
+| 枚举类 | SCREAMING_SNAKE_CASE, 值带 `mc` 前缀 |
+| 类型别名 | UPPER_SNAKE_CASE: `BOOL`, `REAL`, `UINT` |
+| 成员变量 | `snake_case`, 引用用 `ref_` 前缀 |
+| 文档 | Doxygen 格式 (`@brief`, `@param`, `@return`) |
+| 平台输出 | `build/<CONFIG>/UNIX/` (Linux), `WIN32/` (Windows), `APPLE/` (macOS) |
+
+## 关键约定
+
+- 包含策略: `.cpp` 引入对应 `.h`, `.h` 引入所需公共头文件
+- 无第三方库依赖, 无测试框架
+- 使用 `enum class` 而非裸枚举
+- GCC UTF-8 编译标志已启用
+
+## 当前开发状态
+
+- [x] 类型系统 (Types.h)
+- [x] 轴引用与基础 Axis 类
+- [ ] 轴状态机转换逻辑 (`cycle()` 方法)
+- [ ] 运动学 (轨迹规划)
+- [ ] 功能块 (MC_Power, MC_MoveAbsolute, MC_Stop 等)
+- [ ] 应用逻辑 (main.cpp 初始化/循环)
+- [ ] 单元测试 (GTest/Catch2)
+- [ ] API 文档
diff --git a/App/CMakeLists.txt b/App/CMakeLists.txt
index c324ff5..ec00022 100644
--- a/App/CMakeLists.txt
+++ b/App/CMakeLists.txt
@@ -6,10 +6,6 @@ project(MotionApp
         VERSION 0.1
         DESCRIPTION "Test")
 
-# C/C++ 标准版本
-set(CMAKE_C_STANDARD 11)
-set(CMAKE_CXX_STANDARD 11)
-
 # 指定在当前目录或以下目录下通过命令（如 add_executable() ）链接稍后创建的任何目标时要使用的库或标志
 LINK_LIBRARIES(m)
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 659ed1e..32aa61f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,9 +34,9 @@ elseif(UNIX) # 注意：Linux和macOS都满足UNIX为TRUE，所以通常先判
 endif()
 
 
-set(CMAKE_C_STANDARD 17)
+set(CMAKE_C_STANDARD 20)
 set(CMAKE_C_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 add_subdirectory(${CMAKE_SOURCE_DIR}/MotionLib)
diff --git a/MotionLib/Inc/Types.h b/MotionLib/Inc/Types.h
index c6a16b0..b7ea440 100644
--- a/MotionLib/Inc/Types.h
+++ b/MotionLib/Inc/Types.h
@@ -8,6 +8,7 @@
  * @copyright Copyright (c) 2026
  * 
  */
+#pragma once
 #include <cstdint>
 #include <string>
 namespace plcopen {
diff --git a/MotionLib/Src/Axis.cpp b/MotionLib/Src/Axis.cpp
index 30f6275..081ed5f 100644
--- a/MotionLib/Src/Axis.cpp
+++ b/MotionLib/Src/Axis.cpp
@@ -8,6 +8,7 @@
  * @copyright Copyright (c) 2026
  * 
  */
+#include <string>
 #include "Types.h"
 #include "Axis.h"
 
diff --git a/compile_commands.json b/compile_commands.json
new file mode 120000
index 0000000..2bdb02a
--- /dev/null
+++ b/compile_commands.json
@@ -0,0 +1 @@
+/home/chen/Workspace/T153/App/Motion/build/compile_commands.json
\ No newline at end of file