diff --git a/cmds/Android.bp b/cmds/Android.bp
index 72adbf7..952cbfb 100644
--- a/cmds/Android.bp
+++ b/cmds/Android.bp
@@ -99,3 +99,15 @@ cc_binary {
 		"libhidlbase",
 	],
 }
+
+cc_binary {
+	name: "xiaomi-motor",
+	srcs: [
+		"xiaomi-motor.cpp",
+	],
+	shared_libs: [
+		"vendor.xiaomi.hardware.motor@1.0",
+		"libutils",
+		"libhidlbase",
+	],
+}
diff --git a/cmds/xiaomi-motor.cpp b/cmds/xiaomi-motor.cpp
new file mode 100644
index 0000000..f78dde3
--- /dev/null
+++ b/cmds/xiaomi-motor.cpp
@@ -0,0 +1,38 @@
+#include <iostream>
+#include <unistd.h>
+#include <vendor/xiaomi/hardware/motor/1.0/IMotor.h>
+
+using ::vendor::xiaomi::hardware::motor::V1_0::IMotor;
+using ::android::sp;
+
+int main(int argc, char **argv) {
+	auto svc = IMotor::getService();
+	if(svc == nullptr) {
+		std::cerr << "Failed getting IMotor" << std::endl;
+		return -1;
+	}
+	if(argc<2) {
+		std::cerr << "Usage: " << argv[0] << " <init|release|popup|takeback|takebackShortly>" << std::endl;
+		return -1;
+	}
+	std::string cmd(argv[1]);
+	if(cmd == "init") {
+		svc->init();
+	} else if(cmd == "release") {
+		svc->release();
+	} else if(cmd == "popup") {
+		if(argc!=3) {
+			std::cerr << "Usage: " << argv[0] << " " << argv[1] << " <cookie>" << std::endl;
+			return -1;
+		}
+		svc->popupMotor(atoi(argv[2]));
+	} else if(cmd == "takeback") {
+		if(argc!=3) {
+			std::cerr << "Usage: " << argv[0] << " " << argv[1] << " <cookie>" << std::endl;
+			return -1;
+		}
+		svc->takebackMotor(atoi(argv[2]));
+	} else if(cmd == "takebackShortly") {
+		svc->takebackMotorShortly();
+	}
+}