diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index 0fb5082..7199d72 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -57,6 +57,7 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 void TIM1_BRK_TIM9_IRQHandler(void);
 void TIM4_IRQHandler(void);
+void TIM8_BRK_TIM12_IRQHandler(void);
 void TIM5_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
diff --git a/Core/Inc/tim.h b/Core/Inc/tim.h
index 9c79f98..30162f3 100644
--- a/Core/Inc/tim.h
+++ b/Core/Inc/tim.h
@@ -44,6 +44,8 @@ extern TIM_HandleTypeDef htim5;
 
 extern TIM_HandleTypeDef htim9;
 
+extern TIM_HandleTypeDef htim12;
+
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
@@ -54,6 +56,7 @@ void MX_TIM3_Init(void);
 void MX_TIM4_Init(void);
 void MX_TIM5_Init(void);
 void MX_TIM9_Init(void);
+void MX_TIM12_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 
diff --git a/Core/Src/main.cpp b/Core/Src/main.cpp
index 7159c5a..71ae669 100644
--- a/Core/Src/main.cpp
+++ b/Core/Src/main.cpp
@@ -69,6 +69,7 @@ void initInterrupt(void) {
   HAL_TIM_Base_Start_IT(&htim4); // 割り込み処理開始
   HAL_TIM_Base_Start_IT(&htim5); // 割り込み処理開始
   HAL_TIM_Base_Start_IT(&htim9); // 割り込み処理開始
+  HAL_TIM_Base_Start_IT(&htim12); // 割り込み処理開始
   initEncoder(&encoder_l, &htim2, MotorParam::PULSE_PER_TIRE_ONEROTATION, true);
   initEncoder(&encoder_r, &htim3, MotorParam::PULSE_PER_TIRE_ONEROTATION, false);
 }
@@ -120,6 +121,7 @@ int main(void)
   MX_ADC2_Init();
   MX_TIM5_Init();
   MX_TIM9_Init();
+  MX_TIM12_Init();
   /* USER CODE BEGIN 2 */
   setbuf(stdout, NULL); // std::outのバッファリングを無効にし、ログを即出力する
   gyroInit(&gyro);
@@ -133,6 +135,7 @@ int main(void)
     ledBlink.toggle();
     robot_controller.mainControl();
     HAL_Delay(MotorParam::RATE);
+    // printf("encoder_l: %lf, encoder_r: %lf\n\r", encoder_l.rotation_speed, encoder_r.rotation_speed);
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 78fbce7..1761e86 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -26,6 +26,7 @@
 #include "gyro.h"
 
 extern void pwmControl();
+extern void updateTargetVelocity();
 extern void updateModeManager();
 extern void updateLog();
 /* USER CODE END Includes */
@@ -67,6 +68,7 @@ extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim4;
 extern TIM_HandleTypeDef htim5;
 extern TIM_HandleTypeDef htim9;
+extern TIM_HandleTypeDef htim12;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -219,9 +221,9 @@ void TIM1_BRK_TIM9_IRQHandler(void)
   /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
   HAL_TIM_IRQHandler(&htim1);
   HAL_TIM_IRQHandler(&htim9);
+  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
   updateModeManager();
   updateLog();
-  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
 
   /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
 }
@@ -246,6 +248,21 @@ void TIM4_IRQHandler(void)
   /* USER CODE END TIM4_IRQn 1 */
 }
 
+/**
+  * @brief This function handles TIM8 break interrupt and TIM12 global interrupt.
+  */
+void TIM8_BRK_TIM12_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM8_BRK_TIM12_IRQn 0 */
+  updateTargetVelocity();
+
+  /* USER CODE END TIM8_BRK_TIM12_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim12);
+  /* USER CODE BEGIN TIM8_BRK_TIM12_IRQn 1 */
+
+  /* USER CODE END TIM8_BRK_TIM12_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM5 global interrupt.
   */
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index 0ffebc3..7f2bf41 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -30,6 +30,7 @@ TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim4;
 TIM_HandleTypeDef htim5;
 TIM_HandleTypeDef htim9;
+TIM_HandleTypeDef htim12;
 
 /* TIM1 init function */
 void MX_TIM1_Init(void)
@@ -305,6 +306,39 @@ void MX_TIM9_Init(void)
 
   /* USER CODE END TIM9_Init 2 */
 
+}
+/* TIM12 init function */
+void MX_TIM12_Init(void)
+{
+
+  /* USER CODE BEGIN TIM12_Init 0 */
+
+  /* USER CODE END TIM12_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+
+  /* USER CODE BEGIN TIM12_Init 1 */
+
+  /* USER CODE END TIM12_Init 1 */
+  htim12.Instance = TIM12;
+  htim12.Init.Prescaler = 84-1;
+  htim12.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim12.Init.Period = 1000-1;
+  htim12.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim12.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim12) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim12, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM12_Init 2 */
+
+  /* USER CODE END TIM12_Init 2 */
+
 }
 
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
@@ -370,6 +404,21 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM9_MspInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM12)
+  {
+  /* USER CODE BEGIN TIM12_MspInit 0 */
+
+  /* USER CODE END TIM12_MspInit 0 */
+    /* TIM12 clock enable */
+    __HAL_RCC_TIM12_CLK_ENABLE();
+
+    /* TIM12 interrupt Init */
+    HAL_NVIC_SetPriority(TIM8_BRK_TIM12_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM8_BRK_TIM12_IRQn);
+  /* USER CODE BEGIN TIM12_MspInit 1 */
+
+  /* USER CODE END TIM12_MspInit 1 */
+  }
 }
 
 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
@@ -527,6 +576,20 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM9_MspDeInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM12)
+  {
+  /* USER CODE BEGIN TIM12_MspDeInit 0 */
+
+  /* USER CODE END TIM12_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM12_CLK_DISABLE();
+
+    /* TIM12 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM8_BRK_TIM12_IRQn);
+  /* USER CODE BEGIN TIM12_MspDeInit 1 */
+
+  /* USER CODE END TIM12_MspDeInit 1 */
+  }
 }
 
 void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)