diff --git a/drivers.xml b/drivers.xml
index 0914131b28..642fc737e5 100644
--- a/drivers.xml
+++ b/drivers.xml
@@ -437,9 +437,13 @@
             <driver name="Rotator Simulator">indi_simulator_rotator</driver>
             <version>1.0</version>
         </device>
-        <device label="Wanderer Rotator Lite" manufacturer="Wanderer Astro">
+        <device label="Rotator Lite" manufacturer="Wanderer Astro">
                <driver name="Wanderer Rotator Lite">indi_wanderer_lite_rotator</driver>
                <version>1.0</version>
+        </device>
+                <device label="Rotator Mini V1-2" manufacturer="Wanderer Astro">
+               <driver name="Wanderer Rotator Mini">indi_wanderer_rotator_mini</driver>
+        <version>1.0</version>
         </device>
         <device label="Microtouch" manufacturer="Starizona">
             <driver name="Microtouch">indi_microtouch_focus</driver>
diff --git a/drivers/rotator/CMakeLists.txt b/drivers/rotator/CMakeLists.txt
index 86b012a8e0..6b2ee9e293 100644
--- a/drivers/rotator/CMakeLists.txt
+++ b/drivers/rotator/CMakeLists.txt
@@ -62,6 +62,15 @@ add_executable(indi_wanderer_lite_rotator ${WandererRotatorLite_SRC})
 target_link_libraries(indi_wanderer_lite_rotator indidriver)
 install(TARGETS indi_wanderer_lite_rotator RUNTIME DESTINATION bin)
 
+# ############### Wanderer Rotator Mini ################
+SET(WandererRotatorMini_SRC
+    wanderer_rotator_mini.cpp)
+
+add_executable(indi_wanderer_rotator_mini ${WandererRotatorMini_SRC})
+target_link_libraries(indi_wanderer_rotator_mini indidriver)
+install(TARGETS indi_wanderer_rotator_mini RUNTIME DESTINATION bin)
+
+
 # ############### Integra85 Focusing Rotator ################
 SET(integra_SRC
     integra.cpp)
diff --git a/drivers/rotator/wanderer_rotator_mini.cpp b/drivers/rotator/wanderer_rotator_mini.cpp
new file mode 100644
index 0000000000..4c3e4758d1
--- /dev/null
+++ b/drivers/rotator/wanderer_rotator_mini.cpp
@@ -0,0 +1,375 @@
+/*******************************************************************************
+  Copyright(c) 2024 Frank Wang. All rights reserved.
+
+  WandererRotator Mini V1/V2
+
+  This program is free software; you can redistribute it and/or modify it
+  under the terms of the GNU General Public License as published by the Free
+  Software Foundation; either version 2 of the License, or (at your option)
+  any later version.
+
+  This program is distributed in the hope that it will be useful, but WITHOUT
+  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
+  more details.
+
+  You should have received a copy of the GNU Library General Public License
+  along with this library; see the file COPYING.LIB.  If not, write to
+  the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
+  Boston, MA 02110-1301, USA.
+
+  The full GNU General Public License is included in this distribution in the
+  file called LICENSE.
+*******************************************************************************/
+
+#include "wanderer_rotator_mini.h"
+#include "indicom.h"
+#include "connectionplugins/connectionserial.h"
+#include <cmath>
+#include <cstring>
+#include <memory>
+#include <termios.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <sstream>
+#include <iostream>
+
+
+// We declare an auto pointer to WandererRotatorMini.
+static std::unique_ptr<WandererRotatorMini> wandererrotatormini(new WandererRotatorMini());
+
+WandererRotatorMini::WandererRotatorMini()
+{
+    setVersion(1, 0);
+
+}
+bool WandererRotatorMini::initProperties()
+{
+
+    INDI::Rotator::initProperties();
+
+    SetCapability(ROTATOR_CAN_REVERSE | ROTATOR_CAN_ABORT | ROTATOR_CAN_HOME | ROTATOR_HAS_BACKLASH);
+
+    addAuxControls();
+    // Calibrate
+    SetZeroSP[0].fill("Set_Zero", "Mechanical Zero", ISS_OFF);
+    SetZeroSP.fill(getDeviceName(), "Set_Zero", "Set Current As", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1,60, IPS_IDLE);
+
+
+    serialConnection->setDefaultBaudRate(Connection::Serial::B_19200);
+
+
+    return true;
+}
+
+bool WandererRotatorMini::updateProperties()
+{
+    INDI::Rotator::updateProperties();
+
+    if (isConnected())
+    {
+        defineProperty(SetZeroSP);
+        if(firmware<20240208)
+        {
+            LOG_ERROR("The firmware is outdated, please upgrade to the latest firmware, or the driver cannot function properly!");
+        }
+    }
+    else
+    {
+        deleteProperty(SetZeroSP);
+    }
+    return true;
+}
+
+bool WandererRotatorMini::ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n)
+{
+
+    if (dev && !strcmp(dev, getDeviceName()))
+    {
+        if (SetZeroSP.isNameMatch(name))
+        {
+            SetZeroSP.setState(sendCommand("1500002") ? IPS_OK : IPS_ALERT);
+            SetZeroSP.apply();
+            GotoRotatorN[0].value=0;
+            IDSetNumber(&GotoRotatorNP, nullptr);
+            LOG_INFO("Virtual Mechanical Angle is set to zero.");
+            return true;
+        }
+    }
+    return Rotator::ISNewSwitch(dev, name, states, names, n);
+}
+
+
+
+const char *WandererRotatorMini::getDefaultName()
+{
+    return "WandererRotator Mini";
+}
+
+bool WandererRotatorMini::Handshake()
+{
+    PortFD = serialConnection->getPortFD();
+    tcflush(PortFD, TCIOFLUSH);
+    int nbytes_read_name = 0,nbytes_written=0,rc=-1;
+    char name[64] = {0};
+
+    if ((rc = tty_write_string(PortFD, "1500001", &nbytes_written)) != TTY_OK)
+    {
+        char errorMessage[MAXRBUF];
+        tty_error_msg(rc, errorMessage, MAXRBUF);
+        LOGF_ERROR("Serial write error: %s", errorMessage);
+        return false;
+    }
+
+    //Device Model//////////////////////////////////////////////////////////////////////////////////////////////////////
+    if ((rc = tty_read_section(PortFD, name, 'A', 3, &nbytes_read_name)) != TTY_OK)
+    {
+            tcflush(PortFD, TCIOFLUSH);
+        if ((rc = tty_write_string(PortFD, "1500001", &nbytes_written)) != TTY_OK)
+        {
+            char errorMessage[MAXRBUF];
+            tty_error_msg(rc, errorMessage, MAXRBUF);
+            LOGF_ERROR("Serial write error: %s", errorMessage);
+            return false;
+        }
+        if ((rc = tty_read_section(PortFD, name, 'A', 3, &nbytes_read_name)) != TTY_OK)
+        {
+            char errorMessage[MAXRBUF];
+            tty_error_msg(rc, errorMessage, MAXRBUF);
+            LOGF_INFO("No data received, the device may not be WandererRotator, please check the serial port!","Updated");
+            LOGF_ERROR("Device read error: %s", errorMessage);
+            return false;
+        }
+    }
+    name[nbytes_read_name - 1] = '\0';
+    if(strcmp(name, "WandererRotatorMini")!=0)
+    {
+        LOGF_ERROR("The device is not WandererRotator Mini!","Updated");
+        LOGF_INFO("The device is %s",name);
+        return false;
+    }
+    // Frimware version/////////////////////////////////////////////////////////////////////////////////////////////
+    int nbytes_read_version = 0;
+    char version[64] = {0};
+    tty_read_section(PortFD, version, 'A', 5, &nbytes_read_version);
+
+    version[nbytes_read_version - 1] = '\0';
+    LOGF_INFO("Firmware Version:%s", version);
+    firmware=std::atoi(version);
+    // Angle//////////////////////////////////////////////////////////////////////////////////////////
+    char M_angle[64] = {0};
+    int nbytes_read_M_angle= 0;
+    tty_read_section(PortFD, M_angle, 'A', 5, &nbytes_read_M_angle);
+    M_angle[nbytes_read_M_angle - 1] = '\0';
+    M_angleread = std::strtod(M_angle,NULL);
+
+    if(abs(M_angleread)>400000)
+    {
+        rc=sendCommand("1500002");
+        LOG_WARN("Virtual Mechanical Angle is too large, it is now set to zero!");
+        rc=sendCommand("1500001");
+        rc=tty_read_section(PortFD, M_angle, 'A', 5, &nbytes_read_M_angle);
+        rc=tty_read_section(PortFD, M_angle, 'A', 5, &nbytes_read_M_angle);
+        rc=tty_read_section(PortFD, M_angle, 'A', 5, &nbytes_read_M_angle);
+        M_angle[nbytes_read_M_angle - 1] = '\0';
+        M_angleread = std::strtod(M_angle,NULL);
+
+    }
+    GotoRotatorN[0].value=abs(M_angleread/1000);
+    tcflush(PortFD, TCIOFLUSH);
+    return true;
+}
+
+
+IPState WandererRotatorMini::MoveRotator(double angle)
+{
+    angle = angle - GotoRotatorN[0].value;
+    if (angle * positionhistory < 0 && angle > 0)
+    {
+        angle = angle + backlash;
+    }
+    if (angle * positionhistory < 0 && angle < 0)
+    {
+        angle = angle - backlash;
+    }
+    char cmd[16];
+    int position = (int)(reversecoefficient * angle * 1142);
+    positionhistory = angle;
+    snprintf(cmd, 16, "%d", position);
+    Move(cmd);
+
+    return IPS_BUSY;
+}
+
+
+
+bool WandererRotatorMini::AbortRotator()
+{
+
+    haltcommand = true;
+
+    int nbytes_written = 0, rc = -1;
+    tcflush(PortFD, TCIOFLUSH);
+    if ((rc = tty_write_string(PortFD, "Stop", &nbytes_written)) != TTY_OK)
+    {
+        char errorMessage[MAXRBUF];
+        tty_error_msg(rc, errorMessage, MAXRBUF);
+        LOGF_ERROR("Serial write error: %s", errorMessage);
+        return false;
+    }
+
+    SetTimer(100);
+    return true;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+/// \brief WandererRotatorMini::HomeRotator
+/// \return
+///
+IPState WandererRotatorMini::HomeRotator()
+{
+
+    double angle = -1 * reversecoefficient * GotoRotatorN[0].value;
+    positionhistory = -1* GotoRotatorN[0].value;
+    char cmd[16];
+    int position = (int)(angle * 1142);
+    snprintf(cmd, 16, "%d", position);
+    GotoRotatorNP.s = IPS_BUSY;
+    Move(cmd);
+    LOG_INFO("Moving to zero...");
+    return IPS_OK;
+}
+
+
+bool WandererRotatorMini::ReverseRotator(bool enabled)
+{
+
+    if (enabled)
+    {
+        if(M_angleread>0)
+        {
+            HomeRotator();
+            LOG_WARN("The rotator will first move to zero and then reverse the rotation direction to prevent cable wrap...");
+        }
+        reversecoefficient = -1;
+        ReverseState = true;
+        return true;
+    }
+    else
+    {
+        if(M_angleread<0)
+        {
+            HomeRotator();
+            LOG_WARN("The rotator will first move to zero and then reverse the rotation direction to prevent cable wrap...");
+        }
+        reversecoefficient = 1;
+        ReverseState = false;
+        return true;
+    }
+    return false;
+}
+
+
+
+void WandererRotatorMini::TimerHit()
+{
+
+    if (GotoRotatorNP.s == IPS_BUSY || haltcommand == true)
+    {
+
+        if(nowtime<estime&&haltcommand == false)
+        {
+            GotoRotatorN[0].value=GotoRotatorN[0].value+1*positionhistory/abs(positionhistory);
+            IDSetNumber(&GotoRotatorNP, nullptr);
+            nowtime=nowtime+270;
+            SetTimer(270);
+            return;
+        }
+        else
+        {
+            int rc=-1;
+            estime=0;
+            nowtime=0;
+            char M_angle[64] = {0};
+            int nbytes_read_M_angle= 0;
+            rc=tty_read_section(PortFD, M_angle, 'A', 5, &nbytes_read_M_angle);
+            if(rc!=TTY_OK)
+            {
+                LOG_ERROR("Rotator not powered!");
+                GotoRotatorN[0].value=initangle;
+                IDSetNumber(&GotoRotatorNP, nullptr);
+                haltcommand = false;
+                return;
+            }
+            tty_read_section(PortFD, M_angle, 'A', 5, &nbytes_read_M_angle);
+
+            M_angle[nbytes_read_M_angle - 1] = '\0';
+            M_angleread = std::strtod(M_angle,NULL);
+            GotoRotatorN[0].value=abs(M_angleread/1000);
+            GotoRotatorNP.s = IPS_OK;
+            IDSetNumber(&GotoRotatorNP, nullptr);
+            haltcommand = false;
+        }
+    }
+
+
+    SetTimer(2000);
+}
+
+
+
+bool WandererRotatorMini::Move(const char *cmd)
+{
+    initangle=GotoRotatorN[0].value;
+    int nbytes_written = 0, rc = -1;
+    LOGF_DEBUG("CMD <%s>", cmd);
+    if ((rc = tty_write_string(PortFD, cmd, &nbytes_written)) != TTY_OK)
+    {
+        char errorMessage[MAXRBUF];
+        tty_error_msg(rc, errorMessage, MAXRBUF);
+        LOGF_ERROR("Serial write error: %s", errorMessage);
+        return false;
+    }
+    SetTimer(2000);
+    nowtime=0;
+    estime=abs(std::atoi(cmd)/1142*260);
+    return true;
+}
+
+
+bool WandererRotatorMini::sendCommand(std::string command)
+{
+    int nbytes_written = 0, rc = -1;
+    std::string command_termination = "\n";
+    LOGF_DEBUG("CMD: %s", command.c_str());
+    if ((rc = tty_write_string(PortFD, (command + command_termination).c_str(), &nbytes_written)) != TTY_OK)
+    {
+        char errorMessage[MAXRBUF];
+        tty_error_msg(rc, errorMessage, MAXRBUF);
+        LOGF_ERROR("Serial write error: %s", errorMessage);
+        return false;
+    }
+    return true;
+}
+
+
+bool WandererRotatorMini::SetRotatorBacklash(int32_t steps)
+{
+    backlash = (double)(steps / 1142);
+    return true;
+}
+
+bool WandererRotatorMini::SetRotatorBacklashEnabled(bool enabled)
+{
+    if(enabled)
+    {
+        return SetRotatorBacklash(RotatorBacklashN[0].value);
+    }
+    else
+    {
+        return SetRotatorBacklash(0);
+    }
+
+}
+
+
diff --git a/drivers/rotator/wanderer_rotator_mini.h b/drivers/rotator/wanderer_rotator_mini.h
new file mode 100644
index 0000000000..280ba1deb7
--- /dev/null
+++ b/drivers/rotator/wanderer_rotator_mini.h
@@ -0,0 +1,79 @@
+/*******************************************************************************
+  Copyright(c) 2024 Frank Wang. All rights reserved.
+
+  WandererRotator Mini V1/V2
+
+  This program is free software; you can redistribute it and/or modify it
+  under the terms of the GNU General Public License as published by the Free
+  Software Foundation; either version 2 of the License, or (at your option)
+  any later version.
+
+  This program is distributed in the hope that it will be useful, but WITHOUT
+  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
+  more details.
+
+  You should have received a copy of the GNU Library General Public License
+  along with this library; see the file COPYING.LIB.  If not, write to
+  the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
+  Boston, MA 02110-1301, USA.
+
+  The full GNU General Public License is included in this distribution in the
+  file called LICENSE.
+*******************************************************************************/
+
+#pragma once
+
+#include "defaultdevice.h"
+#include "indirotator.h"
+#include "indirotatorinterface.h"
+#include "indipropertyswitch.h"
+class WandererRotatorMini : public INDI::Rotator
+{
+public:
+    WandererRotatorMini();
+
+    virtual bool initProperties() override;
+    virtual bool updateProperties() override;
+    virtual bool ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n) override;
+
+
+
+
+protected:
+    const char * getDefaultName() override;
+    virtual IPState MoveRotator(double angle) override;
+    virtual IPState HomeRotator() override;
+    virtual bool ReverseRotator(bool enabled) override;
+
+    virtual bool AbortRotator() override;
+    virtual void TimerHit() override;
+    virtual bool SetRotatorBacklash(int32_t steps) override;
+    virtual bool SetRotatorBacklashEnabled(bool enabled) override;
+
+
+
+
+private:
+    int firmware=0;
+    double M_angleread=0;
+    double initangle=0;
+    bool Handshake() override;
+    INDI::PropertySwitch SetZeroSP{1};
+    bool sendCommand(std::string command);
+    bool Move(const char *cmd);
+    bool haltcommand = false;
+    bool ReverseState=false;
+    int reversecoefficient=1;
+    double backlash=0.5;
+    double positionhistory=0;
+    int estime=0;
+    int nowtime=0;
+
+};
+
+
+
+
+
+