diff --git a/src/core/actuators/actuators.cpp b/src/core/actuators/actuators.cpp
index 15774a6..e07c618 100644
--- a/src/core/actuators/actuators.cpp
+++ b/src/core/actuators/actuators.cpp
@@ -2,7 +2,7 @@
 #include "config.h"
 #include "actuators.h"
 
-void actuatorsInit() {
+bool actuatorsInit() {
   pinMode(PIN_LB, OUTPUT);
   pinMode(PIN_LF, OUTPUT);
   pinMode(PIN_RB, OUTPUT);
@@ -14,8 +14,15 @@ void actuatorsInit() {
   ledcAttachPin(L_PWM_PIN, PWM_CH_L);
   ledcAttachPin(R_PWM_PIN, PWM_CH_R);
 
+  Serial.println("Actuators initialized");
+  Serial.printf("  L_PWM → GPIO%d\n", L_PWM_PIN);
+  Serial.printf("  R_PWM → GPIO%d\n", R_PWM_PIN);
+  Serial.printf("  L_DIR → GPIO%d, %d\n", PIN_LB, PIN_LF);
+  Serial.printf("  R_DIR → GPIO%d, %d\n", PIN_RB, PIN_RF);
+  
   actuatorsSetSpeed(150, 150);
   actuatorsStop();
+  return true;
 }
 
 void actuatorsStop() {
diff --git a/src/core/actuators/actuators.h b/src/core/actuators/actuators.h
index 8d37c8c..58c2ba5 100644
--- a/src/core/actuators/actuators.h
+++ b/src/core/actuators/actuators.h
@@ -1,6 +1,6 @@
 #pragma once
 
-void actuatorsInit();
+bool actuatorsInit();
 void actuatorsStop();
 
 void actuatorsForward();
diff --git a/src/main.cpp b/src/main.cpp
index d140d75..acc2e6d 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -44,15 +44,19 @@ void runStartupChecks() {
               "", "");
   delay(DELAY_FOR_STARTUP_CHECKS);
 
-  // TODO: Этап 4-5 (другие проверки)
+  // Этап 4: Проверка моторов (actuators)
   oledSetStage(4, TOTAL_STAGES);
+  bool actuatorsOk = actuatorsInit();
+  oledShowMain(actuatorsOk ? "Motors: OK" : "Motors: FAIL", 
+              "", "", "");
   delay(DELAY_FOR_STARTUP_CHECKS);
 
+  // Этап 5: Проверка WiFi
   oledSetStage(5, TOTAL_STAGES);
   delay(DELAY_FOR_STARTUP_CHECKS);
 
   // Все проверки пройдены
-  oledSetSystemReady(joyOk && servoOk && ultrasonicOk);
+  oledSetSystemReady(joyOk && servoOk && ultrasonicOk && actuatorsOk);
 }
 
 void setup() {
@@ -63,7 +67,6 @@ void setup() {
   // Запуск проверок
   runStartupChecks();
 
-  actuatorsInit();
   webServerInit();
   wsInit();