To restrain the state of a driver from not shifting, being caused by the generation of torque ripple.

The motor controller includes (a) a sensor which detects whether a driven body, which shifts from the first state to the second state, being driven by a motor which has a brush and a commutator, has shifted to the second state or not, and (b) a control unit which executes the shift control of shifting the above driven body to the second state, by supplying the motor with a drive current and resupplies the above motor with the above current, in case that the above sensor detects that the above driven body did not shift to the second state even if the above shift control was executed.