diff --git a/.STL/HubNEW x2.stl b/.STL/HubNEW x2.stl
deleted file mode 100644
index 72641bb..0000000
Binary files a/.STL/HubNEW x2.stl and /dev/null differ
diff --git a/.vscode/settings.json b/.vscode/settings.json
deleted file mode 100644
index 64a2e37..0000000
--- a/.vscode/settings.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "cmake.sourceDirectory": "D:/esp32/platformio/shibo/Shibo-Robot-PIOProj-main-V2/lib/ArduinoJson"
-}
\ No newline at end of file
diff --git a/.gitignore b/Shibo-main-V4-ESPNOW/.gitignore
similarity index 100%
rename from .gitignore
rename to Shibo-main-V4-ESPNOW/.gitignore
diff --git a/Shibo-main-V4-ESPNOW/.history/basic_web.html b/Shibo-main-V4-ESPNOW/.history/basic_web.html
new file mode 100644
index 0000000..1816d90
--- /dev/null
+++ b/Shibo-main-V4-ESPNOW/.history/basic_web.html
@@ -0,0 +1,420 @@
+<html>
+<head>
+  <meta charset="utf-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>legged wheel robot web ctrl</title>
+  <style>
+    h2{width: auto;height: 60px;line-height: 60px;text-align: center;font-family: 等线;color: white;background-color:cornflowerblue;border-radius: 12px;}
+    input{width: 160px;height: 30px;margin: 0px;}
+    .view{width: 140px;height: 30px;padding: 0px;margin: 15px auto;vertical-align:middle;}
+    .dir{font-size: 15px;width: 100px;height: 60px;text-align: center;border-radius: 12px;background-color: white;color: cornflowerblue;border: 3px solid cornflowerblue;padding: 0px;transition: all 0.3s;}
+    input[type='checkbox'].switch{outline: none;appearance: none;-webkit-appearance: none;-moz-appearance: none;position: relative;width: 40px;height: 20px;background: #ccc;border-radius: 10px;transition: border-color .3s, background-color .3s;margin: 0px 20px 0px 0px;}
+    input[type='checkbox'].switch::after{content: '';display: inline-block;width: 1rem;height:1rem;border-radius: 50%;background: #fff;box-shadow: 0, 0, 2px, #999;transition:.4s;top: 2px;position: absolute;left: 2px;}
+    input[type='checkbox'].switch:checked{background: rgb(78, 78, 240);}
+    input[type='checkbox'].switch:checked::after{content: '';position: absolute;left: 55%;top: 2px;}
+    *{-webkit-touch-callout:none;-webkit-user-select:none;-khtml-user-select:none;-moz-user-select:none;-ms-user-select:none;user-select:none;}
+    .row{display: flex;justify-content: center;clear: both;}
+    .columnLateral{float: left;width: 15%;min-width: 300px;}
+    .buttons{width: 300px;height: 180px;padding: 10px;margin: 10px auto;position: relative;}
+    #jump{display: inline-block;}
+  </style>
+</head>
+
+<!-- onload 事件在页面载入完成后立即触发 -->
+<body onload="javascript:socket_init()">
+    <h2>WL-PRO WiFi遥控模式</h2>
+    <div class="view" style="display:none">
+        <input type="checkbox" id="stable" class="switch" onclick="is_stable()" style="vertical-align:middle">Robot Go!</input>
+    </div>
+    <center>
+        <!-- Example of two JoyStick integrated in the page structure -->
+        <div class="row">
+            <div class="columnLateral">
+                <div id="joy1Div" style="width:200px;height:200px;margin:10px"></div>
+                <!-- 新增显示 joy1 的 x 和 y 值 -->
+                <div id="joy1Info">
+                    <span>Joy_x: <span id="joy1XValue">0</span></span>
+                    <br>
+                    <span>Joy_y: <span id="joy1YValue">0</span></span>
+                </div>
+            </div>
+           
+            <div class="columnLateral">
+                <div id="joy2Div" style="width:200px;height:200px;margin:10px"></div>
+                <!-- 新增显示 joy2 的 x 和 y 值 -->
+                <div id="joy2Info">
+                    <span>Roll: <span id="joy2XValue">0</span></span>
+                    <br>
+                    <span>Height: <span id="joy2YValue">32</span></span>
+                </div>
+            </div>
+        </div>
+
+
+        <div class="buttons">
+            <button class="dir" id="jump">Jump</button>
+        </div>
+    </center>
+    
+    <script>
+        var socket; // socket通信
+        var g_roll=0; g_h=38; 
+        var g_stable = 0; 
+        var joyX = 0;
+        var joyY = 0;
+        // socket_init在页面载入完成后触发
+        function socket_init() {
+            // 初始化websocket客户端
+            //socket = new WebSocket('ws://' + '192.168.4.1' + ':81/'); // AP模式
+            socket = new WebSocket('ws://' + window.location.hostname + ':81/'); // sta模式
+        }
+
+        function send_data() {
+            var data = {
+                'roll': g_roll,
+                'height': g_h,
+                'stable': g_stable,
+                'mode': 'basic',
+                'dir': "stop",
+                'joy_y': joyY,
+                'joy_x': joyX
+            };
+            console.log(data);
+            socket.send(JSON.stringify(data));
+        }
+
+        function is_stable() {
+            var obj = document.getElementById("stable");
+            if(obj.checked) {
+                // alert("is_stable checked");
+                g_stable = 1;
+            } else {
+                // alert("is_stable unchecked");
+                g_stable = 0;
+            }
+            send_data();
+        }
+
+        // 绑定按钮
+        var buttons = document.getElementsByClassName("dir");
+        for(i=0;i<buttons.length;i++) {
+            buttons[i].addEventListener("mousedown",move,true);
+            buttons[i].addEventListener("mouseup",stop,true);
+            buttons[i].addEventListener("touchstart",move,true);
+            buttons[i].addEventListener("touchend",stop,true);
+        }
+
+        function move() {
+            this.style = "background-color: cornflowerblue; color: white;";
+            var data = {
+                'dir': this.id,
+                'mode': 'basic',
+                'roll': g_roll,
+                'height': g_h,
+                'stable': g_stable,
+                'joy_x': joyX,
+                'joy_y': joyY
+            };
+            console.log(data);
+            socket.send(JSON.stringify(data));
+           
+        }
+
+        function stop() {
+            this.style = "background-color: white; color: cornflowerblue;";
+            var data = {
+                'dir': "stop",
+                'mode': 'basic',
+                'roll': g_roll,
+                'height': g_h,
+                'stable': g_stable,
+                'joy_x': joyX,
+                'joy_y': joyY
+            };
+            console.log(data); // 打印测试
+            socket.send(JSON.stringify(data));
+           
+        }
+
+        /*摇杆内容*/
+        var JoyStick = (function(container, parameters) {
+            parameters = parameters || {};
+            var title = (typeof parameters.title === "undefined" ? "joystick" : parameters.title),
+                width = (typeof parameters.width === "undefined" ? 0 : parameters.width),
+                height = (typeof parameters.height === "undefined" ? 0 : parameters.height),
+                internalFillColor = (typeof parameters.internalFillColor === "undefined" ? "#00979C" : parameters.internalFillColor),
+                internalLineWidth = (typeof parameters.internalLineWidth === "undefined" ? 2 : parameters.internalLineWidth),
+                internalStrokeColor = (typeof parameters.internalStrokeColor === "undefined" ? "#00979C" : parameters.internalStrokeColor),
+                externalLineWidth = (typeof parameters.externalLineWidth === "undefined" ? 2 : parameters.externalLineWidth),
+                externalStrokeColor = (typeof parameters.externalStrokeColor ===  "undefined" ? "#0097BC" : parameters.externalStrokeColor),
+                autoReturnToCenter = (typeof parameters.autoReturnToCenter === "undefined" ? true : parameters.autoReturnToCenter);
+            
+            // Create Canvas element and add it in the Container object
+            var objContainer = document.getElementById(container);
+            var canvas = document.createElement("canvas");
+            canvas.id = title;
+            if(width === 0) { width = objContainer.clientWidth; }
+            if(height === 0) { height = objContainer.clientHeight; }
+            canvas.width = width;
+            canvas.height = height;
+            objContainer.appendChild(canvas);
+            var context = canvas.getContext("2d");
+            
+            var isPressing = 0;
+            var isMoving = 0;
+            var isRelease = 0;
+            
+            var circumference = 2 * Math.PI;
+            var internalRadius = (canvas.width - ((canvas.width / 2) + 10)) / 2;
+            var maxMoveStick = internalRadius + 5;
+            var externalRadius = internalRadius + 30;
+            var centerX = canvas.width / 2;
+            var centerY = canvas.height / 2;
+            var directionHorizontalLimitPos = canvas.width / 10;
+            var directionHorizontalLimitNeg = directionHorizontalLimitPos * -1;
+            var directionVerticalLimitPos = canvas.height / 10;
+            var directionVerticalLimitNeg = directionVerticalLimitPos * -1;
+            // Used to save current position of stick
+            var movedX = centerX;
+            var movedY = centerY;
+            
+            // Check if the device support the touch or not
+            if("ontouchstart" in document.documentElement) {
+                canvas.addEventListener("touchstart", onTouchStart, true);
+                canvas.addEventListener("touchmove", onTouchMove, true);
+                document.addEventListener("touchend", onTouchEnd, true);
+            } else {
+                canvas.addEventListener("mousedown", onMouseDown, true);
+                canvas.addEventListener("mousemove", onMouseMove, true);
+                document.addEventListener("mouseup", onMouseUp, true);
+            }
+            // Draw the object
+            drawExternal();
+            drawInternal();
+
+            /**
+             * @desc Draw the external circle used as reference position
+             */
+            function drawExternal() {
+                context.beginPath();
+                context.arc(centerX, centerY, externalRadius, 0, circumference, false);
+                context.lineWidth = externalLineWidth;
+                context.strokeStyle = externalStrokeColor;
+                context.stroke();
+            }
+
+            /**
+             * @desc Draw the internal stick in the current position the user have moved it
+             */
+            function drawInternal() {
+                context.beginPath();
+                if(movedX < internalRadius) { movedX = maxMoveStick; }
+                if((movedX + internalRadius) > canvas.width) { movedX = canvas.width - (maxMoveStick); }
+                if(movedY < internalRadius) { movedY = maxMoveStick; }
+                if((movedY + internalRadius) > canvas.height) { movedY = canvas.height - (maxMoveStick); }
+                context.arc(movedX, movedY, internalRadius, 0, circumference, false);
+                // create radial gradient
+                var grd = context.createRadialGradient(centerX, centerY, 5, centerX, centerY, 200);
+                // Light color
+                grd.addColorStop(0, internalFillColor);
+                // Dark color
+                grd.addColorStop(1, internalStrokeColor);
+                context.fillStyle = grd;
+                context.fill();
+                context.lineWidth = internalLineWidth;
+                context.strokeStyle = internalStrokeColor;
+                context.stroke();
+            }
+
+            function postCoordinate(containerId) {
+                var xValue = (100 * ((movedX - centerX) / maxMoveStick)).toFixed();
+                var yValue = ((100 * ((movedY - centerY) / maxMoveStick)) * -1).toFixed();
+
+                if(containerId === 'joy1Div') {
+                    joyX = xValue;
+                    joyY = yValue;
+                    // 更新 joy1 的显示信息
+                    document.getElementById('joy1XValue').textContent = xValue;
+                    document.getElementById('joy1YValue').textContent = yValue;
+                } else if(containerId === 'joy2Div') {
+                    // 限定 x 轴 roll 取值范围
+                    let rollValue = parseInt((xValue * 30 / 100).toFixed());
+                    if (rollValue < -30) {
+                        rollValue = -30;
+                    } else if (rollValue > 30) {
+                        rollValue = 30;
+                    }
+                    g_roll = rollValue;
+
+                    // 限定 y 轴 小车高度 取值范围为 15 到 85
+                    let heightValue = parseInt(yValue) ;
+                    if (heightValue < 15) {
+                        heightValue = 15;
+                    } else if (heightValue > 85) {
+                        heightValue = 85;
+                    }
+                    g_h = heightValue;
+
+                    // 更新 joy2 的显示信息，显示实际限制后的值
+                    document.getElementById('joy2XValue').textContent = g_roll;
+                    document.getElementById('joy2YValue').textContent = g_h;
+                }
+
+                send_data();
+            }
+
+            function releaseControl() {
+                joyX = 0;
+                joyY = 0;
+                g_roll = 0;
+                g_h = 32;
+                // 重置显示信息
+                document.getElementById('joy1XValue').textContent = '0';
+                document.getElementById('joy1YValue').textContent = '0';
+                document.getElementById('joy2XValue').textContent = '0';
+                document.getElementById('joy2YValue').textContent = g_h;
+                
+                send_data();
+            }  
+
+            /**
+             * @desc Events for manage touch
+             */
+            function noTouch(event) {
+                isPressing = 0;
+                isMoving = 0;
+                isRelease = 0;
+            }
+
+            function onTouchStart(event) {
+                isPressing = 1;
+                isMoving = 0;
+                isRelease = 0;
+            }
+
+            function onTouchMove(event) {
+                // Prevent the browser from doing its default thing (scroll, zoom)
+                event.preventDefault();
+                if(isPressing === 1 && event.targetTouches[0].target === canvas) {
+                    isMoving = 1;
+                    isRelease = 0;
+                    
+                    movedX = event.targetTouches[0].pageX;
+                    movedY = event.targetTouches[0].pageY;
+                    // Manage offset
+                    if(canvas.offsetParent.tagName.toUpperCase() === "BODY") {
+                        movedX -= canvas.offsetLeft;
+                        movedY -= canvas.offsetTop;
+                    } else {
+                        movedX -= canvas.offsetParent.offsetLeft;
+                        movedY -= canvas.offsetParent.offsetTop;
+                    }
+                    // Delete canvas
+                    context.clearRect(0, 0, canvas.width, canvas.height);
+                    // Redraw object
+                    drawExternal();
+                    drawInternal();
+                    
+                    postCoordinate(canvas.parentNode.id);
+                }
+            } 
+
+            function onTouchEnd(event) {
+                //event.preventDefault();
+                isPressing = 0;
+                isMoving = 0;
+                isRelease = 1;
+                
+                // If required reset position store variable
+                if(autoReturnToCenter) {
+                    movedX = centerX;
+                    movedY = centerY;
+                }
+                // Delete canvas
+                context.clearRect(0, 0, canvas.width, canvas.height);
+                // Redraw object
+                drawExternal();
+                drawInternal();
+                
+                releaseControl();
+            }
+
+            /**
+             * @desc Events for manage mouse
+             */
+            function noMouse(event) {
+                isPressing = 0;
+                isMoving = 0;
+                isRelease = 0;
+            }
+
+            function onMouseDown(event) {
+                isPressing = 1;
+                isMoving = 0;
+                isRelease = 0;
+            }
+
+            function onMouseMove(event) {
+                if(isPressing === 1) {
+                    isMoving = 1;
+                    isRelease = 0;
+                    
+                    movedX = event.pageX;
+                    movedY = event.pageY;
+                    // Manage offset
+                    if(canvas.offsetParent.tagName.toUpperCase() === "BODY") {
+                        movedX -= canvas.offsetLeft;
+                        movedY -= canvas.offsetTop;
+                    } else {
+                        movedX -= canvas.offsetParent.offsetLeft;
+                        movedY -= canvas.offsetParent.offsetTop;
+                    }
+                    // Delete canvas
+                    context.clearRect(0, 0, canvas.width, canvas.height);
+                    // Redraw object
+                    drawExternal();
+                    drawInternal();
+                    
+                    postCoordinate(canvas.parentNode.id);
+                }
+            }
+
+            function onMouseUp(event) {
+                isPressing = 0;
+                isMoving = 0;
+                isRelease = 1;
+                
+                // If required reset position store variable
+                if(autoReturnToCenter) {
+                    movedX = centerX;
+                    movedY = centerY;
+                }
+                // Delete canvas
+                context.clearRect(0, 0, canvas.width, canvas.height);
+                // Redraw object
+                drawExternal();
+                drawInternal();
+                
+                releaseControl();
+            }
+
+            this.GetX = function () {
+                return (100 * ((movedX - centerX) / maxMoveStick)).toFixed();
+            };
+
+            /**
+             * @desc Normalizzed value of Y move of stick
+             * @return Integer from -100 to +100
+             */
+            this.GetY = function () {
+                return ((100 * ((movedY - centerY) / maxMoveStick)) * -1).toFixed();
+            };
+        });
+
+        var joy1Param = { "title": "1" };  
+        var Joy1 = new JoyStick('joy1Div', joy1Param);
+        var joy2Param = { "title": "2" };  
+        var Joy2 = new JoyStick('joy2Div', joy2Param);
+    </script> 
+</body>
+</html>
\ No newline at end of file
diff --git a/Shibo-main-V4-ESPNOW/.history/main copy.cpp b/Shibo-main-V4-ESPNOW/.history/main copy.cpp
new file mode 100644
index 0000000..2d7d8bc
--- /dev/null
+++ b/Shibo-main-V4-ESPNOW/.history/main copy.cpp	
@@ -0,0 +1,777 @@
+// -----------------------------------------------------------------------------
+// Copyright (c) 2024 Mu Shibo
+// Modify by Tommy 2025.8.9
+// -----------------------------------------------------------------------------
+
+#include <esp_now.h>
+#include <WiFi.h>
+#include "main.h"
+
+/************实例定义*************/
+
+// 电机实例
+BLDCMotor motor1 = BLDCMotor(7);
+BLDCMotor motor2 = BLDCMotor(7);
+BLDCDriver3PWM driver1 = BLDCDriver3PWM(32, 33, 25, 22);
+BLDCDriver3PWM driver2 = BLDCDriver3PWM(26, 27, 14, 12);
+
+// 编码器实例
+TwoWire I2Cone = TwoWire(0);
+TwoWire I2Ctwo = TwoWire(1);
+MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);
+MagneticSensorI2C sensor2 = MagneticSensorI2C(AS5600_I2C);
+
+// PID控制器实例
+PIDController pid_angle(1, 0, 0, 100000, 8); // pitch角度PID使其趋于零点
+PIDController pid_gyro(0.06, 0, 0, 100000, 8); // 角速度PID使其趋于零点
+PIDController pid_distance(0.5, 0, 0, 100000, 8);// 位移PID使其趋于零点
+PIDController pid_speed(0.7, 0, 0, 100000, 8);// 速度PID使其趋于目标速度
+PIDController pid_yaw_angle(1.0, 0, 0, 100000, 8);
+PIDController pid_yaw_gyro(0.04, 0, 0, 100000, 8);
+PIDController pid_lqr_u(1, 15, 0, 100000, 8);
+PIDController pid_zeropoint(0.002, 0, 0, 100000, 4);
+PIDController pid_roll_angle(8, 0, 0, 100000, 450);
+
+// 低通滤波器实例
+LowPassFilter lpf_joyy(0.2);
+LowPassFilter lpf_zeropoint(0.1);
+LowPassFilter lpf_roll(0.3);
+
+void blinkLED();// 定义触发爆闪功能的函数
+
+// WebServer实例
+WebServer webserver;                               // server服务器
+WebSocketsServer websocket = WebSocketsServer(81); // 定义一个webSocket服务器来处理客户发送的消息
+RobotProtocol rp(20);
+
+// STS舵机实例
+SMS_STS sms_sts;
+
+// MPU6050实例
+MPU6050 mpu6050(I2Ctwo);
+
+/************参数定义*************/
+#define pi 3.1415927
+
+// 舵机位置限制参数
+#define SERVO1_MIN 1900 // 舵机1最低 从小车正面看右手
+#define SERVO1_MAX 2400 // 舵机1最高
+#define SERVO2_MIN 2300 // 舵机2最低 从小车正面看左手(注意大小值与舵机1是相反的)
+#define SERVO2_MAX 1800 // 舵机2最高
+
+// LQR自平衡控制器参数
+float LQR_angle = 0;
+float LQR_gyro = 0;
+float LQR_speed = 0;
+float LQR_distance = 0;
+float angle_control = 0;
+float gyro_control = 0;
+float speed_control = 0;
+float distance_control = 0;
+float LQR_u = 0;
+float angle_zeropoint = 5;  // 3.4 在理想平衡状态下俯仰角度，向前到正，向后倒负
+float distance_zeropoint = -256.0; // 轮部位移零点偏置（-256为一个不可能的位移值，将其作为未刷新的标志）
+
+// YAW轴控制数据
+float YAW_gyro = 0;
+float YAW_angle = 0;
+float YAW_angle_last = 0;
+float YAW_angle_total = 0;
+float YAW_angle_zero_point = -10;
+float YAW_output = 0;
+
+// 腿部舵机控制数据
+byte ID[2];
+s16 Position[2];
+u16 Speed[2];
+byte ACC[2];
+
+// 逻辑处理标志位
+float robot_speed = 0;         // 记录当前轮部转速
+float robot_speed_last = 0;    // 记录上一时刻的轮部转速
+int wrobot_move_stop_flag = 0; // 记录摇杆停止的标识
+int jump_flag = 0;             // 跳跃时段标识
+float leg_position_add = 0;    // roll轴平衡控制量
+int uncontrolable = 0;         // 0未倒底，>0说明倒地了，机身倾角过大导致失控
+
+
+// 电压检测
+uint16_t bat_check_num = 0;
+int BAT_PIN = 35; // select the input pin for the ADC
+static esp_adc_cal_characteristics_t adc_chars;
+static const adc1_channel_t channel = ADC1_CHANNEL_7;
+static const adc_bits_width_t width = ADC_WIDTH_BIT_12;
+static const adc_atten_t atten = ADC_ATTEN_DB_11;
+static const adc_unit_t unit = ADC_UNIT_1;
+
+// 电量显示LED
+#define LED_BAT 13
+
+
+// 定义死区参数
+const int deadZone = 15;
+
+typedef struct {
+  byte j1PotX;  // 左摇杆X  (0-255)
+  byte j1PotY;  // 左摇杆Y  (0-255)
+  byte j2PotX;  // 右摇杆X  (0-255)
+  byte j2PotY;  // 右摇杆Y (0-255)
+  bool buttonR1;  //底部右按键 1：true （默认），0：false
+  bool buttonR2;  //底部左按键 1：true （默认），0：false
+  bool j1Button;  //左摇杆按键 1：true （默认），0：false
+  bool j2Button;  //右摇杆按键 1：true （默认），0：false
+  bool buttonLB;  //顶部左按键 1：true （默认），0：false
+  bool buttonRB;  //顶部右按键 1：true （默认），0：false
+  bool tSwitch1;  //拨动开关   1：true （默认），0：false 
+  byte roll;      //用于M5StackCore2或未来增加的陀螺仪功能
+  byte pitch;
+  bool buttonR3;
+} JoystickData;
+
+JoystickData remoteData;
+
+// 定义全局变量，用于记录上次的值
+bool lastJ2Button = false;
+
+// ESP-NOW接收回调函数
+void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len) {
+  memcpy(&remoteData, incomingData, sizeof(remoteData));
+
+  // Serial.print("j1PotX: ");
+  // Serial.print(remoteData.j1PotX);
+  // Serial.print(", j1PotY: ");
+  // Serial.print(remoteData.j1PotY);
+  // Serial.print(", j2PotX: ");
+  // Serial.print(remoteData.j2PotX);
+  // Serial.print(", j2PotY: ");
+  // Serial.print(remoteData.j2PotY);
+  // Serial.print(", j1Button: ");
+  // Serial.print(remoteData.j1Button);
+  // Serial.print(", j2Button: ");
+  // Serial.println(remoteData.j2Button);
+
+  // 转换摇杆值，范围从 0-255 转到 -100 到 100
+  int convertedJ1PotX = (remoteData.j1PotX - 127.5) * (30.0 / 127.5); // 转到 -30 到 30
+  // int convertedJ1PotY = static_cast<int>((1 - remoteData.j1PotY / 255.0) * (60 - 15) + 15); // 转到 60 到 15  y轴取反
+  int convertedJ1PotY = static_cast<int>((1 - remoteData.j1PotY / 255.0) * (60 - 0) + 0); // 转到 60 到 0  y轴取反，这样可以使机身下降
+  int convertedJ2PotX = (remoteData.j2PotX - 127.5) * (100.0 / 127.5); // 转到 -100 到 100
+  int convertedJ2PotY = (remoteData.j2PotY - 127.5) * (100.0 / 127.5) * -1 * 1.2; // 转到 -100 到 100 y轴取反,放大
+  
+  // 取反按钮值，使得默认显示 0 false，按下显示 1 true
+  int convertedJ1Button = !remoteData.j1Button;
+  int convertedJ2Button = !remoteData.j2Button;
+
+
+  // 跳跃
+  if (convertedJ1Button) { // 1=true，0=false
+    wrobot.dir = 5; // 跳跃
+  }else{
+    wrobot.dir = 4; // 停止
+  }
+
+  // led蓝灯爆闪
+  if (lastJ2Button && !convertedJ2Button) {
+    blinkLED();
+  }
+  // 更新上次 lastJ2Button 的值
+  lastJ2Button = convertedJ2Button;
+
+  if(abs(convertedJ1PotY) > deadZone) {    // 上下高度 15 ~ 75
+    wrobot.height = convertedJ1PotY;
+  }else{
+    wrobot.height = 0;
+  }
+  // Serial.print("convertedJ1PotY:");
+  // Serial.print(convertedJ1PotY);
+  // Serial.print(",wrobot.height:");
+  // Serial.println(wrobot.height);
+
+  if(abs(convertedJ1PotX) > deadZone) {    // 左右摇摆 -30 ~ 30
+    wrobot.roll  = convertedJ1PotX;
+  }else{
+    wrobot.roll = 0;
+  }
+  if(abs(convertedJ2PotY) > deadZone) {    // 前后运动 -100 到 100
+    wrobot.joyy = convertedJ2PotY;
+  }else{
+    wrobot.joyy = 0;
+  } 
+  if(abs(convertedJ2PotX) > deadZone) { // 左右运动  -100 到 100
+    wrobot.joyx = convertedJ2PotX; 
+  } else {
+    wrobot.joyx = 0;
+  }
+}
+
+void setup()
+{
+  Serial.begin(115200);   // 通讯串口
+  Serial2.begin(1000000); // 腿部sts舵机
+
+  // Wifi初始化
+  WiFi_SetAP();
+  webserver.begin();
+  webserver.on("/", HTTP_GET, basicWebCallback);
+  websocket.begin();
+  websocket.onEvent(webSocketEventCallback);
+
+  // ESPNOW协议
+  WiFi.mode(WIFI_MODE_STA); // 先设置为STA模式
+  delay(100); // 短暂延迟
+  // Serial.print("MAC Address: ");
+  // Serial.println(WiFi.macAddress());
+
+    // 初始化ESP-NOW
+  WiFi.mode(WIFI_STA);
+  if (esp_now_init() != ESP_OK) {
+    Serial.println("Error initializing ESP-NOW");
+    return;
+  }
+  esp_now_register_recv_cb(OnDataRecv);
+
+  // 舵机初始化
+  // 舵机有效行程450
+  // 左侧舵机[2048+12+50,2048+12+450]
+  // 左侧舵机[2048-12-50,2048-12-450]
+  sms_sts.pSerial = &Serial2;
+  ID[0] = 1;
+  ID[1] = 2;
+  ACC[0] = 30;
+  ACC[1] = 30;
+  Speed[0] = 300;
+  Speed[1] = 300;
+  Position[0] = 2048;
+  Position[1] = 2048;
+  // 舵机(ID1/ID2)以最高速度V=2400步/秒，加速度A=50(50*100步/秒^2)，运行至各自的Position位置
+  sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
+
+  // 电压检测
+  adc_calibration_init();
+  adc1_config_width(width);
+  adc1_config_channel_atten(channel, atten);
+  esp_adc_cal_characterize(unit, atten, width, 0, &adc_chars);
+
+  // 电量显示LED
+  pinMode(LED_BAT, OUTPUT);
+
+  // 编码器设置
+  I2Cone.begin(19, 18, 400000UL);
+  I2Ctwo.begin(23, 5, 400000UL);
+  sensor1.init(&I2Cone);
+  sensor2.init(&I2Ctwo);
+
+  // mpu6050设置
+  mpu6050.begin();
+  mpu6050.calcGyroOffsets(true);
+
+  // 连接motor对象与编码器对象
+  motor1.linkSensor(&sensor1);
+  motor2.linkSensor(&sensor2);
+
+  // 速度环PID参数
+  motor1.PID_velocity.P = 0.05;
+  motor1.PID_velocity.I = 1;
+  motor1.PID_velocity.D = 0;
+
+  motor2.PID_velocity.P = 0.05;
+  motor2.PID_velocity.I = 1;
+  motor2.PID_velocity.D = 0;
+
+  // 驱动器设置
+  motor1.voltage_sensor_align = 6;
+  motor2.voltage_sensor_align = 6;
+  driver1.voltage_power_supply = 8;
+  driver2.voltage_power_supply = 8;
+  driver1.init();
+  driver2.init();
+
+  // 连接motor对象与驱动器对象
+  motor1.linkDriver(&driver1);
+  motor2.linkDriver(&driver2);
+
+  motor1.torque_controller = TorqueControlType::voltage;
+  motor2.torque_controller = TorqueControlType::voltage;
+  motor1.controller = MotionControlType::torque;
+  motor2.controller = MotionControlType::torque;
+
+  // monitor相关设置
+  motor1.useMonitoring(Serial);
+  motor2.useMonitoring(Serial);
+  // 电机初始化
+  motor1.init();
+  motor1.initFOC();
+  motor2.init();
+  motor2.initFOC();
+
+  delay(500);
+}
+
+// 用于判断跌倒方向
+// enum FallDirection {
+//   NOT_FALLEN,
+//   FORWARD_FALL,
+//   BACKWARD_FALL
+// };
+
+// FallDirection fall_direction = NOT_FALLEN;
+
+void loop()
+{
+  // playMS90S(); // 测试舵机
+
+  bat_check();        // 电压检测
+  web_loop();         // Web数据更新
+  mpu6050.update();   // IMU数据更新
+  lqr_balance_loop(); // lqr自平衡控制，更新LQR_u
+  yaw_loop();         // yaw轴转向控制，更新YAW_output
+  leg_loop();         // 腿部动作控制，控制舵机SyncWritePosEx，包括判断jump_loop
+
+  // 记录上一次的遥控数据数据
+  wrobot.dir_last = wrobot.dir;
+  wrobot.joyx_last = wrobot.joyx;
+  wrobot.joyy_last = wrobot.joyy;
+
+  // 将自平衡计算输出转矩赋给电机
+  motor1.target = (-0.5) * (LQR_u + YAW_output);
+  motor2.target = (-0.5) * (LQR_u - YAW_output);
+  // 倒地失控后关闭输出
+  if (abs(LQR_angle) > 25.0f) // 角度大于25度，说明小车倒下了
+  {
+    uncontrolable = 1; // 倾斜角度大于25度，标记倒地
+    
+    // if (LQR_angle > 25.0f) {
+    //     fall_direction = FORWARD_FALL;
+    // } else if (LQR_angle < -25.0f) {
+    //     fall_direction = BACKWARD_FALL;
+    // }
+
+  }
+  if (uncontrolable != 0) // 倒地，延时200次程序循环，避免失控后继续输出
+  {
+    if (abs(LQR_angle) < 10.0f) // 角度小于10度，说明小车被扶起了
+    {
+      uncontrolable ++; // 倒地后，并被扶起，开始计数
+    }
+    if (uncontrolable > 150) // 倒地被扶起，计数超过150，说明平衡了，标记未倒地
+    {
+      uncontrolable = 0; // 标记未倒地
+      // fall_direction = NOT_FALLEN;
+    }
+    // 还有一种可能，如果倒地，没有被扶起（角度大于10度），uncontrolable 一直等于1
+    // --------未被扶起，向后倒地时的自动爬起逻辑
+    // if (fall_direction == BACKWARD_FALL) {
+    //     // 轮子突然加速向后
+    //     motor1.target = 25.0; // 可根据实际情况调整
+    //     motor2.target = 25.0; // 可根据实际情况调整
+    // } else {
+        // 非向后倒地恢复状态，则关停电机输出
+        motor1.target = 0;
+        motor2.target = 0;
+        leg_position_add = 0;
+    // }
+    // --------未被扶起end
+  }
+
+  // uncontrolable == 0 时，才能执行，否则target=0，电机没有输出
+
+  // 迭代计算FOC相电压
+  motor1.loopFOC();
+  motor2.loopFOC();
+
+  // 设置轮部电机输出
+  motor1.move();
+  motor2.move();
+
+} // -----------------  void loop()
+
+// lqr自平衡控制
+void lqr_balance_loop()
+{
+  // LQR_distance,LQR_speed,LQR_angle,LQR_gyro 通过编码器或者mpu实际测得
+  // angle_zeropoint，distance_zeropoint 角度零点和位置零点（在理想平衡状态下俯仰角度和位移目标值），用于和实际值做差，得到控制
+  // angle_control , gyro_control , distance_control , speed_control : lqr 控制参数
+  
+  // LQR平衡算式，实际使用中为便于调参，讲算式分解为4个P控制，采用PIDController方法在commander中实时调试
+  // QR_u = LQR_k1*(LQR_angle - angle_zeropoint) 
+        // + LQR_k2*LQR_gyro 
+        // + LQR_k3*(LQR_distance - distance_zeropoint) 
+        // + LQR_k4*LQR_speed;
+
+  // 给负值是因为按照当前的电机接线，正转矩会向后转
+  // 编码器反馈shaft_angle，计算电机转轴角度平均数
+  LQR_distance = (-0.5) * (motor1.shaft_angle + motor2.shaft_angle); 
+  // 编码器反馈实时角速度，计算电机转速平均数
+  LQR_speed = (-0.5) * (motor1.shaft_velocity + motor2.shaft_velocity); 
+  LQR_angle = (float)mpu6050.getAngleY(); // pitch 角度，向前倒正数，向后倒负数
+  LQR_gyro = (float)mpu6050.getGyroY(); // pitch 角速度
+  // Serial.println(LQR_distance);
+
+  // 计算pitch的角度和角速度的pid控制值
+  // 实际pitch角度与零点的差值，目标值是零
+  // 计算角度误差，并通过 PID 控制器得到角度控制量
+  angle_control = pid_angle(LQR_angle - angle_zeropoint); 
+  // 实际pitch 角速度与目标值的差值，目标值是零
+  // 通过 PID 控制器对角速度进行处理，得到角速度控制量
+  gyro_control = pid_gyro(LQR_gyro);
+
+  // 运动细节优化处理
+  if (wrobot.joyy != 0) // 有前后方向运动指令时的处理
+  {
+    distance_zeropoint = LQR_distance; // 位移零点重置
+    pid_lqr_u.error_prev = 0;          // 输出积分清零
+  }
+  // joyy=0，没有输出前后运动，但是小车可能被推动，运动指令复零时的原地停车处理
+  if ((wrobot.joyx_last != 0 && wrobot.joyx == 0) || (wrobot.joyy_last != 0 && wrobot.joyy == 0)) 
+  {
+    wrobot_move_stop_flag = 1;
+  }
+  if ((wrobot_move_stop_flag == 1) && (abs(LQR_speed) < 0.5))
+  {
+    distance_zeropoint = LQR_distance; // 位移零点重置
+    wrobot_move_stop_flag = 0;
+  }
+
+  if (abs(LQR_speed) > 15) // 被快速推动时的原地停车处理
+  {
+    distance_zeropoint = LQR_distance; // 位移零点重置
+  }
+
+  // 计算pitch的角度和角速度的pid控制值
+  // 电机转轴角度平均数(上面计算)-位移零点=实际位移与零点的差值, 目标值是零
+  // 计算位移误差，并通过位移 PID 控制器得到位移控制量
+  distance_control = pid_distance(LQR_distance - distance_zeropoint); 
+  // 电机转速平均数(上面计算)-速度目标值=实际转速与目标值的差值, 目标值是零
+  // 计算速度误差（实际速度减去经过低通滤波和缩放后的遥控器期望速度），并通过速度 PID 控制器得到速度控制量
+  speed_control = pid_speed(LQR_speed - 0.1 * lpf_joyy(wrobot.joyy));
+
+  // 轮部离地检测
+  robot_speed_last = robot_speed; // 记录连续两次的轮部转速
+  robot_speed = LQR_speed;
+  // 若轮部角速度、角加速度过大或处于跳跃后的恢复时期，认为出现轮部离地现象，需要特殊处理
+  // 轮部离地情况下，对轮部分量不输出；反之，正常状态下完整输出平衡转矩
+  if (abs(robot_speed - robot_speed_last) > 10 || abs(robot_speed) > 50 || (jump_flag != 0)) 
+  {
+    distance_zeropoint = LQR_distance;    // 位移零点重置
+    LQR_u = angle_control + gyro_control; // 轮部离地情况下，对轮部分量不输出；反之，正常状态下完整输出平衡转矩
+    pid_lqr_u.error_prev = 0;             // 输出积分清零
+  }
+  else
+  {
+    // 当轮部未离地时，LQR_u 包含:角度控制量、角速度控制量、位移控制量和速度控制量，以实现完整的自平衡控制
+    LQR_u = angle_control + gyro_control + distance_control + speed_control;
+    // 计算得到LQR_u在loop()函数中在几个子loop执行完，被motor1执行
+    
+  }
+
+  // 触发条件：遥控器无信号输入joyy=0、轮部位移控制正常介入distance_ctl<4、不处于跳跃后的恢复时期jump_flag=0
+  if (abs(LQR_u) < 5 && wrobot.joyy == 0 && abs(distance_control) < 4 && (jump_flag == 0))
+  {
+
+    LQR_u = pid_lqr_u(LQR_u); // 小转矩非线性补偿
+    // Serial.println(LQR_u);
+
+    // lpf_zeropoint 是一个低通滤波器，对 distance_control 进行滤波处理，减少高频噪声的影响。
+    // 然后，将滤波后的 distance_control 作为输入，通过 pid_zeropoint 控制器进行进一步处理。
+    // angle_zeropoint -= ...：将计算得到的调整量从 angle_zeropoint 中减去，实现重心自适应调整。
+    // angle_zeropoint 是预设的角度零点，调整它可以让小车更好地适应不同的重心位置。
+    angle_zeropoint -= pid_zeropoint(lpf_zeropoint(distance_control)); // 重心自适应
+  }
+  else
+  {
+    pid_lqr_u.error_prev = 0; // 输出积分清零
+  }
+
+  // 平衡控制参数自适应
+  if (wrobot.height < 50)
+  {
+    pid_speed.P = 0.7;
+  }
+  else if (wrobot.height < 64)
+  {
+    pid_speed.P = 0.6;
+  }
+  else
+  {
+    pid_speed.P = 0.5;
+  }
+  
+}
+
+// 腿部动作控制（舵机）
+void leg_loop()
+{
+  jump_loop();
+
+  if (jump_flag == 0) // 不处于跳跃状态
+  {
+    // 舵机加速度
+    ACC[0] = 8;
+    ACC[1] = 8;
+
+    // 舵机速度
+    // Speed[0] = 200;
+    // Speed[1] = 200;
+    Speed[0] = 300;
+    Speed[1] = 300;
+    float roll_angle = (float)mpu6050.getAngleX() + 2.0;
+    leg_position_add = pid_roll_angle(lpf_roll(roll_angle));
+
+    int roll_offset = wrobot.roll;
+    int left_height, right_height;
+
+    // 转弯倾斜效果
+    // if (wrobot.joyx > 10) { // 向右转弯
+    //   left_height = wrobot.height + wrobot.joyx * 0.1;  // 左腿抬高
+    //   right_height = wrobot.height;
+    
+    // } else if (wrobot.joyx < -10) { // 向左转弯
+    //   left_height = wrobot.height;
+    //   right_height = wrobot.height - wrobot.joyx * 0.1;   // 右腿抬高
+    
+    // } else { // 正常情况
+
+      // Serial.print("roll_offset: ");
+      // Serial.println(roll_offset);
+
+      // 如果控制了 roll 角度，则调整左右脚的高度
+      // 计算三角函数值
+      float angleRad = abs(roll_offset) * (pi / 180.0); // 将角度转换为弧度
+      float heightAdjust = 30 * sin(angleRad); // 小车宽度的一半是30毫米，抬高的高度是30毫米*sin(弧度)
+      float RollOffset = 18; // 所以水平高度需要加上调整高度，否则向下倾斜无法向下了
+      if (roll_offset > 10) {
+        // 正数，左脚高度 60，右脚高度 40
+        // 因为车身高度最小32，所以水平高度需要加上调整高度15，否则线下倾斜无法向下了
+        left_height = wrobot.height + RollOffset + heightAdjust;
+        right_height = wrobot.height + RollOffset - heightAdjust;
+        leg_position_add = 0; // 不使用roll角度 pid计算
+      } else if (roll_offset < -10) {
+        // 负数，左脚高度 40，右脚高度 60
+        left_height = wrobot.height + RollOffset - heightAdjust;
+        right_height = wrobot.height + RollOffset + heightAdjust;
+        leg_position_add = 0;
+      } else { // 未控制 roll 角度
+        // roll 为 0，左右恢复到同一高度
+        left_height = wrobot.height;
+        right_height = wrobot.height;
+        // 没有人为控制roll角度，leg_position_add根据mpu6050 roll值 进行pid计算得到，以保持小车机身平稳
+        // 但如果小车倒地，则不需要keep roll角度,否则小车倒在地上，1个脚长，1个脚短，很难看
+        if (abs(LQR_angle) > 25.0f) 
+        {
+          leg_position_add = 0;
+        }
+      }
+    // }
+
+    // 根据新的高度计算舵机位置
+    // id 1 [0] 正面看右手，id 2 正面看左手 [1]
+    // 舵机id 1：1900（机身最矮）  2400（机身最高）
+    // 舵机id 2：2300（机身最矮）  1800（机身最高）
+    // 2048是舵机中间位置，12是微调偏移量，8.4是系数，32是默认高度，最高80，最低32
+    Position[0] = 2048 + 12 + 8.4 * (left_height - 32) - leg_position_add;
+    Position[1] = 2048 - 12 - 8.4 * (right_height - 32) - leg_position_add;
+    // Position[0] = 2048 + 12 + 8.4 * (left_height - 52) - leg_position_add;  // -52 机身下降20
+    // Position[1] = 2048 - 12 - 8.4 * (right_height - 52) - leg_position_add;
+    // Position[0] = 2048 + 12 + 8.4 * (left_height - 0) - leg_position_add; // 不减32 机身高度默认抬高32
+    // Position[1] = 2048 - 12 - 8.4 * (right_height - 0) - leg_position_add;
+
+    // Serial.print("left_height: ");
+    // Serial.print(left_height);
+    // Serial.print(", right_height: ");
+    // Serial.print(right_height);
+    // Serial.print(", leg_position_add: ");
+    // Serial.println(leg_position_add);
+
+
+    // 限制舵机位置范围
+    if (Position[0] < SERVO1_MIN) // 舵机1最低
+      Position[0] = SERVO1_MIN;
+    else if (Position[0] > SERVO1_MAX) // 舵机1最高
+      Position[0] = SERVO1_MAX;
+
+    if (Position[1] > SERVO2_MIN) // 舵机2最低（和舵机1方向是反的）
+      Position[1] = SERVO2_MIN;
+    else if (Position[1] < SERVO2_MAX) // 舵机2最高
+      Position[1] = SERVO2_MAX;
+
+    sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
+  }
+}
+
+// 跳跃控制
+void jump_loop()
+{ // 5=JUMP,4=STOP 上次动作是跳跃5，本次是停止0，才开始跳，因为可能连续发送了很多5跳跃指令，只执行最后一次
+  // 跳跃，腿部以最快速度伸到最长
+  if ((wrobot.dir_last == 5) && (wrobot.dir == 4) && (jump_flag == 0))
+  { // 跳跃开始
+    ACC[0] = 0;
+    ACC[1] = 0;
+    Speed[0] = 0;
+    Speed[1] = 0;
+    // Position[0] = 2048 + 12 + 8.4 * (60 - 32); // 值越大，腿伸的越长，原来80 改为60降低腿部高度，即车重心
+    // Position[1] = 2048 - 12 - 8.4 * (60 - 32);
+    Position[0] = SERVO1_MAX; 
+    Position[1] = SERVO2_MAX;
+    sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
+
+    jump_flag = 1;
+  }
+  if (jump_flag > 0) // 跳跃中，腿部缩起来，等待30帧，对应上面设置 jump_flag = 1;
+  {
+    jump_flag++;
+    if ((jump_flag > 30) && (jump_flag < 35))
+    {
+      ACC[0] = 0;
+      ACC[1] = 0;
+      Speed[0] = 0;
+      Speed[1] = 0;
+      Position[0] = 2048 + 12 + 8.4 * (35 - 32); // 降低腿部高度，即车重心
+      Position[1] = 2048 - 12 - 8.4 * (35 - 32);
+      // Position[0] = SERVO1_MIN; // 舵机1最低
+      // Position[1] = SERVO2_MIN; // 舵机2最低
+      sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
+
+      jump_flag = 40;
+    }
+    if (jump_flag > 200)
+    {
+      jump_flag = 0; // 跳跃过程结束
+    }
+  }
+}
+
+// yaw轴转向控制 （转向控制）
+void yaw_loop()
+{
+  // YAW_output = 0.03*(YAW_Kp*YAW_angle_total + YAW_Kd*YAW_gyro);
+  yaw_angle_addup();
+
+  YAW_angle_total += wrobot.joyx * 0.008; // 0.002
+  float yaw_angle_control = pid_yaw_angle(YAW_angle_total);
+  float yaw_gyro_control = pid_yaw_gyro(YAW_gyro);
+  //  yaw 轴的角度和角速度数据进行了 PID 控制，得到 yaw_angle_control 和 yaw_gyro_control。
+  // 然后，将这两个控制量相加，得到最终的 YAW_output。
+  YAW_output = yaw_angle_control + yaw_gyro_control;
+}
+
+// Web数据更新
+void web_loop()
+{
+  webserver.handleClient();
+  websocket.loop();
+  rp.spinOnce(); // 更新web端回传的控制信息
+}
+
+// yaw轴角度累加函数
+void yaw_angle_addup()
+{
+  YAW_angle = (float)mpu6050.getAngleZ();
+  YAW_gyro = (float)mpu6050.getGyroZ();
+
+  if (YAW_angle_zero_point == (-10))
+  {
+    YAW_angle_zero_point = YAW_angle;
+  }
+
+  float yaw_angle_1, yaw_angle_2, yaw_addup_angle;
+  if (YAW_angle > YAW_angle_last)
+  {
+    yaw_angle_1 = YAW_angle - YAW_angle_last;
+    yaw_angle_2 = YAW_angle - YAW_angle_last - 2 * PI;
+  }
+  else
+  {
+    yaw_angle_1 = YAW_angle - YAW_angle_last;
+    yaw_angle_2 = YAW_angle - YAW_angle_last + 2 * PI;
+  }
+
+  if (abs(yaw_angle_1) > abs(yaw_angle_2))
+  {
+    yaw_addup_angle = yaw_angle_2;
+  }
+  else
+  {
+    yaw_addup_angle = yaw_angle_1;
+  }
+
+  YAW_angle_total = YAW_angle_total + yaw_addup_angle;
+  YAW_angle_last = YAW_angle;
+}
+
+void basicWebCallback(void)
+{
+  webserver.send(300, "text/html", basic_web);
+}
+
+void webSocketEventCallback(uint8_t num, WStype_t type, uint8_t *payload, size_t length)
+{
+  if (type == WStype_TEXT)
+  {
+    String payload_str = String((char *)payload);
+    StaticJsonDocument<300> doc;
+    DeserializationError error = deserializeJson(doc, payload_str);
+
+    String mode_str = doc["mode"];
+    if (mode_str == "basic")
+    {
+      rp.parseBasic(doc);
+    }
+  }
+}
+
+// 电压检测初始化
+void adc_calibration_init()
+{
+  if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_TP) == ESP_OK)
+  {
+    printf("eFuse Two Point: Supported\n");
+  }
+  else
+  {
+    printf("eFuse Two Point: NOT supported\n");
+  }
+  // Check Vref is burned into eFuse
+  if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_VREF) == ESP_OK)
+  {
+    printf("eFuse Vref: Supported\n");
+  }
+  else
+  {
+    printf("eFuse Vref: NOT supported\n");
+  }
+}
+
+// 电压检测
+void bat_check()
+{
+  if (bat_check_num > 1000)
+  {
+    // 电压读取
+    uint32_t sum = 0;
+    sum = analogRead(BAT_PIN);
+    uint32_t voltage = esp_adc_cal_raw_to_voltage(sum, &adc_chars);
+    double battery = (voltage * 3.97) / 1000.0;
+
+    // Serial.println(battery);
+    // 电量显示
+    if (battery > 7.8)
+      digitalWrite(LED_BAT, HIGH);
+    else
+      digitalWrite(LED_BAT, LOW);
+
+    bat_check_num = 0;
+  }
+  else
+    bat_check_num++;
+}
+
+// 封装LED闪烁函数
+void blinkLED() {
+  const int flashInterval = 200; // 闪烁间隔时间，单位毫秒
+  const int flashTimes = 2;      // 闪烁次数
+  for (int i = 0; i < flashTimes; ++i) {
+    digitalWrite(LED_BAT, LOW); // 熄灭LED
+    delay(flashInterval);
+    digitalWrite(LED_BAT, HIGH); // 点亮LED
+    delay(flashInterval);
+  }
+}
\ No newline at end of file
diff --git a/src/main.cpp b/Shibo-main-V4-ESPNOW/.history/main.cpp
similarity index 89%
rename from src/main.cpp
rename to Shibo-main-V4-ESPNOW/.history/main.cpp
index 1839057..24b1bd9 100644
--- a/src/main.cpp
+++ b/Shibo-main-V4-ESPNOW/.history/main.cpp
@@ -43,7 +43,7 @@ void blinkLED();// 定义触发爆闪功能的函数
 WebServer webserver;                               // server服务器
 WebSocketsServer websocket = WebSocketsServer(81); // 定义一个webSocket服务器来处理客户发送的消息
 RobotProtocol rp(20);
-int joystick_value[2];
+
 
 // STS舵机实例
 SMS_STS sms_sts;
@@ -146,14 +146,16 @@ void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len) {
 
   // 转换摇杆值，范围从 0-255 转到 -100 到 100
   int convertedJ1PotX = (remoteData.j1PotX - 127.5) * (30.0 / 127.5); // 转到 -30 到 30
-  int convertedJ1PotY = static_cast<int>((1 - remoteData.j1PotY / 255.0) * (60 - 15) + 15); // 转到 60 到 15  y轴取反
+  // int convertedJ1PotY = static_cast<int>((1 - remoteData.j1PotY / 255.0) * (60 - 15) + 15); // 转到 60 到 15  y轴取反
+  int convertedJ1PotY = static_cast<int>((1 - remoteData.j1PotY / 255.0) * (60 - 0) + 0); // 转到 60 到 0  y轴取反，这样可以使机身下降
   int convertedJ2PotX = (remoteData.j2PotX - 127.5) * (100.0 / 127.5); // 转到 -100 到 100
   int convertedJ2PotY = (remoteData.j2PotY - 127.5) * (100.0 / 127.5) * -1 * 1.2; // 转到 -100 到 100 y轴取反,放大
   
-  // 取反按钮值，默认显示 0，按下显示 1
+  // 取反按钮值，使得默认显示 0 false，按下显示 1 true
   int convertedJ1Button = !remoteData.j1Button;
   int convertedJ2Button = !remoteData.j2Button;
 
+
   // 跳跃
   if (convertedJ1Button) { // 1=true，0=false
     wrobot.dir = 5; // 跳跃
@@ -173,6 +175,11 @@ void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len) {
   }else{
     wrobot.height = 0;
   }
+  // Serial.print("convertedJ1PotY:");
+  // Serial.print(convertedJ1PotY);
+  // Serial.print(",wrobot.height:");
+  // Serial.println(wrobot.height);
+
   if(abs(convertedJ1PotX) > deadZone) {    // 左右摇摆 -30 ~ 30
     wrobot.roll  = convertedJ1PotX;
   }else{
@@ -193,7 +200,7 @@ void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len) {
 // 测试舵机
 // const int freq = 50;         // PWM 信号频率
 // const int resolution = 8;    // PWM 分辨率
-// const int MS90SPIN = 4;          // 舵机引脚 从正面看左边
+// const int MS90SPIN = 4;          // 舵机引脚 从正面看右边
 // const int ledChannel = 0;    // 使用的 LEDC 通道
 
 // void setupMS90S() {
@@ -229,8 +236,8 @@ void setup()
   // ESPNOW协议
   WiFi.mode(WIFI_MODE_STA); // 先设置为STA模式
   delay(100); // 短暂延迟
-  Serial.print("MAC Address: ");
-  Serial.println(WiFi.macAddress());
+  // Serial.print("MAC Address: ");
+  // Serial.println(WiFi.macAddress());
 
     // 初始化ESP-NOW
   WiFi.mode(WIFI_STA);
@@ -240,7 +247,6 @@ void setup()
   }
   esp_now_register_recv_cb(OnDataRecv);
 
-
   // 舵机初始化
   // 舵机有效行程450
   // 左侧舵机[2048+12+50,2048+12+450]
@@ -252,8 +258,8 @@ void setup()
   ACC[1] = 30;
   Speed[0] = 300;
   Speed[1] = 300;
-  Position[0] = 2148;
-  Position[1] = 1948;
+  Position[0] = 2048;
+  Position[1] = 2048;
   // 舵机(ID1/ID2)以最高速度V=2400步/秒，加速度A=50(50*100步/秒^2)，运行至各自的Position位置
   sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
 
@@ -350,7 +356,7 @@ void loop()
   // 倒地失控后关闭输出
   if (abs(LQR_angle) > 25.0f) // 角度大于25度，说明小车倒下了
   {
-    uncontrolable = 1; // 标记倒地
+    uncontrolable = 1; // 倾斜角度大于25度，标记倒地
     
     // if (LQR_angle > 25.0f) {
     //     fall_direction = FORWARD_FALL;
@@ -374,9 +380,8 @@ void loop()
     // --------未被扶起，向后倒地时的自动爬起逻辑
     // if (fall_direction == BACKWARD_FALL) {
     //     // 轮子突然加速向后
-    //     motor1.target = 50.0; // 可根据实际情况调整
-    //     motor2.target = 50.0; // 可根据实际情况调整
-    //     leg_position_add = -10;
+    //     motor1.target = 25.0; // 可根据实际情况调整
+    //     motor2.target = 25.0; // 可根据实际情况调整
     // } else {
         // 非向后倒地恢复状态，则关停电机输出
         motor1.target = 0;
@@ -386,7 +391,6 @@ void loop()
     // --------未被扶起end
   }
 
-
   // uncontrolable == 0 时，才能执行，否则target=0，电机没有输出
 
   // 迭代计算FOC相电压
@@ -429,18 +433,6 @@ void lqr_balance_loop()
   // 通过 PID 控制器对角速度进行处理，得到角速度控制量
   gyro_control = pid_gyro(LQR_gyro);
 
-  // 零点找平时需要的日志输出
-  // {
-  //   static int time_temp = 0;
-  //   if (time_temp > 35)
-  //   {
-  //     Serial.println(LQR_angle);
-  //     time_temp = 0;
-  //   }
-  //   else
-  //     time_temp++;
-  // }
-
   // 运动细节优化处理
   if (wrobot.joyy != 0) // 有前后方向运动指令时的处理
   {
@@ -545,16 +537,16 @@ void leg_loop()
     int roll_offset = wrobot.roll;
     int left_height, right_height;
 
-    // 新增转弯逻辑
-    if (wrobot.joyx > 10) { // 向右转弯
-      left_height = wrobot.height + wrobot.joyx * 0.1;  // 左腿抬高
-      right_height = wrobot.height;
+    // 转弯倾斜效果
+    // if (wrobot.joyx > 10) { // 向右转弯
+    //   left_height = wrobot.height + wrobot.joyx * 0.1;  // 左腿抬高
+    //   right_height = wrobot.height;
     
-    } else if (wrobot.joyx < -10) { // 向左转弯
-      left_height = wrobot.height;
-      right_height = wrobot.height - wrobot.joyx * 0.1;   // 右腿抬高
+    // } else if (wrobot.joyx < -10) { // 向左转弯
+    //   left_height = wrobot.height;
+    //   right_height = wrobot.height - wrobot.joyx * 0.1;   // 右腿抬高
     
-    } else { // 正常情况
+    // } else { // 正常情况
 
       // Serial.print("roll_offset: ");
       // Serial.println(roll_offset);
@@ -563,7 +555,7 @@ void leg_loop()
       // 计算三角函数值
       float angleRad = abs(roll_offset) * (pi / 180.0); // 将角度转换为弧度
       float heightAdjust = 30 * sin(angleRad); // 小车宽度的一半是30毫米，抬高的高度是30毫米*sin(弧度)
-      float RollOffset = 18; // 所以水平高度需要加上调整高度，否则线下倾斜无法向下了
+      float RollOffset = 18; // 所以水平高度需要加上调整高度，否则向下倾斜无法向下了
       if (roll_offset > 10) {
         // 正数，左脚高度 60，右脚高度 40
         // 因为车身高度最小32，所以水平高度需要加上调整高度15，否则线下倾斜无法向下了
@@ -580,23 +572,38 @@ void leg_loop()
         left_height = wrobot.height;
         right_height = wrobot.height;
       }
-    }
+    // }
 
     // 根据新的高度计算舵机位置
-    // 左 = 0，右 = 1
-    // 2048是舵机中间位置，12是微调偏移量，8,4是系数，32是默认高度，最高80，最低32
-    Position[0] = 2048 + 12 + 8.4 * (left_height - 32) - leg_position_add; 
+    // id 1 [0] 正面看右手，id 2 正面看左手 [1]
+    // 舵机id 1：1900（机身最矮）  2400（机身最高）
+    // 舵机id 2：2300（机身最矮）  1800（机身最高）
+    // 2048是舵机中间位置，12是微调偏移量，8.4是系数，32是默认高度，最高80，最低32
+    Position[0] = 2048 + 12 + 8.4 * (left_height - 32) - leg_position_add;
     Position[1] = 2048 - 12 - 8.4 * (right_height - 32) - leg_position_add;
+    // Position[0] = 2048 + 12 + 8.4 * (left_height - 52) - leg_position_add;  // -52 机身下降20
+    // Position[1] = 2048 - 12 - 8.4 * (right_height - 52) - leg_position_add;
+    // Position[0] = 2048 + 12 + 8.4 * (left_height - 0) - leg_position_add; // 不减32 机身高度默认抬高32
+    // Position[1] = 2048 - 12 - 8.4 * (right_height - 0) - leg_position_add;
+
+    // Serial.print("left_height: ");
+    // Serial.print(left_height);
+    // Serial.print(", right_height: ");
+    // Serial.print(right_height);
+    // Serial.print(", leg_position_add: ");
+    // Serial.println(leg_position_add);
+
 
     // 限制舵机位置范围
-    if (Position[0] < 2110)
-      Position[0] = 2110;
-    else if (Position[0] > 2510)
-      Position[0] = 2510;
-    if (Position[1] < 1586)
-      Position[1] = 1586;
-    else if (Position[1] > 1986)
-      Position[1] = 1986;
+    if (Position[0] < 1900) // 舵机1最低
+      Position[0] = 1900;
+    else if (Position[0] > 2400) // 舵机1最高
+      Position[0] = 2400;
+
+    if (Position[1] < 1800) // 舵机2最高
+      Position[1] = 1800;
+    else if (Position[1] > 2300) // 舵机2最底（和舵机1方向是反的）
+      Position[1] = 2300;
 
     sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
   }
@@ -604,20 +611,20 @@ void leg_loop()
 
 // 跳跃控制
 void jump_loop()
-{ // 5=JUMP,4=STOP 上次动作是跳跃，本次是停止，才开始跳，可能连续发送了很多5跳跃指令，只执行最后一次
+{ // 5=JUMP,4=STOP 上次动作是跳跃5，本次是停止0，才开始跳，因为可能连续发送了很多5跳跃指令，只执行最后一次
   if ((wrobot.dir_last == 5) && (wrobot.dir == 4) && (jump_flag == 0))
-  {
+  { // 跳跃开始
     ACC[0] = 0;
     ACC[1] = 0;
     Speed[0] = 0;
     Speed[1] = 0;
-    Position[0] = 2048 + 12 + 8.4 * (60 - 32); // 原来80 降低腿部高度，即车重心
+    Position[0] = 2048 + 12 + 8.4 * (60 - 32); // 值越大，腿伸的越长，原来80 改为60降低腿部高度，即车重心
     Position[1] = 2048 - 12 - 8.4 * (60 - 32);
     sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
 
     jump_flag = 1;
   }
-  if (jump_flag > 0) // 对应上面设置 jump_flag = 1;
+  if (jump_flag > 0) // 跳跃中，等待30帧，对应上面设置 jump_flag = 1;
   {
     jump_flag++;
     if ((jump_flag > 30) && (jump_flag < 35))
diff --git a/.vscode/extensions.json b/Shibo-main-V4-ESPNOW/.vscode/extensions.json
similarity index 100%
rename from .vscode/extensions.json
rename to Shibo-main-V4-ESPNOW/.vscode/extensions.json
diff --git a/Shibo-main-V4-ESPNOW/.vscode/settings.json b/Shibo-main-V4-ESPNOW/.vscode/settings.json
new file mode 100644
index 0000000..1262e2c
--- /dev/null
+++ b/Shibo-main-V4-ESPNOW/.vscode/settings.json
@@ -0,0 +1,8 @@
+{
+    "cmake.sourceDirectory": "D:/esp32/platformio/shibo/Shibo-main-V4-ESPNOW/lib/ArduinoJson/extras/tests/JsonSerializer",
+    "files.associations": {
+        "istream": "cpp",
+        "ostream": "cpp",
+        "algorithm": "cpp"
+    }
+}
\ No newline at end of file
diff --git a/README.md b/Shibo-main-V4-ESPNOW/README.md
similarity index 100%
rename from README.md
rename to Shibo-main-V4-ESPNOW/README.md
diff --git a/include/Servo_STS3032.h b/Shibo-main-V4-ESPNOW/include/Servo_STS3032.h
similarity index 100%
rename from include/Servo_STS3032.h
rename to Shibo-main-V4-ESPNOW/include/Servo_STS3032.h
diff --git a/include/basic_web.h b/Shibo-main-V4-ESPNOW/include/basic_web.h
similarity index 100%
rename from include/basic_web.h
rename to Shibo-main-V4-ESPNOW/include/basic_web.h
diff --git a/include/main.h b/Shibo-main-V4-ESPNOW/include/main.h
similarity index 100%
rename from include/main.h
rename to Shibo-main-V4-ESPNOW/include/main.h
diff --git a/include/robot.h b/Shibo-main-V4-ESPNOW/include/robot.h
similarity index 100%
rename from include/robot.h
rename to Shibo-main-V4-ESPNOW/include/robot.h
diff --git a/include/wifi_config.h b/Shibo-main-V4-ESPNOW/include/wifi_config.h
similarity index 100%
rename from include/wifi_config.h
rename to Shibo-main-V4-ESPNOW/include/wifi_config.h
diff --git a/lib/ArduinoJson/ArduinoJson.h b/Shibo-main-V4-ESPNOW/lib/ArduinoJson/ArduinoJson.h
similarity index 100%
rename from lib/ArduinoJson/ArduinoJson.h
rename to Shibo-main-V4-ESPNOW/lib/ArduinoJson/ArduinoJson.h
diff --git a/lib/ArduinoJson/CHANGELOG.md b/Shibo-main-V4-ESPNOW/lib/ArduinoJson/CHANGELOG.md
similarity index 100%
rename from lib/ArduinoJson/CHANGELOG.md
rename to Shibo-main-V4-ESPNOW/lib/ArduinoJson/CHANGELOG.md
diff --git a/lib/ArduinoJson/CMakeLists.txt b/Shibo-main-V4-ESPNOW/lib/ArduinoJson/CMakeLists.txt
similarity index 100%
rename from lib/ArduinoJson/CMakeLists.txt
rename to Shibo-main-V4-ESPNOW/lib/ArduinoJson/CMakeLists.txt
diff --git a/lib/ArduinoJson/CONTRIBUTING.md b/Shibo-main-V4-ESPNOW/lib/ArduinoJson/CONTRIBUTING.md
similarity index 100%
rename from lib/ArduinoJson/CONTRIBUTING.md
rename to Shibo-main-V4-ESPNOW/lib/ArduinoJson/CONTRIBUTING.md
diff --git a/lib/ArduinoJson/LICENSE.txt b/Shibo-main-V4-ESPNOW/lib/ArduinoJson/LICENSE.txt
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diff --git a/lib/ArduinoJson/src/ArduinoJson/MsgPack/MsgPackDeserializer.hpp b/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/MsgPack/MsgPackDeserializer.hpp
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diff --git a/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/declval.hpp b/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/declval.hpp
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diff --git a/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/enable_if.hpp b/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/enable_if.hpp
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diff --git a/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_base_of.hpp b/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_base_of.hpp
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diff --git a/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_class.hpp b/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_class.hpp
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diff --git a/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_convertible.hpp b/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_convertible.hpp
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diff --git a/lib/Simple_FOC/examples/motion_control/torque_control/encoder/current_control/current_control.ino b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/motion_control/torque_control/encoder/current_control/current_control.ino
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diff --git a/lib/Simple_FOC/examples/osc_control_examples/README.md b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/osc_control_examples/README.md
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diff --git a/lib/Simple_FOC/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_dual_bus_examples/esp32_i2c_dual_bus_example/esp32_i2c_dual_bus_example.ino b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_dual_bus_examples/esp32_i2c_dual_bus_example/esp32_i2c_dual_bus_example.ino
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rename from lib/Simple_FOC/src/StepperMotor.h
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diff --git a/lib/Simple_FOC/src/common/base_classes/BLDCDriver.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/BLDCDriver.h
similarity index 100%
rename from lib/Simple_FOC/src/common/base_classes/BLDCDriver.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/BLDCDriver.h
diff --git a/lib/Simple_FOC/src/common/base_classes/CurrentSense.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/CurrentSense.cpp
similarity index 100%
rename from lib/Simple_FOC/src/common/base_classes/CurrentSense.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/CurrentSense.cpp
diff --git a/lib/Simple_FOC/src/common/base_classes/CurrentSense.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/CurrentSense.h
similarity index 100%
rename from lib/Simple_FOC/src/common/base_classes/CurrentSense.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/CurrentSense.h
diff --git a/lib/Simple_FOC/src/common/base_classes/FOCMotor.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/FOCMotor.cpp
similarity index 100%
rename from lib/Simple_FOC/src/common/base_classes/FOCMotor.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/FOCMotor.cpp
diff --git a/lib/Simple_FOC/src/common/base_classes/FOCMotor.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/FOCMotor.h
similarity index 100%
rename from lib/Simple_FOC/src/common/base_classes/FOCMotor.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/FOCMotor.h
diff --git a/lib/Simple_FOC/src/common/base_classes/Sensor.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/Sensor.cpp
similarity index 100%
rename from lib/Simple_FOC/src/common/base_classes/Sensor.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/Sensor.cpp
diff --git a/lib/Simple_FOC/src/common/base_classes/Sensor.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/Sensor.h
similarity index 100%
rename from lib/Simple_FOC/src/common/base_classes/Sensor.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/Sensor.h
diff --git a/lib/Simple_FOC/src/common/base_classes/StepperDriver.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/StepperDriver.h
similarity index 100%
rename from lib/Simple_FOC/src/common/base_classes/StepperDriver.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/StepperDriver.h
diff --git a/lib/Simple_FOC/src/common/defaults.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/defaults.h
similarity index 100%
rename from lib/Simple_FOC/src/common/defaults.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/defaults.h
diff --git a/lib/Simple_FOC/src/common/foc_utils.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/foc_utils.cpp
similarity index 100%
rename from lib/Simple_FOC/src/common/foc_utils.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/foc_utils.cpp
diff --git a/lib/Simple_FOC/src/common/foc_utils.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/foc_utils.h
similarity index 100%
rename from lib/Simple_FOC/src/common/foc_utils.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/foc_utils.h
diff --git a/lib/Simple_FOC/src/common/lowpass_filter.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/lowpass_filter.cpp
similarity index 100%
rename from lib/Simple_FOC/src/common/lowpass_filter.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/lowpass_filter.cpp
diff --git a/lib/Simple_FOC/src/common/lowpass_filter.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/lowpass_filter.h
similarity index 100%
rename from lib/Simple_FOC/src/common/lowpass_filter.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/lowpass_filter.h
diff --git a/lib/Simple_FOC/src/common/pid.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/pid.cpp
similarity index 100%
rename from lib/Simple_FOC/src/common/pid.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/pid.cpp
diff --git a/lib/Simple_FOC/src/common/pid.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/pid.h
similarity index 100%
rename from lib/Simple_FOC/src/common/pid.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/pid.h
diff --git a/lib/Simple_FOC/src/common/time_utils.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/time_utils.cpp
similarity index 100%
rename from lib/Simple_FOC/src/common/time_utils.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/time_utils.cpp
diff --git a/lib/Simple_FOC/src/common/time_utils.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/time_utils.h
similarity index 100%
rename from lib/Simple_FOC/src/common/time_utils.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/time_utils.h
diff --git a/lib/Simple_FOC/src/communication/Commander.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/Commander.cpp
similarity index 100%
rename from lib/Simple_FOC/src/communication/Commander.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/Commander.cpp
diff --git a/lib/Simple_FOC/src/communication/Commander.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/Commander.h
similarity index 100%
rename from lib/Simple_FOC/src/communication/Commander.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/Commander.h
diff --git a/lib/Simple_FOC/src/communication/StepDirListener.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/StepDirListener.cpp
similarity index 100%
rename from lib/Simple_FOC/src/communication/StepDirListener.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/StepDirListener.cpp
diff --git a/lib/Simple_FOC/src/communication/StepDirListener.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/StepDirListener.h
similarity index 100%
rename from lib/Simple_FOC/src/communication/StepDirListener.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/StepDirListener.h
diff --git a/lib/Simple_FOC/src/communication/commands.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/commands.h
similarity index 100%
rename from lib/Simple_FOC/src/communication/commands.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/commands.h
diff --git a/lib/Simple_FOC/src/current_sense/GenericCurrentSense.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/GenericCurrentSense.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/GenericCurrentSense.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/GenericCurrentSense.cpp
diff --git a/lib/Simple_FOC/src/current_sense/GenericCurrentSense.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/GenericCurrentSense.h
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/GenericCurrentSense.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/GenericCurrentSense.h
diff --git a/lib/Simple_FOC/src/current_sense/InlineCurrentSense.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/InlineCurrentSense.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/InlineCurrentSense.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/InlineCurrentSense.cpp
diff --git a/lib/Simple_FOC/src/current_sense/InlineCurrentSense.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/InlineCurrentSense.h
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/InlineCurrentSense.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/InlineCurrentSense.h
diff --git a/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/LowsideCurrentSense.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.cpp
diff --git a/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.h
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/LowsideCurrentSense.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.h
diff --git a/lib/Simple_FOC/src/current_sense/hardware_api.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_api.h
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_api.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_api.h
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/atmega_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/atmega_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/atmega_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/atmega_mcu.cpp
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/due_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/due_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/due_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/due_mcu.cpp
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.cpp
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.h
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.h
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_ledc_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_ledc_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/esp32_ledc_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_ledc_mcu.cpp
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/esp32_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_mcu.cpp
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/generic_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/generic_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/generic_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/generic_mcu.cpp
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.cpp
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.h
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.h
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/samd_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/samd_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd_mcu.cpp
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/stm32_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/stm32_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32_mcu.cpp
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.cpp
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.h
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.h
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_mcu.cpp
diff --git a/lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp
diff --git a/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h
similarity index 100%
rename from lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h
diff --git a/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/BLDCDriver6PWM.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.cpp
diff --git a/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.h
similarity index 100%
rename from lib/Simple_FOC/src/drivers/BLDCDriver6PWM.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.h
diff --git a/lib/Simple_FOC/src/drivers/StepperDriver2PWM.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver2PWM.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/StepperDriver2PWM.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver2PWM.cpp
diff --git a/lib/Simple_FOC/src/drivers/StepperDriver2PWM.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver2PWM.h
similarity index 100%
rename from lib/Simple_FOC/src/drivers/StepperDriver2PWM.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver2PWM.h
diff --git a/lib/Simple_FOC/src/drivers/StepperDriver4PWM.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver4PWM.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/StepperDriver4PWM.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver4PWM.cpp
diff --git a/lib/Simple_FOC/src/drivers/StepperDriver4PWM.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver4PWM.h
similarity index 100%
rename from lib/Simple_FOC/src/drivers/StepperDriver4PWM.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver4PWM.h
diff --git a/lib/Simple_FOC/src/drivers/hardware_api.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_api.h
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_api.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_api.h
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/atmega328_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega328_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/atmega328_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega328_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/atmega32u4_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega32u4_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/atmega32u4_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega32u4_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/due_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/due_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/due_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/due_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/esp8266_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp8266_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/esp8266_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp8266_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/generic_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/generic_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/generic_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/generic_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/nrf52_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/nrf52_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/nrf52_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/nrf52_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/samd21_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/samd21_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/samd21_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/samd21_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/samd51_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/samd51_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/samd51_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/samd51_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.h
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.h
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/stm32_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/stm32_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/stm32_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/stm32_mcu.cpp
diff --git a/lib/Simple_FOC/src/drivers/hardware_specific/teensy_mcu.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/teensy_mcu.cpp
similarity index 100%
rename from lib/Simple_FOC/src/drivers/hardware_specific/teensy_mcu.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/teensy_mcu.cpp
diff --git a/lib/Simple_FOC/src/sensors/Encoder.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/Encoder.cpp
similarity index 100%
rename from lib/Simple_FOC/src/sensors/Encoder.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/Encoder.cpp
diff --git a/lib/Simple_FOC/src/sensors/Encoder.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/Encoder.h
similarity index 100%
rename from lib/Simple_FOC/src/sensors/Encoder.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/Encoder.h
diff --git a/lib/Simple_FOC/src/sensors/GenericSensor.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/GenericSensor.cpp
similarity index 100%
rename from lib/Simple_FOC/src/sensors/GenericSensor.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/GenericSensor.cpp
diff --git a/lib/Simple_FOC/src/sensors/GenericSensor.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/GenericSensor.h
similarity index 100%
rename from lib/Simple_FOC/src/sensors/GenericSensor.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/GenericSensor.h
diff --git a/lib/Simple_FOC/src/sensors/HallSensor.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/HallSensor.cpp
similarity index 100%
rename from lib/Simple_FOC/src/sensors/HallSensor.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/HallSensor.cpp
diff --git a/lib/Simple_FOC/src/sensors/HallSensor.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/HallSensor.h
similarity index 100%
rename from lib/Simple_FOC/src/sensors/HallSensor.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/HallSensor.h
diff --git a/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.cpp
similarity index 100%
rename from lib/Simple_FOC/src/sensors/MagneticSensorAnalog.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.cpp
diff --git a/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.h
similarity index 100%
rename from lib/Simple_FOC/src/sensors/MagneticSensorAnalog.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.h
diff --git a/lib/Simple_FOC/src/sensors/MagneticSensorI2C.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorI2C.cpp
similarity index 100%
rename from lib/Simple_FOC/src/sensors/MagneticSensorI2C.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorI2C.cpp
diff --git a/lib/Simple_FOC/src/sensors/MagneticSensorI2C.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorI2C.h
similarity index 100%
rename from lib/Simple_FOC/src/sensors/MagneticSensorI2C.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorI2C.h
diff --git a/lib/Simple_FOC/src/sensors/MagneticSensorPWM.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorPWM.cpp
similarity index 100%
rename from lib/Simple_FOC/src/sensors/MagneticSensorPWM.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorPWM.cpp
diff --git a/lib/Simple_FOC/src/sensors/MagneticSensorPWM.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorPWM.h
similarity index 100%
rename from lib/Simple_FOC/src/sensors/MagneticSensorPWM.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorPWM.h
diff --git a/lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp
similarity index 100%
rename from lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp
diff --git a/lib/Simple_FOC/src/sensors/MagneticSensorSPI.h b/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorSPI.h
similarity index 100%
rename from lib/Simple_FOC/src/sensors/MagneticSensorSPI.h
rename to Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorSPI.h
diff --git a/lib/WebSockets/LICENSE b/Shibo-main-V4-ESPNOW/lib/WebSockets/LICENSE
similarity index 100%
rename from lib/WebSockets/LICENSE
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/LICENSE
diff --git a/lib/WebSockets/README.md b/Shibo-main-V4-ESPNOW/lib/WebSockets/README.md
similarity index 100%
rename from lib/WebSockets/README.md
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/README.md
diff --git a/lib/WebSockets/examples/Nginx/esp8266.ssl.reverse.proxy.conf b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/Nginx/esp8266.ssl.reverse.proxy.conf
similarity index 100%
rename from lib/WebSockets/examples/Nginx/esp8266.ssl.reverse.proxy.conf
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/Nginx/esp8266.ssl.reverse.proxy.conf
diff --git a/lib/WebSockets/examples/avr/WebSocketClientAVR/WebSocketClientAVR.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/avr/WebSocketClientAVR/WebSocketClientAVR.ino
similarity index 100%
rename from lib/WebSockets/examples/avr/WebSocketClientAVR/WebSocketClientAVR.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/avr/WebSocketClientAVR/WebSocketClientAVR.ino
diff --git a/lib/WebSockets/examples/esp32/WebSocketClient/WebSocketClient.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp32/WebSocketClient/WebSocketClient.ino
similarity index 100%
rename from lib/WebSockets/examples/esp32/WebSocketClient/WebSocketClient.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp32/WebSocketClient/WebSocketClient.ino
diff --git a/lib/WebSockets/examples/esp32/WebSocketClientSSL/WebSocketClientSSL.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp32/WebSocketClientSSL/WebSocketClientSSL.ino
similarity index 100%
rename from lib/WebSockets/examples/esp32/WebSocketClientSSL/WebSocketClientSSL.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp32/WebSocketClientSSL/WebSocketClientSSL.ino
diff --git a/lib/WebSockets/examples/esp32/WebSocketClientSocketIOack/WebSocketClientSocketIOack.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp32/WebSocketClientSocketIOack/WebSocketClientSocketIOack.ino
similarity index 100%
rename from lib/WebSockets/examples/esp32/WebSocketClientSocketIOack/WebSocketClientSocketIOack.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp32/WebSocketClientSocketIOack/WebSocketClientSocketIOack.ino
diff --git a/lib/WebSockets/examples/esp32/WebSocketServer/WebSocketServer.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp32/WebSocketServer/WebSocketServer.ino
similarity index 100%
rename from lib/WebSockets/examples/esp32/WebSocketServer/WebSocketServer.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp32/WebSocketServer/WebSocketServer.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketClient/WebSocketClient.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClient/WebSocketClient.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketClient/WebSocketClient.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClient/WebSocketClient.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketClientOTA/README.md b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientOTA/README.md
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketClientOTA/README.md
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientOTA/README.md
diff --git a/lib/WebSockets/examples/esp8266/WebSocketClientOTA/WebSocketClientOTA.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientOTA/WebSocketClientOTA.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketClientOTA/WebSocketClientOTA.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientOTA/WebSocketClientOTA.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketClientOTA/python_ota_server/main.py b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientOTA/python_ota_server/main.py
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketClientOTA/python_ota_server/main.py
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientOTA/python_ota_server/main.py
diff --git a/lib/WebSockets/examples/esp8266/WebSocketClientOTA/python_ota_server/requirements.txt b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientOTA/python_ota_server/requirements.txt
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketClientOTA/python_ota_server/requirements.txt
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientOTA/python_ota_server/requirements.txt
diff --git a/lib/WebSockets/examples/esp8266/WebSocketClientSSL/WebSocketClientSSL.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientSSL/WebSocketClientSSL.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketClientSSL/WebSocketClientSSL.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientSSL/WebSocketClientSSL.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketClientSSLWithCA/WebSocketClientSSLWithCA.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientSSLWithCA/WebSocketClientSSLWithCA.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketClientSSLWithCA/WebSocketClientSSLWithCA.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientSSLWithCA/WebSocketClientSSLWithCA.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketClientSocketIO/WebSocketClientSocketIO.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientSocketIO/WebSocketClientSocketIO.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketClientSocketIO/WebSocketClientSocketIO.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientSocketIO/WebSocketClientSocketIO.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketClientSocketIOack/WebSocketClientSocketIOack.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientSocketIOack/WebSocketClientSocketIOack.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketClientSocketIOack/WebSocketClientSocketIOack.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientSocketIOack/WebSocketClientSocketIOack.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketClientStomp/WebSocketClientStomp.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientStomp/WebSocketClientStomp.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketClientStomp/WebSocketClientStomp.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientStomp/WebSocketClientStomp.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketClientStompOverSockJs/WebSocketClientStompOverSockJs.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientStompOverSockJs/WebSocketClientStompOverSockJs.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketClientStompOverSockJs/WebSocketClientStompOverSockJs.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketClientStompOverSockJs/WebSocketClientStompOverSockJs.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketServer/WebSocketServer.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServer/WebSocketServer.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketServer/WebSocketServer.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServer/WebSocketServer.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketServerAllFunctionsDemo/WebSocketServerAllFunctionsDemo.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerAllFunctionsDemo/WebSocketServerAllFunctionsDemo.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketServerAllFunctionsDemo/WebSocketServerAllFunctionsDemo.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerAllFunctionsDemo/WebSocketServerAllFunctionsDemo.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketServerFragmentation/WebSocketServerFragmentation.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerFragmentation/WebSocketServerFragmentation.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketServerFragmentation/WebSocketServerFragmentation.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerFragmentation/WebSocketServerFragmentation.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketServerHooked/WebSocketServerHooked.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerHooked/WebSocketServerHooked.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketServerHooked/WebSocketServerHooked.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerHooked/WebSocketServerHooked.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketServerHooked/emu b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerHooked/emu
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketServerHooked/emu
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerHooked/emu
diff --git a/lib/WebSockets/examples/esp8266/WebSocketServerHooked/ws-testclient.py b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerHooked/ws-testclient.py
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketServerHooked/ws-testclient.py
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerHooked/ws-testclient.py
diff --git a/lib/WebSockets/examples/esp8266/WebSocketServerHttpHeaderValidation/WebSocketServerHttpHeaderValidation.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerHttpHeaderValidation/WebSocketServerHttpHeaderValidation.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketServerHttpHeaderValidation/WebSocketServerHttpHeaderValidation.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerHttpHeaderValidation/WebSocketServerHttpHeaderValidation.ino
diff --git a/lib/WebSockets/examples/esp8266/WebSocketServer_LEDcontrol/WebSocketServer_LEDcontrol.ino b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServer_LEDcontrol/WebSocketServer_LEDcontrol.ino
similarity index 100%
rename from lib/WebSockets/examples/esp8266/WebSocketServer_LEDcontrol/WebSocketServer_LEDcontrol.ino
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServer_LEDcontrol/WebSocketServer_LEDcontrol.ino
diff --git a/lib/WebSockets/examples/particle/ParticleWebSocketClient/application.cpp b/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/particle/ParticleWebSocketClient/application.cpp
similarity index 100%
rename from lib/WebSockets/examples/particle/ParticleWebSocketClient/application.cpp
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/examples/particle/ParticleWebSocketClient/application.cpp
diff --git a/lib/WebSockets/library.json b/Shibo-main-V4-ESPNOW/lib/WebSockets/library.json
similarity index 100%
rename from lib/WebSockets/library.json
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/library.json
diff --git a/lib/WebSockets/library.properties b/Shibo-main-V4-ESPNOW/lib/WebSockets/library.properties
similarity index 100%
rename from lib/WebSockets/library.properties
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/library.properties
diff --git a/lib/WebSockets/src/SocketIOclient.cpp b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/SocketIOclient.cpp
similarity index 100%
rename from lib/WebSockets/src/SocketIOclient.cpp
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/SocketIOclient.cpp
diff --git a/lib/WebSockets/src/SocketIOclient.h b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/SocketIOclient.h
similarity index 100%
rename from lib/WebSockets/src/SocketIOclient.h
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/SocketIOclient.h
diff --git a/lib/WebSockets/src/WebSockets.cpp b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSockets.cpp
similarity index 100%
rename from lib/WebSockets/src/WebSockets.cpp
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSockets.cpp
diff --git a/lib/WebSockets/src/WebSockets.h b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSockets.h
similarity index 100%
rename from lib/WebSockets/src/WebSockets.h
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSockets.h
diff --git a/lib/WebSockets/src/WebSockets4WebServer.h b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSockets4WebServer.h
similarity index 100%
rename from lib/WebSockets/src/WebSockets4WebServer.h
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSockets4WebServer.h
diff --git a/lib/WebSockets/src/WebSocketsClient.cpp b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsClient.cpp
similarity index 100%
rename from lib/WebSockets/src/WebSocketsClient.cpp
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsClient.cpp
diff --git a/lib/WebSockets/src/WebSocketsClient.h b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsClient.h
similarity index 100%
rename from lib/WebSockets/src/WebSocketsClient.h
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsClient.h
diff --git a/lib/WebSockets/src/WebSocketsServer.cpp b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsServer.cpp
similarity index 100%
rename from lib/WebSockets/src/WebSocketsServer.cpp
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsServer.cpp
diff --git a/lib/WebSockets/src/WebSocketsServer.h b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsServer.h
similarity index 100%
rename from lib/WebSockets/src/WebSocketsServer.h
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsServer.h
diff --git a/lib/WebSockets/src/WebSocketsVersion.h b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsVersion.h
similarity index 100%
rename from lib/WebSockets/src/WebSocketsVersion.h
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsVersion.h
diff --git a/lib/WebSockets/src/libb64/AUTHORS b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/AUTHORS
similarity index 100%
rename from lib/WebSockets/src/libb64/AUTHORS
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/AUTHORS
diff --git a/lib/WebSockets/src/libb64/LICENSE b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/LICENSE
similarity index 100%
rename from lib/WebSockets/src/libb64/LICENSE
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/LICENSE
diff --git a/lib/WebSockets/src/libb64/cdecode.c b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/cdecode.c
similarity index 100%
rename from lib/WebSockets/src/libb64/cdecode.c
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/cdecode.c
diff --git a/lib/WebSockets/src/libb64/cdecode_inc.h b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/cdecode_inc.h
similarity index 100%
rename from lib/WebSockets/src/libb64/cdecode_inc.h
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/cdecode_inc.h
diff --git a/lib/WebSockets/src/libb64/cencode.c b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/cencode.c
similarity index 100%
rename from lib/WebSockets/src/libb64/cencode.c
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/cencode.c
diff --git a/lib/WebSockets/src/libb64/cencode_inc.h b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/cencode_inc.h
similarity index 100%
rename from lib/WebSockets/src/libb64/cencode_inc.h
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/cencode_inc.h
diff --git a/lib/WebSockets/src/libsha1/libsha1.c b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/libsha1/libsha1.c
similarity index 100%
rename from lib/WebSockets/src/libsha1/libsha1.c
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/libsha1/libsha1.c
diff --git a/lib/WebSockets/src/libsha1/libsha1.h b/Shibo-main-V4-ESPNOW/lib/WebSockets/src/libsha1/libsha1.h
similarity index 100%
rename from lib/WebSockets/src/libsha1/libsha1.h
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/src/libsha1/libsha1.h
diff --git a/lib/WebSockets/tests/webSocket.html b/Shibo-main-V4-ESPNOW/lib/WebSockets/tests/webSocket.html
similarity index 100%
rename from lib/WebSockets/tests/webSocket.html
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/tests/webSocket.html
diff --git a/lib/WebSockets/tests/webSocketServer/index.js b/Shibo-main-V4-ESPNOW/lib/WebSockets/tests/webSocketServer/index.js
similarity index 100%
rename from lib/WebSockets/tests/webSocketServer/index.js
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/tests/webSocketServer/index.js
diff --git a/lib/WebSockets/tests/webSocketServer/package.json b/Shibo-main-V4-ESPNOW/lib/WebSockets/tests/webSocketServer/package.json
similarity index 100%
rename from lib/WebSockets/tests/webSocketServer/package.json
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/tests/webSocketServer/package.json
diff --git a/lib/WebSockets/travis/common.sh b/Shibo-main-V4-ESPNOW/lib/WebSockets/travis/common.sh
similarity index 100%
rename from lib/WebSockets/travis/common.sh
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/travis/common.sh
diff --git a/lib/WebSockets/travis/version.py b/Shibo-main-V4-ESPNOW/lib/WebSockets/travis/version.py
similarity index 100%
rename from lib/WebSockets/travis/version.py
rename to Shibo-main-V4-ESPNOW/lib/WebSockets/travis/version.py
diff --git a/platformio.ini b/Shibo-main-V4-ESPNOW/platformio.ini
similarity index 100%
rename from platformio.ini
rename to Shibo-main-V4-ESPNOW/platformio.ini
diff --git a/src/Servo_STS3032.cpp b/Shibo-main-V4-ESPNOW/src/Servo_STS3032.cpp
similarity index 100%
rename from src/Servo_STS3032.cpp
rename to Shibo-main-V4-ESPNOW/src/Servo_STS3032.cpp
diff --git a/Shibo-main-V4-ESPNOW/src/main.cpp b/Shibo-main-V4-ESPNOW/src/main.cpp
new file mode 100644
index 0000000..1767b45
--- /dev/null
+++ b/Shibo-main-V4-ESPNOW/src/main.cpp
@@ -0,0 +1,759 @@
+// -----------------------------------------------------------------------------
+// Copyright (c) 2024 Mu Shibo
+// Modify by Tommy 2025.8.9
+// -----------------------------------------------------------------------------
+
+#include <esp_now.h>
+#include <WiFi.h>
+#include "main.h"
+
+/************实例定义*************/
+
+// 电机实例
+BLDCMotor motor1 = BLDCMotor(7);
+BLDCMotor motor2 = BLDCMotor(7);
+BLDCDriver3PWM driver1 = BLDCDriver3PWM(32, 33, 25, 22);
+BLDCDriver3PWM driver2 = BLDCDriver3PWM(26, 27, 14, 12);
+
+// 编码器实例
+TwoWire I2Cone = TwoWire(0);
+TwoWire I2Ctwo = TwoWire(1);
+MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);
+MagneticSensorI2C sensor2 = MagneticSensorI2C(AS5600_I2C);
+
+// PID控制器实例
+PIDController pid_angle(1, 0, 0, 100000, 8); // pitch角度PID使其趋于零点
+PIDController pid_gyro(0.06, 0, 0, 100000, 8); // 角速度PID使其趋于零点
+PIDController pid_distance(0.5, 0, 0, 100000, 8);// 位移PID使其趋于零点
+PIDController pid_speed(0.7, 0, 0, 100000, 8);// 速度PID使其趋于目标速度
+PIDController pid_yaw_angle(1.0, 0, 0, 100000, 8);
+PIDController pid_yaw_gyro(0.04, 0, 0, 100000, 8);
+PIDController pid_lqr_u(1, 15, 0, 100000, 8);
+PIDController pid_zeropoint(0.002, 0, 0, 100000, 4);
+PIDController pid_roll_angle(8, 0, 0, 100000, 450);
+
+// 低通滤波器实例
+LowPassFilter lpf_joyy(0.2);
+LowPassFilter lpf_zeropoint(0.1);
+LowPassFilter lpf_roll(0.3);
+
+void blinkLED();// 定义触发爆闪功能的函数
+
+// WebServer实例
+WebServer webserver;                               // server服务器
+WebSocketsServer websocket = WebSocketsServer(81); // 定义一个webSocket服务器来处理客户发送的消息
+RobotProtocol rp(20);
+
+// STS舵机实例
+SMS_STS sms_sts;
+
+// MPU6050实例
+MPU6050 mpu6050(I2Ctwo);
+
+/************参数定义*************/
+#define pi 3.1415927
+
+// 舵机位置限制参数
+#define SERVO1_MIN 1900 // 舵机1最低 从小车正面看右手
+#define SERVO1_MAX 2400 // 舵机1最高
+#define SERVO2_MIN 2300 // 舵机2最低 从小车正面看左手(注意大小值与舵机1是相反的)
+#define SERVO2_MAX 1800 // 舵机2最高
+
+// LQR自平衡控制器参数
+float LQR_angle = 0;
+float LQR_gyro = 0;
+float LQR_speed = 0;
+float LQR_distance = 0;
+float angle_control = 0;
+float gyro_control = 0;
+float speed_control = 0;
+float distance_control = 0;
+float LQR_u = 0;
+float angle_zeropoint = 5;  // 3.4 在理想平衡状态下俯仰角度，向前到正，向后倒负
+float distance_zeropoint = -256.0; // 轮部位移零点偏置（-256为一个不可能的位移值，将其作为未刷新的标志）
+
+// YAW轴控制数据
+float YAW_gyro = 0;
+float YAW_angle = 0;
+float YAW_angle_last = 0;
+float YAW_angle_total = 0;
+float YAW_angle_zero_point = -10;
+float YAW_output = 0;
+
+// 腿部舵机控制数据
+byte ID[2];
+s16 Position[2];
+u16 Speed[2];
+byte ACC[2];
+
+// 逻辑处理标志位
+float robot_speed = 0;         // 记录当前轮部转速
+float robot_speed_last = 0;    // 记录上一时刻的轮部转速
+int wrobot_move_stop_flag = 0; // 记录摇杆停止的标识
+int jump_flag = 0;             // 跳跃时段标识
+float leg_position_add = 0;    // roll轴平衡控制量
+
+
+
+// 电压检测
+uint16_t bat_check_num = 0;
+int BAT_PIN = 35; // select the input pin for the ADC
+static esp_adc_cal_characteristics_t adc_chars;
+static const adc1_channel_t channel = ADC1_CHANNEL_7;
+static const adc_bits_width_t width = ADC_WIDTH_BIT_12;
+static const adc_atten_t atten = ADC_ATTEN_DB_11;
+static const adc_unit_t unit = ADC_UNIT_1;
+
+// 电量显示LED
+#define LED_BAT 13
+
+
+// 定义死区参数
+const int deadZone = 15;
+
+
+typedef struct {
+  byte j1PotX;  // 左摇杆X  (0-255)
+  byte j1PotY;  // 左摇杆Y  (0-255)
+  byte j2PotX;  // 右摇杆X  (0-255)
+  byte j2PotY;  // 右摇杆Y (0-255)
+  bool buttonR1;  //底部右按键 1：true （默认），0：false
+  bool buttonR2;  //底部左按键 1：true （默认），0：false
+  bool j1Button;  //左摇杆按键 1：true （默认），0：false
+  bool j2Button;  //右摇杆按键 1：true （默认），0：false
+  bool buttonLB;  //顶部左按键 1：true （默认），0：false
+  bool buttonRB;  //顶部右按键 1：true （默认），0：false
+  bool tSwitch1;  //拨动开关   1：true （默认），0：false 
+  byte roll;      //用于M5StackCore2或未来增加的陀螺仪功能
+  byte pitch;
+  bool buttonR3;
+} JoystickData;
+
+JoystickData remoteData;
+
+// 蓝灯爆闪
+bool lastbuttonLB = false;
+
+
+// ESP-NOW接收回调函数
+void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len) {
+  memcpy(&remoteData, incomingData, sizeof(remoteData));
+
+  // Serial.print("j1PotX: ");
+  // Serial.print(remoteData.j1PotX);
+  // Serial.print(", j1PotY: ");
+  // Serial.print(remoteData.j1PotY);
+  // Serial.print(", j2PotX: ");
+  // Serial.print(remoteData.j2PotX);
+  // Serial.print(", j2PotY: ");
+  // Serial.print(remoteData.j2PotY);
+  // Serial.print(", j1Button: ");
+  // Serial.print(remoteData.j1Button);
+  // Serial.print(", j2Button: ");
+  // Serial.println(remoteData.j2Button);
+
+  // 转换摇杆值，范围从 0-255 转到 -100 到 100
+  // roll 左右摇摆
+  int convertedJ1PotX = (remoteData.j1PotX - 127.5) * (30.0 / 127.5); // 转到 -30 到 30
+  // 上下高度
+  int convertedJ1PotY = static_cast<int>((1 - remoteData.j1PotY / 255.0) * (60 - 0) + 0); // 转到 60 到 0  y轴取反，这样可以使机身下降
+  // 左右旋转
+  int convertedJ2PotX = (remoteData.j2PotX - 127.5) * (100.0 / 127.5); // 转到 -100 到 100
+  // 速度
+  int convertedJ2PotY = (remoteData.j2PotY - 127.5) * (100.0 / 127.5) * -1 * 1.2; // 转到 -100 到 100 y轴取反,并且放大洗漱
+  
+  // 取反按钮值，使得默认显示 0 false，按下显示 1 true
+  int convertedbuttonLB = !remoteData.buttonLB; // 顶部左
+  int convertedbuttonRB = !remoteData.buttonRB; // 顶部右
+
+  // 跳跃
+  if (convertedbuttonRB) { // 1=true，0=false
+    wrobot.dir = 5; // 跳跃
+  }else{
+    wrobot.dir = 4; // 停止
+  }
+
+  // led蓝灯爆闪
+  if (lastbuttonLB && !convertedbuttonLB) {
+    blinkLED();
+  }
+  // 更新上次 lastbuttonRB 的值
+  lastbuttonLB = convertedbuttonLB;
+
+  if(abs(convertedJ1PotY) > deadZone) {    // 上下高度 15 ~ 75
+    wrobot.height = convertedJ1PotY;
+  }else{
+    wrobot.height = 0;
+  }
+  // Serial.print("convertedJ1PotY:");
+  // Serial.print(convertedJ1PotY);
+  // Serial.print(",wrobot.height:");
+  // Serial.println(wrobot.height);
+
+  if(abs(convertedJ1PotX) > deadZone) {    // 左右摇摆 -30 ~ 30
+    wrobot.roll  = convertedJ1PotX;
+  }else{
+    wrobot.roll = 0;
+  }
+  if(abs(convertedJ2PotY) > deadZone) {    // 前后运动 -100 到 100
+    wrobot.joyy = convertedJ2PotY;
+  }else{
+    wrobot.joyy = 0;
+  } 
+  if(abs(convertedJ2PotX) > deadZone) { // 左右运动  -100 到 100
+    wrobot.joyx = convertedJ2PotX; 
+  } else {
+    wrobot.joyx = 0;
+  }
+}
+
+void setup()
+{
+  Serial.begin(115200);   // 通讯串口
+  Serial2.begin(1000000); // 腿部sts舵机
+
+  // Wifi初始化
+  WiFi_SetAP();
+  webserver.begin();
+  webserver.on("/", HTTP_GET, basicWebCallback);
+  websocket.begin();
+  websocket.onEvent(webSocketEventCallback);
+
+  // ESPNOW协议
+  WiFi.mode(WIFI_MODE_STA); // 先设置为STA模式
+  delay(100); // 短暂延迟
+  // Serial.print("MAC Address: ");
+  // Serial.println(WiFi.macAddress());
+
+    // 初始化ESP-NOW
+  WiFi.mode(WIFI_STA);
+  if (esp_now_init() != ESP_OK) {
+    Serial.println("Error initializing ESP-NOW");
+    return;
+  }
+  esp_now_register_recv_cb(OnDataRecv);
+
+  // 舵机初始化
+  sms_sts.pSerial = &Serial2;
+  ID[0] = 1;
+  ID[1] = 2;
+  ACC[0] = 30;
+  ACC[1] = 30;
+  Speed[0] = 400;
+  Speed[1] = 400;
+  Position[0] = 2048;
+  Position[1] = 2048;
+  // 舵机(ID1/ID2)以最高速度V=2400步/秒，加速度A=50(50*100步/秒^2)，运行至各自的Position位置
+  sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
+  delay(500);
+
+  // 电压检测
+  adc_calibration_init();
+  adc1_config_width(width);
+  adc1_config_channel_atten(channel, atten);
+  esp_adc_cal_characterize(unit, atten, width, 0, &adc_chars);
+
+  // 电量显示LED
+  pinMode(LED_BAT, OUTPUT);
+
+  // 编码器设置
+  I2Cone.begin(19, 18, 400000UL);
+  I2Ctwo.begin(23, 5, 400000UL);
+  sensor1.init(&I2Cone);
+  sensor2.init(&I2Ctwo);
+
+  // mpu6050设置
+  mpu6050.begin();
+  mpu6050.calcGyroOffsets(true);
+
+  // 连接motor对象与编码器对象
+  motor1.linkSensor(&sensor1);
+  motor2.linkSensor(&sensor2);
+
+  // 速度环PID参数
+  motor1.PID_velocity.P = 0.05;
+  motor1.PID_velocity.I = 1;
+  motor1.PID_velocity.D = 0;
+
+  motor2.PID_velocity.P = 0.05;
+  motor2.PID_velocity.I = 1;
+  motor2.PID_velocity.D = 0;
+
+  // 驱动器设置
+  motor1.voltage_sensor_align = 6;
+  motor2.voltage_sensor_align = 6;
+  driver1.voltage_power_supply = 8;
+  driver2.voltage_power_supply = 8;
+  driver1.init();
+  driver2.init();
+
+  // 连接motor对象与驱动器对象
+  motor1.linkDriver(&driver1);
+  motor2.linkDriver(&driver2);
+
+  motor1.torque_controller = TorqueControlType::voltage;
+  motor2.torque_controller = TorqueControlType::voltage;
+  motor1.controller = MotionControlType::torque;
+  motor2.controller = MotionControlType::torque;
+
+  // monitor相关设置
+  motor1.useMonitoring(Serial);
+  motor2.useMonitoring(Serial);
+  // 电机初始化
+  motor1.init();
+  motor1.initFOC();
+  motor2.init();
+  motor2.initFOC();
+
+  delay(500);
+}
+
+void loop()
+{
+  
+  bat_check();        // 电压检测
+  web_loop();         // Web数据更新
+  mpu6050.update();   // IMU数据更新
+  lqr_balance_loop(); // lqr自平衡控制，更新LQR_u
+  yaw_loop();         // yaw轴转向控制，更新YAW_output
+  leg_loop();         // 腿部动作控制，控制舵机SyncWritePosEx，包括判断jump_loop
+
+  // 记录上一次的遥控数据数据
+  wrobot.dir_last = wrobot.dir;
+  wrobot.joyx_last = wrobot.joyx;
+  wrobot.joyy_last = wrobot.joyy;
+
+  // 将自平衡计算输出转矩赋给电机
+  motor1.target = (-0.5) * (LQR_u + YAW_output);
+  motor2.target = (-0.5) * (LQR_u - YAW_output);
+  
+  // 查看角度信息, 屁股向后倒 -36度，头向前到底 45度
+  //  Serial.println(LQR_angle)
+
+  // 向后倒地 -36度，向前倒地 45度，超出这个区间，或者跳跃中，马达就不要转动了
+  // if(LQR_angle < -40.0f ||  LQR_angle > 55.0f || jump_flag > 1  ) {
+  //   motor1.target = 0;
+  //   motor2.target = 0;
+  // }
+
+  // 迭代计算FOC相电压
+  motor1.loopFOC();
+  motor2.loopFOC();
+
+  // 设置轮部电机输出
+  motor1.move();
+  motor2.move();
+} // -----------------  void loop()
+
+// lqr自平衡控制
+void lqr_balance_loop()
+{
+  // LQR_distance,LQR_speed,LQR_angle,LQR_gyro 通过编码器或者mpu实际测得
+  // angle_zeropoint，distance_zeropoint 角度零点和位置零点（在理想平衡状态下俯仰角度和位移目标值），用于和实际值做差，得到控制
+  // angle_control , gyro_control , distance_control , speed_control : lqr 控制参数
+  
+  // LQR平衡算式，实际使用中为便于调参，讲算式分解为4个P控制，采用PIDController方法在commander中实时调试
+  // LQR_u = LQR_k1*(LQR_angle - angle_zeropoint) 
+        // + LQR_k2*LQR_gyro 
+        // + LQR_k3*(LQR_distance - distance_zeropoint) 
+        // + LQR_k4*LQR_speed;
+
+  // 给负值是因为按照当前的电机接线，正转矩会向后转
+  // 编码器反馈shaft_angle，计算电机转轴角度平均数
+  LQR_distance = (-0.5) * (motor1.shaft_angle + motor2.shaft_angle); 
+  // 编码器反馈实时角速度，计算电机转速平均数
+  LQR_speed = (-0.5) * (motor1.shaft_velocity + motor2.shaft_velocity); 
+  LQR_angle = (float)mpu6050.getAngleY(); // pitch 角度，向前倒正数，向后倒负数
+  LQR_gyro = (float)mpu6050.getGyroY(); // pitch 角速度
+
+  // 如果刚开机，车轮不动的，shaft_angle和shaft_velocity 都是零
+  // LQR_distance 和 LQR_speed都是零
+  // Serial.print("LQR_distance:");
+  // Serial.print(LQR_distance);
+  // Serial.print(",LQR_speed:");
+  // Serial.print(LQR_speed);
+  // Serial.print(",LQR_angle:");
+  // Serial.print(LQR_angle);
+  // Serial.print(",LQR_gyro:");
+  // Serial.print(LQR_gyro);
+
+
+  // 计算pitch的角度和角速度的pid控制值
+  // 实际pitch角度与零点的差值，目标值是零
+  // 计算角度误差，并通过 PID 控制器得到角度控制量
+  angle_control = pid_angle(LQR_angle - angle_zeropoint); 
+  // 实际pitch 角速度与目标值的差值，目标值是零
+  // 通过 PID 控制器对角速度进行处理，得到角速度控制量
+  gyro_control = pid_gyro(LQR_gyro);
+
+  // 运动细节优化处理
+  if (wrobot.joyy != 0) // 有前后方向运动指令时的处理
+  {
+    distance_zeropoint = LQR_distance; // 位移零点重置
+    pid_lqr_u.error_prev = 0;          // 输出积分清零
+  }
+  // joyy=0，没有输出前后运动，但是小车可能被推动，运动指令复零时的原地停车处理
+  if ((wrobot.joyx_last != 0 && wrobot.joyx == 0) || (wrobot.joyy_last != 0 && wrobot.joyy == 0)) 
+  {
+    wrobot_move_stop_flag = 1;
+  }
+  if ((wrobot_move_stop_flag == 1) && (abs(LQR_speed) < 0.5))
+  {
+    distance_zeropoint = LQR_distance; // 位移零点重置
+    wrobot_move_stop_flag = 0;
+  }
+
+  if (abs(LQR_speed) > 15) // 被快速推动时的原地停车处理
+  {
+    distance_zeropoint = LQR_distance; // 位移零点重置
+  }
+
+  // 计算pitch的角度和角速度的pid控制值
+  // 电机转轴角度平均数(上面计算)-位移零点=实际位移与零点的差值, 目标值是零
+  // 计算位移误差，并通过位移 PID 控制器得到位移控制量
+  distance_control = pid_distance(LQR_distance - distance_zeropoint); 
+  // 电机转速平均数(上面计算)-速度目标值=实际转速与目标值的差值, 目标值是零
+  // 计算速度误差（实际速度减去经过低通滤波和缩放后的遥控器期望速度），并通过速度 PID 控制器得到速度控制量
+  speed_control = pid_speed(LQR_speed - 0.1 * lpf_joyy(wrobot.joyy));
+
+  // 轮部离地检测
+  robot_speed_last = robot_speed; // 记录连续两次的轮部转速
+  robot_speed = LQR_speed;
+  // 若轮部角速度、角加速度过大或处于跳跃后的恢复时期，认为出现轮部离地现象，需要特殊处理
+  // 轮部离地情况下，对轮部分量不输出；反之，正常状态下完整输出平衡转矩
+  if (abs(robot_speed - robot_speed_last) > 10 || abs(robot_speed) > 50 || (jump_flag != 0)) 
+  {
+    distance_zeropoint = LQR_distance;    // 位移零点重置
+    LQR_u = angle_control + gyro_control; // 轮部离地情况下，对轮部分量不输出；反之，正常状态下完整输出平衡转矩
+    pid_lqr_u.error_prev = 0;             // 输出积分清零
+  }
+  else
+  {
+    // 当轮部未离地时，LQR_u 包含:角度控制量、角速度控制量、位移控制量和速度控制量，以实现完整的自平衡控制
+    LQR_u = angle_control + gyro_control + distance_control + speed_control;
+    // 计算得到LQR_u在loop()函数中在几个子loop执行完，被motor1和motor2执行
+    
+  }
+
+  // 触发条件：遥控器无信号输入joyy=0、轮部位移控制正常介入distance_ctl<4、不处于跳跃后的恢复时期jump_flag=0
+  if (abs(LQR_u) < 5 && wrobot.joyy == 0 && abs(distance_control) < 4 && (jump_flag == 0))
+  {
+
+    LQR_u = pid_lqr_u(LQR_u); // 小转矩非线性补偿
+    // Serial.println(LQR_u);
+
+    // lpf_zeropoint 是一个低通滤波器，对 distance_control 进行滤波处理，减少高频噪声的影响。
+    // 然后，将滤波后的 distance_control 作为输入，通过 pid_zeropoint 控制器进行进一步处理。
+    // angle_zeropoint -= ...：将计算得到的调整量从 angle_zeropoint 中减去，实现重心自适应调整。
+    // angle_zeropoint 是预设的角度零点，调整它可以让小车更好地适应不同的重心位置。
+    angle_zeropoint -= pid_zeropoint(lpf_zeropoint(distance_control)); // 重心自适应
+  }
+  else
+  {
+    pid_lqr_u.error_prev = 0; // 输出积分清零
+  }
+
+  // 平衡控制参数自适应
+  if (wrobot.height < 50)
+  {
+    pid_speed.P = 0.7;
+  }
+  else if (wrobot.height < 64)
+  {
+    pid_speed.P = 0.6;
+  }
+  else
+  {
+    pid_speed.P = 0.5;
+  }
+
+  // 平衡控制参数自适应
+// if (wrobot.height >= 32 && wrobot.height <= 80) { // 假设有效高度范围32-80cm
+//     // 线性插值公式：P = P_max - (height - height_min)*(P_max - P_min)/(height_max - height_min)
+//     pid_speed.P = 0.7f - (wrobot.height - 32.0f) * (0.7f - 0.5f) / (80.0f - 32.0f);
+//     // pid_speed.P = 0.5f + 0.2f * exp(-0.05f * (wrobot.height - 32.0f)); // 非线性曲线
+//     pid_speed.P = constrain(pid_speed.P, 0.5f, 0.7f); // 限制在0.5-0.7范围
+// } else {
+//     pid_speed.P = 0.5f; // 超出范围使用默认值
+// }
+
+}
+
+// 腿部动作控制（舵机）
+void leg_loop()
+{
+
+  // 倒地时强制腿部收缩
+  if (LQR_angle < -36.0f ||  LQR_angle > 45.0f) 
+  {
+      Position[0] = SERVO1_MIN;
+      Position[1] = SERVO2_MIN;
+      sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
+      return; // 跳过后续控制
+  }
+
+  jump_loop();
+
+  if (jump_flag == 0) // 不处于跳跃状态
+  {
+    // 舵机加速度
+    ACC[0] = 8;
+    ACC[1] = 8;
+
+    // 舵机速度
+    // Speed[0] = 200;
+    // Speed[1] = 200;
+    Speed[0] = 350;
+    Speed[1] = 350;
+    float roll_angle = (float)mpu6050.getAngleX() + 2.0;
+    leg_position_add = pid_roll_angle(lpf_roll(roll_angle));
+
+    int roll_offset = wrobot.roll;
+    int left_height, right_height;
+
+    // Serial.print("roll_offset: ");
+    // Serial.println(roll_offset);
+
+    // 如果控制了 roll 角度，则调整左右脚的高度
+    // 计算三角函数值
+    float angleRad = abs(roll_offset) * (pi / 180.0); // 将角度转换为弧度
+    float heightAdjust = 30 * sin(angleRad); // 小车宽度的一半是30毫米，抬高的高度是30毫米*sin(弧度)
+    float RollOffset = 18; // 所以水平高度需要加上调整高度，否则向下倾斜无法向下了
+    if (roll_offset > 10) {
+      // 正数，左脚高度 60，右脚高度 40
+      // 因为车身高度最小32，所以水平高度需要加上调整高度15，否则线下倾斜无法向下了
+      left_height = wrobot.height + RollOffset + heightAdjust;
+      right_height = wrobot.height + RollOffset - heightAdjust;
+      leg_position_add = 0; // 不使用roll角度 pid计算
+    } else if (roll_offset < -10) {
+      // 负数，左脚高度 40，右脚高度 60
+      left_height = wrobot.height + RollOffset - heightAdjust;
+      right_height = wrobot.height + RollOffset + heightAdjust;
+      leg_position_add = 0;
+    } else { // 未控制 roll 角度
+      // roll 为 0，左右恢复到同一高度
+      left_height = wrobot.height;
+      right_height = wrobot.height;
+      // 没有人为控制roll角度，leg_position_add根据mpu6050 roll值 进行pid计算得到，以保持小车机身平稳
+      // 但如果小车倒地，则不需要keep roll角度,否则小车倒在地上，1个脚长，1个脚短，很难看
+      if (abs(LQR_angle) > 25.0f) 
+      {
+        leg_position_add = 0;
+      }
+    }
+
+
+    // 根据新的高度计算舵机位置
+    // id 1 [0] 正面看右手，id 2 正面看左手 [1]
+    // 舵机id 1：1900（机身最矮）  2400（机身最高）2400-1900=500
+    // 舵机id 2：2300（机身最矮）  1800（机身最高）2300-1800=500
+    // 2048是舵机中间位置，12是微调偏移量，8.4是系数，32是默认高度，最高80，最低32
+    Position[0] = 2048 + 12 + 8.4 * (left_height - 32) - leg_position_add;
+    Position[1] = 2048 - 12 - 8.4 * (right_height - 32) - leg_position_add;
+    // Position[0] = 2048 + 12 + 8.4 * (left_height - 52) - leg_position_add;  // -52 机身下降20
+    // Position[1] = 2048 - 12 - 8.4 * (right_height - 52) - leg_position_add;
+    // Position[0] = 2048 + 12 + 8.4 * (left_height - 0) - leg_position_add; // 不减32 机身高度默认抬高32
+    // Position[1] = 2048 - 12 - 8.4 * (right_height - 0) - leg_position_add;
+
+    // Serial.print("left_height: ");
+    // Serial.print(left_height);
+    // Serial.print(", right_height: ");
+    // Serial.print(right_height);
+    // Serial.print(", leg_position_add: ");
+    // Serial.println(leg_position_add);
+
+
+    // 限制舵机位置范围
+    if (Position[0] < SERVO1_MIN) // 舵机1最低
+      Position[0] = SERVO1_MIN;
+    else if (Position[0] > SERVO1_MAX) // 舵机1最高
+      Position[0] = SERVO1_MAX;
+
+    if (Position[1] > SERVO2_MIN) // 舵机2最低（和舵机1方向是反的）
+      Position[1] = SERVO2_MIN;
+    else if (Position[1] < SERVO2_MAX) // 舵机2最高
+      Position[1] = SERVO2_MAX;
+    
+    // Position[0] = constrain(Position[0], SERVO1_MIN, SERVO1_MAX);
+    // Position[1] = constrain(Position[1], SERVO2_MAX, SERVO2_MIN); // 注意参数顺序
+    
+    sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
+  }
+}
+
+// 跳跃控制
+void jump_loop()
+{ // 5=JUMP,4=STOP 上次动作是跳跃5，本次是停止0，才开始跳，因为可能连续发送了很多5跳跃指令，只执行最后一次
+  // 跳跃，腿部以最快速度伸到最长
+  if ((wrobot.dir_last == 5) && (wrobot.dir == 4) && (jump_flag == 0))
+  { // 跳跃开始
+    ACC[0] = 0;
+    ACC[1] = 0;
+    Speed[0] = 0;
+    Speed[1] = 0;
+    // Position[0] = 2048 + 12 + 8.4 * (60 - 32); // 值越大，腿伸的越长，原来80 改为60降低腿部高度，即车重心
+    // Position[1] = 2048 - 12 - 8.4 * (60 - 32);
+    Position[0] = SERVO1_MAX; 
+    Position[1] = SERVO2_MAX;
+    sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
+
+    jump_flag = 1;
+  }
+  if (jump_flag > 0) // 跳跃中，腿部缩起来，等待30帧，对应上面设置 jump_flag = 1;
+  {
+    jump_flag++;
+    if ((jump_flag > 30) && (jump_flag < 35))
+    {
+      ACC[0] = 0;
+      ACC[1] = 0;
+      Speed[0] = 0;
+      Speed[1] = 0;
+      Position[0] = 2048 + 12 + 8.4 * (35 - 32); // 降低腿部高度，即车重心
+      Position[1] = 2048 - 12 - 8.4 * (35 - 32);
+      sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
+
+      jump_flag = 40;
+    }
+    if (jump_flag > 200)
+    {
+      jump_flag = 0; // 跳跃过程结束
+    }
+  }
+}
+
+// yaw轴转向控制 （转向控制）
+void yaw_loop()
+{
+  // YAW_output = 0.03*(YAW_Kp*YAW_angle_total + YAW_Kd*YAW_gyro);
+  yaw_angle_addup();
+
+  YAW_angle_total += wrobot.joyx * 0.008; // 0.002
+  float yaw_angle_control = pid_yaw_angle(YAW_angle_total);
+  float yaw_gyro_control = pid_yaw_gyro(YAW_gyro);
+  //  yaw 轴的角度和角速度数据进行了 PID 控制，得到 yaw_angle_control 和 yaw_gyro_control。
+  // 然后，将这两个控制量相加，得到最终的 YAW_output。
+  YAW_output = yaw_angle_control + yaw_gyro_control;
+}
+
+// Web数据更新
+void web_loop()
+{
+  webserver.handleClient();
+  websocket.loop();
+  rp.spinOnce(); // 更新web端回传的控制信息
+}
+
+// yaw轴角度累加函数
+void yaw_angle_addup()
+{
+  YAW_angle = (float)mpu6050.getAngleZ();
+  YAW_gyro = (float)mpu6050.getGyroZ();
+
+  if (YAW_angle_zero_point == (-10))
+  {
+    YAW_angle_zero_point = YAW_angle;
+  }
+
+  float yaw_angle_1, yaw_angle_2, yaw_addup_angle;
+  if (YAW_angle > YAW_angle_last)
+  {
+    yaw_angle_1 = YAW_angle - YAW_angle_last;
+    yaw_angle_2 = YAW_angle - YAW_angle_last - 2 * PI;
+  }
+  else
+  {
+    yaw_angle_1 = YAW_angle - YAW_angle_last;
+    yaw_angle_2 = YAW_angle - YAW_angle_last + 2 * PI;
+  }
+
+  if (abs(yaw_angle_1) > abs(yaw_angle_2))
+  {
+    yaw_addup_angle = yaw_angle_2;
+  }
+  else
+  {
+    yaw_addup_angle = yaw_angle_1;
+  }
+
+  YAW_angle_total = YAW_angle_total + yaw_addup_angle;
+  YAW_angle_last = YAW_angle;
+}
+
+void basicWebCallback(void)
+{
+  webserver.send(300, "text/html", basic_web);
+}
+
+void webSocketEventCallback(uint8_t num, WStype_t type, uint8_t *payload, size_t length)
+{
+  if (type == WStype_TEXT)
+  {
+    String payload_str = String((char *)payload);
+    StaticJsonDocument<300> doc;
+    DeserializationError error = deserializeJson(doc, payload_str);
+
+    String mode_str = doc["mode"];
+    if (mode_str == "basic")
+    {
+      rp.parseBasic(doc);
+    }
+  }
+}
+
+// 电压检测初始化
+void adc_calibration_init()
+{
+  if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_TP) == ESP_OK)
+  {
+    printf("eFuse Two Point: Supported\n");
+  }
+  else
+  {
+    printf("eFuse Two Point: NOT supported\n");
+  }
+  // Check Vref is burned into eFuse
+  if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_VREF) == ESP_OK)
+  {
+    printf("eFuse Vref: Supported\n");
+  }
+  else
+  {
+    printf("eFuse Vref: NOT supported\n");
+  }
+}
+
+// 电压检测
+void bat_check()
+{
+  if (bat_check_num > 1000)
+  {
+    // 电压读取
+    uint32_t sum = 0;
+    sum = analogRead(BAT_PIN);
+    uint32_t voltage = esp_adc_cal_raw_to_voltage(sum, &adc_chars);
+    double battery = (voltage * 3.97) / 1000.0;
+
+    // Serial.println(battery);
+    // 电量显示
+    if (battery > 7.8)
+      digitalWrite(LED_BAT, HIGH);
+    else
+      digitalWrite(LED_BAT, LOW);
+
+    bat_check_num = 0;
+  }
+  else
+    bat_check_num++;
+}
+
+// 封装LED闪烁函数
+void blinkLED() {
+  const int flashInterval = 200; // 闪烁间隔时间，单位毫秒
+  const int flashTimes = 2;      // 闪烁次数
+  for (int i = 0; i < flashTimes; ++i) {
+    digitalWrite(LED_BAT, LOW); // 熄灭LED
+    delay(flashInterval);
+    digitalWrite(LED_BAT, HIGH); // 点亮LED
+    delay(flashInterval);
+  }
+}
\ No newline at end of file
diff --git a/src/robot.cpp b/Shibo-main-V4-ESPNOW/src/robot.cpp
similarity index 100%
rename from src/robot.cpp
rename to Shibo-main-V4-ESPNOW/src/robot.cpp
diff --git a/src/wifi_config.cpp b/Shibo-main-V4-ESPNOW/src/wifi_config.cpp
similarity index 100%
rename from src/wifi_config.cpp
rename to Shibo-main-V4-ESPNOW/src/wifi_config.cpp
diff --git a/test/README b/Shibo-main-V4-ESPNOW/test/README
similarity index 100%
rename from test/README
rename to Shibo-main-V4-ESPNOW/test/README
diff --git a/.STL/Calf NEW x2.stl b/优化模型stl/小腿.stl
similarity index 100%
rename from .STL/Calf NEW x2.stl
rename to 优化模型stl/小腿.stl
diff --git a/优化模型stl/轮毂.stl b/优化模型stl/轮毂.stl
new file mode 100644
index 0000000..7c6c995
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