继续优化平衡控制，多次连续跳跃，毫无压力。

增加原地起立功能。
简化控制，通过 esp32 遥控器直接控制，无需配网。
遥控器地址：#小程序://闲鱼/4I7SlDlYRnybNWd

Shibo-main-V4-ESPNOW/lib/ArduinoJson/extras/ci/espidf/CMakeLists.txt

@@ -0,0 +1,8 @@
+# ArduinoJson - https://arduinojson.org
+# Copyright © 2014-2023, Benoit BLANCHON
+# MIT License
+
+cmake_minimum_required(VERSION 3.5)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(example)

Shibo-main-V4-ESPNOW/lib/ArduinoJson/extras/ci/espidf/main/CMakeLists.txt

@@ -0,0 +1,8 @@
+# ArduinoJson - https://arduinojson.org
+# Copyright © 2014-2023, Benoit BLANCHON
+# MIT License
+
+idf_component_register(
+	SRCS "main.cpp"
+	INCLUDE_DIRS ""
+)

Shibo-main-V4-ESPNOW/lib/ArduinoJson/extras/ci/espidf/main/component.mk

@@ -0,0 +1,4 @@
+#
+# "main" pseudo-component makefile.
+#
+# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)

Shibo-main-V4-ESPNOW/lib/ArduinoJson/extras/ci/espidf/main/main.cpp

@@ -0,0 +1,16 @@
+// ArduinoJson - https://arduinojson.org
+// Copyright © 2014-2023, Benoit BLANCHON
+// MIT License
+
+#include <ArduinoJson.h>
+
+extern "C" void app_main() {
+  char buffer[256];
+  StaticJsonDocument<200> doc;
+
+  doc["hello"] = "world";
+  serializeJson(doc, buffer);
+  deserializeJson(doc, buffer);
+  serializeMsgPack(doc, buffer);
+  deserializeMsgPack(doc, buffer);
+}

Shibo-main-V4-ESPNOW/lib/ArduinoJson/extras/ci/particle.sh

@@ -0,0 +1,10 @@
+#!/bin/sh -ex
+
+BOARD=$1
+
+cd "$(dirname "$0")/../../"
+
+cp extras/particle/src/smocktest.ino src/
+cp extras/particle/project.properties ./
+
+particle compile "$BOARD"