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/tests/JsonObject/equals.cpp

@@ -0,0 +1,67 @@
+// ArduinoJson - https://arduinojson.org
+// Copyright © 2014-2023, Benoit BLANCHON
+// MIT License
+
+#include <ArduinoJson.h>
+#include <catch.hpp>
+
+TEST_CASE("JsonObject::operator==()") {
+  DynamicJsonDocument doc1(4096);
+  JsonObject obj1 = doc1.to<JsonObject>();
+  JsonObjectConst obj1c = obj1;
+
+  DynamicJsonDocument doc2(4096);
+  JsonObject obj2 = doc2.to<JsonObject>();
+  JsonObjectConst obj2c = obj2;
+
+  SECTION("should return false when objs differ") {
+    obj1["hello"] = "coucou";
+    obj2["world"] = 1;
+
+    REQUIRE_FALSE(obj1 == obj2);
+    REQUIRE_FALSE(obj1c == obj2c);
+  }
+
+  SECTION("should return false when LHS has more elements") {
+    obj1["hello"] = "coucou";
+    obj1["world"] = 666;
+    obj2["hello"] = "coucou";
+
+    REQUIRE_FALSE(obj1 == obj2);
+    REQUIRE_FALSE(obj1c == obj2c);
+  }
+
+  SECTION("should return false when RKS has more elements") {
+    obj1["hello"] = "coucou";
+    obj2["hello"] = "coucou";
+    obj2["world"] = 666;
+
+    REQUIRE_FALSE(obj1 == obj2);
+    REQUIRE_FALSE(obj1c == obj2c);
+  }
+
+  SECTION("should return true when objs equal") {
+    obj1["hello"] = "world";
+    obj1["anwser"] = 42;
+    // insert in different order
+    obj2["anwser"] = 42;
+    obj2["hello"] = "world";
+
+    REQUIRE(obj1 == obj2);
+    REQUIRE(obj1c == obj2c);
+  }
+
+  SECTION("should return false when RHS is null") {
+    JsonObject null;
+
+    REQUIRE_FALSE(obj1 == null);
+    REQUIRE_FALSE(obj1c == null);
+  }
+
+  SECTION("should return false when LHS is null") {
+    JsonObject null;
+
+    REQUIRE_FALSE(null == obj2);
+    REQUIRE_FALSE(null == obj2c);
+  }
+}