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/JsonVariant/createNested.cpp

@@ -0,0 +1,58 @@
+// ArduinoJson - https://arduinojson.org
+// Copyright © 2014-2023, Benoit BLANCHON
+// MIT License
+
+#include <ArduinoJson.h>
+#include <stdint.h>
+#include <catch.hpp>
+
+TEST_CASE("JsonVariant::createNestedObject()") {
+  DynamicJsonDocument doc(4096);
+  JsonVariant variant = doc.to<JsonVariant>();
+
+  SECTION("promotes to array") {
+    JsonObject obj = variant.createNestedObject();
+    obj["value"] = 42;
+
+    REQUIRE(variant.is<JsonArray>() == true);
+    REQUIRE(variant[0]["value"] == 42);
+    REQUIRE(obj.isNull() == false);
+  }
+}
+
+TEST_CASE("JsonVariant::createNestedArray()") {
+  DynamicJsonDocument doc(4096);
+  JsonVariant variant = doc.to<JsonVariant>();
+
+  SECTION("promotes to array") {
+    JsonArray arr = variant.createNestedArray();
+
+    REQUIRE(variant.is<JsonArray>() == true);
+    REQUIRE(arr.isNull() == false);
+  }
+}
+
+TEST_CASE("JsonVariant::createNestedObject(key)") {
+  DynamicJsonDocument doc(4096);
+  JsonVariant variant = doc.to<JsonVariant>();
+
+  SECTION("promotes to object") {
+    JsonObject obj = variant.createNestedObject("weather");
+    obj["temp"] = 42;
+
+    REQUIRE(variant.is<JsonObject>() == true);
+    REQUIRE(variant["weather"]["temp"] == 42);
+  }
+}
+
+TEST_CASE("JsonVariant::createNestedArray(key)") {
+  DynamicJsonDocument doc(4096);
+  JsonVariant variant = doc.to<JsonVariant>();
+
+  SECTION("promotes to object") {
+    JsonArray arr = variant.createNestedArray("items");
+
+    REQUIRE(variant.is<JsonObject>() == true);
+    REQUIRE(arr.isNull() == false);
+  }
+}