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/Simple_FOC/src/common/base_classes/StepperDriver.h

@@ -0,0 +1,29 @@
+#ifndef STEPPERDRIVER_H
+#define STEPPERDRIVER_H
+
+class StepperDriver{
+    public:
+        
+        /** Initialise hardware */
+        virtual int init() = 0;
+        /** Enable hardware */
+        virtual void enable() = 0;
+        /** Disable hardware */
+        virtual void disable() = 0;
+
+        long pwm_frequency; //!< pwm frequency value in hertz
+        float voltage_power_supply; //!< power supply voltage 
+        float voltage_limit; //!< limiting voltage set to the motor
+        
+        bool initialized = false; // true if driver was successfully initialized
+            
+        /** 
+         * Set phase voltages to the harware 
+         * 
+         * @param Ua phase A voltage
+         * @param Ub phase B voltage
+        */
+        virtual void setPwm(float Ua, float Ub) = 0;
+};
+
+#endif