diff --git a/README.md b/README.md
index 1cbef45..651f69f 100644
--- a/README.md
+++ b/README.md
@@ -24,6 +24,8 @@ B站演示地址：https://space.bilibili.com/25336365
 
 修改的地方挺多的不罗列了，代码增加了很多备注。
 
+servo 文件夹是用于写入舵机初始化程序
+
 2025-08-11增加开机自平衡站立，简化控制，通过 esp32 遥控器直接控制，无需配网。
 
 2025-08-16对几种运动中倒地的极限状态进行优化，实现自平衡起身。
diff --git a/servo/.gitignore b/servo/.gitignore
new file mode 100644
index 0000000..89cc49c
--- /dev/null
+++ b/servo/.gitignore
@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
diff --git a/servo/.vscode/extensions.json b/servo/.vscode/extensions.json
new file mode 100644
index 0000000..080e70d
--- /dev/null
+++ b/servo/.vscode/extensions.json
@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}
diff --git a/servo/.vscode/settings.json b/servo/.vscode/settings.json
new file mode 100644
index 0000000..930ff05
--- /dev/null
+++ b/servo/.vscode/settings.json
@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "*.tcc": "cpp"
+    }
+}
\ No newline at end of file
diff --git a/servo/include/README b/servo/include/README
new file mode 100644
index 0000000..49819c0
--- /dev/null
+++ b/servo/include/README
@@ -0,0 +1,37 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
diff --git a/servo/lib/README b/servo/lib/README
new file mode 100644
index 0000000..9379397
--- /dev/null
+++ b/servo/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/servo/platformio.ini b/servo/platformio.ini
new file mode 100644
index 0000000..4b30716
--- /dev/null
+++ b/servo/platformio.ini
@@ -0,0 +1,14 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino
diff --git a/servo/src/main.cpp b/servo/src/main.cpp
new file mode 100644
index 0000000..38709f2
--- /dev/null
+++ b/servo/src/main.cpp
@@ -0,0 +1,38 @@
+#include <Arduino.h>
+
+void onReceiveFunction(void) {
+  while (Serial.available() > 0) {
+    char data = Serial.read();
+    Serial2.write(data);  // 将数据发送到舵机
+  }
+}
+void onReceiveFunction2(void) {
+  while (Serial2.available() > 0) {
+    char data = Serial2.read();
+    Serial.write(data);  // 将数据发送到串口
+  }
+}
+//Serial、Serial1、Serial2 分别对应了 UART0、UART1 和 UART2。
+void setup() {
+  //串口0初始化
+  Serial.begin(1000000);                  //usb串口 
+  Serial2.begin(1000000);                 //舵机串口
+  Serial.onReceive(onReceiveFunction);    //为串口设置回调函数
+  Serial2.onReceive(onReceiveFunction2);  //为串口设置回调函数
+}
+void loop() {
+  // 从串口读取数据
+  if (Serial.available())
+  {
+    char data = Serial.read();
+    // 将数据发送到 舵机
+    Serial2.write(data);
+  }
+  // 从舵机读取输入数据
+  if (Serial2.available())
+  {
+    char data = Serial2.read();
+    // 将数据发送到 UART0
+    Serial.write(data);
+  }
+}
diff --git a/优化模型stl/开源地址和QQ群.pptx b/优化模型stl/开源地址和QQ群.pptx
new file mode 100644
index 0000000..a842f2d
Binary files /dev/null and b/优化模型stl/开源地址和QQ群.pptx differ