优化了平衡，尤其对于向后倾倒的几种极限情况进行优化

Shibo-main-TOMMY/include/main.h

@@ -0,0 +1,35 @@
+#ifndef _MAIN_H
+#define _MAIN_H
+
+// 机器人控制头文件
+#include <MPU6050_tockn.h>
+#include "Servo_STS3032.h"
+#include <SimpleFOC.h>
+#include <Arduino.h>
+
+// wifi控制数据传输头文件
+#include <WebSocketsServer.h>
+#include <ArduinoJson.h>
+#include <WebServer.h>
+#include <WiFi.h>
+#include <FS.h>
+#include "basic_web.h"
+#include "robot.h"
+#include "wifi_config.h"
+#include "esp_adc_cal.h"
+
+void basicWebCallback(void);
+void webSocketEventCallback(uint8_t num, WStype_t type, uint8_t *payload, size_t length);
+void adc_calibration_init();
+void bat_check();
+void web_loop();
+void lqr_balance_loop();
+void yaw_loop();
+void leg_loop();
+void jump_loop();
+void yaw_angle_addup();
+void blinkLed();
+void detectObstacle();
+void resetToDefault();
+
+#endif