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/robot.h

@@ -0,0 +1,77 @@
+// -----------------------------------------------------------------------------
+// Copyright (c) 2024 Mu Shibo
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <WiFi.h>
+#include <ArduinoJson.h>
+
+typedef struct
+{
+  int height = 38;
+  int roll;
+  int linear;
+  int angular;
+  int dir;
+  int dir_last;
+  int joyy;
+  int joyy_last;
+  int joyx;
+  int joyx_last;
+  bool go;
+  int blink;
+} Wrobot;
+
+extern Wrobot wrobot;
+
+// 机器人运动状态枚举
+typedef enum
+{
+  FORWARD = 0,
+  BACK,
+  RIGHT,
+  LEFT,
+  STOP,
+  JUMP,
+} QR_State_t;
+
+// 机器人模式枚举类型
+typedef enum
+{
+  BASIC = 0,
+} Robot_Mode_t;
+
+class RobotProtocol
+{
+public:
+  RobotProtocol(uint8_t len);
+  ~RobotProtocol();
+  void spinOnce(void);
+  void parseBasic(StaticJsonDocument<300> &doc);
+
+private:
+  uint8_t *_now_buf;
+  uint8_t *_old_buf;
+  uint8_t _len;
+  void UART_WriteBuf(void);
+  int checkBufRefresh(void);
+};