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/.vscode/settings.json

@@ -7,6 +7,10 @@
         "iterator": "cpp",
         "random": "cpp",
         "atomic": "cpp",
-        "cstdint": "cpp"
+        "cstdint": "cpp",
+        "memory": "cpp",
+        "optional": "cpp",
+        "streambuf": "cpp",
+        "tuple": "cpp"
     }
 }

Shibo-main-TOMMY/include/main.h

@@ -22,12 +22,14 @@ 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 blinkLed();
 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