diff --git a/arduino/Betas/RGB_V1.1.1/main.ino b/arduino/Betas/RGB_V1.1.1/main.ino
deleted file mode 100644
index 83a277f..0000000
--- a/arduino/Betas/RGB_V1.1.1/main.ino
+++ /dev/null
@@ -1,1175 +0,0 @@
-/**
- * 自平衡莱洛三角形 RGB版  HW:Ver 1.5  FW:Ver 1.1.1
-  RGB版本程序 https://gitee.com/muyan3000/RGBFOC 基于45°(https://gitee.com/coll45/foc/)程序修改
-  arduino开发环境-灯哥开源FOChttps://gitee.com/ream_d/Deng-s-foc-controller，并安装Kalman。
-  FOC引脚32, 33, 25, 22    22为enable
-  AS5600霍尔传感器 SDA-23 SCL-5  MPU6050六轴传感器 SDA-19 SCL-18
-  本程序有两种平衡方式， FLAG_V为1时使用电压控制，为0时候速度控制。电压控制时LQR参数使用K1和K2，速度控制时LQR参数使用K3和K4
-  在wifi上位机窗口中输入：TA+角度，就可以修改平衡角度
-  比如让平衡角度为90度，则输入：TA90，并且会存入eeprom的位置0中 注：wifi发送命令不能过快，因为每次都会保存进eeprom
-  在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(5) 中的值，设置为自己的极对数数字，磁铁数量/2
-  程序默认设置的供电电压为 12V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值
-  默认PID针对的电机是 GB2204 ，使用自己的电机需要修改PID参数，才能实现更好效果
-*/
-#include <SimpleFOC.h>
-#include "Command.h"
-#include <WiFi.h>
-#include <AsyncUDP.h> //引用以使用异步UDP
-#include "Kalman.h" // Source: https://github.com/TKJElectronics/KalmanFilter
-#include "EEPROM.h"
-
-#include <ESPmDNS.h>
-#include <ArduinoOTA.h>
-#include <WebServer.h>
-#include <FS.h>
-#include "SPIFFS.h"
-#include <time.h>
-#define timezone 8
-
-#include <FastLED.h>
-#define DATA_PIN    16    //RGB pin
-#define LED_TYPE    WS2812B
-#define COLOR_ORDER GRB
-#define NUM_LEDS    21  //LED数量
-int rgb_brightness = 25;  //初始化亮度
-CRGB leds[NUM_LEDS];
-
-unsigned long TenthSecondsSinceStart = 0;
-void TenthSecondsSinceStartTask();
-void OnTenthSecond();
-void OnSecond();
-void StartWebServer();
-
-#define ACTIVE_PIN 4  //状态灯
-#define BAT_VOLTAGE_SENSE_PIN 34  //电池电压检测ADC，如果旧版PCB无电压检测电路，则注释掉此行
-const double R1_VOLTAGE = 68000; //68K
-const double R2_VOLTAGE = 10000; //10K
-const double min_voltage  = 9.5;  //电池检测最低电压
-double bat_voltage;
-
-const int threshold_top = 20;   //触摸顶部阈值
-const int threshold_bottom = 1;   //触摸底部阈值，越接近数值越小
-const int threshold_count = 4;   //触摸计数器有效值，通常会有意外的自动触发
-
-int touchread[4] = {100,100,100,100}; //初始化触摸读取值为100，无触摸
-int touchDetected[4] = {}; //通过touchdetected持续计数判断是否按键，防止无触碰触发
-
-bool touch_touched[4] = {};   //单击判断
-int touch_touched_times[4] = {};  //单击次数，单击切换模式，双击
-int touch_touching_time[4] = {}; //持续触摸秒数，用于判断长按事件，长按关闭，长按开启，开启状态长按调光，
-bool touch_STATE[4] = {1,1,1,1}; // 定义按键触发对象状态变量初始值为true默认开启
-
-const char* username = "admin";     //web用户名
-const char* userpassword = "12345678"; //web用户密码
-const char* ServerName = "ESP32-LELO-RGB";
-char DateTimeStr[20]  = "1970-01-01 00:00:00";
-char Debug_Log[8192]  = "";
-bool log_control = 1;
-
-WebServer ESP32Server(80);
-
-Kalman kalmanZ;
-#define gyroZ_OFF -0.19
-/* ----IMU Data---- */
-
-double accX, accY, accZ;
-double gyroX, gyroY, gyroZ;
-int16_t tempRaw;
-bool stable = 0 , battery_low = 0;
-uint32_t last_unstable_time;
-uint32_t last_stable_time;
-
-double gyroZangle; // Angle calculate using the gyro only
-double compAngleZ; // Calculated angle using a complementary filter
-double kalAngleZ;  // Calculated angle using a Kalman filter
-float pendulum_angle;
-
-uint32_t timer;
-uint8_t i2cData[14]; // Buffer for I2C data
-/* ----FOC Data---- */
-
-// driver instance
-double acc2rotation(double x, double y);
-float constrainAngle(float x);
-const char *ssid = "esp32";
-const char *password = "12345678";
-
-bool wifi_flag = 0;
-AsyncUDP udp;                     //创建UDP对象
-unsigned int localUdpPort = 2333; //本地端口号
-void wifi_print(char * s, double num);
-
-MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
-TwoWire I2Ctwo = TwoWire(1);
-LowPassFilter lpf_throttle{0.00};
-
-//倒立摇摆参数
-//3和4是速度控制稳定前和后
-float LQR_K3_1 = 10;   //速度控制摇摆到平衡
-float LQR_K3_2 = 1.7;   //
-float LQR_K3_3 = 1.75; //
-
-float LQR_K4_1 = 2.4;   //速度控制平衡态
-float LQR_K4_2 = 1.5;   //
-float LQR_K4_3 = 1.42; //
-
-//电机参数
-BLDCMotor motor = BLDCMotor(5);
-BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
-float target_velocity = 0;	//目标速度
-float target_angle = 90;	//平衡角度 例如TA89.3 设置平衡角度89.3
-float target_voltage = 0;	//目标电压
-float swing_up_voltage = 1.8;	//摇摆电压 左右摇摆的电压，越大越快到平衡态，但是过大会翻过头
-float swing_up_angle = 20;	//摇摆角度 离平衡角度还有几度时候，切换到自平衡控制
-float v_i_1 = 20;	//非稳态速度环I
-float v_p_1 = 0.7;	//非稳态速度环P
-float v_i_2 = 10;	//稳态速度环I
-float v_p_2 = 0.3;	//稳态速度环P
-//命令设置
-Command comm;
-bool Motor_enable_flag = 0;
-int test_flag = 0;
-void do_TA(char* cmd) {
-  comm.scalar(&target_angle, cmd);
-  EEPROM.writeFloat(0, target_angle);
-}
-void do_SV(char* cmd) {
-  comm.scalar(&swing_up_voltage, cmd);
-  EEPROM.writeFloat(4, swing_up_voltage);
-}
-void do_SA(char* cmd) {
-  comm.scalar(&swing_up_angle, cmd);
-  EEPROM.writeFloat(8, swing_up_angle);
-}
-
-void do_START(char* cmd) {
-  wifi_flag = !wifi_flag;
-}
-void do_MOTOR(char* cmd)
-{
-  if (Motor_enable_flag)
-    motor.enable();
-  else
-    motor.disable();
-  Motor_enable_flag = !Motor_enable_flag;
-}
-
-void do_TVQ(char* cmd)
-{
-  if (test_flag == 1)
-    test_flag = 0;
-  else
-    test_flag = 1;
-}
-void do_TVV(char* cmd)
-{
-  if (test_flag == 2)
-    test_flag = 0;
-  else
-    test_flag = 2;
-}
-void do_VV(char* cmd) {
-  comm.scalar(&target_velocity, cmd);
-}
-void do_VQ(char* cmd) {
-  comm.scalar(&target_voltage, cmd);
-}
-
-void do_vp1(char* cmd) {
-  comm.scalar(&v_p_1, cmd);
-  EEPROM.writeFloat(12, v_p_1);
-}
-void do_vi1(char* cmd) {
-  comm.scalar(&v_i_1, cmd);
-  EEPROM.writeFloat(16, v_i_1);
-}
-void do_vp2(char* cmd) {
-  comm.scalar(&v_p_2, cmd);
-  EEPROM.writeFloat(20, v_p_2);
-}
-void do_vi2(char* cmd) {
-  comm.scalar(&v_i_2, cmd);
-  EEPROM.writeFloat(24, v_i_2);
-}
-void do_tv(char* cmd) {
-  comm.scalar(&target_velocity, cmd);
-}
-void do_K31(char* cmd) {
-  comm.scalar(&LQR_K3_1, cmd);
-}
-void do_K32(char* cmd) {
-  comm.scalar(&LQR_K3_2, cmd);
-}
-void do_K33(char* cmd) {
-  comm.scalar(&LQR_K3_3, cmd);
-}
-void do_K41(char* cmd) {
-  comm.scalar(&LQR_K4_1, cmd);
-}
-void do_K42(char* cmd) {
-  comm.scalar(&LQR_K4_2, cmd);
-}
-void do_K43(char* cmd) {
-  comm.scalar(&LQR_K4_3, cmd);
-}
-
-void onPacketCallBack(AsyncUDPPacket packet)
-{
-  char* da;
-  da = (char*)(packet.data());
-  Serial.println(da);
-  comm.run(da);
-  EEPROM.commit();
-  //  packet.print("reply data");
-}
-// instantiate the commander
-void setup() {
-  Serial.begin(115200);
-
-  pinMode(ACTIVE_PIN, OUTPUT);
-  digitalWrite(ACTIVE_PIN, HIGH);
-  uint32_t chipId = 0;
-  for (int i = 0; i < 17; i = i + 8) {
-    chipId |= ((ESP.getEfuseMac() >> (40 - i)) & 0xff) << i;
-  }
-
-  Serial.printf("ESP32 Chip model = %s Rev %d\n", ESP.getChipModel(), ESP.getChipRevision());
-  Serial.printf("This chip has %d cores\n", ESP.getChipCores());
-  Serial.print("Chip ID: "); Serial.println(chipId);
-
-  //获取IDF版本
-  printf("SDK version:%s\n", esp_get_idf_version());
-  //获取芯片内存
-  Serial.print("Max Free Heap: ");
-  Serial.println(ESP.getMaxAllocHeap());
-  //获取芯片可用内存
-  printf("esp_get_free_heap_size : %d  \n", esp_get_free_heap_size());
-  //获取从未使用过的最小内存
-  printf("esp_get_minimum_free_heap_size : %d  \n", esp_get_minimum_free_heap_size());
-
-  if (!EEPROM.begin(1000)) {
-    Serial.println("Failed to initialise EEPROM");
-    Serial.println("Restarting...");
-    delay(1000);
-    ESP.restart();
-  }
-  // eeprom 读取
-  int k, j;
-  j = 0;
-  for (k = 0; k <= 24; k = k + 4)
-  {
-    float nan = EEPROM.readFloat(k);
-    if (isnan(nan))
-    {
-      j = 1;
-      Serial.println("frist write");
-      EEPROM.writeFloat(0, target_angle);       delay(10); EEPROM.commit();
-      EEPROM.writeFloat(4, swing_up_voltage);      delay(10); EEPROM.commit();
-      EEPROM.writeFloat(8, swing_up_angle);      delay(10); EEPROM.commit();
-      EEPROM.writeFloat(12, v_p_1);      delay(10); EEPROM.commit();
-      EEPROM.writeFloat(16, v_i_1);      delay(10); EEPROM.commit();
-      EEPROM.writeFloat(20, v_p_2);      delay(10); EEPROM.commit();
-      EEPROM.writeFloat(24, v_i_2);       delay(10); EEPROM.commit();
-    }
-  }
-  if (j == 0)
-  {
-    target_angle = EEPROM.readFloat(0);
-    swing_up_voltage = EEPROM.readFloat(4);
-    swing_up_angle = EEPROM.readFloat(8);
-    v_p_1 = EEPROM.readFloat(12);
-    v_i_1 = EEPROM.readFloat(16);
-    v_p_2 = EEPROM.readFloat(20);
-    v_i_2 = EEPROM.readFloat(24);
-    motor.PID_velocity.P = v_p_1;
-    motor.PID_velocity.I = v_i_1;
-  }
-
-  //命令设置
-  comm.add("TA", do_TA);
-  comm.add("START", do_START);
-  comm.add("MOTOR", do_MOTOR);
-  comm.add("SV", do_SV);
-  comm.add("SA", do_SA);
-  comm.add("TVQ", do_TVQ);
-  comm.add("TVV", do_TVV);
-  comm.add("VV", do_VV);
-  comm.add("VQ", do_VQ);
-  //速度环参数
-  comm.add("VP1", do_vp1);
-  comm.add("VI1", do_vi1);
-  comm.add("VP2", do_vp2);
-  comm.add("VI2", do_vi2);
-  comm.add("TV", do_tv);
-  comm.add("K31", do_K31);
-  comm.add("K32", do_K32);
-  comm.add("K33", do_K33);
-  comm.add("K41", do_K41);
-  comm.add("K42", do_K42);
-  comm.add("K43", do_K43);
-
-  // tell FastLED about the LED strip configuration
-  FastLED.addLeds<LED_TYPE, DATA_PIN, COLOR_ORDER>(leds, NUM_LEDS)
-  .setCorrection(TypicalLEDStrip)
-  .setDither(rgb_brightness < 255);
-  // set master brightness control
-  FastLED.setBrightness(rgb_brightness);
-
-  CRGB c_rgb[5];
-  c_rgb[0]  = CRGB::White;
-  c_rgb[2]  = CRGB::Red;
-  c_rgb[1]  = CRGB::Green;
-  c_rgb[3]  = CRGB::Blue;
-  c_rgb[4]  = CRGB::Purple;
-
-  for ( int j = 0; j < 5; j++) {
-    for ( int i = 0; i < NUM_LEDS; i++) {
-      leds[i] = c_rgb[j];
-      FastLED.show();
-      delay(15);
-    }
-    delay(500);
-  }
-
-  //wifi初始化
-  WiFi.mode(WIFI_AP);
-  while (!WiFi.softAP(ssid, password)) {}; //启动AP
-  Serial.println("AP启动成功");
-  Serial.println("Ready");
-  Serial.print("IP address: ");
-  Serial.println(WiFi.softAPIP());
-
-  while (!udp.listen(localUdpPort)) //等待udp监听设置成功
-  {
-  }
-  udp.onPacket(onPacketCallBack); //注册收到数据包事件
-
-  Serial.print("\nMax Free Heap: ");
-  Serial.println(ESP.getMaxAllocHeap());
-  Serial.println("");
-
-  ArduinoOTA.setHostname("ESP32-Reuleaux");
-  //以下是启动OTA，可以通过WiFi刷新固件
-  ArduinoOTA.onStart([]() {
-    String type;
-    if (ArduinoOTA.getCommand() == U_FLASH) {
-      type = "sketch";
-    } else { // U_SPIFFS
-      type = "filesystem";
-    }
-
-    // NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end()
-    Serial.println("Start updating " + type);
-  });
-  ArduinoOTA.onEnd([]() {
-    Serial.println("\nEnd");
-  });
-  ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
-    Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
-  });
-  ArduinoOTA.onError([](ota_error_t error) {
-    Serial.printf("Error[%u]: ", error);
-    if (error == OTA_AUTH_ERROR) {
-      Serial.println("Auth Failed");
-    } else if (error == OTA_BEGIN_ERROR) {
-      Serial.println("Begin Failed");
-    } else if (error == OTA_CONNECT_ERROR) {
-      Serial.println("Connect Failed");
-    } else if (error == OTA_RECEIVE_ERROR) {
-      Serial.println("Receive Failed");
-    } else if (error == OTA_END_ERROR) {
-      Serial.println("End Failed");
-    }
-  });
-  ArduinoOTA.begin();
-
-  // kalman mpu6050 init
-  Wire.begin(19, 18, 400000); // Set I2C frequency to 400kHz
-  i2cData[0] = 7;    // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
-  i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
-  i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
-  i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
-  while (i2cWrite(0x19, i2cData, 4, false)); // Write to all four registers at once
-  while (i2cWrite(0x6B, 0x01, true)); // PLL with X axis gyroscope reference and disable sleep mode
-  while (i2cRead(0x75, i2cData, 1));
-  if (i2cData[0] != 0x68)
-  { // Read "WHO_AM_I" register
-    Serial.print(F("Error reading sensor"));
-    while (1);
-  }
-
-  delay(100); // Wait for sensor to stabilize
-
-  /* Set kalman and gyro starting angle */
-  while (i2cRead(0x3B, i2cData, 6));
-  accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
-  accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
-  accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
-  double pitch = acc2rotation(accX, accY);
-  kalmanZ.setAngle(pitch); // Set starting angle
-  gyroZangle = pitch;
-  timer = micros();
-  Serial.println("kalman mpu6050 init");
-
-  I2Ctwo.begin(23, 5, 400000);   //SDA,SCL
-  sensor.init(&I2Ctwo);
-
-  //连接motor对象与传感器对象
-  motor.linkSensor(&sensor);
-
-  //供电电压设置 [V]
-  driver.voltage_power_supply = 12;
-  driver.init();
-
-  //连接电机和driver对象
-  motor.linkDriver(&driver);
-
-  //FOC模型选择
-  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
-
-  //运动控制模式设置
-  motor.controller = MotionControlType::velocity;
-  
-  //速度PI环设置
-  motor.PID_velocity.P = v_p_1;
-  motor.PID_velocity.I = v_i_1;
-
-  //最大电机限制电压
-  motor.voltage_limit = 12;
-
-  //速度低通滤波时间常数
-  motor.LPF_velocity.Tf = 0.02;
-
-  //设置最大速度限制
-  motor.velocity_limit = 40;
-
-  motor.useMonitoring(Serial);
-
-  //初始化电机
-  motor.init();
-
-  //初始化 FOC
-  motor.initFOC();
-
-  Serial.println(F("Motor ready."));
-  Serial.println(F("Set the target velocity using serial terminal:"));
-
-
-  // 启动闪存文件系统
-  if (SPIFFS.begin())
-  {
-    Serial.println("SPIFFS Started.");
-  }
-  else
-  {
-    Serial.println("SPIFFS Failed to Start.");
-  }
-
-  StartWebServer();
-
-  Serial.println("System is ready");
-  Serial.println("-----------------------------------------------");
-}
-
-char buf[255];
-long loop_count = 0;
-double last_pitch;
-void loop() {
-  ArduinoOTA.handle();
-  motor.loopFOC();
-  TenthSecondsSinceStartTask();
-  ESP32Server.handleClient();
-  delay(2);//allow the cpu to switch to other tasks
-
-  while (i2cRead(0x3B, i2cData, 14));
-  accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
-  accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
-  accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
-  tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]);
-  gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]);
-  gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]);
-  gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]);
-
-  double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
-  timer = micros();
-
-  double pitch = acc2rotation(accX, accY);
-  //double pitch2 = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG;
-  double gyroZrate = gyroZ / 131.0; // Convert to deg/s
-  if (abs(pitch - last_pitch) > 100)
-    kalmanZ.setAngle(pitch);
-
-  kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt);
-  last_pitch = pitch;
-  gyroZangle += (gyroZrate + gyroZ_OFF) * dt;	// Calculate gyro angle without any filter
-  compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch; // Calculate the angle using a Complimentary filter
-
-  // Reset the gyro angle when it has drifted too much
-  if (gyroZangle < -180 || gyroZangle > 180)
-    gyroZangle = kalAngleZ;
-
-  pendulum_angle = constrainAngle(fmod(kalAngleZ, 120) - target_angle);	//摆角计算
-
-  //   pendulum_angle当前角度与期望角度差值，在差值大的时候进行摇摆，差值小的时候LQR控制电机保持平衡
-  if (test_flag == 0) //正常控制
-  {
-    if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5~30°,1.5~90°
-    {
-      target_velocity = controllerLQR(pendulum_angle, gyroZrate, motor.shaftVelocity());
-      if (abs(target_velocity) > 140)
-        //target_velocity = _sign(target_velocity) * 140;
-
-        motor.controller = MotionControlType::velocity;
-      motor.move(target_velocity);
-    }
-    else // else do swing-up
-    { // sets swing_up_voltage to the motor in order to swing up
-      motor.controller = MotionControlType::torque;
-      target_voltage = -_sign(gyroZrate) * swing_up_voltage;
-      motor.move(target_voltage);
-    }
-  }
-  else if (test_flag == 1)
-  {
-    motor.controller = MotionControlType::torque;
-    motor.move(target_voltage);
-  }
-  else
-  {
-    motor.controller = MotionControlType::velocity;
-    motor.move(target_velocity);
-  }
-
-  //串口输出数据部分，不需要的情况可以改为0
-#if 0
-
-  Serial.print(accX); Serial.print("\t");
-  Serial.print(accY); Serial.print("\t");
-  Serial.print(atan(accX / accY) / 1.570796 * 90); Serial.print("\t");
-  Serial.print(pitch); Serial.print("\t");
-  Serial.print(gyroZangle); Serial.print("\t");
-  Serial.print(compAngleZ); Serial.print("\t");
-  Serial.print(kalAngleZ); Serial.print("\t");
-
-  Serial.print(target_voltage); Serial.print("\t");
-  //  Serial.print(target_velocity);Serial.print("\t");
-  Serial.print(motor.shaft_velocity); Serial.print("\t");
-  Serial.print(target_angle); Serial.print("\t");
-  Serial.print(pendulum_angle); Serial.print("\t");
-  Serial.print(gyroZrate); Serial.print("\t");
-  Serial.print("\r\n");
-#endif
-  //  motor.move(target_velocity);
-  //可以使用该方法wifi发送udp信息
-  if (wifi_flag)
-  {
-    digitalWrite(ACTIVE_PIN, LOW);
-    memset(buf, 0, strlen(buf));
-
-    wifi_print("v", motor.shaftVelocity());
-    wifi_print("vq", motor.voltage.q);
-    wifi_print("p", pendulum_angle);
-    wifi_print("t", target_angle);
-    wifi_print("k", kalAngleZ);
-    wifi_print("g", gyroZrate);
-    wifi_print("BAT", driver.voltage_power_supply);
-
-    udp.writeTo((const unsigned char*)buf, strlen(buf), IPAddress(192, 168, 4, 2), localUdpPort); //广播数据
-    digitalWrite(ACTIVE_PIN, HIGH);
-  }
-
-  //触摸感应处理
-  touchAttach(1, T2);
-  touchAttach(2, T3);
-  touchAttach(3, T4);
-
-
-  //单击事件处理
-  if (touch_touched[1]) {
-    //Serial.print("\nLight1 touched ");
-    //Serial.println(touch_touched_times[1]);
-    touch_touched[1] = false;
-  }
-
-  if (touch_touched[2]) {
-    //Serial.print("\nLight2 touched ");
-    //Serial.println(touch_touched_times[2]);
-
-    touch_touched[2] = false;
-  }
-
-  //灯光及按键处理
-  if ( touch_STATE[1] ) {
-    pride();
-    addGlitter(15);
-    FastLED.show();
-  } else {
-    FastLED.clearData();
-    FastLED.show();
-  }
-
-}
-/* mpu6050加速度转换为角度
-            acc2rotation(ax, ay)
-            acc2rotation(az, ay) */
-double acc2rotation(double x, double y)
-{
-  if (y < 0)
-  {
-    return atan(x / y) / 1.570796 * 90 + 180;
-  }
-  else if (x < 0)
-  {
-    return (atan(x / y) / 1.570796 * 90 + 360);
-  }
-  else
-  {
-    return (atan(x / y) / 1.570796 * 90);
-  }
-}
-
-// function constraining the angle in between -60~60
-float constrainAngle(float x)
-{
-  float a = 0;
-  if (x < 0)
-  {
-    a = 120 + x;
-    if (a < abs(x))
-      return a;
-  }
-  return x;
-}
-// LQR stabilization controller functions
-// calculating the voltage that needs to be set to the motor in order to stabilize the pendulum
-float controllerLQR(float p_angle, float p_vel, float m_vel)
-{
-  // if angle controllable
-  // calculate the control law
-  // LQR controller u = k*x
-  //  - k = [40, 7, 0.3]
-  //  - k = [13.3, 21, 0.3]
-  //  - x = [pendulum angle, pendulum velocity, motor velocity]'
-
-  if (abs(p_angle) > 3)	//摆角大于2.5则进入非稳态，记录非稳态时间
-  {
-    last_unstable_time = millis();
-    if (stable)	//如果是稳态进入非稳态则调整为目标角度
-    {
-      target_angle = EEPROM.readFloat(0);
-      stable = 0;
-    }
-  }
-  if ((millis() - last_unstable_time) > 500 && !stable)	//非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态
-  {
-    target_angle  -= _sign(target_velocity) * 0.2;
-    stable = 1;
-  }
-
-  if ((millis() - last_stable_time) > 2500  && stable) { //稳态超过2000ms检测，更新目标角
-    if (abs(target_velocity) > 2.5 && abs(target_velocity) < 15) { //稳态速度偏大校正
-      last_stable_time = millis();
-      target_angle  -= _sign(target_velocity) * 0.2;
-    }
-  }
-
-  //Serial.println(stable);
-  float u;
-
-  if (!stable)	//非稳态计算
-  {
-    motor.PID_velocity.P = v_p_1;
-    motor.PID_velocity.I = v_i_1;
-    u = LQR_K3_1 * p_angle + LQR_K3_2 * p_vel + LQR_K3_3 * m_vel;
-  }
-  else
-  {
-    motor.PID_velocity.P = v_p_2;
-    motor.PID_velocity.I = v_i_2;
-    u = LQR_K4_1 * p_angle + LQR_K4_2 * p_vel + LQR_K4_3 * m_vel;
-  }
-
-  return u;
-}
-void wifi_print(char * s, double num)
-{
-  char str[255];
-  char n[255];
-  sprintf(n, "%.2f", num);
-  strcpy(str, s);
-  strcat(str, n);
-  strcat(buf + strlen(buf), str);
-  strcat(buf, ",\0");
-}
-
-
-unsigned long LastMillis = 0;
-void TenthSecondsSinceStartTask() //100ms
-{
-  unsigned long CurrentMillis = millis();
-  if (abs(int(CurrentMillis - LastMillis)) > 100)
-  {
-    LastMillis = CurrentMillis;
-    TenthSecondsSinceStart++;
-    OnTenthSecond();
-  }
-}
-
-void OnSecond()
-{
-  time_t now = time(nullptr); //获取当前时间
-
-  //转换成年月日的数字，可以更加自由的显示。
-  struct   tm* timenow;
-  timenow = localtime(&now);
-  unsigned char tempHour = timenow->tm_hour;
-  unsigned char tempMinute = timenow->tm_min;
-  unsigned char tempSecond = timenow->tm_sec;
-  unsigned char tempDay = timenow->tm_mday;
-  unsigned char tempMonth = timenow->tm_mon + 1;
-  unsigned int tempYear = timenow->tm_year + 1900;
-  unsigned char tempWeek = timenow->tm_wday;
-
-
-  //生成  年月日时分秒 字符串。
-  sprintf(DateTimeStr, "%d-%02d-%02d %02d:%02d:%02d"
-          , tempYear
-          , tempMonth
-          , tempDay
-          , tempHour
-          , tempMinute
-          , tempSecond
-         );
-
-  //Serial.println(DateTimeStr);
-
-#if defined(BAT_VOLTAGE_SENSE_PIN)  //电池电压检测
-  //driver.voltage_power_supply = return_voltage_value(BAT_VOLTAGE_SENSE_PIN);
-  bat_voltage = return_voltage_value(BAT_VOLTAGE_SENSE_PIN);
-  //Serial.println(driver.voltage_power_supply);
-  if (bat_voltage < min_voltage && !battery_low)
-  {
-    battery_low = 1;
-    Serial.print(driver.voltage_power_supply);
-    Serial.println("V ");
-    Serial.print(bat_voltage);
-    Serial.println("V battery_low!!");
-    while (battery_low)
-    {
-      FastLED.clearData();
-      FastLED.show();
-      //motor.loopFOC();
-      //motor.move(0);
-      motor.disable();
-
-      bat_voltage = return_voltage_value(BAT_VOLTAGE_SENSE_PIN);
-      if (bat_voltage >= (min_voltage + 0.5)) {
-        Serial.print(driver.voltage_power_supply);
-        Serial.println("V");
-        Serial.print(bat_voltage);
-        Serial.println("V battery ok");
-        digitalWrite(ACTIVE_PIN, 0);  //电池电压恢复则常亮，需reset重启
-        //battery_low = 0;
-      } else {  //电池电压低闪灯
-        if (millis() % 500 < 250)
-          digitalWrite(ACTIVE_PIN, 1);
-        else
-          digitalWrite(ACTIVE_PIN, 0);
-      }
-    }
-  }
-#endif
-
-  if (touchDetected[1] > 0) { //检测到触摸中，一秒计数一次，未触摸则清零
-    touch_touching_time[1]++;
-
-    //Serial.print("\nLight1 touching ");
-    //Serial.println(touch_touching_time[1]);
-    //长按事件处理
-    if (touch_touching_time[1] % 2 == 0) { //按住大于2秒关灯或者开灯
-      touch_STATE[1] = !touch_STATE[1]; //灯光状态反处理
-    }
-
-  }
-  if (touchDetected[2] > 0) { //检测到触摸中，一秒计数一次，未触摸则清零
-    touch_touching_time[2]++;
-    //Serial.print("\nLight2 touching ");
-    //Serial.println(touch_touching_time[2]);
-
-    if (touch_touching_time[2] % 2 == 0) { //按住大于2秒事件处理
-
-    }
-  }
-  if (touchDetected[3] > 0) { //检测到触摸中，一秒计数一次，未触摸则清零
-    touch_touching_time[3]++;
-    //Serial.print("\nLight2 touching ");
-    //Serial.println(touch_touching_time[2]);
-
-    if (touch_touching_time[3] % 2 == 0) { //按住大于2秒事件处理
-
-    }
-  }
-}
-
-void OnTenthSecond()  // 100ms 十分之一秒
-{
-
-  if (TenthSecondsSinceStart % 3 == 0) //0.3S刷新
-  {
-    if ( touch_touching_time[2] > 1) {	//按键2长按大于1秒处理调光
-      if ( touch_touched_times[2] == 0 || touch_touched_times[2] % 2 == 0 ) { //第0，2,4,6..次按加亮度，1,3,5...则减
-        rgb_brightness = rgb_brightness + 5;
-      } else {
-        rgb_brightness = rgb_brightness - 5;
-      }
-      //Serial.println(rgb_brightness);
-      FastLED.setBrightness(rgb_brightness);
-    }
-  }
-
-  if (TenthSecondsSinceStart % 10 == 0) //10次为1秒
-  {
-    OnSecond();
-  }
-}
-
-String TimeString(int TimeMillis) {
-  char stringTime[10];
-  int sec = TimeMillis;
-  int min = sec / 60;
-  int hr = min / 60;
-
-  sprintf(stringTime, "%02d:%02d:%02d",
-          hr, min % 60, sec % 60
-         );
-  return stringTime;
-}
-
-String ProcessUpdate()    //页面更新
-{
-  //自动生成一串用“,”隔开的字符串。
-  //HTML脚本会按照“, ”分割，形成一个字符串数组。
-  //并把这个数组填个表格的相应部分。
-  String ReturnString;
-  ReturnString = DateTimeStr;
-
-  ReturnString += ",";
-  ReturnString += TimeString(millis() / 1000);
-
-  ReturnString += ",";
-  ReturnString += bat_voltage;
-  if (log_control) {
-    ReturnString += ",";
-    ReturnString += motor.shaftVelocity();
-    ReturnString += ",";
-    ReturnString += motor.voltage.q;
-    ReturnString += ",";
-    ReturnString += target_velocity;
-    ReturnString += ",";
-    ReturnString += pendulum_angle;
-    ReturnString += ",";
-    ReturnString += target_angle;
-    ReturnString += ",";
-    ReturnString += kalAngleZ;
-    ReturnString += ",";
-    ReturnString += gyroZangle;
-  } else {
-    ReturnString += ",,,,,,,";
-  }
-
-  ReturnString += ",";
-  ReturnString += EEPROM.readFloat(0);
-  ReturnString += ",";
-  ReturnString += swing_up_voltage;
-  ReturnString += ",";
-  ReturnString += swing_up_angle;
-  ReturnString += ",";
-  ReturnString += v_i_1;
-  ReturnString += ",";
-  ReturnString += v_p_1;
-  ReturnString += ",";
-  ReturnString += v_i_2;
-  ReturnString += ",";
-  ReturnString += v_p_2;
-  //Serial.println(ReturnString);
-  return ReturnString;
-}
-
-/*
-  DeviceType  =0
-  DeviceType  =1
-
-  OPERATION_ON      0,3,6,9
-  OPERATION_OFF     1,4,7,10
-  OPERATION_ON_OFF  2,5,8,11
-*/
-void PocessControl(int DeviceType, int DeviceIndex, int Operation, float Operation2)
-{
-  String ReturnString;
-  char do_commd[20];
-  int SysIndex = 6;
-
-  if (DeviceType == 0)  //系统操作：开关灯，调节亮度，重启
-  {
-    if (DeviceIndex == 0)
-    {
-
-      if (Operation % SysIndex == 0)
-      {
-        touch_STATE[1] = true;
-        ReturnString += "开灯 亮度 ";
-        ReturnString += String(rgb_brightness);
-      }
-      else if (Operation % SysIndex == 3)  //操作off
-      {
-        touch_STATE[1] = false;
-        ReturnString += "关灯";
-      }
-      else if (Operation % SysIndex == 1)  //操作+
-      {
-        rgb_brightness = (rgb_brightness + 5) % 260;
-        FastLED.setBrightness(rgb_brightness);
-        ReturnString += "亮度增加至 ";
-        ReturnString += String(rgb_brightness);
-        if (!touch_STATE[1])
-          ReturnString += " 【灯光已关闭】";
-      }
-      else if (Operation % SysIndex == 2)  //操作-
-      {
-        if (rgb_brightness == 0)
-          rgb_brightness = 255;
-        else
-          rgb_brightness = rgb_brightness - 5;
-        FastLED.setBrightness(rgb_brightness);
-        ReturnString += "亮度降低至 ";
-        ReturnString += String(rgb_brightness);
-        if (!touch_STATE[1])
-          ReturnString += " 【灯光已关闭】";
-      }
-      else if (Operation % SysIndex == 4)
-      {
-        ReturnString += "系统重启，请等待重新连接";
-        ESP32Server.send(200, "text/plain", ReturnString);
-        printf("Reboot...");
-        esp_restart();
-      }
-    } else if (DeviceIndex == 5) {
-      if (Operation % SysIndex == 0)
-        log_control = 0;
-      else if (Operation % SysIndex == 1)
-        log_control = 1;
-    }
-  }
-
-  if (DeviceType == 1)  //调参
-  {
-    if (Operation == 0)
-    {
-      sprintf(do_commd, "%.2f", Operation2);
-      Serial.println(do_commd);
-      if (DeviceIndex == 0)  //期望角度TA
-      {
-        do_TA(do_commd);
-      } else if (DeviceIndex == 1)  //摇摆电压SV
-      {
-        do_SV(do_commd);
-      } else if (DeviceIndex == 2)  //摇摆角度SA
-      {
-        do_SA(do_commd);
-      } else if (DeviceIndex == 3)  //速度环P1
-      {
-        do_vp1(do_commd);
-      } else if (DeviceIndex == 4)  //速度环I1
-      {
-        do_vi1(do_commd);
-      } else if (DeviceIndex == 5)  //速度环P2
-      {
-        do_vp2(do_commd);
-      } else if (DeviceIndex == 6)  //速度环I2
-      {
-        do_vi2(do_commd);
-      } else if (DeviceIndex == 99)  //电机启停
-      {
-        do_MOTOR(do_commd);
-        if (!Motor_enable_flag)
-          ReturnString += "电机启动...";
-        else
-          ReturnString += "电机停机...";
-      }
-      EEPROM.commit();
-
-    }
-  }
-  ESP32Server.send(200, "text/plain", ReturnString);
-}
-
-
-bool handleFileRead(String path) {            //处理主页访问
-  String contentType = "text/html";
-
-  if (SPIFFS.exists(path)) {                       // 如果访问的文件可以在SPIFFS中找到
-    File file = SPIFFS.open(path, "r");          // 则尝试打开该文件
-    ESP32Server.streamFile(file, contentType);   // 并且将该文件返回给浏览器
-    file.close();                                // 并且关闭文件
-    return true;                                 // 返回true
-  }
-  return false;                                    // 如果文件未找到，则返回false
-}
-
-void handleNotFound()
-{
-  // 获取用户请求网址信息
-  String webAddress = ESP32Server.uri();
-  int AutheTimes  = 0;
-
-  if (!ESP32Server.authenticate(username, userpassword)) //校验用户是否登录
-  {
-    if (AutheTimes == 3) {
-      ESP32Server.send(404, "text/plain", "Bye");
-    } else {
-      AutheTimes++;
-      return ESP32Server.requestAuthentication(); //请求进行用户登录认证
-    }
-  }
-
-  //打印出请求
-  if (webAddress != "/update")
-  {
-    printf("%s\n", webAddress.c_str());
-  }
-
-  //如果是主页请求，则发送FLASH中的index.html文件
-  if (webAddress.endsWith("/")) {                   // 如果访问地址以"/"为结尾
-    webAddress = "/index.html";                     // 则将访问地址修改为/index.html便于SPIFFS访问
-
-    // 通过handleFileRead函数处处理用户访问
-    handleFileRead(webAddress);
-  }
-  else if (webAddress.endsWith("update"))
-  {
-    ESP32Server.send(200, "text/plain", ProcessUpdate());
-  }
-  else if (webAddress.startsWith("/Control"))
-  {
-    if (ESP32Server.args() == 3)
-    {
-      int DeviceType = ESP32Server.arg(0).toInt();
-      int DeviceIndex = ESP32Server.arg(1).toInt();
-      int Operation = ESP32Server.arg(2).toInt();
-      float Operation2 = ESP32Server.arg(2).toFloat();
-      if (DeviceType == 1) {
-        Operation = 0;
-      }
-
-      printf("DeviceType:%d DeviceIndex:%d Operation:%d Operation2:%.2f\n", DeviceType, DeviceIndex, Operation, Operation2 );
-
-      PocessControl(DeviceType, DeviceIndex, Operation, Operation2);
-    }
-    else
-    {
-      ESP32Server.send(404, "text/plain", "404 Not Found");
-    }
-  }
-  else
-  {
-    ESP32Server.send(404, "text/plain", "404 Not Found");
-  }
-}
-
-void StartWebServer()
-{
-  ESP32Server.begin();
-  ESP32Server.onNotFound(handleNotFound);//将所有请求导向自己处理的代码
-}
-
-
-// This function draws rainbows with an ever-changing,
-// widely-varying set of parameters.
-void pride()
-{
-  static uint16_t sPseudotime = 0;
-  static uint16_t sLastMillis = 0;
-  static uint16_t sHue16 = 0;
-
-  uint8_t sat8 = beatsin88( 87, 220, 250);
-  uint8_t brightdepth = beatsin88( 341, 96, 224);
-  uint16_t brightnessthetainc16 = beatsin88( 203, (25 * 256), (40 * 256));
-  uint8_t msmultiplier = beatsin88(147, 23, 60);
-
-  uint16_t hue16 = sHue16;//gHue * 256;
-  uint16_t hueinc16 = beatsin88(113, 1, 3000);
-
-  uint16_t ms = millis();
-  uint16_t deltams = ms - sLastMillis ;
-  sLastMillis  = ms;
-  sPseudotime += deltams * msmultiplier;
-  sHue16 += deltams * beatsin88( 400, 5, 9);
-  uint16_t brightnesstheta16 = sPseudotime;
-
-  for ( uint16_t i = 0 ; i < NUM_LEDS; i++) {
-    hue16 += hueinc16;
-    uint8_t hue8 = hue16 / 256;
-
-    brightnesstheta16  += brightnessthetainc16;
-    uint16_t b16 = sin16( brightnesstheta16  ) + 32768;
-
-    uint16_t bri16 = (uint32_t)((uint32_t)b16 * (uint32_t)b16) / 65536;
-    uint8_t bri8 = (uint32_t)(((uint32_t)bri16) * brightdepth) / 65536;
-    bri8 += (255 - brightdepth);
-
-    CRGB newcolor = CHSV( hue8, sat8, bri8);
-
-    uint16_t pixelnumber = i;
-    pixelnumber = (NUM_LEDS - 1) - pixelnumber;
-
-    nblend( leds[pixelnumber], newcolor, 64);
-  }
-}
-
-void addGlitter( fract8 chanceOfGlitter)
-{
-  if ( random8() < chanceOfGlitter) {
-    leds[ random16(NUM_LEDS) ] += CRGB::White;
-  }
-}
-
-double return_voltage_value(int pin_no)
-{
-  double tmp = 0;
-  double ADCVoltage = 0;
-  double inputVoltage = 0;
-  double avg = 0;
-
-  for (int i = 0; i < 150; i++)
-  {
-    tmp = tmp + analogRead(pin_no);
-  }
-  avg = tmp / 150;
-
-  //avg = analogRead(pin_no);
-  ADCVoltage = ((avg * 3.3) / (4095)) + 0.101;
-  inputVoltage = ADCVoltage / (R2_VOLTAGE / (R1_VOLTAGE + R2_VOLTAGE)); // formula for calculating voltage in i.e. GND
-  return inputVoltage;
-}
-
-//触摸感应处理
-void touchAttach(int touchID, uint8_t touchPin){
-  touchread[touchID] = touchRead(touchPin);
-  if ( touchread[touchID] <= threshold_top && touchread[touchID] > threshold_bottom ) { //达到触发值的计数
-    //delay(38);  // 0.038秒
-    touchDetected[touchID]++; //持续触摸计数
-    if ( (touchDetected[touchID] >= threshold_count) && digitalRead(ACTIVE_PIN) == HIGH  ) {  //达到触发值的，灯不亮则亮灯
-      digitalWrite(ACTIVE_PIN, LOW);
-    }
-  } else if (touchread[touchID] > threshold_top) { //无触摸处理
-    if ( digitalRead(ACTIVE_PIN) == LOW ) { //灭触摸灯
-      digitalWrite(ACTIVE_PIN, HIGH);
-    }
-    if ( touchDetected[touchID] >= threshold_count ) {  //检测无触摸之前的有效计数，触摸过则标记
-      touch_touched[touchID] = true;
-      touch_touched_times[touchID]++;  //触摸计数+1
-    }
-    touch_touching_time[touchID] = 0;  //持续触摸时间清零
-    touchDetected[touchID]    = 0;  //持续触摸计数清零
-  }
-}