├── .gitignore ├── Docs ├── Communication protocol │ └── NavBot-EN01 BLE communication protocol V1.9.pdf ├── Image │ ├── Add_libraries1.png │ ├── Add_libraries2.png │ ├── Board_install.png │ ├── Connection.png │ ├── DSC_3893.JPG │ ├── Discord link.png │ ├── Download_queue.png │ ├── Partition.png │ ├── RobotReal.jpg │ ├── RobotRender.png │ ├── Select_board.png │ ├── easyeda1.png │ ├── easyeda2.png │ ├── easyeda3.png │ ├── project.png │ ├── wire.png │ ├── 未命名.png │ └── 未命名123.png ├── README.md └── Simulator │ ├── index.html │ ├── index.js │ └── navbot │ └── merged │ ├── base_visual.obj │ ├── foot_left_visual.obj │ ├── foot_right_visual.obj │ ├── leg_left_visual.obj │ ├── leg_right_visual.obj │ ├── link_2_visual.obj │ ├── link_visual.obj │ ├── wheel_motor_2_visual.obj │ └── wheel_motor_visual.obj ├── Hardware ├── PCB │ ├── ProPrj_NavBot-EN01_2025-11-07.epro │ └── README.md └── RebotModel │ ├── 3D_print │ ├── Calf_L x1.stl │ ├── Calf_R x1.stl │ ├── ColumnCover x2.stl │ ├── Hub x2.stl │ ├── PCBCover(optional).stl │ ├── ThighCover_L x1.stl │ ├── ThighCover_R x1.stl │ ├── Thigh_L x1.stl │ ├── Thigh_R x1.stl │ ├── magnet_frame.stl │ ├── new_curs1.stl │ ├── new_curs2.stl │ └── new_wheel.stl │ ├── BOM.xlsx │ ├── CNC │ ├── BodyBasc-Aluminum6061.pdf │ ├── BodyBasc-Aluminum6061.stp │ ├── MotorBase-Aluminum6061.pdf │ └── MotorBase-Aluminum6061.stp │ ├── CarbonFiberPanels │ ├── Panel.dwg │ └── Panel.pdf │ └── OriginalRobotModel.stp ├── README.md ├── Src ├── libraries │ ├── ArduinoJson.zip │ ├── MPU6050_tockn.zip │ ├── SCServo.zip │ ├── Simple_FOC.zip │ └── WebSockets.zip └── wl_pro_robot │ ├── .theia │ └── launch.json │ ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json │ ├── Servo_STS3032.cpp │ ├── Servo_STS3032.h │ ├── basic_web.h │ ├── ble.cpp │ ├── ble.h │ ├── cpu0_task.cpp │ ├── cpu0_task.h │ ├── data │ ├── Advance.bin │ ├── Angry.bin │ ├── Bored.bin │ ├── Cray.bin │ ├── Dizzy.bin │ ├── Happy.bin │ ├── Infatuate.bin │ ├── Left.bin │ ├── Pained.bin │ ├── Relaxed.bin │ ├── Retreat.bin │ ├── Right.bin │ ├── Rise.bin │ ├── Sad.bin │ ├── Standby-Blink.bin │ ├── Standby-Doze.bin │ ├── Standby-Look.bin │ └── z.bin │ ├── define.h │ ├── eeprom_util.cpp │ ├── eeprom_util.h │ ├── esp32.svd │ ├── feedback_util.cpp │ ├── feedback_util.h │ ├── libraries │ ├── ArduinoJson │ │ ├── ArduinoJson.h │ │ ├── CHANGELOG.md │ │ ├── CMakeLists.txt │ │ ├── CONTRIBUTING.md │ │ ├── LICENSE.txt │ │ ├── README.md │ │ ├── SUPPORT.md │ │ ├── appveyor.yml │ │ ├── component.mk │ │ ├── examples │ │ │ ├── JsonConfigFile │ │ │ │ └── JsonConfigFile.ino │ │ │ ├── JsonFilterExample │ │ │ │ └── JsonFilterExample.ino │ │ │ ├── JsonGeneratorExample │ │ │ │ └── JsonGeneratorExample.ino │ │ │ ├── JsonHttpClient │ │ │ │ └── JsonHttpClient.ino │ │ │ ├── JsonParserExample │ │ │ │ └── JsonParserExample.ino │ │ │ ├── JsonServer │ │ │ │ └── JsonServer.ino │ │ │ ├── JsonUdpBeacon │ │ │ │ └── JsonUdpBeacon.ino │ │ │ ├── MsgPackParser │ │ │ │ └── MsgPackParser.ino │ │ │ ├── ProgmemExample │ │ │ │ └── ProgmemExample.ino │ │ │ └── StringExample │ │ │ │ └── StringExample.ino │ │ ├── extras │ │ │ ├── ArduinoJsonConfig.cmake.in │ │ │ ├── CompileOptions.cmake │ │ │ ├── ci │ │ │ │ ├── espidf │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── main │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ ├── component.mk │ │ │ │ │ │ └── main.cpp │ │ │ │ └── particle.sh │ │ │ ├── conf_test │ │ │ │ ├── avr.cpp │ │ │ │ ├── esp8266.cpp │ │ │ │ ├── x64.cpp │ │ │ │ └── x86.cpp │ │ │ ├── fuzzing │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Makefile │ │ │ │ ├── json_fuzzer.cpp │ │ │ │ ├── json_seed_corpus │ │ │ │ │ ├── Comments.json │ │ │ │ │ ├── EmptyArray.json │ │ │ │ │ ├── EmptyObject.json │ │ │ │ │ ├── ExcessiveNesting.json │ │ │ │ │ ├── IntegerOverflow.json │ │ │ │ │ ├── Numbers.json │ │ │ │ │ ├── OpenWeatherMap.json │ │ │ │ │ ├── Strings.json │ │ │ │ │ └── WeatherUnderground.json │ │ │ │ ├── msgpack_fuzzer.cpp │ │ │ │ ├── msgpack_seed_corpus │ │ │ │ │ ├── array16 │ │ │ │ │ ├── array32 │ │ │ │ │ ├── false │ │ │ │ │ ├── fixarray │ │ │ │ │ ├── fixint_negative │ │ │ │ │ ├── fixint_positive │ │ │ │ │ ├── fixmap │ │ │ │ │ ├── fixstr │ │ │ │ │ ├── float32 │ │ │ │ │ ├── float64 │ │ │ │ │ ├── int16 │ │ │ │ │ ├── int32 │ │ │ │ │ ├── int64 │ │ │ │ │ ├── int8 │ │ │ │ │ ├── map16 │ │ │ │ │ ├── map32 │ │ │ │ │ ├── nil │ │ │ │ │ ├── str16 │ │ │ │ │ ├── str32 │ │ │ │ │ ├── str8 │ │ │ │ │ ├── true │ │ │ │ │ ├── uint16 │ │ │ │ │ ├── uint32 │ │ │ │ │ ├── uint64 │ │ │ │ │ └── uint8 │ │ │ │ └── reproducer.cpp │ │ │ ├── particle │ │ │ │ ├── project.properties │ │ │ │ └── src │ │ │ │ │ └── smocktest.ino │ │ │ ├── scripts │ │ │ │ ├── build-arduino-package.sh │ │ │ │ ├── build-single-header.sh │ │ │ │ ├── get-release-body.sh │ │ │ │ ├── get-release-page.sh │ │ │ │ ├── publish-particle-library.sh │ │ │ │ ├── publish.sh │ │ │ │ └── wandbox │ │ │ │ │ ├── JsonGeneratorExample.cpp │ │ │ │ │ ├── JsonParserExample.cpp │ │ │ │ │ ├── MsgPackParserExample.cpp │ │ │ │ │ └── publish.sh │ │ │ └── tests │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Cpp17 │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── string_view.cpp │ │ │ │ ├── Cpp20 │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── smoke_test.cpp │ │ │ │ ├── FailingBuilds │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Issue1189.cpp │ │ │ │ ├── Issue978.cpp │ │ │ │ ├── assign_char.cpp │ │ │ │ ├── delete_jsondocument.cpp │ │ │ │ ├── read_long_long.cpp │ │ │ │ ├── variant_as_char.cpp │ │ │ │ └── write_long_long.cpp │ │ │ │ ├── Helpers │ │ │ │ ├── Arduino.h │ │ │ │ ├── CustomReader.hpp │ │ │ │ ├── api │ │ │ │ │ ├── Print.h │ │ │ │ │ ├── Stream.h │ │ │ │ │ └── String.h │ │ │ │ └── progmem_emulation.hpp │ │ │ │ ├── IntegrationTests │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── gbathree.cpp │ │ │ │ ├── issue772.cpp │ │ │ │ ├── openweathermap.cpp │ │ │ │ └── round_trip.cpp │ │ │ │ ├── JsonArray │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── add.cpp │ │ │ │ ├── clear.cpp │ │ │ │ ├── compare.cpp │ │ │ │ ├── copyArray.cpp │ │ │ │ ├── createNested.cpp │ │ │ │ ├── equals.cpp │ │ │ │ ├── isNull.cpp │ │ │ │ ├── iterator.cpp │ │ │ │ ├── memoryUsage.cpp │ │ │ │ ├── nesting.cpp │ │ │ │ ├── remove.cpp │ │ │ │ ├── size.cpp │ │ │ │ ├── std_string.cpp │ │ │ │ ├── subscript.cpp │ │ │ │ └── unbound.cpp │ │ │ │ ├── JsonDeserializer │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── DeserializationError.cpp │ │ │ │ ├── array.cpp │ │ │ │ ├── array_static.cpp │ │ │ │ ├── filter.cpp │ │ │ │ ├── incomplete_input.cpp │ │ │ │ ├── input_types.cpp │ │ │ │ ├── invalid_input.cpp │ │ │ │ ├── misc.cpp │ │ │ │ ├── nestingLimit.cpp │ │ │ │ ├── number.cpp │ │ │ │ ├── object.cpp │ │ │ │ ├── object_static.cpp │ │ │ │ └── string.cpp │ │ │ │ ├── JsonDocument │ │ │ │ ├── BasicJsonDocument.cpp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── DynamicJsonDocument.cpp │ │ │ │ ├── ElementProxy.cpp │ │ │ │ ├── MemberProxy.cpp │ │ │ │ ├── StaticJsonDocument.cpp │ │ │ │ ├── add.cpp │ │ │ │ ├── cast.cpp │ │ │ │ ├── compare.cpp │ │ │ │ ├── containsKey.cpp │ │ │ │ ├── createNested.cpp │ │ │ │ ├── isNull.cpp │ │ │ │ ├── issue1120.cpp │ │ │ │ ├── nesting.cpp │ │ │ │ ├── overflowed.cpp │ │ │ │ ├── remove.cpp │ │ │ │ ├── shrinkToFit.cpp │ │ │ │ ├── size.cpp │ │ │ │ ├── subscript.cpp │ │ │ │ └── swap.cpp │ │ │ │ ├── JsonObject │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── clear.cpp │ │ │ │ ├── compare.cpp │ │ │ │ ├── containsKey.cpp │ │ │ │ ├── copy.cpp │ │ │ │ ├── createNestedArray.cpp │ │ │ │ ├── createNestedObject.cpp │ │ │ │ ├── equals.cpp │ │ │ │ ├── invalid.cpp │ │ │ │ ├── isNull.cpp │ │ │ │ ├── iterator.cpp │ │ │ │ ├── memoryUsage.cpp │ │ │ │ ├── nesting.cpp │ │ │ │ ├── remove.cpp │ │ │ │ ├── size.cpp │ │ │ │ ├── std_string.cpp │ │ │ │ └── subscript.cpp │ │ │ │ ├── JsonSerializer │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── CustomWriter.cpp │ │ │ │ ├── JsonArray.cpp │ │ │ │ ├── JsonArrayPretty.cpp │ │ │ │ ├── JsonObject.cpp │ │ │ │ ├── JsonObjectPretty.cpp │ │ │ │ ├── JsonVariant.cpp │ │ │ │ ├── misc.cpp │ │ │ │ ├── std_stream.cpp │ │ │ │ └── std_string.cpp │ │ │ │ ├── JsonVariant │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── add.cpp │ │ │ │ ├── as.cpp │ │ │ │ ├── clear.cpp │ │ │ │ ├── compare.cpp │ │ │ │ ├── containsKey.cpp │ │ │ │ ├── converters.cpp │ │ │ │ ├── copy.cpp │ │ │ │ ├── createNested.cpp │ │ │ │ ├── is.cpp │ │ │ │ ├── isnull.cpp │ │ │ │ ├── memoryUsage.cpp │ │ │ │ ├── misc.cpp │ │ │ │ ├── nesting.cpp │ │ │ │ ├── nullptr.cpp │ │ │ │ ├── or.cpp │ │ │ │ ├── overflow.cpp │ │ │ │ ├── remove.cpp │ │ │ │ ├── set.cpp │ │ │ │ ├── shallowCopy.cpp │ │ │ │ ├── size.cpp │ │ │ │ ├── stl_containers.cpp │ │ │ │ ├── subscript.cpp │ │ │ │ ├── types.cpp │ │ │ │ └── unbound.cpp │ │ │ │ ├── MemoryPool │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── StringCopier.cpp │ │ │ │ ├── allocVariant.cpp │ │ │ │ ├── clear.cpp │ │ │ │ ├── saveString.cpp │ │ │ │ └── size.cpp │ │ │ │ ├── Misc │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── FloatParts.cpp │ │ │ │ ├── JsonString.cpp │ │ │ │ ├── NoArduinoHeader.cpp │ │ │ │ ├── Readers.cpp │ │ │ │ ├── StringAdapters.cpp │ │ │ │ ├── StringWriter.cpp │ │ │ │ ├── TypeTraits.cpp │ │ │ │ ├── Utf16.cpp │ │ │ │ ├── Utf8.cpp │ │ │ │ ├── arithmeticCompare.cpp │ │ │ │ ├── conflicts.cpp │ │ │ │ ├── custom_string.hpp │ │ │ │ ├── printable.cpp │ │ │ │ ├── unsigned_char.cpp │ │ │ │ ├── version.cpp │ │ │ │ └── weird_strcmp.hpp │ │ │ │ ├── MixedConfiguration │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── decode_unicode_0.cpp │ │ │ │ ├── decode_unicode_1.cpp │ │ │ │ ├── enable_alignment_0.cpp │ │ │ │ ├── enable_alignment_1.cpp │ │ │ │ ├── enable_comments_0.cpp │ │ │ │ ├── enable_comments_1.cpp │ │ │ │ ├── enable_infinity_0.cpp │ │ │ │ ├── enable_infinity_1.cpp │ │ │ │ ├── enable_nan_0.cpp │ │ │ │ ├── enable_nan_1.cpp │ │ │ │ ├── enable_progmem_1.cpp │ │ │ │ ├── enable_string_deduplication_0.cpp │ │ │ │ ├── enable_string_deduplication_1.cpp │ │ │ │ ├── issue1707.cpp │ │ │ │ ├── use_double_0.cpp │ │ │ │ ├── use_double_1.cpp │ │ │ │ ├── use_long_long_0.cpp │ │ │ │ └── use_long_long_1.cpp │ │ │ │ ├── MsgPackDeserializer │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── deserializeArray.cpp │ │ │ │ ├── deserializeObject.cpp │ │ │ │ ├── deserializeStaticVariant.cpp │ │ │ │ ├── deserializeVariant.cpp │ │ │ │ ├── doubleToFloat.cpp │ │ │ │ ├── filter.cpp │ │ │ │ ├── incompleteInput.cpp │ │ │ │ ├── input_types.cpp │ │ │ │ ├── misc.cpp │ │ │ │ ├── nestingLimit.cpp │ │ │ │ └── notSupported.cpp │ │ │ │ ├── MsgPackSerializer │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── destination_types.cpp │ │ │ │ ├── measure.cpp │ │ │ │ ├── misc.cpp │ │ │ │ ├── serializeArray.cpp │ │ │ │ ├── serializeObject.cpp │ │ │ │ └── serializeVariant.cpp │ │ │ │ ├── Numbers │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── convertNumber.cpp │ │ │ │ ├── parseDouble.cpp │ │ │ │ ├── parseFloat.cpp │ │ │ │ ├── parseInteger.cpp │ │ │ │ └── parseNumber.cpp │ │ │ │ ├── TextFormatter │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── writeFloat.cpp │ │ │ │ ├── writeInteger.cpp │ │ │ │ └── writeString.cpp │ │ │ │ └── catch │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── catch.cpp │ │ │ │ └── catch.hpp │ │ ├── idf_component.yml │ │ ├── keywords.txt │ │ ├── library.json │ │ ├── library.properties │ │ └── src │ │ │ ├── ArduinoJson.h │ │ │ ├── ArduinoJson.hpp │ │ │ ├── ArduinoJson │ │ │ ├── Array │ │ │ │ ├── ElementProxy.hpp │ │ │ │ ├── JsonArray.hpp │ │ │ │ ├── JsonArrayConst.hpp │ │ │ │ ├── JsonArrayImpl.hpp │ │ │ │ ├── JsonArrayIterator.hpp │ │ │ │ └── Utilities.hpp │ │ │ ├── Collection │ │ │ │ ├── CollectionData.hpp │ │ │ │ └── CollectionImpl.hpp │ │ │ ├── Configuration.hpp │ │ │ ├── Deserialization │ │ │ │ ├── DeserializationError.hpp │ │ │ │ ├── DeserializationOptions.hpp │ │ │ │ ├── Filter.hpp │ │ │ │ ├── NestingLimit.hpp │ │ │ │ ├── Reader.hpp │ │ │ │ ├── Readers │ │ │ │ │ ├── ArduinoStreamReader.hpp │ │ │ │ │ ├── ArduinoStringReader.hpp │ │ │ │ │ ├── FlashReader.hpp │ │ │ │ │ ├── IteratorReader.hpp │ │ │ │ │ ├── RamReader.hpp │ │ │ │ │ ├── StdStreamReader.hpp │ │ │ │ │ └── VariantReader.hpp │ │ │ │ └── deserialize.hpp │ │ │ ├── Document │ │ │ │ ├── BasicJsonDocument.hpp │ │ │ │ ├── DynamicJsonDocument.hpp │ │ │ │ ├── JsonDocument.hpp │ │ │ │ └── StaticJsonDocument.hpp │ │ │ ├── Json │ │ │ │ ├── EscapeSequence.hpp │ │ │ │ ├── JsonDeserializer.hpp │ │ │ │ ├── JsonSerializer.hpp │ │ │ │ ├── Latch.hpp │ │ │ │ ├── PrettyJsonSerializer.hpp │ │ │ │ ├── TextFormatter.hpp │ │ │ │ ├── Utf16.hpp │ │ │ │ └── Utf8.hpp │ │ │ ├── Memory │ │ │ │ ├── Alignment.hpp │ │ │ │ └── MemoryPool.hpp │ │ │ ├── Misc │ │ │ │ └── SerializedValue.hpp │ │ │ ├── MsgPack │ │ │ │ ├── MsgPackDeserializer.hpp │ │ │ │ ├── MsgPackSerializer.hpp │ │ │ │ ├── endianess.hpp │ │ │ │ └── ieee754.hpp │ │ │ ├── Namespace.hpp │ │ │ ├── Numbers │ │ │ │ ├── FloatParts.hpp │ │ │ │ ├── FloatTraits.hpp │ │ │ │ ├── JsonFloat.hpp │ │ │ │ ├── JsonInteger.hpp │ │ │ │ ├── arithmeticCompare.hpp │ │ │ │ ├── convertNumber.hpp │ │ │ │ └── parseNumber.hpp │ │ │ ├── Object │ │ │ │ ├── JsonObject.hpp │ │ │ │ ├── JsonObjectConst.hpp │ │ │ │ ├── JsonObjectImpl.hpp │ │ │ │ ├── JsonObjectIterator.hpp │ │ │ │ ├── JsonPair.hpp │ │ │ │ └── MemberProxy.hpp │ │ │ ├── Polyfills │ │ │ │ ├── alias_cast.hpp │ │ │ │ ├── assert.hpp │ │ │ │ ├── attributes.hpp │ │ │ │ ├── ctype.hpp │ │ │ │ ├── integer.hpp │ │ │ │ ├── limits.hpp │ │ │ │ ├── math.hpp │ │ │ │ ├── mpl │ │ │ │ │ └── max.hpp │ │ │ │ ├── pgmspace.hpp │ │ │ │ ├── pgmspace_generic.hpp │ │ │ │ ├── preprocessor.hpp │ │ │ │ ├── type_traits.hpp │ │ │ │ ├── type_traits │ │ │ │ │ ├── conditional.hpp │ │ │ │ │ ├── declval.hpp │ │ │ │ │ ├── enable_if.hpp │ │ │ │ │ ├── integral_constant.hpp │ │ │ │ │ ├── is_array.hpp │ │ │ │ │ ├── is_base_of.hpp │ │ │ │ │ ├── is_class.hpp │ │ │ │ │ ├── is_const.hpp │ │ │ │ │ ├── is_convertible.hpp │ │ │ │ │ ├── is_enum.hpp │ │ │ │ │ ├── is_floating_point.hpp │ │ │ │ │ ├── is_integral.hpp │ │ │ │ │ ├── is_pointer.hpp │ │ │ │ │ ├── is_same.hpp │ │ │ │ │ ├── is_signed.hpp │ │ │ │ │ ├── is_unsigned.hpp │ │ │ │ │ ├── make_unsigned.hpp │ │ │ │ │ ├── make_void.hpp │ │ │ │ │ ├── remove_const.hpp │ │ │ │ │ ├── remove_cv.hpp │ │ │ │ │ ├── remove_reference.hpp │ │ │ │ │ └── type_identity.hpp │ │ │ │ └── utility.hpp │ │ │ ├── Serialization │ │ │ │ ├── CountingDecorator.hpp │ │ │ │ ├── Writer.hpp │ │ │ │ ├── Writers │ │ │ │ │ ├── ArduinoStringWriter.hpp │ │ │ │ │ ├── DummyWriter.hpp │ │ │ │ │ ├── PrintWriter.hpp │ │ │ │ │ ├── StaticStringWriter.hpp │ │ │ │ │ ├── StdStreamWriter.hpp │ │ │ │ │ └── StdStringWriter.hpp │ │ │ │ ├── measure.hpp │ │ │ │ └── serialize.hpp │ │ │ ├── StringStorage │ │ │ │ ├── StringCopier.hpp │ │ │ │ ├── StringMover.hpp │ │ │ │ └── StringStorage.hpp │ │ │ ├── Strings │ │ │ │ ├── Adapters │ │ │ │ │ ├── FlashString.hpp │ │ │ │ │ ├── JsonString.hpp │ │ │ │ │ ├── RamString.hpp │ │ │ │ │ └── StringObject.hpp │ │ │ │ ├── IsString.hpp │ │ │ │ ├── JsonString.hpp │ │ │ │ ├── StoragePolicy.hpp │ │ │ │ ├── StringAdapter.hpp │ │ │ │ ├── StringAdapters.hpp │ │ │ │ └── StringTraits.hpp │ │ │ ├── Variant │ │ │ │ ├── Converter.hpp │ │ │ │ ├── ConverterImpl.hpp │ │ │ │ ├── JsonVariant.hpp │ │ │ │ ├── JsonVariantConst.hpp │ │ │ │ ├── SlotFunctions.hpp │ │ │ │ ├── VariantAttorney.hpp │ │ │ │ ├── VariantCompare.hpp │ │ │ │ ├── VariantContent.hpp │ │ │ │ ├── VariantData.hpp │ │ │ │ ├── VariantFunctions.hpp │ │ │ │ ├── VariantImpl.hpp │ │ │ │ ├── VariantOperators.hpp │ │ │ │ ├── VariantRefBase.hpp │ │ │ │ ├── VariantSlot.hpp │ │ │ │ ├── VariantTag.hpp │ │ │ │ ├── VariantTo.hpp │ │ │ │ └── Visitor.hpp │ │ │ ├── compatibility.hpp │ │ │ └── version.hpp │ │ │ └── CMakeLists.txt │ ├── MPU6050_tockn │ │ ├── README.md │ │ ├── examples │ │ │ ├── GetAllData │ │ │ │ └── GetAllData.ino │ │ │ └── GetAngle │ │ │ │ └── GetAngle.ino │ │ ├── library.properties │ │ └── src │ │ │ ├── MPU6050_tockn.cpp │ │ │ └── MPU6050_tockn.h │ ├── SCSservo │ │ ├── INST.h │ │ ├── SCS.cpp │ │ ├── SCS.h │ │ ├── SCSCL.cpp │ │ ├── SCSCL.h │ │ ├── SCSerial.cpp │ │ ├── SCSerial.h │ │ ├── SCServo.h │ │ ├── SCServo.txt │ │ ├── SMS_STS.cpp │ │ ├── SMS_STS.h │ │ ├── examples │ │ │ ├── SCSCL │ │ │ │ ├── Broadcast │ │ │ │ │ └── Broadcast.ino │ │ │ │ ├── FeedBack │ │ │ │ │ └── FeedBack.ino │ │ │ │ ├── Ping │ │ │ │ │ └── Ping.ino │ │ │ │ ├── ProgramEprom │ │ │ │ │ └── ProgramEprom.ino │ │ │ │ ├── RegWritePos │ │ │ │ │ └── RegWritePos.ino │ │ │ │ ├── SyncWritePos │ │ │ │ │ └── SyncWritePos.ino │ │ │ │ └── WritePos │ │ │ │ │ └── WritePos.ino │ │ │ └── STSCL │ │ │ │ ├── CalibrationOfs │ │ │ │ └── CalibrationOfs.ino │ │ │ │ ├── FeedBack │ │ │ │ └── FeedBack.ino │ │ │ │ ├── Ping │ │ │ │ └── Ping.ino │ │ │ │ ├── ProgramEprom │ │ │ │ └── ProgramEprom.ino │ │ │ │ ├── RegWritePos │ │ │ │ └── RegWritePos.ino │ │ │ │ ├── SyncWritePos │ │ │ │ └── SyncWritePos.ino │ │ │ │ └── WritePos │ │ │ │ └── WritePos.ino │ │ └── library.properties │ ├── Simple_FOC │ │ ├── LICENSE │ │ ├── README.md │ │ ├── examples │ │ │ ├── hardware_specific_examples │ │ │ │ ├── B_G431B_ESC1 │ │ │ │ │ ├── B_G431B_ESC1.ino │ │ │ │ │ └── build_opt.h │ │ │ │ ├── Bluepill_examples │ │ │ │ │ ├── encoder │ │ │ │ │ │ └── bluepill_position_control │ │ │ │ │ │ │ └── bluepill_position_control.ino │ │ │ │ │ └── magnetic_sensor │ │ │ │ │ │ └── bluepill_position_control │ │ │ │ │ │ └── bluepill_position_control.ino │ │ │ │ ├── DRV8302_driver │ │ │ │ │ ├── 3pwm_example │ │ │ │ │ │ └── encoder │ │ │ │ │ │ │ └── full_control_serial │ │ │ │ │ │ │ └── full_control_serial.ino │ │ │ │ │ ├── 6pwm_example │ │ │ │ │ │ └── encoder │ │ │ │ │ │ │ └── full_control_serial │ │ │ │ │ │ │ └── full_control_serial.ino │ │ │ │ │ └── esp32_current_control_low_side │ │ │ │ │ │ └── esp32_current_control_low_side.ino │ │ │ │ ├── ESP32 │ │ │ │ │ ├── encoder │ │ │ │ │ │ └── esp32_position_control │ │ │ │ │ │ │ └── esp32_position_control.ino │ │ │ │ │ └── magnetic_sensor │ │ │ │ │ │ └── esp32_position_control │ │ │ │ │ │ └── esp32_position_control.ino │ │ │ │ ├── HMBGC_example │ │ │ │ │ ├── position_control │ │ │ │ │ │ └── position_control.ino │ │ │ │ │ └── voltage_control │ │ │ │ │ │ └── voltage_control.ino │ │ │ │ ├── SAMD_examples │ │ │ │ │ ├── README.md │ │ │ │ │ └── nano33IoT │ │ │ │ │ │ └── nano33IoT_velocity_control │ │ │ │ │ │ └── nano33IoT_velocity_control.ino │ │ │ │ ├── SimpleFOC-PowerShield │ │ │ │ │ └── version_v02 │ │ │ │ │ │ └── single_full_control_example │ │ │ │ │ │ └── single_full_control_example.ino │ │ │ │ ├── SimpleFOCShield │ │ │ │ │ ├── version_v1 │ │ │ │ │ │ ├── double_full_control_example │ │ │ │ │ │ │ └── double_full_control_example.ino │ │ │ │ │ │ └── single_full_control_example │ │ │ │ │ │ │ └── single_full_control_example.ino │ │ │ │ │ └── version_v2 │ │ │ │ │ │ ├── double_full_control_example │ │ │ │ │ │ └── double_full_control_example.ino │ │ │ │ │ │ └── single_full_control_example │ │ │ │ │ │ └── single_full_control_example.ino │ │ │ │ └── Smart_Stepper │ │ │ │ │ └── smartstepper_control │ │ │ │ │ └── smartstepper_control.ino │ │ │ ├── motion_control │ │ │ │ ├── open_loop_motor_control │ │ │ │ │ ├── open_loop_position_example │ │ │ │ │ │ └── open_loop_position_example.ino │ │ │ │ │ └── open_loop_velocity_example │ │ │ │ │ │ └── open_loop_velocity_example.ino │ │ │ │ ├── position_motion_control │ │ │ │ │ ├── encoder │ │ │ │ │ │ └── angle_control │ │ │ │ │ │ │ └── angle_control.ino │ │ │ │ │ ├── hall_sensor │ │ │ │ │ │ └── angle_control │ │ │ │ │ │ │ └── angle_control.ino │ │ │ │ │ └── magnetic_sensor │ │ │ │ │ │ └── angle_control │ │ │ │ │ │ └── angle_control.ino │ │ │ │ ├── torque_control │ │ │ │ │ ├── encoder │ │ │ │ │ │ ├── current_control │ │ │ │ │ │ │ └── current_control.ino │ │ │ │ │ │ └── voltage_control │ │ │ │ │ │ │ └── voltage_control.ino │ │ │ │ │ ├── hall_sensor │ │ │ │ │ │ └── voltage_control │ │ │ │ │ │ │ └── voltage_control.ino │ │ │ │ │ └── magnetic_sensor │ │ │ │ │ │ └── voltage_control │ │ │ │ │ │ └── voltage_control.ino │ │ │ │ └── velocity_motion_control │ │ │ │ │ ├── encoder │ │ │ │ │ └── velocity_control │ │ │ │ │ │ └── velocity_control.ino │ │ │ │ │ ├── hall_sensor │ │ │ │ │ └── velocity_control.ino │ │ │ │ │ └── magnetic_sensor │ │ │ │ │ └── velocity_control │ │ │ │ │ └── velocity_control.ino │ │ │ ├── motor_commands_serial_examples │ │ │ │ ├── encoder │ │ │ │ │ └── full_control_serial │ │ │ │ │ │ └── full_control_serial.ino │ │ │ │ ├── hall_sensor │ │ │ │ │ └── full_control_serial │ │ │ │ │ │ └── full_control_serial.ino │ │ │ │ └── magnetic_sensor │ │ │ │ │ └── full_control_serial │ │ │ │ │ └── full_control_serial.ino │ │ │ ├── osc_control_examples │ │ │ │ ├── README.md │ │ │ │ ├── osc_esp32_3pwm │ │ │ │ │ ├── layout1.touchosc │ │ │ │ │ └── osc_esp32_3pwm.ino │ │ │ │ ├── osc_esp32_fullcontrol │ │ │ │ │ ├── osc_esp32_fullcontrol.ino │ │ │ │ │ ├── osc_fullcontrol.pd │ │ │ │ │ └── ssid.h_rename_me │ │ │ │ └── osc_fullcontrol_screenshot.png │ │ │ └── utils │ │ │ │ ├── calibration │ │ │ │ ├── alignment_and_cogging_test │ │ │ │ │ └── alignment_and_cogging_test.ino │ │ │ │ ├── find_pole_pair_number │ │ │ │ │ ├── encoder │ │ │ │ │ │ └── find_pole_pairs_number │ │ │ │ │ │ │ └── find_pole_pairs_number.ino │ │ │ │ │ └── magnetic_sensor │ │ │ │ │ │ └── find_pole_pairs_number │ │ │ │ │ │ └── find_pole_pairs_number.ino │ │ │ │ └── find_sensor_offset_and_direction │ │ │ │ │ └── find_sensor_offset_and_direction.ino │ │ │ │ ├── communication_test │ │ │ │ ├── commander │ │ │ │ │ ├── commander_extend_example │ │ │ │ │ │ └── commander_extend_example.ino │ │ │ │ │ ├── commander_no_serial │ │ │ │ │ │ └── commander_no_serial.ino │ │ │ │ │ └── commander_tune_custom_loop │ │ │ │ │ │ └── commander_tune_custom_loop.ino │ │ │ │ └── step_dir │ │ │ │ │ ├── step_dir_listener_simple │ │ │ │ │ └── step_dir_listener_simple.ino │ │ │ │ │ ├── step_dir_listener_software_interrupt │ │ │ │ │ └── step_dir_listener_software_interrupt.ino │ │ │ │ │ └── step_dir_motor_example │ │ │ │ │ └── step_dir_motor_example.ino │ │ │ │ ├── current_sense_test │ │ │ │ ├── generic_current_sense │ │ │ │ │ └── generic_current_sense.ino │ │ │ │ └── inline_current_sense_test │ │ │ │ │ └── inline_current_sense_test.ino │ │ │ │ ├── driver_standalone_test │ │ │ │ ├── bldc_driver_3pwm_standalone │ │ │ │ │ └── bldc_driver_3pwm_standalone.ino │ │ │ │ ├── bldc_driver_6pwm_standalone │ │ │ │ │ └── bldc_driver_6pwm_standalone.ino │ │ │ │ ├── stepper_driver_2pwm_standalone │ │ │ │ │ └── stepper_driver_2pwm_standalone.ino │ │ │ │ └── stepper_driver_4pwm_standalone │ │ │ │ │ └── stepper_driver_4pwm_standalone.ino │ │ │ │ └── sensor_test │ │ │ │ ├── encoder │ │ │ │ ├── encoder_example │ │ │ │ │ └── encoder_example.ino │ │ │ │ └── encoder_software_interrupts_example │ │ │ │ │ └── encoder_software_interrupts_example.ino │ │ │ │ ├── generic_sensor │ │ │ │ └── generic_sensor.ino │ │ │ │ ├── hall_sensors │ │ │ │ ├── hall_sensor_example │ │ │ │ │ └── hall_sensor_example.ino │ │ │ │ └── hall_sensor_software_interrupts_example │ │ │ │ │ └── hall_sensors_software_interrupts_example.ino │ │ │ │ └── magnetic_sensors │ │ │ │ ├── magnetic_sensor_analog │ │ │ │ ├── find_raw_min_max │ │ │ │ │ └── find_raw_min_max.ino │ │ │ │ └── magnetic_sensor_analog_example │ │ │ │ │ └── magnetic_sensor_analog_example.ino │ │ │ │ ├── magnetic_sensor_i2c │ │ │ │ ├── magnetic_sensor_i2c_dual_bus_examples │ │ │ │ │ ├── esp32_i2c_dual_bus_example │ │ │ │ │ │ └── esp32_i2c_dual_bus_example.ino │ │ │ │ │ └── stm32_i2c_dual_bus_example │ │ │ │ │ │ └── stm32_i2c_dual_bus_example.ino │ │ │ │ └── magnetic_sensor_i2c_example │ │ │ │ │ └── magnetic_sensor_i2c_example.ino │ │ │ │ ├── magnetic_sensor_pwm │ │ │ │ ├── find_raw_min_max │ │ │ │ │ └── find_raw_min_max.ino │ │ │ │ ├── magnetic_sensor_pwm_example │ │ │ │ │ └── magnetic_sensor_pwm_example.ino │ │ │ │ └── magnetic_sensor_pwm_software_interrupt │ │ │ │ │ └── magnetic_sensor_pwm_software_interrupt.ino │ │ │ │ └── magnetic_sensor_spi │ │ │ │ ├── magnetic_sensor_spi_alternative_examples │ │ │ │ ├── esp32_spi_alt_example │ │ │ │ │ └── esp32_spi_alt_example.ino │ │ │ │ └── stm32_spi_alt_example │ │ │ │ │ └── stm32_spi_alt_example.ino │ │ │ │ └── magnetic_sensor_spi_example │ │ │ │ └── magnetic_sensor_spi_example.ino │ │ ├── keywords.txt │ │ ├── library.properties │ │ └── src │ │ │ ├── BLDCMotor.cpp │ │ │ ├── BLDCMotor.h │ │ │ ├── SimpleFOC.h │ │ │ ├── StepperMotor.cpp │ │ │ ├── StepperMotor.h │ │ │ ├── common │ │ │ ├── base_classes │ │ │ │ ├── BLDCDriver.h │ │ │ │ ├── CurrentSense.cpp │ │ │ │ ├── CurrentSense.h │ │ │ │ ├── FOCMotor.cpp │ │ │ │ ├── FOCMotor.h │ │ │ │ ├── Sensor.cpp │ │ │ │ ├── Sensor.h │ │ │ │ └── StepperDriver.h │ │ │ ├── defaults.h │ │ │ ├── foc_utils.cpp │ │ │ ├── foc_utils.h │ │ │ ├── lowpass_filter.cpp │ │ │ ├── lowpass_filter.h │ │ │ ├── pid.cpp │ │ │ ├── pid.h │ │ │ ├── time_utils.cpp │ │ │ └── time_utils.h │ │ │ ├── communication │ │ │ ├── Commander.cpp │ │ │ ├── Commander.h │ │ │ ├── StepDirListener.cpp │ │ │ ├── StepDirListener.h │ │ │ └── commands.h │ │ │ ├── current_sense │ │ │ ├── GenericCurrentSense.cpp │ │ │ ├── GenericCurrentSense.h │ │ │ ├── InlineCurrentSense.cpp │ │ │ ├── InlineCurrentSense.h │ │ │ ├── LowsideCurrentSense.cpp │ │ │ ├── LowsideCurrentSense.h │ │ │ ├── hardware_api.h │ │ │ └── hardware_specific │ │ │ │ ├── atmega_mcu.cpp │ │ │ │ ├── due_mcu.cpp │ │ │ │ ├── esp32_adc_driver.cpp │ │ │ │ ├── esp32_adc_driver.h │ │ │ │ ├── esp32_ledc_mcu.cpp │ │ │ │ ├── esp32_mcu.cpp │ │ │ │ ├── generic_mcu.cpp │ │ │ │ ├── samd21_mcu.cpp │ │ │ │ ├── samd21_mcu.h │ │ │ │ ├── samd_mcu.cpp │ │ │ │ ├── stm32_mcu.cpp │ │ │ │ ├── stm32g4_hal.cpp │ │ │ │ ├── stm32g4_hal.h │ │ │ │ ├── stm32g4_mcu.cpp │ │ │ │ └── teensy_mcu.cpp │ │ │ ├── drivers │ │ │ ├── BLDCDriver3PWM.cpp │ │ │ ├── BLDCDriver3PWM.h │ │ │ ├── BLDCDriver6PWM.cpp │ │ │ ├── BLDCDriver6PWM.h │ │ │ ├── StepperDriver2PWM.cpp │ │ │ ├── StepperDriver2PWM.h │ │ │ ├── StepperDriver4PWM.cpp │ │ │ ├── StepperDriver4PWM.h │ │ │ ├── hardware_api.h │ │ │ └── hardware_specific │ │ │ │ ├── atmega2560_mcu.cpp │ │ │ │ ├── atmega328_mcu.cpp │ │ │ │ ├── atmega32u4_mcu.cpp │ │ │ │ ├── due_mcu.cpp │ │ │ │ ├── esp32_ledc_mcu.cpp │ │ │ │ ├── esp32_mcu.cpp │ │ │ │ ├── esp8266_mcu.cpp │ │ │ │ ├── generic_mcu.cpp │ │ │ │ ├── nrf52_mcu.cpp │ │ │ │ ├── portenta_h7_mcu.cpp │ │ │ │ ├── rp2040_mcu.cpp │ │ │ │ ├── samd21_mcu.cpp │ │ │ │ ├── samd51_mcu.cpp │ │ │ │ ├── samd_mcu.cpp │ │ │ │ ├── samd_mcu.h │ │ │ │ ├── stm32_mcu.cpp │ │ │ │ └── teensy_mcu.cpp │ │ │ └── sensors │ │ │ ├── Encoder.cpp │ │ │ ├── Encoder.h │ │ │ ├── GenericSensor.cpp │ │ │ ├── GenericSensor.h │ │ │ ├── HallSensor.cpp │ │ │ ├── HallSensor.h │ │ │ ├── MagneticSensorAnalog.cpp │ │ │ ├── MagneticSensorAnalog.h │ │ │ ├── MagneticSensorI2C.cpp │ │ │ ├── MagneticSensorI2C.h │ │ │ ├── MagneticSensorPWM.cpp │ │ │ ├── MagneticSensorPWM.h │ │ │ ├── MagneticSensorSPI.cpp │ │ │ └── MagneticSensorSPI.h │ └── WebSockets │ │ ├── LICENSE │ │ ├── README.md │ │ ├── examples │ │ ├── Nginx │ │ │ └── esp8266.ssl.reverse.proxy.conf │ │ ├── avr │ │ │ └── WebSocketClientAVR │ │ │ │ └── WebSocketClientAVR.ino │ │ ├── esp32 │ │ │ ├── WebSocketClient │ │ │ │ └── WebSocketClient.ino │ │ │ ├── WebSocketClientSSL │ │ │ │ └── WebSocketClientSSL.ino │ │ │ ├── WebSocketClientSocketIOack │ │ │ │ └── WebSocketClientSocketIOack.ino │ │ │ └── WebSocketServer │ │ │ │ └── WebSocketServer.ino │ │ ├── esp8266 │ │ │ ├── WebSocketClient │ │ │ │ └── WebSocketClient.ino │ │ │ ├── WebSocketClientOTA │ │ │ │ ├── README.md │ │ │ │ ├── WebSocketClientOTA.ino │ │ │ │ └── python_ota_server │ │ │ │ │ ├── main.py │ │ │ │ │ └── requirements.txt │ │ │ ├── WebSocketClientSSL │ │ │ │ └── WebSocketClientSSL.ino │ │ │ ├── WebSocketClientSSLWithCA │ │ │ │ └── WebSocketClientSSLWithCA.ino │ │ │ ├── WebSocketClientSocketIO │ │ │ │ └── WebSocketClientSocketIO.ino │ │ │ ├── WebSocketClientSocketIOack │ │ │ │ └── WebSocketClientSocketIOack.ino │ │ │ ├── WebSocketClientStomp │ │ │ │ └── WebSocketClientStomp.ino │ │ │ ├── WebSocketClientStompOverSockJs │ │ │ │ └── WebSocketClientStompOverSockJs.ino │ │ │ ├── WebSocketServer │ │ │ │ └── WebSocketServer.ino │ │ │ ├── WebSocketServerAllFunctionsDemo │ │ │ │ └── WebSocketServerAllFunctionsDemo.ino │ │ │ ├── WebSocketServerFragmentation │ │ │ │ └── WebSocketServerFragmentation.ino │ │ │ ├── WebSocketServerHooked │ │ │ │ ├── WebSocketServerHooked.ino │ │ │ │ ├── emu │ │ │ │ └── ws-testclient.py │ │ │ ├── WebSocketServerHttpHeaderValidation │ │ │ │ └── WebSocketServerHttpHeaderValidation.ino │ │ │ └── WebSocketServer_LEDcontrol │ │ │ │ └── WebSocketServer_LEDcontrol.ino │ │ └── particle │ │ │ └── ParticleWebSocketClient │ │ │ └── application.cpp │ │ ├── library.json │ │ ├── library.properties │ │ ├── src │ │ ├── SocketIOclient.cpp │ │ ├── SocketIOclient.h │ │ ├── WebSockets.cpp │ │ ├── WebSockets.h │ │ ├── WebSockets4WebServer.h │ │ ├── WebSocketsClient.cpp │ │ ├── WebSocketsClient.h │ │ ├── WebSocketsServer.cpp │ │ ├── WebSocketsServer.h │ │ ├── WebSocketsVersion.h │ │ ├── libb64 │ │ │ ├── AUTHORS │ │ │ ├── LICENSE │ │ │ ├── cdecode.c │ │ │ ├── cdecode_inc.h │ │ │ ├── cencode.c │ │ │ └── cencode_inc.h │ │ └── libsha1 │ │ │ ├── libsha1.c │ │ │ └── libsha1.h │ │ ├── tests │ │ ├── webSocket.html │ │ └── webSocketServer │ │ │ ├── index.js │ │ │ └── package.json │ │ └── travis │ │ ├── common.sh │ │ └── version.py │ ├── oled_font.h │ ├── robot.cpp │ 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