Changes in 5087819: code

				Board-dat/SDR/SDR1117-dat/SDR1117-dat.md
			
          @@ -59,7 +59,7 @@ expanding PCB by [[PCB-accesories-dat]]

           ## setup 

          -- [[CRSF-dat]]

          +- [[CRSF-dat]] - [[radiomaster-pocket-dat]]

           correct to SoftwareSerial soft(13, 12); // RX, TX

				Board-dat/SDR/SDR1125-dat/SDR1125-dat.md
			
          @@ -2,6 +2,9 @@

           # SDR1125-dat.md

          +

          +- [[SDR1125-dat]] - [[CRSF-dat]]

          +

           orange boxes series 

           - [[OPM1153-dat]] - [[MP1584-dat]] == orange middle module

				Chip-cn-dat/Espressif-dat/ESP8266-DAT/ESP8266-DAT.md
			
          @@ -23,33 +23,7 @@ hardware and software - [[ESP8266-HDK-dat]] - [[ESP8266-SDK-dat]]

           debug - [[ESP8266-debug-log-dat]] - [[ESP8266-error-log-dat]] - [[ESP8266-boot-log-dat]]

          -## design 

          -

          -software serial - can not be more than 115200 baud, otherwise the data will be corrupted.

          -

          -The data you shared is raw CRSF binary packets, but they look slightly corrupted or "jittery," which is very common when using SoftwareSerial at 115200 on an ESP8266.

          -

          -- [[CRSF-dat]]

          -

          -    0B 56 FE D8 10 0B 56 FE D8 10 0B 52 FE 84 D8 10 

          -    0B 52 FE D8 10 0B 56 FE D8 10 0B 52 FF D8 10 0B 

          -    52 FF D9 10 99 FF 44 D8 10 0B 56 FE D8 10 0B 52 

          -    FF D8 10 0B 56 FE D8 10 0B 56 FF 25 26 12 4B A2 

          -    D8 10 0B 52 FE D8 10 0B 56 FE A6 12 4B D8 10 99 

          -    FF D8 10 0B 56 FE E4 26 12 4B A2 A6 12 4B D8 10 

          -    0B 52 FE D8 10 0B 56 FE D8 10 0B 56 FF 84 D8 10 

          -    99 FF D8 10 0B 52 FF D8 10 0B 56 FE A6 12 4B A4 

          -    D8 10 0B 56 FE D8 10 FF D8 10 0B 52 FE D8 10 0B 

          -    56 FE D8 10 0B 56 FE 44 12 4B FF D8 10 0B 52 FF 

          -    D8 10 0B 56 FF D9 10 FE D8 10 0B 56 FF 80 D8 10 

          -    0B 56 FF D8 10 0B 56 FF 12 4B 54 FF 84 D8 10 0B 

          -    52 FF D8 10 0B 52 FF D8 10 0B 52 FF D8 10 0B 56 

          -    FF D9 10 FE C4 D9 10 0B 56 FF D8 10 FE 12 4B 02 

          -    4E D8 10 0B D2 FF D8 10 FE A2 D8 10 0B 52 FF D8 

          -    10 0B 56 FF D8 10 FE D8 10 0B 56 FF 00 80 D8 10 

          -    0B 56 FE D8 10 0B 56 FE D8 10 0B 52 FE D8 10 FF 

          -    D8 10 0B 56 FE 80 D8 10 0B 52 FE D8 10 0B 56 FE 

          -    D8 10 0B 52 FE D8 10 0B 52 FE D8 10 99 FF 40 D8 

          +

           ## ref

				Network-dat/RC-dat/RC-protocols-dat/CRSF-dat/CRSF-dat.md
			
          @@ -1,6 +1,10 @@

           # CRSF-dat

          +

          +

          +

          +

           CRSF (Crossfire Serial Protocol) is a low-latency, high-speed serial protocol developed by **Team BlackSheep (TBS)** for communication between radio receivers (like TBS Crossfire Nano RX) and flight controllers.

           It’s used in RC applications (especially FPV drones) to transmit RC channel data, telemetry, and link status over a compact serial format.

          @@ -8,7 +12,9 @@ It’s used in RC applications (especially FPV drones) to transmit RC channel da

           CRSF packets are binary data. Here's the basic structure of a CRSF packet:

          +## board 

          +- [[SDR1125-dat]] - [[CRSF-dat]]

				SDK-dat/ESP-SDK-dat/ESP8266-SDK-dat/ESP8266-SDK-dat.md
			
          @@ -1,6 +1,9 @@

           # ESP8266-SDK-dat

          +- [[esp866-code-dat]] - [[ESP8266-SDK-dat]] - [[ESP-dat]]

          +

          +

           - [[esp-idf-dat]] - [[ESP-dat]] - [[esp-sdk-dat]] - [[esptool-dat]]

           - [[ESP8266-HDK-dat]]

				code-dat/esp866-code-dat/ESP8266-WIFI-motor-1/ESP8266-WIFI-motor-1.ino
			
          @@ -0,0 +1,283 @@

          +#include <ESP8266WiFi.h>

          +#include <ESP8266WebServer.h>

          +

          +// WiFi AP settings (fixed IP)

          +const char *ssid = "MotorAP";

          +const char *password = "motorpass"; // set to "" for open AP

          +IPAddress apIP(192, 168, 4, 1);

          +IPAddress netMsk(255, 255, 255, 0);

          +

          +// Define pins for motor control

          +// Motor 1 (Left)

          +const int M1_IN1 = 4;

          +const int M1_IN2 = 5;

          +// Motor 2 (Right)

          +const int M2_IN1 = 0;

          +const int M2_IN2 = 2;

          +

          +int carSpeed = 200; // 0..255 (Base Speed)

          +int minSpeed = 100; // Minimum speed to avoid stalling

          +int turnDiff = 85;  // Increased for more "agility" (sharper turns)

          +int carAction = 0;  // 0: stop, 1: forward, 2: backward, 3: left, 4: right

          +unsigned long lastCommandTime = 0;

          +const unsigned long SAFETY_TIMEOUT = 300; // Even tighter for high responsiveness

          +

          +int batteryS = 3; // Default 3S (11.1V)

          +

          +ESP8266WebServer server(80);

          +

          +int getCompensatedSpeed(int baseSpeed) {

          +    if (baseSpeed == 0) return 0;

          +    // Simple inverse scaling: 

          +    // If it's 3S (11.1V), we scale DOWN the speed compared to 2S (7.4V)

          +    // Scale factor = 7.4 / 11.1 = ~0.66

          +    if (batteryS == 3) {

          +        return (int)(baseSpeed * 0.66);

          +    }

          +    return baseSpeed; // Use raw speed for 2S

          +}

          +

          +void applyMotorControl()

          +{

          +    int leftSpeed = 0;

          +    int rightSpeed = 0;

          +    

          +    int compensatedSpeed = getCompensatedSpeed(carSpeed);

          +    int compensatedTurnDiff = getCompensatedSpeed(turnDiff);

          +

          +    // Helper to ensure motor gets enough power or is OFF

          +    auto normalizeSpeed = [&](int s) {

          +        if (s <= 0) return 0;

          +        if (s < minSpeed) return minSpeed;

          +        if (s > 255) return 255;

          +        return s;

          +    };

          +

          +    switch (carAction)

          +    {

          +    case 0: // Stop

          +        leftSpeed = rightSpeed = 0;

          +        break;

          +    case 1: // Forward

          +        leftSpeed = rightSpeed = compensatedSpeed;

          +        break;

          +    case 2: // Backward

          +        leftSpeed = rightSpeed = -compensatedSpeed;

          +        break;

          +    case 3: // Spin Left

          +        leftSpeed = -compensatedSpeed;

          +        rightSpeed = compensatedSpeed;

          +        break;

          +    case 4: // Spin Right

          +        leftSpeed = compensatedSpeed;

          +        rightSpeed = -compensatedSpeed;

          +        break;

          +    case 5: // Forward Left (Curve) - Swapped

          +        leftSpeed = compensatedSpeed + compensatedTurnDiff;

          +        rightSpeed = compensatedSpeed - compensatedTurnDiff;

          +        break;

          +    case 6: // Forward Right (Curve) - Swapped

          +        leftSpeed = compensatedSpeed - compensatedTurnDiff;

          +        rightSpeed = compensatedSpeed + compensatedTurnDiff;

          +        break;

          +    case 7: // Backward Left (Curve)

          +        leftSpeed = -(compensatedSpeed + compensatedTurnDiff);

          +        rightSpeed = -(compensatedSpeed - compensatedTurnDiff);

          +        break;

          +    case 8: // Backward Right (Curve)

          +        leftSpeed = -(compensatedSpeed - compensatedTurnDiff);

          +        rightSpeed = -(compensatedSpeed + compensatedTurnDiff);

          +        break;

          +    default:

          +        leftSpeed = rightSpeed = 0;

          +        break;

          +    }

          +

          +    // Apply Left Motor

          +    int absL = abs(leftSpeed);

          +    int finalL = normalizeSpeed(absL);

          +    if (leftSpeed > 0) {

          +        analogWrite(M1_IN1, finalL);

          +        digitalWrite(M1_IN2, LOW);

          +    } else if (leftSpeed < 0) {

          +        digitalWrite(M1_IN1, LOW);

          +        analogWrite(M1_IN2, finalL);

          +    } else {

          +        digitalWrite(M1_IN1, LOW);

          +        digitalWrite(M1_IN2, LOW);

          +    }

          +

          +    // Apply Right Motor

          +    int absR = abs(rightSpeed);

          +    int finalR = normalizeSpeed(absR);

          +    if (rightSpeed > 0) {

          +        analogWrite(M2_IN1, finalR);

          +        digitalWrite(M2_IN2, LOW);

          +    } else if (rightSpeed < 0) {

          +        digitalWrite(M2_IN1, LOW);

          +        analogWrite(M2_IN2, finalR);

          +    } else {

          +        digitalWrite(M2_IN1, LOW);

          +        digitalWrite(M2_IN2, LOW);

          +    }

          +}

          +

          +String pageRoot()

          +{

          +    String html = "<html><head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no\">";

          +    html += "<style>";

          +    html += "body { font-family: sans-serif; text-align: center; display: flex; flex-direction: column; align-items: center; justify-content: center; height: 100vh; margin: 0; background: #f0f0f0; }";

          +    html += ".btn { width: 80px; height: 80px; margin: 10px; border-radius: 15px; border: none; background: #3498db; color: white; font-size: 24px; font-weight: bold; cursor: pointer; user-select: none; -webkit-tap-highlight-color: transparent; box-shadow: 0 4px #2980b9; }";

          +    html += ".btn:active { background: #2980b9; box-shadow: 0 2px #1c5982; transform: translateY(2px); }";

          +    html += ".stop-btn { background: #e74c3c; box-shadow: 0 4px #c0392b; }";

          +    html += ".stop-btn:active { background: #c0392b; box-shadow: 0 2px #962d22; }";

          +    html += ".row { display: flex; justify-content: center; }";

          +    html += ".speed-container { margin-top: 20px; width: 80%; }";

          +    html += "input[type=range] { width: 100%; height: 25px; cursor: pointer; }";

          +    html += "select { padding: 8px; font-size: 16px; border-radius: 5px; }";

          +    html += "</style></head><body>";

          +    html += "<h2>Motor Control</h2>";

          +    

          +    auto btnHtml = [&](int act, String icon) {

          +        String s_act = String(act);

          +        return "  <button class='btn' onmousedown=\"setAction(" + s_act + ", event)\" ontouchstart=\"setAction(" + s_act + ", event)\" "

          +               "onmouseup=\"setAction(0, event)\" onmouseleave=\"setAction(0, event)\" ontouchend=\"setAction(0, event)\" ontouchcancel=\"setAction(0, event)\">" + icon + "</button>";

          +    };

          +

          +    html += "<div class='row'>";

          +    html += btnHtml(5, "&#8598;");

          +    html += btnHtml(1, "&#8593;");

          +    html += btnHtml(6, "&#8599;");

          +    html += "</div>";

          +    

          +    html += "<div class='row'>";

          +    html += btnHtml(3, "&#8592;");

          +    html += "  <button class='btn stop-btn' onclick=\"setAction(0, event)\" ontouchstart=\"setAction(0, event)\">OFF</button>";

          +    html += btnHtml(4, "&#8594;");

          +    html += "</div>";

          +    

          +    html += "<div class='row'>";

          +    html += btnHtml(7, "&#8601;");

          +    html += btnHtml(2, "&#8595;");

          +    html += btnHtml(8, "&#8600;");

          +    html += "</div>";

          +

          +    html += "<div class='speed-container'>";

          +    html += "  Speed: <span id='v'>" + String(carSpeed) + "</span>";

          +    html += "  <input type='range' id='s' min='100' max='255' value='" + String(carSpeed) + "' oninput='setSpeed(this.value)' />";

          +    html += "</div>";

          +

          +    html += "<div class='speed-container'>";

          +    html += "  Battery Mode: <select onchange=\"setBattery(this.value)\">";

          +    html += "    <option value='2'" + String(batteryS == 2 ? " selected" : "") + ">2S (7.4V)</option>";

          +    html += "    <option value='3'" + String(batteryS == 3 ? " selected" : "") + ">3S (11.1V)</option>";

          +    html += "  </select>";

          +    html += "</div>";

          +

          +    html += "<script>";

          +    html += "let lastA = -1; let lastS = -1;";

          +    html += "function setAction(a, e, f) { if(e) { e.preventDefault(); } if(!f && a == lastA && a != 0) return; lastA = a; fetch('/set?action=' + a).catch(e => console.error(e)); }";

          +    html += "function setSpeed(s) { if(s == lastS) return; lastS = s; document.getElementById('v').innerText = s; fetch('/set?speed=' + s).catch(e => console.error(e)); }";

          +    html += "function setBattery(b) { fetch('/set?batt=' + b); }";

          +    html += "setInterval(() => { if(lastA > 0) setAction(lastA, null, true); }, 100);"; // "Pro" agility: 100ms heartbeat

          +    html += "</script></body></html>";

          +    return html;

          +}

          +

          +void handleRoot()

          +{

          +    server.send(200, "text/html", pageRoot());

          +}

          +

          +void handleSet()

          +{

          +    server.client().setNoDelay(true); // Disable Nagle's algorithm for faster response

          +    lastCommandTime = millis(); // Refresh safety watchdog

          +    if (server.hasArg("action"))

          +    {

          +        carAction = server.arg("action").toInt();

          +    }

          +    if (server.hasArg("speed"))

          +    {

          +        carSpeed = server.arg("speed").toInt();

          +        carSpeed = constrain(carSpeed, 0, 255);

          +    }

          +    if (server.hasArg("batt"))

          +    {

          +        batteryS = server.arg("batt").toInt();

          +    }

          +    applyMotorControl();

          +    server.send(200, "text/plain", "OK");

          +}

          +

          +void handleStatus()

          +{

          +    String status = "Action: " + String(carAction) + ", Speed: " + String(carSpeed) + ", Batt: " + String(batteryS) + "S";

          +    server.send(200, "text/plain", status);

          +}

          +

          +void setup()

          +{

          +    // Initialize pins

          +    pinMode(M1_IN1, OUTPUT);

          +    pinMode(M1_IN2, OUTPUT);

          +    pinMode(M2_IN1, OUTPUT);

          +    pinMode(M2_IN2, OUTPUT);

          +

          +    // Initialize motors to off

          +    digitalWrite(M1_IN1, LOW);

          +    digitalWrite(M1_IN2, LOW);

          +    digitalWrite(M2_IN1, LOW);

          +    digitalWrite(M2_IN2, LOW);

          +

          +    // Set PWM frequency for DRV8871 (supports up to 200kHz, but 20kHz is standard for silence and efficiency)

          +    analogWriteFreq(20000); 

          +

          +    Serial.begin(115200);

          +    delay(100);

          +

          +    Serial.println("Test...");

          +    delay(1000);

          +    Serial.println("Test...");

          +    delay(1000);

          +    Serial.println("Test...");

          +    delay(1000);

          +    // Configure AP with fixed IP

          +    WiFi.softAPConfig(apIP, apIP, netMsk);

          +    WiFi.softAP(ssid, password);

          +

          +    IPAddress myIP = WiFi.softAPIP();

          +    Serial.print("AP IP address: ");

          +    Serial.println(myIP);

          +

          +    // Configure server routes

          +    server.on("/", handleRoot);

          +    server.on("/set", handleSet);

          +    server.on("/status", handleStatus);

          +    server.begin();

          +    Serial.println("HTTP server started");

          +

          +    // Ensure PWM range 0-255

          +    analogWriteRange(255);

          +

          +    // Apply initial motor state

          +    applyMotorControl();

          +}

          +

          +void loop()

          +{

          +    server.handleClient();

          +    

          +    // Safety Watchdog: Stop motors if no command received for > 1 second

          +    if (carAction != 0 && (millis() - lastCommandTime > SAFETY_TIMEOUT)) {

          +        carAction = 0;

          +        applyMotorControl();

          +        Serial.println("Safety Timeout: Motors stopped");

          +    }

          +    

          +    delay(10);

          +}

          +

          +

          +

          +

				code-dat/esp866-code-dat/ESP8266-WIFI-motor-1/features.md
			
          @@ -0,0 +1,32 @@

          +# ESP8266 WiFi Motor Chassis Features

          +

          +## 1. Directional Control (9-Way)

          +- **8 Directions**: Full support for Forward, Backward, Left, Right, and all four diagonal directions (Forward-Left, Forward-Right, Backward-Left, Backward-Right).

          +- **Dedicated Stop**: Immediate halt on button release and a centralized "OFF" emergency stop button.

          +

          +## 2. Advanced Motor Driving

          +- **Differential Steering**: Implements $Base \pm Offset$ logic for smooth, proportional turning during diagonal movement and pivot rotation.

          +- **Stall Protection**: Enforces a `minSpeed` floor (100 PWM) to ensure motors maintain torque at low speeds.

          +- **PWM Optimization**: Optimized for high-frequency (20kHz) PWM modulation for smooth speed control.

          +

          +## 3. Safety & Reliability

          +- **Software Watchdog**: A hardware-safe timeout system stops the motors if no command is received within **500ms**, preventing runaway cars in case of WiFi disconnect.

          +- **Active Heartbeat**: The client browser sends a "keep-alive" signal every **200ms** while any button is held, ensuring seamless motion through minor signal jitters.

          +- **Interface Sanity**: Prevents "ghost" presses with event `preventDefault()` and stops motors automatically if the browser window loses focus (`blur` event).

          +

          +## 4. Power Management

          +- **Battery Compensation**: Selectable modes for **2S (7.4V)** and **3S (11.1V)** battery packs.

          +- **Voltage Scaling**: Automatically reduces PWM duty cycle in 3S mode (scaling factor $\approx 0.66$) to match 2S speed levels and protect motors from over-voltage.

          +

          +## 5. Web Interface & Connectivity

          +- **Standalone Hotspot**: Creates its own WiFi Access Point (`MotorAP`) for direct control without an external router.

          +- **Responsive Web UI**: A mobile-first controller interface with large touch-friendly buttons and a real-time speed slider.

          +- **Low Latency**: Lightweight HTTP GET handlers for near-instant control responses.

          +

          +## 6. Technical Specifications (Default)

          +- **Controller**: ESP8266

          +- **Motor Pins**: 

          +  - Left (M1): Pins 4, 5

          +  - Right (M2): Pins 0, 2

          +- **Default Speed**: 200/255

          +- **Safety Window**: 500ms

				code-dat/esp866-code-dat/esp8266-elrs-drv8871-2-1/esp8266-elrs-drv8871-2-1.ino
			
          @@ -0,0 +1,138 @@

          +

          +#include <SoftwareSerial.h>

          +

          +/*

          + * ELRS Motor Control Demo for ESP8266

          + * 

          + * Hardware Setup:

          + * - ELRS Receiver: RX -> IO13, TX -> IO12 (SoftwareSerial)

          + * - Motor 1 (Left): IN1 -> IO4, IN2 -> IO5

          + * - Motor 2 (Right): IN1 -> IO0, IN2 -> IO2

          + * - DRV8871 pins are externally pulled-up, so active LOW for driving.

          + */

          +

          +// Motor 1 (Left)

          +const int M1_IN1 = 4;

          +const int M1_IN2 = 5;

          +// Motor 2 (Right)

          +const int M2_IN1 = 0;

          +const int M2_IN2 = 2;

          +

          +// CRSF Protocol Definitions

          +#define CRSF_ADDR_MODULE 0xEE

          +#define CRSF_FRAMETYPE_RC_CHANNELS_PACKED 0x16

          +

          +SoftwareSerial elrsSerial(13, 12); // RX, TX

          +

          +void setup() {

          +  Serial.begin(115200);

          +  elrsSerial.begin(420000); // CRSF standard baud rate is 420k

          +

          +  pinMode(M1_IN1, OUTPUT);

          +  pinMode(M1_IN2, OUTPUT);

          +  pinMode(M2_IN1, OUTPUT);

          +  pinMode(M2_IN2, OUTPUT);

          +

          +  // Initialize motors to STOP (HIGH because of external pull-up)

          +  digitalWrite(M1_IN1, HIGH);

          +  digitalWrite(M1_IN2, HIGH);

          +  digitalWrite(M2_IN1, HIGH);

          +  digitalWrite(M2_IN2, HIGH);

          +

          +  Serial.println("ELRS DRV8871 Motor Control Initialized.");

          +}

          +

          +void stopMotors() {

          +  digitalWrite(M1_IN1, HIGH);

          +  digitalWrite(M1_IN2, HIGH);

          +  digitalWrite(M2_IN1, HIGH);

          +  digitalWrite(M2_IN2, HIGH);

          +}

          +

          +void driveMotor(int in1, int in2, int speed) {

          +  // speed: -100 to 100

          +  if (speed > 10) {

          +    // Forward (using PWM for speed control, since pins are pulled up, we pull LOW)

          +    analogWrite(in1, 255 - map(speed, 0, 100, 0, 255));

          +    digitalWrite(in2, HIGH);

          +  } else if (speed < -10) {

          +    // Reverse

          +    digitalWrite(in1, HIGH);

          +    analogWrite(in2, 255 - map(abs(speed), 0, 100, 0, 255));

          +  } else {

          +    // Stop

          +    digitalWrite(in1, HIGH);

          +    digitalWrite(in2, HIGH);

          +  }

          +}

          +

          +void loop() {

          +  // Debug serial input from ELRS even if not a full packet

          +  static unsigned long lastRawDebug = 0;

          +  if (elrsSerial.available() && millis() - lastRawDebug > 1000) {

          +    lastRawDebug = millis();

          +    Serial.print("ELRS Serial Bytes Available: ");

          +    Serial.println(elrsSerial.available());

          +  }

          +

          +  if (elrsSerial.available()) {

          +    uint8_t header = elrsSerial.read();

          +    if (header == CRSF_ADDR_MODULE) {

          +      uint8_t len = elrsSerial.read();

          +      uint8_t type = elrsSerial.read();

          +

          +      if (type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED) {

          +        uint8_t buffer[22];

          +        elrsSerial.readBytes(buffer, 22);

          +        

          +        // Debug Raw Packet

          +        static unsigned long lastHexDebug = 0;

          +        if (millis() - lastHexDebug > 500) {

          +          lastHexDebug = millis();

          +          Serial.print("Raw Hex: ");

          +          Serial.print(header, HEX); Serial.print(" ");

          +          Serial.print(len, HEX); Serial.print(" ");

          +          Serial.print(type, HEX); Serial.print(" ");

          +          for(int i=0; i<22; i++) {

          +            if(buffer[i] < 0x10) Serial.print("0");

          +            Serial.print(buffer[i], HEX); Serial.print(" ");

          +          }

          +          Serial.println();

          +        }

          +

          +        // Simple CRSF channel decoding (11 bits per channel)

          +        // Channel 1: Roll, Channel 2: Pitch, Channel 3: Throttle, Channel 4: Yaw

          +        int ch1 = (buffer[0] | buffer[1] << 8) & 0x07FF;

          +        int ch2 = (buffer[1] >> 3 | buffer[2] << 5) & 0x07FF;

          +        int ch3 = (buffer[2] >> 6 | buffer[3] << 2 | buffer[4] << 10) & 0x07FF;

          +        int ch4 = (buffer[4] >> 1 | buffer[5] << 7) & 0x07FF;

          +

          +        // Map ELRS channels (typically 172-1811, center 992) to -100 to 100

          +        int throttle = map(ch3, 172, 1811, -100, 100);

          +        int steering = map(ch1, 172, 1811, -100, 100);

          +

          +        // Simple Differential Drive logic

          +        int leftSpeed = throttle + steering;

          +        int rightSpeed = throttle - steering;

          +

          +        leftSpeed = constrain(leftSpeed, -100, 100);

          +        rightSpeed = constrain(rightSpeed, -100, 100);

          +

          +        // Debugging output

          +        static unsigned long lastDebug = 0;

          +        if (millis() - lastDebug > 100) {

          +          lastDebug = millis();

          +          Serial.print("CH1: "); Serial.print(ch1);

          +          Serial.print(" | CH3: "); Serial.print(ch3);

          +          Serial.print(" | Thr: "); Serial.print(throttle);

          +          Serial.print(" | Str: "); Serial.print(steering);

          +          Serial.print(" | L: "); Serial.print(leftSpeed);

          +          Serial.print(" | R: "); Serial.println(rightSpeed);

          +        }

          +

          +        driveMotor(M1_IN1, M1_IN2, leftSpeed);

          +        driveMotor(M2_IN1, M2_IN2, rightSpeed);

          +      }

          +    }

          +  }

          +}

				code-dat/esp866-code-dat/esp866-code-dat.md
			
          @@ -0,0 +1,40 @@

          +

          +

          +# esp866-code-dat

          +

          +- [[esp866-code-dat]] - [[ESP8266-SDK-dat]] - [[ESP-dat]]

          +

          +- [[CRSF-dat]]

          +

          +## design 

          +

          +slow software serial - can not be more than 115200 baud, otherwise the data will be corrupted.

          +

          +The data you shared is raw CRSF binary packets, but they look slightly corrupted or "jittery," which is very common when using SoftwareSerial at 115200 on an ESP8266.

          +

          +- [[CRSF-dat]]

          +

          +    0B 56 FE D8 10 0B 56 FE D8 10 0B 52 FE 84 D8 10 

          +    0B 52 FE D8 10 0B 56 FE D8 10 0B 52 FF D8 10 0B 

          +    52 FF D9 10 99 FF 44 D8 10 0B 56 FE D8 10 0B 52 

          +    FF D8 10 0B 56 FE D8 10 0B 56 FF 25 26 12 4B A2 

          +    D8 10 0B 52 FE D8 10 0B 56 FE A6 12 4B D8 10 99 

          +    FF D8 10 0B 56 FE E4 26 12 4B A2 A6 12 4B D8 10 

          +    0B 52 FE D8 10 0B 56 FE D8 10 0B 56 FF 84 D8 10 

          +    99 FF D8 10 0B 52 FF D8 10 0B 56 FE A6 12 4B A4 

          +    D8 10 0B 56 FE D8 10 FF D8 10 0B 52 FE D8 10 0B 

          +    56 FE D8 10 0B 56 FE 44 12 4B FF D8 10 0B 52 FF 

          +    D8 10 0B 56 FF D9 10 FE D8 10 0B 56 FF 80 D8 10 

          +    0B 56 FF D8 10 0B 56 FF 12 4B 54 FF 84 D8 10 0B 

          +    52 FF D8 10 0B 52 FF D8 10 0B 52 FF D8 10 0B 56 

          +    FF D9 10 FE C4 D9 10 0B 56 FF D8 10 FE 12 4B 02 

          +    4E D8 10 0B D2 FF D8 10 FE A2 D8 10 0B 52 FF D8 

          +    10 0B 56 FF D8 10 FE D8 10 0B 56 FF 00 80 D8 10 

          +    0B 56 FE D8 10 0B 56 FE D8 10 0B 52 FE D8 10 FF 

          +    D8 10 0B 56 FE 80 D8 10 0B 52 FE D8 10 0B 56 FE 

          +    D8 10 0B 52 FE D8 10 0B 52 FE D8 10 99 FF 40 D8 

          +

          +

          +## ref 

          +

          +

				code-dat/esp866-code-dat/printAllChannels/printAllChannels.ino
			
          @@ -0,0 +1,37 @@

          +#include <AlfredoCRSF.h>

          +#include <SoftwareSerial.h>

          +

          +#define PIN_RX 13

          +#define PIN_TX 12

          +

          +// Set up a new SoftwareSerial object

          +SoftwareSerial crsfSerial(PIN_RX, PIN_TX);

          +AlfredoCRSF crsf;

          +

          +void setup()

          +{

          +  Serial.begin(115200);

          +  Serial.println("COM Serial initialized");

          +  

          +  crsfSerial.begin(115200);

          +

          +  crsf.begin(crsfSerial);

          +}

          +

          +void loop()

          +{

          +    // Must call crsf.update() in loop() to process data

          +    crsf.update();

          +    printChannels();

          +}

          +

          +//Use crsf.getChannel(x) to get us channel values (1-16).

          +void printChannels()

          +{

          +  for (int ChannelNum = 1; ChannelNum <= 16; ChannelNum++)

          +  {

          +    Serial.print(crsf.getChannel(ChannelNum));

          +    Serial.print(", ");

          +  }

          +  Serial.println(" ");

          +}

          \ No newline at end of file

				code-dat/esp866-code-dat/soft-serial-debug-2/soft-serial-debug-2.ino
			
          @@ -0,0 +1,37 @@

          +#include <SoftwareSerial.h>

          +SoftwareSerial s(13, 12);

          +uint8_t buffer[64];

          +int p = 0;

          +unsigned long t = 0;

          +void setup() {

          +  pinMode(13, INPUT_PULLUP); // Enable internal pull-up on RX pin

          +  Serial.begin(115200);

          +  s.begin(115200);

          +  Serial.println("\n--- CRSF V5 Filtered ---");

          +}

          +void loop() {

          +  while (s.available()) {

          +    uint8_t v = s.read();

          +    if (p == 0) {

          +      if (v == 0xC4 || v == 0xC8 || v == 0xEE) p = 1;

          +    } else {

          +      buffer[p++] = v;

          +      if (p >= 26) {

          +        unsigned int rc[4];

          +        rc[0] = (buffer[3] | buffer[4] << 8) & 0x7FF;

          +        rc[1] = (buffer[4] >> 3 | buffer[5] << 5) & 0x7FF;

          +        rc[2] = (buffer[5] >> 6 | buffer[6] << 2 | buffer[7] << 10) & 0x7FF;

          +        rc[3] = (buffer[7] >> 1 | buffer[8] << 7) & 0x7FF;

          +        bool ok = true;

          +        for(int i=0; i<4; i++) if(rc[i] < 170 || rc[i] > 1820) ok = false;

          +        if (ok) { // Removed the 100ms delay for faster output

          +          Serial.print("CH1:"); Serial.print(rc[0]);

          +          Serial.print(" CH2:"); Serial.print(rc[1]);

          +          Serial.print(" CH3:"); Serial.print(rc[2]);

          +          Serial.print(" CH4:"); Serial.println(rc[3]);

          +        }

          +        p = 0;

          +      }

          +    }

          +  }

          +}

				code-dat/esp866-code-dat/soft-serial-debug/soft-serial-debug.ino
			
          @@ -0,0 +1,28 @@

          +#include <SoftwareSerial.h>

          +

          +SoftwareSerial soft(13, 12); // RX, TX

          +

          +void setup() {

          +  Serial.begin(115200);

          +  soft.begin(115200);

          +  Serial.println("\n--- CRSF Raw Hex Debugger ---");

          +}

          +

          +void loop() {

          +  if (soft.available()) {

          +    uint8_t incomingByte = soft.read();

          +    

          +    // Print as Hex

          +    if (incomingByte < 0x10) Serial.print("0");

          +    Serial.print(incomingByte, HEX);

          +    Serial.print(" ");

          +    

          +    // Newline every 16 bytes

          +    static int byteCount = 0;

          +    byteCount++;

          +    if (byteCount >= 16) {

          +      Serial.println();

          +      byteCount = 0;

          +    }

          +  }

          +}

          \ No newline at end of file

				code-dat/esp866-dat/ESP8266-WIFI-motor-1/ESP8266-WIFI-motor-1.ino
			
          @@ -1,283 +0,0 @@

          -#include <ESP8266WiFi.h>

          -#include <ESP8266WebServer.h>

          -

          -// WiFi AP settings (fixed IP)

          -const char *ssid = "MotorAP";

          -const char *password = "motorpass"; // set to "" for open AP

          -IPAddress apIP(192, 168, 4, 1);

          -IPAddress netMsk(255, 255, 255, 0);

          -

          -// Define pins for motor control

          -// Motor 1 (Left)

          -const int M1_IN1 = 4;

          -const int M1_IN2 = 5;

          -// Motor 2 (Right)

          -const int M2_IN1 = 0;

          -const int M2_IN2 = 2;

          -

          -int carSpeed = 200; // 0..255 (Base Speed)

          -int minSpeed = 100; // Minimum speed to avoid stalling

          -int turnDiff = 85;  // Increased for more "agility" (sharper turns)

          -int carAction = 0;  // 0: stop, 1: forward, 2: backward, 3: left, 4: right

          -unsigned long lastCommandTime = 0;

          -const unsigned long SAFETY_TIMEOUT = 300; // Even tighter for high responsiveness

          -

          -int batteryS = 3; // Default 3S (11.1V)

          -

          -ESP8266WebServer server(80);

          -

          -int getCompensatedSpeed(int baseSpeed) {

          -    if (baseSpeed == 0) return 0;

          -    // Simple inverse scaling: 

          -    // If it's 3S (11.1V), we scale DOWN the speed compared to 2S (7.4V)

          -    // Scale factor = 7.4 / 11.1 = ~0.66

          -    if (batteryS == 3) {

          -        return (int)(baseSpeed * 0.66);

          -    }

          -    return baseSpeed; // Use raw speed for 2S

          -}

          -

          -void applyMotorControl()

          -{

          -    int leftSpeed = 0;

          -    int rightSpeed = 0;

          -    

          -    int compensatedSpeed = getCompensatedSpeed(carSpeed);

          -    int compensatedTurnDiff = getCompensatedSpeed(turnDiff);

          -

          -    // Helper to ensure motor gets enough power or is OFF

          -    auto normalizeSpeed = [&](int s) {

          -        if (s <= 0) return 0;

          -        if (s < minSpeed) return minSpeed;

          -        if (s > 255) return 255;

          -        return s;

          -    };

          -

          -    switch (carAction)

          -    {

          -    case 0: // Stop

          -        leftSpeed = rightSpeed = 0;

          -        break;

          -    case 1: // Forward

          -        leftSpeed = rightSpeed = compensatedSpeed;

          -        break;

          -    case 2: // Backward

          -        leftSpeed = rightSpeed = -compensatedSpeed;

          -        break;

          -    case 3: // Spin Left

          -        leftSpeed = -compensatedSpeed;

          -        rightSpeed = compensatedSpeed;

          -        break;

          -    case 4: // Spin Right

          -        leftSpeed = compensatedSpeed;

          -        rightSpeed = -compensatedSpeed;

          -        break;

          -    case 5: // Forward Left (Curve) - Swapped

          -        leftSpeed = compensatedSpeed + compensatedTurnDiff;

          -        rightSpeed = compensatedSpeed - compensatedTurnDiff;

          -        break;

          -    case 6: // Forward Right (Curve) - Swapped

          -        leftSpeed = compensatedSpeed - compensatedTurnDiff;

          -        rightSpeed = compensatedSpeed + compensatedTurnDiff;

          -        break;

          -    case 7: // Backward Left (Curve)

          -        leftSpeed = -(compensatedSpeed + compensatedTurnDiff);

          -        rightSpeed = -(compensatedSpeed - compensatedTurnDiff);

          -        break;

          -    case 8: // Backward Right (Curve)

          -        leftSpeed = -(compensatedSpeed - compensatedTurnDiff);

          -        rightSpeed = -(compensatedSpeed + compensatedTurnDiff);

          -        break;

          -    default:

          -        leftSpeed = rightSpeed = 0;

          -        break;

          -    }

          -

          -    // Apply Left Motor

          -    int absL = abs(leftSpeed);

          -    int finalL = normalizeSpeed(absL);

          -    if (leftSpeed > 0) {

          -        analogWrite(M1_IN1, finalL);

          -        digitalWrite(M1_IN2, LOW);

          -    } else if (leftSpeed < 0) {

          -        digitalWrite(M1_IN1, LOW);

          -        analogWrite(M1_IN2, finalL);

          -    } else {

          -        digitalWrite(M1_IN1, LOW);

          -        digitalWrite(M1_IN2, LOW);

          -    }

          -

          -    // Apply Right Motor

          -    int absR = abs(rightSpeed);

          -    int finalR = normalizeSpeed(absR);

          -    if (rightSpeed > 0) {

          -        analogWrite(M2_IN1, finalR);

          -        digitalWrite(M2_IN2, LOW);

          -    } else if (rightSpeed < 0) {

          -        digitalWrite(M2_IN1, LOW);

          -        analogWrite(M2_IN2, finalR);

          -    } else {

          -        digitalWrite(M2_IN1, LOW);

          -        digitalWrite(M2_IN2, LOW);

          -    }

          -}

          -

          -String pageRoot()

          -{

          -    String html = "<html><head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no\">";

          -    html += "<style>";

          -    html += "body { font-family: sans-serif; text-align: center; display: flex; flex-direction: column; align-items: center; justify-content: center; height: 100vh; margin: 0; background: #f0f0f0; }";

          -    html += ".btn { width: 80px; height: 80px; margin: 10px; border-radius: 15px; border: none; background: #3498db; color: white; font-size: 24px; font-weight: bold; cursor: pointer; user-select: none; -webkit-tap-highlight-color: transparent; box-shadow: 0 4px #2980b9; }";

          -    html += ".btn:active { background: #2980b9; box-shadow: 0 2px #1c5982; transform: translateY(2px); }";

          -    html += ".stop-btn { background: #e74c3c; box-shadow: 0 4px #c0392b; }";

          -    html += ".stop-btn:active { background: #c0392b; box-shadow: 0 2px #962d22; }";

          -    html += ".row { display: flex; justify-content: center; }";

          -    html += ".speed-container { margin-top: 20px; width: 80%; }";

          -    html += "input[type=range] { width: 100%; height: 25px; cursor: pointer; }";

          -    html += "select { padding: 8px; font-size: 16px; border-radius: 5px; }";

          -    html += "</style></head><body>";

          -    html += "<h2>Motor Control</h2>";

          -    

          -    auto btnHtml = [&](int act, String icon) {

          -        String s_act = String(act);

          -        return "  <button class='btn' onmousedown=\"setAction(" + s_act + ", event)\" ontouchstart=\"setAction(" + s_act + ", event)\" "

          -               "onmouseup=\"setAction(0, event)\" onmouseleave=\"setAction(0, event)\" ontouchend=\"setAction(0, event)\" ontouchcancel=\"setAction(0, event)\">" + icon + "</button>";

          -    };

          -

          -    html += "<div class='row'>";

          -    html += btnHtml(5, "&#8598;");

          -    html += btnHtml(1, "&#8593;");

          -    html += btnHtml(6, "&#8599;");

          -    html += "</div>";

          -    

          -    html += "<div class='row'>";

          -    html += btnHtml(3, "&#8592;");

          -    html += "  <button class='btn stop-btn' onclick=\"setAction(0, event)\" ontouchstart=\"setAction(0, event)\">OFF</button>";

          -    html += btnHtml(4, "&#8594;");

          -    html += "</div>";

          -    

          -    html += "<div class='row'>";

          -    html += btnHtml(7, "&#8601;");

          -    html += btnHtml(2, "&#8595;");

          -    html += btnHtml(8, "&#8600;");

          -    html += "</div>";

          -

          -    html += "<div class='speed-container'>";

          -    html += "  Speed: <span id='v'>" + String(carSpeed) + "</span>";

          -    html += "  <input type='range' id='s' min='100' max='255' value='" + String(carSpeed) + "' oninput='setSpeed(this.value)' />";

          -    html += "</div>";

          -

          -    html += "<div class='speed-container'>";

          -    html += "  Battery Mode: <select onchange=\"setBattery(this.value)\">";

          -    html += "    <option value='2'" + String(batteryS == 2 ? " selected" : "") + ">2S (7.4V)</option>";

          -    html += "    <option value='3'" + String(batteryS == 3 ? " selected" : "") + ">3S (11.1V)</option>";

          -    html += "  </select>";

          -    html += "</div>";

          -

          -    html += "<script>";

          -    html += "let lastA = -1; let lastS = -1;";

          -    html += "function setAction(a, e, f) { if(e) { e.preventDefault(); } if(!f && a == lastA && a != 0) return; lastA = a; fetch('/set?action=' + a).catch(e => console.error(e)); }";

          -    html += "function setSpeed(s) { if(s == lastS) return; lastS = s; document.getElementById('v').innerText = s; fetch('/set?speed=' + s).catch(e => console.error(e)); }";

          -    html += "function setBattery(b) { fetch('/set?batt=' + b); }";

          -    html += "setInterval(() => { if(lastA > 0) setAction(lastA, null, true); }, 100);"; // "Pro" agility: 100ms heartbeat

          -    html += "</script></body></html>";

          -    return html;

          -}

          -

          -void handleRoot()

          -{

          -    server.send(200, "text/html", pageRoot());

          -}

          -

          -void handleSet()

          -{

          -    server.client().setNoDelay(true); // Disable Nagle's algorithm for faster response

          -    lastCommandTime = millis(); // Refresh safety watchdog

          -    if (server.hasArg("action"))

          -    {

          -        carAction = server.arg("action").toInt();

          -    }

          -    if (server.hasArg("speed"))

          -    {

          -        carSpeed = server.arg("speed").toInt();

          -        carSpeed = constrain(carSpeed, 0, 255);

          -    }

          -    if (server.hasArg("batt"))

          -    {

          -        batteryS = server.arg("batt").toInt();

          -    }

          -    applyMotorControl();

          -    server.send(200, "text/plain", "OK");

          -}

          -

          -void handleStatus()

          -{

          -    String status = "Action: " + String(carAction) + ", Speed: " + String(carSpeed) + ", Batt: " + String(batteryS) + "S";

          -    server.send(200, "text/plain", status);

          -}

          -

          -void setup()

          -{

          -    // Initialize pins

          -    pinMode(M1_IN1, OUTPUT);

          -    pinMode(M1_IN2, OUTPUT);

          -    pinMode(M2_IN1, OUTPUT);

          -    pinMode(M2_IN2, OUTPUT);

          -

          -    // Initialize motors to off

          -    digitalWrite(M1_IN1, LOW);

          -    digitalWrite(M1_IN2, LOW);

          -    digitalWrite(M2_IN1, LOW);

          -    digitalWrite(M2_IN2, LOW);

          -

          -    // Set PWM frequency for DRV8871 (supports up to 200kHz, but 20kHz is standard for silence and efficiency)

          -    analogWriteFreq(20000); 

          -

          -    Serial.begin(115200);

          -    delay(100);

          -

          -    Serial.println("Test...");

          -    delay(1000);

          -    Serial.println("Test...");

          -    delay(1000);

          -    Serial.println("Test...");

          -    delay(1000);

          -    // Configure AP with fixed IP

          -    WiFi.softAPConfig(apIP, apIP, netMsk);

          -    WiFi.softAP(ssid, password);

          -

          -    IPAddress myIP = WiFi.softAPIP();

          -    Serial.print("AP IP address: ");

          -    Serial.println(myIP);

          -

          -    // Configure server routes

          -    server.on("/", handleRoot);

          -    server.on("/set", handleSet);

          -    server.on("/status", handleStatus);

          -    server.begin();

          -    Serial.println("HTTP server started");

          -

          -    // Ensure PWM range 0-255

          -    analogWriteRange(255);

          -

          -    // Apply initial motor state

          -    applyMotorControl();

          -}

          -

          -void loop()

          -{

          -    server.handleClient();

          -    

          -    // Safety Watchdog: Stop motors if no command received for > 1 second

          -    if (carAction != 0 && (millis() - lastCommandTime > SAFETY_TIMEOUT)) {

          -        carAction = 0;

          -        applyMotorControl();

          -        Serial.println("Safety Timeout: Motors stopped");

          -    }

          -    

          -    delay(10);

          -}

          -

          -

          -

          -

				code-dat/esp866-dat/ESP8266-WIFI-motor-1/features.md
			
          @@ -1,32 +0,0 @@

          -# ESP8266 WiFi Motor Chassis Features

          -

          -## 1. Directional Control (9-Way)

          -- **8 Directions**: Full support for Forward, Backward, Left, Right, and all four diagonal directions (Forward-Left, Forward-Right, Backward-Left, Backward-Right).

          -- **Dedicated Stop**: Immediate halt on button release and a centralized "OFF" emergency stop button.

          -

          -## 2. Advanced Motor Driving

          -- **Differential Steering**: Implements $Base \pm Offset$ logic for smooth, proportional turning during diagonal movement and pivot rotation.

          -- **Stall Protection**: Enforces a `minSpeed` floor (100 PWM) to ensure motors maintain torque at low speeds.

          -- **PWM Optimization**: Optimized for high-frequency (20kHz) PWM modulation for smooth speed control.

          -

          -## 3. Safety & Reliability

          -- **Software Watchdog**: A hardware-safe timeout system stops the motors if no command is received within **500ms**, preventing runaway cars in case of WiFi disconnect.

          -- **Active Heartbeat**: The client browser sends a "keep-alive" signal every **200ms** while any button is held, ensuring seamless motion through minor signal jitters.

          -- **Interface Sanity**: Prevents "ghost" presses with event `preventDefault()` and stops motors automatically if the browser window loses focus (`blur` event).

          -

          -## 4. Power Management

          -- **Battery Compensation**: Selectable modes for **2S (7.4V)** and **3S (11.1V)** battery packs.

          -- **Voltage Scaling**: Automatically reduces PWM duty cycle in 3S mode (scaling factor $\approx 0.66$) to match 2S speed levels and protect motors from over-voltage.

          -

          -## 5. Web Interface & Connectivity

          -- **Standalone Hotspot**: Creates its own WiFi Access Point (`MotorAP`) for direct control without an external router.

          -- **Responsive Web UI**: A mobile-first controller interface with large touch-friendly buttons and a real-time speed slider.

          -- **Low Latency**: Lightweight HTTP GET handlers for near-instant control responses.

          -

          -## 6. Technical Specifications (Default)

          -- **Controller**: ESP8266

          -- **Motor Pins**: 

          -  - Left (M1): Pins 4, 5

          -  - Right (M2): Pins 0, 2

          -- **Default Speed**: 200/255

          -- **Safety Window**: 500ms

				code-dat/esp866-dat/esp8266-elrs-drv8871-2-1/esp8266-elrs-drv8871-2-1.ino
			
          @@ -1,138 +0,0 @@

          -

          -#include <SoftwareSerial.h>

          -

          -/*

          - * ELRS Motor Control Demo for ESP8266

          - * 

          - * Hardware Setup:

          - * - ELRS Receiver: RX -> IO13, TX -> IO12 (SoftwareSerial)

          - * - Motor 1 (Left): IN1 -> IO4, IN2 -> IO5

          - * - Motor 2 (Right): IN1 -> IO0, IN2 -> IO2

          - * - DRV8871 pins are externally pulled-up, so active LOW for driving.

          - */

          -

          -// Motor 1 (Left)

          -const int M1_IN1 = 4;

          -const int M1_IN2 = 5;

          -// Motor 2 (Right)

          -const int M2_IN1 = 0;

          -const int M2_IN2 = 2;

          -

          -// CRSF Protocol Definitions

          -#define CRSF_ADDR_MODULE 0xEE

          -#define CRSF_FRAMETYPE_RC_CHANNELS_PACKED 0x16

          -

          -SoftwareSerial elrsSerial(13, 12); // RX, TX

          -

          -void setup() {

          -  Serial.begin(115200);

          -  elrsSerial.begin(420000); // CRSF standard baud rate is 420k

          -

          -  pinMode(M1_IN1, OUTPUT);

          -  pinMode(M1_IN2, OUTPUT);

          -  pinMode(M2_IN1, OUTPUT);

          -  pinMode(M2_IN2, OUTPUT);

          -

          -  // Initialize motors to STOP (HIGH because of external pull-up)

          -  digitalWrite(M1_IN1, HIGH);

          -  digitalWrite(M1_IN2, HIGH);

          -  digitalWrite(M2_IN1, HIGH);

          -  digitalWrite(M2_IN2, HIGH);

          -

          -  Serial.println("ELRS DRV8871 Motor Control Initialized.");

          -}

          -

          -void stopMotors() {

          -  digitalWrite(M1_IN1, HIGH);

          -  digitalWrite(M1_IN2, HIGH);

          -  digitalWrite(M2_IN1, HIGH);

          -  digitalWrite(M2_IN2, HIGH);

          -}

          -

          -void driveMotor(int in1, int in2, int speed) {

          -  // speed: -100 to 100

          -  if (speed > 10) {

          -    // Forward (using PWM for speed control, since pins are pulled up, we pull LOW)

          -    analogWrite(in1, 255 - map(speed, 0, 100, 0, 255));

          -    digitalWrite(in2, HIGH);

          -  } else if (speed < -10) {

          -    // Reverse

          -    digitalWrite(in1, HIGH);

          -    analogWrite(in2, 255 - map(abs(speed), 0, 100, 0, 255));

          -  } else {

          -    // Stop

          -    digitalWrite(in1, HIGH);

          -    digitalWrite(in2, HIGH);

          -  }

          -}

          -

          -void loop() {

          -  // Debug serial input from ELRS even if not a full packet

          -  static unsigned long lastRawDebug = 0;

          -  if (elrsSerial.available() && millis() - lastRawDebug > 1000) {

          -    lastRawDebug = millis();

          -    Serial.print("ELRS Serial Bytes Available: ");

          -    Serial.println(elrsSerial.available());

          -  }

          -

          -  if (elrsSerial.available()) {

          -    uint8_t header = elrsSerial.read();

          -    if (header == CRSF_ADDR_MODULE) {

          -      uint8_t len = elrsSerial.read();

          -      uint8_t type = elrsSerial.read();

          -

          -      if (type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED) {

          -        uint8_t buffer[22];

          -        elrsSerial.readBytes(buffer, 22);

          -        

          -        // Debug Raw Packet

          -        static unsigned long lastHexDebug = 0;

          -        if (millis() - lastHexDebug > 500) {

          -          lastHexDebug = millis();

          -          Serial.print("Raw Hex: ");

          -          Serial.print(header, HEX); Serial.print(" ");

          -          Serial.print(len, HEX); Serial.print(" ");

          -          Serial.print(type, HEX); Serial.print(" ");

          -          for(int i=0; i<22; i++) {

          -            if(buffer[i] < 0x10) Serial.print("0");

          -            Serial.print(buffer[i], HEX); Serial.print(" ");

          -          }

          -          Serial.println();

          -        }

          -

          -        // Simple CRSF channel decoding (11 bits per channel)

          -        // Channel 1: Roll, Channel 2: Pitch, Channel 3: Throttle, Channel 4: Yaw

          -        int ch1 = (buffer[0] | buffer[1] << 8) & 0x07FF;

          -        int ch2 = (buffer[1] >> 3 | buffer[2] << 5) & 0x07FF;

          -        int ch3 = (buffer[2] >> 6 | buffer[3] << 2 | buffer[4] << 10) & 0x07FF;

          -        int ch4 = (buffer[4] >> 1 | buffer[5] << 7) & 0x07FF;

          -

          -        // Map ELRS channels (typically 172-1811, center 992) to -100 to 100

          -        int throttle = map(ch3, 172, 1811, -100, 100);

          -        int steering = map(ch1, 172, 1811, -100, 100);

          -

          -        // Simple Differential Drive logic

          -        int leftSpeed = throttle + steering;

          -        int rightSpeed = throttle - steering;

          -

          -        leftSpeed = constrain(leftSpeed, -100, 100);

          -        rightSpeed = constrain(rightSpeed, -100, 100);

          -

          -        // Debugging output

          -        static unsigned long lastDebug = 0;

          -        if (millis() - lastDebug > 100) {

          -          lastDebug = millis();

          -          Serial.print("CH1: "); Serial.print(ch1);

          -          Serial.print(" | CH3: "); Serial.print(ch3);

          -          Serial.print(" | Thr: "); Serial.print(throttle);

          -          Serial.print(" | Str: "); Serial.print(steering);

          -          Serial.print(" | L: "); Serial.print(leftSpeed);

          -          Serial.print(" | R: "); Serial.println(rightSpeed);

          -        }

          -

          -        driveMotor(M1_IN1, M1_IN2, leftSpeed);

          -        driveMotor(M2_IN1, M2_IN2, rightSpeed);

          -      }

          -    }

          -  }

          -}

				code-dat/esp866-dat/printAllChannels/printAllChannels.ino
			
          @@ -1,37 +0,0 @@

          -#include <AlfredoCRSF.h>

          -#include <SoftwareSerial.h>

          -

          -#define PIN_RX 13

          -#define PIN_TX 12

          -

          -// Set up a new SoftwareSerial object

          -SoftwareSerial crsfSerial(PIN_RX, PIN_TX);

          -AlfredoCRSF crsf;

          -

          -void setup()

          -{

          -  Serial.begin(115200);

          -  Serial.println("COM Serial initialized");

          -  

          -  crsfSerial.begin(115200);

          -

          -  crsf.begin(crsfSerial);

          -}

          -

          -void loop()

          -{

          -    // Must call crsf.update() in loop() to process data

          -    crsf.update();

          -    printChannels();

          -}

          -

          -//Use crsf.getChannel(x) to get us channel values (1-16).

          -void printChannels()

          -{

          -  for (int ChannelNum = 1; ChannelNum <= 16; ChannelNum++)

          -  {

          -    Serial.print(crsf.getChannel(ChannelNum));

          -    Serial.print(", ");

          -  }

          -  Serial.println(" ");

          -}

          \ No newline at end of file

				code-dat/esp866-dat/soft-serial-debug-2/soft-serial-debug-2.ino
			
          @@ -1,82 +0,0 @@

          -#include <SoftwareSerial.h>

          -

          -// PIN 12 = RX, PIN 13 = TX

          -SoftwareSerial soft(12, 13);

          -

          -uint8_t buffer[64];

          -int bufPtr = 0;

          -unsigned long lastByteTime = 0;

          -unsigned long lastPrintTime = 0;

          -

          -void setup() {

          -  Serial.begin(115200);

          -  // Increase SoftwareSerial reliability by sticking to 115200

          -  soft.begin(115200); 

          -  Serial.println("\n--- CRSF Debug V2 (Robust) ---");

          -}

          -

          -void loop() {

          -  unsigned long now = millis();

          -

          -  while (soft.available()) {

          -    uint8_t b = soft.read();

          -    lastByteTime = now;

          -

          -    // 1. SYNC: Look for 0xC8 (Receiver Address)

          -    if (bufPtr == 0) {

          -      if (b == 0xC8) {

          -        buffer[bufPtr++] = b;

          -      }

          -    } 

          -    // 2. LENGTH: Expecting 0x18 (24 bytes payload) for RC Channels

          -    else if (bufPtr == 1) {

          -      if (b == 0x18) {

          -        buffer[bufPtr++] = b;

          -      } else {

          -        bufPtr = 0; // Invalid length for channels, restart

          -      }

          -    }

          -    // 3. TYPE: Expecting 0x16 (RC Channels)

          -    else if (bufPtr == 2) {

          -      if (b == 0x16) {

          -        buffer[bufPtr++] = b;

          -      } else {

          -        bufPtr = 0; // Not a channel frame

          -      }

          -    }

          -    // 4. COLLECT DATA

          -    else {

          -      buffer[bufPtr++] = b;

          -      

          -      // CRSF RC packet is exactly 26 bytes: [Addr][Len][Type][22 bytes channels][CRC]

          -      if (bufPtr >= 26) {

          -        decodeAndPrint(buffer);

          -        bufPtr = 0;

          -      }

          -    }

          -  }

          -

          -  // RECOVERY: If we got half a packet but no more data for 10ms, reset

          -  if (bufPtr > 0 && (now - lastByteTime > 10)) {

          -    bufPtr = 0;

          -  }

          -}

          -

          -void decodeAndPrint(uint8_t* b) {

          -  // Only print every 100ms to reduce CPU load and let SoftwareSerial run smoothly

          -  if (millis() - lastPrintTime < 100) return;

          -  lastPrintTime = millis();

          -

          -  unsigned int ch[4];

          -  // 11-bit decoding logic

          -  ch[0] = (b[3] | b[4] << 8) & 0x07FF;

          -  ch[1] = (b[4] >> 3 | b[5] << 5) & 0x07FF;

          -  ch[2] = (b[5] >> 6 | b[6] << 2 | b[7] << 10) & 0x07FF;

          -  ch[3] = (b[7] >> 1 | b[8] << 7) & 0x07FF;

          -

          -  Serial.print("T:");  Serial.print(ch[2]); // Throttle usually CH3

          -  Serial.print(" R:");  Serial.print(ch[3]); // Yaw/Rudder

          -  Serial.print(" E:");  Serial.print(ch[1]); // Pitch/Elevator

          -  Serial.print(" A:");  Serial.print(ch[0]); // Roll/Aileron

          -  Serial.println();

          -}

          \ No newline at end of file

				code-dat/esp866-dat/soft-serial-debug/soft-serial-debug.ino
			
          @@ -1,28 +0,0 @@

          -#include <SoftwareSerial.h>

          -

          -SoftwareSerial soft(13, 12); // RX, TX

          -

          -void setup() {

          -  Serial.begin(115200);

          -  soft.begin(115200);

          -  Serial.println("\n--- CRSF Raw Hex Debugger ---");

          -}

          -

          -void loop() {

          -  if (soft.available()) {

          -    uint8_t incomingByte = soft.read();

          -    

          -    // Print as Hex

          -    if (incomingByte < 0x10) Serial.print("0");

          -    Serial.print(incomingByte, HEX);

          -    Serial.print(" ");

          -    

          -    // Newline every 16 bytes

          -    static int byteCount = 0;

          -    byteCount++;

          -    if (byteCount >= 16) {

          -      Serial.println();

          -      byteCount = 0;

          -    }

          -  }

          -}

          \ No newline at end of file

...	...	@@ -59,7 +59,7 @@ expanding PCB by [[PCB-accesories-dat]]
59	59
60	60	## setup
61	61
62		-- [[CRSF-dat]]
	62	+- [[CRSF-dat]] - [[radiomaster-pocket-dat]]
63	63
64	64	correct to SoftwareSerial soft(13, 12); // RX, TX
65	65

...	...	@@ -2,6 +2,9 @@
2	2
3	3	# SDR1125-dat.md
4	4
	5	+
	6	+- [[SDR1125-dat]] - [[CRSF-dat]]
	7	+
5	8	orange boxes series
6	9
7	10	- [[OPM1153-dat]] - [[MP1584-dat]] == orange middle module

...	...	@@ -23,33 +23,7 @@ hardware and software - [[ESP8266-HDK-dat]] - [[ESP8266-SDK-dat]]
23	23	debug - [[ESP8266-debug-log-dat]] - [[ESP8266-error-log-dat]] - [[ESP8266-boot-log-dat]]
24	24
25	25
26		-## design
27		-
28		-software serial - can not be more than 115200 baud, otherwise the data will be corrupted.
29		-
30		-The data you shared is raw CRSF binary packets, but they look slightly corrupted or "jittery," which is very common when using SoftwareSerial at 115200 on an ESP8266.
31		-
32		-- [[CRSF-dat]]
33		-
34		- 0B 56 FE D8 10 0B 56 FE D8 10 0B 52 FE 84 D8 10
35		- 0B 52 FE D8 10 0B 56 FE D8 10 0B 52 FF D8 10 0B
36		- 52 FF D9 10 99 FF 44 D8 10 0B 56 FE D8 10 0B 52
37		- FF D8 10 0B 56 FE D8 10 0B 56 FF 25 26 12 4B A2
38		- D8 10 0B 52 FE D8 10 0B 56 FE A6 12 4B D8 10 99
39		- FF D8 10 0B 56 FE E4 26 12 4B A2 A6 12 4B D8 10
40		- 0B 52 FE D8 10 0B 56 FE D8 10 0B 56 FF 84 D8 10
41		- 99 FF D8 10 0B 52 FF D8 10 0B 56 FE A6 12 4B A4
42		- D8 10 0B 56 FE D8 10 FF D8 10 0B 52 FE D8 10 0B
43		- 56 FE D8 10 0B 56 FE 44 12 4B FF D8 10 0B 52 FF
44		- D8 10 0B 56 FF D9 10 FE D8 10 0B 56 FF 80 D8 10
45		- 0B 56 FF D8 10 0B 56 FF 12 4B 54 FF 84 D8 10 0B
46		- 52 FF D8 10 0B 52 FF D8 10 0B 52 FF D8 10 0B 56
47		- FF D9 10 FE C4 D9 10 0B 56 FF D8 10 FE 12 4B 02
48		- 4E D8 10 0B D2 FF D8 10 FE A2 D8 10 0B 52 FF D8
49		- 10 0B 56 FF D8 10 FE D8 10 0B 56 FF 00 80 D8 10
50		- 0B 56 FE D8 10 0B 56 FE D8 10 0B 52 FE D8 10 FF
51		- D8 10 0B 56 FE 80 D8 10 0B 52 FE D8 10 0B 56 FE
52		- D8 10 0B 52 FE D8 10 0B 52 FE D8 10 99 FF 40 D8
	26	+
53	27
54	28	## ref
55	29

...	...	@@ -1,6 +1,10 @@
1	1
2	2	# CRSF-dat
3	3
	4	+
	5	+
	6	+
	7	+
4	8	CRSF (Crossfire Serial Protocol) is a low-latency, high-speed serial protocol developed by Team BlackSheep (TBS) for communication between radio receivers (like TBS Crossfire Nano RX) and flight controllers.
5	9
6	10	It’s used in RC applications (especially FPV drones) to transmit RC channel data, telemetry, and link status over a compact serial format.
...	...	@@ -8,7 +12,9 @@ It’s used in RC applications (especially FPV drones) to transmit RC channel da
8	12	CRSF packets are binary data. Here's the basic structure of a CRSF packet:
9	13
10	14
	15	+## board
11	16
	17	+- [[SDR1125-dat]] - [[CRSF-dat]]
12	18
13	19
14	20

...	...	@@ -1,6 +1,9 @@
1	1
2	2	# ESP8266-SDK-dat
3	3
	4	+- [[esp866-code-dat]] - [[ESP8266-SDK-dat]] - [[ESP-dat]]
	5	+
	6	+
4	7	- [[esp-idf-dat]] - [[ESP-dat]] - [[esp-sdk-dat]] - [[esptool-dat]]
5	8
6	9	- [[ESP8266-HDK-dat]]

...	...	@@ -0,0 +1,283 @@
	1	+#include <ESP8266WiFi.h>
	2	+#include <ESP8266WebServer.h>
	3	+
	4	+// WiFi AP settings (fixed IP)
	5	+const char *ssid = "MotorAP";
	6	+const char *password = "motorpass"; // set to "" for open AP
	7	+IPAddress apIP(192, 168, 4, 1);
	8	+IPAddress netMsk(255, 255, 255, 0);
	9	+
	10	+// Define pins for motor control
	11	+// Motor 1 (Left)
	12	+const int M1_IN1 = 4;
	13	+const int M1_IN2 = 5;
	14	+// Motor 2 (Right)
	15	+const int M2_IN1 = 0;
	16	+const int M2_IN2 = 2;
	17	+
	18	+int carSpeed = 200; // 0..255 (Base Speed)
	19	+int minSpeed = 100; // Minimum speed to avoid stalling
	20	+int turnDiff = 85; // Increased for more "agility" (sharper turns)
	21	+int carAction = 0; // 0: stop, 1: forward, 2: backward, 3: left, 4: right
	22	+unsigned long lastCommandTime = 0;
	23	+const unsigned long SAFETY_TIMEOUT = 300; // Even tighter for high responsiveness
	24	+
	25	+int batteryS = 3; // Default 3S (11.1V)
	26	+
	27	+ESP8266WebServer server(80);
	28	+
	29	+int getCompensatedSpeed(int baseSpeed) {
	30	+ if (baseSpeed == 0) return 0;
	31	+ // Simple inverse scaling:
	32	+ // If it's 3S (11.1V), we scale DOWN the speed compared to 2S (7.4V)
	33	+ // Scale factor = 7.4 / 11.1 = ~0.66
	34	+ if (batteryS == 3) {
	35	+ return (int)(baseSpeed * 0.66);
	36	+ }
	37	+ return baseSpeed; // Use raw speed for 2S
	38	+}
	39	+
	40	+void applyMotorControl()
	41	+{
	42	+ int leftSpeed = 0;
	43	+ int rightSpeed = 0;
	44	+
	45	+ int compensatedSpeed = getCompensatedSpeed(carSpeed);
	46	+ int compensatedTurnDiff = getCompensatedSpeed(turnDiff);
	47	+
	48	+ // Helper to ensure motor gets enough power or is OFF
	49	+ auto normalizeSpeed = [&](int s) {
	50	+ if (s <= 0) return 0;
	51	+ if (s < minSpeed) return minSpeed;
	52	+ if (s > 255) return 255;
	53	+ return s;
	54	+ };
	55	+
	56	+ switch (carAction)
	57	+ {
	58	+ case 0: // Stop
	59	+ leftSpeed = rightSpeed = 0;
	60	+ break;
	61	+ case 1: // Forward
	62	+ leftSpeed = rightSpeed = compensatedSpeed;
	63	+ break;
	64	+ case 2: // Backward
	65	+ leftSpeed = rightSpeed = -compensatedSpeed;
	66	+ break;
	67	+ case 3: // Spin Left
	68	+ leftSpeed = -compensatedSpeed;
	69	+ rightSpeed = compensatedSpeed;
	70	+ break;
	71	+ case 4: // Spin Right
	72	+ leftSpeed = compensatedSpeed;
	73	+ rightSpeed = -compensatedSpeed;
	74	+ break;
	75	+ case 5: // Forward Left (Curve) - Swapped
	76	+ leftSpeed = compensatedSpeed + compensatedTurnDiff;
	77	+ rightSpeed = compensatedSpeed - compensatedTurnDiff;
	78	+ break;
	79	+ case 6: // Forward Right (Curve) - Swapped
	80	+ leftSpeed = compensatedSpeed - compensatedTurnDiff;
	81	+ rightSpeed = compensatedSpeed + compensatedTurnDiff;
	82	+ break;
	83	+ case 7: // Backward Left (Curve)
	84	+ leftSpeed = -(compensatedSpeed + compensatedTurnDiff);
	85	+ rightSpeed = -(compensatedSpeed - compensatedTurnDiff);
	86	+ break;
	87	+ case 8: // Backward Right (Curve)
	88	+ leftSpeed = -(compensatedSpeed - compensatedTurnDiff);
	89	+ rightSpeed = -(compensatedSpeed + compensatedTurnDiff);
	90	+ break;
	91	+ default:
	92	+ leftSpeed = rightSpeed = 0;
	93	+ break;
	94	+ }
	95	+
	96	+ // Apply Left Motor
	97	+ int absL = abs(leftSpeed);
	98	+ int finalL = normalizeSpeed(absL);
	99	+ if (leftSpeed > 0) {
	100	+ analogWrite(M1_IN1, finalL);
	101	+ digitalWrite(M1_IN2, LOW);
	102	+ } else if (leftSpeed < 0) {
	103	+ digitalWrite(M1_IN1, LOW);
	104	+ analogWrite(M1_IN2, finalL);
	105	+ } else {
	106	+ digitalWrite(M1_IN1, LOW);
	107	+ digitalWrite(M1_IN2, LOW);
	108	+ }
	109	+
	110	+ // Apply Right Motor
	111	+ int absR = abs(rightSpeed);
	112	+ int finalR = normalizeSpeed(absR);
	113	+ if (rightSpeed > 0) {
	114	+ analogWrite(M2_IN1, finalR);
	115	+ digitalWrite(M2_IN2, LOW);
	116	+ } else if (rightSpeed < 0) {
	117	+ digitalWrite(M2_IN1, LOW);
	118	+ analogWrite(M2_IN2, finalR);
	119	+ } else {
	120	+ digitalWrite(M2_IN1, LOW);
	121	+ digitalWrite(M2_IN2, LOW);
	122	+ }
	123	+}
	124	+
	125	+String pageRoot()
	126	+{
	127	+ String html = "<html><head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no\">";
	128	+ html += "<style>";
	129	+ html += "body { font-family: sans-serif; text-align: center; display: flex; flex-direction: column; align-items: center; justify-content: center; height: 100vh; margin: 0; background: #f0f0f0; }";
	130	+ html += ".btn { width: 80px; height: 80px; margin: 10px; border-radius: 15px; border: none; background: #3498db; color: white; font-size: 24px; font-weight: bold; cursor: pointer; user-select: none; -webkit-tap-highlight-color: transparent; box-shadow: 0 4px #2980b9; }";
	131	+ html += ".btn:active { background: #2980b9; box-shadow: 0 2px #1c5982; transform: translateY(2px); }";
	132	+ html += ".stop-btn { background: #e74c3c; box-shadow: 0 4px #c0392b; }";
	133	+ html += ".stop-btn:active { background: #c0392b; box-shadow: 0 2px #962d22; }";
	134	+ html += ".row { display: flex; justify-content: center; }";
	135	+ html += ".speed-container { margin-top: 20px; width: 80%; }";
	136	+ html += "input[type=range] { width: 100%; height: 25px; cursor: pointer; }";
	137	+ html += "select { padding: 8px; font-size: 16px; border-radius: 5px; }";
	138	+ html += "</style></head><body>";
	139	+ html += "<h2>Motor Control</h2>";
	140	+
	141	+ auto btnHtml = [&](int act, String icon) {
	142	+ String s_act = String(act);
	143	+ return " <button class='btn' onmousedown=\"setAction(" + s_act + ", event)\" ontouchstart=\"setAction(" + s_act + ", event)\" "
	144	+ "onmouseup=\"setAction(0, event)\" onmouseleave=\"setAction(0, event)\" ontouchend=\"setAction(0, event)\" ontouchcancel=\"setAction(0, event)\">" + icon + "</button>";
	145	+ };
	146	+
	147	+ html += "<div class='row'>";
	148	+ html += btnHtml(5, "↖");
	149	+ html += btnHtml(1, "↑");
	150	+ html += btnHtml(6, "↗");
	151	+ html += "</div>";
	152	+
	153	+ html += "<div class='row'>";
	154	+ html += btnHtml(3, "←");
	155	+ html += " <button class='btn stop-btn' onclick=\"setAction(0, event)\" ontouchstart=\"setAction(0, event)\">OFF</button>";
	156	+ html += btnHtml(4, "→");
	157	+ html += "</div>";
	158	+
	159	+ html += "<div class='row'>";
	160	+ html += btnHtml(7, "↙");
	161	+ html += btnHtml(2, "↓");
	162	+ html += btnHtml(8, "↘");
	163	+ html += "</div>";
	164	+
	165	+ html += "<div class='speed-container'>";
	166	+ html += " Speed: <span id='v'>" + String(carSpeed) + "</span>";
	167	+ html += " <input type='range' id='s' min='100' max='255' value='" + String(carSpeed) + "' oninput='setSpeed(this.value)' />";
	168	+ html += "</div>";
	169	+
	170	+ html += "<div class='speed-container'>";
	171	+ html += " Battery Mode: <select onchange=\"setBattery(this.value)\">";
	172	+ html += " <option value='2'" + String(batteryS == 2 ? " selected" : "") + ">2S (7.4V)</option>";
	173	+ html += " <option value='3'" + String(batteryS == 3 ? " selected" : "") + ">3S (11.1V)</option>";
	174	+ html += " </select>";
	175	+ html += "</div>";
	176	+
	177	+ html += "<script>";
	178	+ html += "let lastA = -1; let lastS = -1;";
	179	+ html += "function setAction(a, e, f) { if(e) { e.preventDefault(); } if(!f && a == lastA && a != 0) return; lastA = a; fetch('/set?action=' + a).catch(e => console.error(e)); }";
	180	+ html += "function setSpeed(s) { if(s == lastS) return; lastS = s; document.getElementById('v').innerText = s; fetch('/set?speed=' + s).catch(e => console.error(e)); }";
	181	+ html += "function setBattery(b) { fetch('/set?batt=' + b); }";
	182	+ html += "setInterval(() => { if(lastA > 0) setAction(lastA, null, true); }, 100);"; // "Pro" agility: 100ms heartbeat
	183	+ html += "</script></body></html>";
	184	+ return html;
	185	+}
	186	+
	187	+void handleRoot()
	188	+{
	189	+ server.send(200, "text/html", pageRoot());
	190	+}
	191	+
	192	+void handleSet()
	193	+{
	194	+ server.client().setNoDelay(true); // Disable Nagle's algorithm for faster response
	195	+ lastCommandTime = millis(); // Refresh safety watchdog
	196	+ if (server.hasArg("action"))
	197	+ {
	198	+ carAction = server.arg("action").toInt();
	199	+ }
	200	+ if (server.hasArg("speed"))
	201	+ {
	202	+ carSpeed = server.arg("speed").toInt();
	203	+ carSpeed = constrain(carSpeed, 0, 255);
	204	+ }
	205	+ if (server.hasArg("batt"))
	206	+ {
	207	+ batteryS = server.arg("batt").toInt();
	208	+ }
	209	+ applyMotorControl();
	210	+ server.send(200, "text/plain", "OK");
	211	+}
	212	+
	213	+void handleStatus()
	214	+{
	215	+ String status = "Action: " + String(carAction) + ", Speed: " + String(carSpeed) + ", Batt: " + String(batteryS) + "S";
	216	+ server.send(200, "text/plain", status);
	217	+}
	218	+
	219	+void setup()
	220	+{
	221	+ // Initialize pins
	222	+ pinMode(M1_IN1, OUTPUT);
	223	+ pinMode(M1_IN2, OUTPUT);
	224	+ pinMode(M2_IN1, OUTPUT);
	225	+ pinMode(M2_IN2, OUTPUT);
	226	+
	227	+ // Initialize motors to off
	228	+ digitalWrite(M1_IN1, LOW);
	229	+ digitalWrite(M1_IN2, LOW);
	230	+ digitalWrite(M2_IN1, LOW);
	231	+ digitalWrite(M2_IN2, LOW);
	232	+
	233	+ // Set PWM frequency for DRV8871 (supports up to 200kHz, but 20kHz is standard for silence and efficiency)
	234	+ analogWriteFreq(20000);
	235	+
	236	+ Serial.begin(115200);
	237	+ delay(100);
	238	+
	239	+ Serial.println("Test...");
	240	+ delay(1000);
	241	+ Serial.println("Test...");
	242	+ delay(1000);
	243	+ Serial.println("Test...");
	244	+ delay(1000);
	245	+ // Configure AP with fixed IP
	246	+ WiFi.softAPConfig(apIP, apIP, netMsk);
	247	+ WiFi.softAP(ssid, password);
	248	+
	249	+ IPAddress myIP = WiFi.softAPIP();
	250	+ Serial.print("AP IP address: ");
	251	+ Serial.println(myIP);
	252	+
	253	+ // Configure server routes
	254	+ server.on("/", handleRoot);
	255	+ server.on("/set", handleSet);
	256	+ server.on("/status", handleStatus);
	257	+ server.begin();
	258	+ Serial.println("HTTP server started");
	259	+
	260	+ // Ensure PWM range 0-255
	261	+ analogWriteRange(255);
	262	+
	263	+ // Apply initial motor state
	264	+ applyMotorControl();
	265	+}
	266	+
	267	+void loop()
	268	+{
	269	+ server.handleClient();
	270	+
	271	+ // Safety Watchdog: Stop motors if no command received for > 1 second
	272	+ if (carAction != 0 && (millis() - lastCommandTime > SAFETY_TIMEOUT)) {
	273	+ carAction = 0;
	274	+ applyMotorControl();
	275	+ Serial.println("Safety Timeout: Motors stopped");
	276	+ }
	277	+
	278	+ delay(10);
	279	+}
	280	+
	281	+
	282	+
	283	+

...	...	@@ -0,0 +1,32 @@
	1	+# ESP8266 WiFi Motor Chassis Features
	2	+
	3	+## 1. Directional Control (9-Way)
	4	+- 8 Directions: Full support for Forward, Backward, Left, Right, and all four diagonal directions (Forward-Left, Forward-Right, Backward-Left, Backward-Right).
	5	+- Dedicated Stop: Immediate halt on button release and a centralized "OFF" emergency stop button.
	6	+
	7	+## 2. Advanced Motor Driving
	8	+- Differential Steering: Implements $Base \pm Offset$ logic for smooth, proportional turning during diagonal movement and pivot rotation.
	9	+- Stall Protection: Enforces a `minSpeed` floor (100 PWM) to ensure motors maintain torque at low speeds.
	10	+- PWM Optimization: Optimized for high-frequency (20kHz) PWM modulation for smooth speed control.
	11	+
	12	+## 3. Safety & Reliability
	13	+- Software Watchdog: A hardware-safe timeout system stops the motors if no command is received within 500ms, preventing runaway cars in case of WiFi disconnect.
	14	+- Active Heartbeat: The client browser sends a "keep-alive" signal every 200ms while any button is held, ensuring seamless motion through minor signal jitters.
	15	+- Interface Sanity: Prevents "ghost" presses with event `preventDefault()` and stops motors automatically if the browser window loses focus (`blur` event).
	16	+
	17	+## 4. Power Management
	18	+- Battery Compensation: Selectable modes for 2S (7.4V) and 3S (11.1V) battery packs.
	19	+- Voltage Scaling: Automatically reduces PWM duty cycle in 3S mode (scaling factor $\approx 0.66$) to match 2S speed levels and protect motors from over-voltage.
	20	+
	21	+## 5. Web Interface & Connectivity
	22	+- Standalone Hotspot: Creates its own WiFi Access Point (`MotorAP`) for direct control without an external router.
	23	+- Responsive Web UI: A mobile-first controller interface with large touch-friendly buttons and a real-time speed slider.
	24	+- Low Latency: Lightweight HTTP GET handlers for near-instant control responses.
	25	+
	26	+## 6. Technical Specifications (Default)
	27	+- Controller: ESP8266
	28	+- Motor Pins:
	29	+ - Left (M1): Pins 4, 5
	30	+ - Right (M2): Pins 0, 2
	31	+- Default Speed: 200/255
	32	+- Safety Window: 500ms

...	...	@@ -0,0 +1,138 @@
	1	+
	2	+#include <SoftwareSerial.h>
	3	+
	4	+/*
	5	+ * ELRS Motor Control Demo for ESP8266
	6	+ *
	7	+ * Hardware Setup:
	8	+ * - ELRS Receiver: RX -> IO13, TX -> IO12 (SoftwareSerial)
	9	+ * - Motor 1 (Left): IN1 -> IO4, IN2 -> IO5
	10	+ * - Motor 2 (Right): IN1 -> IO0, IN2 -> IO2
	11	+ * - DRV8871 pins are externally pulled-up, so active LOW for driving.
	12	+ */
	13	+
	14	+// Motor 1 (Left)
	15	+const int M1_IN1 = 4;
	16	+const int M1_IN2 = 5;
	17	+// Motor 2 (Right)
	18	+const int M2_IN1 = 0;
	19	+const int M2_IN2 = 2;
	20	+
	21	+// CRSF Protocol Definitions
	22	+#define CRSF_ADDR_MODULE 0xEE
	23	+#define CRSF_FRAMETYPE_RC_CHANNELS_PACKED 0x16
	24	+
	25	+SoftwareSerial elrsSerial(13, 12); // RX, TX
	26	+
	27	+void setup() {
	28	+ Serial.begin(115200);
	29	+ elrsSerial.begin(420000); // CRSF standard baud rate is 420k
	30	+
	31	+ pinMode(M1_IN1, OUTPUT);
	32	+ pinMode(M1_IN2, OUTPUT);
	33	+ pinMode(M2_IN1, OUTPUT);
	34	+ pinMode(M2_IN2, OUTPUT);
	35	+
	36	+ // Initialize motors to STOP (HIGH because of external pull-up)
	37	+ digitalWrite(M1_IN1, HIGH);
	38	+ digitalWrite(M1_IN2, HIGH);
	39	+ digitalWrite(M2_IN1, HIGH);
	40	+ digitalWrite(M2_IN2, HIGH);
	41	+
	42	+ Serial.println("ELRS DRV8871 Motor Control Initialized.");
	43	+}
	44	+
	45	+void stopMotors() {
	46	+ digitalWrite(M1_IN1, HIGH);
	47	+ digitalWrite(M1_IN2, HIGH);
	48	+ digitalWrite(M2_IN1, HIGH);
	49	+ digitalWrite(M2_IN2, HIGH);
	50	+}
	51	+
	52	+void driveMotor(int in1, int in2, int speed) {
	53	+ // speed: -100 to 100
	54	+ if (speed > 10) {
	55	+ // Forward (using PWM for speed control, since pins are pulled up, we pull LOW)
	56	+ analogWrite(in1, 255 - map(speed, 0, 100, 0, 255));
	57	+ digitalWrite(in2, HIGH);
	58	+ } else if (speed < -10) {
	59	+ // Reverse
	60	+ digitalWrite(in1, HIGH);
	61	+ analogWrite(in2, 255 - map(abs(speed), 0, 100, 0, 255));
	62	+ } else {
	63	+ // Stop
	64	+ digitalWrite(in1, HIGH);
	65	+ digitalWrite(in2, HIGH);
	66	+ }
	67	+}
	68	+
	69	+void loop() {
	70	+ // Debug serial input from ELRS even if not a full packet
	71	+ static unsigned long lastRawDebug = 0;
	72	+ if (elrsSerial.available() && millis() - lastRawDebug > 1000) {
	73	+ lastRawDebug = millis();
	74	+ Serial.print("ELRS Serial Bytes Available: ");
	75	+ Serial.println(elrsSerial.available());
	76	+ }
	77	+
	78	+ if (elrsSerial.available()) {
	79	+ uint8_t header = elrsSerial.read();
	80	+ if (header == CRSF_ADDR_MODULE) {
	81	+ uint8_t len = elrsSerial.read();
	82	+ uint8_t type = elrsSerial.read();
	83	+
	84	+ if (type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED) {
	85	+ uint8_t buffer[22];
	86	+ elrsSerial.readBytes(buffer, 22);
	87	+
	88	+ // Debug Raw Packet
	89	+ static unsigned long lastHexDebug = 0;
	90	+ if (millis() - lastHexDebug > 500) {
	91	+ lastHexDebug = millis();
	92	+ Serial.print("Raw Hex: ");
	93	+ Serial.print(header, HEX); Serial.print(" ");
	94	+ Serial.print(len, HEX); Serial.print(" ");
	95	+ Serial.print(type, HEX); Serial.print(" ");
	96	+ for(int i=0; i<22; i++) {
	97	+ if(buffer[i] < 0x10) Serial.print("0");
	98	+ Serial.print(buffer[i], HEX); Serial.print(" ");
	99	+ }
	100	+ Serial.println();
	101	+ }
	102	+
	103	+ // Simple CRSF channel decoding (11 bits per channel)
	104	+ // Channel 1: Roll, Channel 2: Pitch, Channel 3: Throttle, Channel 4: Yaw
	105	+ int ch1 = (buffer[0] \| buffer[1] << 8) & 0x07FF;
	106	+ int ch2 = (buffer[1] >> 3 \| buffer[2] << 5) & 0x07FF;
	107	+ int ch3 = (buffer[2] >> 6 \| buffer[3] << 2 \| buffer[4] << 10) & 0x07FF;
	108	+ int ch4 = (buffer[4] >> 1 \| buffer[5] << 7) & 0x07FF;
	109	+
	110	+ // Map ELRS channels (typically 172-1811, center 992) to -100 to 100
	111	+ int throttle = map(ch3, 172, 1811, -100, 100);
	112	+ int steering = map(ch1, 172, 1811, -100, 100);
	113	+
	114	+ // Simple Differential Drive logic
	115	+ int leftSpeed = throttle + steering;
	116	+ int rightSpeed = throttle - steering;
	117	+
	118	+ leftSpeed = constrain(leftSpeed, -100, 100);
	119	+ rightSpeed = constrain(rightSpeed, -100, 100);
	120	+
	121	+ // Debugging output
	122	+ static unsigned long lastDebug = 0;
	123	+ if (millis() - lastDebug > 100) {
	124	+ lastDebug = millis();
	125	+ Serial.print("CH1: "); Serial.print(ch1);
	126	+ Serial.print(" \| CH3: "); Serial.print(ch3);
	127	+ Serial.print(" \| Thr: "); Serial.print(throttle);
	128	+ Serial.print(" \| Str: "); Serial.print(steering);
	129	+ Serial.print(" \| L: "); Serial.print(leftSpeed);
	130	+ Serial.print(" \| R: "); Serial.println(rightSpeed);
	131	+ }
	132	+
	133	+ driveMotor(M1_IN1, M1_IN2, leftSpeed);
	134	+ driveMotor(M2_IN1, M2_IN2, rightSpeed);
	135	+ }
	136	+ }
	137	+ }
	138	+}

...	...	@@ -0,0 +1,40 @@
	1	+
	2	+
	3	+# esp866-code-dat
	4	+
	5	+- [[esp866-code-dat]] - [[ESP8266-SDK-dat]] - [[ESP-dat]]
	6	+
	7	+- [[CRSF-dat]]
	8	+
	9	+## design
	10	+
	11	+slow software serial - can not be more than 115200 baud, otherwise the data will be corrupted.
	12	+
	13	+The data you shared is raw CRSF binary packets, but they look slightly corrupted or "jittery," which is very common when using SoftwareSerial at 115200 on an ESP8266.
	14	+
	15	+- [[CRSF-dat]]
	16	+
	17	+ 0B 56 FE D8 10 0B 56 FE D8 10 0B 52 FE 84 D8 10
	18	+ 0B 52 FE D8 10 0B 56 FE D8 10 0B 52 FF D8 10 0B
	19	+ 52 FF D9 10 99 FF 44 D8 10 0B 56 FE D8 10 0B 52
	20	+ FF D8 10 0B 56 FE D8 10 0B 56 FF 25 26 12 4B A2
	21	+ D8 10 0B 52 FE D8 10 0B 56 FE A6 12 4B D8 10 99
	22	+ FF D8 10 0B 56 FE E4 26 12 4B A2 A6 12 4B D8 10
	23	+ 0B 52 FE D8 10 0B 56 FE D8 10 0B 56 FF 84 D8 10
	24	+ 99 FF D8 10 0B 52 FF D8 10 0B 56 FE A6 12 4B A4
	25	+ D8 10 0B 56 FE D8 10 FF D8 10 0B 52 FE D8 10 0B
	26	+ 56 FE D8 10 0B 56 FE 44 12 4B FF D8 10 0B 52 FF
	27	+ D8 10 0B 56 FF D9 10 FE D8 10 0B 56 FF 80 D8 10
	28	+ 0B 56 FF D8 10 0B 56 FF 12 4B 54 FF 84 D8 10 0B
	29	+ 52 FF D8 10 0B 52 FF D8 10 0B 52 FF D8 10 0B 56
	30	+ FF D9 10 FE C4 D9 10 0B 56 FF D8 10 FE 12 4B 02
	31	+ 4E D8 10 0B D2 FF D8 10 FE A2 D8 10 0B 52 FF D8
	32	+ 10 0B 56 FF D8 10 FE D8 10 0B 56 FF 00 80 D8 10
	33	+ 0B 56 FE D8 10 0B 56 FE D8 10 0B 52 FE D8 10 FF
	34	+ D8 10 0B 56 FE 80 D8 10 0B 52 FE D8 10 0B 56 FE
	35	+ D8 10 0B 52 FE D8 10 0B 52 FE D8 10 99 FF 40 D8
	36	+
	37	+
	38	+## ref
	39	+
	40	+

...	...	@@ -0,0 +1,37 @@
	1	+#include <AlfredoCRSF.h>
	2	+#include <SoftwareSerial.h>
	3	+
	4	+#define PIN_RX 13
	5	+#define PIN_TX 12
	6	+
	7	+// Set up a new SoftwareSerial object
	8	+SoftwareSerial crsfSerial(PIN_RX, PIN_TX);
	9	+AlfredoCRSF crsf;
	10	+
	11	+void setup()
	12	+{
	13	+ Serial.begin(115200);
	14	+ Serial.println("COM Serial initialized");
	15	+
	16	+ crsfSerial.begin(115200);
	17	+
	18	+ crsf.begin(crsfSerial);
	19	+}
	20	+
	21	+void loop()
	22	+{
	23	+ // Must call crsf.update() in loop() to process data
	24	+ crsf.update();
	25	+ printChannels();
	26	+}
	27	+
	28	+//Use crsf.getChannel(x) to get us channel values (1-16).
	29	+void printChannels()
	30	+{
	31	+ for (int ChannelNum = 1; ChannelNum <= 16; ChannelNum++)
	32	+ {
	33	+ Serial.print(crsf.getChannel(ChannelNum));
	34	+ Serial.print(", ");
	35	+ }
	36	+ Serial.println(" ");
	37	+}
...	...	\ No newline at end of file

...	...	@@ -0,0 +1,37 @@
	1	+#include <SoftwareSerial.h>
	2	+SoftwareSerial s(13, 12);
	3	+uint8_t buffer[64];
	4	+int p = 0;
	5	+unsigned long t = 0;
	6	+void setup() {
	7	+ pinMode(13, INPUT_PULLUP); // Enable internal pull-up on RX pin
	8	+ Serial.begin(115200);
	9	+ s.begin(115200);
	10	+ Serial.println("\n--- CRSF V5 Filtered ---");
	11	+}
	12	+void loop() {
	13	+ while (s.available()) {
	14	+ uint8_t v = s.read();
	15	+ if (p == 0) {
	16	+ if (v == 0xC4 \|\| v == 0xC8 \|\| v == 0xEE) p = 1;
	17	+ } else {
	18	+ buffer[p++] = v;
	19	+ if (p >= 26) {
	20	+ unsigned int rc[4];
	21	+ rc[0] = (buffer[3] \| buffer[4] << 8) & 0x7FF;
	22	+ rc[1] = (buffer[4] >> 3 \| buffer[5] << 5) & 0x7FF;
	23	+ rc[2] = (buffer[5] >> 6 \| buffer[6] << 2 \| buffer[7] << 10) & 0x7FF;
	24	+ rc[3] = (buffer[7] >> 1 \| buffer[8] << 7) & 0x7FF;
	25	+ bool ok = true;
	26	+ for(int i=0; i<4; i++) if(rc[i] < 170 \|\| rc[i] > 1820) ok = false;
	27	+ if (ok) { // Removed the 100ms delay for faster output
	28	+ Serial.print("CH1:"); Serial.print(rc[0]);
	29	+ Serial.print(" CH2:"); Serial.print(rc[1]);
	30	+ Serial.print(" CH3:"); Serial.print(rc[2]);
	31	+ Serial.print(" CH4:"); Serial.println(rc[3]);
	32	+ }
	33	+ p = 0;
	34	+ }
	35	+ }
	36	+ }
	37	+}

...	...	@@ -0,0 +1,28 @@
	1	+#include <SoftwareSerial.h>
	2	+
	3	+SoftwareSerial soft(13, 12); // RX, TX
	4	+
	5	+void setup() {
	6	+ Serial.begin(115200);
	7	+ soft.begin(115200);
	8	+ Serial.println("\n--- CRSF Raw Hex Debugger ---");
	9	+}
	10	+
	11	+void loop() {
	12	+ if (soft.available()) {
	13	+ uint8_t incomingByte = soft.read();
	14	+
	15	+ // Print as Hex
	16	+ if (incomingByte < 0x10) Serial.print("0");
	17	+ Serial.print(incomingByte, HEX);
	18	+ Serial.print(" ");
	19	+
	20	+ // Newline every 16 bytes
	21	+ static int byteCount = 0;
	22	+ byteCount++;
	23	+ if (byteCount >= 16) {
	24	+ Serial.println();
	25	+ byteCount = 0;
	26	+ }
	27	+ }
	28	+}
...	...	\ No newline at end of file

...	...	@@ -1,283 +0,0 @@
1		-#include <ESP8266WiFi.h>
2		-#include <ESP8266WebServer.h>
3		-
4		-// WiFi AP settings (fixed IP)
5		-const char *ssid = "MotorAP";
6		-const char *password = "motorpass"; // set to "" for open AP
7		-IPAddress apIP(192, 168, 4, 1);
8		-IPAddress netMsk(255, 255, 255, 0);
9		-
10		-// Define pins for motor control
11		-// Motor 1 (Left)
12		-const int M1_IN1 = 4;
13		-const int M1_IN2 = 5;
14		-// Motor 2 (Right)
15		-const int M2_IN1 = 0;
16		-const int M2_IN2 = 2;
17		-
18		-int carSpeed = 200; // 0..255 (Base Speed)
19		-int minSpeed = 100; // Minimum speed to avoid stalling
20		-int turnDiff = 85; // Increased for more "agility" (sharper turns)
21		-int carAction = 0; // 0: stop, 1: forward, 2: backward, 3: left, 4: right
22		-unsigned long lastCommandTime = 0;
23		-const unsigned long SAFETY_TIMEOUT = 300; // Even tighter for high responsiveness
24		-
25		-int batteryS = 3; // Default 3S (11.1V)
26		-
27		-ESP8266WebServer server(80);
28		-
29		-int getCompensatedSpeed(int baseSpeed) {
30		- if (baseSpeed == 0) return 0;
31		- // Simple inverse scaling:
32		- // If it's 3S (11.1V), we scale DOWN the speed compared to 2S (7.4V)
33		- // Scale factor = 7.4 / 11.1 = ~0.66
34		- if (batteryS == 3) {
35		- return (int)(baseSpeed * 0.66);
36		- }
37		- return baseSpeed; // Use raw speed for 2S
38		-}
39		-
40		-void applyMotorControl()
41		-{
42		- int leftSpeed = 0;
43		- int rightSpeed = 0;
44		-
45		- int compensatedSpeed = getCompensatedSpeed(carSpeed);
46		- int compensatedTurnDiff = getCompensatedSpeed(turnDiff);
47		-
48		- // Helper to ensure motor gets enough power or is OFF
49		- auto normalizeSpeed = [&](int s) {
50		- if (s <= 0) return 0;
51		- if (s < minSpeed) return minSpeed;
52		- if (s > 255) return 255;
53		- return s;
54		- };
55		-
56		- switch (carAction)
57		- {
58		- case 0: // Stop
59		- leftSpeed = rightSpeed = 0;
60		- break;
61		- case 1: // Forward
62		- leftSpeed = rightSpeed = compensatedSpeed;
63		- break;
64		- case 2: // Backward
65		- leftSpeed = rightSpeed = -compensatedSpeed;
66		- break;
67		- case 3: // Spin Left
68		- leftSpeed = -compensatedSpeed;
69		- rightSpeed = compensatedSpeed;
70		- break;
71		- case 4: // Spin Right
72		- leftSpeed = compensatedSpeed;
73		- rightSpeed = -compensatedSpeed;
74		- break;
75		- case 5: // Forward Left (Curve) - Swapped
76		- leftSpeed = compensatedSpeed + compensatedTurnDiff;
77		- rightSpeed = compensatedSpeed - compensatedTurnDiff;
78		- break;
79		- case 6: // Forward Right (Curve) - Swapped
80		- leftSpeed = compensatedSpeed - compensatedTurnDiff;
81		- rightSpeed = compensatedSpeed + compensatedTurnDiff;
82		- break;
83		- case 7: // Backward Left (Curve)
84		- leftSpeed = -(compensatedSpeed + compensatedTurnDiff);
85		- rightSpeed = -(compensatedSpeed - compensatedTurnDiff);
86		- break;
87		- case 8: // Backward Right (Curve)
88		- leftSpeed = -(compensatedSpeed - compensatedTurnDiff);
89		- rightSpeed = -(compensatedSpeed + compensatedTurnDiff);
90		- break;
91		- default:
92		- leftSpeed = rightSpeed = 0;
93		- break;
94		- }
95		-
96		- // Apply Left Motor
97		- int absL = abs(leftSpeed);
98		- int finalL = normalizeSpeed(absL);
99		- if (leftSpeed > 0) {
100		- analogWrite(M1_IN1, finalL);
101		- digitalWrite(M1_IN2, LOW);
102		- } else if (leftSpeed < 0) {
103		- digitalWrite(M1_IN1, LOW);
104		- analogWrite(M1_IN2, finalL);
105		- } else {
106		- digitalWrite(M1_IN1, LOW);
107		- digitalWrite(M1_IN2, LOW);
108		- }
109		-
110		- // Apply Right Motor
111		- int absR = abs(rightSpeed);
112		- int finalR = normalizeSpeed(absR);
113		- if (rightSpeed > 0) {
114		- analogWrite(M2_IN1, finalR);
115		- digitalWrite(M2_IN2, LOW);
116		- } else if (rightSpeed < 0) {
117		- digitalWrite(M2_IN1, LOW);
118		- analogWrite(M2_IN2, finalR);
119		- } else {
120		- digitalWrite(M2_IN1, LOW);
121		- digitalWrite(M2_IN2, LOW);
122		- }
123		-}
124		-
125		-String pageRoot()
126		-{
127		- String html = "<html><head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no\">";
128		- html += "<style>";
129		- html += "body { font-family: sans-serif; text-align: center; display: flex; flex-direction: column; align-items: center; justify-content: center; height: 100vh; margin: 0; background: #f0f0f0; }";
130		- html += ".btn { width: 80px; height: 80px; margin: 10px; border-radius: 15px; border: none; background: #3498db; color: white; font-size: 24px; font-weight: bold; cursor: pointer; user-select: none; -webkit-tap-highlight-color: transparent; box-shadow: 0 4px #2980b9; }";
131		- html += ".btn:active { background: #2980b9; box-shadow: 0 2px #1c5982; transform: translateY(2px); }";
132		- html += ".stop-btn { background: #e74c3c; box-shadow: 0 4px #c0392b; }";
133		- html += ".stop-btn:active { background: #c0392b; box-shadow: 0 2px #962d22; }";
134		- html += ".row { display: flex; justify-content: center; }";
135		- html += ".speed-container { margin-top: 20px; width: 80%; }";
136		- html += "input[type=range] { width: 100%; height: 25px; cursor: pointer; }";
137		- html += "select { padding: 8px; font-size: 16px; border-radius: 5px; }";
138		- html += "</style></head><body>";
139		- html += "<h2>Motor Control</h2>";
140		-
141		- auto btnHtml = [&](int act, String icon) {
142		- String s_act = String(act);
143		- return " <button class='btn' onmousedown=\"setAction(" + s_act + ", event)\" ontouchstart=\"setAction(" + s_act + ", event)\" "
144		- "onmouseup=\"setAction(0, event)\" onmouseleave=\"setAction(0, event)\" ontouchend=\"setAction(0, event)\" ontouchcancel=\"setAction(0, event)\">" + icon + "</button>";
145		- };
146		-
147		- html += "<div class='row'>";
148		- html += btnHtml(5, "↖");
149		- html += btnHtml(1, "↑");
150		- html += btnHtml(6, "↗");
151		- html += "</div>";
152		-
153		- html += "<div class='row'>";
154		- html += btnHtml(3, "←");
155		- html += " <button class='btn stop-btn' onclick=\"setAction(0, event)\" ontouchstart=\"setAction(0, event)\">OFF</button>";
156		- html += btnHtml(4, "→");
157		- html += "</div>";
158		-
159		- html += "<div class='row'>";
160		- html += btnHtml(7, "↙");
161		- html += btnHtml(2, "↓");
162		- html += btnHtml(8, "↘");
163		- html += "</div>";
164		-
165		- html += "<div class='speed-container'>";
166		- html += " Speed: <span id='v'>" + String(carSpeed) + "</span>";
167		- html += " <input type='range' id='s' min='100' max='255' value='" + String(carSpeed) + "' oninput='setSpeed(this.value)' />";
168		- html += "</div>";
169		-
170		- html += "<div class='speed-container'>";
171		- html += " Battery Mode: <select onchange=\"setBattery(this.value)\">";
172		- html += " <option value='2'" + String(batteryS == 2 ? " selected" : "") + ">2S (7.4V)</option>";
173		- html += " <option value='3'" + String(batteryS == 3 ? " selected" : "") + ">3S (11.1V)</option>";
174		- html += " </select>";
175		- html += "</div>";
176		-
177		- html += "<script>";
178		- html += "let lastA = -1; let lastS = -1;";
179		- html += "function setAction(a, e, f) { if(e) { e.preventDefault(); } if(!f && a == lastA && a != 0) return; lastA = a; fetch('/set?action=' + a).catch(e => console.error(e)); }";
180		- html += "function setSpeed(s) { if(s == lastS) return; lastS = s; document.getElementById('v').innerText = s; fetch('/set?speed=' + s).catch(e => console.error(e)); }";
181		- html += "function setBattery(b) { fetch('/set?batt=' + b); }";
182		- html += "setInterval(() => { if(lastA > 0) setAction(lastA, null, true); }, 100);"; // "Pro" agility: 100ms heartbeat
183		- html += "</script></body></html>";
184		- return html;
185		-}
186		-
187		-void handleRoot()
188		-{
189		- server.send(200, "text/html", pageRoot());
190		-}
191		-
192		-void handleSet()
193		-{
194		- server.client().setNoDelay(true); // Disable Nagle's algorithm for faster response
195		- lastCommandTime = millis(); // Refresh safety watchdog
196		- if (server.hasArg("action"))
197		- {
198		- carAction = server.arg("action").toInt();
199		- }
200		- if (server.hasArg("speed"))
201		- {
202		- carSpeed = server.arg("speed").toInt();
203		- carSpeed = constrain(carSpeed, 0, 255);
204		- }
205		- if (server.hasArg("batt"))
206		- {
207		- batteryS = server.arg("batt").toInt();
208		- }
209		- applyMotorControl();
210		- server.send(200, "text/plain", "OK");
211		-}
212		-
213		-void handleStatus()
214		-{
215		- String status = "Action: " + String(carAction) + ", Speed: " + String(carSpeed) + ", Batt: " + String(batteryS) + "S";
216		- server.send(200, "text/plain", status);
217		-}
218		-
219		-void setup()
220		-{
221		- // Initialize pins
222		- pinMode(M1_IN1, OUTPUT);
223		- pinMode(M1_IN2, OUTPUT);
224		- pinMode(M2_IN1, OUTPUT);
225		- pinMode(M2_IN2, OUTPUT);
226		-
227		- // Initialize motors to off
228		- digitalWrite(M1_IN1, LOW);
229		- digitalWrite(M1_IN2, LOW);
230		- digitalWrite(M2_IN1, LOW);
231		- digitalWrite(M2_IN2, LOW);
232		-
233		- // Set PWM frequency for DRV8871 (supports up to 200kHz, but 20kHz is standard for silence and efficiency)
234		- analogWriteFreq(20000);
235		-
236		- Serial.begin(115200);
237		- delay(100);
238		-
239		- Serial.println("Test...");
240		- delay(1000);
241		- Serial.println("Test...");
242		- delay(1000);
243		- Serial.println("Test...");
244		- delay(1000);
245		- // Configure AP with fixed IP
246		- WiFi.softAPConfig(apIP, apIP, netMsk);
247		- WiFi.softAP(ssid, password);
248		-
249		- IPAddress myIP = WiFi.softAPIP();
250		- Serial.print("AP IP address: ");
251		- Serial.println(myIP);
252		-
253		- // Configure server routes
254		- server.on("/", handleRoot);
255		- server.on("/set", handleSet);
256		- server.on("/status", handleStatus);
257		- server.begin();
258		- Serial.println("HTTP server started");
259		-
260		- // Ensure PWM range 0-255
261		- analogWriteRange(255);
262		-
263		- // Apply initial motor state
264		- applyMotorControl();
265		-}
266		-
267		-void loop()
268		-{
269		- server.handleClient();
270		-
271		- // Safety Watchdog: Stop motors if no command received for > 1 second
272		- if (carAction != 0 && (millis() - lastCommandTime > SAFETY_TIMEOUT)) {
273		- carAction = 0;
274		- applyMotorControl();
275		- Serial.println("Safety Timeout: Motors stopped");
276		- }
277		-
278		- delay(10);
279		-}
280		-
281		-
282		-
283		-

...	...	@@ -1,32 +0,0 @@
1		-# ESP8266 WiFi Motor Chassis Features
2		-
3		-## 1. Directional Control (9-Way)
4		-- 8 Directions: Full support for Forward, Backward, Left, Right, and all four diagonal directions (Forward-Left, Forward-Right, Backward-Left, Backward-Right).
5		-- Dedicated Stop: Immediate halt on button release and a centralized "OFF" emergency stop button.
6		-
7		-## 2. Advanced Motor Driving
8		-- Differential Steering: Implements $Base \pm Offset$ logic for smooth, proportional turning during diagonal movement and pivot rotation.
9		-- Stall Protection: Enforces a `minSpeed` floor (100 PWM) to ensure motors maintain torque at low speeds.
10		-- PWM Optimization: Optimized for high-frequency (20kHz) PWM modulation for smooth speed control.
11		-
12		-## 3. Safety & Reliability
13		-- Software Watchdog: A hardware-safe timeout system stops the motors if no command is received within 500ms, preventing runaway cars in case of WiFi disconnect.
14		-- Active Heartbeat: The client browser sends a "keep-alive" signal every 200ms while any button is held, ensuring seamless motion through minor signal jitters.
15		-- Interface Sanity: Prevents "ghost" presses with event `preventDefault()` and stops motors automatically if the browser window loses focus (`blur` event).
16		-
17		-## 4. Power Management
18		-- Battery Compensation: Selectable modes for 2S (7.4V) and 3S (11.1V) battery packs.
19		-- Voltage Scaling: Automatically reduces PWM duty cycle in 3S mode (scaling factor $\approx 0.66$) to match 2S speed levels and protect motors from over-voltage.
20		-
21		-## 5. Web Interface & Connectivity
22		-- Standalone Hotspot: Creates its own WiFi Access Point (`MotorAP`) for direct control without an external router.
23		-- Responsive Web UI: A mobile-first controller interface with large touch-friendly buttons and a real-time speed slider.
24		-- Low Latency: Lightweight HTTP GET handlers for near-instant control responses.
25		-
26		-## 6. Technical Specifications (Default)
27		-- Controller: ESP8266
28		-- Motor Pins:
29		- - Left (M1): Pins 4, 5
30		- - Right (M2): Pins 0, 2
31		-- Default Speed: 200/255
32		-- Safety Window: 500ms

...	...	@@ -1,138 +0,0 @@
1		-
2		-#include <SoftwareSerial.h>
3		-
4		-/*
5		- * ELRS Motor Control Demo for ESP8266
6		- *
7		- * Hardware Setup:
8		- * - ELRS Receiver: RX -> IO13, TX -> IO12 (SoftwareSerial)
9		- * - Motor 1 (Left): IN1 -> IO4, IN2 -> IO5
10		- * - Motor 2 (Right): IN1 -> IO0, IN2 -> IO2
11		- * - DRV8871 pins are externally pulled-up, so active LOW for driving.
12		- */
13		-
14		-// Motor 1 (Left)
15		-const int M1_IN1 = 4;
16		-const int M1_IN2 = 5;
17		-// Motor 2 (Right)
18		-const int M2_IN1 = 0;
19		-const int M2_IN2 = 2;
20		-
21		-// CRSF Protocol Definitions
22		-#define CRSF_ADDR_MODULE 0xEE
23		-#define CRSF_FRAMETYPE_RC_CHANNELS_PACKED 0x16
24		-
25		-SoftwareSerial elrsSerial(13, 12); // RX, TX
26		-
27		-void setup() {
28		- Serial.begin(115200);
29		- elrsSerial.begin(420000); // CRSF standard baud rate is 420k
30		-
31		- pinMode(M1_IN1, OUTPUT);
32		- pinMode(M1_IN2, OUTPUT);
33		- pinMode(M2_IN1, OUTPUT);
34		- pinMode(M2_IN2, OUTPUT);
35		-
36		- // Initialize motors to STOP (HIGH because of external pull-up)
37		- digitalWrite(M1_IN1, HIGH);
38		- digitalWrite(M1_IN2, HIGH);
39		- digitalWrite(M2_IN1, HIGH);
40		- digitalWrite(M2_IN2, HIGH);
41		-
42		- Serial.println("ELRS DRV8871 Motor Control Initialized.");
43		-}
44		-
45		-void stopMotors() {
46		- digitalWrite(M1_IN1, HIGH);
47		- digitalWrite(M1_IN2, HIGH);
48		- digitalWrite(M2_IN1, HIGH);
49		- digitalWrite(M2_IN2, HIGH);
50		-}
51		-
52		-void driveMotor(int in1, int in2, int speed) {
53		- // speed: -100 to 100
54		- if (speed > 10) {
55		- // Forward (using PWM for speed control, since pins are pulled up, we pull LOW)
56		- analogWrite(in1, 255 - map(speed, 0, 100, 0, 255));
57		- digitalWrite(in2, HIGH);
58		- } else if (speed < -10) {
59		- // Reverse
60		- digitalWrite(in1, HIGH);
61		- analogWrite(in2, 255 - map(abs(speed), 0, 100, 0, 255));
62		- } else {
63		- // Stop
64		- digitalWrite(in1, HIGH);
65		- digitalWrite(in2, HIGH);
66		- }
67		-}
68		-
69		-void loop() {
70		- // Debug serial input from ELRS even if not a full packet
71		- static unsigned long lastRawDebug = 0;
72		- if (elrsSerial.available() && millis() - lastRawDebug > 1000) {
73		- lastRawDebug = millis();
74		- Serial.print("ELRS Serial Bytes Available: ");
75		- Serial.println(elrsSerial.available());
76		- }
77		-
78		- if (elrsSerial.available()) {
79		- uint8_t header = elrsSerial.read();
80		- if (header == CRSF_ADDR_MODULE) {
81		- uint8_t len = elrsSerial.read();
82		- uint8_t type = elrsSerial.read();
83		-
84		- if (type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED) {
85		- uint8_t buffer[22];
86		- elrsSerial.readBytes(buffer, 22);
87		-
88		- // Debug Raw Packet
89		- static unsigned long lastHexDebug = 0;
90		- if (millis() - lastHexDebug > 500) {
91		- lastHexDebug = millis();
92		- Serial.print("Raw Hex: ");
93		- Serial.print(header, HEX); Serial.print(" ");
94		- Serial.print(len, HEX); Serial.print(" ");
95		- Serial.print(type, HEX); Serial.print(" ");
96		- for(int i=0; i<22; i++) {
97		- if(buffer[i] < 0x10) Serial.print("0");
98		- Serial.print(buffer[i], HEX); Serial.print(" ");
99		- }
100		- Serial.println();
101		- }
102		-
103		- // Simple CRSF channel decoding (11 bits per channel)
104		- // Channel 1: Roll, Channel 2: Pitch, Channel 3: Throttle, Channel 4: Yaw
105		- int ch1 = (buffer[0] \| buffer[1] << 8) & 0x07FF;
106		- int ch2 = (buffer[1] >> 3 \| buffer[2] << 5) & 0x07FF;
107		- int ch3 = (buffer[2] >> 6 \| buffer[3] << 2 \| buffer[4] << 10) & 0x07FF;
108		- int ch4 = (buffer[4] >> 1 \| buffer[5] << 7) & 0x07FF;
109		-
110		- // Map ELRS channels (typically 172-1811, center 992) to -100 to 100
111		- int throttle = map(ch3, 172, 1811, -100, 100);
112		- int steering = map(ch1, 172, 1811, -100, 100);
113		-
114		- // Simple Differential Drive logic
115		- int leftSpeed = throttle + steering;
116		- int rightSpeed = throttle - steering;
117		-
118		- leftSpeed = constrain(leftSpeed, -100, 100);
119		- rightSpeed = constrain(rightSpeed, -100, 100);
120		-
121		- // Debugging output
122		- static unsigned long lastDebug = 0;
123		- if (millis() - lastDebug > 100) {
124		- lastDebug = millis();
125		- Serial.print("CH1: "); Serial.print(ch1);
126		- Serial.print(" \| CH3: "); Serial.print(ch3);
127		- Serial.print(" \| Thr: "); Serial.print(throttle);
128		- Serial.print(" \| Str: "); Serial.print(steering);
129		- Serial.print(" \| L: "); Serial.print(leftSpeed);
130		- Serial.print(" \| R: "); Serial.println(rightSpeed);
131		- }
132		-
133		- driveMotor(M1_IN1, M1_IN2, leftSpeed);
134		- driveMotor(M2_IN1, M2_IN2, rightSpeed);
135		- }
136		- }
137		- }
138		-}

...	...	@@ -1,37 +0,0 @@
1		-#include <AlfredoCRSF.h>
2		-#include <SoftwareSerial.h>
3		-
4		-#define PIN_RX 13
5		-#define PIN_TX 12
6		-
7		-// Set up a new SoftwareSerial object
8		-SoftwareSerial crsfSerial(PIN_RX, PIN_TX);
9		-AlfredoCRSF crsf;
10		-
11		-void setup()
12		-{
13		- Serial.begin(115200);
14		- Serial.println("COM Serial initialized");
15		-
16		- crsfSerial.begin(115200);
17		-
18		- crsf.begin(crsfSerial);
19		-}
20		-
21		-void loop()
22		-{
23		- // Must call crsf.update() in loop() to process data
24		- crsf.update();
25		- printChannels();
26		-}
27		-
28		-//Use crsf.getChannel(x) to get us channel values (1-16).
29		-void printChannels()
30		-{
31		- for (int ChannelNum = 1; ChannelNum <= 16; ChannelNum++)
32		- {
33		- Serial.print(crsf.getChannel(ChannelNum));
34		- Serial.print(", ");
35		- }
36		- Serial.println(" ");
37		-}
...	...	\ No newline at end of file

...	...	@@ -1,82 +0,0 @@
1		-#include <SoftwareSerial.h>
2		-
3		-// PIN 12 = RX, PIN 13 = TX
4		-SoftwareSerial soft(12, 13);
5		-
6		-uint8_t buffer[64];
7		-int bufPtr = 0;
8		-unsigned long lastByteTime = 0;
9		-unsigned long lastPrintTime = 0;
10		-
11		-void setup() {
12		- Serial.begin(115200);
13		- // Increase SoftwareSerial reliability by sticking to 115200
14		- soft.begin(115200);
15		- Serial.println("\n--- CRSF Debug V2 (Robust) ---");
16		-}
17		-
18		-void loop() {
19		- unsigned long now = millis();
20		-
21		- while (soft.available()) {
22		- uint8_t b = soft.read();
23		- lastByteTime = now;
24		-
25		- // 1. SYNC: Look for 0xC8 (Receiver Address)
26		- if (bufPtr == 0) {
27		- if (b == 0xC8) {
28		- buffer[bufPtr++] = b;
29		- }
30		- }
31		- // 2. LENGTH: Expecting 0x18 (24 bytes payload) for RC Channels
32		- else if (bufPtr == 1) {
33		- if (b == 0x18) {
34		- buffer[bufPtr++] = b;
35		- } else {
36		- bufPtr = 0; // Invalid length for channels, restart
37		- }
38		- }
39		- // 3. TYPE: Expecting 0x16 (RC Channels)
40		- else if (bufPtr == 2) {
41		- if (b == 0x16) {
42		- buffer[bufPtr++] = b;
43		- } else {
44		- bufPtr = 0; // Not a channel frame
45		- }
46		- }
47		- // 4. COLLECT DATA
48		- else {
49		- buffer[bufPtr++] = b;
50		-
51		- // CRSF RC packet is exactly 26 bytes: [Addr][Len][Type][22 bytes channels][CRC]
52		- if (bufPtr >= 26) {
53		- decodeAndPrint(buffer);
54		- bufPtr = 0;
55		- }
56		- }
57		- }
58		-
59		- // RECOVERY: If we got half a packet but no more data for 10ms, reset
60		- if (bufPtr > 0 && (now - lastByteTime > 10)) {
61		- bufPtr = 0;
62		- }
63		-}
64		-
65		-void decodeAndPrint(uint8_t* b) {
66		- // Only print every 100ms to reduce CPU load and let SoftwareSerial run smoothly
67		- if (millis() - lastPrintTime < 100) return;
68		- lastPrintTime = millis();
69		-
70		- unsigned int ch[4];
71		- // 11-bit decoding logic
72		- ch[0] = (b[3] \| b[4] << 8) & 0x07FF;
73		- ch[1] = (b[4] >> 3 \| b[5] << 5) & 0x07FF;
74		- ch[2] = (b[5] >> 6 \| b[6] << 2 \| b[7] << 10) & 0x07FF;
75		- ch[3] = (b[7] >> 1 \| b[8] << 7) & 0x07FF;
76		-
77		- Serial.print("T:"); Serial.print(ch[2]); // Throttle usually CH3
78		- Serial.print(" R:"); Serial.print(ch[3]); // Yaw/Rudder
79		- Serial.print(" E:"); Serial.print(ch[1]); // Pitch/Elevator
80		- Serial.print(" A:"); Serial.print(ch[0]); // Roll/Aileron
81		- Serial.println();
82		-}
...	...	\ No newline at end of file

...	...	@@ -1,28 +0,0 @@
1		-#include <SoftwareSerial.h>
2		-
3		-SoftwareSerial soft(13, 12); // RX, TX
4		-
5		-void setup() {
6		- Serial.begin(115200);
7		- soft.begin(115200);
8		- Serial.println("\n--- CRSF Raw Hex Debugger ---");
9		-}
10		-
11		-void loop() {
12		- if (soft.available()) {
13		- uint8_t incomingByte = soft.read();
14		-
15		- // Print as Hex
16		- if (incomingByte < 0x10) Serial.print("0");
17		- Serial.print(incomingByte, HEX);
18		- Serial.print(" ");
19		-
20		- // Newline every 16 bytes
21		- static int byteCount = 0;
22		- byteCount++;
23		- if (byteCount >= 16) {
24		- Serial.println();
25		- byteCount = 0;
26		- }
27		- }
28		-}
...	...	\ No newline at end of file