Uncompleted version.
Finished:
Motor control and BLE communication.
Using RS485-Breakout for 4M 485 communication, please refer to https://m.tb.cn/h.5dvEEYX?tk=VfbzdDts1uI
Two motor ID is 0 and 1.
BLE_IMU.ino is the code for IMU data receive using an ESP32C3, please refer to https://www.nologo.tech/product/esp32/esp32c3SuperMini/esp32C3SuperMini.html
TO be continued: Gait detect algorithm and force sensor feedback.