https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json 

https://github.com/pt-robotics/esp32/raw/main/package_ptbot_index.json

https://raw.githubusercontent.com/pt-robotics/esp32/main/package_ptbot_index.json

https://drive.google.com/file/d/1jamHcOeHR16KQZjnvZ_rsELLJQ-m_63q/view?usp=sharing

https://drive.google.com/drive/folders/1ed9D4bTDKp_FsfHNXJn4tEBsFdINEuQp?usp=sharing

void STOP() {

  motorStop();

  setAngleOffset();

  current_degree = 0;

  vTaskResume(sonarTaskHandle);

  sonar_enable = 1;

  const int num_sensor = 4;

  int sensor_raw[num_sensor];

  int sensor_map[num_sensor];

  float last_sonar = -1;

  tft.fillScreen(0x0000);

  tft.setTextSize(1);

  while (!switchRead(A) && !switchRead(B)) {

    /* ---------- READ DATA ---------- */

    float yaw = angleRead(YAW);

    float sonar_cm = readSonar();

    if (sonar_cm > 1 && sonar_cm < 400)

      last_sonar = sonar_cm;

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

      sensor_raw[i] = adcRead(i);

      sensor_map[i] = map(sensor_raw[i],

                          sensor_min[i],

                          sensor_max[i],

                          0, 100);

      if (sensor_map[i] < 0) sensor_map[i] = 0;

      if (sensor_map[i] > 100) sensor_map[i] = 100;

    }

    /* ---------- CLEAR CONTENT AREA ---------- */

    tft.fillRect(0, 0, 160, 128, 0x0000);

    /* ================= HEADER ================= */

    tft.setTextColor(0x07E0);

    tft.setCursor(30, 5);

    tft.print("READY / DEBUG");

    /* ================= YAW / SONAR ================= */

    tft.setTextColor(0xFFFF);

    tft.setCursor(5, 22);

    tft.print("YAW");

    tft.fillRect(40, 20, 45, 14, 0xFFFF);

    tft.setTextColor(0x0000);

    tft.setCursor(45, 22);

    tft.print(yaw, 1);

    tft.setTextColor(0xFFFF);

    tft.setCursor(95, 22);

    tft.print("SON");

    tft.fillRect(125, 20, 30, 14, 0xFFFF);

    tft.setTextColor(0x0000);

    tft.setCursor(128, 22);

    if (last_sonar < 0)

      tft.print("--");

    else

      tft.print((int)last_sonar);

    /* ================= LINE SENSOR RAW ================= */

    tft.setTextColor(0xF800); // แดง

    tft.setCursor(5, 70);

    tft.print("RAW:");

    tft.setTextColor(0xFFFF);

    for (int i = 0; i < 4; i++) {

      tft.setCursor(5 + (i * 38), 85);

      tft.print(sensor_raw[i]);

    }

    /* ================= LINE SENSOR MAP ================= */

    tft.setTextColor(0x07FF); // ฟ้า

    tft.setCursor(5, 100);

    tft.print("MAP:");

    tft.setTextColor(0xFFFF);

    for (int i = 0; i < 4; i++) {

      tft.setCursor(5 + (i * 38), 115);

      tft.print(sensor_map[i]);

    }

    delay(80);

  }

  delay(300);

  tft.fillScreen(0x0000);

}