增加ottoRobot和electronBot的支持 (#757)

* otto v1.4.0 MCP

1.使用MCP协议控制机器人
2.gif继承lcdDisplay，避免修改lcdDisplay

* otto v1.4.1 gif as components

gif as components

* electronBot v1.1.0 mcp

1.增加electronBot支持
2.mcp协议
3.gif 作为组件
4.display子类

* 规范代码

1.规范代码
2.修复切换主题死机bug

main/boards/otto-robot/otto_movements.h

@@ -0,0 +1,105 @@
+#ifndef __OTTO_MOVEMENTS_H__
+#define __OTTO_MOVEMENTS_H__
+
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include "esp_timer.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "oscillator.h"
+
+//-- Constants
+#define FORWARD 1
+#define BACKWARD -1
+#define LEFT 1
+#define RIGHT -1
+#define BOTH 0
+#define SMALL 5
+#define MEDIUM 15
+#define BIG 30
+
+// -- Servo delta limit default. degree / sec
+#define SERVO_LIMIT_DEFAULT 240
+
+// -- Servo indexes for easy access
+#define LEFT_LEG 0
+#define RIGHT_LEG 1
+#define LEFT_FOOT 2
+#define RIGHT_FOOT 3
+#define LEFT_HAND 4
+#define RIGHT_HAND 5
+#define SERVO_COUNT 6
+
+class Otto {
+public:
+    Otto();
+    ~Otto();
+
+    //-- Otto initialization
+    void Init(int left_leg, int right_leg, int left_foot, int right_foot, int left_hand = -1,
+              int right_hand = -1);
+    //-- Attach & detach functions
+    void AttachServos();
+    void DetachServos();
+
+    //-- Oscillator Trims
+    void SetTrims(int left_leg, int right_leg, int left_foot, int right_foot, int left_hand = 0,
+                  int right_hand = 0);
+
+    //-- Predetermined Motion Functions
+    void MoveServos(int time, int servo_target[]);
+    void MoveSingle(int position, int servo_number);
+    void OscillateServos(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
+                         double phase_diff[SERVO_COUNT], float cycle);
+
+    //-- HOME = Otto at rest position
+    void Home(bool hands_down = true);
+    bool GetRestState();
+    void SetRestState(bool state);
+
+    //-- Predetermined Motion Functions
+    void Jump(float steps = 1, int period = 2000);
+
+    void Walk(float steps = 4, int period = 1000, int dir = FORWARD, int amount = 0);
+    void Turn(float steps = 4, int period = 2000, int dir = LEFT, int amount = 0);
+    void Bend(int steps = 1, int period = 1400, int dir = LEFT);
+    void ShakeLeg(int steps = 1, int period = 2000, int dir = RIGHT);
+
+    void UpDown(float steps = 1, int period = 1000, int height = 20);
+    void Swing(float steps = 1, int period = 1000, int height = 20);
+    void TiptoeSwing(float steps = 1, int period = 900, int height = 20);
+    void Jitter(float steps = 1, int period = 500, int height = 20);
+    void AscendingTurn(float steps = 1, int period = 900, int height = 20);
+
+    void Moonwalker(float steps = 1, int period = 900, int height = 20, int dir = LEFT);
+    void Crusaito(float steps = 1, int period = 900, int height = 20, int dir = FORWARD);
+    void Flapping(float steps = 1, int period = 1000, int height = 20, int dir = FORWARD);
+
+    // -- 手部动作
+    void HandsUp(int period = 1000, int dir = 0);      // 双手举起
+    void HandsDown(int period = 1000, int dir = 0);    // 双手放下
+    void HandWave(int period = 1000, int dir = LEFT);  // 挥手
+    void HandWaveBoth(int period = 1000);              // 双手同时挥手
+
+    // -- Servo limiter
+    void EnableServoLimit(int speed_limit_degree_per_sec = SERVO_LIMIT_DEFAULT);
+    void DisableServoLimit();
+
+private:
+    Oscillator servo_[SERVO_COUNT];
+
+    int servo_pins_[SERVO_COUNT];
+    int servo_trim_[SERVO_COUNT];
+
+    unsigned long final_time_;
+    unsigned long partial_time_;
+    float increment_[SERVO_COUNT];
+
+    bool is_otto_resting_;
+    bool has_hands_;  // 是否有手部舵机
+
+    void Execute(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
+                 double phase_diff[SERVO_COUNT], float steps);
+};
+
+#endif  // __OTTO_MOVEMENTS_H__