diff --git a/ESP-IDF_Robot/build/.ninja_lock b/ESP-IDF_Robot/build/.ninja_lock
new file mode 100644
index 000000000..e69de29bb
diff --git a/ESP-IDF_Robot/build/CMakeFiles/git-data/head-ref b/ESP-IDF_Robot/build/CMakeFiles/git-data/head-ref
index 7042704d3..2101fad1a 100644
--- a/ESP-IDF_Robot/build/CMakeFiles/git-data/head-ref
+++ b/ESP-IDF_Robot/build/CMakeFiles/git-data/head-ref
@@ -1 +1 @@
-4d511dfb6d946b57e512ac726ce2c12cf12285fc
+7e0947e039ee7994cde31d58cd1d0989162df018
diff --git a/ESP-IDF_Robot/build/local_components_list.temp.yml b/ESP-IDF_Robot/build/local_components_list.temp.yml
new file mode 100644
index 000000000..50b76fafb
--- /dev/null
+++ b/ESP-IDF_Robot/build/local_components_list.temp.yml
@@ -0,0 +1,159 @@
+components:
+  - name: "app_trace"
+    path: "/home/abobkov/esp/esp-idf/components/app_trace"
+  - name: "app_update"
+    path: "/home/abobkov/esp/esp-idf/components/app_update"
+  - name: "bootloader"
+    path: "/home/abobkov/esp/esp-idf/components/bootloader"
+  - name: "bootloader_support"
+    path: "/home/abobkov/esp/esp-idf/components/bootloader_support"
+  - name: "bt"
+    path: "/home/abobkov/esp/esp-idf/components/bt"
+  - name: "cmock"
+    path: "/home/abobkov/esp/esp-idf/components/cmock"
+  - name: "console"
+    path: "/home/abobkov/esp/esp-idf/components/console"
+  - name: "cxx"
+    path: "/home/abobkov/esp/esp-idf/components/cxx"
+  - name: "driver"
+    path: "/home/abobkov/esp/esp-idf/components/driver"
+  - name: "efuse"
+    path: "/home/abobkov/esp/esp-idf/components/efuse"
+  - name: "esp-tls"
+    path: "/home/abobkov/esp/esp-idf/components/esp-tls"
+  - name: "esp_adc"
+    path: "/home/abobkov/esp/esp-idf/components/esp_adc"
+  - name: "esp_app_format"
+    path: "/home/abobkov/esp/esp-idf/components/esp_app_format"
+  - name: "esp_bootloader_format"
+    path: "/home/abobkov/esp/esp-idf/components/esp_bootloader_format"
+  - name: "esp_coex"
+    path: "/home/abobkov/esp/esp-idf/components/esp_coex"
+  - name: "esp_common"
+    path: "/home/abobkov/esp/esp-idf/components/esp_common"
+  - name: "esp_eth"
+    path: "/home/abobkov/esp/esp-idf/components/esp_eth"
+  - name: "esp_event"
+    path: "/home/abobkov/esp/esp-idf/components/esp_event"
+  - name: "esp_gdbstub"
+    path: "/home/abobkov/esp/esp-idf/components/esp_gdbstub"
+  - name: "esp_hid"
+    path: "/home/abobkov/esp/esp-idf/components/esp_hid"
+  - name: "esp_http_client"
+    path: "/home/abobkov/esp/esp-idf/components/esp_http_client"
+  - name: "esp_http_server"
+    path: "/home/abobkov/esp/esp-idf/components/esp_http_server"
+  - name: "esp_https_ota"
+    path: "/home/abobkov/esp/esp-idf/components/esp_https_ota"
+  - name: "esp_https_server"
+    path: "/home/abobkov/esp/esp-idf/components/esp_https_server"
+  - name: "esp_hw_support"
+    path: "/home/abobkov/esp/esp-idf/components/esp_hw_support"
+  - name: "esp_lcd"
+    path: "/home/abobkov/esp/esp-idf/components/esp_lcd"
+  - name: "esp_local_ctrl"
+    path: "/home/abobkov/esp/esp-idf/components/esp_local_ctrl"
+  - name: "esp_mm"
+    path: "/home/abobkov/esp/esp-idf/components/esp_mm"
+  - name: "esp_netif"
+    path: "/home/abobkov/esp/esp-idf/components/esp_netif"
+  - name: "esp_netif_stack"
+    path: "/home/abobkov/esp/esp-idf/components/esp_netif_stack"
+  - name: "esp_partition"
+    path: "/home/abobkov/esp/esp-idf/components/esp_partition"
+  - name: "esp_phy"
+    path: "/home/abobkov/esp/esp-idf/components/esp_phy"
+  - name: "esp_pm"
+    path: "/home/abobkov/esp/esp-idf/components/esp_pm"
+  - name: "esp_psram"
+    path: "/home/abobkov/esp/esp-idf/components/esp_psram"
+  - name: "esp_ringbuf"
+    path: "/home/abobkov/esp/esp-idf/components/esp_ringbuf"
+  - name: "esp_rom"
+    path: "/home/abobkov/esp/esp-idf/components/esp_rom"
+  - name: "esp_system"
+    path: "/home/abobkov/esp/esp-idf/components/esp_system"
+  - name: "esp_timer"
+    path: "/home/abobkov/esp/esp-idf/components/esp_timer"
+  - name: "esp_wifi"
+    path: "/home/abobkov/esp/esp-idf/components/esp_wifi"
+  - name: "espcoredump"
+    path: "/home/abobkov/esp/esp-idf/components/espcoredump"
+  - name: "esptool_py"
+    path: "/home/abobkov/esp/esp-idf/components/esptool_py"
+  - name: "fatfs"
+    path: "/home/abobkov/esp/esp-idf/components/fatfs"
+  - name: "freertos"
+    path: "/home/abobkov/esp/esp-idf/components/freertos"
+  - name: "hal"
+    path: "/home/abobkov/esp/esp-idf/components/hal"
+  - name: "heap"
+    path: "/home/abobkov/esp/esp-idf/components/heap"
+  - name: "http_parser"
+    path: "/home/abobkov/esp/esp-idf/components/http_parser"
+  - name: "idf_test"
+    path: "/home/abobkov/esp/esp-idf/components/idf_test"
+  - name: "ieee802154"
+    path: "/home/abobkov/esp/esp-idf/components/ieee802154"
+  - name: "json"
+    path: "/home/abobkov/esp/esp-idf/components/json"
+  - name: "linux"
+    path: "/home/abobkov/esp/esp-idf/components/linux"
+  - name: "log"
+    path: "/home/abobkov/esp/esp-idf/components/log"
+  - name: "lwip"
+    path: "/home/abobkov/esp/esp-idf/components/lwip"
+  - name: "mbedtls"
+    path: "/home/abobkov/esp/esp-idf/components/mbedtls"
+  - name: "mqtt"
+    path: "/home/abobkov/esp/esp-idf/components/mqtt"
+  - name: "newlib"
+    path: "/home/abobkov/esp/esp-idf/components/newlib"
+  - name: "nvs_flash"
+    path: "/home/abobkov/esp/esp-idf/components/nvs_flash"
+  - name: "nvs_sec_provider"
+    path: "/home/abobkov/esp/esp-idf/components/nvs_sec_provider"
+  - name: "openthread"
+    path: "/home/abobkov/esp/esp-idf/components/openthread"
+  - name: "partition_table"
+    path: "/home/abobkov/esp/esp-idf/components/partition_table"
+  - name: "perfmon"
+    path: "/home/abobkov/esp/esp-idf/components/perfmon"
+  - name: "protobuf-c"
+    path: "/home/abobkov/esp/esp-idf/components/protobuf-c"
+  - name: "protocomm"
+    path: "/home/abobkov/esp/esp-idf/components/protocomm"
+  - name: "pthread"
+    path: "/home/abobkov/esp/esp-idf/components/pthread"
+  - name: "riscv"
+    path: "/home/abobkov/esp/esp-idf/components/riscv"
+  - name: "sdmmc"
+    path: "/home/abobkov/esp/esp-idf/components/sdmmc"
+  - name: "soc"
+    path: "/home/abobkov/esp/esp-idf/components/soc"
+  - name: "spi_flash"
+    path: "/home/abobkov/esp/esp-idf/components/spi_flash"
+  - name: "spiffs"
+    path: "/home/abobkov/esp/esp-idf/components/spiffs"
+  - name: "tcp_transport"
+    path: "/home/abobkov/esp/esp-idf/components/tcp_transport"
+  - name: "touch_element"
+    path: "/home/abobkov/esp/esp-idf/components/touch_element"
+  - name: "ulp"
+    path: "/home/abobkov/esp/esp-idf/components/ulp"
+  - name: "unity"
+    path: "/home/abobkov/esp/esp-idf/components/unity"
+  - name: "usb"
+    path: "/home/abobkov/esp/esp-idf/components/usb"
+  - name: "vfs"
+    path: "/home/abobkov/esp/esp-idf/components/vfs"
+  - name: "wear_levelling"
+    path: "/home/abobkov/esp/esp-idf/components/wear_levelling"
+  - name: "wifi_provisioning"
+    path: "/home/abobkov/esp/esp-idf/components/wifi_provisioning"
+  - name: "wpa_supplicant"
+    path: "/home/abobkov/esp/esp-idf/components/wpa_supplicant"
+  - name: "xtensa"
+    path: "/home/abobkov/esp/esp-idf/components/xtensa"
+  - name: "main"
+    path: "/home/abobkov/MyProjects/ESP-Nodes/ESP-IDF_Robot/main"
diff --git a/ESP-IDF_Robot/main/blink_example_main.c b/ESP-IDF_Robot/main/blink_example_main.c
index c6ad6a0e4..f86420482 100644
--- a/ESP-IDF_Robot/main/blink_example_main.c
+++ b/ESP-IDF_Robot/main/blink_example_main.c
@@ -21,11 +21,11 @@
 #include "sdkconfig.h"
 /* ADC */
 #include "rc.h"
-#include "driver/adc.h"
-#include "esp_adc_cal.h"
+//#include "driver/adc.h"
+//#include "esp_adc_cal.h"
 //#include "esp_adc/adc_oneshot.h"
-#include "esp_adc/adc_cali.h"
-#include "esp_adc/adc_cali_scheme.h"
+//#include "esp_adc/adc_cali.h"
+//#include "esp_adc/adc_cali_scheme.h"
 #include "esp_adc/adc_continuous.h"
 
 /* ESP-NOW */
@@ -815,10 +815,10 @@ void app_main(void)
 
         // ADC
         // Display GPIOs used
-        /*
-        ESP_LOGI(TAG, "ADC1_CH0: %d", ADC1_CHANNEL_0);
-        ESP_LOGI(TAG, "ADC1_CH1: %d", ADC1_CHANNEL_1);
-        adc_ret = adc_continuous_read(handle, result, READ_LEN, &ret_num, 0);
+        
+        //ESP_LOGI(TAG, "ADC1_CH0: %d", ADC1_CHANNEL_0);
+        //ESP_LOGI(TAG, "ADC1_CH1: %d", ADC1_CHANNEL_1);
+        /*adc_ret = adc_continuous_read(handle, result, READ_LEN, &ret_num, 0);
         if (ret == ESP_OK) {
             ESP_LOGI("TASK", "ret is %x, ret_num is %"PRIu32" bytes", ret, ret_num);
             for (int i = 0; i < ret_num; i += SOC_ADC_DIGI_RESULT_BYTES) {
diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h
index 7f2d63423..bccb32954 100644
--- a/ESP-IDF_Robot/main/rc.h
+++ b/ESP-IDF_Robot/main/rc.h
@@ -2,7 +2,11 @@
 #define RC_H
 
 #include "driver/adc.h"
+#include "esp_adc_cal.h"
 #include "esp_adc/adc_oneshot.h"
+#include "esp_adc/adc_continuous.h"
+#include "esp_adc/adc_cali.h"
+#include "esp_adc/adc_cali_scheme.h"
 
 #define ADC_CHNL            ADC_CHANNEL_1
 #define ADC_ATTEN           ADC_ATTEN_DB_11