diff --git a/Arduino/MycobotBasic/examples/miniRoboFlow/Calibration.cpp b/Arduino/MycobotBasic/examples/miniRoboFlow/Calibration.cpp
new file mode 100644
index 0000000..81852c1
--- /dev/null
+++ b/Arduino/MycobotBasic/examples/miniRoboFlow/Calibration.cpp
@@ -0,0 +1,168 @@
+#include "Calibration.h"
+
+int calibrate_servo_no = 1;
+
+void Calibration::bration(MycobotBasic &myCobot){
+  M5.Lcd.setTextSize(2);
+  // EEPROM.begin(EEPROM_SIZE);//new
+  myCobot.setLEDRGB(255, 255, 255);
+  Calibration::info();
+  while (1)
+  {
+    M5.update(); // need to call update()  
+    M5.Lcd.setCursor(0,0);
+    if (M5.BtnA.wasPressed()) {
+      myCobot.setLEDRGB(255, 0, 0);
+      Calibration::init(myCobot);
+      } 
+    if (M5.BtnB.wasPressed()) {
+        myCobot.setLEDRGB(0, 255, 0);
+        Calibration::test(myCobot);
+      }
+    if (M5.BtnC.wasReleasefor(1000)) {
+      myCobot.setLEDRGB(0, 0, 255);
+      Calibration::reset(myCobot);
+      break;
+      }
+  }
+}
+
+void Calibration::info()
+{
+  M5.Lcd.clear(BLACK);
+  M5.Lcd.setTextColor(BLACK);
+  M5.Lcd.setTextColor(RED);
+  M5.Lcd.setTextSize(3);
+  M5.Lcd.setCursor(0, 10);
+  M5.Lcd.printf("myCobot");
+  M5.Lcd.setCursor(0, 40);
+  M5.Lcd.drawFastHLine(0,70,320,GREY);
+  M5.Lcd.setTextSize(3);
+  M5.Lcd.println("Basic Calibration");
+  M5.Lcd.setTextSize(2);
+  M5.Lcd.setTextColor(WHITE);
+  M5.Lcd.setCursor(0, 100);
+  delay(50);
+  if(lan == 2){
+    M5.Lcd.drawString("按A键 - 设置舵机零位", 20, 40, 1);
+    M5.Lcd.drawString("按B键 - 测试舵机", 20, 80, 1); 
+    M5.Lcd.drawString("按C键 - 退出此程序",20, 120, 1);
+  }
+  if(lan == 1){
+    M5.Lcd.println("Press A - Calibrate Servo ");
+    M5.Lcd.println();
+   // M5.Lcd.print("PressB - Test Servos (long press to force testing)\n\n");
+    M5.Lcd.println("Press B - Test Servos ");
+    M5.Lcd.println();
+    M5.Lcd.println("Press C - Exit(1S)\n");
+//    M5.Lcd.setCursor(0, 170);
+//    M5.Lcd.print("(long press to return language selection)\n");    
+  }
+  M5.update(); 
+} 
+
+void Calibration::init(MycobotBasic &myCobot)
+{
+  M5.Lcd.clear(BLACK);
+  delay(50);
+  
+  if (calibrate_servo_no>6) 
+  {
+    if(lan == 2){
+      M5.Lcd.drawString("已经设置好所有舵机", 20, 20, 1);      
+    }
+    if(lan == 1){
+      M5.Lcd.setCursor(0, 30);   
+      M5.Lcd.print("Already Calibrate all \n");      
+    }
+    delay(500);
+    Calibration::info();
+    return;
+  }
+  
+  myCobot.setServoCalibration(calibrate_servo_no);
+
+  if(lan ==  2){
+    M5.Lcd.drawString("已设置舵机", 20, 20, 1);
+    M5.Lcd.setTextSize(2);
+    M5.Lcd.setCursor(0, 150);
+    M5.Lcd.printf("%d",calibrate_servo_no);
+    M5.Lcd.setTextSize(2);    
+  }
+  if(lan == 1){
+    M5.Lcd.setTextSize(2);
+    M5.Lcd.setCursor(0, 30);
+    M5.Lcd.print("Calibrating\nServo\n\n");
+    M5.Lcd.setTextSize(6);
+    M5.Lcd.setCursor(30, 100);
+    M5.Lcd.printf("%d",calibrate_servo_no);
+    M5.Lcd.setTextSize(2); 
+  }
+  
+  delay(100);
+
+  myCobot.setEncoder(calibrate_servo_no, 2047);
+  delay(400);
+
+  calibrate_servo_no ++;
+}
+
+void Calibration::test(MycobotBasic &myCobot)
+{
+  M5.Lcd.clear(BLACK);
+  delay(50);
+  // move all servos
+  if (calibrate_servo_no >= 6)
+  {
+     for (int i = 1; i < 7; i ++)
+    {
+      if(lan == 2){
+       M5.Lcd.drawString("已设置舵机零位 ", 20, 20, 1); 
+      }
+      if(lan == 1){
+        M5.Lcd.setCursor(20, 20 + 20*i);
+        M5.Lcd.print("Move servo -> ");  
+        M5.Lcd.println(i);
+      }
+
+      myCobot.setEncoder(i, 1848);
+      delay(2500);
+      myCobot.setEncoder(i, 2248);
+      delay(3000);
+      myCobot.setEncoder(i, 2048);
+      delay(2500);
+    }
+    Calibration::info();
+    delay(2000);
+  }
+  else{
+    if(lan == 2){
+     M5.Lcd.drawString("请先设定关节零位", 20, 20, 1);     
+    }
+    if(lan == 1){
+     M5.Lcd.setCursor(0, 30);
+     M5.Lcd.print("Only move after all servo calibrated");
+    }
+    delay(2000);
+    Calibration::info();
+    return;
+  }
+}
+
+void Calibration::reset(MycobotBasic &myCobot)
+{
+  M5.Lcd.clear(BLACK);
+  delay(50);
+  if(lan == 2){
+   M5.Lcd.drawString("重新设置", 20, 20, 1);
+  }
+  if(lan == 1){
+   M5.Lcd.setCursor(0, 30);
+   M5.Lcd.print("Restart to calibrate");  
+  }
+  calibrate_servo_no = 0;
+  //关闭扭力输出
+  myCobot.setFreeMove();
+  delay(1000);
+  Calibration::info();
+}
diff --git a/Arduino/MycobotBasic/examples/miniRoboFlow/Calibration.h b/Arduino/MycobotBasic/examples/miniRoboFlow/Calibration.h
new file mode 100644
index 0000000..93b5985
--- /dev/null
+++ b/Arduino/MycobotBasic/examples/miniRoboFlow/Calibration.h
@@ -0,0 +1,20 @@
+#ifndef Calibration_h
+#define Calibration_h
+
+#include <MycobotBasic.h>
+#include "config.h"
+
+
+
+class Calibration
+{
+private:
+    void info();
+    void init(MycobotBasic &myCobot);
+    void test(MycobotBasic &myCobot);
+    void reset(MycobotBasic &myCobot);
+public:
+    void bration(MycobotBasic &myCobot);
+};
+
+#endif 
\ No newline at end of file
diff --git a/Arduino/MycobotBasic/examples/miniRoboFlow/Information.cpp b/Arduino/MycobotBasic/examples/miniRoboFlow/Information.cpp
new file mode 100644
index 0000000..3bdc86c
--- /dev/null
+++ b/Arduino/MycobotBasic/examples/miniRoboFlow/Information.cpp
@@ -0,0 +1,101 @@
+#include "Information.h"
+
+SMSBL sm;
+
+void Connect::info(){
+  M5.Lcd.clear(BLACK);
+  M5.Lcd.setTextColor(BLACK);
+  M5.Lcd.setTextColor(RED);
+  M5.Lcd.setTextSize(3);
+  M5.Lcd.setCursor(0, 10);
+  M5.Lcd.printf("myCobot");
+  M5.Lcd.setCursor(0, 40);
+  M5.Lcd.drawFastHLine(0,70,320,GREY);
+  M5.Lcd.setTextSize(3);
+  M5.Lcd.println("Status Inspection");
+  M5.Lcd.setCursor(0, 100);
+  M5.Lcd.setTextColor(WHITE);
+  M5.Lcd.setTextSize(2);
+  M5.Lcd.println("Press A - Servos motor");
+  M5.Lcd.println();
+  M5.Lcd.println("Press B - Firmware");
+  M5.Lcd.println();
+  M5.Lcd.println("Press C - Exit(1S)");
+} 
+
+void Connect::test(MycobotBasic &myCobot){
+    info();
+    sm.pSerial = &Serial2;
+    while (1)
+    {
+        // put your main code here, to run repeatedly:
+    M5.update(); // need to call update()  
+    M5.Lcd.setCursor(0,0);
+   // M5.Lcd.clear(BLACK);
+  
+     if (M5.BtnA.wasReleased()) {
+      Connect::testServo(myCobot);
+      } 
+    if (M5.BtnB.wasReleased()) {
+      Connect::ReadConfig();
+      }
+    if (M5.BtnC.wasReleasefor(1000)) {
+      break;
+    }
+}
+}
+
+void Connect::testServo(MycobotBasic &myCobot){
+    M5.Lcd.clear(BLACK);
+    delay(50);
+    M5.Lcd.setTextSize(3);
+    M5.Lcd.setCursor(0, 10);
+    M5.Lcd.setTextColor(WHITE);
+    M5.Lcd.println("connect test");
+    M5.Lcd.setTextSize(2);
+    M5.Lcd.setCursor(0, 40);
+    int state = myCobot.isPoweredOn();
+    M5.Lcd.print("atom - ");
+    if(state == 1){
+    M5.Lcd.setTextColor(GREEN);
+    M5.Lcd.println("ok");
+    }else{
+    M5.Lcd.setTextColor(RED);
+    M5.Lcd.println("no");
+    }
+    M5.Lcd.setTextSize(2);
+    M5.Lcd.setCursor(0, 60);
+    M5.Lcd.setTextColor(WHITE);
+    for(int i = 1; i<7;i++){
+      M5.Lcd.setTextColor(WHITE);
+      M5.Lcd.print("servo ");
+      M5.Lcd.print(i);
+      M5.Lcd.print(" - ");
+      if(sm.FeedBack(i) != -1){
+        M5.Lcd.setTextColor(GREEN);
+      M5.Lcd.println("ok");
+      }else{
+      M5.Lcd.setTextColor(RED);
+      M5.Lcd.println("no");
+      }
+      delay(50);
+    }
+    M5.update();
+    delay(3000);
+    info();
+}
+
+
+void Connect::ReadConfig(){
+  M5.Lcd.clear(BLACK);
+  delay(50);
+  M5.Lcd.setTextSize(3);
+  M5.Lcd.setCursor(0, 10);
+  M5.Lcd.println("connect test");
+  M5.Lcd.setTextSize(2);
+  M5.Lcd.setCursor(0, 40);
+  M5.Lcd.println("Waiting for development");
+  M5.update();
+  delay(3000);
+  info();
+}
diff --git a/Arduino/MycobotBasic/examples/miniRoboFlow/Information.h b/Arduino/MycobotBasic/examples/miniRoboFlow/Information.h
new file mode 100644
index 0000000..3f5865d
--- /dev/null
+++ b/Arduino/MycobotBasic/examples/miniRoboFlow/Information.h
@@ -0,0 +1,19 @@
+#ifndef Information_h
+#define Information_h
+
+#include "MycobotBasic.h"
+#include "SCServo.h"
+#include "config.h"
+
+class Connect
+{
+private:
+    /* data */
+    void info();
+    void testServo(MycobotBasic &myCobot);
+    void ReadConfig();
+public:
+    void test(MycobotBasic &myCobot);
+};
+
+#endif
diff --git a/Arduino/MycobotBasic/examples/miniRoboFlow/MainControl.cpp b/Arduino/MycobotBasic/examples/miniRoboFlow/MainControl.cpp
new file mode 100644
index 0000000..0499847
--- /dev/null
+++ b/Arduino/MycobotBasic/examples/miniRoboFlow/MainControl.cpp
@@ -0,0 +1,682 @@
+#include "MainControl.h"
+
+
+typedef struct{
+  int joint_angle[6];
+} joint_angles_enc;
+
+int data_len_max = 1000;
+Angles jae[1000];
+
+int girrep_data[1000];
+
+byte control_pin = 26;   // PIN 26 high -> loop play data from Flash
+
+int rec_data_len = 0;
+byte mycobot_mode = 0; 
+
+int error_display_time = 3000;
+int EXIT = false;
+
+
+void MainControl::Control(MycobotBasic &myCobot){
+  pinMode(control_pin, INPUT);
+  myCobot.setLEDRGB(0,255,0);
+  MainControl::updateMode(myCobot, mycobot_mode);
+  MainControl::displayInfo(myCobot, 0);
+  EXIT = false;
+  while(1){
+    M5.update(); 
+    byte btn_pressed = 0;   
+    if (M5.BtnA.wasPressed()) {
+        btn_pressed = 1;
+        MainControl::updateMode(myCobot, btn_pressed);
+      } 
+    if(M5.BtnB.wasPressed()){
+      btn_pressed = 2;
+      MainControl::updateMode(myCobot, btn_pressed);
+      }
+    if (M5.BtnC.wasPressed()) {
+        btn_pressed = 3;
+        MainControl::updateMode(myCobot, btn_pressed);
+      }
+    if(EXIT){break;}  
+    MainControl::IO(myCobot); 
+  }
+}
+
+void MainControl::updateMode(MycobotBasic &myCobot, byte btn_pressed)
+{
+  if (mycobot_mode == 0)
+  {
+    switch (btn_pressed)
+    {
+      case 1:
+        mycobot_mode = 1;
+        break;
+      case 2:
+        mycobot_mode = 2;
+        break;
+      case 3:
+        myCobot.setFreeMove();
+        mycobot_mode = 0;
+        EXIT = true;
+        break;
+    } 
+    MainControl::displayInfo(myCobot, mycobot_mode);
+  }
+  else if(mycobot_mode == 1)
+  {    
+     switch (btn_pressed)
+    {
+      case 1:
+        mycobot_mode = 11;
+        MainControl::displayInfo(myCobot, mycobot_mode);
+        MainControl::play(myCobot); // play loop from ram
+
+        break;
+      case 2:
+        mycobot_mode = 12; 
+        MainControl::playFromFlash(myCobot); // play loop from flash
+        
+        break;
+      case 3:
+        mycobot_mode = 0;   // get back
+        MainControl::displayInfo(myCobot, mycobot_mode);
+        break;
+    }
+    
+  }
+
+  else if(mycobot_mode == 2)
+  {
+    
+    switch (btn_pressed)
+    {
+      case 1:
+        mycobot_mode = 21;
+        MainControl::displayInfo(myCobot, mycobot_mode);
+        MainControl::record(myCobot);
+
+        // finish record
+        MainControl::displayInfo(myCobot, 33);
+        delay(2000);
+
+        // recover to original
+        mycobot_mode = 0;
+        MainControl::displayInfo(myCobot, mycobot_mode);
+        break;
+        
+      case 2:
+        mycobot_mode = 22;  // record into ram as well
+        MainControl::displayInfo(myCobot, mycobot_mode);
+        MainControl::recordIntoFlash(myCobot);
+        break;
+      case 3:
+        mycobot_mode = 0;
+        MainControl::displayInfo(myCobot, mycobot_mode);
+        break;
+    }
+    
+  }
+
+  else if((mycobot_mode == 11)||(mycobot_mode == 12))
+  {
+     switch (btn_pressed)
+    {
+      case 1:
+        Serial.println("Continue Play");
+        
+        break;
+      case 2:
+        Serial.println("Pause");
+  
+        break;
+      case 3:
+        Serial.println("Stop");
+        mycobot_mode = 0;
+        break;
+    }
+  }
+
+  else if((mycobot_mode == 21)||(mycobot_mode == 22))
+  {
+    switch (btn_pressed)
+    {
+      case 2:
+        Serial.println("Save and Stop");
+        break;
+      case 3:
+        Serial.println("stop record");
+        break;
+      
+    }
+     
+    mycobot_mode = 0;
+    MainControl::displayInfo(myCobot, mycobot_mode);
+  }
+  
+}
+
+void MainControl::displayInfo(MycobotBasic &myCobot, byte mc_mode)
+{
+  M5.Lcd.clear(BLACK);
+  delay(50);
+  M5.Lcd.setTextSize(2);
+  int buttom_y = 190;
+  int buttom_1y = 210;
+  int buttom_2y = 210;
+  
+ switch (mc_mode) { 
+    case 0:
+      {
+        M5.Lcd.fillScreen(0);
+        if (lan == 2)
+        {
+          M5.Lcd.drawString("  MyCobot-拖动示教", 20, 40, 1);
+          M5.Lcd.drawString("播放", 60, buttom_y, 1);
+          M5.Lcd.drawString("录制", 160, buttom_y, 1);
+          M5.Lcd.drawString("退出", 260, buttom_y, 1);
+          M5.update();
+        }
+        else if (lan == 1)
+        {
+          M5.Lcd.clear(BLACK);
+          M5.Lcd.setTextColor(BLACK);
+          M5.Lcd.setTextColor(RED);
+          M5.Lcd.setTextSize(3);
+          M5.Lcd.setCursor(0, 10);
+          M5.Lcd.printf("myCobot");
+          M5.Lcd.setCursor(0, 40);
+          M5.Lcd.drawFastHLine(0,70,320,GREY);
+          M5.Lcd.setTextSize(3);
+          M5.Lcd.println("MainControl Menu");
+          M5.Lcd.setTextSize(2);
+          M5.Lcd.setTextColor(WHITE);
+          M5.Lcd.setCursor(30, 210);
+          M5.Lcd.print("Play");
+          M5.Lcd.setCursor(120, 210);
+          M5.Lcd.print("Record");
+          M5.Lcd.setCursor(230, 210);
+          M5.Lcd.print("Exit");
+          M5.update();
+        }
+        break;
+      }
+
+    case 1:
+      {
+        M5.Lcd.fillScreen(0);
+        if (lan == 2)
+        {
+          M5.Lcd.drawString(" 请选择示教路径的播放位置", 10, 40, 1);
+          M5.Lcd.drawString("缓存", 60, buttom_y, 1);
+          M5.Lcd.drawString("储存卡", 160, buttom_y, 1);
+          M5.Lcd.drawString("返回", 260, buttom_y, 1);
+        }
+        else if (lan == 1)
+        {
+          M5.Lcd.setCursor(20, 40);
+          M5.Lcd.print("Playing for Ram/Flash?");
+          M5.Lcd.setCursor(40, buttom_1y);
+          M5.Lcd.print("Ram");
+          M5.Lcd.setCursor(136, buttom_1y);
+          M5.Lcd.print("Flash");
+          M5.Lcd.setCursor(240, buttom_1y);
+          M5.Lcd.print("Back");
+        }
+        break;
+      }
+    case 2:
+      {
+        M5.Lcd.fillScreen(0);
+        if (lan == 2)
+        {
+          M5.Lcd.drawString(" 请选择示教视频储存路径", 20, 40, 1);
+          M5.Lcd.drawString("缓存", 60, buttom_y, 1);
+          M5.Lcd.drawString("储存卡", 160, buttom_y, 1);
+          M5.Lcd.drawString("返回", 260, buttom_y, 1);         
+        }
+        else if (lan == 1)
+        {
+          M5.Lcd.setCursor(20, 40);
+          M5.Lcd.print("Recording to Ram/Flash?");
+          M5.Lcd.setCursor(40, buttom_1y);
+          M5.Lcd.print("Ram");
+          M5.Lcd.setCursor(136, buttom_1y);
+          M5.Lcd.print("Flash");
+          M5.Lcd.setCursor(240, buttom_1y);
+          M5.Lcd.print("Back");
+        }
+        break;
+      }
+    case 11:
+      {
+        M5.Lcd.fillScreen(0);
+        if (lan == 2)
+        {
+          M5.Lcd.drawString(" 正在执行缓存中的路径", 20, 40, 1);
+          M5.Lcd.drawString(" 播放中...", 20, 70, 1);
+          M5.Lcd.drawString("开始", 60, buttom_y, 1);
+          M5.Lcd.drawString("暂停", 160, buttom_y, 1);
+          M5.Lcd.drawString("结束", 260, buttom_y, 1);
+        }
+        else if (lan == 1)
+        {
+          M5.Lcd.setCursor(20, 40);
+          M5.Lcd.print("Play from Ram\n  Playing...");
+          M5.Lcd.setCursor(40, buttom_2y);
+          M5.Lcd.print("Play");
+          M5.Lcd.setCursor(130, buttom_2y);
+          M5.Lcd.print("Pause");
+          M5.Lcd.setCursor(230, buttom_2y);
+          M5.Lcd.print("Stop");
+        }
+        break;
+      }
+    case 12:
+      {
+        M5.Lcd.fillScreen(0);
+        if (lan == 2)
+        {
+          M5.Lcd.drawString(" 正在执行储存卡中的路径", 20, 40, 1);
+          M5.Lcd.drawString(" 播放中...", 20, 70, 1);
+          M5.Lcd.drawString("开始", 60, buttom_y, 1);
+          M5.Lcd.drawString("暂停", 160, buttom_y, 1);
+          M5.Lcd.drawString("结束", 260, buttom_y, 1);
+        }
+        else if (lan == 1)
+        {
+          M5.Lcd.setCursor(0, 40);
+          M5.Lcd.print(" Play from Flash/nPlaying");
+          M5.Lcd.setCursor(40, buttom_2y);
+          M5.Lcd.print("Play");
+          M5.Lcd.setCursor(130, buttom_2y);
+          M5.Lcd.print("Pause");
+          M5.Lcd.setCursor(230, buttom_2y);
+          M5.Lcd.print("Stop");
+        }
+        break;
+      }
+
+    case 21:
+      {
+        M5.Lcd.fillScreen(0);
+        if (lan == 2)
+        {
+          M5.Lcd.drawString(" 录制并存入缓存", 20, 40, 1);
+          M5.Lcd.drawString(" 录制中...", 20, 70, 1);
+          M5.Lcd.drawString(" 停止录制并保存", 5, buttom_y, 1);
+        }
+        else if (lan == 1)
+        {
+          M5.Lcd.setCursor(0, 40);
+          M5.Lcd.print("Record into Ram\nRecording...");
+          M5.Lcd.setCursor(5, buttom_1y);
+          M5.Lcd.print("Stop Recording and Save");
+        }
+        break;
+      }
+    case 22:
+      {
+        M5.Lcd.fillScreen(0);
+        if (lan == 2)
+        {
+          M5.Lcd.drawString(" 录制并存入储存卡", 20, 40, 1);
+          M5.Lcd.drawString(" 录制中...", 20, 70, 1);
+          M5.Lcd.drawString(" 停止录制并保存", 5, buttom_y, 1);
+        }
+        if (lan == 1)
+        {
+          M5.Lcd.setCursor(0, 40);
+          M5.Lcd.print("Record into Flash\nRecording...");
+          M5.Lcd.setCursor(5, buttom_y);
+          M5.Lcd.print("Stop Recording and Save");
+        }
+
+        break;
+      }
+
+    case 32: // Stop recording
+      {
+        M5.Lcd.fillScreen(0);
+        if(lan == 2){
+        M5.Lcd.drawString(" 暂停中", 20, 40, 1);
+        M5.Lcd.drawString("开始", 60, buttom_y, 1);
+        M5.Lcd.drawString("暂停", 160, buttom_y, 1);
+        M5.Lcd.drawString("结束", 260, buttom_y, 1);
+        }
+        else if(lan == 1){
+        M5.Lcd.setCursor(0,40);
+        M5.Lcd.print(" Puase Now"); 
+        M5.Lcd.setCursor(40,buttom_2y);
+        M5.Lcd.print("Play");
+        M5.Lcd.setCursor(130,buttom_2y);
+        M5.Lcd.print("Pause"); 
+        M5.Lcd.setCursor(230,buttom_2y);
+        M5.Lcd.print("Stop");
+          }
+        break;
+      }
+
+    case 33: // Stop recording
+      {
+        M5.Lcd.fillScreen(0);
+        if(lan == 2){
+        M5.Lcd.drawString(" 保存录制", 20, 40, 1);
+        }
+        else if(lan == 1){
+        M5.Lcd.setCursor(0,40);
+        M5.Lcd.print("  Saved Recording"); 
+          }
+        break;
+      }
+
+    case 41: // Play from Flash
+      {
+        M5.Lcd.fillScreen(0);
+        if(lan == 2){
+        M5.Lcd.drawString("从储存卡中获取数据", 20, 40, 1);
+        }
+        else if(lan == 1){
+        M5.Lcd.setCursor(0,40);
+        M5.Lcd.print("Getting data from Flash"); 
+          }
+        break;
+      }
+
+    case 42: // Record from Flash
+      {
+        M5.Lcd.fillScreen(0);
+        if(lan == 2){
+        M5.Lcd.drawString("将数据保存到储存卡", 20, 40, 1);
+        }
+        else if(lan == 1){
+        M5.Lcd.setCursor(0,40);
+        M5.Lcd.print("Saving Data into Flash");
+          }
+        break;
+      }
+
+    case 51: // loop play from sram
+      {
+        M5.Lcd.fillScreen(0);
+        if(lan == 2){
+        M5.Lcd.drawString("IO口状态", 20, 40, 1);
+        }
+        else if(lan == 1){
+        M5.Lcd.setCursor(0,40);
+        M5.Lcd.print("IO Pin Active!");
+          }
+        break;
+      }
+
+    case 52: // loop play from sram
+      {
+        M5.Lcd.fillScreen(0);
+        if(lan == 2){
+        M5.Lcd.drawString("数据不足，无法播放", 20, 40, 1);
+        }
+        else if(lan == 1){
+        M5.Lcd.setCursor(0,40);
+        M5.Lcd.print("Data too short, not playing");
+          }
+        break;
+      }
+
+    case 53: // loop play from sram
+      {
+        M5.Lcd.fillScreen(0);
+        if(lan == 2){
+        M5.Lcd.drawString("无数据", 20, 40, 1);
+        }
+        else if(lan == 1){
+        M5.Lcd.setCursor(0,40);
+        M5.Lcd.print("Empty data!");
+          }
+        break;
+      }
+     default: ;break;   
+  }
+}
+
+void MainControl::record(MycobotBasic &myCobot)  // is stop
+{
+  myCobot.setLEDRGB(255,255,0);
+  // record mode : 1- record to ram;  2- record to flash
+  rec_data_len = 0;
+  Angles _data;
+  int _encoder = myCobot.getEncoder(7);
+  delay(35);
+  if (_encoder > 0)
+  {
+    for (int data_index = 0; data_index <data_len_max ; data_index ++)
+  {
+    M5.update(); 
+    for(int i= 0; i< 6; i++){
+      jae[data_index][i] = myCobot.getEncoder(i+1);
+      delay(REC_TIME_DELAY - SEND_DATA_GAP);
+//      Serial.print(String(jae[data_index][i]) + ", ");
+    }
+    girrep_data[data_index] = myCobot.getEncoder(7);
+    delay(REC_TIME_DELAY - SEND_DATA_GAP);
+    Serial.println(" ");
+    rec_data_len++;
+    if (M5.BtnA.wasPressed()||M5.BtnB.wasPressed()||M5.BtnC.wasPressed()) break;
+  } 
+  }
+  else{
+    for (int data_index = 0; data_index <data_len_max ; data_index ++)
+  {
+    M5.update(); 
+    for(int i= 0; i< 6; i++){
+      jae[data_index][i] = myCobot.getEncoder(i+1);
+      delay(REC_TIME_DELAY - SEND_DATA_GAP);
+//      Serial.print(String(jae[data_index][i]) + ", ");
+    }
+    girrep_data[data_index] = 2048;
+    delay(20);
+    Serial.println(" ");
+    rec_data_len++;
+    if (M5.BtnA.wasPressed()||M5.BtnB.wasPressed()||M5.BtnC.wasPressed()) break;
+  } 
+  }
+  
+  
+}
+
+void MainControl::play(MycobotBasic &myCobot)  // is stop  is pause
+{
+  myCobot.setLEDRGB(0,255,0);
+ 
+  bool is_stop = 0;
+  bool is_pause = 0;
+
+  while(1)
+  {
+    // Serial.print("123");
+    // play once
+    for (int index = 0 ; index < rec_data_len; index++)
+    {
+      M5.update(); 
+      myCobot.setEncoder(7,girrep_data[index]);
+      delay(20);
+      myCobot.setEncoders(jae[index], 100);
+      // check pause button
+      if (M5.BtnB.wasPressed())
+      {
+        MainControl::displayInfo(myCobot, 32);
+        while(1)
+        {
+          M5.update(); 
+          if (M5.BtnA.wasPressed())
+          {
+            MainControl::displayInfo(myCobot, 11);
+            break;
+          }
+          if (M5.BtnC.wasPressed()) 
+          {
+            is_stop = 1;
+            break;
+          }
+        }
+      }
+
+      // check stop button
+      if (M5.BtnC.wasPressed())
+      {
+        M5.update(); 
+        is_stop = 1;
+        break;
+      }
+
+      // check stop button
+      if(is_stop == 1) break;
+      delay(WRITE_TIME_GAP*6); 
+    }
+
+    // stop button will also end loop
+    if(is_stop == 1){
+      break;
+    }
+
+    // data too short
+    if(rec_data_len < 10) break;
+
+    // quick loop
+    if (M5.BtnC.wasPressed())break;
+  }
+
+  // recover to play page
+  M5.update(); 
+  mycobot_mode = 1;
+  MainControl::displayInfo(myCobot, mycobot_mode);
+}
+
+void MainControl::playFromFlash(MycobotBasic &myCobot)
+{
+    M5.update(); 
+    MainControl::displayInfo(myCobot, 41);
+
+    // initialization first 
+     if(!SPIFFS.begin(FORMAT_SPIFFS_IF_FAILED)){
+        Serial.println("SPIFFS Mount Failed");
+        return;
+    }
+    
+    Serial.printf("Reading file: %s\r\n", FILENAME);
+    File file = SPIFFS.open(FILENAME);
+    if(!file || file.isDirectory()){
+        Serial.println("- failed to open file for reading");
+        return;
+    }
+    String this_line = "";
+    int index = 0;
+
+    int t1= millis();
+    
+    while(file.available()){
+      char this_char = char(file.read());
+      this_line += this_char;
+      if (this_char == '\n')
+      {
+        MycobotSaver::saver_angles_enc sae_this;
+        sae_this = myCobot.saver.processStringIntoInts(this_line);
+
+        for(int jn = 0; jn<6; jn++)
+        {
+          jae[index][jn] = sae_this.joint_angle[jn];
+        }
+        girrep_data[index] = sae_this.joint_angle[6];
+        index ++;
+        this_line = "";
+      }
+      if(index>data_len_max) break;
+    }
+
+    // update the len
+    rec_data_len = index - 1;
+
+    // play from flash
+    M5.update(); 
+    MainControl::displayInfo(myCobot, mycobot_mode);
+    MainControl::play(myCobot);
+}
+
+void MainControl::recordIntoFlash(MycobotBasic &myCobot)
+{
+    // recording data
+    MainControl::record(myCobot);
+    M5.update(); 
+    // show saving to recording
+    MainControl::displayInfo(myCobot, 33);
+
+    // initialize flash
+     if(!SPIFFS.begin(FORMAT_SPIFFS_IF_FAILED)){
+        Serial.println("SPIFFS Mount Failed");
+        return;
+    }
+
+    // list exisiting files 
+    myCobot.saver.listDir(SPIFFS, "/", 0);
+    
+    // clean exsiting file
+    myCobot.saver.writeFile(SPIFFS, FILENAME, " ");
+
+    // check time
+    File file = SPIFFS.open(FILENAME, FILE_APPEND);
+
+    for (int data_index = 0; data_index < rec_data_len; data_index ++)
+    {
+      String data_output = "";
+      for (int l = 0; l <6 ; l ++)
+    {
+      data_output +=  jae[data_index][l];
+      data_output += ",";
+    }
+      data_output += girrep_data[data_index];
+      data_output += "\n";
+      file.print(data_output);
+    }
+    
+   // recover to original
+   mycobot_mode = 0;
+   MainControl::displayInfo(myCobot, mycobot_mode);
+}
+
+void MainControl::IO(MycobotBasic &myCobot)
+{
+  int pin_data = digitalRead(control_pin);
+
+  return;
+  if (pin_data == 1)
+  {
+    MainControl::displayInfo(myCobot, 51);
+    delay(error_display_time);
+    
+    mycobot_mode = 12;
+    MainControl::play(myCobot);
+  }
+
+}
+
+
+
+/*
+bool MainControl::checkDataLen(MycobotBasic &myCobot)
+{
+
+  if (rec_data_len == 0){
+    MainControl::displayInfo(myCobot, 53);
+    delay(error_display_time);
+    return 0;
+  }
+  
+  if (rec_data_len < 10){
+    MainControl::displayInfo(myCobot, 52);
+    delay(error_display_time);
+    return 0;
+  }
+  return 1;
+}
+*/
diff --git a/Arduino/MycobotBasic/examples/miniRoboFlow/MainControl.h b/Arduino/MycobotBasic/examples/miniRoboFlow/MainControl.h
new file mode 100644
index 0000000..7a32bb1
--- /dev/null
+++ b/Arduino/MycobotBasic/examples/miniRoboFlow/MainControl.h
@@ -0,0 +1,24 @@
+#ifndef MainControl_h
+#define MainControl_h
+
+#include <MycobotBasic.h>
+#include "config.h"
+
+
+
+class MainControl
+{
+private:
+    void updateMode(MycobotBasic &myCobot, byte btn_pressed);
+    void displayInfo(MycobotBasic &myCobot, byte mc_mode);
+    void record(MycobotBasic &myCobot);  // is stop;
+    void play(MycobotBasic &myCobot);  // is stop  is pause
+    void playFromFlash(MycobotBasic &myCobot);
+    void recordIntoFlash(MycobotBasic &myCobot);
+    void IO(MycobotBasic &myCobot);
+    // bool checkDataLen();
+public:
+    void Control(MycobotBasic &myCobot);
+};
+
+#endif
\ No newline at end of file
diff --git a/Arduino/MycobotBasic/examples/miniRoboFlow/TransPonder.cpp b/Arduino/MycobotBasic/examples/miniRoboFlow/TransPonder.cpp
new file mode 100644
index 0000000..e650492
--- /dev/null
+++ b/Arduino/MycobotBasic/examples/miniRoboFlow/TransPonder.cpp
@@ -0,0 +1,212 @@
+#include "transponder.h"
+
+// MycobotBasic myCobot;
+
+// #define 
+typedef  unsigned char u8;
+
+void Transponder::init() {
+  // myCobot.setup();
+  // myCobot.powerOn();
+  pinMode(15, OUTPUT); // 1 
+  pinMode(5, OUTPUT); // 2
+  pinMode(35, INPUT); // 2
+  pinMode(36, INPUT); // 2
+  delay(100);
+  digitalWrite(15, 1); // 1 
+  digitalWrite(5, 1); // 2
+  info();
+}
+  
+void Transponder::ponder(MycobotBasic &myCobot) {
+  init();
+  EXIT = false;
+  while (!EXIT)
+  {
+    readData(myCobot);
+  }
+  
+  
+}
+
+bool Transponder::checkHeader(MycobotBasic &myCobot)
+{
+  u8 bDat;
+  u8 bBuf[2] = { 0, 0 };
+  u8 Cnt = 0;
+  while (true)
+  {
+    if (!readSerial(myCobot, &bDat, 1))
+      return 0;
+    bBuf[1] = bBuf[0];
+    bBuf[0] = bDat;
+    if (bBuf[0] == HEADER && bBuf[1] == HEADER){
+      break;
+    }
+    ++Cnt;
+    if (Cnt > 64)
+      return 0;
+  }
+  return 1;
+}
+
+int Transponder::readSerial(MycobotBasic &myCobot, unsigned char* nDat, int nLen)
+{
+
+  int Size = 0;
+  int rec_data;
+  unsigned long t_begin = millis();
+  unsigned long t_use;
+
+  while (true)
+  {
+    M5.update();
+    if (M5.BtnA.wasReleased() || M5.BtnA.pressedFor(1000, 200)) {
+        connect_ATOM(myCobot);
+    }
+    if(M5.BtnC.wasReleasefor(1000)) { EXIT = true; break;}
+
+    if(Serial.available()>0)
+    {
+      rec_data = Serial.read();   // readSerial
+      Serial2.write(rec_data);
+
+      if (rec_data != IORecWrong)
+      {
+        if (nDat)
+          nDat[Size] = rec_data;
+        ++Size;
+        t_begin = millis();
+      }
+
+      if (Size >= nLen)
+        break;
+      t_use = millis() - t_begin;
+
+      if (t_use > IOTimeOut_1)
+        break;
+    }
+    // read serial 2
+    if (Serial2.available() > 0) {     // If anything comes in Serial 2
+         Serial.write(Serial2.read());    // read it and send it out Serial (USB)
+    } 
+  }
+  return Size;
+}
+
+void Transponder::rFlushSerial()
+{
+  while (Serial.read() != -1)
+    ;
+}
+
+int Transponder::readData(MycobotBasic &myCobot)
+{
+  rFlushSerial();
+  if (!Transponder::checkHeader(myCobot))
+    return -1;
+  
+  u8 data_len[1];
+  u8 r_data_4[4];
+  u8 r_data_3[3];
+  if (Transponder::readSerial(myCobot, data_len, 1) != 1)
+    return -1;
+  switch (static_cast<int>(data_len[0]))
+  {
+    case 4:
+      Transponder::readSerial(myCobot, r_data_4, 4);
+      switch (int(r_data_4[0]))
+      {
+        case 0xa0:
+        { 
+          //0xfe 0xfe 0x04 0xa0 pin_no pin_data 0xfa
+          byte pin_no = r_data_4[1];
+          pinMode(pin_no, OUTPUT);
+          delay(5);
+          bool pin_data = r_data_4[2];
+          digitalWrite(pin_no,pin_data);
+          Serial.write(0xfe);
+          Serial.write(0xfe);
+          Serial.write(0x04);
+          Serial.write(0xa0);
+          Serial.write(pin_no);
+          Serial.write(pin_data);
+          Serial.write(0xfa);
+        }
+        break;
+      }
+      break;
+    case 3:
+      Transponder::readSerial(myCobot, r_data_3, 3);
+      switch (int(r_data_3[0]))
+      {
+        case 0xa1:
+        {
+          byte pin_no = r_data_3[1];
+          pinMode(pin_no, INPUT);
+          delay(5);
+          bool pin_state = digitalRead(pin_no);
+          delay(5);
+          Serial.write(0xfe);
+          Serial.write(0xfe);
+          Serial.write(0x04);
+          Serial.write(0xa1);
+          Serial.write(pin_no);
+          Serial.write(pin_state);
+          Serial.write(0xfa);
+        }
+        break;
+      }
+      break;
+
+    default:
+      break;
+  }
+  
+  while(Serial.available()>0) {Serial2.write(Serial.read()); }
+  while(Serial2.available()>0) {Serial.write(Serial2.read());} 
+
+}
+
+void Transponder::connect_ATOM(MycobotBasic &myCobot){
+  M5.Lcd.clear(BLACK);
+  delay(50);
+  M5.Lcd.setTextColor(YELLOW);
+  M5.Lcd.setTextSize(3);
+  M5.Lcd.setCursor(55, 5);
+  M5.Lcd.println("Connect test");
+  M5.Lcd.setCursor(5, 40);
+  int state = myCobot.isPoweredOn();
+  if(state == 1){
+    M5.Lcd.println("Atom: ok");
+  }else{
+    M5.Lcd.println("Atom: no");
+  }
+  M5.update();
+  delay(10);
+  delay(2000);
+  info();
+}
+
+void Transponder::info()
+{
+  M5.Lcd.clear(BLACK);
+  M5.Lcd.setTextColor(BLACK);
+  M5.Lcd.setTextColor(RED);
+  M5.Lcd.setTextSize(3);
+  M5.Lcd.setCursor(0, 10);
+  M5.Lcd.printf("myCobot");
+  M5.Lcd.setCursor(0, 40);
+  M5.Lcd.drawFastHLine(0,70,320,GREY);
+  M5.Lcd.setTextSize(3);
+  M5.Lcd.println("Basic Transponder");
+  M5.Lcd.setTextSize(2);
+  M5.Lcd.setTextColor(WHITE);
+  M5.Lcd.setCursor(0, 100);
+  M5.Lcd.println("Press A - Atom ConnectTest");
+  M5.Lcd.println();
+  M5.Lcd.println("Press C - Exit(1S)");
+  M5.Lcd.setCursor(40, 210);
+  M5.update();
+  delay(10);
+}
diff --git a/Arduino/MycobotBasic/examples/miniRoboFlow/config.h b/Arduino/MycobotBasic/examples/miniRoboFlow/config.h
new file mode 100644
index 0000000..24ce59a
--- /dev/null
+++ b/Arduino/MycobotBasic/examples/miniRoboFlow/config.h
@@ -0,0 +1,16 @@
+#ifndef Config_h
+#define Config_h
+
+#include <MycobotLanguage.h>
+
+#define lan 1
+
+#define GREY 0x5AEB
+
+#define state_addr 0X0f
+
+#define App_number 3
+
+#define HEADER 0XFE
+
+#endif
diff --git a/Arduino/MycobotBasic/examples/miniRoboFlow/miniRoboFlow.ino b/Arduino/MycobotBasic/examples/miniRoboFlow/miniRoboFlow.ino
new file mode 100644
index 0000000..0e9a868
--- /dev/null
+++ b/Arduino/MycobotBasic/examples/miniRoboFlow/miniRoboFlow.ino
@@ -0,0 +1,131 @@
+#include <MycobotBasic.h>
+#include "transponder.h"
+#include "MainControl.h"
+#include "Calibration.h"
+#include "Information.h"
+#include "config.h"
+
+MycobotBasic myCobot;
+Transponder tp;
+MainControl mc;
+Calibration cb;
+Connect ct;
+
+int state = 0;
+// bool EXIT = false;
+int y_pos[] = {70, 95, 120, 145};
+
+
+void setup(){
+  myCobot.setup();                                      
+  myCobot.powerOn();                                    //启动机械臂
+  delay(50);
+  EEPROM.begin(EEPROM_SIZE);                            //EEPROM_SIZE=64
+  
+  if (EEPROM.read(state_addr))
+  {
+    state = EEPROM.read(state_addr) - 1;                //写数据
+    program_selection(myCobot, state);
+  }else{
+    EEPROM.write(state_addr, 0); //写数据
+  }
+  EEPROM.commit();                                      //保存更改的数据
+  M5.Lcd.clear(BLACK);
+  menu_choice();
+  select();
+}
+
+void loop(){
+  M5.update(); 
+  if (M5.BtnA.wasPressed()) {
+    state += 1;
+    select();
+    } 
+  if (M5.BtnB.wasPressed()) {  
+    state -= 1;
+    select();
+  }
+  if (M5.BtnC.wasPressed()) {  
+    EEPROM.begin(EEPROM_SIZE); //申请操作到地址4095,size=目标地址+1
+    EEPROM.write(state_addr, state + 1); //写数据
+    EEPROM.commit(); //保存更改的数据
+    program_selection(myCobot, state);
+    M5.Lcd.clear(BLACK);
+    menu_choice();
+    select();
+  } 
+}
+
+void program_selection(MycobotBasic &myCobot, int state){
+  switch (state)
+  {
+  case 0:
+    mc.Control(myCobot);
+    break;
+  case 1:
+    cb.bration(myCobot);
+    break;
+  case 2:
+    tp.ponder(myCobot);
+    break;
+  case 3:
+    ct.test(myCobot);
+    break;
+  default:
+    break;
+  }
+  menu_choice();
+}
+
+void menu_choice(){
+  
+  M5.Lcd.setTextSize(3);
+  M5.Lcd.setTextColor(RED);
+  M5.Lcd.setCursor(20,10);
+  M5.Lcd.print("miniRoboFlow"); 
+
+  M5.Lcd.setTextSize(2);
+  M5.Lcd.setCursor(250,30);
+  M5.Lcd.setTextColor(GREY); 
+  M5.Lcd.print("v1.0");   
+
+  M5.Lcd.drawFastHLine(0,45,320,GREY);
+  M5.Lcd.drawFastHLine(0,195,320,GREY);
+
+  M5.Lcd.setTextSize(2);
+  M5.Lcd.setCursor(30,y_pos[0]);
+  M5.Lcd.setTextColor(WHITE);
+  M5.Lcd.print("MainControl"); 
+  M5.Lcd.setCursor(30,y_pos[1]);
+  M5.Lcd.setTextColor(WHITE);
+  M5.Lcd.print("Calibration"); 
+  M5.Lcd.setCursor(30,y_pos[2]);
+  M5.Lcd.setTextColor(WHITE);
+  M5.Lcd.print("Transponder"); 
+  M5.Lcd.setCursor(30,y_pos[3]);
+  M5.Lcd.setTextColor(WHITE);
+  M5.Lcd.print("Information"); 
+
+  M5.Lcd.setCursor(35, 210);
+  M5.Lcd.print("DOWN");
+  M5.Lcd.setCursor(140, 210);
+  M5.Lcd.print(" UP ");
+  M5.Lcd.setCursor(235, 210);
+  M5.Lcd.print(" OK ");
+
+}
+
+void select(){
+  if (state < 0)
+    {
+      state = App_number;
+  }if (state > App_number)
+  {
+    state = 0;
+  }
+  M5.Lcd.fillRect(0, 70, 26, 90, BLACK);
+  M5.Lcd.setTextSize(2);
+  M5.Lcd.setCursor(0,y_pos[state]);
+  M5.Lcd.setTextColor(WHITE);
+  M5.Lcd.print(" >");
+}
diff --git a/Arduino/MycobotBasic/examples/miniRoboFlow/transponder.h b/Arduino/MycobotBasic/examples/miniRoboFlow/transponder.h
new file mode 100644
index 0000000..7941d38
--- /dev/null
+++ b/Arduino/MycobotBasic/examples/miniRoboFlow/transponder.h
@@ -0,0 +1,27 @@
+#ifndef transponder_h
+#define transponder_h
+
+#include <MycobotBasic.h>
+#include "config.h"
+
+
+
+class Transponder
+{
+private:
+    bool EXIT = false;
+    bool checkHeader(MycobotBasic &myCobot);
+    int  readSerial(MycobotBasic &myCobot, unsigned char* nDat, int nLen);
+    void rFlushSerial();
+    int  readData(MycobotBasic &myCobot);
+    void connect_ATOM(MycobotBasic &myCobot);
+    void info();
+public:
+    void ponder(MycobotBasic &myCobot);
+    void init();
+
+};
+
+#endif
+
+