From 9e304182077039afa86f170482f63657053bed7b Mon Sep 17 00:00:00 2001
From: Masatake Aoki <aoki@rt-net.jp>
Date: Thu, 6 Jun 2024 17:11:20 +0900
Subject: [PATCH 1/8] Fixed due to esp32 package 3.0.1 update

---
 uROS_STEP10_tfMsg/interrupt.ino               |  2 +-
 uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino       | 30 ++++----
 .../uROS_STEP11_SensorMsg.ino                 | 10 +--
 uROS_STEP12_micromouse/SPIFFS.ino             |  2 +-
 uROS_STEP12_micromouse/adjust.ino             |  2 +-
 uROS_STEP12_micromouse/device.h               |  1 -
 uROS_STEP12_micromouse/device.ino             | 75 +++++++++----------
 uROS_STEP12_micromouse/fast.ino               |  2 +-
 uROS_STEP12_micromouse/interrupt.ino          |  2 +-
 uROS_STEP12_micromouse/map_manager.ino        |  2 +-
 uROS_STEP12_micromouse/microROS.ino           |  2 +-
 uROS_STEP12_micromouse/misc.ino               |  2 +-
 uROS_STEP12_micromouse/run.ino                |  2 +-
 uROS_STEP12_micromouse/search.ino             |  2 +-
 .../uROS_STEP12_micromouse.ino                |  2 +-
 uROS_STEP1_LED/uROS_STEP1_LED.ino             |  2 +-
 uROS_STEP2_SWITCH/uROS_STEP2_SWITCH.ino       |  2 +-
 uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino       | 35 +++++----
 uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino       | 10 +--
 uROS_STEP5_Straight/interrupt.ino             |  2 +-
 uROS_STEP5_Straight/run.ino                   |  2 +-
 uROS_STEP5_Straight/uROS_STEP5_Straight.ino   | 30 ++++----
 uROS_STEP6_rotate/interrupt.ino               |  2 +-
 uROS_STEP6_rotate/run.ino                     |  2 +-
 uROS_STEP6_rotate/uROS_STEP6_rotate.ino       | 30 ++++----
 uROS_STEP7_P_control/interrupt.ino            |  2 +-
 uROS_STEP7_P_control/run.ino                  |  2 +-
 uROS_STEP7_P_control/uROS_STEP7_P_control.ino | 44 +++++------
 uROS_STEP8_micromouse/SPIFFS.ino              |  2 +-
 uROS_STEP8_micromouse/adjust.ino              |  2 +-
 uROS_STEP8_micromouse/device.h                |  2 -
 uROS_STEP8_micromouse/device.ino              | 63 ++++++++--------
 uROS_STEP8_micromouse/fast.ino                |  2 +-
 uROS_STEP8_micromouse/interrupt.ino           |  2 +-
 uROS_STEP8_micromouse/map_manager.ino         |  2 +-
 uROS_STEP8_micromouse/misc.ino                |  2 +-
 uROS_STEP8_micromouse/run.ino                 |  2 +-
 uROS_STEP8_micromouse/search.ino              |  2 +-
 .../uROS_STEP8_micromouse.ino                 |  2 +-
 uROS_STEP9_twistMsg/interrupt.ino             |  2 +-
 uROS_STEP9_twistMsg/uROS_STEP9_twistMsg.ino   | 30 ++++----
 41 files changed, 204 insertions(+), 214 deletions(-)

diff --git a/uROS_STEP10_tfMsg/interrupt.ino b/uROS_STEP10_tfMsg/interrupt.ino
index db076ae..0f0e6bb 100644
--- a/uROS_STEP10_tfMsg/interrupt.ino
+++ b/uROS_STEP10_tfMsg/interrupt.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino b/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino
index fa90d05..9bed5e0 100644
--- a/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino
+++ b/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -136,7 +136,7 @@ void IRAM_ATTR isrR(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
     if (g_step_hz_r < 30) g_step_hz_r = 30;
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -153,7 +153,7 @@ void IRAM_ATTR isrL(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
     if (g_step_hz_l < 30) g_step_hz_l = 30;
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -201,20 +201,20 @@ void setup()
 
   delay(2000);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);  //1us
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1kHz
+  timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, &isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //150Hz
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //150Hz
+  timerStart(g_timer3);
 
   g_allocator = rcl_get_default_allocator();
 
diff --git a/uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino b/uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino
index 4d36b25..a064bfc 100644
--- a/uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino
+++ b/uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -163,10 +163,10 @@ void setup()
 
   delay(2000);
 
-  g_timer1 = timerBegin(1, 80, true);  //1us
-  timerAttachInterrupt(g_timer1, &onTimer1, true);
-  timerAlarmWrite(g_timer1, 250, true);  //4kHz
-  timerAlarmEnable(g_timer1);
+  g_timer1 = timerBegin(1000000);  //1us
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 250, true, 0);  //4kHz
+  timerStart(g_timer1);
 
   g_allocator = rcl_get_default_allocator();
 
diff --git a/uROS_STEP12_micromouse/SPIFFS.ino b/uROS_STEP12_micromouse/SPIFFS.ino
index 3a8e044..6bee69a 100644
--- a/uROS_STEP12_micromouse/SPIFFS.ino
+++ b/uROS_STEP12_micromouse/SPIFFS.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP12_micromouse/adjust.ino b/uROS_STEP12_micromouse/adjust.ino
index b0133f2..f57bae2 100644
--- a/uROS_STEP12_micromouse/adjust.ino
+++ b/uROS_STEP12_micromouse/adjust.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP12_micromouse/device.h b/uROS_STEP12_micromouse/device.h
index 8dddc49..1dd901b 100644
--- a/uROS_STEP12_micromouse/device.h
+++ b/uROS_STEP12_micromouse/device.h
@@ -36,6 +36,5 @@
 #define SW_CM 2
 #define SW_RM 4
 
-#define BUZZER_CH 0
 
 #endif  // DEVICE_H_
\ No newline at end of file
diff --git a/uROS_STEP12_micromouse/device.ino b/uROS_STEP12_micromouse/device.ino
index 61ed13b..651c377 100644
--- a/uROS_STEP12_micromouse/device.ino
+++ b/uROS_STEP12_micromouse/device.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -60,7 +60,7 @@ void IRAM_ATTR isrR(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);
   if (g_motor_move) {
     if (g_step_hz_r < 30) g_step_hz_r = 30;
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -76,7 +76,7 @@ void IRAM_ATTR isrL(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);
   if (g_motor_move) {
     if (g_step_hz_l < 30) g_step_hz_l = 30;
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -87,21 +87,21 @@ void IRAM_ATTR isrL(void)
   portEXIT_CRITICAL_ISR(&g_timer_mux);
 }
 
-void controlInterruptStart(void) { timerAlarmEnable(g_timer0); }
-void controlInterruptStop(void) { timerAlarmDisable(g_timer0); }
+void controlInterruptStart(void) { timerStart(g_timer0); }
+void controlInterruptStop(void) { timerStop(g_timer0); }
 
-void sensorInterruptStart(void) { timerAlarmEnable(g_timer1); }
-void sensorInterruptStop(void) { timerAlarmDisable(g_timer1); }
+void sensorInterruptStart(void) { timerStart(g_timer1); }
+void sensorInterruptStop(void) { timerStop(g_timer1); }
 
 void PWMInterruptStart(void)
 {
-  timerAlarmEnable(g_timer2);
-  timerAlarmEnable(g_timer3);
+  timerStart(g_timer2);
+  timerStart(g_timer3);
 }
 void PWMInterruptStop(void)
 {
-  timerAlarmDisable(g_timer2);
-  timerAlarmDisable(g_timer3);
+  timerStop(g_timer2);
+  timerStop(g_timer3);
 }
 
 void initDevice(void)
@@ -118,9 +118,8 @@ void initDevice(void)
   pinMode(SW_C, INPUT);
   pinMode(SW_R, INPUT);
 
-  ledcSetup(0, 440, 10);
-  ledcAttachPin(BUZZER, 0);
-  ledcWrite(0, 1024);
+  ledcAttach(BUZZER, 440, 10);
+  ledcWrite(BUZZER, 1024);
 
   pinMode(SLED_FR, OUTPUT);
   pinMode(SLED_FL, OUTPUT);
@@ -149,25 +148,25 @@ void initDevice(void)
     }
   }
 
-  g_timer0 = timerBegin(0, 80, true);
-  timerAttachInterrupt(g_timer0, &onTimer0, false);
-  timerAlarmWrite(g_timer0, 1000, true);
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);
+  timerStart(g_timer0);
 
-  g_timer1 = timerBegin(1, 80, true);
-  timerAttachInterrupt(g_timer1, &onTimer1, true);
-  timerAlarmWrite(g_timer1, 500, true);
-  timerAlarmEnable(g_timer1);
+  g_timer1 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 500, true, 0);
+  timerStart(g_timer1);
 
-  g_timer2 = timerBegin(2, 40, true);
-  timerAttachInterrupt(g_timer2, &isrR, false);
-  timerAlarmWrite(g_timer2, 13333, true);
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);
-  timerAttachInterrupt(g_timer3, &isrL, false);
-  timerAlarmWrite(g_timer3, 13333, true);
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);
+  timerStart(g_timer3);
 
   Serial.begin(115200);
 
@@ -199,10 +198,10 @@ void setBLED(char data)
 }
 
 //Buzzer
-void enableBuzzer(short f) { ledcWriteTone(BUZZER_CH, f); }
+void enableBuzzer(short f) { ledcWriteTone(BUZZER, f); }
 void disableBuzzer(void)
 {
-  ledcWrite(BUZZER_CH, 1024);  //duty 100% Buzzer OFF
+  ledcWrite(BUZZER, 1024);  //duty 100% Buzzer OFF
 }
 
 //motor
@@ -266,8 +265,7 @@ unsigned short getSensorR(void)
   for (int i = 0; i < WAITLOOP_SLED; i++) {
     asm("nop \n");
   }
-  //  unsigned short tmp = analogRead(AD3);
-  unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_5);
+  unsigned short tmp = analogRead(AD3);
   digitalWrite(SLED_R, LOW);
   return tmp;
 }
@@ -277,8 +275,7 @@ unsigned short getSensorL(void)
   for (int i = 0; i < WAITLOOP_SLED; i++) {
     asm("nop \n");
   }
-  //  unsigned short tmp = analogRead(AD4);
-  unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_6);
+  unsigned short tmp = analogRead(AD4);
   digitalWrite(SLED_L, LOW);
   return tmp;
 }
@@ -288,8 +285,7 @@ unsigned short getSensorFL(void)
   for (int i = 0; i < WAITLOOP_SLED; i++) {
     asm("nop \n");
   }
-  //  unsigned short tmp = analogRead(AD2);
-  unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_4);
+  unsigned short tmp = analogRead(AD2);
   digitalWrite(SLED_FL, LOW);  //LED消灯
   return tmp;
 }
@@ -299,8 +295,7 @@ unsigned short getSensorFR(void)
   for (int i = 0; i < WAITLOOP_SLED; i++) {
     asm("nop \n");
   }
-  //  unsigned short tmp = analogRead(AD1);
-  unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_3);
+  unsigned short tmp = analogRead(AD1);
   digitalWrite(SLED_FR, LOW);
   return tmp;
 }
diff --git a/uROS_STEP12_micromouse/fast.ino b/uROS_STEP12_micromouse/fast.ino
index 8981c34..28669ff 100644
--- a/uROS_STEP12_micromouse/fast.ino
+++ b/uROS_STEP12_micromouse/fast.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP12_micromouse/interrupt.ino b/uROS_STEP12_micromouse/interrupt.ino
index f8fde48..9bd3b69 100644
--- a/uROS_STEP12_micromouse/interrupt.ino
+++ b/uROS_STEP12_micromouse/interrupt.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP12_micromouse/map_manager.ino b/uROS_STEP12_micromouse/map_manager.ino
index 809711d..9437fab 100644
--- a/uROS_STEP12_micromouse/map_manager.ino
+++ b/uROS_STEP12_micromouse/map_manager.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP12_micromouse/microROS.ino b/uROS_STEP12_micromouse/microROS.ino
index 68108a7..6e67e37 100644
--- a/uROS_STEP12_micromouse/microROS.ino
+++ b/uROS_STEP12_micromouse/microROS.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP12_micromouse/misc.ino b/uROS_STEP12_micromouse/misc.ino
index e59de6d..f1f714d 100644
--- a/uROS_STEP12_micromouse/misc.ino
+++ b/uROS_STEP12_micromouse/misc.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP12_micromouse/run.ino b/uROS_STEP12_micromouse/run.ino
index f93cdcd..7d53828 100644
--- a/uROS_STEP12_micromouse/run.ino
+++ b/uROS_STEP12_micromouse/run.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP12_micromouse/search.ino b/uROS_STEP12_micromouse/search.ino
index 2895011..d36d5e1 100644
--- a/uROS_STEP12_micromouse/search.ino
+++ b/uROS_STEP12_micromouse/search.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP12_micromouse/uROS_STEP12_micromouse.ino b/uROS_STEP12_micromouse/uROS_STEP12_micromouse.ino
index e2392a2..f8afc7e 100644
--- a/uROS_STEP12_micromouse/uROS_STEP12_micromouse.ino
+++ b/uROS_STEP12_micromouse/uROS_STEP12_micromouse.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP1_LED/uROS_STEP1_LED.ino b/uROS_STEP1_LED/uROS_STEP1_LED.ino
index d9dbb4c..64b57a4 100644
--- a/uROS_STEP1_LED/uROS_STEP1_LED.ino
+++ b/uROS_STEP1_LED/uROS_STEP1_LED.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP2_SWITCH/uROS_STEP2_SWITCH.ino b/uROS_STEP2_SWITCH/uROS_STEP2_SWITCH.ino
index fb762fc..c7760d3 100644
--- a/uROS_STEP2_SWITCH/uROS_STEP2_SWITCH.ino
+++ b/uROS_STEP2_SWITCH/uROS_STEP2_SWITCH.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino b/uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino
index 048f15f..0abbf9f 100644
--- a/uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino
+++ b/uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -60,22 +60,22 @@ void execByMode(char mode)
 {
   switch (mode) {
     case 1:
-      ledcWriteTone(0, FREQ_C);
+      ledcWriteTone(BUZZER, FREQ_C);
       delay(1000);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
       break;
     case 2:
-      ledcWriteTone(0, FREQ_D);
+      ledcWriteTone(BUZZER, FREQ_D);
       delay(1000);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
       break;
     case 3:
-      ledcWriteTone(0, FREQ_E);
+      ledcWriteTone(BUZZER, FREQ_E);
       delay(1000);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
       break;
     default:
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
       break;
   }
 }
@@ -92,9 +92,8 @@ void setup()
   pinMode(SW_C, INPUT);
   pinMode(SW_R, INPUT);
 
-  ledcSetup(0, 440, 10);
-  ledcAttachPin(BUZZER, 0);
-  ledcWrite(0, 1024);
+  ledcAttach(BUZZER, 440, 10);
+  ledcWrite(BUZZER, 1024);
 
   g_mode = 1;
   setLED(g_mode);
@@ -111,9 +110,9 @@ void loop()
     if (g_mode > 15) {
       g_mode = 15;
     } else {
-      ledcWriteTone(0, INC_FREQ);
+      ledcWriteTone(BUZZER, INC_FREQ);
       delay(30);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
     }
     setLED(g_mode);
   }
@@ -122,18 +121,18 @@ void loop()
     if (g_mode < 1) {
       g_mode = 1;
     } else {
-      ledcWriteTone(0, DEC_FREQ);
+      ledcWriteTone(BUZZER, DEC_FREQ);
       delay(30);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
     }
     setLED(g_mode);
   }
   if (digitalRead(SW_C) == 0) {
-    ledcWriteTone(0, INC_FREQ);
+    ledcWriteTone(BUZZER, INC_FREQ);
     delay(80);
-    ledcWriteTone(0, DEC_FREQ);
+    ledcWriteTone(BUZZER, DEC_FREQ);
     delay(80);
-    ledcWrite(0, 1024);
+    ledcWrite(BUZZER, 1024);
     delay(300);
     execByMode(g_mode);
   }
diff --git a/uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino b/uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino
index a5454e5..27e8879 100644
--- a/uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino
+++ b/uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -94,10 +94,10 @@ void setup()
 
   Serial.begin(115200);
 
-  g_timer1 = timerBegin(1, 80, true);  //1us
-  timerAttachInterrupt(g_timer1, &onTimer1, true);
-  timerAlarmWrite(g_timer1, 250, true);  //4kHz
-  timerAlarmEnable(g_timer1);
+  g_timer1 = timerBegin(1000000);  //1us
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 250, true, 0);  //4kHz
+  timerStart(g_timer1);
 }
 
 void loop()
diff --git a/uROS_STEP5_Straight/interrupt.ino b/uROS_STEP5_Straight/interrupt.ino
index 8d9e922..114ae10 100644
--- a/uROS_STEP5_Straight/interrupt.ino
+++ b/uROS_STEP5_Straight/interrupt.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP5_Straight/run.ino b/uROS_STEP5_Straight/run.ino
index 55715d4..3bd137d 100644
--- a/uROS_STEP5_Straight/run.ino
+++ b/uROS_STEP5_Straight/run.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP5_Straight/uROS_STEP5_Straight.ino b/uROS_STEP5_Straight/uROS_STEP5_Straight.ino
index 6c77f5a..0cda8a1 100644
--- a/uROS_STEP5_Straight/uROS_STEP5_Straight.ino
+++ b/uROS_STEP5_Straight/uROS_STEP5_Straight.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -63,7 +63,7 @@ void IRAM_ATTR isrR(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -79,7 +79,7 @@ void IRAM_ATTR isrL(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -115,20 +115,20 @@ void setup()
   digitalWrite(PWM_R, LOW);
   digitalWrite(PWM_L, LOW);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);  //1us
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1kHz
+  timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer2, isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //150Hz
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //150Hz
+  timerStart(g_timer3);
 }
 
 void loop()
diff --git a/uROS_STEP6_rotate/interrupt.ino b/uROS_STEP6_rotate/interrupt.ino
index 8d9e922..114ae10 100644
--- a/uROS_STEP6_rotate/interrupt.ino
+++ b/uROS_STEP6_rotate/interrupt.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP6_rotate/run.ino b/uROS_STEP6_rotate/run.ino
index 3b25a88..2ee3103 100644
--- a/uROS_STEP6_rotate/run.ino
+++ b/uROS_STEP6_rotate/run.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP6_rotate/uROS_STEP6_rotate.ino b/uROS_STEP6_rotate/uROS_STEP6_rotate.ino
index a4d6ff6..2ce0901 100644
--- a/uROS_STEP6_rotate/uROS_STEP6_rotate.ino
+++ b/uROS_STEP6_rotate/uROS_STEP6_rotate.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -72,7 +72,7 @@ void IRAM_ATTR isrR(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -88,7 +88,7 @@ void IRAM_ATTR isrL(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -124,20 +124,20 @@ void setup()
   digitalWrite(PWM_R, LOW);
   digitalWrite(PWM_L, LOW);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);  //1us
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1kHz
+  timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, &isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //150Hz
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //150Hz
+  timerStart(g_timer3);
 }
 
 void loop()
diff --git a/uROS_STEP7_P_control/interrupt.ino b/uROS_STEP7_P_control/interrupt.ino
index 61b6ec4..49579b0 100644
--- a/uROS_STEP7_P_control/interrupt.ino
+++ b/uROS_STEP7_P_control/interrupt.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP7_P_control/run.ino b/uROS_STEP7_P_control/run.ino
index 55715d4..3bd137d 100644
--- a/uROS_STEP7_P_control/run.ino
+++ b/uROS_STEP7_P_control/run.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP7_P_control/uROS_STEP7_P_control.ino b/uROS_STEP7_P_control/uROS_STEP7_P_control.ino
index cfeefa0..183cd65 100644
--- a/uROS_STEP7_P_control/uROS_STEP7_P_control.ino
+++ b/uROS_STEP7_P_control/uROS_STEP7_P_control.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -127,7 +127,7 @@ void IRAM_ATTR isrR(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -143,7 +143,7 @@ void IRAM_ATTR isrL(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -190,25 +190,25 @@ void setup()
 
   Serial.begin(115200);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
-
-  g_timer1 = timerBegin(1, 80, true);
-  timerAttachInterrupt(g_timer1, &onTimer1, false);
-  timerAlarmWrite(g_timer1, 250, true);
-  timerAlarmEnable(g_timer1);
-
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, &isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
-
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer0 = timerBegin(1000000);  //1us
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1kHz
+  timerStart(g_timer0);
+
+  g_timer1 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 250, true, 0);
+  timerStart(g_timer1);
+
+  g_timer2 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //150Hz
+  timerStart(g_timer2);
+
+  g_timer3 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //150Hz
+  timerStart(g_timer3);
 
   g_sen_r.ref = REF_SEN_R;
   g_sen_l.ref = REF_SEN_L;
diff --git a/uROS_STEP8_micromouse/SPIFFS.ino b/uROS_STEP8_micromouse/SPIFFS.ino
index 3a8e044..6bee69a 100644
--- a/uROS_STEP8_micromouse/SPIFFS.ino
+++ b/uROS_STEP8_micromouse/SPIFFS.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP8_micromouse/adjust.ino b/uROS_STEP8_micromouse/adjust.ino
index 234775e..11769b9 100644
--- a/uROS_STEP8_micromouse/adjust.ino
+++ b/uROS_STEP8_micromouse/adjust.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP8_micromouse/device.h b/uROS_STEP8_micromouse/device.h
index 8dddc49..b48bbbb 100644
--- a/uROS_STEP8_micromouse/device.h
+++ b/uROS_STEP8_micromouse/device.h
@@ -36,6 +36,4 @@
 #define SW_CM 2
 #define SW_RM 4
 
-#define BUZZER_CH 0
-
 #endif  // DEVICE_H_
\ No newline at end of file
diff --git a/uROS_STEP8_micromouse/device.ino b/uROS_STEP8_micromouse/device.ino
index 821e6db..ec56717 100644
--- a/uROS_STEP8_micromouse/device.ino
+++ b/uROS_STEP8_micromouse/device.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -53,7 +53,7 @@ void IRAM_ATTR isrR(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);
   if (g_motor_move) {
     if (g_step_hz_r < 30) g_step_hz_r = 30;
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -69,7 +69,7 @@ void IRAM_ATTR isrL(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);
   if (g_motor_move) {
     if (g_step_hz_l < 30) g_step_hz_l = 30;
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -80,21 +80,21 @@ void IRAM_ATTR isrL(void)
   portEXIT_CRITICAL_ISR(&g_timer_mux);
 }
 
-void controlInterruptStart(void) { timerAlarmEnable(g_timer0); }
-void controlInterruptStop(void) { timerAlarmDisable(g_timer0); }
+void controlInterruptStart(void) { timerStart(g_timer0); }
+void controlInterruptStop(void) { timerStop(g_timer0); }
 
-void sensorInterruptStart(void) { timerAlarmEnable(g_timer1); }
-void sensorInterruptStop(void) { timerAlarmDisable(g_timer1); }
+void sensorInterruptStart(void) { timerStart(g_timer1); }
+void sensorInterruptStop(void) { timerStop(g_timer1); }
 
 void PWMInterruptStart(void)
 {
-  timerAlarmEnable(g_timer2);
-  timerAlarmEnable(g_timer3);
+  timerStart(g_timer2);
+  timerStart(g_timer3);
 }
 void PWMInterruptStop(void)
 {
-  timerAlarmDisable(g_timer2);
-  timerAlarmDisable(g_timer3);
+  timerStop(g_timer2);
+  timerStop(g_timer3);
 }
 
 void initAll(void)
@@ -111,9 +111,8 @@ void initAll(void)
   pinMode(SW_C, INPUT);
   pinMode(SW_R, INPUT);
 
-  ledcSetup(0, 440, 10);
-  ledcAttachPin(BUZZER, 0);
-  ledcWrite(0, 1024);
+  ledcAttach(BUZZER, 440, 10);
+  ledcWrite(BUZZER, 1024);
 
   pinMode(SLED_FR, OUTPUT);
   pinMode(SLED_FL, OUTPUT);
@@ -142,25 +141,25 @@ void initAll(void)
     }
   }
 
-  g_timer0 = timerBegin(0, 80, true);
-  timerAttachInterrupt(g_timer0, &onTimer0, false);
-  timerAlarmWrite(g_timer0, 1000, true);
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);
+  timerStart(g_timer0);
 
-  g_timer1 = timerBegin(1, 80, true);
-  timerAttachInterrupt(g_timer1, &onTimer1, false);
-  timerAlarmWrite(g_timer1, 250, true);
-  timerAlarmEnable(g_timer1);
+  g_timer1 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 250, true, 0);
+  timerStart(g_timer1);
 
-  g_timer2 = timerBegin(2, 40, true);
-  timerAttachInterrupt(g_timer2, &isrR, false);
-  timerAlarmWrite(g_timer2, 13333, true);
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);
-  timerAttachInterrupt(g_timer3, &isrL, false);
-  timerAlarmWrite(g_timer3, 13333, true);
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);
+  timerStart(g_timer3);
 
   Serial.begin(115200);
 
@@ -212,10 +211,10 @@ void setBLED(char data)
 }
 
 //Buzzer
-void enableBuzzer(short f) { ledcWriteTone(BUZZER_CH, f); }
+void enableBuzzer(short f) { ledcWriteTone(BUZZER, f); }
 void disableBuzzer(void)
 {
-  ledcWrite(BUZZER_CH, 1024);  //duty 100% Buzzer OFF
+  ledcWrite(BUZZER, 1024);  //duty 100% Buzzer OFF
 }
 
 //motor
diff --git a/uROS_STEP8_micromouse/fast.ino b/uROS_STEP8_micromouse/fast.ino
index ac4ec9e..0e1fe5b 100644
--- a/uROS_STEP8_micromouse/fast.ino
+++ b/uROS_STEP8_micromouse/fast.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP8_micromouse/interrupt.ino b/uROS_STEP8_micromouse/interrupt.ino
index a6397ad..af6c3ed 100644
--- a/uROS_STEP8_micromouse/interrupt.ino
+++ b/uROS_STEP8_micromouse/interrupt.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP8_micromouse/map_manager.ino b/uROS_STEP8_micromouse/map_manager.ino
index caa4ef9..2648095 100644
--- a/uROS_STEP8_micromouse/map_manager.ino
+++ b/uROS_STEP8_micromouse/map_manager.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP8_micromouse/misc.ino b/uROS_STEP8_micromouse/misc.ino
index e59de6d..f1f714d 100644
--- a/uROS_STEP8_micromouse/misc.ino
+++ b/uROS_STEP8_micromouse/misc.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP8_micromouse/run.ino b/uROS_STEP8_micromouse/run.ino
index ebdc1d2..bb28f40 100644
--- a/uROS_STEP8_micromouse/run.ino
+++ b/uROS_STEP8_micromouse/run.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP8_micromouse/search.ino b/uROS_STEP8_micromouse/search.ino
index 4ba97ae..c17d05f 100644
--- a/uROS_STEP8_micromouse/search.ino
+++ b/uROS_STEP8_micromouse/search.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP8_micromouse/uROS_STEP8_micromouse.ino b/uROS_STEP8_micromouse/uROS_STEP8_micromouse.ino
index 0853d59..f2dfd0f 100644
--- a/uROS_STEP8_micromouse/uROS_STEP8_micromouse.ino
+++ b/uROS_STEP8_micromouse/uROS_STEP8_micromouse.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP9_twistMsg/interrupt.ino b/uROS_STEP9_twistMsg/interrupt.ino
index f693cde..8618f83 100644
--- a/uROS_STEP9_twistMsg/interrupt.ino
+++ b/uROS_STEP9_twistMsg/interrupt.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/uROS_STEP9_twistMsg/uROS_STEP9_twistMsg.ino b/uROS_STEP9_twistMsg/uROS_STEP9_twistMsg.ino
index 8cf5d5e..a80bebf 100644
--- a/uROS_STEP9_twistMsg/uROS_STEP9_twistMsg.ino
+++ b/uROS_STEP9_twistMsg/uROS_STEP9_twistMsg.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -109,7 +109,7 @@ void IRAM_ATTR isrR(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
     if (g_step_hz_r < 30) g_step_hz_r = 30;
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -126,7 +126,7 @@ void IRAM_ATTR isrL(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
     if (g_step_hz_l < 30) g_step_hz_l = 30;
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -174,20 +174,20 @@ void setup()
 
   delay(2000);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);  //1us
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1kHz
+  timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, &isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //150Hz
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //150Hz
+  timerStart(g_timer3);
 
   g_allocator = rcl_get_default_allocator();
 

From 6fde1ee5553162b4cd4fe2bc427a4c3f9686cf5b Mon Sep 17 00:00:00 2001
From: ShotaAk <s.aoki@rt-net.jp>
Date: Tue, 18 Jun 2024 14:12:24 +0900
Subject: [PATCH 2/8] Update CI to build with arduino-esp32 v3.0.1

---
 .github/workflows/compile-sketches.yaml | 2 +-
 README.md                               | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/compile-sketches.yaml b/.github/workflows/compile-sketches.yaml
index 4723fa9..d73f551 100644
--- a/.github/workflows/compile-sketches.yaml
+++ b/.github/workflows/compile-sketches.yaml
@@ -28,7 +28,7 @@ jobs:
           platforms: |  # ESP32公式のpackage indexを使用する
             - name: esp32:esp32
               source-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
-              version: 2.0.17
+              version: 3.0.1
           libraries: |  # RTがカスタマイズしたmicro_ros_arduinoライブラリを使用する
             - source-url: https://github.com/rt-net/micro_ros_arduino/archive/refs/tags/esp32s3-230417.zip
           cli-compile-flags: |  # 警告がエラーとして扱われるので、対処しない警告はエラーから除外する
diff --git a/README.md b/README.md
index 48b3afe..ddff7d5 100644
--- a/README.md
+++ b/README.md
@@ -13,7 +13,7 @@ Pi:Co Classic3用のmicro-ROS Arduinoサンプルスケッチ集です。
 
 ## 動作環境
 
-- arduino-esp32 : v2.0.17
+- arduino-esp32 : v3.0.1
 
 ## サンプルスケッチについて
 

From 6207bc08927271a94610876330b3c120c057f672 Mon Sep 17 00:00:00 2001
From: ShotaAk <s.aoki@rt-net.jp>
Date: Tue, 18 Jun 2024 14:52:05 +0900
Subject: [PATCH 3/8] disable libraries

---
 .github/workflows/compile-sketches.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/compile-sketches.yaml b/.github/workflows/compile-sketches.yaml
index d73f551..48df234 100644
--- a/.github/workflows/compile-sketches.yaml
+++ b/.github/workflows/compile-sketches.yaml
@@ -29,8 +29,8 @@ jobs:
             - name: esp32:esp32
               source-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
               version: 3.0.1
-          libraries: |  # RTがカスタマイズしたmicro_ros_arduinoライブラリを使用する
-            - source-url: https://github.com/rt-net/micro_ros_arduino/archive/refs/tags/esp32s3-230417.zip
+          # libraries: |  # RTがカスタマイズしたmicro_ros_arduinoライブラリを使用する
+          #   - source-url: https://github.com/rt-net/micro_ros_arduino/archive/refs/tags/esp32s3-230417.zip
           cli-compile-flags: |  # 警告がエラーとして扱われるので、対処しない警告はエラーから除外する
             - --build-property
             - "compiler.cpp.extra_flags= \

From 26f54257fb78bef7f3786dfc3c481cbd09a44aff Mon Sep 17 00:00:00 2001
From: ShotaAk <s.aoki@rt-net.jp>
Date: Tue, 18 Jun 2024 15:10:12 +0900
Subject: [PATCH 4/8] disable compile flag

---
 .github/workflows/compile-sketches.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/compile-sketches.yaml b/.github/workflows/compile-sketches.yaml
index 48df234..35d207d 100644
--- a/.github/workflows/compile-sketches.yaml
+++ b/.github/workflows/compile-sketches.yaml
@@ -31,10 +31,10 @@ jobs:
               version: 3.0.1
           # libraries: |  # RTがカスタマイズしたmicro_ros_arduinoライブラリを使用する
           #   - source-url: https://github.com/rt-net/micro_ros_arduino/archive/refs/tags/esp32s3-230417.zip
-          cli-compile-flags: |  # 警告がエラーとして扱われるので、対処しない警告はエラーから除外する
-            - --build-property
-            - "compiler.cpp.extra_flags= \
-              -Wno-error=type-limits"  # micro_ros_arduino側のエラーを防ぐ
+          # cli-compile-flags: |  # 警告がエラーとして扱われるので、対処しない警告はエラーから除外する
+          #   - --build-property
+          #   - "compiler.cpp.extra_flags= \
+          #     -Wno-error=type-limits"  # micro_ros_arduino側のエラーを防ぐ
           sketch-paths: |
             - uROS_STEP1_LED
             - uROS_STEP2_SWITCH

From 81f7537bca2fec54d0d75efeeac83bbd7cd1a45b Mon Sep 17 00:00:00 2001
From: ShotaAk <s.aoki@rt-net.jp>
Date: Tue, 18 Jun 2024 15:19:26 +0900
Subject: [PATCH 5/8] update

---
 .github/workflows/compile-sketches.yaml | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/compile-sketches.yaml b/.github/workflows/compile-sketches.yaml
index 35d207d..8e6728b 100644
--- a/.github/workflows/compile-sketches.yaml
+++ b/.github/workflows/compile-sketches.yaml
@@ -29,12 +29,15 @@ jobs:
             - name: esp32:esp32
               source-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
               version: 3.0.1
-          # libraries: |  # RTがカスタマイズしたmicro_ros_arduinoライブラリを使用する
-          #   - source-url: https://github.com/rt-net/micro_ros_arduino/archive/refs/tags/esp32s3-230417.zip
-          # cli-compile-flags: |  # 警告がエラーとして扱われるので、対処しない警告はエラーから除外する
-          #   - --build-property
-          #   - "compiler.cpp.extra_flags= \
-          #     -Wno-error=type-limits"  # micro_ros_arduino側のエラーを防ぐ
+          libraries: |  # RTがカスタマイズしたmicro_ros_arduinoライブラリを使用する
+            - source-url: https://github.com/rt-net/micro_ros_arduino/archive/refs/tags/esp32s3-230417.zip
+
+          # 警告がエラーとして扱われるので、対処しない警告はエラーから除外する
+          # type-limitsはmicro_ros_arduino側のエラーを防ぐために除外します
+          cli-compile-flags: |
+            - --build-property
+            - "compiler.cpp.extra_flags= \
+              -Wno-error=type-limits"
           sketch-paths: |
             - uROS_STEP1_LED
             - uROS_STEP2_SWITCH

From d3409a739bb5220df8e3ca6ecf846741ac5022b3 Mon Sep 17 00:00:00 2001
From: ShotaAk <s.aoki@rt-net.jp>
Date: Tue, 18 Jun 2024 15:26:34 +0900
Subject: [PATCH 6/8] disable compile flag

---
 .github/workflows/compile-sketches.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/compile-sketches.yaml b/.github/workflows/compile-sketches.yaml
index 8e6728b..c4f4f27 100644
--- a/.github/workflows/compile-sketches.yaml
+++ b/.github/workflows/compile-sketches.yaml
@@ -34,10 +34,10 @@ jobs:
 
           # 警告がエラーとして扱われるので、対処しない警告はエラーから除外する
           # type-limitsはmicro_ros_arduino側のエラーを防ぐために除外します
-          cli-compile-flags: |
-            - --build-property
-            - "compiler.cpp.extra_flags= \
-              -Wno-error=type-limits"
+          # cli-compile-flags: |
+          #   - --build-property
+          #   - "compiler.cpp.extra_flags= \
+          #     -Wno-error=type-limits"
           sketch-paths: |
             - uROS_STEP1_LED
             - uROS_STEP2_SWITCH

From a32a30e77b9fbdcde6f6cac86a37eb3124ccbb7b Mon Sep 17 00:00:00 2001
From: ShotaAk <s.aoki@rt-net.jp>
Date: Tue, 18 Jun 2024 15:41:04 +0900
Subject: [PATCH 7/8] update compiler flag

---
 .github/workflows/compile-sketches.yaml | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/compile-sketches.yaml b/.github/workflows/compile-sketches.yaml
index c4f4f27..b4c75ad 100644
--- a/.github/workflows/compile-sketches.yaml
+++ b/.github/workflows/compile-sketches.yaml
@@ -34,10 +34,9 @@ jobs:
 
           # 警告がエラーとして扱われるので、対処しない警告はエラーから除外する
           # type-limitsはmicro_ros_arduino側のエラーを防ぐために除外します
-          # cli-compile-flags: |
-          #   - --build-property
-          #   - "compiler.cpp.extra_flags= \
-          #     -Wno-error=type-limits"
+          cli-compile-flags: |
+            - --build-property
+            - compiler.cpp.extra_flags=-Wno-error=type-limits
           sketch-paths: |
             - uROS_STEP1_LED
             - uROS_STEP2_SWITCH

From a92c8de7c5faa2f98ff04a076a11ccf336b9e6fd Mon Sep 17 00:00:00 2001
From: ShotaAk <s.aoki@rt-net.jp>
Date: Tue, 18 Jun 2024 15:59:09 +0900
Subject: [PATCH 8/8] remove compiler flag

---
 .github/workflows/compile-sketches.yaml | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/.github/workflows/compile-sketches.yaml b/.github/workflows/compile-sketches.yaml
index b4c75ad..392da76 100644
--- a/.github/workflows/compile-sketches.yaml
+++ b/.github/workflows/compile-sketches.yaml
@@ -31,12 +31,6 @@ jobs:
               version: 3.0.1
           libraries: |  # RTがカスタマイズしたmicro_ros_arduinoライブラリを使用する
             - source-url: https://github.com/rt-net/micro_ros_arduino/archive/refs/tags/esp32s3-230417.zip
-
-          # 警告がエラーとして扱われるので、対処しない警告はエラーから除外する
-          # type-limitsはmicro_ros_arduino側のエラーを防ぐために除外します
-          cli-compile-flags: |
-            - --build-property
-            - compiler.cpp.extra_flags=-Wno-error=type-limits
           sketch-paths: |
             - uROS_STEP1_LED
             - uROS_STEP2_SWITCH