diff --git a/.github/workflows/arduino-action-core2-compile.yml b/.github/workflows/arduino-action-compile.yml
similarity index 88%
rename from .github/workflows/arduino-action-core2-compile.yml
rename to .github/workflows/arduino-action-compile.yml
index 922de740..fe53a612 100644
--- a/.github/workflows/arduino-action-core2-compile.yml
+++ b/.github/workflows/arduino-action-compile.yml
@@ -40,12 +40,20 @@ jobs:
         # You may add a suffix behind the fqbn with "|" to specify one board for e.g. different compile options like arduino:avr:uno|trace
         #############################################################################################################
         arduino-boards-fqbn:
+<<<<<<< HEAD:.github/workflows/arduino-action-compile.yml
+          - m5stack:esp32:m5stack_core2
+=======
           - m5stack:esp32:core2
+>>>>>>> d7b4461c702d44503857638f1447dcb2325f0d64:.github/workflows/arduino-action-core2-compile.yml
 
         # Specify parameters for each board.
         #############################################################################################################
         include:
+<<<<<<< HEAD:.github/workflows/arduino-action-compile.yml
+          - arduino-boards-fqbn: m5stack:esp32:m5stack_core2
+=======
           - arduino-boards-fqbn: m5stack:esp32:core2
+>>>>>>> d7b4461c702d44503857638f1447dcb2325f0d64:.github/workflows/arduino-action-core2-compile.yml
             platform-url: https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/arduino/package_m5stack_index.json
             sketches-exclude: WhistleSwitch,50Hz,SimpleFrequencyDetector
 
diff --git a/README.md b/README.md
index 3a4d308f..dbfbe21e 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # M5Core2 Library
 
-[![Arduino Compile](https://github.com/m5stack/M5Core2/actions/workflows/arduino-action-core2-compile.yml/badge.svg)](https://github.com/m5stack/M5Core2/actions/workflows/arduino-action-stickc-compile.yml)
+[![Arduino Compile](https://github.com/m5stack/M5Core2/actions/workflows/arduino-action-compile.yml/badge.svg)](https://github.com/m5stack/M5Core2/actions/workflows/arduino-action-compile.yml)
 [![Arduino Lint](https://github.com/m5stack/M5Core2/actions/workflows/Arduino-Lint-Check.yml/badge.svg)](https://github.com/m5stack/M5Core2/actions/workflows/Arduino-Lint-Check.yml)
 [![Clang Format](https://github.com/m5stack/M5Core2/actions/workflows/clang-format-check.yml/badge.svg)](https://github.com/m5stack/M5Core2/actions/workflows/clang-format-check.yml)
 
diff --git a/README_cn.md b/README_cn.md
index 993f3068..648a8dd8 100644
--- a/README_cn.md
+++ b/README_cn.md
@@ -1,6 +1,6 @@
 # M5Core2 Library
 
-[![Arduino Compile](https://github.com/m5stack/M5Core2/actions/workflows/arduino-action-core2-compile.yml/badge.svg)](https://github.com/m5stack/M5Core2/actions/workflows/arduino-action-stickc-compile.yml)
+[![Arduino Compile](https://github.com/m5stack/M5Core2/actions/workflows/arduino-action-compile.yml/badge.svg)](https://github.com/m5stack/M5Core2/actions/workflows/arduino-action-compile.yml)
 [![Arduino Lint](https://github.com/m5stack/M5Core2/actions/workflows/Arduino-Lint-Check.yml/badge.svg)](https://github.com/m5stack/M5Core2/actions/workflows/Arduino-Lint-Check.yml)
 [![Clang Format](https://github.com/m5stack/M5Core2/actions/workflows/clang-format-check.yml/badge.svg)](https://github.com/m5stack/M5Core2/actions/workflows/clang-format-check.yml)
 
diff --git a/examples/Module/4EncoderMotor/4EncoderMotor.ino b/examples/Module/4EncoderMotor/4EncoderMotor.ino
new file mode 100644
index 00000000..8b1b9502
--- /dev/null
+++ b/examples/Module/4EncoderMotor/4EncoderMotor.ino
@@ -0,0 +1,148 @@
+/**
+ * @file DriverSample.ino
+ * @author SeanKwok (shaoxiang@m5stack.com)
+ * @brief Module 4EncoderMotor Test Demo.
+ * @version 0.1
+ * @date 2024-01-19
+ *
+ *
+ * @Hardwares: M5Core2 + Module 4EncoderMotor
+ * @Platform Version: Arduino M5Stack Board Manager v2.1.0
+ * @Dependent Library:
+ * M5Unified: https://github.com/m5stack/M5Unified
+ * M5GFX: https://github.com/m5stack/M5GFX
+ * M5Module4EncoderMotor: https://github.com/m5stack/M5Module-4EncoderMotor
+ */
+
+#include "M5Unified.h"
+#include "M5GFX.h"
+#include "M5Module4EncoderMotor.h"
+
+M5Module4EncoderMotor driver;
+
+#define MAX_RECORD_SIZE 256
+
+float amp_record[MAX_RECORD_SIZE] = {0};
+uint8_t record_index              = 0;
+float amp_value                   = 0.0f;
+
+uint8_t avg_filter_level = 20;
+
+float avg_filter(float *data, int len) {
+    float sum = 0;
+    float min = data[0];
+    float max = data[0];
+    for (int i = 0; i < len; i++) {
+        if (data[i] < min) {
+            min = data[i];
+        }
+        if (data[i] > max) {
+            max = data[i];
+        }
+        sum += data[i];
+    }
+    sum -= min;
+    sum -= max;
+    return sum / (len - 2);
+}
+
+void setup() {
+    M5.begin();
+    M5.Display.begin();
+
+    M5.Display.setTextColor(WHITE);
+    M5.Display.setTextDatum(top_center);
+    M5.Display.setFont(&fonts::FreeSansBold12pt7b);
+    M5.Display.setTextSize(1);
+
+    while (!driver.begin(&Wire1, MODULE_4ENCODERMOTOR_ADDR, 21, 22)) {
+        Serial.println("Driver Init faild!");
+        M5.Display.drawString("Driver Init faild!", 160, 7);
+        delay(1000);
+    }
+
+    Serial.println("Driver Init success!");
+    M5.Display.clear();
+    M5.Display.fillRect(0, 0, 320, 35, 0x27f);
+    M5.Display.drawString("4Encoder Motor", 160, 7);
+    M5.Display.setTextDatum(top_left);
+
+    // motor channel 0 -3
+    for (uint8_t i = 0; i < 4; i++) {
+        driver.setMode(i, NORMAL_MODE);
+        driver.setMotorSpeed(i, 127);
+    }
+    M5.Display.drawString("NORMAL MODE", 20, 40 + 35 * 5);
+}
+
+bool direction = true;
+int mode       = NORMAL_MODE;
+
+void loop() {
+    M5.update();
+    for (uint8_t i = 0; i < 4; i++) {
+        M5.Display.fillRect(20, 40 + 35 * i, 300, 35, BLACK);
+        int32_t encoder_value = driver.getEncoderValue(i);
+        M5.Display.drawString("CH" + String(i) + ": " + String(encoder_value),
+                              20, 40 + 35 * i);
+    }
+
+    if (avg_filter_level != 0) {
+        amp_record[record_index] = driver.getMotorCurrent();
+        record_index++;
+        if (record_index >= avg_filter_level) {
+            record_index = 0;
+        }
+        amp_value = avg_filter(amp_record, avg_filter_level);
+    }
+
+    float voltage = driver.getAnalogInput(_8bit) / 255.0 * 3.3 / 0.16;
+    float current = amp_value;
+
+    M5.Display.fillRect(20, 40 + 35 * 4, 300, 35, BLACK);
+    M5.Display.drawString(
+        "POWER: " + String(voltage) + "V/" + String(current) + "A", 20,
+        40 + 35 * 4);
+
+    if (M5.BtnA.wasClicked() ||
+        (M5.Touch.getCount() && M5.Touch.getDetail(0).wasClicked())) {
+        mode++;
+        if (mode > SPEED_MODE) {
+            mode = NORMAL_MODE;
+        }
+        M5.Display.fillRect(20, 40 + 35 * 5, 300, 35, BLACK);
+
+        switch (mode) {
+            case NORMAL_MODE: {
+                M5.Display.drawString("NORMAL MODE", 20, 40 + 35 * 5);
+                // motor channel 0 -3 NORMAL_MODE
+                for (uint8_t i = 0; i < 4; i++) {
+                    driver.setMode(i, NORMAL_MODE);
+                    driver.setMotorSpeed(i, 127);
+                }
+                break;
+            }
+            case POSITION_MODE: {
+                M5.Display.drawString("POSITION MODE", 20, 40 + 35 * 5);
+                // motor channel 0 -3 POSITION_MODE
+
+                for (uint8_t i = 0; i < 4; i++) {
+                    driver.setMode(i, POSITION_MODE);
+                    driver.setEncoderValue(i, 0);
+                    driver.setPostionPIDMaxSpeed(i, 127);
+                    driver.setPositionPoint(i, 1000);
+                }
+                break;
+            }
+            case SPEED_MODE: {
+                M5.Display.drawString("SPEED MODE", 20, 40 + 35 * 5);
+                // motor channel 0 -3 SPEED_MODE
+                for (uint8_t i = 0; i < 4; i++) {
+                    driver.setMode(i, SPEED_MODE);
+                    driver.setSpeedPoint(i, 127);
+                }
+                break;
+            }
+        }
+    }
+}
diff --git a/library.json b/library.json
index 5ba64722..d5e6afd3 100644
--- a/library.json
+++ b/library.json
@@ -10,7 +10,7 @@
     "type": "git",
     "url": "https://github.com/m5stack/M5Core2.git"
   },
-  "version": "0.1.8",
+  "version": "0.1.9",
   "frameworks": "arduino",
   "platforms": "espressif32",
   "headers": "M5Core2.h"
diff --git a/library.properties b/library.properties
index 8b95edd1..7e6bf367 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=M5Core2
-version=0.1.8
+version=0.1.9
 author=M5Stack
 maintainer=M5Stack
 sentence=Library for M5Stack Core2 development kit
diff --git a/src/AXP.cpp b/src/AXP.cpp
index ab16dec7..28380390 100644
--- a/src/AXP.cpp
+++ b/src/AXP.cpp
@@ -118,7 +118,11 @@ void AXP::begin() {
         ina3221.begin(&Wire1);
         axp2101.set_lcd_back_light_voltage(3000);
         axp2101.set_lcd_and_tf_voltage(3300);
-        axp2101.set_bus_5v(true);
+        if (ina3221.getVoltage(INA3221_CH2) > 4.5f)
+            axp2101.set_bus_5v(false);
+        else {
+            axp2101.set_bus_5v(true);
+        }
         axp2101.set_sys_led(true);
     } else {
         _pmic = pmic_unknown;
diff --git a/src/AXP192.cpp b/src/AXP192.cpp
index 8143d164..d8a5b432 100644
--- a/src/AXP192.cpp
+++ b/src/AXP192.cpp
@@ -59,7 +59,7 @@ void AXP192::begin() {
     delay(100);
     // I2C_WriteByteDataAt(0X15,0XFE,0XFF);
 
-    // axp: check v-bus status & enable peripherals power (EXTEN) if 5V Out required
+    // axp: check v-bus status
     if (Read8bit(0x00) & 0x08) {
         Write1Byte(0x30, Read8bit(0x30) | 0x80);
         // if v-bus can use, disable M-Bus 5V output to input
diff --git a/src/INA3221.cpp b/src/INA3221.cpp
index 6c8a4984..553cac60 100644
--- a/src/INA3221.cpp
+++ b/src/INA3221.cpp
@@ -274,6 +274,8 @@ void INA3221::setChannelEnable(ina3221_ch_t channel) {
         case INA3221_CH3:
             conf_reg.ch3_en = 1;
             break;
+        default:
+            break;
     }
 
     _write(INA3221_REG_CONF, (uint16_t *)&conf_reg);
@@ -294,14 +296,16 @@ void INA3221::setChannelDisable(ina3221_ch_t channel) {
         case INA3221_CH3:
             conf_reg.ch3_en = 0;
             break;
+        default:
+            break;
     }
 
     _write(INA3221_REG_CONF, (uint16_t *)&conf_reg);
 }
 
 void INA3221::setWarnAlertShuntLimit(ina3221_ch_t channel, int32_t voltageuV) {
-    ina3221_reg_t reg;
-    int16_t val = 0;
+    ina3221_reg_t reg = INA3221_REG_CONF;
+    int16_t val       = 0;
 
     switch (channel) {
         case INA3221_CH1:
@@ -313,6 +317,8 @@ void INA3221::setWarnAlertShuntLimit(ina3221_ch_t channel, int32_t voltageuV) {
         case INA3221_CH3:
             reg = INA3221_REG_CH3_WARNING_ALERT_LIM;
             break;
+        default:
+            break;
     }
 
     val = voltageuV / 5;
@@ -320,8 +326,8 @@ void INA3221::setWarnAlertShuntLimit(ina3221_ch_t channel, int32_t voltageuV) {
 }
 
 void INA3221::setCritAlertShuntLimit(ina3221_ch_t channel, int32_t voltageuV) {
-    ina3221_reg_t reg;
-    int16_t val = 0;
+    ina3221_reg_t reg = INA3221_REG_CONF;
+    int16_t val       = 0;
 
     switch (channel) {
         case INA3221_CH1:
@@ -333,6 +339,8 @@ void INA3221::setCritAlertShuntLimit(ina3221_ch_t channel, int32_t voltageuV) {
         case INA3221_CH3:
             reg = INA3221_REG_CH3_CRIT_ALERT_LIM;
             break;
+        default:
+            break;
     }
 
     val = voltageuV / 5;
@@ -368,6 +376,8 @@ void INA3221::setCurrentSumEnable(ina3221_ch_t channel) {
         case INA3221_CH3:
             masken_reg.shunt_sum_en_ch3 = 1;
             break;
+        default:
+            break;
     }
 
     _write(INA3221_REG_MASK_ENABLE, (uint16_t *)&masken_reg);
@@ -389,6 +399,8 @@ void INA3221::setCurrentSumDisable(ina3221_ch_t channel) {
         case INA3221_CH3:
             masken_reg.shunt_sum_en_ch3 = 0;
             break;
+        default:
+            break;
     }
 
     _write(INA3221_REG_MASK_ENABLE, (uint16_t *)&masken_reg);
@@ -397,8 +409,8 @@ void INA3221::setCurrentSumDisable(ina3221_ch_t channel) {
 
 int32_t INA3221::getShuntVoltage(ina3221_ch_t channel) {
     int32_t res;
-    ina3221_reg_t reg;
-    uint16_t val_raw = 0;
+    ina3221_reg_t reg = INA3221_REG_CONF;
+    uint16_t val_raw  = 0;
 
     switch (channel) {
         case INA3221_CH1:
@@ -410,6 +422,8 @@ int32_t INA3221::getShuntVoltage(ina3221_ch_t channel) {
         case INA3221_CH3:
             reg = INA3221_REG_CH3_SHUNTV;
             break;
+        default:
+            break;
     }
 
     _read(reg, &val_raw);
@@ -494,9 +508,9 @@ float INA3221::getCurrentCompensated(ina3221_ch_t channel) {
 }
 
 float INA3221::getVoltage(ina3221_ch_t channel) {
-    float voltage_V = 0.0;
-    ina3221_reg_t reg;
-    uint16_t val_raw = 0;
+    float voltage_V   = 0.0;
+    ina3221_reg_t reg = INA3221_REG_CONF;
+    uint16_t val_raw  = 0;
 
     switch (channel) {
         case INA3221_CH1:
@@ -508,6 +522,8 @@ float INA3221::getVoltage(ina3221_ch_t channel) {
         case INA3221_CH3:
             reg = INA3221_REG_CH3_BUSV;
             break;
+        default:
+            break;
     }
 
     _read(reg, &val_raw);