diff --git a/platformio.ini b/platformio.ini
index 471d6f2..a98b34e 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -11,78 +11,30 @@
 [platformio]
 src_dir = RCMv2
 
-[env:RCMesp32dev]
-framework = arduino
-platform = espressif32@6.6.0
-board = esp32dev
-build_flags = -DCORE_DEBUG_LEVEL=0
-monitor_speed = 115200
-lib_deps = 
-	joshua1024/JMotor@~0.22.3
-	joshua1024/ESP32_easy_wifi_data@^1.0.0
-
-[env:RCMadafruit_qtpy_esp32s3_nopsram]
-framework = arduino
-platform = espressif32@6.6.0
-board = adafruit_qtpy_esp32s3_nopsram
-build_flags = -DCORE_DEBUG_LEVEL=0
-monitor_speed = 115200
-lib_deps = 
+[env]
+lib_deps =
 	joshua1024/JMotor@~0.22.3
 	joshua1024/ESP32_easy_wifi_data@^1.0.0
 	fastled/FastLED@3.6.0
-
-[env:RCMadafruit_qtpy_esp32s3_n4r2]
-framework = arduino
-platform = espressif32@6.6.0
-board = adafruit_qtpy_esp32s3_n4r2
-build_flags = -DCORE_DEBUG_LEVEL=0
+    https://github.com/micro-ROS/micro_ros_arduino#v2.0.7-iron
 monitor_speed = 115200
-lib_deps = 
-	joshua1024/JMotor@~0.22.3
-	joshua1024/ESP32_easy_wifi_data@^1.0.0
-	fastled/FastLED@3.6.0
+build_flags =
+    -L ./.pio/libdeps/$PIOENV/micro_ros_arduino/src/esp32/
+    -l microros
+	-DCORE_DEBUG_LEVEL=0
 
-[env:ROSesp32dev]
+
+[env:esp32dev]
 framework = arduino
 platform = espressif32@6.6.0
 board = esp32dev
-monitor_speed = 115200
-build_flags =
-    -L ./.pio/libdeps/ROSesp32dev/micro_ros_arduino/src/esp32/
-    -l microros
-	-DCORE_DEBUG_LEVEL=0
-	-DRCM_ROS=1
-lib_deps = 
-	joshua1024/JMotor@~0.22.3
-    https://github.com/micro-ROS/micro_ros_arduino#v2.0.7-iron
 
-[env:ROSadafruit_qtpy_esp32s3_nopsram]
+[env:adafruit_qtpy_esp32s3_nopsram]
 framework = arduino
 platform = espressif32@6.6.0
 board = adafruit_qtpy_esp32s3_nopsram
-monitor_speed = 115200
-build_flags =
-    -L ./.pio/libdeps/ROSadafruit_qtpy_esp32s3_nopsram/micro_ros_arduino/src/esp32/
-    -l microros
-	-DCORE_DEBUG_LEVEL=0
-	-DRCM_ROS=1
-lib_deps = 
-	joshua1024/JMotor@~0.22.3
-	fastled/FastLED@3.6.0
-    https://github.com/micro-ROS/micro_ros_arduino#v2.0.7-iron
 
-[env:ROSadafruit_qtpy_esp32s3_n4r2]
+[env:adafruit_qtpy_esp32s3_n4r2]
 framework = arduino
 platform = espressif32@6.6.0
 board = adafruit_qtpy_esp32s3_n4r2
-monitor_speed = 115200
-build_flags =
-    -L ./.pio/libdeps/ROSadafruit_qtpy_esp32s3_n4r2/micro_ros_arduino/src/esp32/
-    -l microros
-	-DCORE_DEBUG_LEVEL=0
-	-DRCM_ROS=1
-lib_deps = 
-	joshua1024/JMotor@~0.22.3
-	fastled/FastLED@3.6.0
-    https://github.com/micro-ROS/micro_ros_arduino#v2.0.7-iron