diff --git a/platformio.ini b/platformio.ini
index 4da7359..fae01a6 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -8,7 +8,7 @@
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html
 
-[env:esp32doit-devkit-v1]
+[env]
 platform = espressif32
 board = esp32doit-devkit-v1
 board_build.partitions = no_ota.csv
@@ -16,6 +16,7 @@ framework = arduino
 monitor_speed = 115200
 upload_speed = 921600
 monitor_port = COM3
+monitor_filters = esp32_exception_decoder
 lib_deps = 
 	madhephaestus/ESP32Encoder@^0.4.0
 	jvpernis/PS3 Controller Host@^1.1.0
@@ -28,5 +29,12 @@ lib_deps =
 	mprograms/QMC5883LCompass@^1.1.1
 upload_port = COM3
 
+[env:release]
+build_type = release
+
+[env:debug]
+monitor_filters = esp32_exception_decoder
+build_type = debug
+
 [platformio]
 description = A Rover who should be drive a route by gps.