Merge remote-tracking branch 'origin/release' into feature/#20-communication

example/FindAFriend/FindAFriend/.theia/launch.json

@@ -0,0 +1,8 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  "version": "0.2.0",
+  "configurations": [
+  
+  ]
+}

example/FindAFriend/FindAFriend/FindAFriend.ino

@@ -0,0 +1,48 @@
+#include "Dezibot.h"
+
+Dezibot dezibot =  Dezibot();
+const int centeredThreshold = 50 ;
+
+void setup() {
+  // put your setup code here, to run once:
+  dezibot.begin();
+  Serial.begin(115200);
+}
+
+void loop() {
+  int32_t leftValue = (int32_t)dezibot.lightDetection.getAverageValue(IR_LEFT, 20, 1);
+  int32_t rightValue = (int32_t)dezibot.lightDetection.getAverageValue(IR_RIGHT, 20, 1); 
+  switch(dezibot.lightDetection.getBrightest(IR)){
+    case IR_FRONT:
+      //correct Stearing to be centered
+      if( abs(leftValue-rightValue)
+          < centeredThreshold){
+            dezibot.motion.move();
+          }else{
+            if (leftValue > rightValue){
+              dezibot.motion.rotateAntiClockwise();
+            } else{
+              dezibot.motion.rotateClockwise();
+            }
+          }
+      dezibot.multiColorLight.setTopLeds(BLUE);
+      break;
+    case IR_LEFT:
+      dezibot.motion.rotateAntiClockwise();
+      dezibot.multiColorLight.setTopLeds(RED);
+      break;
+    case IR_RIGHT:
+      dezibot.motion.rotateClockwise();
+      dezibot.multiColorLight.setTopLeds(GREEN);
+      break;
+    case IR_BACK:
+      if(leftValue > rightValue){
+        dezibot.motion.rotateAntiClockwise();
+      } else {
+        dezibot.motion.rotateClockwise();
+      }
+      dezibot.multiColorLight.setTopLeds(YELLOW);
+      break;
+  }
+  //delay(100);
+}

example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/FrequencyFindAFriend.ino

@@ -0,0 +1,156 @@
+#include <Dezibot.h>
+#include <arduinoFFT.h>
+#include <rom/ets_sys.h>
+const uint16_t samples = 256; //This value MUST ALWAYS be a power of 2
+const int centeredThreshold = 50 ;
+//const float signalFrequency = 1000;
+const float samplingFrequency = 4000;
+float vReal[4][samples];
+float vImag[4][samples];
+#define SCL_INDEX 0x00
+#define SCL_TIME 0x01
+#define SCL_FREQUENCY 0x02
+#define SCL_PLOT 0x03
+
+ArduinoFFT<float> FFT = ArduinoFFT<float>(vReal[0], vImag[0], samples, samplingFrequency); /* Create FFT object */
+
+Dezibot dezibot = Dezibot();
+void setup() {
+  dezibot.begin();
+  Serial.begin(115200);
+  //dezibot.infraredLight.front.turnOn();
+  //dezibot.infraredLight.bottom.turnOn();
+}
+
+void loop() {
+  portDISABLE_INTERRUPTS();
+  for(int i = 0; i < samples; i++){
+    vReal[0][i] = dezibot.lightDetection.getValue(IR_FRONT);
+    vImag[0][i] = 0.0;
+    vReal[1][i] = dezibot.lightDetection.getValue(IR_LEFT);
+    vImag[1][i] = 0.0;
+    vReal[2][i] = dezibot.lightDetection.getValue(IR_RIGHT);
+    vImag[2][i] = 0.0;
+    vReal[3][i] = dezibot.lightDetection.getValue(IR_BACK);
+    vImag[3][i] = 0.0;
+    ets_delay_us(125);
+  }
+  
+  portENABLE_INTERRUPTS();
+  //PrintVector(vReal, (samples>>1), 0);
+  
+  //PrintVector(vReal, (samples>>1), 0);
+  float frequency[4];
+  float magnitude[4];
+  for(int index = 0; index <4; index++){
+    FFT.setArrays(vReal[index], vImag[index]);
+    FFT.windowing(FFTWindow::Rectangle, FFTDirection::Forward);	/* Weigh data */
+    FFT.compute(FFTDirection::Forward); /* Compute FFT */
+    FFT.complexToMagnitude(); /* Compute magnitudes */
+    FFT.majorPeak(&frequency[index],&magnitude[index]);
+    if(abs(frequency[index]-1147)>10){
+      magnitude[index] = 0;
+    }
+    Serial.print(index);
+    Serial.print(":");
+    Serial.print(frequency[index]);
+    Serial.print(",");
+    Serial.print(index+4);
+    Serial.print(":");
+    Serial.print(magnitude[index]);
+    if(index < 3){
+      Serial.print(",");
+    }
+    Serial.println();
+  }
+
+//================================================
+float leftValue = magnitude[1];
+float rightValue = magnitude[2]; 
+switch(brightest(magnitude)){
+    case IR_FRONT:
+      //correct Stearing to be centered
+      if( abs(leftValue-rightValue)
+          < centeredThreshold){
+            dezibot.motion.move();
+          }else{
+            if (leftValue > rightValue){
+              dezibot.motion.rotateAntiClockwise();
+            } else{
+              dezibot.motion.rotateClockwise();
+            }
+          }
+      dezibot.multiColorLight.setTopLeds(BLUE);
+      break;
+    case IR_LEFT:
+      dezibot.motion.rotateAntiClockwise();
+      dezibot.multiColorLight.setTopLeds(RED);
+      break;
+    case IR_RIGHT:
+      dezibot.motion.rotateClockwise();
+      dezibot.multiColorLight.setTopLeds(GREEN);
+      break;
+    case IR_BACK:
+      if(leftValue > rightValue){
+        dezibot.motion.rotateAntiClockwise();
+      } else {
+        dezibot.motion.rotateClockwise();
+      }
+      dezibot.multiColorLight.setTopLeds(YELLOW);
+      break;
+  }
+
+
+
+
+
+
+}
+
+photoTransistors brightest(float *magnitudes){
+  int pos;
+  float maxMagnitude = 0; 
+  for(int index = 0; index <4; index++){
+    if (magnitudes[index] > maxMagnitude){
+      pos = index;
+      maxMagnitude = magnitudes[index];
+    }
+  }
+  switch (pos) {
+    case 0:
+      return IR_FRONT;
+    case 1: 
+      return IR_LEFT;
+    case 2: 
+      return IR_RIGHT;
+    case 3:
+      return IR_BACK;
+  }
+}
+
+void PrintVector(float *vData, uint16_t bufferSize, uint8_t scaleType)
+{
+  for (uint16_t i = 0; i < bufferSize; i++)
+  {
+    float abscissa;
+    /* Print abscissa value */
+    switch (scaleType)
+    {
+      case SCL_INDEX:
+        abscissa = (i * 1.0);
+	break;
+      case SCL_TIME:
+        abscissa = ((i * 1.0) / samplingFrequency);
+	break;
+      case SCL_FREQUENCY:
+        abscissa = ((i * 1.0 * samplingFrequency) / samples);
+	break;
+    }
+    Serial.print(abscissa, 6);
+    if(scaleType==SCL_FREQUENCY)
+      Serial.print("Hz");
+    Serial.print(" ");
+    Serial.println(vData[i], 4);
+  }
+  Serial.println();
+}

example/IMU/Shake_Detection/shake_detection/shake_detection.ino

@@ -0,0 +1,19 @@
+#include "Dezibot.h"
+
+Dezibot dezibot = Dezibot();
+void setup() {
+  // put your setup code here, to run once:
+
+dezibot.begin();
+dezibot.multiColorLight.turnOffLed();
+ 
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+if(dezibot.motionDetection.isShaken(1000,zAxis)){
+  dezibot.multiColorLight.setTopLeds(0xFF0000);
+} else if(dezibot.motionDetection.isShaken(1000,xAxis|yAxis)) {
+  dezibot.multiColorLight.setTopLeds(0x00FF00);
+}
+}

example/IMU/Tilt_Detection/tilt_detection/tilt_detection.ino

@@ -0,0 +1,37 @@
+#include "Dezibot.h"
+
+Dezibot dezibot = Dezibot();
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+  dezibot.begin();
+}
+
+void loop() {
+  switch (dezibot.motionDetection.getTiltDirection()) {
+    case Front:
+      dezibot.multiColorLight.setTopLeds(GREEN);
+      break;
+    case Left:
+      dezibot.multiColorLight.setTopLeds(YELLOW);
+      break;
+    case Right:
+      dezibot.multiColorLight.setTopLeds(TURQUOISE);
+      break;
+    case Back:
+      dezibot.multiColorLight.setTopLeds(BLUE);
+      break;
+    case Flipped:
+      dezibot.multiColorLight.setTopLeds(PINK);
+      break;
+    case Neutral:
+      dezibot.multiColorLight.turnOffLed();
+      break;
+
+    case Error:
+      dezibot.multiColorLight.setTopLeds(RED);
+      break;
+  }
+  delay(100);
+}

example/IRDirection/IRDirection/IRDirection.ino

@@ -0,0 +1,35 @@
+#include "Dezibot.h"
+
+Dezibot dezibot =  Dezibot();
+void setup() {
+  // put your setup code here, to run once:
+  dezibot.begin();
+  Serial.begin(115200);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  Serial.print("Front:");
+  Serial.print(dezibot.lightDetection.getAverageValue(IR_FRONT,20,1));
+  Serial.print(",Left:");
+  Serial.print(dezibot.lightDetection.getAverageValue(IR_LEFT,20,1));
+  Serial.print(",Right:");
+  Serial.print(dezibot.lightDetection.getAverageValue(IR_RIGHT,20,1));
+  Serial.print(",Back:");
+  Serial.println(dezibot.lightDetection.getAverageValue(IR_BACK,20,1));
+  switch(dezibot.lightDetection.getBrightest(IR)){
+    case IR_FRONT:
+      dezibot.multiColorLight.setTopLeds(BLUE);
+      break;
+    case IR_LEFT:
+      dezibot.multiColorLight.setTopLeds(RED);
+      break;
+    case IR_RIGHT:
+      dezibot.multiColorLight.setTopLeds(GREEN);
+      break;
+    case IR_BACK:
+      dezibot.multiColorLight.setTopLeds(YELLOW);
+      break;
+  }
+  //delay(100);
+}

example/advanced/FindAFriend/FindAFriend.ino

@@ -0,0 +1,17 @@
+#include "Dezibot.h"
+
+Dezibot dezibot =  Dezibot();
+const int centeredThreshold = 50 ;
+
+void setup() {
+  // put your setup code here, to run once:
+  dezibot.begin();
+  //Serial.begin(115200);
+  dezibot.infraredLight.bottom.turnOn();
+  dezibot.infraredLight.front.turnOn();
+}
+
+void loop() {
+  
+  //delay(100);
+}

example/advanced/simpleMorse/simpleMorse.ino

@@ -0,0 +1,82 @@
+#include "Dezibot.h"
+
+Dezibot dezibot = Dezibot();
+void setup() {
+  // put your setup code here, to run once:
+  dezibot.begin();
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  delay(2000);
+  dezibot.multiColorLight.setLed(ALL,dezibot.multiColorLight.color(100,0,0));
+  delay(2000);
+  dezibot.multiColorLight.turnOffLed(ALL);
+  delay(2000);
+  //dezibot.display.print("Starte Nachricht!");
+  //delay(2000);
+  //dezibot.display.clear();
+
+  // T
+  longSignal(1);
+  pauseLetter();
+  // E
+  shortSignal(1);
+  pauseLetter();
+  // S
+  shortSignal(3);
+  pauseLetter();
+  // T
+  longSignal(1);
+  pauseLetter();
+
+  pauseWord();
+
+  //A
+  shortSignal(1);
+  longSignal(1);
+  pauseLetter();
+  //B
+  longSignal(1);
+  shortSignal(3);
+  pauseLetter();
+  //C
+  longSignal(1);
+  shortSignal(1);
+  longSignal(1);
+  shortSignal(1);
+
+  delay(2000);
+  dezibot.multiColorLight.setLed(ALL,dezibot.multiColorLight.color(0,255,0));
+  delay(2000);
+  dezibot.multiColorLight.turnOffLed(ALL);
+  delay(2000);
+  //dezibot.display.print("Ende Nachricht!");
+  //dezibot.display.clear();
+}
+
+void shortSignal(int count){
+  for(int i=0; i < count; i++){
+    dezibot.motion.move();
+    delay(1000);
+    dezibot.motion.stop();
+    delay(1000);
+  }
+}
+
+void longSignal(int count){
+  for(int i=0; i < count; i++){
+    dezibot.motion.move();
+    delay(3000);
+    dezibot.motion.stop();
+    delay(1000);
+  }
+}
+
+void pauseLetter(){
+  delay(2000);
+}
+
+void pauseWord(){
+  delay(6000);
+}

example/display/Logo_und_Icon/Logo_und_Icon.ino

@@ -0,0 +1,393 @@
+/**************************************************************************
+ This is an example for our Monochrome OLEDs based on SSD1306 drivers
+
+ Pick one up today in the adafruit shop!
+ ------> http://www.adafruit.com/category/63_98
+
+ This example is for a 128x32 pixel display using I2C to communicate
+ 3 pins are required to interface (two I2C and one reset).
+
+ Adafruit invests time and resources providing this open
+ source code, please support Adafruit and open-source
+ hardware by purchasing products from Adafruit!
+
+ Written by Limor Fried/Ladyada for Adafruit Industries,
+ with contributions from the open source community.
+ BSD license, check license.txt for more information
+ All text above, and the splash screen below must be
+ included in any redistribution.
+ **************************************************************************/
+#include <Wire.h>
+#include <Adafruit_SSD1306.h>
+
+#define SCREEN_WIDTH 128 // OLED display width, in pixels
+#define SCREEN_HEIGHT 64 // OLED display height, in pixels
+
+Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);
+
+
+#define LOGO_HEIGHT   64
+#define LOGO_WIDTH    128
+const unsigned char logo_bmp [] = {
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xC3, 0xFF, 0xFF, 0xC7, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0x40, 0x7F, 0xFF, 0x00, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFE, 0x00, 0x3F, 0xFE, 0x00, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x3C, 0x3F, 0xFC, 0x3C, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x7F, 0x1F, 0xF8, 0x7E, 0x1F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x83, 0xFC, 0xE7, 0x1F, 0xF8, 0xE7, 0x1F, 0xC1, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xF8, 0xE3, 0x9F, 0xF9, 0xC3, 0x9F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xF8, 0xE3, 0x9F, 0xF8, 0xC3, 0x1F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x23, 0xF8, 0xFF, 0x1F, 0xF8, 0xFF, 0x1F, 0xC4, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFC, 0x7F, 0x1F, 0xF8, 0x7E, 0x1F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFC, 0x1C, 0x3F, 0xFC, 0x1C, 0x3F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0x00, 0x7F, 0xFE, 0x00, 0x7F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0x01, 0xFF, 0xFF, 0x00, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x62, 0x11, 0x8C, 0x42, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x62, 0x11, 0x8C, 0x42, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xC0, 0x62, 0x11, 0x8C, 0x42, 0x07, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x07, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x1F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0x80, 0x00, 0x00, 0x01, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xF8, 0x1F, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x07, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x01, 0x07, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
+};
+const unsigned char Banner [] = {
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0x00, 0xFF, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x3F, 0xFF, 0xF8, 0x7F, 0x80, 0x00, 0x00,
+0x00, 0x1F, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x0F, 0xFF, 0x80, 0x07, 0x80, 0x00, 0x00,
+0x00, 0x07, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x07, 0xFE, 0x00, 0x03, 0x80, 0x00, 0x00,
+0x00, 0x01, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x03, 0xFC, 0x00, 0x00, 0x80, 0x00, 0x00,
+0x0F, 0x00, 0xFC, 0x3F, 0xFF, 0xFF, 0xF0, 0x43, 0x0F, 0x03, 0xF8, 0x0F, 0x20, 0x7F, 0xE1, 0xFF,
+0x0F, 0xC0, 0x7C, 0x3F, 0xFF, 0xFF, 0xE0, 0x43, 0x0F, 0x83, 0xF0, 0x6F, 0x18, 0x3F, 0xE1, 0xFF,
+0x0F, 0xF0, 0x3C, 0x3F, 0xFF, 0xFF, 0xC0, 0xC3, 0x0F, 0xC1, 0xE0, 0xEF, 0x1C, 0x3F, 0xE1, 0xFF,
+0x0F, 0xF8, 0x1C, 0x3F, 0xFF, 0xFF, 0xC1, 0xC3, 0x0F, 0xC1, 0xE1, 0xEF, 0x3E, 0x1F, 0xE1, 0xFF,
+0x0F, 0xFC, 0x1C, 0x3F, 0xFF, 0xFF, 0x83, 0xC3, 0x0F, 0xC1, 0xC0, 0x00, 0x01, 0x0F, 0xE1, 0xFF,
+0x0F, 0xFE, 0x0C, 0x3F, 0xFF, 0xFF, 0x03, 0xC3, 0x0F, 0x81, 0xC4, 0x00, 0x00, 0x0F, 0xE1, 0xFF,
+0x0F, 0xFE, 0x0C, 0x3F, 0xFF, 0xFF, 0x07, 0xC3, 0x0F, 0x83, 0x85, 0xFF, 0xFE, 0x8F, 0xE1, 0xFF,
+0x0F, 0xFF, 0x0C, 0x3F, 0xFF, 0xFE, 0x0F, 0xC3, 0x0E, 0x03, 0x85, 0x87, 0x8E, 0x8F, 0xE1, 0xFF,
+0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xFC, 0x0F, 0xC3, 0x00, 0x07, 0x89, 0xA3, 0x06, 0x07, 0xE1, 0xFF,
+0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xF8, 0x1F, 0xC3, 0x00, 0x0F, 0x89, 0x83, 0x06, 0x07, 0xE1, 0xFF,
+0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xF8, 0x3F, 0xC3, 0x00, 0x07, 0x89, 0x87, 0x8E, 0x07, 0xE1, 0xFF,
+0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xF0, 0x3F, 0xC3, 0x00, 0x03, 0x89, 0xFF, 0xFE, 0x07, 0xE1, 0xFF,
+0x0F, 0xFF, 0x0C, 0x3F, 0xFF, 0xE0, 0x7F, 0xC3, 0x00, 0x01, 0x89, 0xFF, 0xFE, 0x07, 0xE1, 0xFF,
+0x0F, 0xFF, 0x0C, 0x3F, 0xFF, 0xE0, 0xFF, 0xC3, 0x0F, 0x80, 0x81, 0xFF, 0xFE, 0x0F, 0xE1, 0xFF,
+0x0F, 0xFE, 0x0C, 0x3F, 0xFF, 0xC1, 0xFF, 0xC3, 0x0F, 0xE0, 0xC5, 0x00, 0x06, 0x8F, 0xE1, 0xFF,
+0x0F, 0xFE, 0x1C, 0x3F, 0xFF, 0x81, 0xFF, 0xC3, 0x0F, 0xF0, 0x41, 0x00, 0x06, 0x0F, 0xE1, 0xFF,
+0x0F, 0xFC, 0x1C, 0x3F, 0xFF, 0x83, 0xFF, 0xC3, 0x0F, 0xF0, 0x40, 0xFF, 0xFC, 0x1F, 0xE1, 0xFF,
+0x0F, 0xF8, 0x3C, 0x3F, 0xFF, 0x07, 0xFF, 0xC3, 0x0F, 0xF0, 0x60, 0x00, 0x00, 0x1F, 0xE1, 0xFF,
+0x0F, 0xF0, 0x3C, 0x3F, 0xFE, 0x07, 0xFF, 0xC3, 0x0F, 0xF0, 0x70, 0xFF, 0xF8, 0x3F, 0xE1, 0xFF,
+0x0F, 0xC0, 0x7C, 0x3F, 0xFE, 0x0F, 0xFF, 0xC3, 0x0F, 0xE0, 0x70, 0x3F, 0xF0, 0x7F, 0xE1, 0xFF,
+0x00, 0x00, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x0F, 0xC0, 0xF8, 0x0F, 0xC0, 0xFF, 0xE1, 0xFF,
+0x00, 0x01, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x00, 0xFC, 0x00, 0x01, 0xFF, 0xE1, 0xFF,
+0x00, 0x07, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x01, 0xFF, 0x00, 0x03, 0xFF, 0xE1, 0xFF,
+0x00, 0x1F, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x03, 0xFF, 0xC0, 0x1F, 0xFF, 0xE1, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
+};
+
+#define ICON_HEIGHT   64
+#define ICON_WIDTH    64
+
+const unsigned char icon_1 [] = {
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xC1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0xFF, 0xC1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0,
+0xFE, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0xFC, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00,
+0xF8, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x00, 0xE0, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00,
+0xC0, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x00, 0x00, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x00,
+0x00, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x20, 0x01, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x80, 0x60,
+0x03, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x81, 0xE0, 0x0F, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x87, 0xE0,
+0x3F, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x8F, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
+0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
+};
+const unsigned char icon_2 [] = {
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x3F, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x3F, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x3F, 0xFF, 0xFF, 0x87, 0xFF, 0xFF, 0xFF, 0xE0, 0x3F, 0xFF,
+0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xE0, 0x7F, 0xFF, 0xFE, 0x03, 0xFF, 0xFF, 0xFF, 0xFB, 0xFF, 0xFF,
+0xFE, 0x01, 0xFF, 0xFF, 0xFF, 0xFB, 0xFF, 0xFF, 0xFE, 0x01, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF,
+0xFE, 0x03, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF,
+0xFF, 0x87, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF, 0xFF, 0x9F, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF,
+0xFF, 0x3F, 0xFF, 0xFF, 0xFF, 0xF7, 0xFF, 0xFF, 0xFF, 0x3F, 0xFF, 0xFF, 0xFF, 0xF7, 0xFF, 0xFF,
+0xFE, 0x7F, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFE, 0x7F, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0xC1,
+0xFE, 0x7F, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0x80, 0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0x80,
+0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xEF, 0xFF, 0x80, 0xFD, 0xFF, 0xFF, 0xFF, 0xFF, 0xEF, 0xFF, 0x00,
+0xF9, 0xFF, 0xFF, 0xFF, 0xFF, 0xEF, 0xFC, 0x00, 0xF9, 0xFF, 0xFF, 0xFF, 0xFF, 0xCF, 0xF0, 0xC1,
+0xF3, 0xFF, 0xFF, 0xFF, 0xFF, 0xCF, 0xC3, 0xFF, 0xF3, 0xFF, 0xFF, 0xFF, 0xFF, 0x87, 0x0F, 0xFF,
+0xF3, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x3F, 0xFF, 0xE7, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0xFF, 0xFF,
+0x83, 0xFF, 0xFF, 0xFF, 0xFE, 0x01, 0xFF, 0xFF, 0x01, 0xFF, 0xFF, 0xFF, 0xF8, 0x01, 0xFF, 0xFF,
+0x01, 0xFF, 0xFC, 0x0F, 0x80, 0x03, 0xFF, 0xFF, 0x01, 0xFF, 0xFC, 0x00, 0x0F, 0x03, 0xFF, 0xFF,
+0x01, 0xFF, 0xF8, 0x00, 0xFF, 0x8F, 0xFF, 0xFF, 0x01, 0xFF, 0xF8, 0x07, 0xFF, 0xCF, 0xFF, 0xFF,
+0x03, 0xFF, 0xF8, 0x07, 0xFF, 0xCF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFC, 0x07, 0xFF, 0xCF, 0xFF, 0xFF,
+0xF3, 0xFF, 0xFE, 0x0F, 0xFF, 0xEF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFC, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF,
+0xF9, 0xFF, 0xFC, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF, 0xF9, 0xFF, 0xF9, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF,
+0xF9, 0xFF, 0xF9, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFC, 0xFF, 0xF3, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF,
+0xFC, 0xFF, 0xE3, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFE, 0x7F, 0xE7, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF,
+0xFE, 0x7F, 0xC7, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFE, 0x7F, 0xCF, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF,
+0xFF, 0x3F, 0x9F, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0x3F, 0x9F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF,
+0xFF, 0x9F, 0x3F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF, 0xFF, 0x9F, 0x3F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF,
+0xFF, 0x9E, 0x7F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF, 0xFF, 0xCE, 0x7F, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF,
+0xFF, 0xCC, 0xFF, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
+};
+
+const unsigned char icon_3 [] = {
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x03, 0xFF, 0xFF,
+0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x00, 0x00, 0x07, 0xFF, 0xFF,
+0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x1F, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFC, 0x00, 0x00, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x7F, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x01, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xC0, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x07, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xF0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x7F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x01, 0xFF, 0xFF,
+0xFF, 0xFE, 0x00, 0x1C, 0x18, 0x00, 0xFF, 0xFF, 0xFF, 0xFE, 0x01, 0xFC, 0x1F, 0x00, 0x7F, 0xFF,
+0xFF, 0xFE, 0x03, 0xFC, 0x1F, 0x81, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0x00, 0x04, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x3F, 0xFF, 0xFF,
+0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x00, 0x00, 0x7F, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0x00, 0x3F, 0xFF, 0xFF, 0xFF, 0x07, 0xFC, 0x1F, 0xC0, 0x3F, 0xFF,
+0xFF, 0xFC, 0x03, 0xFC, 0x1F, 0xC0, 0x3F, 0xFF, 0xFF, 0xFC, 0x00, 0xFC, 0x1F, 0x80, 0x3F, 0xFF,
+0xFF, 0xFE, 0x00, 0x0C, 0x10, 0x00, 0x7F, 0xFF, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x01, 0xFF, 0xFF,
+0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF
+};
+const unsigned char icon_4 [] = {
+0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8,
+0x8F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF1, 0xC7, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3,
+0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xF1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x8F,
+0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F, 0xFC, 0x7F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFE, 0x3F,
+0xFE, 0x3F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFC, 0x7F, 0xFF, 0x1F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF8, 0xFF,
+0xFF, 0x8F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF1, 0xFF, 0xFF, 0xC7, 0xF7, 0xFF, 0xFF, 0xEF, 0xE3, 0xFF,
+0xFF, 0xE3, 0xF7, 0xFF, 0xFF, 0xEF, 0xC7, 0xFF, 0xFF, 0xF1, 0xF7, 0xFF, 0xFF, 0xEF, 0x8F, 0xFF,
+0xFF, 0xF8, 0xF7, 0xFF, 0xFF, 0xEF, 0x1F, 0xFF, 0xFF, 0xFC, 0x77, 0xFF, 0xFF, 0xEE, 0x3F, 0xFF,
+0xFF, 0xFE, 0x37, 0xFF, 0xFF, 0xEC, 0x7F, 0xFF, 0xFF, 0xFF, 0x17, 0xFF, 0xFF, 0xE8, 0xFF, 0xFF,
+0xFF, 0xFF, 0x87, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF,
+0xFE, 0x00, 0x07, 0xFF, 0xFF, 0xC0, 0x00, 0x7F, 0xFF, 0xFF, 0xF7, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xF8, 0x07, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x07, 0xFF, 0xFF, 0xE0, 0x00, 0x7F,
+0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFF, 0xFF, 0x87, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF,
+0xFF, 0xFF, 0x17, 0xFF, 0xFF, 0xE8, 0xFF, 0xFF, 0xFF, 0xFE, 0x37, 0xFF, 0xFF, 0xEC, 0x7F, 0xFF,
+0xFF, 0xFC, 0x77, 0xFF, 0xFF, 0xEE, 0x3F, 0xFF, 0xFF, 0xF8, 0xF7, 0xFF, 0xFF, 0xEF, 0x1F, 0xFF,
+0xFF, 0xF1, 0xF7, 0xFF, 0xFF, 0xEF, 0x8F, 0xFF, 0xFF, 0xE3, 0xF7, 0xFF, 0xFF, 0xEF, 0xC7, 0xFF,
+0xFF, 0xC7, 0xF7, 0xFF, 0xFF, 0xEF, 0xE3, 0xFF, 0xFF, 0x8F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF1, 0xFF,
+0xFF, 0x1F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF8, 0xFF, 0xFE, 0x3F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFC, 0x7F,
+0xFC, 0x7F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFE, 0x3F, 0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F,
+0xF1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x8F, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7,
+0xC7, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0x8F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF1,
+0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0xBF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD
+};
+
+void setup() {
+  Wire.begin(1,2);
+  display.begin(SSD1306_SWITCHCAPVCC, 0x3C); 
+   
+}
+
+void loop() {
+
+  display.invertDisplay(true);
+  drawlogo();
+  delay(3000);
+  drawbanner();
+  delay(3000);
+  jiaText();
+  
+}
+
+
+void jiaText(void) {
+  display.invertDisplay(false);
+  display.clearDisplay();
+  display.setCursor(0, 0);
+  display.setTextColor(WHITE);
+  display.setTextSize(2); // Draw 2X-scale text
+  display.println("Hallo \nJunior-\nIngenieur-\nAkademie!");
+  display.display();      // Show initial text
+  delay(3000);
+
+  display.stopscroll();
+ 
+ 
+}
+
+void drawlogo(void) {
+  display.clearDisplay();
+
+  display.drawBitmap(
+    (display.width()  - LOGO_WIDTH ) / 2,
+    (display.height() - LOGO_HEIGHT) / 2,
+    logo_bmp, LOGO_WIDTH, LOGO_HEIGHT, 1);
+  display.display();
+  
+}
+void drawbanner(void) {
+  display.clearDisplay();
+
+  display.drawBitmap(
+    (display.width()  - LOGO_WIDTH ) / 2,
+    (display.height() - LOGO_HEIGHT) / 2,
+    Banner, LOGO_WIDTH, LOGO_HEIGHT, 1);
+  display.display();
+  
+}
+void drawicon1(void){
+  display.clearDisplay();
+
+  display.drawBitmap(
+    (display.width() - ICON_WIDTH) / 2,
+    (display.height() - ICON_HEIGHT) /2,
+    icon_1, ICON_WIDTH, ICON_HEIGHT, 1);
+    display.display();
+}
+void drawicon2(void){
+  display.clearDisplay();
+
+  display.drawBitmap(
+    (display.width() - ICON_WIDTH) / 2,
+    (display.height() - ICON_HEIGHT) /2,
+    icon_2, ICON_WIDTH, ICON_HEIGHT, 1);
+    display.display();
+}
+void drawicon3(void){
+  display.clearDisplay();
+
+  display.drawBitmap(
+    (display.width() - ICON_WIDTH) / 2,
+    (display.height() - ICON_HEIGHT) /2,
+    icon_3, ICON_WIDTH, ICON_HEIGHT, 1);
+    display.display();
+}
+void drawicon4(void){
+  display.clearDisplay();
+
+  display.drawBitmap(
+    (display.width() - ICON_WIDTH) / 2,
+    (display.height() - ICON_HEIGHT) /2,
+    icon_4, ICON_WIDTH, ICON_HEIGHT, 1);
+    display.display();
+}

example/display/basic/basic/basic.ino

@@ -0,0 +1,17 @@
+#include "Dezibot.h"
+
+Dezibot dezibot = Dezibot();
+void setup() {
+  // put your setup code here, to run once:
+  dezibot.begin();
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  dezibot.display.print("Hello from\nDezibot!");
+  delay(5000);
+  dezibot.display.clear();
+  dezibot.display.print("Bye!");
+  delay(5000);
+  dezibot.display.clear();
+}

example/example.ino

@@ -1,12 +0,0 @@
-#include <Dezibot.h>
-
-
-
-Dezibot dezibot = Dezibot();
-
-void setup() {
-    dezibot.begin();
-}
-
-void loop() {
-}

example/example/example.ino

@@ -1,16 +0,0 @@
-#include <Dezibot.h>
-
-Dezibot dezibot = Dezibot();
-
-void setup() {
-  dezibot.begin();
-  //dezibot.infraredLight.front.turnOn();
-  //dezibot.infraredLight.bottom.turnOn();
-}
-
-void loop() {
-  dezibot.infraredLight.bottom.turnOn();
-  delay(1000);
-  dezibot.infraredLight.bottom.turnOff();
-  delay(1000);
-}

example/motion_indicating/motion_indicating.ino

@@ -2,6 +2,10 @@
 Dezibot dezibot = Dezibot(); 
 void setup() {   
     dezibot.begin();
+<<<<<<< HEAD:example/motion_indicating/motion_indicating.ino
+=======
+    Serial.begin(115200); 
+>>>>>>> remotes/origin/feature/#9-display:example/motion/motion.ino
 }  
 void loop() {   
     dezibot.motion.move(1000);   

src/Dezibot.cpp

@@ -1,23 +1,22 @@
-//
-// Created by Anton Jacker on 24.11.23.
-//
 
+#define SDA_PIN 1
+#define SCL_PIN 2
 
 #include "Dezibot.h"
-#include <SPI.h>
+#include <Wire.h>
-
-#include <Adafruit_NeoPixel.h>
-
-
-
 
 #define GPIO_LED 48
 
 void Dezibot::begin(void) {
+    Wire.begin(SDA_PIN,SCL_PIN);
+    infraredLight.begin();
+    lightDetection.begin();    
     motion.begin();
     lightDetection.begin();
     colorDetection.begin();
     multiColorLight.begin();
     motionDetection.begin();
-    infraredLight.begin();
+    display.begin();
-}
+};
+
+

src/Dezibot.h

@@ -1,6 +1,6 @@
 /**
  * @file Dezibot.h
- * @author your name (you@domain.com)
+ * @author Hans Haupt, Jens Wagner, Anina Morgner, Anton Jacker, Saskia Dübener
  * @brief 
  * @version 0.1
  * @date 2023-11-19
@@ -18,6 +18,7 @@
 #include "motionDetection/MotionDetection.h"
 #include "infraredLight/InfraredLight.h"
 #include "communication/Communication.h"
+#include "display/Display.h"
 
 
 class Dezibot {
@@ -31,23 +32,8 @@ public:
     MotionDetection motionDetection;
     InfraredLight infraredLight;
     Communication communication;
+    Display display;
     void begin(void);
-/*
-Display display
-IRCommuncation irCommuncation (beinhaltet Kommuniaktion / Annhärung...) 
-Battery battery
-Extension extension
-WiFi wifi //wie wird WiFi geschrieben?
-
-//nur lesender Zugriff, in dieser Klasse sind andere Instanzen mit dem Dezibotinterface gekapselt
-Friends friends  
-OperatingSystem operatingSystem
-USBCommunication usbCommunication
-Button button
-//nicht unique, initzial Dezibot
-String robotName
-
-*/
 };
 
 #endif //Dezibot_h

src/colorDetection/ColorDetection.cpp

@@ -1,7 +1,6 @@
 #include  "ColorDetection.h"
 
 void ColorDetection::begin(void){
-    Wire.begin(I2C_MASTER_SDA_IO,I2C_MASTER_SCL_IO);
     ColorDetection::configure(VEML_CONFIG{.mode = AUTO,.enabled = true,.exposureTime=MS40});
 };
 void ColorDetection::configure(VEML_CONFIG config){

src/colorDetection/ColorDetection.h

@@ -1,3 +1,14 @@
+/**
+ * @file ColorDetecion.h
+ * @author Hans Haupt
+ * @brief Class that controls the colorsensor (VEML6040) of the dezibot.
+ * @version 0.1
+ * @date 2024-06-01
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+
 #ifndef ColorDetection_h
 #define ColorDetection_h
 #include <stdint.h>

src/display/CharTable.h

@@ -0,0 +1,147 @@
+/**
+ * @file CharTable.h
+ * @author Hans Haupt (hans.haupt@dezibot.de)
+ * @brief LookUpTable for 8x8 Pixel Characters for an SSD1306 Display
+ * @version 0.1
+ * @date 2024-05-24
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+
+
+/**
+ * @brief First index specifies the index, where index equals the ascii encoding
+ * unprintable characters are encode as all zero
+ * the first byte in an entry is the cmd_byte for SSD1306 and therefore not printed
+ * Encoding is colum wise, so first byte is the first column of the char and so on
+ * 
+ */
+const char font8x8_colwise[128][9] = {{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+0()
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+2()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+3()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+4()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+5()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+6()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+7()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+8()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+9()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+a()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+b()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+c()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+d()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+e()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+f()       
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+10()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+11()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+12()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+13()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+14()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+15()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+16()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+17()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+18()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+19()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1a()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1b()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1c()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1d()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1e()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1f()      
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+20( )     
+{ 0x40,0x00,0x00,0x06,0x5f,0x5f,0x06,0x00,0x00}, // U+21(!)     
+{ 0x40,0x00,0x03,0x03,0x00,0x03,0x03,0x00,0x00}, // U+22(")     
+{ 0x40,0x14,0x7f,0x7f,0x14,0x7f,0x7f,0x14,0x00}, // U+23(#)     
+{ 0x40,0x24,0x2e,0x6b,0x6b,0x3a,0x12,0x00,0x00}, // U+24($)     
+{ 0x40,0x46,0x66,0x30,0x18,0x0c,0x66,0x62,0x00}, // U+25(%)     
+{ 0x40,0x30,0x7a,0x4f,0x5d,0x37,0x7a,0x48,0x00}, // U+26(&)     
+{ 0x40,0x04,0x07,0x03,0x00,0x00,0x00,0x00,0x00}, // U+27(')     
+{ 0x40,0x00,0x1c,0x3e,0x63,0x41,0x00,0x00,0x00}, // U+28(()     
+{ 0x40,0x00,0x41,0x63,0x3e,0x1c,0x00,0x00,0x00}, // U+29())     
+{ 0x40,0x08,0x2a,0x3e,0x1c,0x1c,0x3e,0x2a,0x08}, // U+2a(*)     
+{ 0x40,0x08,0x08,0x3e,0x3e,0x08,0x08,0x00,0x00}, // U+2b(+)     
+{ 0x40,0x00,0x80,0xe0,0x60,0x00,0x00,0x00,0x00}, // U+2c(,)     
+{ 0x40,0x08,0x08,0x08,0x08,0x08,0x08,0x00,0x00}, // U+2d(-)     
+{ 0x40,0x00,0x00,0x60,0x60,0x00,0x00,0x00,0x00}, // U+2e(.)     
+{ 0x40,0x60,0x30,0x18,0x0c,0x06,0x03,0x01,0x00}, // U+2f(/)     
+{ 0x40,0x3e,0x7f,0x71,0x59,0x4d,0x7f,0x3e,0x00}, // U+30(0)     
+{ 0x40,0x40,0x42,0x7f,0x7f,0x40,0x40,0x00,0x00}, // U+31(1)     
+{ 0x40,0x62,0x73,0x59,0x49,0x6f,0x66,0x00,0x00}, // U+32(2)     
+{ 0x40,0x22,0x63,0x49,0x49,0x7f,0x36,0x00,0x00}, // U+33(3)     
+{ 0x40,0x18,0x1c,0x16,0x53,0x7f,0x7f,0x50,0x00}, // U+34(4)     
+{ 0x40,0x27,0x67,0x45,0x45,0x7d,0x39,0x00,0x00}, // U+35(5)     
+{ 0x40,0x3c,0x7e,0x4b,0x49,0x79,0x30,0x00,0x00}, // U+36(6)     
+{ 0x40,0x03,0x03,0x71,0x79,0x0f,0x07,0x00,0x00}, // U+37(7)     
+{ 0x40,0x36,0x7f,0x49,0x49,0x7f,0x36,0x00,0x00}, // U+38(8)     
+{ 0x40,0x06,0x4f,0x49,0x69,0x3f,0x1e,0x00,0x00}, // U+39(9)     
+{ 0x40,0x00,0x00,0x66,0x66,0x00,0x00,0x00,0x00}, // U+3a(:)     
+{ 0x40,0x00,0x80,0xe6,0x66,0x00,0x00,0x00,0x00}, // U+3b(;)     
+{ 0x40,0x08,0x1c,0x36,0x63,0x41,0x00,0x00,0x00}, // U+3c(<)     
+{ 0x40,0x24,0x24,0x24,0x24,0x24,0x24,0x00,0x00}, // U+3d(=)     
+{ 0x40,0x00,0x41,0x63,0x36,0x1c,0x08,0x00,0x00}, // U+3e(>)     
+{ 0x40,0x02,0x03,0x51,0x59,0x0f,0x06,0x00,0x00}, // U+3f(?)     
+{ 0x40,0x3e,0x7f,0x41,0x5d,0x5d,0x1f,0x1e,0x00}, // U+40(@)     
+{ 0x40,0x7c,0x7e,0x13,0x13,0x7e,0x7c,0x00,0x00}, // U+41(A)     
+{ 0x40,0x41,0x7f,0x7f,0x49,0x49,0x7f,0x36,0x00}, // U+42(B)     
+{ 0x40,0x1c,0x3e,0x63,0x41,0x41,0x63,0x22,0x00}, // U+43(C)     
+{ 0x40,0x41,0x7f,0x7f,0x41,0x63,0x3e,0x1c,0x00}, // U+44(D)     
+{ 0x40,0x41,0x7f,0x7f,0x49,0x5d,0x41,0x63,0x00}, // U+45(E)     
+{ 0x40,0x41,0x7f,0x7f,0x49,0x1d,0x01,0x03,0x00}, // U+46(F)     
+{ 0x40,0x1c,0x3e,0x63,0x41,0x51,0x73,0x72,0x00}, // U+47(G)     
+{ 0x40,0x7f,0x7f,0x08,0x08,0x7f,0x7f,0x00,0x00}, // U+48(H)     
+{ 0x40,0x00,0x41,0x7f,0x7f,0x41,0x00,0x00,0x00}, // U+49(I)     
+{ 0x40,0x30,0x70,0x40,0x41,0x7f,0x3f,0x01,0x00}, // U+4a(J)     
+{ 0x40,0x41,0x7f,0x7f,0x08,0x1c,0x77,0x63,0x00}, // U+4b(K)     
+{ 0x40,0x41,0x7f,0x7f,0x41,0x40,0x60,0x70,0x00}, // U+4c(L)     
+{ 0x40,0x7f,0x7f,0x0e,0x1c,0x0e,0x7f,0x7f,0x00}, // U+4d(M)     
+{ 0x40,0x7f,0x7f,0x06,0x0c,0x18,0x7f,0x7f,0x00}, // U+4e(N)     
+{ 0x40,0x1c,0x3e,0x63,0x41,0x63,0x3e,0x1c,0x00}, // U+4f(O)     
+{ 0x40,0x41,0x7f,0x7f,0x49,0x09,0x0f,0x06,0x00}, // U+50(P)     
+{ 0x40,0x1e,0x3f,0x21,0x71,0x7f,0x5e,0x00,0x00}, // U+51(Q)     
+{ 0x40,0x41,0x7f,0x7f,0x09,0x19,0x7f,0x66,0x00}, // U+52(R)     
+{ 0x40,0x26,0x6f,0x4d,0x59,0x73,0x32,0x00,0x00}, // U+53(S)     
+{ 0x40,0x03,0x41,0x7f,0x7f,0x41,0x03,0x00,0x00}, // U+54(T)     
+{ 0x40,0x7f,0x7f,0x40,0x40,0x7f,0x7f,0x00,0x00}, // U+55(U)     
+{ 0x40,0x1f,0x3f,0x60,0x60,0x3f,0x1f,0x00,0x00}, // U+56(V)     
+{ 0x40,0x7f,0x7f,0x30,0x18,0x30,0x7f,0x7f,0x00}, // U+57(W)     
+{ 0x40,0x43,0x67,0x3c,0x18,0x3c,0x67,0x43,0x00}, // U+58(X)     
+{ 0x40,0x07,0x4f,0x78,0x78,0x4f,0x07,0x00,0x00}, // U+59(Y)     
+{ 0x40,0x47,0x63,0x71,0x59,0x4d,0x67,0x73,0x00}, // U+5a(Z)     
+{ 0x40,0x00,0x7f,0x7f,0x41,0x41,0x00,0x00,0x00}, // U+5b([)     
+{ 0x40,0x01,0x03,0x06,0x0c,0x18,0x30,0x60,0x00}, // U+5c(\)     
+{ 0x40,0x00,0x41,0x41,0x7f,0x7f,0x00,0x00,0x00}, // U+5d(])     
+{ 0x40,0x08,0x0c,0x06,0x03,0x06,0x0c,0x08,0x00}, // U+5e(^)     
+{ 0x40,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80}, // U+5f(_)     
+{ 0x40,0x00,0x00,0x03,0x07,0x04,0x00,0x00,0x00}, // U+60(`)     
+{ 0x40,0x20,0x74,0x54,0x54,0x3c,0x78,0x40,0x00}, // U+61(a)     
+{ 0x40,0x41,0x7f,0x3f,0x48,0x48,0x78,0x30,0x00}, // U+62(b)     
+{ 0x40,0x38,0x7c,0x44,0x44,0x6c,0x28,0x00,0x00}, // U+63(c)     
+{ 0x40,0x30,0x78,0x48,0x49,0x3f,0x7f,0x40,0x00}, // U+64(d)     
+{ 0x40,0x38,0x7c,0x54,0x54,0x5c,0x18,0x00,0x00}, // U+65(e)     
+{ 0x40,0x48,0x7e,0x7f,0x49,0x03,0x02,0x00,0x00}, // U+66(f)     
+{ 0x40,0x98,0xbc,0xa4,0xa4,0xf8,0x7c,0x04,0x00}, // U+67(g)     
+{ 0x40,0x41,0x7f,0x7f,0x08,0x04,0x7c,0x78,0x00}, // U+68(h)     
+{ 0x40,0x00,0x44,0x7d,0x7d,0x40,0x00,0x00,0x00}, // U+69(i)     
+{ 0x40,0x60,0xe0,0x80,0x80,0xfd,0x7d,0x00,0x00}, // U+6a(j)     
+{ 0x40,0x41,0x7f,0x7f,0x10,0x38,0x6c,0x44,0x00}, // U+6b(k)     
+{ 0x40,0x00,0x41,0x7f,0x7f,0x40,0x00,0x00,0x00}, // U+6c(l)     
+{ 0x40,0x7c,0x7c,0x18,0x38,0x1c,0x7c,0x78,0x00}, // U+6d(m)     
+{ 0x40,0x7c,0x7c,0x04,0x04,0x7c,0x78,0x00,0x00}, // U+6e(n)     
+{ 0x40,0x38,0x7c,0x44,0x44,0x7c,0x38,0x00,0x00}, // U+6f(o)     
+{ 0x40,0x84,0xfc,0xf8,0xa4,0x24,0x3c,0x18,0x00}, // U+70(p)     
+{ 0x40,0x18,0x3c,0x24,0xa4,0xf8,0xfc,0x84,0x00}, // U+71(q)     
+{ 0x40,0x44,0x7c,0x78,0x4c,0x04,0x1c,0x18,0x00}, // U+72(r)     
+{ 0x40,0x48,0x5c,0x54,0x54,0x74,0x24,0x00,0x00}, // U+73(s)     
+{ 0x40,0x00,0x04,0x3e,0x7f,0x44,0x24,0x00,0x00}, // U+74(t)     
+{ 0x40,0x3c,0x7c,0x40,0x40,0x3c,0x7c,0x40,0x00}, // U+75(u)     
+{ 0x40,0x1c,0x3c,0x60,0x60,0x3c,0x1c,0x00,0x00}, // U+76(v)     
+{ 0x40,0x3c,0x7c,0x70,0x38,0x70,0x7c,0x3c,0x00}, // U+77(w)     
+{ 0x40,0x44,0x6c,0x38,0x10,0x38,0x6c,0x44,0x00}, // U+78(x)     
+{ 0x40,0x9c,0xbc,0xa0,0xa0,0xfc,0x7c,0x00,0x00}, // U+79(y)     
+{ 0x40,0x4c,0x64,0x74,0x5c,0x4c,0x64,0x00,0x00}, // U+7a(z)     
+{ 0x40,0x08,0x08,0x3e,0x77,0x41,0x41,0x00,0x00}, // U+7b({)     
+{ 0x40,0x00,0x00,0x00,0x77,0x77,0x00,0x00,0x00}, // U+7c(|)     
+{ 0x40,0x41,0x41,0x77,0x3e,0x08,0x08,0x00,0x00}, // U+7d(})     
+{ 0x40,0x02,0x03,0x01,0x03,0x02,0x03,0x01,0x00}, // U+7e(~)     
+{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}}; // U+7f(°)  

src/display/Display.cpp

@@ -0,0 +1,138 @@
+/**
+ * @file Display.cpp
+ * @author Hans Haupt (hans.haupt@dezibot.de)
+ * @brief Adds the ability to print to the display of the robot.
+ * @version 0.1
+ * @date 2024-06-05
+ * 
+ * @copyright Copyright (c) 2024
+ */
+
+#include "Display.h"
+#include "CharTable.h"
+#include "Wire.h"
+
+
+void Display::begin(void){
+    //set Mux Ratio
+    sendDisplayCMD(muxRatio);
+    sendDisplayCMD(0x3f);
+    sendDisplayCMD(setOffset);
+    sendDisplayCMD(0x00);
+    sendDisplayCMD(setStartLine);
+    sendDisplayCMD(stopCompleteOn);
+    /*which pixels are bright: normal = 1s are bright, inverese= 0s are bright*/
+    sendDisplayCMD( setNormalMode);
+ 
+    sendDisplayCMD( setOscFreq);
+    sendDisplayCMD(0x80);
+
+    sendDisplayCMD(setChargePump);
+    sendDisplayCMD(0x14);
+    sendDisplayCMD(activateDisplay);
+    this->clear();
+    return;
+};
+
+void Display::sendDisplayCMD(uint8_t cmd){
+    Wire.beginTransmission(DisplayAdress);
+    Wire.write(cmd_byte);
+    Wire.write(cmd);
+    Wire.endTransmission();
+};
+
+void Display::clear(void){
+    sendDisplayCMD(addressingMode);
+    sendDisplayCMD(0x00); //horizontal
+    sendDisplayCMD(colRange);
+    sendDisplayCMD(0x00);
+    sendDisplayCMD(0x7f);
+    sendDisplayCMD(pageRange);
+    sendDisplayCMD(0x00);
+    sendDisplayCMD(0x07);
+    for (int j=0;j<64;j++){
+        Wire.beginTransmission(DisplayAdress);
+        Wire.write(data_byte);
+        for(int i = 0;i<16;i++){
+                    Wire.write(0x00);
+        }
+        Wire.endTransmission();
+    }
+    this -> charsOnCurrLine = 0;
+    this -> currLine = 0;
+    return;
+};
+
+void Display::updateLine(uint charAmount)
+{
+    if(charAmount+this->charsOnCurrLine>16)
+    {
+        this->currLine = (this->currLine+((charAmount+this->charsOnCurrLine)/16))%8;
+        this->charsOnCurrLine = (charAmount+this->charsOnCurrLine)%17; //there can be 0-16 chars on one line, so the 17th char is on next line 
+    }
+    else
+    {
+        this->charsOnCurrLine = charAmount+this->charsOnCurrLine;
+    }
+};
+
+void Display::print(char *value){
+    char *nextchar;
+	/* write data to the buffer */
+    while(value && *value != '\0') //check if pointer is still valid and string is not terminated 
+        {
+	        //check if next character is a linebreak
+            if(*value=='\n')
+            {
+                //fill the current line with blanks
+                while(this->charsOnCurrLine<16)
+                {
+                    updateLine(1);
+                    Wire.beginTransmission(DisplayAdress);
+                    for(int i = 0;i<9;i++){
+                        Wire.write(font8x8_colwise[0][i]);
+                    }
+                    Wire.endTransmission();
+                }
+                //make the linebreak
+                this->currLine=currLine+1;
+                this->charsOnCurrLine=0;
+            }
+            else
+            {
+                updateLine(1);
+                Wire.beginTransmission(DisplayAdress);
+                //print the character
+                for(int i = 0;i<9;i++){
+                            Wire.write(font8x8_colwise[*value][i]);
+                }
+                Wire.endTransmission();
+            }
+            value++;     
+        }
+};
+
+void Display::println(char *value){
+    this ->print(value);
+    this->print("\n");
+};
+
+void Display::flipOrientation(void){
+    if(this->orientationFlipped){
+        sendDisplayCMD(setComDirectionNormal);
+        sendDisplayCMD(setSegmentMap);
+    } else{
+        sendDisplayCMD(setComDirectionFlipped);
+        sendDisplayCMD(setSegmentReMap);
+    }
+    this->orientationFlipped = !this->orientationFlipped;
+};
+
+void Display::invertColor(void){
+    if(this->colorInverted){
+        sendDisplayCMD(setNormalMode);
+    } else {
+        sendDisplayCMD(setInverseMode);
+    }
+    this->colorInverted = !this->colorInverted;
+};

src/display/Display.h

@@ -0,0 +1,89 @@
+/**
+ * @file InfraredLight.h
+ * @author Hans Haupt (hans.haupt@dezibot.de)
+ * @brief Adds the ability to print to the display of the robot.
+ * @version 0.1
+ * @date 2024-05-24
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+
+#ifndef Display_h
+#define Display_h
+#include <stdint.h>
+#include <Arduino.h>
+#include "DisplayCMDs.h"
+
+class Display{
+    protected:
+        //how many chars are on current line
+        uint8_t charsOnCurrLine = 0;
+        
+        //on which line are we currently printing
+        uint8_t currLine = 0;
+        
+        //flag that marks if the y-orientation is currently flipped
+        bool orientationFlipped = false;
+
+        //flag thats marks if the color is currently inverted
+        bool colorInverted = false;
+        
+        /**
+         * @brief sends the passed cmd to the display, cmd_byte is added as prefix by the function
+         * 
+         * @param cmd the byte instruction that shold by sent 
+         */
+        void sendDisplayCMD(uint8_t cmd);
+
+        /**
+         * @brief should be called whenever characters where printed to the display.
+         * Updates the data of the class to handle linebreaks correctly
+         * @param charAmount How many characters where added to the screen
+         */
+        void updateLine(uint charAmount);
+
+    public:
+        
+        /**
+         * @brief initializes the display datastructures and sents the required cmds to start the display. Should only be called once.
+         * @warning doesn't initalize the I²C bus itself, therefore wire.begin(1,2) must be called elsewhere, before this method.
+        */
+        void begin(void);
+        
+        /**
+         * @brief delets all content from the display, resets the linecounter, new print will start at the top left. 
+         *      Orientationflip is not resetted
+        */
+        void clear(void);
+        
+        /**
+         * @brief prints the passed string right behind the current displaycontent
+         * the sequence "\n" can be used to make a linebreak on the display
+         * 
+         * @param value the string "xyz" that should be printed to the display
+        */
+        void print(char *value);
+
+        /**
+         * @brief same as the print method, but after the string a line break is inserted
+         * 
+         * @param value the string that should be printed
+        */
+        void println(char *value);
+
+        /**
+         * @brief flips the horizontal orientation of all content on the display
+        */
+        void flipOrientation(void);
+
+        /**
+         * @brief inverts the pixelcolors, so pixels on will be set to off and currently off pixels will be turned off.
+         * affects already printed content as well as future prints.
+         * 
+         */
+        void invertColor(void);
+};
+
+
+#endif //Display_h

src/display/DisplayCMDs.h

@@ -0,0 +1,24 @@
+#define cmd_byte 0x80
+#define data_byte 0x40
+#define muxRatio 0xa8 //needs second argument ranging from 16-63
+#define setOffset 0xd3 //needs second argument ranging from 0-63
+#define setStartLine 0x40
+#define setSegmentMap 0xa0
+#define setSegmentReMap 0xa1
+#define setComDirectionNormal 0xc0
+#define setComDirectionFlipped 0xc8
+#define setComHardwareConfig 0xda //needs second arg
+#define setContrast 0x81 //needs second arg
+#define completeOn 0xa5
+#define stopCompleteOn 0xa4
+#define setNormalMode 0xa6
+#define setInverseMode 0xa7
+#define setOscFreq 0xd5 //needs second arg
+#define setChargePump 0x8d//needs second arg 0x14 for enable
+#define activateDisplay 0xaf
+#define disableDisplay 0xae  
+#define addressingMode 0x20
+#define colRange 0x21
+#define pageRange 0x22
+
+#define DisplayAdress 0x3C

src/infraredLight/InfraredLED.cpp

@@ -1,9 +1,7 @@
 #include "InfraredLight.h"
 
 #define pwmSpeedMode LEDC_LOW_SPEED_MODE
-#define fooPin 13
+
-#define footimer LEDC_TIMER_0
-#define foochannel LEDC_CHANNEL_0
 InfraredLED::InfraredLED(uint8_t pin,ledc_timer_t timer, ledc_channel_t channel){
     this->ledPin = pin;
     this->timer = timer;
@@ -16,7 +14,7 @@ void InfraredLED::begin(void){
         .speed_mode = pwmSpeedMode,
         .duty_resolution = LEDC_TIMER_10_BIT,
         .timer_num = this->timer,
-        .freq_hz = 1,
+        .freq_hz = 800,
         .clk_cfg = LEDC_AUTO_CLK
     };
     ledc_timer_config(&pwmTimer);

src/infraredLight/InfraredLight.h

@@ -14,10 +14,6 @@
 #include <Arduino.h>
 #include "driver/ledc.h"
 
-enum IRLeds{
-    Bottom,
-    Front
-};
 
 class InfraredLED{
     public: 
@@ -26,7 +22,6 @@ class InfraredLED{
         /**
          * @brief enables selected LED
          * 
-         * @param led 
          */
         void turnOn(void);
         /**

src/lightDetection/LightDetection.cpp

@@ -1,4 +1,5 @@
 #include "LightDetection.h"
+#include <limits.h>
 
 void LightDetection::begin(void){
     LightDetection::beginInfrared();
@@ -6,7 +7,6 @@ void LightDetection::begin(void){
 };
 
 uint16_t LightDetection::getValue(photoTransistors sensor){
-    uint16_t result;
     switch(sensor){
         //Fall Through intended
         case IR_FRONT:
@@ -17,6 +17,9 @@ uint16_t LightDetection::getValue(photoTransistors sensor){
         case DL_BOTTOM:
         case DL_FRONT:
             return readDLPT(sensor);
+        default:
+            //currently not reachable, just if enum will be extended in the future
+            return UINT16_MAX;
  }
 };
 
@@ -26,6 +29,7 @@ photoTransistors LightDetection::getBrightest(ptType type){
     uint16_t currentReading = 0;
     
     if (type == IR){
+        maxSensor = IR_FRONT;
        for(const auto pt : allIRPTs){
             currentReading = LightDetection::getValue(pt);
             if (currentReading > maxReading){
@@ -34,6 +38,7 @@ photoTransistors LightDetection::getBrightest(ptType type){
             }
         }
     } else {
+        maxSensor = DL_FRONT;
         for(const auto pt : allDLPTs){
             currentReading = LightDetection::getValue(pt);
             if (currentReading > maxReading){
@@ -47,6 +52,7 @@ photoTransistors LightDetection::getBrightest(ptType type){
 };
 
 uint32_t LightDetection::getAverageValue(photoTransistors sensor, uint32_t measurments, uint32_t timeBetween){
+    
     TickType_t xLastWakeTime = xTaskGetTickCount();
     TickType_t frequency = timeBetween / portTICK_PERIOD_MS;
     uint64_t cumulatedResult = 0; 
@@ -58,6 +64,7 @@ uint32_t LightDetection::getAverageValue(photoTransistors sensor, uint32_t measu
 };
 
 void LightDetection::beginInfrared(void){
+    digitalWrite(IR_PT_ENABLE,true);
     pinMode(IR_PT_ENABLE, OUTPUT);
     pinMode(IR_PT_FRONT_ADC, INPUT);
     pinMode(IR_PT_LEFT_ADC, INPUT);
@@ -66,13 +73,14 @@ void LightDetection::beginInfrared(void){
 };
 
 void LightDetection::beginDaylight(void){
+    digitalWrite(DL_PT_ENABLE,true);
     pinMode(DL_PT_ENABLE, OUTPUT);
     pinMode(DL_PT_BOTTOM_ADC, INPUT);
     pinMode(DL_PT_FRONT_ADC, INPUT );
 };
 
 uint16_t LightDetection::readIRPT(photoTransistors sensor){
-    digitalWrite(IR_PT_ENABLE,HIGH);
+    //digitalWrite(IR_PT_ENABLE,HIGH);
     uint16_t result = 0;
     switch (sensor)
     {
@@ -91,7 +99,7 @@ uint16_t LightDetection::readIRPT(photoTransistors sensor){
     default:
         break;
     }
-    digitalWrite(IR_PT_ENABLE,LOW);
+    //digitalWrite(IR_PT_ENABLE,LOW);
     return result;
 };
 

src/lightDetection/LightDetection.h

@@ -62,7 +62,7 @@ public:
      * Can distingish between IR and Daylight 
      * 
      * @param type select which PTTransistors to compare
-     * @return photoTransistors which sensor is exposed to the greatest amount of light
+     * @return photoTransistors which sensor is exposed to the greatest amount of light, if all sensor read 0, the front sensor is returned
      */
     static photoTransistors getBrightest(ptType type);
 
@@ -93,11 +93,5 @@ protected:
     static uint16_t readIRPT(photoTransistors sensor);
     static uint16_t readDLPT(photoTransistors sensor); 
 
-    static void averageMeasurmentTask(void * args);
-
-
-
-    
-
 };
 #endif //LightDetection_h

src/motionDetection/MotionDetection.cpp

@@ -1,6 +1,6 @@
 #include "MotionDetection.h"
 
-MotionDetection::MotionDetection(){//:handler(FSPI){
+MotionDetection::MotionDetection(){
     handler = new SPIClass(FSPI);
 };
 
@@ -9,13 +9,20 @@ void MotionDetection::begin(void){
     digitalWrite(34,HIGH);
     handler->begin(36,37,35,34);
      
+     
     handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0)); 
     digitalWrite(34,LOW);
     // set Accel and Gyroscop to Low Noise
+    handler->transfer(PWR_MGMT0);
     handler->transfer(0x1F);
-    handler->transfer(0x0F);
     //busy Wait for startup 
-    delayMicroseconds(200);
+    delayMicroseconds(250);
+    //set Gyroconfig
+    handler->transfer(0x20);
+    handler->transfer(0x25);
+    //set Gyro Filter
+    handler->transfer(0x23);
+    handler->transfer(0x37);
     digitalWrite(34,HIGH);
     handler->endTransaction();
 };
@@ -30,12 +37,9 @@ void MotionDetection::end(void){
 };
 IMUResult MotionDetection::getAcceleration(){
     IMUResult result;
-    result.x = readRegister(ACCEL_DATA_X_HIGH)<<8;
+    result.x = readRegister(ACCEL_DATA_X_HIGH)<<8 | readRegister(ACCEL_DATA_X_LOW);
-    result.x |= readRegister(ACCEL_DATA_X_LOW);
+    result.y = readRegister(ACCEL_DATA_Y_HIGH)<<8 | readRegister(ACCEL_DATA_Y_LOW);
-    result.y = readRegister(ACCEL_DATA_Y_HIGH)<<8;
+    result.z = readRegister(ACCEL_DATA_Z_HIGH)<<8 | readRegister(ACCEL_DATA_Z_LOW);
-    result.y |= readRegister(ACCEL_DATA_Y_LOW);
-    result.z = readRegister(ACCEL_DATA_Z_HIGH)<<8;
-    result.z |= readRegister(ACCEL_DATA_Z_LOW);
     return result;
 };
 IMUResult MotionDetection::getRotation(){
@@ -58,6 +62,106 @@ int8_t MotionDetection::getWhoAmI(){
     return readRegister(WHO_AM_I);    
 };
 
+bool MotionDetection::isShaken(uint32_t threshold ,uint8_t axis){
+    IMUResult measurment1;
+    IMUResult measurment2;
+    uint count = 0;
+    for(uint i = 0;i<20;i++){
+        measurment1 = this->getAcceleration();
+        delayMicroseconds(10);
+        measurment2 = this->getAcceleration();
+        if(
+            (((axis && xAxis) > 0) && (abs(abs(measurment1.x)-abs(measurment2.x))>threshold)) ||
+            (((axis && yAxis) > 0) && (abs(abs(measurment1.y)-abs(measurment2.y))>threshold)) ||
+            (((axis && zAxis) > 0) && (abs(abs(measurment1.z)-abs(measurment2.z))>threshold))){
+                count++;
+        }
+        delayMicroseconds(15);
+    }
+    return (count > 6);
+};
+
+void MotionDetection::calibrateZAxis(uint gforceValue){
+    this->gForceCalib = gforceValue;
+};
+
+Orientation MotionDetection::getTilt(){
+    uint tolerance = 200;
+    IMUResult reading = this->getAcceleration();
+    bool flipped = reading.z < 0;
+    float accelrationStrenght = sqrt(reading.x*reading.x+reading.y*reading.y+reading.z*reading.z);
+    //check if reading is valid
+    if (abs(accelrationStrenght-this->gForceCalib) > tolerance ){
+        //total accelration is not gravitational force, error
+        return Orientation{INT_MAX,INT_MAX};
+    }
+
+    //calculates the angle between the two axis, therefore value between 0-90
+    int yAngle;
+    int xAngle;
+    if(reading.z != 0){
+        yAngle = atan(float(reading.x)/reading.z)*180/3.1415+0.5;
+        xAngle = atan(float(reading.y)/reading.z)*180/3.1415+0.5;
+    } else {
+        yAngle = 90*(reading.x > 0) - (reading.x < 0);
+        xAngle = 90*(reading.y > 0) - (reading.y < 0);
+    }
+
+    //shift quadrants depending on signum
+        //esp is facing down (normal position)
+    if (reading.z > 0){
+        if(reading.y < 0){
+            xAngle = xAngle+180;
+        } else{
+            xAngle = -1*(180-xAngle);
+        }
+
+        if(reading.x < 0){
+            yAngle = yAngle+180;
+        } else{
+            yAngle = -1*(180-yAngle);
+        }
+        //yAngle = -1*yAngle-90;
+    }
+          
+
+    return Orientation{xAngle,yAngle};
+
+};
+
+Direction MotionDetection::getTiltDirection(uint tolerance){
+    if (this->getAcceleration().z > 0){
+        return Flipped;
+    }
+    Orientation Rot = this->getTilt();
+    Serial.println(Rot.xRotation);
+    Serial.println(Rot.xRotation == INT_MAX);
+    if ((Rot.xRotation == INT_MAX)){
+        return Error;
+    }
+    if(abs(abs(Rot.xRotation)-abs(Rot.yRotation))>tolerance){
+        //determine which axis is more tiltet
+        if (abs(Rot.xRotation)>abs(Rot.yRotation)){
+            //test if dezibot is tilted left or right
+            if (Rot.xRotation > 0){
+                return Right;
+            } else {
+                return Left;
+            }
+        } else {
+            //test if robot is tilted front or back
+            if (Rot.yRotation > 0){
+                return Front;
+            } else {
+                return Back;
+            }
+        }
+    } else {
+        //dezibot is (with tolerance) leveled
+        return Neutral;
+    }
+};
+
 uint8_t MotionDetection::cmdRead(uint8_t reg){
     return (CMD_READ | (reg & ADDR_MASK));
 };
@@ -65,7 +169,7 @@ uint8_t MotionDetection::cmdWrite(uint8_t reg){
     return (CMD_WRITE | (reg & ADDR_MASK));
 };
 
-int8_t MotionDetection::readRegister(uint8_t reg){
+uint8_t MotionDetection::readRegister(uint8_t reg){
     handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
     digitalWrite(34,LOW);
     uint8_t result;

src/motionDetection/MotionDetection.h

@@ -17,7 +17,26 @@ struct IMUResult{
     int16_t y;
     int16_t z;
 };
+enum Axis{
+    xAxis = 0x01,
+    yAxis = 0x02,
+    zAxis = 0x04
+};
 
+struct Orientation{
+    int xRotation;
+    int yRotation;
+};
+
+enum Direction{
+    Front,
+    Left,
+    Right,
+    Back,
+    Neutral,
+    Flipped,
+    Error
+};
 
 class MotionDetection{
 protected:
@@ -48,17 +67,20 @@ protected:
     static const uint8_t WHO_AM_I =          0x75;
 
     static const uint frequency = 10000000;
+    static const uint16_t defaultShakeThreshold = 500;
 
     uint16_t cmdRead(uint8_t regHigh,uint8_t regLow);
     uint16_t cmdWrite(uint8_t regHigh,uint8_t regLow);
     uint8_t cmdRead(uint8_t reg);
     uint8_t cmdWrite(uint8_t reg);
 
-    int8_t readRegister(uint8_t reg);
+    uint8_t readRegister(uint8_t reg);
     int16_t readDoubleRegister(uint8_t lowerReg);
 
     SPIClass * handler = NULL;
 
+    uint gForceCalib = 4050;
+     
     
 public:
     MotionDetection();
@@ -83,21 +105,21 @@ public:
      * 
      * @return IMUResult that contains the new read values
      */
-    IMUResult getAcceleration();
+    IMUResult getAcceleration(void);
 
     /**
      * @brief Triggers a new reading of the gyroscope and reads the values from the imu
      * 
      * @return IMUResult 
      */
-    IMUResult getRotation();
+    IMUResult getRotation(void);
 
     /**
      * @brief Reads the current On Chip temperature of the IMU 
      * 
      * @return normalized temperature in degree Centigrade
      */
-    float getTemperature();
+    float getTemperature(void);
 
     /**
      * @brief Returns the value of reading the whoAmI register
@@ -105,6 +127,62 @@ public:
      * 
      * @return the value of the whoami register of the ICM-42670 
      */
-    int8_t getWhoAmI();
+    int8_t getWhoAmI(void);
+
+    /**
+     * @brief Detects if at the time of calling is shaken. Therefore the sum over all accelerationvalues is calculated 
+     * and checked against threshold. If sum > threshold a shake is detected, else not
+     * 
+     * @param threshold (optional) the level of acceleration that must be reached to detect a shake
+     * @param axis (optional) select which axis should be used for detection. Possible values ar xAxis,yAxis,zAxis
+     * It's possible to combine multiple axis with the bitwise or Operator | 
+     * For Example: to detect x and y axis: axis = xAxis|yAxis
+     * 
+     * @return true if a shake is detected, false else
+    */
+    bool isShaken(uint32_t threshold = defaultShakeThreshold,uint8_t axis = xAxis|yAxis|zAxis);
+
+    /**
+     * @brief calculates how the robot is tilted. It is set, that when the robot is placed normally on a flat table, the result will be (0,0)
+     * Tilting the robot, so that the front leg is deeper than the other to results in an increasing degrees, tilting the front leg up will increase negativ degrees
+     * Tilting the robot to the right will increase the degrees until 180° (upside down), tilting it left will result in increasing negativ degrees (-1,-2,...,-180).
+     * On the top there is a jump of the values from 180->-180 and vice versa.
+     * 
+     * Precision is rounded to 1 deg steps
+     * 
+     * @attention The results are only valid, if the robot is not moved in any way during the measurment, as the calculation is made by using the accelration values.
+     * If it's detected, that the robot is accelerated while measuring, the method will return max(int).
+     * Please note that the imu is pretty sensitiv, even walking next to the table may influcene the result. 
+     * 
+    */
+    Orientation getTilt();
+
+
+    /**
+     * @brief Checks in which direction (Front, Left, Right, Back) the robot is tilted. 
+     * 
+     * @attention Does only work if the robot is not moving
+     *  
+     * @param tolerance (optional, default = 10) how many degrees can the robot be tilted, and still will be considerd as neutral. 
+     * 
+     * 
+     * @return Direction the direction in that the robot is tilted most. Front is onsiderd as the direction of driving.
+     * If robot is not tilted more than the tolerance in any direction, return is Neutral.
+     * If Robot is upside down, return is Flipped.
+     * If Robot is moved, return is Error
+     */
+    Direction getTiltDirection(uint tolerance = 10);
+
+    /**
+     * can be used to set a custom value for the gforceReading of the zaxis, which will improve the getTiltFunction.
+     * 
+     * @attention this method is not persisten, so the value is not stored when the programm is restarted / the robot is powerd off
+     * 
+     * @param gforceValue the value the IMU returns for the gravitationforce -> to get this value, place the robot on a leveled surface
+     * and read the value getAcceleration().z
+    */
+    void calibrateZAxis(uint gforceValue);
+
+
 };
 #endif //MotionDetection

src/multiColorLight/MultiColorLight.cpp

@@ -6,6 +6,7 @@ MultiColorLight::MultiColorLight():rgbLeds(ledAmount,ledPin){
 
 void MultiColorLight::begin(void){
     rgbLeds.begin();
+    this->turnOffLed();
 };
 
 void MultiColorLight::setLed(uint8_t index , uint32_t color){
@@ -60,7 +61,6 @@ void MultiColorLight::blink(uint16_t amount,uint32_t color, leds leds, uint32_t
         MultiColorLight::turnOffLed(leds);
         vTaskDelay(interval);
     }
-
 };
 
 void MultiColorLight::turnOffLed(leds leds){