Merge branch 'feature/#20-communication' into 'main'

communication

See merge request wagner/dezibot!6

.gitignore

@@ -1,3 +1,6 @@
+# automatic gernerated source
+docs/*
+
 # Prerequisites
 *.d
 
@@ -35,4 +38,4 @@
 .vscode/*
 .history/
 *.vsix
-*.workspace
+*.workspace

README.md

@@ -1,9 +1,16 @@
 # Dezibot4 Lib
 
+## Links to external documentation
+* [PDF-Doku Code](https://hardwarelabor.imn.htwk-leipzig.de/dezibot/dezibot.pdf)
+* [PDF-Doku Device](https://hardwarelabor.imn.htwk-leipzig.de/dezibot/dezibot-4doku.pdf)
+
 ## Introduction
 
-This repository contains the Library for the Dezibot4.<br>
+The project focuses on the software for the Dezibot4 robot and its use in the classroom.<br>
-It is ment to serve as an Arduino-Library. Therefore the rules for arduinolibrary develop apply:<br>
+It includes libraries for use by students as well as guides for teachers. The hardware of the robot is not part of the project.<br>
+The libraries and example programs are available under the GPL and are accessible as a repository.<br>
+It is ment to serve as an Arduino-Library.<br> 
+Therefore the rules for arduinolibrary develop apply:<br>
 
 * [Styleguide](https://docs.arduino.cc/learn/contributions/arduino-library-style-guide)
 * [Libraryspecification](https://arduino.github.io/arduino-cli/0.35/library-specification/)

doxygen.txt

@@ -1,4 +1,4 @@
-# Doxyfile 1.9.1
+# Doxyfile 1.8.17
 
 # This file describes the settings to be used by the documentation system
 # doxygen (www.doxygen.org) for a project.
@@ -51,7 +51,7 @@ PROJECT_BRIEF          =
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.
 
-PROJECT_LOGO           =
+PROJECT_LOGO           = /home/wagner/Git/dezibot/docs_edited/dezibot_banner.png
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
 # into which the generated documentation will be written. If a relative path is
@@ -227,14 +227,6 @@ QT_AUTOBRIEF           = NO
 
 MULTILINE_CPP_IS_BRIEF = NO
 
-# By default Python docstrings are displayed as preformatted text and doxygen's
-# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the
-# doxygen's special commands can be used and the contents of the docstring
-# documentation blocks is shown as doxygen documentation.
-# The default value is: YES.
-
-PYTHON_DOCSTRING       = YES
-
 # If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
 # documentation from any documented member that it re-implements.
 # The default value is: YES.
@@ -271,13 +263,19 @@ TAB_SIZE               = 4
 
 ALIASES                =
 
+# This tag can be used to specify a number of word-keyword mappings (TCL only).
+# A mapping has the form "name=value". For example adding "class=itcl::class"
+# will allow you to use the command class in the itcl::class meaning.
+
+TCL_SUBST              =
+
 # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
 # only. Doxygen will then generate output that is more tailored for C. For
 # instance, some of the names that are used will be different. The list of all
 # members will be omitted, etc.
 # The default value is: NO.
 
-OPTIMIZE_OUTPUT_FOR_C  = YES
+OPTIMIZE_OUTPUT_FOR_C  = NO
 
 # Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
 # Python sources only. Doxygen will then generate output that is more tailored
@@ -312,21 +310,18 @@ OPTIMIZE_OUTPUT_SLICE  = NO
 # extension. Doxygen has a built-in mapping, but you can override or extend it
 # using this tag. The format is ext=language, where ext is a file extension, and
 # language is one of the parsers supported by doxygen: IDL, Java, JavaScript,
-# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, VHDL,
+# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice,
 # Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
 # FortranFree, unknown formatted Fortran: Fortran. In the later case the parser
 # tries to guess whether the code is fixed or free formatted code, this is the
-# default for Fortran type files). For instance to make doxygen treat .inc files
+# default for Fortran type files), VHDL, tcl. For instance to make doxygen treat
-# as Fortran files (default is PHP), and .f files as C (default is Fortran),
+# .inc files as Fortran files (default is PHP), and .f files as C (default is
-# use: inc=Fortran f=C.
+# Fortran), use: inc=Fortran f=C.
 #
 # Note: For files without extension you can use no_extension as a placeholder.
 #
 # Note that for custom extensions you also need to set FILE_PATTERNS otherwise
-# the files are not read by doxygen. When specifying no_extension you should add
+# the files are not read by doxygen.
-# * to the FILE_PATTERNS.
-#
-# Note see also the list of default file extension mappings.
 
 EXTENSION_MAPPING      =
 
@@ -460,19 +455,6 @@ TYPEDEF_HIDES_STRUCT   = NO
 
 LOOKUP_CACHE_SIZE      = 0
 
-# The NUM_PROC_THREADS specifies the number threads doxygen is allowed to use
-# during processing. When set to 0 doxygen will based this on the number of
-# cores available in the system. You can set it explicitly to a value larger
-# than 0 to get more control over the balance between CPU load and processing
-# speed. At this moment only the input processing can be done using multiple
-# threads. Since this is still an experimental feature the default is set to 1,
-# which efficively disables parallel processing. Please report any issues you
-# encounter. Generating dot graphs in parallel is controlled by the
-# DOT_NUM_THREADS setting.
-# Minimum value: 0, maximum value: 32, default value: 1.
-
-NUM_PROC_THREADS       = 1
-
 #---------------------------------------------------------------------------
 # Build related configuration options
 #---------------------------------------------------------------------------
@@ -536,13 +518,6 @@ EXTRACT_LOCAL_METHODS  = NO
 
 EXTRACT_ANON_NSPACES   = NO
 
-# If this flag is set to YES, the name of an unnamed parameter in a declaration
-# will be determined by the corresponding definition. By default unnamed
-# parameters remain unnamed in the output.
-# The default value is: YES.
-
-RESOLVE_UNNAMED_PARAMS = YES
-
 # If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
 # undocumented members inside documented classes or files. If set to NO these
 # members will be included in the various overviews, but no documentation
@@ -580,18 +555,11 @@ HIDE_IN_BODY_DOCS      = NO
 
 INTERNAL_DOCS          = NO
 
-# With the correct setting of option CASE_SENSE_NAMES doxygen will better be
+# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
-# able to match the capabilities of the underlying filesystem. In case the
+# names in lower-case letters. If set to YES, upper-case letters are also
-# filesystem is case sensitive (i.e. it supports files in the same directory
+# allowed. This is useful if you have classes or files whose names only differ
-# whose names only differ in casing), the option must be set to YES to properly
+# in case and if your file system supports case sensitive file names. Windows
-# deal with such files in case they appear in the input. For filesystems that
+# (including Cygwin) ands Mac users are advised to set this option to NO.
-# are not case sensitive the option should be be set to NO to properly deal with
-# output files written for symbols that only differ in casing, such as for two
-# classes, one named CLASS and the other named Class, and to also support
-# references to files without having to specify the exact matching casing. On
-# Windows (including Cygwin) and MacOS, users should typically set this option
-# to NO, whereas on Linux or other Unix flavors it should typically be set to
-# YES.
 # The default value is: system dependent.
 
 CASE_SENSE_NAMES       = NO
@@ -830,10 +798,7 @@ WARN_IF_DOC_ERROR      = YES
 WARN_NO_PARAMDOC       = NO
 
 # If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
-# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
+# a warning is encountered.
-# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
-# at the end of the doxygen process doxygen will return with a non-zero status.
-# Possible values are: NO, YES and FAIL_ON_WARNINGS.
 # The default value is: NO.
 
 WARN_AS_ERROR          = NO
@@ -864,14 +829,14 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = src \
+INPUT                  = . \
-                         doxymain.md
+                         README.md
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
 # libiconv (or the iconv built into libc) for the transcoding. See the libiconv
-# documentation (see:
+# documentation (see: https://www.gnu.org/software/libiconv/) for the list of
-# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
+# possible encodings.
 # The default value is: UTF-8.
 
 INPUT_ENCODING         = UTF-8
@@ -884,15 +849,13 @@ INPUT_ENCODING         = UTF-8
 # need to set EXTENSION_MAPPING for the extension otherwise the files are not
 # read by doxygen.
 #
-# Note the list of default checked file patterns might differ from the list of
-# default file extension mappings.
-#
 # If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
 # *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
 # *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
 # *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment),
-# *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, *.vhdl,
+# *.doc (to be provided as doxygen C comment), *.txt (to be provided as doxygen
-# *.ucf, *.qsf and *.ice.
+# C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f, *.for, *.tcl, *.vhd,
+# *.vhdl, *.ucf, *.qsf and *.ice.
 
 FILE_PATTERNS          = *.c \
                          *.cc \
@@ -938,7 +901,8 @@ FILE_PATTERNS          = *.c \
                          *.vhdl \
                          *.ucf \
                          *.qsf \
-                         *.ice
+                         *.ice \
+                         *.ino
 
 # The RECURSIVE tag can be used to specify whether or not subdirectories should
 # be searched for input files as well.
@@ -1062,7 +1026,7 @@ FILTER_SOURCE_PATTERNS =
 # (index.html). This can be useful if you have a project on for instance GitHub
 # and want to reuse the introduction page also for the doxygen output.
 
-USE_MDFILE_AS_MAINPAGE = doxymain.md
+USE_MDFILE_AS_MAINPAGE = README.md
 
 #---------------------------------------------------------------------------
 # Configuration options related to source browsing
@@ -1151,22 +1115,16 @@ USE_HTAGS              = NO
 VERBATIM_HEADERS       = YES
 
 # If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
-# clang parser (see:
+# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
-# http://clang.llvm.org/) for more accurate parsing at the cost of reduced
+# cost of reduced performance. This can be particularly helpful with template
-# performance. This can be particularly helpful with template rich C++ code for
+# rich C++ code for which doxygen's built-in parser lacks the necessary type
-# which doxygen's built-in parser lacks the necessary type information.
+# information.
 # Note: The availability of this option depends on whether or not doxygen was
 # generated with the -Duse_libclang=ON option for CMake.
 # The default value is: NO.
 
 CLANG_ASSISTED_PARSING = NO
 
-# If clang assisted parsing is enabled and the CLANG_ADD_INC_PATHS tag is set to
-# YES then doxygen will add the directory of each input to the include path.
-# The default value is: YES.
-
-CLANG_ADD_INC_PATHS    = YES
-
 # If clang assisted parsing is enabled you can provide the compiler with command
 # line options that you would normally use when invoking the compiler. Note that
 # the include paths will already be set by doxygen for the files and directories
@@ -1176,13 +1134,10 @@ CLANG_ADD_INC_PATHS    = YES
 CLANG_OPTIONS          =
 
 # If clang assisted parsing is enabled you can provide the clang parser with the
-# path to the directory containing a file called compile_commands.json. This
+# path to the compilation database (see:
-# file is the compilation database (see:
+# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) used when the files
-# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the
+# were built. This is equivalent to specifying the "-p" option to a clang tool,
-# options used when the source files were built. This is equivalent to
+# such as clang-check. These options will then be passed to the parser.
-# specifying the -p option to a clang tool, such as clang-check. These options
-# will then be passed to the parser. Any options specified with CLANG_OPTIONS
-# will be added as well.
 # Note: The availability of this option depends on whether or not doxygen was
 # generated with the -Duse_libclang=ON option for CMake.
 
@@ -1199,6 +1154,13 @@ CLANG_DATABASE_PATH    =
 
 ALPHABETICAL_INDEX     = YES
 
+# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
+# which the alphabetical index list will be split.
+# Minimum value: 1, maximum value: 20, default value: 5.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+COLS_IN_ALPHA_INDEX    = 5
+
 # In case all classes in a project start with a common prefix, all classes will
 # be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
 # can be used to specify a prefix (or a list of prefixes) that should be ignored
@@ -1369,11 +1331,10 @@ HTML_INDEX_NUM_ENTRIES = 100
 
 # If the GENERATE_DOCSET tag is set to YES, additional index files will be
 # generated that can be used as input for Apple's Xcode 3 integrated development
-# environment (see:
+# environment (see: https://developer.apple.com/xcode/), introduced with OSX
-# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To
+# 10.5 (Leopard). To create a documentation set, doxygen will generate a
-# create a documentation set, doxygen will generate a Makefile in the HTML
+# Makefile in the HTML output directory. Running make will produce the docset in
-# output directory. Running make will produce the docset in that directory and
+# that directory and running make install will install the docset in
-# running make install will install the docset in
 # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
 # startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
 # genXcode/_index.html for more information.
@@ -1415,8 +1376,8 @@ DOCSET_PUBLISHER_NAME  = Publisher
 # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
 # additional HTML index files: index.hhp, index.hhc, and index.hhk. The
 # index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
-# (see:
+# (see: https://www.microsoft.com/en-us/download/details.aspx?id=21138) on
-# https://www.microsoft.com/en-us/download/details.aspx?id=21138) on Windows.
+# Windows.
 #
 # The HTML Help Workshop contains a compiler that can convert all HTML output
 # generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
@@ -1446,7 +1407,7 @@ CHM_FILE               =
 HHC_LOCATION           =
 
 # The GENERATE_CHI flag controls if a separate .chi index file is generated
-# (YES) or that it should be included in the main .chm file (NO).
+# (YES) or that it should be included in the master .chm file (NO).
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
@@ -1491,8 +1452,7 @@ QCH_FILE               =
 
 # The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
 # Project output. For more information please see Qt Help Project / Namespace
-# (see:
+# (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
-# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
 # The default value is: org.doxygen.Project.
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
@@ -1500,8 +1460,8 @@ QHP_NAMESPACE          = org.doxygen.Project
 
 # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
 # Help Project output. For more information please see Qt Help Project / Virtual
-# Folders (see:
+# Folders (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-
-# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders).
+# folders).
 # The default value is: doc.
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
@@ -1509,16 +1469,16 @@ QHP_VIRTUAL_FOLDER     = doc
 
 # If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
 # filter to add. For more information please see Qt Help Project / Custom
-# Filters (see:
+# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-
-# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# filters).
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
 QHP_CUST_FILTER_NAME   =
 
 # The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
 # custom filter to add. For more information please see Qt Help Project / Custom
-# Filters (see:
+# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-
-# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# filters).
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
 QHP_CUST_FILTER_ATTRS  =
@@ -1530,9 +1490,9 @@ QHP_CUST_FILTER_ATTRS  =
 
 QHP_SECT_FILTER_ATTRS  =
 
-# The QHG_LOCATION tag can be used to specify the location (absolute path
+# The QHG_LOCATION tag can be used to specify the location of Qt's
-# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to
+# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
-# run qhelpgenerator on the generated .qhp file.
+# generated .qhp file.
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
 QHG_LOCATION           =
@@ -1583,7 +1543,7 @@ DISABLE_INDEX          = NO
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-GENERATE_TREEVIEW      = NO
+GENERATE_TREEVIEW      = YES
 
 # The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
 # doxygen will group on one line in the generated HTML documentation.
@@ -1609,17 +1569,6 @@ TREEVIEW_WIDTH         = 250
 
 EXT_LINKS_IN_WINDOW    = NO
 
-# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
-# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
-# https://inkscape.org) to generate formulas as SVG images instead of PNGs for
-# the HTML output. These images will generally look nicer at scaled resolutions.
-# Possible values are: png (the default) and svg (looks nicer but requires the
-# pdf2svg or inkscape tool).
-# The default value is: png.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_FORMULA_FORMAT    = png
-
 # Use this tag to change the font size of LaTeX formulas included as images in
 # the HTML documentation. When you change the font size after a successful
 # doxygen run you need to manually remove any form_*.png images from the HTML
@@ -1659,7 +1608,7 @@ USE_MATHJAX            = NO
 
 # When MathJax is enabled you can set the default output format to be used for
 # the MathJax output. See the MathJax site (see:
-# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details.
+# http://docs.mathjax.org/en/latest/output.html) for more details.
 # Possible values are: HTML-CSS (which is slower, but has the best
 # compatibility), NativeMML (i.e. MathML) and SVG.
 # The default value is: HTML-CSS.
@@ -1675,7 +1624,7 @@ MATHJAX_FORMAT         = HTML-CSS
 # Content Delivery Network so you can quickly see the result without installing
 # MathJax. However, it is strongly recommended to install a local copy of
 # MathJax from https://www.mathjax.org before deployment.
-# The default value is: https://cdn.jsdelivr.net/npm/mathjax@2.
+# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/.
 # This tag requires that the tag USE_MATHJAX is set to YES.
 
 MATHJAX_RELPATH        = https://cdn.jsdelivr.net/npm/mathjax@2
@@ -1689,8 +1638,7 @@ MATHJAX_EXTENSIONS     =
 
 # The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
 # of code that will be used on startup of the MathJax code. See the MathJax site
-# (see:
+# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
-# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an
 # example see the documentation.
 # This tag requires that the tag USE_MATHJAX is set to YES.
 
@@ -1737,8 +1685,7 @@ SERVER_BASED_SEARCH    = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see:
+# Xapian (see: https://xapian.org/).
-# https://xapian.org/).
 #
 # See the section "External Indexing and Searching" for details.
 # The default value is: NO.
@@ -1751,9 +1698,8 @@ EXTERNAL_SEARCH        = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see:
+# Xapian (see: https://xapian.org/). See the section "External Indexing and
-# https://xapian.org/). See the section "External Indexing and Searching" for
+# Searching" for details.
-# details.
 # This tag requires that the tag SEARCHENGINE is set to YES.
 
 SEARCHENGINE_URL       =
@@ -1917,11 +1863,9 @@ LATEX_EXTRA_FILES      =
 
 PDF_HYPERLINKS         = YES
 
-# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as
+# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
-# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX
+# the PDF file directly from the LaTeX files. Set this option to YES, to get a
-# files. Set this option to YES, to get a higher quality PDF documentation.
+# higher quality PDF documentation.
-#
-# See also section LATEX_CMD_NAME for selecting the engine.
 # The default value is: YES.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
@@ -2160,10 +2104,6 @@ DOCBOOK_PROGRAMLISTING = NO
 
 GENERATE_AUTOGEN_DEF   = NO
 
-#---------------------------------------------------------------------------
-# Configuration options related to Sqlite3 output
-#---------------------------------------------------------------------------
-
 #---------------------------------------------------------------------------
 # Configuration options related to the Perl module output
 #---------------------------------------------------------------------------
@@ -2436,31 +2376,9 @@ UML_LOOK               = NO
 # but if the number exceeds 15, the total amount of fields shown is limited to
 # 10.
 # Minimum value: 0, maximum value: 100, default value: 10.
-# This tag requires that the tag UML_LOOK is set to YES.
-
-UML_LIMIT_NUM_FIELDS   = 10
-
-# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and
-# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS
-# tag is set to YES, doxygen will add type and arguments for attributes and
-# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen
-# will not generate fields with class member information in the UML graphs. The
-# class diagrams will look similar to the default class diagrams but using UML
-# notation for the relationships.
-# Possible values are: NO, YES and NONE.
-# The default value is: NO.
-# This tag requires that the tag UML_LOOK is set to YES.
-
-DOT_UML_DETAILS        = NO
-
-# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters
-# to display on a single line. If the actual line length exceeds this threshold
-# significantly it will wrapped across multiple lines. Some heuristics are apply
-# to avoid ugly line breaks.
-# Minimum value: 0, maximum value: 1000, default value: 17.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
-DOT_WRAP_THRESHOLD     = 17
+UML_LIMIT_NUM_FIELDS   = 10
 
 # If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
 # collaboration graphs will show the relations between templates and their
@@ -2653,11 +2571,9 @@ DOT_MULTI_TARGETS      = NO
 
 GENERATE_LEGEND        = YES
 
-# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate
+# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot
 # files that are used to generate the various graphs.
-#
-# Note: This setting is not only used for dot files but also for msc and
-# plantuml temporary files.
 # The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
-DOT_CLEANUP            = YES
+DOT_CLEANUP            = YES

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/Back_to_Origin/Back_to_Origin.ino

@@ -0,0 +1,34 @@
+#include "Dezibot.h"
+Dezibot dezibot = Dezibot();
+void setup() {
+  // put your setup code here, to run once:
+  dezibot.begin();
+  Serial.begin(115200);
+
+  Serial.println("AAA");
+}
+
+//https://esp32cube.com/basis/032_millis/
+
+int indices = 0;
+void loop() {
+  // put your main code here, to run repeatedly:
+
+
+
+  int zvalue = 0; 
+  for(int i = 0; i<30;i++){
+    zvalue += dezibot.motionDetection.getAcceleration().z;
+  }
+  zvalue = zvalue/30; 
+
+  if(zvalue < -1700){
+    dezibot.multiColorLight.setLed(ALL,0x004000);
+    Serial.println("AAA");
+  } else if(zvalue > 1700){
+    dezibot.multiColorLight.setLed(ALL,0x400000);
+  } else {
+    dezibot.multiColorLight.turnOffLed();
+  }
+}
+

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/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

@@ -1,24 +1,22 @@
-/**
- * @file Dezibot.cpp
- * @author Anton Jacker, Hans Haupt, Saskia Duebener
- * @brief 
- * @version 0.1
- * @date 2023-11-26
- * 
- * @copyright Copyright (c) 2023
- * 
- */
 
+#define SDA_PIN 1
+#define SCL_PIN 2
 
 #include "Dezibot.h"
+#include <Wire.h>
 
-Dezibot::Dezibot():multiColorLight(),motionDetection(){
+#define GPIO_LED 48
-
-};
 
 void Dezibot::begin(void) {
-    motion.begin();
+    Wire.begin(SDA_PIN,SCL_PIN);
-    multiColorLight.begin();
+    infraredLight.begin();
     lightDetection.begin();    
+    motion.begin();
+    lightDetection.begin();
+    colorDetection.begin();
+    multiColorLight.begin();
     motionDetection.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
@@ -16,36 +16,24 @@
 #include "colorDetection/ColorDetection.h"
 #include "multiColorLight/MultiColorLight.h"
 #include "motionDetection/MotionDetection.h"
+#include "infraredLight/InfraredLight.h"
+#include "communication/Communication.h"
+#include "display/Display.h"
 
 
 class Dezibot {
 protected:
 
 public:
-    Dezibot();
     Motion motion;
     LightDetection lightDetection;
     ColorDetection colorDetection;
     MultiColorLight multiColorLight;
     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

@@ -0,0 +1,83 @@
+#include  "ColorDetection.h"
+
+void ColorDetection::begin(void){
+    ColorDetection::configure(VEML_CONFIG{.mode = AUTO,.enabled = true,.exposureTime=MS40});
+};
+void ColorDetection::configure(VEML_CONFIG config){
+     uint8_t configRegister = 0;
+    switch(config.exposureTime)
+    {
+        case MS40:
+            configRegister = 0x00;break;
+        case MS80:
+            configRegister = 0x01;break;
+        case MS160:
+            configRegister = 0x02;break;
+        case MS320:
+            configRegister = 0x03;break;
+        case MS640:
+            configRegister = 0x04;break;
+        case MS1280:
+            configRegister = 0x05;break;
+    }
+    configRegister = configRegister << 4;
+    if(config.mode == MANUAL)
+    {
+        configRegister = configRegister | (0x01<<1);
+    }
+    if(!config.enabled)
+    {
+        configRegister = configRegister | 1;
+    }
+    ColorDetection::writeDoubleRegister(CMD_CONFIG,(uint16_t)configRegister);
+};
+
+uint16_t ColorDetection::getColorValue(color color){
+   
+    switch(color)
+    {
+        case VEML_RED:
+            return readDoubleRegister(REG_RED); 
+            break;
+        case VEML_GREEN:
+            return readDoubleRegister(REG_GREEN);
+            break;
+        case VEML_BLUE: 
+            return readDoubleRegister(REG_BLUE);
+            break;
+        case VEML_WHITE:
+            return readDoubleRegister(REG_WHITE);
+            break;
+        default:
+            Serial.println("Color is not supported by the sensor");
+            return 0;
+    } 
+};
+
+uint16_t ColorDetection::readDoubleRegister(uint8_t regAddr){
+    uint16_t result = 0;
+    Wire.beginTransmission(VEML_ADDR);
+    Wire.write(regAddr);
+    if(Wire.endTransmission() != 0){
+        Serial.printf("Reading Register %d failed",regAddr);
+    }
+    Wire.requestFrom(VEML_ADDR,2);
+    uint8_t offset = 0;
+    while(Wire.available()){
+        result = result << 8;
+        result = result | (Wire.read()<<offset);
+        offset = offset + 8;
+    }
+    return result;
+};
+
+void ColorDetection::writeDoubleRegister(uint8_t regAddr, uint16_t data){
+    //erst low dann high
+    Wire.beginTransmission(VEML_ADDR);
+    Wire.write(regAddr);
+    Wire.write((uint8_t)(data&0x00FF));
+    Wire.write((uint8_t)((data>>8)&0x00FF));
+    if(Wire.endTransmission() != 0){
+        Serial.printf("Reading Register %d failed",regAddr);
+    }
+};

src/colorDetection/ColorDetection.h

@@ -1,7 +1,68 @@
+/**
+ * @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>
+#include <Wire.h>
+#include <Arduino.h>
+//Definitions for I2c
+#define I2C_MASTER_SCL_IO           2      /*!< GPIO number used for I2C master clock */
+#define I2C_MASTER_SDA_IO           1      /*!< GPIO number used for I2C master data  */
 
+//Chipadress of the VEML6040
+#define VEML_ADDR                   0x10        /*!< Slave address of the MPU9250 sensor */
+
+//CMDCodes for communicate with the VEML6040
+#define CMD_CONFIG                  0x00
+#define REG_RED                     0x08
+#define REG_GREEN                   0x09
+#define REG_BLUE                    0x0A
+#define REG_WHITE                   0x0B
+
+
+enum duration{
+    MS40,
+    MS80,
+    MS160,
+    MS320,
+    MS640,
+    MS1280
+};
+
+enum vemlMode{
+    AUTO,
+    MANUAL
+};
+
+struct VEML_CONFIG{
+    vemlMode mode;
+    bool enabled;
+    duration exposureTime;
+};
+
+
+enum color{
+    VEML_RED,
+    VEML_GREEN,
+    VEML_BLUE,
+    VEML_WHITE
+};
 class ColorDetection{
-
+public: 
+    void begin(void);
+    void configure(VEML_CONFIG config);
+    uint16_t getColorValue(color color);
+protected:
+    uint16_t readDoubleRegister(uint8_t regAddr);
+    void writeDoubleRegister(uint8_t regAddr, uint16_t data);
 };
 #endif //ColorDetection_h

src/communication/Communication.cpp

@@ -0,0 +1,87 @@
+#include "Communication.h"
+
+Scheduler userScheduler; // to control your personal task
+painlessMesh mesh;
+uint32_t Communication::groupNumber = 0;
+
+// User-defined callback function pointer
+void (*Communication::userCallback)(String &msg) = nullptr;
+
+void Communication::sendMessage(String msg)
+{
+    String data = String(groupNumber) + "#" + msg;
+    mesh.sendBroadcast(data);
+}
+
+// Needed for painless library
+void Communication::receivedCallback(uint32_t from, String &msg)
+{
+    int separatorIndex = msg.indexOf('#');
+    if (separatorIndex != -1) {
+        String groupNumberStr = msg.substring(0, separatorIndex);
+        uint32_t num = groupNumberStr.toInt();
+        String restOfMsg = msg.substring(separatorIndex + 1);
+
+        Serial.printf("startHere: Received from %u groupNumber=%u msg=%s\n", from, num, restOfMsg.c_str());
+
+        if (groupNumber != num) return;
+
+        // Execute user-defined callback if it is set
+        if (userCallback) {
+            userCallback(restOfMsg);
+        }
+    }
+}
+
+void newConnectionCallback(uint32_t nodeId)
+{
+    Serial.printf("--> startHere: New Connection, nodeId = %u\n", nodeId);
+}
+
+void changedConnectionCallback()
+{
+    Serial.printf("Changed connections\n");
+}
+
+void nodeTimeAdjustedCallback(int32_t offset)
+{
+    Serial.printf("Adjusted time %u. Offset = %d\n", mesh.getNodeTime(), offset);
+}
+
+void vTaskUpdate(void *pvParameters)
+{
+    for (;;)
+    {
+        mesh.update();
+    }
+}
+
+void Communication::setGroupNumber(uint32_t number) {
+    groupNumber = number;
+}
+
+// Method to set the user-defined callback function
+void Communication::onReceive(void (*callbackFunc)(String &msg))
+{
+    userCallback = callbackFunc;
+}
+
+void Communication::begin(void)
+{
+    Serial.begin(115200);
+
+    // mesh.setDebugMsgTypes( ERROR | MESH_STATUS | CONNECTION | SYNC | COMMUNICATION | GENERAL | MSG_TYPES | REMOTE ); // all types on
+    mesh.setDebugMsgTypes(ERROR | STARTUP); // set before init() so that you can see startup messages
+
+    mesh.init(MESH_PREFIX, MESH_PASSWORD, &userScheduler, MESH_PORT);
+    mesh.onReceive(&receivedCallback);
+    mesh.onNewConnection(&newConnectionCallback);
+    mesh.onChangedConnections(&changedConnectionCallback);
+    mesh.onNodeTimeAdjusted(&nodeTimeAdjustedCallback);
+
+    static uint8_t ucParameterToPass;
+    TaskHandle_t xHandle = NULL;
+
+    xTaskCreate(vTaskUpdate, "vTaskMeshUpdate", 4096, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle);
+    configASSERT(xHandle);
+};

src/communication/Communication.h

@@ -0,0 +1,32 @@
+
+#ifndef Communication_h
+#define Communication_h
+#include <stdint.h>
+#include <Arduino.h>
+#include <painlessMesh.h>
+
+#define   MESH_PREFIX     "DEZIBOT_MESH"
+#define   MESH_PASSWORD   "somethingSneaky"
+#define   MESH_PORT       5555
+
+
+class Communication{
+public: 
+    /**
+     * @brief initialize the Mesh Compnent, must be called before the other methods are used.  
+     * 
+     */
+    static void begin(void);
+
+    void setGroupNumber(uint32_t number);
+
+    void sendMessage(String msg);
+
+    void onReceive(void (*callbackFunc)(String &msg));
+private:
+    static void (*userCallback)(String &msg);
+    static void receivedCallback(uint32_t from, String &msg);
+    static uint32_t groupNumber;
+
+};
+#endif //Communication_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 +1,175 @@
+/**
+ * @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++;     
+        }
+};
+
+char Display::stringToCharArray(String value) {
+  const int len = value.length() + 1;  // +1 for the null terminator
+  char msgBuffer[len];               // Create a buffer of the appropriate length
+
+  value.toCharArray(msgBuffer, len);  // Copy the string into the buffer, including the null terminator
+
+  return *msgBuffer;
+}
+
+void Display::print(String value){
+    const int len = value.length() + 1;  // +1 for the null terminator
+  char msgBuffer[len];               // Create a buffer of the appropriate length
+  value.toCharArray(msgBuffer, len);
+
+  this->print(msgBuffer);
+};
+
+void Display::println(String value){
+  const int len = value.length() + 1;  // +1 for the null terminator
+  char msgBuffer[len];               // Create a buffer of the appropriate length
+  value.toCharArray(msgBuffer, len);
+
+  this->println(msgBuffer);
+};
+
+void Display::print(int value){
+  char cstr[16];
+
+  this->print(itoa(value, cstr, 10));
+};
+
+void Display::println(int value){
+  char cstr[16];
+
+  this->println(itoa(value, cstr, 10));
+};
+
+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 +1,127 @@
+/**
+ * @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 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(String 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(String value);
+        
+        /**
+         * @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(int 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(int value);
+
+        /**
+         * @brief string to char
+         * 
+         * @param value the string that should be converted to char
+        */
+        char stringToCharArray(String 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

@@ -0,0 +1,57 @@
+#include "InfraredLight.h"
+
+#define pwmSpeedMode LEDC_LOW_SPEED_MODE
+
+InfraredLED::InfraredLED(uint8_t pin,ledc_timer_t timer, ledc_channel_t channel){
+    this->ledPin = pin;
+    this->timer = timer;
+    this->channel = channel;
+};
+
+void InfraredLED::begin(void){
+   //we want to change frequency instead of 
+    pwmTimer = ledc_timer_config_t{
+        .speed_mode = pwmSpeedMode,
+        .duty_resolution = LEDC_TIMER_10_BIT,
+        .timer_num = this->timer,
+        .freq_hz = 800,
+        .clk_cfg = LEDC_AUTO_CLK
+    };
+    ledc_timer_config(&pwmTimer);
+
+    pwmChannel = ledc_channel_config_t{
+        .gpio_num = this->ledPin,
+        .speed_mode =pwmSpeedMode,
+        .channel = this->channel,
+        .intr_type = LEDC_INTR_DISABLE,
+        .timer_sel = this->timer,
+        .duty = 0,
+        .hpoint = 0
+    };
+    ledc_channel_config(&pwmChannel);
+};
+
+void InfraredLED::turnOn(void){
+    InfraredLED::setState(true);
+};
+
+void InfraredLED::turnOff(void){
+    InfraredLED::setState(false);
+};
+
+void InfraredLED::setState(bool state){
+    ledc_set_freq(pwmSpeedMode,timer,1);
+    if (state) {
+        ledc_set_duty(pwmSpeedMode,channel,1023);
+    } else {
+        ledc_set_duty(pwmSpeedMode,channel,0);
+    }
+    ledc_update_duty(pwmSpeedMode,channel);
+    
+};
+
+void InfraredLED::sendFrequency(uint16_t frequency){
+    ledc_set_freq(pwmSpeedMode,timer,frequency);
+    ledc_set_duty(pwmSpeedMode,channel,512);
+    ledc_update_duty(pwmSpeedMode,channel);
+};

src/infraredLight/InfraredLight.cpp

@@ -0,0 +1,6 @@
+#include "InfraredLight.h"
+
+void InfraredLight::begin(void){
+    bottom.begin();
+    front.begin();
+}

src/infraredLight/InfraredLight.h

@@ -0,0 +1,68 @@
+/**
+ * @file InfraredLight.h
+ * @author Hans Haupt (hans.haupt@dezibot.de)
+ * @brief Provides basic controls for the infrared LEDs of the robot.
+ * @version 0.1
+ * @date 2024-04-27
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+#ifndef InfraredLight_h
+#define InfraredLight_h
+#include <stdint.h>
+#include <Arduino.h>
+#include "driver/ledc.h"
+
+
+class InfraredLED{
+    public: 
+        InfraredLED(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel);
+        void begin(void);
+        /**
+         * @brief enables selected LED
+         * 
+         */
+        void turnOn(void);
+        /**
+         * @brief disables selected LED
+         * 
+         * @param led 
+         */
+        void turnOff(void);
+        /**
+         * @brief changes state of selected LED depending on the state
+         * 
+         * @param led which led will be affected
+         * @param state true if led should be turned on, else false
+         */
+        void setState(bool state);
+        /**
+         * @brief starts flashing the IRLed with a specific frequency 
+         * Won't stop automatically, must be stopped by calling any other IR-Method
+         * 
+         * @param frequency 
+         */
+        void sendFrequency(uint16_t frequency);
+    protected:
+        uint8_t ledPin;
+        ledc_timer_t timer;
+        ledc_channel_t channel;
+        ledc_timer_config_t pwmTimer;
+        ledc_channel_config_t pwmChannel;
+};
+
+class InfraredLight{
+public:
+    //Do something for correct resource sharing
+    InfraredLED bottom = InfraredLED(IRBottomPin,LEDC_TIMER_0,LEDC_CHANNEL_0);
+    InfraredLED front  = InfraredLED(IRFrontPin,LEDC_TIMER_1,LEDC_CHANNEL_1);
+    void begin(void);
+
+protected:
+    static const uint8_t IRFrontPin = 14;
+    static const uint8_t IRBottomPin = 13;
+};
+
+
+#endif //InfraredLight_h

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);
 
@@ -91,13 +91,7 @@ protected:
     static void beginInfrared(void);
     static void beginDaylight(void);
     static uint16_t readIRPT(photoTransistors sensor);
-    static uint16_t readDLPT(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:
@@ -48,16 +67,19 @@ 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:
@@ -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){