Merge branch display into release

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/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/display/Logo_und_Icon/Logo_und_Icon.ino

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

example/display/basic/basic/basic.ino

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

example/example/example.ino

@@ -1,16 +1,167 @@
 #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();
+<<<<<<< HEAD
 
+=======
+>>>>>>> remotes/origin/feature/#9-display
 void setup() {
   dezibot.begin();
+  Serial.begin(115200);
   //dezibot.infraredLight.front.turnOn();
   //dezibot.infraredLight.bottom.turnOn();
 }
 
 void loop() {
+<<<<<<< HEAD
   dezibot.infraredLight.bottom.turnOn();
   delay(1000);
   dezibot.infraredLight.bottom.turnOff();
   delay(1000);
+=======
+  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();
+>>>>>>> remotes/origin/feature/#9-display
 }

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

@@ -3,7 +3,11 @@
 //
 
 
+#define SDA_PIN 1
+#define SCL_PIN 2
+
 #include "Dezibot.h"
+<<<<<<< HEAD
 #include <SPI.h>
 
 #include <Adafruit_NeoPixel.h>
@@ -14,10 +18,27 @@
 #define GPIO_LED 48
 
 void Dezibot::begin(void) {
+=======
+#include <Wire.h>
+
+Dezibot::Dezibot():multiColorLight(){};
+
+void Dezibot::begin(void) {
+    Wire.begin(SDA_PIN,SCL_PIN);
+    infraredLight.begin();
+    lightDetection.begin();    
+>>>>>>> remotes/origin/feature/#9-display
     motion.begin();
     lightDetection.begin();
     colorDetection.begin();
     multiColorLight.begin();
+<<<<<<< HEAD
     motionDetection.begin();
     infraredLight.begin();
 }
+=======
+    display.begin();
+};
+
+
+>>>>>>> remotes/origin/feature/#9-display

src/Dezibot.h

@@ -17,6 +17,7 @@
 #include "multiColorLight/MultiColorLight.h"
 #include "motionDetection/MotionDetection.h"
 #include "infraredLight/InfraredLight.h"
+#include "display/Display.h"
 
 
 class Dezibot {
@@ -29,6 +30,7 @@ public:
     MultiColorLight multiColorLight;
     MotionDetection motionDetection;
     InfraredLight infraredLight;
+    Display display;
     void begin(void);
 /*
 Display display

src/display/CharTable.h

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

src/display/Display.cpp

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

src/display/Display.h

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

src/display/DisplayCMDs.h

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

src/infraredLight/InfraredLED.cpp

@@ -16,7 +16,7 @@ void InfraredLED::begin(void){
         .speed_mode = pwmSpeedMode,
         .duty_resolution = LEDC_TIMER_10_BIT,
         .timer_num = this->timer,
-        .freq_hz = 1,
+        .freq_hz = 800,
         .clk_cfg = LEDC_AUTO_CLK
     };
     ledc_timer_config(&pwmTimer);
@@ -53,7 +53,7 @@ void InfraredLED::setState(bool state){
 };
 
 void InfraredLED::sendFrequency(uint16_t frequency){
-    ledc_set_freq(pwmSpeedMode,timer,frequency);
+   // ledc_set_freq(pwmSpeedMode,timer,frequency);
     ledc_set_duty(pwmSpeedMode,channel,512);
     ledc_update_duty(pwmSpeedMode,channel);
 };

src/infraredLight/InfraredLight.h

@@ -26,7 +26,6 @@ class InfraredLED{
         /**
          * @brief enables selected LED
          * 
-         * @param led 
          */
         void turnOn(void);
         /**

src/lightDetection/LightDetection.cpp

@@ -52,6 +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; 
@@ -63,6 +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);
@@ -71,13 +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)
     {
@@ -96,7 +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

@@ -93,11 +93,5 @@ protected:
     static uint16_t readIRPT(photoTransistors sensor);
     static uint16_t readDLPT(photoTransistors sensor); 
 
-    static void averageMeasurmentTask(void * args);
-
-
-
-    
-
 };
 #endif //LightDetection_h