diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 58d404b..04e6243 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -2,11 +2,15 @@ image: alpine
pages:
stage: deploy
+
script:
- - apk update && apk add doxygen graphviz ttf-freefont && apk add make
+ - apk update && apk add doxygen graphviz ttf-freefont && apk add make && apk add lftp
- doxygen doxygen.txt
- mkdir public
- cp -r docs/html public
+ - cd ./public/html
+ - lftp -e "open plesk.iaccam.com; user $FTP_USERNAME $FTP_PASSWORD; mirror -X .* -X .*/ --reverse --exclude node_modules --verbose --delete ./ ./; bye"
+
#- mv docs/html/ public/
artifacts:
diff --git a/LICENSE.txt b/LICENSE.txt
index 8000a6f..e72bfdd 100644
--- a/LICENSE.txt
+++ b/LICENSE.txt
@@ -1,504 +1,674 @@
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+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
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Everyone is permitted to copy and distribute verbatim copies
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END OF TERMS AND CONDITIONS
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+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
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Copyright (C)
- This library is free software; you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public
- License as published by the Free Software Foundation; either
- version 2.1 of the License, or (at your option) any later version.
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
- This library is distributed in the hope that it will be useful,
+ This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- Lesser General Public License for more details.
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
- You should have received a copy of the GNU Lesser General Public
- License along with this library; if not, write to the Free Software
- Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301
- USA
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
Also add information on how to contact you by electronic and paper mail.
-You should also get your employer (if you work as a programmer) or your
-school, if any, to sign a "copyright disclaimer" for the library, if
-necessary. Here is a sample; alter the names:
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
- Yoyodyne, Inc., hereby disclaims all copyright interest in the
- library `Frob' (a library for tweaking knobs) written by James Random
- Hacker.
+ Copyright (C)
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
- , 1 April 1990
- Ty Coon, President of Vice
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
-That's all there is to it!
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+.
\ No newline at end of file
diff --git a/README.md b/README.md
index 9a5b322..4de389d 100644
--- a/README.md
+++ b/README.md
@@ -112,6 +112,8 @@ A german documentation will be provided but does not replace the english documen
### Documentation
+Documentation of the Software and Hardware can be found at https://docs.dezibot.de/
+
#### .h Files
```C++
@@ -148,42 +150,21 @@ For instance, in `src/Dezibot.h`, to include `src/motion/Motion.h`, you should w
* Upload Mode: "UART0 / Hardware CDC"
* USB Mode: "Hardware CDC and JTAG"
* Programmer: "Esptool"
-* USB CDC on Boot: Enabled
Using `arduino-cli` to compile and upload:
`arduino-cli upload /Users/jo/Documents/Arduino/theSketch -p /dev/cu.usbmodem101 -b esp32:esp32:nora_w10`
`arduino-cli compile /Users/jo/Documents/Arduino/theSketch -p /dev/cu.usbmodem101 -b esp32:esp32:nora_w10`
-#### Display
+##### Including Library
-It is important to specify the SDA and SCL ports by using `Wire.begin(SDA, SCL)`.
+Arduino IDE -> Sketch -> Include Library -> add .ZIP Library -> this library
-```c++
-#include
-#include
+If there is any other error like 'Painless_Mesh' not found, you have to include this library also.
-#define SCREEN_WIDTH 128
-#define SCREEN_HEIGHT 64
+Arduino IDE -> Sketch -> Manage Library -> Search for missing Library
-#define OLED_RESET -1
-#define SCREEN_ADDRESS 0x3C
+#### Start from Scratch
-Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
+It is important, before using any functions of Dezibot, to call ```dezibot.begin()``` once in the setup function.
-void Dezibot::begin(void) {
- Wire.begin(1, 2);
- if (!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
- // Serial.println("SSD1306 allocation failed");
- for (;;); // Don't proceed, loop forever
- }
-
-
- // Draw a single pixel in white
- display.drawPixel(10, 10, SSD1306_WHITE);
-
- // Show the display buffer on the screen. You MUST call display() after
- // drawing commands to make them visible on screen!
- display.display();
- vTaskDelay(2000);
-}
-```
+In the examples folder, a sketch ``start`` is provided, that handles the initialization.
\ No newline at end of file
diff --git a/example/Fernbedienung/empfaenger/empfaenger.ino b/example/Fernbedienung/empfaenger/empfaenger.ino
new file mode 100644
index 0000000..d3bda1c
--- /dev/null
+++ b/example/Fernbedienung/empfaenger/empfaenger.ino
@@ -0,0 +1,25 @@
+#include "Dezibot.h"
+
+
+Dezibot dezibot = Dezibot();
+
+void receivedCallback(String &msg) {
+ if (msg == "vorn") {
+ dezibot.motion.move();
+ } else if (msg == "links") {
+ dezibot.motion.rotateAntiClockwise();
+ } else if (msg == "rechts") {
+ dezibot.motion.rotateClockwise();
+ } else if (msg == "stop") {
+ dezibot.motion.stop();
+ }
+}
+void setup() {
+ dezibot.begin();
+ dezibot.communication.begin();
+ dezibot.communication.setGroupNumber(5);
+ dezibot.communication.onReceive(&receivedCallback);
+}
+
+void loop() {
+}
diff --git a/example/Fernbedienung/sender/sender.ino b/example/Fernbedienung/sender/sender.ino
new file mode 100644
index 0000000..5baf0d5
--- /dev/null
+++ b/example/Fernbedienung/sender/sender.ino
@@ -0,0 +1,46 @@
+#include "Dezibot.h"
+
+
+Dezibot dezibot = Dezibot();
+
+void setup() {
+ dezibot.begin();
+ dezibot.communication.begin();
+ dezibot.communication.setGroupNumber(5);
+}
+
+void loop() {
+ switch (dezibot.motion.detection.getTiltDirection()) {
+ case Front:
+ dezibot.multiColorLight.setTopLeds(GREEN);
+ dezibot.communication.sendMessage("vorn");
+ break;
+ case Left:
+ dezibot.multiColorLight.setTopLeds(YELLOW);
+ dezibot.communication.sendMessage("links");
+ break;
+ case Right:
+ dezibot.multiColorLight.setTopLeds(TURQUOISE);
+ dezibot.communication.sendMessage("rechts");
+ break;
+ case Back:
+ dezibot.multiColorLight.setTopLeds(BLUE);
+ dezibot.communication.sendMessage("stop");
+ break;
+ case Flipped:
+ dezibot.multiColorLight.setTopLeds(PINK);
+ dezibot.communication.sendMessage("stop");
+ break;
+ case Neutral:
+ dezibot.multiColorLight.turnOffLed();
+ dezibot.communication.sendMessage("stop");
+ break;
+
+ case Error:
+ dezibot.multiColorLight.setTopLeds(RED);
+ dezibot.communication.sendMessage("stop");
+ break;
+ }
+
+ delay(100);
+}
diff --git a/example/FindAFriend/FindAFriend/FindAFriend.ino b/example/FindAFriend/FindAFriend/FindAFriend.ino
deleted file mode 100644
index ee1ffb3..0000000
--- a/example/FindAFriend/FindAFriend/FindAFriend.ino
+++ /dev/null
@@ -1,48 +0,0 @@
-#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);
-}
diff --git a/example/IMU/Back_to_Origin/Back_to_Origin.ino b/example/IMU/Back_to_Origin/Back_to_Origin.ino
index beb6068..a86d1eb 100644
--- a/example/IMU/Back_to_Origin/Back_to_Origin.ino
+++ b/example/IMU/Back_to_Origin/Back_to_Origin.ino
@@ -18,7 +18,7 @@ void loop() {
int zvalue = 0;
for(int i = 0; i<30;i++){
- zvalue += dezibot.motionDetection.getAcceleration().z;
+ zvalue += dezibot.motion.detection.getAcceleration().z;
}
zvalue = zvalue/30;
diff --git a/example/IMU/Detection_Print/Detection_Print.ino b/example/IMU/Detection_Print/Detection_Print.ino
index bf5898c..9d37099 100644
--- a/example/IMU/Detection_Print/Detection_Print.ino
+++ b/example/IMU/Detection_Print/Detection_Print.ino
@@ -3,8 +3,8 @@ Dezibot dezibot;
void setup() {
dezibot.begin();
- dezibot.motionDetection.begin();
- //dezibot.motionDetection.end();
+ dezibot.motion.detection.begin();
+ //dezibot.motion.detection.end();
// put your setup code here, to run once:
Serial.begin(115200);
}
@@ -12,9 +12,9 @@ void setup() {
void loop() {
// put your main code here, to run repeatedly:
- //Serial.println(dezibot.motionDetection.getTemperature());
- Serial.println(dezibot.motionDetection.getAcceleration().z);
- //Serial.println(dezibot.motionDetection.getRotation().x);
- Serial.println(dezibot.motionDetection.getWhoAmI());
+ //Serial.println(dezibot.motion.detection.getTemperature());
+ Serial.println(dezibot.motion.detection.getAcceleration().z);
+ //Serial.println(dezibot.motion.detection.getRotation().x);
+ Serial.println(dezibot.motion.detection.getWhoAmI());
delay(5000);
}
diff --git a/example/IMU/Motion_Correction/motion_correction/.theia/launch.json b/example/IMU/Motion_Correction/motion_correction/.theia/launch.json
new file mode 100644
index 0000000..9a49ac9
--- /dev/null
+++ b/example/IMU/Motion_Correction/motion_correction/.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": [
+
+ ]
+}
diff --git a/example/IMU/Motion_Correction/motion_correction/motion_correction.ino b/example/IMU/Motion_Correction/motion_correction/motion_correction.ino
new file mode 100644
index 0000000..c33bcf0
--- /dev/null
+++ b/example/IMU/Motion_Correction/motion_correction/motion_correction.ino
@@ -0,0 +1,86 @@
+#include "Dezibot.h"
+Dezibot dezibot = Dezibot();
+#define maxDuty 6000
+#define minDuty 3500
+#define baseDuty 3900
+void setup() {
+ // put your setup code here, to run once:
+ dezibot.begin();
+ Serial.begin(115200);
+ //dezibot.motion.move();
+ //analogWrite(11, 2000);
+ //analogWrite(12, 2000);
+}
+uint16_t leftDuty= baseDuty;
+uint16_t rightDuty = baseDuty;
+unsigned long previous = millis();
+unsigned long current = millis();
+long averageZRotation = 0;
+long averageXAccel = 0;
+int left=0;
+int right=0;
+int difference = 0;
+int changerate = 0;
+int interval = 40;
+int threshold = 150;
+int resultcounter = 0;
+void loop() {
+ // put your main code here, to run repeatedly:
+ current = millis();
+ IMUResult result = dezibot.motion.detection.getRotation();
+ averageXAccel += dezibot.motion.detection.getAcceleration().x;
+ averageZRotation += result.z;
+ //Serial.println(result.z);
+ if (result.z > threshold){
+ right++;
+ } else if(result.z < -threshold) {
+ left++;
+ }
+ resultcounter++;
+ if ((current - previous) > interval){
+ //averageZRotation = averageZRotation / resultcounter;
+ difference = abs(left-right);
+ if (difference>25){
+ changerate = 100;
+ } else if(difference>20){
+ changerate = 50;
+ } else if(difference >15){
+ changerate = 30;
+ } else if(difference > 10){
+ changerate = 10;
+ } else{
+ changerate = 5;
+ }
+ //Serial.print("Z:");
+ //Serial.println(averageZRotation);
+ dezibot.display.clearDisplay();
+ dezibot.display.setCursor(0, 0);
+ dezibot.display.setTextColor(WHITE);
+ dezibot.display.setTextSize(2); // Draw 2X-scale text
+ dezibot.display.println(averageZRotation);
+ //dezibot.display.println(resultcounter);
+ dezibot.display.print(left);
+ dezibot.display.print(" ");
+ dezibot.display.println(right);
+ if(left>right){ //rotates anticlock
+ leftDuty+=changerate;
+ rightDuty-=changerate;
+ } else if(left 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);
}
diff --git a/example/advanced/FindAFriend/FindAFriend/.gitkeep b/example/advanced/FindAFriend/FindAFriend/.gitkeep
deleted file mode 100644
index e69de29..0000000
diff --git a/example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/FrequencyFindAFriend.ino b/example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/FrequencyFindAFriend.ino
similarity index 100%
rename from example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/FrequencyFindAFriend.ino
rename to example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/FrequencyFindAFriend.ino
diff --git a/example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.bin b/example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.bin
similarity index 100%
rename from example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.bin
rename to example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.bin
diff --git a/example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.bootloader.bin b/example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.bootloader.bin
similarity index 100%
rename from example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.bootloader.bin
rename to example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.bootloader.bin
diff --git a/example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.elf b/example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.elf
similarity index 100%
rename from example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.elf
rename to example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.elf
diff --git a/example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.map b/example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.map
similarity index 100%
rename from example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.map
rename to example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.map
diff --git a/example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.partitions.bin b/example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.partitions.bin
similarity index 100%
rename from example/FindAFriend/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.partitions.bin
rename to example/advanced/FrequencyFindAFriend/FrequencyFindAFriend/build/esp32.esp32.esp32s3/example.ino.partitions.bin
diff --git a/example/advanced/phototaxis/phototaxis.ino b/example/advanced/phototaxis/phototaxis.ino
new file mode 100644
index 0000000..d8d9be6
--- /dev/null
+++ b/example/advanced/phototaxis/phototaxis.ino
@@ -0,0 +1,23 @@
+#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:
+ dezibot.display.clear();
+ int light = dezibot.lightDetection.getValue(DL_FRONT);
+ dezibot.display.print(light);
+
+ if(light > 2000) {
+ dezibot.motion.move();
+ } else {
+ dezibot.motion.rotateClockwise();
+ }
+ delay(100);
+
+}
diff --git a/example/advanced/simpleMorse/simpleMorse.ino b/example/advanced/simpleMorse/simpleMorse.ino
index e6d7be9..77e8cb5 100644
--- a/example/advanced/simpleMorse/simpleMorse.ino
+++ b/example/advanced/simpleMorse/simpleMorse.ino
@@ -8,14 +8,9 @@ void setup() {
void loop() {
// put your main code here, to run repeatedly:
+ dezibot.display.print("Starte Nachricht!");
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();
+ dezibot.display.clear();
// T
longSignal(1);
@@ -46,13 +41,9 @@ void loop() {
longSignal(1);
shortSignal(1);
+ dezibot.display.print("Ende Nachricht!");
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();
+ dezibot.display.clear();
}
void shortSignal(int count){
diff --git a/example/advanced/wuerfeln/wuerfeln.ino b/example/advanced/wuerfeln/wuerfeln.ino
new file mode 100644
index 0000000..60545a2
--- /dev/null
+++ b/example/advanced/wuerfeln/wuerfeln.ino
@@ -0,0 +1,14 @@
+#include
+Dezibot dezibot = Dezibot();
+void setup() {
+ dezibot.begin();
+}
+void loop() {
+ if(dezibot.motion.detection.isShaken()){
+ dezibot.display.clear();
+ dezibot.display.print(random(1,7));
+ delay(1000);
+ }
+
+}
+
diff --git a/example/advanced/zaehlen/zaehlen.ino b/example/advanced/zaehlen/zaehlen.ino
new file mode 100644
index 0000000..eb6e282
--- /dev/null
+++ b/example/advanced/zaehlen/zaehlen.ino
@@ -0,0 +1,14 @@
+#include
+Dezibot dezibot = Dezibot();
+void setup() {
+ dezibot.begin();
+}
+void loop() {
+ for (int i=1; i<=10; i++){
+ dezibot.display.clear();
+ dezibot.display.print(i);
+ delay(1000);
+ }
+
+}
+
diff --git a/example/display/Logo_und_Icon/Logo_und_Icon.ino b/example/display/Logo_und_Icon/Logo_und_Icon.ino
deleted file mode 100644
index 3277161..0000000
--- a/example/display/Logo_und_Icon/Logo_und_Icon.ino
+++ /dev/null
@@ -1,393 +0,0 @@
-/**************************************************************************
- 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
-#include
-
-#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();
-}
diff --git a/example/start/start.ino b/example/start/start.ino
new file mode 100644
index 0000000..f95613d
--- /dev/null
+++ b/example/start/start.ino
@@ -0,0 +1,14 @@
+#include "Dezibot.h"
+
+Dezibot dezibot = Dezibot();
+
+void setup(){
+ dezibot.begin();
+ //comment in to use WIFI-Communication
+ //dezibot.communication.begin();
+ // put your setup code here, to run once:
+}
+
+void loop(){
+// put your main code here, to run repeatedly:
+}
\ No newline at end of file
diff --git a/src/Dezibot.cpp b/src/Dezibot.cpp
index d26052d..5add5aa 100644
--- a/src/Dezibot.cpp
+++ b/src/Dezibot.cpp
@@ -5,7 +5,8 @@
#include "Dezibot.h"
#include
-#define GPIO_LED 48
+
+Dezibot::Dezibot():multiColorLight(){};
void Dezibot::begin(void) {
Wire.begin(SDA_PIN,SCL_PIN);
@@ -15,7 +16,6 @@ void Dezibot::begin(void) {
lightDetection.begin();
colorDetection.begin();
multiColorLight.begin();
- motionDetection.begin();
display.begin();
};
diff --git a/src/Dezibot.h b/src/Dezibot.h
index 49763d9..8dcacf5 100644
--- a/src/Dezibot.h
+++ b/src/Dezibot.h
@@ -25,11 +25,11 @@ class Dezibot {
protected:
public:
+ Dezibot();
Motion motion;
LightDetection lightDetection;
ColorDetection colorDetection;
MultiColorLight multiColorLight;
- MotionDetection motionDetection;
InfraredLight infraredLight;
Communication communication;
Display display;
diff --git a/src/motion/Motion.cpp b/src/motion/Motion.cpp
index 812ca92..2448f04 100644
--- a/src/motion/Motion.cpp
+++ b/src/motion/Motion.cpp
@@ -11,11 +11,10 @@
#include "Motion.h"
-TaskHandle_t xMoveTaskHandle = NULL;
-TaskHandle_t xClockwiseTaskHandle = NULL;
-TaskHandle_t xAntiClockwiseTaskHandle = NULL;
// Initialize the movement component.
+
+
void Motion::begin(void) {
ledc_timer_config_t motor_timer = {
.speed_mode = LEDC_MODE,
@@ -27,37 +26,118 @@ void Motion::begin(void) {
ledc_timer_config(&motor_timer);
Motion::left.begin();
Motion::right.begin();
+ detection.begin();
};
void Motion::moveTask(void * args) {
+ uint32_t runtime = (uint32_t)args;
+
Motion::left.setSpeed(LEFT_MOTOR_DUTY);
Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
- vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
- Motion::left.setSpeed(0);
- Motion::right.setSpeed(0);
- vTaskDelete(xMoveTaskHandle);
-};
+ Motion::xLastWakeTime = xTaskGetTickCount();
+ while(1){
+ if(runtime>40||runtime==0){
+ vTaskDelayUntil(&xLastWakeTime,40);
+ runtime -= 40;
+ //calc new parameters
+ //set new parameters
+ int fifocount = detection.getDataFromFIFO(buffer);
+ int rightCounter = 0;
+ int leftCounter = 0;
+ int changerate = 0;
+ for(int i = 0;icorrectionThreshold){
+ rightCounter++;
+ } else if(buffer[i].gyro.z<-correctionThreshold){
+ leftCounter++;
+ }
+ }
+ int difference = abs(leftCounter-rightCounter);
+ if (difference>25){
+ changerate = 200;
+ } else if(difference>20){
+ changerate = 100;
+ } else if(difference >15){
+ changerate = 50;
+ } else if(difference > 10){
+ changerate = 20;
+ } else{
+ changerate = 5;
+ }
-// Move forward for a certain amount of time.
-void Motion::move(uint32_t moveForMs) {
- if (moveForMs > 0){
- xTaskCreate(moveTask, "Move", 4096, (void*)moveForMs, 10, &xMoveTaskHandle);
- } else{
- Motion::left.setSpeed(LEFT_MOTOR_DUTY);
- Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
+ if(leftCounter>rightCounter){ //rotates anticlock
+ LEFT_MOTOR_DUTY+=changerate;
+ RIGHT_MOTOR_DUTY-=changerate;
+ } else if(leftCounter40)||(runtime==0)){
+ vTaskDelayUntil(&xLastWakeTime,40);
+ runtime -=40;
+ } else {
+ vTaskDelayUntil(&xLastWakeTime,runtime);
+ Motion::left.setSpeed(0);
+ vTaskDelete(xClockwiseTaskHandle);
+ }
+ vTaskDelayUntil(&xLastWakeTime,40);
+ }
};
// Rotate clockwise for a certain amount of time.
-void Motion::rotateClockwise(uint32_t rotateForMs) {
+void Motion::rotateClockwise(uint32_t rotateForMs,uint baseValue) {
+ LEFT_MOTOR_DUTY = baseValue;
+ RIGHT_MOTOR_DUTY = baseValue;
if (rotateForMs > 0){
+ if(xClockwiseTaskHandle){
+ vTaskDelete(xClockwiseTaskHandle);
+ }
xTaskCreate(leftMotorTask, "LeftMotor", 4096, (void*)rotateForMs, 10, &xClockwiseTaskHandle);
} else {
Motion::left.setSpeed(LEFT_MOTOR_DUTY);
@@ -66,16 +146,37 @@ void Motion::rotateClockwise(uint32_t rotateForMs) {
};
void Motion::rightMotorTask(void * args) {
+ uint32_t runtime = (uint32_t)args;
+ if(xMoveTaskHandle){
+ vTaskDelete(xMoveTaskHandle);
+ xMoveTaskHandle = NULL;
+ }
+ if(xClockwiseTaskHandle){
+ vTaskDelete(xClockwiseTaskHandle);
+ xClockwiseTaskHandle = NULL;
+ }
Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
Motion::left.setSpeed(0);
- vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
- Motion::right.setSpeed(0);
- vTaskDelete(xAntiClockwiseTaskHandle);
+ while(1){
+ if(runtime>40||runtime==0){
+ vTaskDelayUntil(&xLastWakeTime,40);
+ runtime -= 40;
+ } else {
+ vTaskDelayUntil(&xLastWakeTime,runtime);
+ Motion::right.setSpeed(0);
+ vTaskDelete(xAntiClockwiseTaskHandle);
+ }
+ }
};
// Rotate anticlockwise for a certain amount of time.
-void Motion::rotateAntiClockwise(uint32_t rotateForMs) {
+void Motion::rotateAntiClockwise(uint32_t rotateForMs,uint baseValue) {
+ LEFT_MOTOR_DUTY = baseValue;
+ RIGHT_MOTOR_DUTY = baseValue;
if(rotateForMs > 0){
+ if(xAntiClockwiseTaskHandle){
+ vTaskDelete(xAntiClockwiseTaskHandle);
+ }
xTaskCreate(rightMotorTask, "RightMotor", 4096, (void*)rotateForMs, 10, &xAntiClockwiseTaskHandle);
} else {
Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
@@ -84,6 +185,18 @@ void Motion::rotateAntiClockwise(uint32_t rotateForMs) {
};
void Motion::stop(void){
+ if(xMoveTaskHandle){
+ vTaskDelete(xMoveTaskHandle);
+ xMoveTaskHandle = NULL;
+ }
+ if(xAntiClockwiseTaskHandle){
+ vTaskDelete(xAntiClockwiseTaskHandle);
+ xAntiClockwiseTaskHandle = NULL;
+ }
+ if(xClockwiseTaskHandle){
+ vTaskDelete(xClockwiseTaskHandle);
+ xClockwiseTaskHandle = NULL;
+ }
Motion::left.setSpeed(0);
Motion::right.setSpeed(0);
}
diff --git a/src/motion/Motion.h b/src/motion/Motion.h
index 13ae523..2a7ed8a 100644
--- a/src/motion/Motion.h
+++ b/src/motion/Motion.h
@@ -16,17 +16,37 @@
#include
#include
#include "driver/ledc.h"
+#include "motionDetection/MotionDetection.h"
#define LEDC_MODE LEDC_LOW_SPEED_MODE
#define TIMER LEDC_TIMER_2
#define CHANNEL_LEFT LEDC_CHANNEL_3
#define CHANNEL_RIGHT LEDC_CHANNEL_4
#define DUTY_RES LEDC_TIMER_13_BIT // Set duty resolution to 13 bits
#define FREQUENCY (5000) // Frequency in Hertz. Set frequency at 5 kHz
+#define DEFAULT_BASE_VALUE 3900
class Motor{
public:
Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel);
+
+ /**
+ * @brief Initializes the motor
+ */
void begin(void);
+
+ /**
+ * @brief Set the Speed by changing the pwm. To avoid current peaks, a linear ramp-up is used.
+ *
+ * @attention it is requried at any time to use that method to access the motors or methods of the motionclass to avoid such peaks.
+ *
+ * @param duty the duty cyle that should be set, can be between 0-8192
+ */
void setSpeed(uint16_t duty);
+
+ /**
+ * @brief returns the currently activ speed
+ *
+ * @return current speedvalue of the motor
+ */
uint16_t getSpeed(void);
protected:
uint8_t pin;
@@ -38,18 +58,28 @@ class Motor{
class Motion{
protected:
- static const uint16_t RIGHT_MOTOR_DUTY = 4096;
- static const uint16_t LEFT_MOTOR_DUTY = 4096;
+ static inline uint16_t RIGHT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
+ static inline uint16_t LEFT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
static const int MOTOR_RIGHT_PIN = 11;
static const int MOTOR_LEFT_PIN = 12;
static void moveTask(void * args);
static void leftMotorTask(void * args);
static void rightMotorTask(void * args);
+ static inline TaskHandle_t xMoveTaskHandle = NULL;
+ static inline TaskHandle_t xClockwiseTaskHandle = NULL;
+ static inline TaskHandle_t xAntiClockwiseTaskHandle = NULL;
+ static inline TickType_t xLastWakeTime;
+
+ static inline FIFO_Package* buffer = new FIFO_Package[64];
+ static inline int correctionThreshold = 150;
public:
- //Shared Timer to sync movement
+ //Instances of the motors, so they can also be used from outside to set values for the motors directly.
static inline Motor left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT);
static inline Motor right = Motor(MOTOR_RIGHT_PIN,TIMER,CHANNEL_RIGHT);
+
+ //MotionDetection instance, for motion Correction and user (access with dezibot.motion.detection)
+ static inline MotionDetection detection;
/**
* @brief Initialize the movement component.
@@ -60,23 +90,30 @@ public:
/**
* @brief Move forward for a certain amount of time.
* Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
+ * The function applys a basic algorithm to improve the straigthness of the movement.
+ * Lifting the robot from the desk may corrupt the results and is not recommended.
+ *
* @param moveForMs Representing the duration of forward moving in milliseconds.
+ * @param baseValue The value that is used to start with the calibrated movement. Defaults to 3900.
+ * If the Dezibot is not moving forward at all increasing the value may help. If the robot is just jumping up and down but not forward, try a lower value.
*/
- static void move(uint32_t moveForMs=0);
+ static void move(uint32_t moveForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
/**
* @brief Rotate clockwise for a certain amount of time.
* Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
- * @param rotateForMs Representing the duration of rotating clockwise in milliseconds.
+ * @param rotateForMs Representing the duration of rotating clockwise in milliseconds, or 0 to rotate until another movecmd is issued. Default is 0
+ * @param baseValue The value that is used to start with the calibrated movement (not released yet, currently just the used value)
*/
- static void rotateClockwise(uint32_t rotateForMs=0);
+ static void rotateClockwise(uint32_t rotateForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
/**
* @brief Rotate anticlockwise for a certain amount of time.
* Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
- * @param rotateForMs Representing the duration of rotating anticlockwise in milliseconds.
+ * @param rotateForMs Representing the duration of rotating anticlockwise in milliseconds or 0 to let the robot turn until another movecommand is issued. Default is 0.
+ * @param baseValue The value that is used to start with the calibrated movement (not released yet, currently just the used value).
*/
- static void rotateAntiClockwise(uint32_t rotateForMs=0);
+ static void rotateAntiClockwise(uint32_t rotateForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
/**
* @brief stops any current movement, no matter if timebased or endless
@@ -84,6 +121,14 @@ public:
*/
static void stop(void);
+ /**
+ * @brief Does the same as the move function, but this function does not apply any kind of algorithm to improve the result.
+ *
+ * @param moveForMs how many ms should the robot move, or 0 to let the robot move until another move command is mentioned, default is 0
+ * @param baseValue the duty value that is used for the movement, default is 0
+ */
+ static void moveWithoutCorrection(uint32_t moveForMs=0, uint baseValue = DEFAULT_BASE_VALUE);
+
};
diff --git a/src/motion/Motor.cpp b/src/motion/Motor.cpp
index 4dfc3a4..0c26a58 100644
--- a/src/motion/Motor.cpp
+++ b/src/motion/Motor.cpp
@@ -23,9 +23,24 @@ void Motor::begin(void){
};
void Motor::setSpeed(uint16_t duty){
- this->duty = duty;
- ledc_set_duty(LEDC_MODE,this->channel,duty);
- ledc_update_duty(LEDC_MODE,this->channel);
+
+ int difference = duty-this->getSpeed();
+ if (difference > 0){
+ for(int i = 0;iduty += difference/20;
+ ledc_set_duty(LEDC_MODE,this->channel,duty);
+ ledc_update_duty(LEDC_MODE,this->channel);
+ delayMicroseconds(5);
+ }
+ } else {
+ for(int i = 0;i>difference;i-=abs(difference/20)){
+ this->duty -= abs(difference/20);
+ ledc_set_duty(LEDC_MODE,this->channel,duty);
+ ledc_update_duty(LEDC_MODE,this->channel);
+ delayMicroseconds(5);
+ }
+ }
+
};
uint16_t Motor::getSpeed(void){
diff --git a/src/motionDetection/IMU_CMDs.h b/src/motionDetection/IMU_CMDs.h
new file mode 100644
index 0000000..ab420c7
--- /dev/null
+++ b/src/motionDetection/IMU_CMDs.h
@@ -0,0 +1,49 @@
+#ifndef IMU_CMDs
+#define IMU_CMDs
+
+#define CMD_READ 0x80
+#define CMD_WRITE 0x00
+#define ADDR_MASK 0x7F
+
+//Registers
+#define MCLK_RDY 0x00
+
+#define REG_TEMP_LOW 0x0A
+#define REG_TEMP_HIGH 0X09
+
+#define ACCEL_DATA_X_HIGH 0x0B
+#define ACCEL_DATA_X_LOW 0x0C
+#define ACCEL_DATA_Y_HIGH 0x0D
+#define ACCEL_DATA_Y_LOW 0x0E
+#define ACCEL_DATA_Z_HIGH 0x0F
+#define ACCEL_DATA_Z_LOW 0x10
+
+#define GYRO_DATA_X_HIGH 0x11
+#define GYRO_DATA_X_LOW 0x12
+#define GYRO_DATA_Y_HIGH 0x13
+#define GYRO_DATA_Y_LOW 0x14
+#define GYRO_DATA_Z_HIGH 0x15
+#define GYRO_DATA_Z_LOW 0x16
+
+#define PWR_MGMT0 0x1F
+#define WHO_AM_I 0x75
+
+#define INTF_CONFIG0 0x35
+
+#define BLK_SEL_W 0x79
+#define BLK_SEL_R 0x7C
+#define MADDR_W 0x7A
+#define MADDR_R 0x7D
+#define M_W 0x7B
+#define M_R 0x7E
+
+#define FIFO_COUNTH 0x3D
+#define FIFO_COUNTL 0x3E
+#define FIFO_DATA 0x3F
+#define FIFO_CONFIG1 0x28
+#define FIFO_CONFIG2 0x29
+
+//MREG1
+#define FIFO_CONFIG5 0x01
+#define TMST_CONFIG1 0x00
+#endif
\ No newline at end of file
diff --git a/src/motionDetection/MotionDetection.cpp b/src/motionDetection/MotionDetection.cpp
index 77387e7..6386e2f 100644
--- a/src/motionDetection/MotionDetection.cpp
+++ b/src/motionDetection/MotionDetection.cpp
@@ -1,4 +1,5 @@
#include "MotionDetection.h"
+#include
MotionDetection::MotionDetection(){
handler = new SPIClass(FSPI);
@@ -8,32 +9,21 @@ void MotionDetection::begin(void){
pinMode(34,OUTPUT);
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);
+ this->writeRegister(PWR_MGMT0,0x1F);
//busy Wait for startup
delayMicroseconds(250);
+ //set accelconfig
+ this->writeRegister(0x21,0x05);
//set Gyroconfig
- handler->transfer(0x20);
- handler->transfer(0x25);
+ this->writeRegister(0x20,0x25);
//set Gyro Filter
- handler->transfer(0x23);
- handler->transfer(0x37);
- digitalWrite(34,HIGH);
- handler->endTransaction();
+ this->writeRegister(0x23,0x37);
+ //Enable Gyro and Acceldata in FIFO
+ this->initFIFO();
};
void MotionDetection::end(void){
- handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
- digitalWrite(34,LOW);
- handler->transfer(cmdWrite(PWR_MGMT0));
- //turn Accel and Gyroscope off
- handler->transfer(0x00);
- digitalWrite(34,HIGH);
- handler->end();
+ this->writeRegister(PWR_MGMT0,0x00);
};
IMUResult MotionDetection::getAcceleration(){
IMUResult result;
@@ -175,7 +165,123 @@ uint8_t MotionDetection::readRegister(uint8_t reg){
uint8_t result;
result = handler->transfer(cmdRead(reg));
result = handler->transfer(0x00);
- digitalWrite(34,HIGH);
+ digitalWrite(34,HIGH);
handler->endTransaction();
return result;
+};
+
+uint8_t MotionDetection::readFromRegisterBank(registerBank bank,uint8_t reg){
+ uint8_t result = 0;
+ switch(bank){
+ case(MREG1):
+ this->writeRegister(BLK_SEL_R,0x00);
+ break;
+ case(MREG2):
+ this->writeRegister(BLK_SEL_R,0x28);
+ break;
+ case(MREG3):
+ this->writeRegister(BLK_SEL_R,0x50);
+ break;
+ }
+ this->writeRegister(MADDR_R,reg);
+ delayMicroseconds(10);
+ result=this->readRegister(M_R);
+ delayMicroseconds(10);
+ this->resetRegisterBankAccess();
+ return result;
+};
+
+void MotionDetection::writeToRegisterBank(registerBank bank, uint8_t reg, uint8_t value){
+ while((this->readRegister(MCLK_RDY))&0x08!=0x08){
+ Serial.println("CLK not rdy");
+ delay(100);
+ }
+ uint8_t result = this->readRegister(PWR_MGMT0);
+ Serial.print("MADDR_W: ");
+ Serial.println(readRegister(MADDR_W));
+ //set Idle Bit
+ this->writeRegister(PWR_MGMT0,result|0x10);
+ switch(bank){
+ case(MREG1):
+ this->writeRegister(BLK_SEL_W,0x00);
+ break;
+ case(MREG2):
+ this->writeRegister(BLK_SEL_W,0x28);
+ break;
+ case(MREG3):
+ this->writeRegister(BLK_SEL_W,0x50);
+ break;
+ }
+ this->writeRegister(MADDR_W,reg);
+ this->writeRegister(M_W,value);
+ delayMicroseconds(10);
+ this->writeRegister(PWR_MGMT0,result&0xEF);
+ Serial.print("MADDR_W: ");
+ Serial.println(readRegister(MADDR_W));
+ this->resetRegisterBankAccess();
+};
+
+void MotionDetection::resetRegisterBankAccess(){
+ this->writeRegister(BLK_SEL_R,0x00);
+ this->writeRegister(BLK_SEL_W,0x00);
+ this->writeRegister(MADDR_R,0x00);
+ this->writeRegister(MADDR_W,0x00);
+};
+
+void MotionDetection::initFIFO(){
+ delay(60);
+ //set INTF_CONFIG0 FIFO_COUNT_REC_RECORD und Little Endian
+ this->writeRegister(INTF_CONFIG0,0x60);
+ //set FIFO_CONFIG1 to Mode Snapshot and BYPASS Off
+ this->writeRegister(FIFO_CONFIG1,0x00);
+ //set TMST_CONFIG1_MREG1 TMST_CONFIIG1_TMST_EN
+ this->writeToRegisterBank(MREG1,TMST_CONFIG1,0x00);
+ //set FiFO config 5 GYRO_EN,TMST_FSYNC, ACCEL_EN, WM_GT_TH_EN
+ this->writeToRegisterBank(MREG1,FIFO_CONFIG5,0x23);
+ //set FOF_CONFIG2 0x1 (INT triggerd each packaged)
+ this->writeRegister(FIFO_CONFIG2,0x0A);
+};
+
+uint MotionDetection::getDataFromFIFO(FIFO_Package* buffer){
+ int16_t fifocount = 0;
+ int8_t fifohigh = this->readRegister(FIFO_COUNTH);
+ int8_t fifolow = this->readRegister(FIFO_COUNTL);
+ fifocount = (fifohigh<<8)|fifolow;
+ //fifocount |= this->readRegister(FIFO_COUNTL);
+ //fifocount = (this->readRegister(FIFO_COUNTH)<<8);
+ Serial.println(fifolow);
+ Serial.println(fifohigh);
+ Serial.println(fifocount);
+ handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
+ digitalWrite(34,LOW);
+ handler->transfer(cmdRead(FIFO_DATA));
+ handler->transfer(buf,16*fifocount);
+ digitalWrite(34,HIGH);
+ handler->endTransaction();
+
+ writeRegister(0x02,0x04);
+ delayMicroseconds(10);
+
+ for(int i = 0; ibeginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
+ digitalWrite(34,LOW);
+ handler->transfer(reg);
+ handler->transfer(value);
+ digitalWrite(34,HIGH);
+ delayMicroseconds(10);
+ handler->endTransaction();
};
\ No newline at end of file
diff --git a/src/motionDetection/MotionDetection.h b/src/motionDetection/MotionDetection.h
index eaa47b7..8fecbb6 100644
--- a/src/motionDetection/MotionDetection.h
+++ b/src/motionDetection/MotionDetection.h
@@ -12,6 +12,7 @@
#define MotionDetection_h
#include
#include
+#include "IMU_CMDs.h"
struct IMUResult{
int16_t x;
int16_t y;
@@ -38,36 +39,25 @@ enum Direction{
Error
};
+struct FIFO_Package{
+ int8_t header;
+ IMUResult gyro;
+ IMUResult accel;
+ int16_t temperature;
+ int16_t timestamp;
+};
+
+
class MotionDetection{
protected:
-
- static const uint8_t CMD_READ = 0x80;
- static const uint8_t CMD_WRITE = 0x00;
- static const uint8_t ADDR_MASK = 0x7F;
-
- //Registers
- static const uint8_t REG_TEMP_LOW = 0x0A;
- static const uint8_t REG_TEMP_HIGH = 0X09;
-
- static const uint8_t ACCEL_DATA_X_HIGH = 0x0B;
- static const uint8_t ACCEL_DATA_X_LOW = 0x0C;
- static const uint8_t ACCEL_DATA_Y_HIGH = 0x0D;
- static const uint8_t ACCEL_DATA_Y_LOW = 0x0E;
- static const uint8_t ACCEL_DATA_Z_HIGH = 0x0F;
- static const uint8_t ACCEL_DATA_Z_LOW = 0x10;
-
- static const uint8_t GYRO_DATA_X_HIGH = 0x11;
- static const uint8_t GYRO_DATA_X_LOW = 0x12;
- static const uint8_t GYRO_DATA_Y_HIGH = 0x13;
- static const uint8_t GYRO_DATA_Y_LOW = 0x14;
- static const uint8_t GYRO_DATA_Z_HIGH = 0x15;
- static const uint8_t GYRO_DATA_Z_LOW = 0x16;
-
- static const uint8_t PWR_MGMT0 = 0x1F;
- static const uint8_t WHO_AM_I = 0x75;
-
- static const uint frequency = 10000000;
+ enum registerBank{MREG1,MREG2,MREG3};
+ static const uint frequency = 24000000;
static const uint16_t defaultShakeThreshold = 500;
+ const uint bufferLength = 64*16;
+ int8_t* buf = new int8_t[bufferLength];
+ uint8_t readFromRegisterBank(registerBank bank,uint8_t reg);
+ void writeToRegisterBank(registerBank bank, uint8_t reg, uint8_t value);
+ void resetRegisterBankAccess();
uint16_t cmdRead(uint8_t regHigh,uint8_t regLow);
uint16_t cmdWrite(uint8_t regHigh,uint8_t regLow);
@@ -76,6 +66,8 @@ protected:
uint8_t readRegister(uint8_t reg);
int16_t readDoubleRegister(uint8_t lowerReg);
+ void writeRegister(uint8_t reg, uint8_t value);
+ void initFIFO();
SPIClass * handler = NULL;
@@ -183,6 +175,13 @@ public:
*/
void calibrateZAxis(uint gforceValue);
-
+ /**
+ * @brief will read all availible packages from fifo, after 40ms Fifo is full
+ *
+ * @param buffer pointer to FIFO_Package Struct that at least must have size 64 (this is the max package count with APEX Enabled)
+ *
+ * @return the amount of acutally fetched packages
+ */
+ uint getDataFromFIFO(FIFO_Package* buffer);
};
#endif //MotionDetection
\ No newline at end of file