🌊 Moves all logic to new Spot class
This commit is contained in:
Rune Harlyk
+4
-209
@@ -1,216 +1,11 @@
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#include <WiFi.h>
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#include <AsyncTCP.h>
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#include <ESPAsyncWebServer.h>
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#include <DNSServer.h>
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#include <ESPmDNS.h>
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#include <SPIFFS.h>
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#include <ArduinoOTA.h>
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#include "soc/soc.h" // Disable brownout problems
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#include "soc/rtc_cntl_reg.h" // Disable brownout problems
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#include <spot.h>
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#include <SPI.h>
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#include <Wire.h>
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#include <NewPing.h>
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#include <MPU6050_light.h>
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#include <Adafruit_PWMServoDriver.h>
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#include <Adafruit_SSD1306.h>
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#include <Adafruit_GFX.h>
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#include <AsyncJpegStreamHandler.h>
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#include <WebsocketHandler.h>
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#include <config.h>
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#include <camera.h>
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#include <servo.h>
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#include <ik_task.h>
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static const char* TAG = "MAIN";
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DNSServer dnsServer;
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AsyncWebSocket ws(WEBSOCKET_PATH);
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AsyncEventSource events(EVENTSOURCE_PATH);
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AsyncWebServer server(HTTP_PORT);
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NewPing sonar[2] = {
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NewPing(USS_LEFT, USS_LEFT, USS_MAX_DISTANCE),
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NewPing(USS_RIGHT, USS_RIGHT, USS_MAX_DISTANCE)
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};
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MPU6050 mpu(Wire);
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Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, SCREEN_RESET);
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bool MPU_READY = false;
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bool PWM_READY = false;
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bool OLED_READY = false;
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const bool USE_CAPTIVE_PORTAL = false;
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int lastState = LOW;
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int currentState;
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long timer = 0;
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#ifdef __cplusplus
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extern "C" {
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#endif
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uint8_t temprature_sens_read();
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#ifdef __cplusplus
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}
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#endif
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uint8_t temprature_sens_read();
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bool setupOLED(){
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if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
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Serial.println(F("SSD1306 allocation failed"));
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return 0;
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}
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display.display();
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delay(200);
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display.clearDisplay();
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return 1;
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}
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void setupWiFi(){
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if(USE_CAPTIVE_PORTAL){
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WiFi.softAP(HOSTNAME);
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dnsServer.start(53, "*", WiFi.softAPIP());
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} else {
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WiFi.begin(SSID, PASS);
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while (WiFi.status() != WL_CONNECTED) {
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delay(500);
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}
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if(OLED_READY) {
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display.setTextColor(WHITE, BLACK);
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display.setTextSize(1);
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int16_t x1 = 0;
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int16_t y1 = 0;
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uint16_t h = 0;
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uint16_t w = 0;
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display.getTextBounds(WiFi.localIP().toString(), 0, 0, &x1, &y1, &w, &h);
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display.setCursor(SCREEN_WIDTH/2 - w/2, SCREEN_HEIGHT/2 - h/2);
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display.println(WiFi.localIP());
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display.display();
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}
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}
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if(MDNS.begin(HOSTNAME)){
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MDNS.addService("http", "tcp", HTTP_PORT);
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}
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}
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void setupServer(){
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ws.onEvent(onWsEvent);
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server.addHandler(&ws);
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server.on("/stream", HTTP_GET, streamJpg);
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server.serveStatic("/", SPIFFS, "/").setDefaultFile("index.html");
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server.begin();
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}
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bool setupMPU(){
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byte status = mpu.begin();
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Serial.print(F("MPU6050 status: "));
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Serial.println(status);
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if(status != 0){ return 0; }
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Serial.println(F("Calculating offsets, do not move MPU6050"));
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delay(1000);
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mpu.calcOffsets(true,true);
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Serial.println("Done!\n");
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return 1;
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}
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void setupOAT(){
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ArduinoOTA.onStart([]() { events.send("Update Start", "ota"); });
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ArduinoOTA.onEnd([]() { events.send("Update End", "ota"); });
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ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
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char p[32];
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sprintf(p, "Progress: %u%%\n", (progress/(total/100)));
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events.send(p, "ota");
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});
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ArduinoOTA.onError([](ota_error_t error) {
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if(error == OTA_AUTH_ERROR) events.send("Auth Failed", "ota");
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else if(error == OTA_BEGIN_ERROR) events.send("Begin Failed", "ota");
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else if(error == OTA_CONNECT_ERROR) events.send("Connect Failed", "ota");
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else if(error == OTA_RECEIVE_ERROR) events.send("Recieve Failed", "ota");
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else if(error == OTA_END_ERROR) events.send("End Failed", "ota");
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});
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ArduinoOTA.setHostname(HOSTNAME);
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ArduinoOTA.begin();
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}
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Spot spot;
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void setup(){
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WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);
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Serial.begin(BAUDRATE);
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Serial.setDebugOutput(SERIAL_DEBUG_OUTPUT);
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pinMode(BUTTON_LED, OUTPUT);
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//pinMode(BUTTON, INPUT);
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Wire.begin(SDA, SCL);
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SPIFFS.begin();
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OLED_READY = setupOLED();
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MPU_READY = setupMPU();
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PWM_READY = setup_pwm_controller();
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setupCamera();
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setupWiFi();
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setupOAT();
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setupServer();
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digitalWrite(BUTTON_LED, HIGH);
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spot.boot();
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}
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void loop(){
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ArduinoOTA.handle();
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if(USE_CAPTIVE_PORTAL) dnsServer.processNextRequest();
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ws.cleanupClients();
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currentState = digitalRead(BUTTON);
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if (lastState == HIGH && currentState == LOW)
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disable_servos();
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lastState = currentState;
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if(millis() - timer > 50) {
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/*int sketchSize = ESP.getSketchSize();
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int sketchSpace = ESP.getFreeSketchSpace();
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const char* SdkVersion = ESP.getSdkVersion();
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uint32_t mhz = ESP.getCpuFreqMHz();
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uint32_t heapSize = ESP.getHeapSize();
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uint32_t psramSize = ESP.getPsramSize();
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size_t filesystem_used = SPIFFS.usedBytes();
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size_t filesystem_total = SPIFFS.totalBytes();
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int64_t sec = esp_timer_get_time() / 1000000;
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int64_t upDays = int64_t(floor(sec/86400));
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int upHours = int64_t(floor(sec/3600)) % 24;
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int upMin = int64_t(floor(sec/60)) % 60;
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int upSec = sec % 60;*/
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mpu.update();
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size_t numContent = 13;
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float content[numContent];
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content[0] = WiFi.RSSI();
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content[1] = mpu.getTemp();
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content[2] = mpu.getAccX();
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content[3] = mpu.getAccY();
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content[4] = mpu.getAccZ();
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content[5] = mpu.getAngleX();
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content[6] = mpu.getAngleY();
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content[7] = mpu.getAngleZ();
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content[8] = (temprature_sens_read() - 32) / 1.8;
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content[9] = sonar[0].ping_cm();
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content[10] = sonar[1].ping_cm();
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content[11] = ESP.getFreeHeap();
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content[12] = ESP.getFreePsram();
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uint8_t* buf = (uint8_t*) &content;
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size_t buf_len = sizeof(buf);
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ws.binaryAll(buf, buf_len * numContent);
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timer = millis();
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}
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spot.handle();
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}
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+206
@@ -0,0 +1,206 @@
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#include <spot.h>
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Spot::Spot()
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: _events(EVENTSOURCE_PATH)
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, _ws(WEBSOCKET_PATH)
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, _server(HTTP_PORT)
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, _display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, SCREEN_RESET)
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, _mpu(Wire)
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, _leftUss(USS_LEFT, USS_LEFT, USS_MAX_DISTANCE)
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, _rightUss(USS_RIGHT, USS_RIGHT, USS_MAX_DISTANCE)
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, _pwm(0x40)
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{ }
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esp_err_t Spot::boot(){
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log_i("Booting...");
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WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);
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SPIFFS.begin();
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Wire.begin(SDA, SCL);
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_initialize_button();
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_initialize_display();
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_initialize_mpu();
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_initialize_camera();
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initialize_wifi();
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_initialize_arduino_oat();
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_initialize_server();
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log_i("Done booting");
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return ESP_OK;
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}
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void Spot::handle(){
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if(USE_CAPTIVE_PORTAL) _dnsServer.processNextRequest();
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ArduinoOTA.handle();
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_ws.cleanupClients();
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}
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esp_err_t Spot::initialize_wifi(){
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if(USE_CAPTIVE_PORTAL) _initialize_captive_portal();
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else _initialize_wifi_connection();
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if(MDNS.begin(HOSTNAME)){
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MDNS.addService("http", "tcp", HTTP_PORT);
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}
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if(USE_CAPTIVE_PORTAL) display_ip_and_ssid(&_display, WiFi.softAPIP().toString(), HOSTNAME);
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else display_ip_and_ssid(&_display, WiFi.localIP().toString(), SSID);
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return ESP_OK;
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}
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uint8_t Spot::cpu_temperature(){
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return (temprature_sens_read() - 32) / 1.8;
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}
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esp_err_t Spot::_initialize_camera(){
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camera_config_t camera_config;
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camera_config.ledc_channel = LEDC_CHANNEL_0;
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camera_config.ledc_timer = LEDC_TIMER_0;
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camera_config.pin_d0 = Y2_GPIO_NUM;
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camera_config.pin_d1 = Y3_GPIO_NUM;
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camera_config.pin_d2 = Y4_GPIO_NUM;
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camera_config.pin_d3 = Y5_GPIO_NUM;
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camera_config.pin_d4 = Y6_GPIO_NUM;
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camera_config.pin_d5 = Y7_GPIO_NUM;
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camera_config.pin_d6 = Y8_GPIO_NUM;
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camera_config.pin_d7 = Y9_GPIO_NUM;
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camera_config.pin_xclk = XCLK_GPIO_NUM;
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camera_config.pin_pclk = PCLK_GPIO_NUM;
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camera_config.pin_vsync = VSYNC_GPIO_NUM;
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camera_config.pin_href = HREF_GPIO_NUM;
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camera_config.pin_sscb_sda = SIOD_GPIO_NUM;
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camera_config.pin_sscb_scl = SIOC_GPIO_NUM;
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camera_config.pin_pwdn = PWDN_GPIO_NUM;
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camera_config.pin_reset = RESET_GPIO_NUM;
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camera_config.xclk_freq_hz = 20000000;
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camera_config.pixel_format = PIXFORMAT_JPEG;
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if(psramFound()){
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camera_config.frame_size = FRAMESIZE_SVGA;
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camera_config.jpeg_quality = 10;
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camera_config.fb_count = 2;
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} else {
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camera_config.frame_size = FRAMESIZE_SVGA;
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camera_config.jpeg_quality = 12;
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camera_config.fb_count = 1;
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}
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log_i("Initializing camera");
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esp_err_t err = esp_camera_init(&camera_config);
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if (err != ESP_OK) log_i("Camera probe failed with error 0x%x", err);
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return err;
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}
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esp_err_t Spot::_initialize_wifi_connection(){
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log_i("Connecting to wifi");
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WiFi.begin(SSID, PASS);
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int8_t timeout = 0;
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while (WiFi.status() != WL_CONNECTED) {
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delay(500);
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timeout++;
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if(timeout > 15) {
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_initialize_captive_portal();
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return ESP_FAIL;
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}
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}
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log_i("Connected successfully");
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return ESP_OK;
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}
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esp_err_t Spot::_initialize_arduino_oat(){
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log_i("Starting ArduinoOTA");
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ArduinoOTA.onStart([&]() { _events.send("Update Start", "ota"); });
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ArduinoOTA.onEnd([&]() { _events.send("Update End", "ota"); });
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ArduinoOTA.onProgress([&](unsigned int progress, unsigned int total) {
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char p[32];
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sprintf(p, "Progress: %u%%\n", (progress/(total/100)));
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_events.send(p, "ota");
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});
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ArduinoOTA.onError([&](ota_error_t error) {
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if(error == OTA_AUTH_ERROR) _events.send("Auth Failed", "ota");
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else if(error == OTA_BEGIN_ERROR) _events.send("Begin Failed", "ota");
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else if(error == OTA_CONNECT_ERROR) _events.send("Connect Failed", "ota");
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else if(error == OTA_RECEIVE_ERROR) _events.send("Recieve Failed", "ota");
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else if(error == OTA_END_ERROR) _events.send("End Failed", "ota");
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});
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ArduinoOTA.setHostname(HOSTNAME);
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ArduinoOTA.begin();
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return ESP_OK;
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}
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esp_err_t Spot::_initialize_captive_portal(){
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log_i("Starting captive portal");
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WiFi.softAP(HOSTNAME);
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_dnsServer.start(53, "*", WiFi.softAPIP());
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return ESP_OK;
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}
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esp_err_t Spot::_initialize_server(){
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log_i("Starting webserver");
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_ws.onEvent(onWsEvent);
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_server.addHandler(&_ws);
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_server.on("/stream", HTTP_GET, streamJpg);
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_server.serveStatic("/", SPIFFS, "/").setDefaultFile("index.html");
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_server.begin();
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return ESP_OK;
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}
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esp_err_t Spot::_initialize_display(){
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log_i("Initializing display");
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if(!_display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
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log_w("SSD1306 allocation failed");
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return ESP_FAIL;
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}
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_display.display();
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delay(200);
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_display.clearDisplay();
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return ESP_OK;
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}
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esp_err_t Spot::_initialize_mpu(){
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log_i("Initializing MPU");
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byte status = _mpu.begin();
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if(status != 0) {
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log_w("MPU initialize failed");
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return ESP_FAIL;
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}
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log_i("Calculating offsets, do not move MPU6050");
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delay(1000);
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log_i("Cone calculating offsets");
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_mpu.calcOffsets(true,true);
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return ESP_OK;
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}
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esp_err_t Spot::_initialize_pwm_controller(){
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log_i("Initializing PWM controller");
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_pwm.begin();
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_pwm.setOscillatorFrequency(SERVO_OSCILLATOR_FREQUENCY);
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_pwm.setPWMFreq(SERVO_FREQ);
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return ESP_OK;
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}
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esp_err_t Spot::_initialize_button() {
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pinMode(BUTTON_LED, OUTPUT);
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digitalWrite(BUTTON_LED, HIGH);
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//pinMode(BUTTON, INPUT);
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return ESP_OK;
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}
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void display_ip_and_ssid(Adafruit_SSD1306* display, String ip, const char* ssid) {
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display->setTextColor(WHITE, BLACK);
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display->setTextSize(1);
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int16_t x1 = 0;
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int16_t y1 = 0;
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uint16_t h = 0;
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uint16_t w = 0;
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display->getTextBounds(ssid, 0, 0, &x1, &y1, &w, &h);
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display->setCursor(SCREEN_WIDTH/2 - w/2, SCREEN_HEIGHT/2-8 - h/2);
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display->println(ssid);
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display->getTextBounds(ip, 0, 0, &x1, &y1, &w, &h);
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display->setCursor(SCREEN_WIDTH/2 - w/2, SCREEN_HEIGHT/2+8 - h/2);
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display->println(ip);
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display->display();
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}
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