diff --git a/include/camera_pins.h b/include/camera_pins.h
new file mode 100644
index 0000000..18ceb76
--- /dev/null
+++ b/include/camera_pins.h
@@ -0,0 +1,297 @@
+#if defined(CAMERA_MODEL_WROVER_KIT)
+#define PWDN_GPIO_NUM    -1
+#define RESET_GPIO_NUM   -1
+#define XCLK_GPIO_NUM    21
+#define SIOD_GPIO_NUM    26
+#define SIOC_GPIO_NUM    27
+
+#define Y9_GPIO_NUM      35
+#define Y8_GPIO_NUM      34
+#define Y7_GPIO_NUM      39
+#define Y6_GPIO_NUM      36
+#define Y5_GPIO_NUM      19
+#define Y4_GPIO_NUM      18
+#define Y3_GPIO_NUM       5
+#define Y2_GPIO_NUM       4
+#define VSYNC_GPIO_NUM   25
+#define HREF_GPIO_NUM    23
+#define PCLK_GPIO_NUM    22
+
+#elif defined(CAMERA_MODEL_ESP_EYE)
+#define PWDN_GPIO_NUM    -1
+#define RESET_GPIO_NUM   -1
+#define XCLK_GPIO_NUM    4
+#define SIOD_GPIO_NUM    18
+#define SIOC_GPIO_NUM    23
+
+#define Y9_GPIO_NUM      36
+#define Y8_GPIO_NUM      37
+#define Y7_GPIO_NUM      38
+#define Y6_GPIO_NUM      39
+#define Y5_GPIO_NUM      35
+#define Y4_GPIO_NUM      14
+#define Y3_GPIO_NUM      13
+#define Y2_GPIO_NUM      34
+#define VSYNC_GPIO_NUM   5
+#define HREF_GPIO_NUM    27
+#define PCLK_GPIO_NUM    25
+
+#define LED_GPIO_NUM     22
+
+#elif defined(CAMERA_MODEL_M5STACK_PSRAM)
+#define PWDN_GPIO_NUM     -1
+#define RESET_GPIO_NUM    15
+#define XCLK_GPIO_NUM     27
+#define SIOD_GPIO_NUM     25
+#define SIOC_GPIO_NUM     23
+
+#define Y9_GPIO_NUM       19
+#define Y8_GPIO_NUM       36
+#define Y7_GPIO_NUM       18
+#define Y6_GPIO_NUM       39
+#define Y5_GPIO_NUM        5
+#define Y4_GPIO_NUM       34
+#define Y3_GPIO_NUM       35
+#define Y2_GPIO_NUM       32
+#define VSYNC_GPIO_NUM    22
+#define HREF_GPIO_NUM     26
+#define PCLK_GPIO_NUM     21
+
+#elif defined(CAMERA_MODEL_M5STACK_V2_PSRAM)
+#define PWDN_GPIO_NUM     -1
+#define RESET_GPIO_NUM    15
+#define XCLK_GPIO_NUM     27
+#define SIOD_GPIO_NUM     22
+#define SIOC_GPIO_NUM     23
+
+#define Y9_GPIO_NUM       19
+#define Y8_GPIO_NUM       36
+#define Y7_GPIO_NUM       18
+#define Y6_GPIO_NUM       39
+#define Y5_GPIO_NUM        5
+#define Y4_GPIO_NUM       34
+#define Y3_GPIO_NUM       35
+#define Y2_GPIO_NUM       32
+#define VSYNC_GPIO_NUM    25
+#define HREF_GPIO_NUM     26
+#define PCLK_GPIO_NUM     21
+
+#elif defined(CAMERA_MODEL_M5STACK_WIDE)
+#define PWDN_GPIO_NUM     -1
+#define RESET_GPIO_NUM    15
+#define XCLK_GPIO_NUM     27
+#define SIOD_GPIO_NUM     22
+#define SIOC_GPIO_NUM     23
+
+#define Y9_GPIO_NUM       19
+#define Y8_GPIO_NUM       36
+#define Y7_GPIO_NUM       18
+#define Y6_GPIO_NUM       39
+#define Y5_GPIO_NUM        5
+#define Y4_GPIO_NUM       34
+#define Y3_GPIO_NUM       35
+#define Y2_GPIO_NUM       32
+#define VSYNC_GPIO_NUM    25
+#define HREF_GPIO_NUM     26
+#define PCLK_GPIO_NUM     21
+
+#define LED_GPIO_NUM       2
+
+#elif defined(CAMERA_MODEL_M5STACK_ESP32CAM)
+#define PWDN_GPIO_NUM     -1
+#define RESET_GPIO_NUM    15
+#define XCLK_GPIO_NUM     27
+#define SIOD_GPIO_NUM     25
+#define SIOC_GPIO_NUM     23
+
+#define Y9_GPIO_NUM       19
+#define Y8_GPIO_NUM       36
+#define Y7_GPIO_NUM       18
+#define Y6_GPIO_NUM       39
+#define Y5_GPIO_NUM        5
+#define Y4_GPIO_NUM       34
+#define Y3_GPIO_NUM       35
+#define Y2_GPIO_NUM       17
+#define VSYNC_GPIO_NUM    22
+#define HREF_GPIO_NUM     26
+#define PCLK_GPIO_NUM     21
+
+#elif defined(CAMERA_MODEL_M5STACK_UNITCAM)
+#define PWDN_GPIO_NUM     -1
+#define RESET_GPIO_NUM    15
+#define XCLK_GPIO_NUM     27
+#define SIOD_GPIO_NUM     25
+#define SIOC_GPIO_NUM     23
+
+#define Y9_GPIO_NUM       19
+#define Y8_GPIO_NUM       36
+#define Y7_GPIO_NUM       18
+#define Y6_GPIO_NUM       39
+#define Y5_GPIO_NUM        5
+#define Y4_GPIO_NUM       34
+#define Y3_GPIO_NUM       35
+#define Y2_GPIO_NUM       32
+#define VSYNC_GPIO_NUM    22
+#define HREF_GPIO_NUM     26
+#define PCLK_GPIO_NUM     21
+
+#elif defined(CAMERA_MODEL_AI_THINKER)
+#define PWDN_GPIO_NUM     32
+#define RESET_GPIO_NUM    -1
+#define XCLK_GPIO_NUM      0
+#define SIOD_GPIO_NUM     26
+#define SIOC_GPIO_NUM     27
+
+#define Y9_GPIO_NUM       35
+#define Y8_GPIO_NUM       34
+#define Y7_GPIO_NUM       39
+#define Y6_GPIO_NUM       36
+#define Y5_GPIO_NUM       21
+#define Y4_GPIO_NUM       19
+#define Y3_GPIO_NUM       18
+#define Y2_GPIO_NUM        5
+#define VSYNC_GPIO_NUM    25
+#define HREF_GPIO_NUM     23
+#define PCLK_GPIO_NUM     22
+
+// 4 for flash led or 33 for normal led
+#define LED_GPIO_NUM       4
+
+#elif defined(CAMERA_MODEL_TTGO_T_JOURNAL)
+#define PWDN_GPIO_NUM      0
+#define RESET_GPIO_NUM    15
+#define XCLK_GPIO_NUM     27
+#define SIOD_GPIO_NUM     25
+#define SIOC_GPIO_NUM     23
+
+#define Y9_GPIO_NUM       19
+#define Y8_GPIO_NUM       36
+#define Y7_GPIO_NUM       18
+#define Y6_GPIO_NUM       39
+#define Y5_GPIO_NUM        5
+#define Y4_GPIO_NUM       34
+#define Y3_GPIO_NUM       35
+#define Y2_GPIO_NUM       17
+#define VSYNC_GPIO_NUM    22
+#define HREF_GPIO_NUM     26
+#define PCLK_GPIO_NUM     21
+
+#elif defined(CAMERA_MODEL_XIAO_ESP32S3)
+#define PWDN_GPIO_NUM     -1
+#define RESET_GPIO_NUM    -1
+#define XCLK_GPIO_NUM     10
+#define SIOD_GPIO_NUM     40
+#define SIOC_GPIO_NUM     39
+
+#define Y9_GPIO_NUM       48
+#define Y8_GPIO_NUM       11
+#define Y7_GPIO_NUM       12
+#define Y6_GPIO_NUM       14
+#define Y5_GPIO_NUM       16
+#define Y4_GPIO_NUM       18
+#define Y3_GPIO_NUM       17
+#define Y2_GPIO_NUM       15
+#define VSYNC_GPIO_NUM    38
+#define HREF_GPIO_NUM     47
+#define PCLK_GPIO_NUM     13
+
+#elif defined(CAMERA_MODEL_ESP32_CAM_BOARD)
+// The 18 pin header on the board has Y5 and Y3 swapped
+#define USE_BOARD_HEADER 0 
+#define PWDN_GPIO_NUM    32
+#define RESET_GPIO_NUM   33
+#define XCLK_GPIO_NUM     4
+#define SIOD_GPIO_NUM    18
+#define SIOC_GPIO_NUM    23
+
+#define Y9_GPIO_NUM      36
+#define Y8_GPIO_NUM      19
+#define Y7_GPIO_NUM      21
+#define Y6_GPIO_NUM      39
+#if USE_BOARD_HEADER
+#define Y5_GPIO_NUM      13
+#else
+#define Y5_GPIO_NUM      35
+#endif
+#define Y4_GPIO_NUM      14
+#if USE_BOARD_HEADER
+#define Y3_GPIO_NUM      35
+#else
+#define Y3_GPIO_NUM      13
+#endif
+#define Y2_GPIO_NUM      34
+#define VSYNC_GPIO_NUM    5
+#define HREF_GPIO_NUM    27
+#define PCLK_GPIO_NUM    25
+
+#elif defined(CAMERA_MODEL_ESP32S3_CAM_LCD)
+#define PWDN_GPIO_NUM     -1
+#define RESET_GPIO_NUM    -1
+#define XCLK_GPIO_NUM     40
+#define SIOD_GPIO_NUM     17
+#define SIOC_GPIO_NUM     18
+
+#define Y9_GPIO_NUM       39
+#define Y8_GPIO_NUM       41
+#define Y7_GPIO_NUM       42
+#define Y6_GPIO_NUM       12
+#define Y5_GPIO_NUM       3
+#define Y4_GPIO_NUM       14
+#define Y3_GPIO_NUM       47
+#define Y2_GPIO_NUM       13
+#define VSYNC_GPIO_NUM    21
+#define HREF_GPIO_NUM     38
+#define PCLK_GPIO_NUM     11
+
+#elif defined(CAMERA_MODEL_ESP32S2_CAM_BOARD)
+// The 18 pin header on the board has Y5 and Y3 swapped
+#define USE_BOARD_HEADER 0
+#define PWDN_GPIO_NUM     1
+#define RESET_GPIO_NUM    2
+#define XCLK_GPIO_NUM     42
+#define SIOD_GPIO_NUM     41
+#define SIOC_GPIO_NUM     18
+
+#define Y9_GPIO_NUM       16
+#define Y8_GPIO_NUM       39
+#define Y7_GPIO_NUM       40
+#define Y6_GPIO_NUM       15
+#if USE_BOARD_HEADER
+#define Y5_GPIO_NUM       12
+#else
+#define Y5_GPIO_NUM       13
+#endif
+#define Y4_GPIO_NUM       5
+#if USE_BOARD_HEADER
+#define Y3_GPIO_NUM       13
+#else
+#define Y3_GPIO_NUM       12
+#endif
+#define Y2_GPIO_NUM       14
+#define VSYNC_GPIO_NUM    38
+#define HREF_GPIO_NUM     4
+#define PCLK_GPIO_NUM     3
+
+#elif defined(CAMERA_MODEL_ESP32S3_EYE)
+#define PWDN_GPIO_NUM -1
+#define RESET_GPIO_NUM -1
+#define XCLK_GPIO_NUM 15
+#define SIOD_GPIO_NUM 4
+#define SIOC_GPIO_NUM 5
+
+#define Y2_GPIO_NUM 11
+#define Y3_GPIO_NUM 9
+#define Y4_GPIO_NUM 8
+#define Y5_GPIO_NUM 10
+#define Y6_GPIO_NUM 12
+#define Y7_GPIO_NUM 18
+#define Y8_GPIO_NUM 17
+#define Y9_GPIO_NUM 16
+
+#define VSYNC_GPIO_NUM 6
+#define HREF_GPIO_NUM 7
+#define PCLK_GPIO_NUM 13
+
+#else
+#error "Camera model not selected"
+#endif
\ No newline at end of file
diff --git a/platformio.ini b/platformio.ini
index e58fde5..9c9f08b 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -13,3 +13,10 @@ platform = espressif32
 board = esp32cam
 monitor_speed = 115200
 framework = arduino
+lib_deps = 
+	;ottowinter/ESPAsyncWebServer-esphome@^2.1.0
+	teckel12/NewPing@^1.9.7
+	rfetick/MPU6050_light@^1.1.0
+	adafruit/Adafruit PWM Servo Driver Library@^2.4.1
+	adafruit/Adafruit SSD1306@^2.5.7
+	adafruit/Adafruit GFX Library@^1.11.5
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..fdf14ba
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,288 @@
+#include "esp_camera.h"
+#include <WiFi.h>
+#include "esp_timer.h"
+#include "img_converters.h"
+#include "Arduino.h"
+#include "fb_gfx.h"
+#include "soc/soc.h"
+#include "soc/rtc_cntl_reg.h"
+#include "esp_http_server.h"
+
+#include <NewPing.h>
+#include <SPI.h>
+#include "Wire.h"
+#include <Adafruit_GFX.h>
+#include <Adafruit_SSD1306.h>
+#include <MPU6050_light.h>
+#include <Adafruit_PWMServoDriver.h>
+
+#define CAMERA_MODEL_AI_THINKER
+#include <camera_pins.h>
+
+const char* ssid = "SSID";
+const char* password = "PASSWORD";
+
+#define PART_BOUNDARY "123456789000000000000987654321"
+
+static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
+static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
+static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";
+
+#define SCREEN_WIDTH 128
+#define SCREEN_HEIGHT 64
+
+int buttonLed = 2;
+int button = 16;
+
+NewPing sonar[2] = {
+  NewPing(12, 12, 200),
+  NewPing(13, 13, 200)
+};
+
+MPU6050 mpu(Wire);
+Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);
+Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);
+
+httpd_handle_t stream_httpd = NULL;
+
+long timer = 0;
+static unsigned long last_interrupt_time = 0;
+bool servosEnabled = true;
+
+void toggleServo(){
+  Serial.print("Servos is enabled:");
+  Serial.println(servosEnabled);
+  //if(servosEnabled){
+  //  pwm.sleep();
+  //} else {
+  //  pwm.wakeup();
+  //}
+  servosEnabled = !servosEnabled;
+}
+
+void IRAM_ATTR powerToggle(){
+  unsigned long interrupt_time = millis();
+  if (interrupt_time - last_interrupt_time > 200) {
+    toggleServo();
+    digitalWrite(buttonLed, servosEnabled);
+  }
+  last_interrupt_time = interrupt_time;
+}
+
+static esp_err_t stream_handler(httpd_req_t *req){
+  camera_fb_t * fb = NULL;
+  esp_err_t res = ESP_OK;
+  size_t _jpg_buf_len = 0;
+  uint8_t * _jpg_buf = NULL;
+  char * part_buf[64];
+
+  res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
+  if(res != ESP_OK){
+    return res;
+  }
+
+  while(true){
+    fb = esp_camera_fb_get();
+    if (!fb) {
+      Serial.println("Camera capture failed");
+      res = ESP_FAIL;
+    } else {
+      if(fb->width > 400){
+        if(fb->format != PIXFORMAT_JPEG){
+          bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
+          esp_camera_fb_return(fb);
+          fb = NULL;
+          if(!jpeg_converted){
+            Serial.println("JPEG compression failed");
+            res = ESP_FAIL;
+          }
+        } else {
+          _jpg_buf_len = fb->len;
+          _jpg_buf = fb->buf;
+        }
+      }
+    }
+    if(res == ESP_OK){
+      size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);
+      res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
+    }
+    if(res == ESP_OK){
+      res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
+    }
+    if(res == ESP_OK){
+      res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
+    }
+    if(fb){
+      esp_camera_fb_return(fb);
+      fb = NULL;
+      _jpg_buf = NULL;
+    } else if(_jpg_buf){
+      free(_jpg_buf);
+      _jpg_buf = NULL;
+    }
+    if(res != ESP_OK){
+      break;
+    }
+    Serial.printf("MJPG: %uB\n",(uint32_t)(_jpg_buf_len));
+  }
+  return res;
+}
+
+void startCameraServer(){
+  httpd_config_t config = HTTPD_DEFAULT_CONFIG();
+  config.server_port = 80;
+
+  httpd_uri_t index_uri = {
+    .uri       = "/",
+    .method    = HTTP_GET,
+    .handler   = stream_handler,
+    .user_ctx  = NULL
+  };
+  
+  Serial.printf("Starting web server on port: '%d'\n", config.server_port);
+  if (httpd_start(&stream_httpd, &config) == ESP_OK) {
+    httpd_register_uri_handler(stream_httpd, &index_uri);
+  }
+}
+
+void setupMPU(){
+  Wire.begin(14, 15);
+  
+  byte status = mpu.begin();
+  Serial.print(F("MPU6050 status: "));
+  Serial.println(status);
+  while(status!=0){ 
+    status = mpu.begin();
+    Serial.print(F("MPU6050 status: "));
+    Serial.println(status);
+    delay(500);
+  } // stop everything if could not connect to MPU6050
+  
+  Serial.println(F("Calculating offsets, do not move MPU6050"));
+  delay(1000);
+  mpu.calcOffsets(true,true); // gyro and accelero
+  Serial.println("Done!\n");
+}
+
+void setupOLED(){
+  if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) { 
+    Serial.println(F("SSD1306 allocation failed"));
+    for(;;); // Don't proceed, loop forever
+  }
+
+  display.display();
+  delay(200);
+  display.clearDisplay();
+}
+
+void setupPWMController(){
+  pwm.begin();
+  pwm.setOscillatorFrequency(27000000);
+  pwm.setPWMFreq(50);
+}
+
+void setup() {
+  WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);
+ 
+  Serial.begin(115200);
+  Serial.setDebugOutput(false);
+
+  pinMode(buttonLed, OUTPUT);
+  pinMode(button, INPUT);
+ 
+  attachInterrupt(button, powerToggle, RISING);
+  
+  setupMPU();
+  setupOLED();
+  setupPWMController();
+  
+  camera_config_t config;
+  config.ledc_channel = LEDC_CHANNEL_0;
+  config.ledc_timer = LEDC_TIMER_0;
+  config.pin_d0 = Y2_GPIO_NUM;
+  config.pin_d1 = Y3_GPIO_NUM;
+  config.pin_d2 = Y4_GPIO_NUM;
+  config.pin_d3 = Y5_GPIO_NUM;
+  config.pin_d4 = Y6_GPIO_NUM;
+  config.pin_d5 = Y7_GPIO_NUM;
+  config.pin_d6 = Y8_GPIO_NUM;
+  config.pin_d7 = Y9_GPIO_NUM;
+  config.pin_xclk = XCLK_GPIO_NUM;
+  config.pin_pclk = PCLK_GPIO_NUM;
+  config.pin_vsync = VSYNC_GPIO_NUM;
+  config.pin_href = HREF_GPIO_NUM;
+  config.pin_sscb_sda = SIOD_GPIO_NUM;
+  config.pin_sscb_scl = SIOC_GPIO_NUM;
+  config.pin_pwdn = PWDN_GPIO_NUM;
+  config.pin_reset = RESET_GPIO_NUM;
+  config.xclk_freq_hz = 20000000;
+  config.pixel_format = PIXFORMAT_JPEG; 
+  
+  if(psramFound()){
+    config.frame_size = FRAMESIZE_VGA;
+    config.jpeg_quality = 10;
+    config.fb_count = 2;
+  } else {
+    config.frame_size = FRAMESIZE_SVGA;
+    config.jpeg_quality = 12;
+    config.fb_count = 1;
+  }
+  
+  // Camera init
+  esp_err_t err = esp_camera_init(&config);
+  if (err != ESP_OK) {
+    Serial.printf("Camera init failed with error 0x%x", err);
+    return;
+  }
+  // Wi-Fi connection
+  WiFi.begin(ssid, password);
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(".");
+  }
+  Serial.println("");
+  Serial.println("WiFi connected");
+  
+  Serial.print("Camera Stream Ready! Go to: http://");
+  Serial.print(WiFi.localIP());
+  display.setTextSize(2);             // Normal 1:1 pixel scale
+  display.setTextColor(WHITE);        // Draw white text
+  display.setCursor(0,0);             // Start at top-left corner
+  display.println(WiFi.localIP());  
+  display.display();
+  
+  startCameraServer();
+}
+
+void loop() {
+  delay(1);
+  /*for (uint8_t i = 0; i < 2; i++) { // Loop through each sensor and display results.
+    delay(200); // Wait 50ms between pings (about 20 pings/sec). 29ms should be the shortest delay between pings.
+    Serial.print(i);
+    Serial.print("=");
+    Serial.print(sonar[i].ping_cm());
+    Serial.print("cm ");
+  }
+ mpu.update();
+
+  if(millis() - timer > 1000){ // print data every second
+    Serial.print(F("TEMPERATURE: "));Serial.println(mpu.getTemp());
+    Serial.print(F("ACCELERO  X: "));Serial.print(mpu.getAccX());
+    Serial.print("\tY: ");Serial.print(mpu.getAccY());
+    Serial.print("\tZ: ");Serial.println(mpu.getAccZ());
+  
+    Serial.print(F("GYRO      X: "));Serial.print(mpu.getGyroX());
+    Serial.print("\tY: ");Serial.print(mpu.getGyroY());
+    Serial.print("\tZ: ");Serial.println(mpu.getGyroZ());
+  
+    Serial.print(F("ACC ANGLE X: "));Serial.print(mpu.getAccAngleX());
+    Serial.print("\tY: ");Serial.println(mpu.getAccAngleY());
+    
+    Serial.print(F("ANGLE     X: "));Serial.print(mpu.getAngleX());
+    Serial.print("\tY: ");Serial.print(mpu.getAngleY());
+    Serial.print("\tZ: ");Serial.println(mpu.getAngleZ());
+    Serial.println(F("=====================================================\n"));
+    timer = millis();
+  }*/
+}
+