14. Interface and Application Programming

This week we are working on creating an application that interface with the board. The group assignment and individual assignment is as follows:

Group Assignment:

• Compare as many tool options as possible

The link to the Group Assignment is available HERE

Individual Assignment:

• Write an application that interfaces a user with an input &/or output device that you made

Work Plan

Days	Sessions	Time/Hour
Wednesday	Global Lecture	7:00PM - 10:00PM BST
Thursday	Local Lecture and Research	2 hours, 4 hours
Friday	Research / Ideation	8hours/All Day
Saturday	Group Work	All Day
Sunday	Working on my first Application	All Day
Monday	Try other applications / Documenting	All Day
Tuesday	Documenting	All Day

Research

In the current week, i am working on developing an application that can be used for my Final Project. In the final project, I am making use of an application to control the movement of the robot while streaming live camera video onto the application. Through the global lecture, I came across a couple tools that I can make use of to create the application for the same. In my case, I will first connect the ESP32 camera module to the WiFi network. The detail of connecting the ESP32 camera module to the WiFi is shown below:

Connecting ESP32 to WiFi Server

I have worked with the ESP32 camera module and stream video to a server and view through browser in the last week Week 13. I am added the details below. In order to work with ESP32 camera module, I download the library files for Arduino. There are a couple of library files available online, the library for ESP32 is developed by espressif. The library file can be found at: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json. In order to add the library, I first go to preference and add the json file link to the additional board manager URL bar.

With the json file added to the preference, I move to board manager and search for ESP32. The esp32 library listed is developed by espressif. I install the library.

With the library installed, I get the board in the library. There are a couple of boards variants available for the ESP32. For my case I have a ESP32 Wrover Dev board with OV2640 Camera pre installed onto it. Therefore, I make use of the same on the library to program the board.

With the library installed in the Arduino IDE, I move forward to program and test the ESP32 board for its functionality. There are three main components of interest that i make use of in the board.

• Connect to WiFi and communicate for video stream and control
• Camera to stream video
• Communicate to I/O devices for control.

While I can also make use bluetooth to communiate, For my case i am making use of WiFi for communication and control.

WiFi Access in ESP32 and Camera Stream

For the camera stream using the ESP32 and camera module, I first followed the tutorial from: randomnerdtutorials.com.

The first thing i do to test the functionality is to run the WiFi scan from examples. With the example open, I connect the board to the USB port and check if the port is available on Arduino IDE. With the port available and necessary settiongs changed, I upload the code to the board.

The code for the same is added below:

/*
 *  This sketch demonstrates how to scan WiFi networks.
 *  The API is almost the same as with the WiFi Shield library,
 *  the most obvious difference being the different file you need to include:
 */
#include "WiFi.h"

void setup()
{
    Serial.begin(115200);
    // Set WiFi to station mode and disconnect from an AP if it was previously connected
    WiFi.mode(WIFI_STA);
    WiFi.disconnect();
    delay(100);
    Serial.println("Setup done");
}
void loop()
{
    Serial.println("scan start");

    // WiFi.scanNetworks will return the number of networks found
    int n = WiFi.scanNetworks();
    Serial.println("scan done");
    if (n == 0) {
        Serial.println("no networks found");
    } else {
        Serial.print(n);
        Serial.println(" networks found");
        for (int i = 0; i < n; ++i) {
            // Print SSID and RSSI for each network found
            Serial.print(i + 1);
            Serial.print(": ");
            Serial.print(WiFi.SSID(i));
            Serial.print(" (");
            Serial.print(WiFi.RSSI(i));
            Serial.print(")");
            Serial.println((WiFi.encryptionType(i) == WIFI_AUTH_OPEN)?" ":"*");
            delay(10);
        }
    }
    Serial.println("");

    // Wait a bit before scanning again
    delay(5000);
}

For the ESP32, There is a need to reset after uploading for the program to start running. With the board reset, The working of the WiFi scan is shown below.

Camera Access using ESP32 Wrover Module

With the WiFi functionality working, I change the code to connect the ESP32 board to my WiFi network. I make use of the SimpleWiFiServer example code for the ESP32. The code for the same is added below:

 /* WiFi Web Server LED Blink
 A simple web server that lets you blink an LED via the web.
 This sketch will print the IP address of your WiFi Shield (once connected)
 to the Serial monitor. From there, you can open that address in a web browser
 to turn on and off the LED on pin 5.
 If the IP address of your shield is yourAddress:
 http://yourAddress/H turns the LED on
 http://yourAddress/L turns it off
 This example is written for a network using WPA encryption. For
 WEP or WPA, change the Wifi.begin() call accordingly.
 Circuit:
 * WiFi shield attached
 * LED attached to pin 5
 created for arduino 25 Nov 2012 by Tom Igoe
ported for sparkfun esp32 
31.01.2017 by Jan Hendrik Berlin */

#include <WiFi.h>
const char* ssid     = "FAB-LAB1";
const char* password = "fab172030!";
WiFiServer server(80);
void setup()
{
    Serial.begin(115200);
    pinMode(2, OUTPUT);      // set the LED pin mode
    pinMode(15, OUTPUT);      // set the LED pin mode
    delay(10);
    // We start by connecting to a WiFi network
    Serial.println();
    Serial.println();
    Serial.print("Connecting to ");
    Serial.println(ssid);
    WiFi.begin(ssid, password);
    while (WiFi.status() != WL_CONNECTED) {
        delay(500);
        Serial.print(".");
    }
    Serial.println("");
    Serial.println("WiFi connected.");
    Serial.println("IP address: ");
    Serial.println(WiFi.localIP());
    server.begin();
}
int value = 0;
void loop(){
 WiFiClient client = server.available();   // listen for incoming clients
  if (client) {                             // if you get a client,
    Serial.println("New Client.");           // print a message out the serial port
    String currentLine = "";                // make a String to hold incoming data from the client
    while (client.connected()) {            // loop while the client's connected
      if (client.available()) {             // if there's bytes to read from the client,
        char c = client.read();             // read a byte, then
        Serial.write(c);                    // print it out the serial monitor
        if (c == '\n') {                    // if the byte is a newline character

          // if the current line is blank, you got two newline characters in a row.
          // that's the end of the client HTTP request, so send a response:
          if (currentLine.length() == 0) {
            // HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
            // and a content-type so the client knows what's coming, then a blank line:
            client.println("HTTP/1.1 200 OK");
            client.println("Content-type:text/html");
            client.println();

            // the content of the HTTP response follows the header:
            client.print("Click <a href=\"/H\">here</a> to turn the LED on pin 2&15 on.<br>");
            client.print("Click <a href=\"/L\">here</a> to turn the LED on pin 2&15 off.<br>");

            // The HTTP response ends with another blank line:
            client.println();
            // break out of the while loop:
            break;
          } else {    // if you got a newline, then clear currentLine:
            currentLine = "";
          }
        } else if (c != '\r') {  // if you got anything else but a carriage return character,
          currentLine += c;      // add it to the end of the currentLine
        }

        // Check to see if the client request was "GET /H" or "GET /L":
        if (currentLine.endsWith("GET /H")) {
          digitalWrite(15, HIGH);               // GET /H turns the LED on
          digitalWrite(2, HIGH);
        }
        if (currentLine.endsWith("GET /L")) {
          digitalWrite(15, LOW);                // GET /L turns the LED off
          digitalWrite(2, LOW);
        }
      }
    }
    // close the connection:
    client.stop();
    Serial.println("Client Disconnected.");
  }
}

With the above code running on ESP32 module:

I check for its functionality on browser and app I developed (The details are in later sections) Then I also make use of the available camera to stream video to an IP address. For the same, I followed the tutorial available at: Freenov Youtube Tutorial and Viral Science. The working of the camera feed is shown below:

With the camera feed for the same working, I move on to work with developing an application that can be used to control the output device from desktop connected to internet or through a mobile phone.

---

Developing Mobile application using Driode Script.

DroidScript is a mobile application development platform that can be used to create mobile applications that runs on android devices. The DroidScript makes use of javaScript to create mobile application while embedding html5 codes. Some of the salient features of DroidScript includes:

• Wireless connection of Application on browser to edit
• Live preview on mobile devices.
• A number of plugins available for us to use for different tasks.

The details of the driodeScript application can be found at: DroidScript. The method used to develop the application is presented below:

Installing Driode Script application and Development.

First I download the driodscript application on android device. The application has a wireless button that can enable us to connect to the application through an ip address on the web browser of out computer.

With the access enabled, we can access the application from our browser.

With the access to the application, we can edit and write codes for the application on the browser. The language we use in this case is javaScript.

For my current task, I am making use of a web view on the application that can access the video feed from the ESP32 camera while controlling devices. In order to do the same first create a Layout of the application and onto the layout I add components of the application.

The code of the webview and control is shown below and it is explained after:

var url = "http://192.168.11.86:80";
function OnStart()
{
  //Create a layout with objects vertically centered.
  layVert = app.CreateLayout( "linear", "VCenter,FillXY" );   
  layVert.SetBackColor( "green" );
  txt=app.CreateText("Crawler Controller");
  txt.SetTextSize(35);
  txt.SetTextColor("red");
  layVert.AddChild(txt);  
     //Create video view.
    player = app.CreateWebView( 1, 0.65 );
    layVert.AddChild( player );
//url= "https://fabacademy.org/"
    app.Alert(url);
    player.LoadUrl(url);

      //Create a button to send request FORWARD.
  btnFWD = app.CreateButton( "FORWARD", 1, 0.1); 
  btnFWD.SetMargins( 0, 0, 0, 0 ); 
  btnFWD.SetOnTouch( btnFORWARD_OnTouch ); 
  layVert.AddChild( btnFWD ); 

  layHoriz = app.CreateLayout( "Linear", "Horizontal" );
  layVert.AddChild( layHoriz );

    //Create a button to send request LEFT.
  btnLEFT = app.CreateButton( "LEFT", 0.5, 0.1 ); 
  btnLEFT.SetMargins( 0, 0, 0, 0 ); 
  btnLEFT.SetOnTouch( btnLEFT_OnTouch ); 
  layHoriz.AddChild( btnLEFT ); 

  //Create a button to send request RIGHT.
  btnRIGHT = app.CreateButton( "RIGHT", 0.5, 0.1 ); 
  btnRIGHT.SetMargins( 0, 0, 0, 0 ); 
  btnRIGHT.SetOnTouch( btnRIGHT_OnTouch ); 
  layHoriz.AddChild( btnRIGHT ); 

  //Create a button to send request REVERSE.
  btnREVERSE = app.CreateButton( "REVERSE", 1, 0.1 ); 
  btnREVERSE.SetMargins( 0, 0, 0, 0 ); 
      btnREVERSE.SetOnTouch( btnREVERSE_OnTouch ); 
  layVert.AddChild( btnREVERSE ); 
  app.AddLayout( layVert );
}

function btnFORWARD_OnTouch()
{
    //Send request to remote server.
    var path = "/go";        
    //var params = "data=" + data.replace("\r","");
    app.HttpRequest( "get", url, path, "", HandleReply );
}

function btnLEFT_OnTouch()
{
    //Send request to remote server.
    var path = "/left";        
    //var params = "data=" + data.replace("\r","");
    app.HttpRequest( "get", url, path, "", HandleReply );
}

function btnRIGHT_OnTouch()
{
    //Send request to remote server.
    var path = "/right";       
    //var params = "data=" + data.replace("\r","");
    app.HttpRequest( "get", url, path, "", HandleReply );
}

function btnREVERSE_OnTouch()
{
    //Send request to remote server.
    var path = "/back";        
    //var params = "data=" + data.replace("\r","");
    app.HttpRequest( "get", url, path, "", HandleReply );
}

//Handle the servers reply.
function HandleReply( error, response )
{
    console.log(error);
    app.ShowPopup(response);
}

With the layout of the application defined, I add a webview that fits two third of the application window. Below that I add buttons. The function of the buttons are added after that. Whenever a button is pressed, the application will send character signal to the remote server which is the ESP32 camera module. based on the character received, an event occurs such as movement of motor.

Project Board Development.

At this stage, I have developed the Final Project board. The detail of the same can be found in the Project section. However, I have added few images of the project board and connections applicable here.

The images below are the Project board development.

SchematicBoardMillingSolderingTesting Setup

Project Circuit Board Schematic Design.

Project Circuit Board Board Design.

Project Circuit Board Milling in Progress.

Project Circuit Board Soldering

Project Circuit Board Testing Setup

Motor Motion with Remote control through Application.

I have tried to control two motors connected to project board and motor driver. The voltage requirement of the motor is 12V while the ESP requires 3.3V. Therefore i have also designed power supply system on the project board with voltage regulators 78M12 and SOT with voltage output of 3.3V for supply to Motor and the board. Further, I designed a battery holder with series parallel connection that can house four batteries of 9V 900mAh each giving a total voltage of 18V and 3600mAh. This supply should be able to run the motor continuously for few hours.

The setup of the circuit for testing is shown belowing following which is the video of me controlling the motor directions through the application.

Arduino CodeC-CodeCamera Index

//Viral Science www.youtube.com/c/viralscience  www.viralsciencecreativity.com
//ESP32 Camera Surveillance Car
// Editied by Kamal K Chapagai May2022
#include "esp_camera.h"
//#include <esp32cam.h>
#include <WiFi.h>
//#define proxy_pass_request_headers off
// Select camera model
#define CAMERA_MODEL_WROVER_KIT
const char* ssid = "XXXXXX";   //Enter SSID WIFI Name
const char* password = "XXXXXX";   //Enter WIFI Password

#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_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

#else
#error "Camera model not selected"
#endif

// GPIO Setting
extern int gpLb = 14 ; // Left 1
extern int gpLf = 13; // Left 2
extern int gpRb = 0; // Right 1
extern int gpRf = 2; // Right 2
extern int Sense1 = 32 ; // Light
extern int Sense2 = 33 ; // Light
extern int Sense3 = 15 ; // Light

extern String WiFiAddr ="";

void startCameraServer();

void setup() {
  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();

  pinMode(gpLb, OUTPUT); //Left Backward
  pinMode(gpLf, OUTPUT); //Left Forward
  pinMode(gpRb, OUTPUT); //Right Forward
  pinMode(gpRf, OUTPUT); //Right Backward
  pinMode(Sense1, INPUT); //Light
  pinMode(Sense2, INPUT); //Light
  pinMode(Sense3, INPUT); //Light

  //initialize
  digitalWrite(gpLb, LOW);
  digitalWrite(gpLf, LOW);
  digitalWrite(gpRb, LOW);
  digitalWrite(gpRf, LOW);

  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;
  //init with high specs to pre-allocate larger buffers
  if(psramFound()){
    config.frame_size = FRAMESIZE_UXGA;
    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;
  }
  //drop down frame size for higher initial frame rate
  sensor_t * s = esp_camera_sensor_get();
  s->set_framesize(s, FRAMESIZE_CIF);

  WiFi.begin(ssid, password);

  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println("");
  Serial.println("WiFi connected");
  startCameraServer();
  Serial.print("Camera Ready! Use 'http://");
  Serial.print(WiFi.localIP());
  WiFiAddr = WiFi.localIP().toString();
  Serial.println("' to connect");
}

void loop() {
  // put your main code here, to run repeatedly:
}

// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//Edited by Kamal K Chapagai, May2022
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//     http://www.apache.org/licenses/LICENSE-2.0
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "esp_http_server.h"
#include "esp_timer.h"
#include "esp_camera.h"
#include "img_converters.h"
#include "camera_index.h"
#include "Arduino.h"

extern int gpLb;
extern int gpLf;
extern int gpRb;
extern int gpRf;
extern int Sense1;
extern int Sense2;
extern int Sense3;
extern String WiFiAddr;
void WheelAct(int nLf, int nLb, int nRf, int nRb);
typedef struct {
        size_t size; //number of values used for filtering
        size_t index; //current value index
        size_t count; //value count
        int sum;
        int * values; //array to be filled with values
} ra_filter_t;
typedef struct {
        httpd_req_t *req;
        size_t len;
} jpg_chunking_t;

#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";

static ra_filter_t ra_filter;
httpd_handle_t stream_httpd = NULL;
httpd_handle_t camera_httpd = NULL;

static ra_filter_t * ra_filter_init(ra_filter_t * filter, size_t sample_size){
    memset(filter, 0, sizeof(ra_filter_t));

    filter->values = (int *)malloc(sample_size * sizeof(int));
    if(!filter->values){
        return NULL;
    }
    memset(filter->values, 0, sample_size * sizeof(int));

    filter->size = sample_size;
    return filter;
}
static int ra_filter_run(ra_filter_t * filter, int value){
    if(!filter->values){
        return value;
    }
    filter->sum -= filter->values[filter->index];
    filter->values[filter->index] = value;
    filter->sum += filter->values[filter->index];
    filter->index++;
    filter->index = filter->index % filter->size;
    if (filter->count < filter->size) {
        filter->count++;
    }
    return filter->sum / filter->count;
}
static size_t jpg_encode_stream(void * arg, size_t index, const void* data, size_t len){
    jpg_chunking_t *j = (jpg_chunking_t *)arg;
    if(!index){
        j->len = 0;
    }
    if(httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK){
        return 0;
    }
    j->len += len;
    return len;
}
static esp_err_t capture_handler(httpd_req_t *req){
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;
    int64_t fr_start = esp_timer_get_time();

    fb = esp_camera_fb_get();
    if (!fb) {
        Serial.printf("Camera capture failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }
    httpd_resp_set_type(req, "image/jpeg");
    httpd_resp_set_hdr(req, "Content-Disposition","inline;filename=capture.jpg");

    size_t fb_len = 0;
    if(fb->format == PIXFORMAT_JPEG){
        fb_len = fb->len;
        res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
    } else {
        jpg_chunking_t jchunk = {req, 0};
        res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk)?ESP_OK:ESP_FAIL;
        httpd_resp_send_chunk(req, NULL, 0);
        fb_len = jchunk.len;
    }
    esp_camera_fb_return(fb);
    int64_t fr_end = esp_timer_get_time();
    //Serial.printf("JPG: %uB %ums", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000));
    return res;
}

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[128];
    static int64_t last_frame = 0;
    if(!last_frame) {
        last_frame = esp_timer_get_time();
    }
    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.printf("Camera capture failed");
            res = ESP_FAIL;
        } else {
            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.printf("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;
        }
        int64_t fr_end = esp_timer_get_time();

        int64_t frame_time = fr_end - last_frame;
        last_frame = fr_end;
        frame_time /= 1000;
        uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time);
        //Serial.printf("MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps)"
         //   ,(uint32_t)(_jpg_buf_len),
         //   (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time,
         //   avg_frame_time, 1000.0 / avg_frame_time
        //);
    }
    last_frame = 0;
    return res;
}
static esp_err_t cmd_handler(httpd_req_t *req){
    char*  buf;
    size_t buf_len;
    char variable[32] = {0,};
    char value[32] = {0,};

    buf_len = httpd_req_get_url_query_len(req) + 1;
    if (buf_len > 1) {
        buf = (char*)malloc(buf_len);
        if(!buf){
            httpd_resp_send_500(req);
            return ESP_FAIL;
        }
        if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) {
            if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) == ESP_OK &&
                httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) {
            } else {
                free(buf);
                httpd_resp_send_404(req);
                return ESP_FAIL;
            }
        } else {
            free(buf);
            httpd_resp_send_404(req);
            return ESP_FAIL;
        }
        free(buf);
    } else {
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }

    int val = atoi(value);
    sensor_t * s = esp_camera_sensor_get();
    int res = 0;

    if(!strcmp(variable, "framesize")) {
        if(s->pixformat == PIXFORMAT_JPEG) res = s->set_framesize(s, (framesize_t)val);
    }
    else if(!strcmp(variable, "quality")) res = s->set_quality(s, val);
    else if(!strcmp(variable, "contrast")) res = s->set_contrast(s, val);
    else if(!strcmp(variable, "brightness")) res = s->set_brightness(s, val);
    else if(!strcmp(variable, "saturation")) res = s->set_saturation(s, val);
    else if(!strcmp(variable, "gainceiling")) res = s->set_gainceiling(s, (gainceiling_t)val);
    else if(!strcmp(variable, "colorbar")) res = s->set_colorbar(s, val);
    else if(!strcmp(variable, "awb")) res = s->set_whitebal(s, val);
    else if(!strcmp(variable, "agc")) res = s->set_gain_ctrl(s, val);
    else if(!strcmp(variable, "aec")) res = s->set_exposure_ctrl(s, val);
    else if(!strcmp(variable, "hmirror")) res = s->set_hmirror(s, val);
    else if(!strcmp(variable, "vflip")) res = s->set_vflip(s, val);
    else if(!strcmp(variable, "awb_gain")) res = s->set_awb_gain(s, val);
    else if(!strcmp(variable, "agc_gain")) res = s->set_agc_gain(s, val);
    else if(!strcmp(variable, "aec_value")) res = s->set_aec_value(s, val);
    else if(!strcmp(variable, "aec2")) res = s->set_aec2(s, val);
    else if(!strcmp(variable, "dcw")) res = s->set_dcw(s, val);
    else if(!strcmp(variable, "bpc")) res = s->set_bpc(s, val);
    else if(!strcmp(variable, "wpc")) res = s->set_wpc(s, val);
    else if(!strcmp(variable, "raw_gma")) res = s->set_raw_gma(s, val);
    else if(!strcmp(variable, "lenc")) res = s->set_lenc(s, val);
    else if(!strcmp(variable, "special_effect")) res = s->set_special_effect(s, val);
    else if(!strcmp(variable, "wb_mode")) res = s->set_wb_mode(s, val);
    else if(!strcmp(variable, "ae_level")) res = s->set_ae_level(s, val);
    else {
        res = -1;
    }

    if(res){
        return httpd_resp_send_500(req);
    }
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    return httpd_resp_send(req, NULL, 0);
}
static esp_err_t status_handler(httpd_req_t *req){
    static char json_response[1024];

    sensor_t * s = esp_camera_sensor_get();
    char * p = json_response;
    *p++ = '{';
    p+=sprintf(p, "\"framesize\":%u,", s->status.framesize);
    p+=sprintf(p, "\"quality\":%u,", s->status.quality);
    p+=sprintf(p, "\"brightness\":%d,", s->status.brightness);
    p+=sprintf(p, "\"contrast\":%d,", s->status.contrast);
    p+=sprintf(p, "\"saturation\":%d,", s->status.saturation);
    p+=sprintf(p, "\"special_effect\":%u,", s->status.special_effect);
    p+=sprintf(p, "\"wb_mode\":%u,", s->status.wb_mode);
    p+=sprintf(p, "\"awb\":%u,", s->status.awb);
    p+=sprintf(p, "\"awb_gain\":%u,", s->status.awb_gain);
    p+=sprintf(p, "\"aec\":%u,", s->status.aec);
    p+=sprintf(p, "\"aec2\":%u,", s->status.aec2);
    p+=sprintf(p, "\"ae_level\":%d,", s->status.ae_level);
    p+=sprintf(p, "\"aec_value\":%u,", s->status.aec_value);
    p+=sprintf(p, "\"agc\":%u,", s->status.agc);
    p+=sprintf(p, "\"agc_gain\":%u,", s->status.agc_gain);
    p+=sprintf(p, "\"gainceiling\":%u,", s->status.gainceiling);
    p+=sprintf(p, "\"bpc\":%u,", s->status.bpc);
    p+=sprintf(p, "\"wpc\":%u,", s->status.wpc);
    p+=sprintf(p, "\"raw_gma\":%u,", s->status.raw_gma);
    p+=sprintf(p, "\"lenc\":%u,", s->status.lenc);
    p+=sprintf(p, "\"hmirror\":%u,", s->status.hmirror);
    p+=sprintf(p, "\"dcw\":%u,", s->status.dcw);
    p+=sprintf(p, "\"colorbar\":%u", s->status.colorbar);
    *p++ = '}';
    *p++ = 0;
    httpd_resp_set_type(req, "application/json");
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    return httpd_resp_send(req, json_response, strlen(json_response));
}
static esp_err_t index_handler(httpd_req_t *req){
    httpd_resp_set_type(req, "text/html");
    String page = "";
     page += "<meta name=\"viewport\" content=\"width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=0\">\n";
 page += "<script>var xhttp = new XMLHttpRequest();</script>";
 page += "<script>function getsend(arg) { xhttp.open('GET', arg +'?' + new Date().getTime(), true); xhttp.send() } </script>";
 //page += "<p align=center><IMG SRC='http://" + WiFiAddr + ":81/stream' style='width:280px;'></p><br/><br/>";
 page += "<p align=center><IMG SRC='http://" + WiFiAddr + ":81/stream' style='width:300px; transform:rotate(180deg);'></p><br/><br/>";

 page += "<p align=center> <button style=background-color:lightgrey;width:90px;height:80px onmousedown=getsend('go') onmouseup=getsend('stop') ontouchstart=getsend('go') ontouchend=getsend('stop') ><b>Forward</b></button> </p>";
 page += "<p align=center>";
 page += "<button style=background-color:lightgrey;width:90px;height:80px; onmousedown=getsend('left') onmouseup=getsend('stop') ontouchstart=getsend('left') ontouchend=getsend('stop')><b>Left</b></button>&nbsp;";
 page += "<button style=background-color:indianred;width:90px;height:80px onmousedown=getsend('stop') onmouseup=getsend('stop')><b>Stop</b></button>&nbsp;";
 page += "<button style=background-color:lightgrey;width:90px;height:80px onmousedown=getsend('right') onmouseup=getsend('stop') ontouchstart=getsend('right') ontouchend=getsend('stop')><b>Right</b></button>";
 page += "</p>";

 page += "<p align=center><button style=background-color:lightgrey;width:90px;height:80px onmousedown=getsend('back') onmouseup=getsend('stop') ontouchstart=getsend('back') ontouchend=getsend('stop') ><b>Backward</b></button></p>";  

 page += "<p align=center>";
 page += "<button style=background-color:yellow;width:140px;height:40px onmousedown=getsend('ledon')><b>Light ON</b></button>";
 page += "<button style=background-color:yellow;width:140px;height:40px onmousedown=getsend('ledoff')><b>Light OFF</b></button>";
 page += "</p>";

    return httpd_resp_send(req, &page[0], strlen(&page[0]));
}

static esp_err_t go_handler(httpd_req_t *req){
    WheelAct(HIGH, LOW, HIGH, LOW);
    Serial.println("Go");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}
static esp_err_t back_handler(httpd_req_t *req){
    WheelAct(LOW, HIGH, LOW, HIGH);
    Serial.println("Back");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

static esp_err_t left_handler(httpd_req_t *req){
    WheelAct(HIGH, LOW, LOW, HIGH);
    Serial.println("Left");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}
static esp_err_t right_handler(httpd_req_t *req){
    WheelAct(LOW, HIGH, HIGH, LOW);
    Serial.println("Right");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

static esp_err_t stop_handler(httpd_req_t *req){
    WheelAct(LOW, LOW, LOW, LOW);
    Serial.println("Stop");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

static esp_err_t ledon_handler(httpd_req_t *req){
    digitalWrite(Sense1, HIGH);
    Serial.println("LED ON");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}
static esp_err_t ledoff_handler(httpd_req_t *req){
    digitalWrite(Sense1, LOW);
    Serial.println("LED OFF");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

void startCameraServer(){
    httpd_config_t config = HTTPD_DEFAULT_CONFIG();
    httpd_uri_t go_uri = {
        .uri       = "/go",
        .method    = HTTP_GET,
        .handler   = go_handler,
        .user_ctx  = NULL
    };
    httpd_uri_t back_uri = {
        .uri       = "/back",
        .method    = HTTP_GET,
        .handler   = back_handler,
        .user_ctx  = NULL
    };
    httpd_uri_t stop_uri = {
        .uri       = "/stop",
        .method    = HTTP_GET,
        .handler   = stop_handler,
        .user_ctx  = NULL
    };
    httpd_uri_t left_uri = {
        .uri       = "/left",
        .method    = HTTP_GET,
        .handler   = left_handler,
        .user_ctx  = NULL
    };
    httpd_uri_t right_uri = {
        .uri       = "/right",
        .method    = HTTP_GET,
        .handler   = right_handler,
        .user_ctx  = NULL
    }; 
    httpd_uri_t ledon_uri = {
        .uri       = "/ledon",
        .method    = HTTP_GET,
        .handler   = ledon_handler,
        .user_ctx  = NULL
    };   
    httpd_uri_t ledoff_uri = {
        .uri       = "/ledoff",
        .method    = HTTP_GET,
        .handler   = ledoff_handler,
        .user_ctx  = NULL
    };
    httpd_uri_t index_uri = {
        .uri       = "/",
        .method    = HTTP_GET,
        .handler   = index_handler,
        .user_ctx  = NULL
    };
    httpd_uri_t status_uri = {
        .uri       = "/status",
        .method    = HTTP_GET,
        .handler   = status_handler,
        .user_ctx  = NULL
    };
    httpd_uri_t cmd_uri = {
        .uri       = "/control",
        .method    = HTTP_GET,
        .handler   = cmd_handler,
        .user_ctx  = NULL
    };
    httpd_uri_t capture_uri = {
        .uri       = "/capture",
        .method    = HTTP_GET,
        .handler   = capture_handler,
        .user_ctx  = NULL
    };
   httpd_uri_t stream_uri = {
        .uri       = "/stream",
        .method    = HTTP_GET,
        .handler   = stream_handler,
        .user_ctx  = NULL
    };
    ra_filter_init(&ra_filter, 20);
    Serial.printf("Starting web server on port: '%d'", config.server_port);
    if (httpd_start(&camera_httpd, &config) == ESP_OK) {
        httpd_register_uri_handler(camera_httpd, &index_uri);
        httpd_register_uri_handler(camera_httpd, &go_uri); 
        httpd_register_uri_handler(camera_httpd, &back_uri); 
        httpd_register_uri_handler(camera_httpd, &stop_uri); 
        httpd_register_uri_handler(camera_httpd, &left_uri);
        httpd_register_uri_handler(camera_httpd, &right_uri);
        httpd_register_uri_handler(camera_httpd, &ledon_uri);
        httpd_register_uri_handler(camera_httpd, &ledoff_uri);
    }
    config.server_port += 1;
    config.ctrl_port += 1;
    Serial.printf("Starting stream server on port: '%d'", config.server_port);
    if (httpd_start(&stream_httpd, &config) == ESP_OK) {
        httpd_register_uri_handler(stream_httpd, &stream_uri);
    }
}
void WheelAct(int nLf, int nLb, int nRf, int nRb)
{
 digitalWrite(gpLf, nLf);
 digitalWrite(gpLb, nLb);
 digitalWrite(gpRf, nRf);
 digitalWrite(gpRb, nRb);
}

//File: index.html.gz, Size: 3635 
#define index_html_gz_len 3635
const uint8_t index_html_gz[] = {
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 0x68, 0x74, 0x6D, 0x6C, 0x00, 0xDD, 0x5C, 0xFD, 0x72, 0xDA, 0xB8, 0x16, 0xFF, 0x7F, 0x9F, 0xC2,
 0x71, 0x77, 0x8B, 0x3D, 0x6B, 0x08, 0x10, 0x92, 0xA6, 0x26, 0x90, 0x0D, 0x84, 0xB6, 0x3B, 0xD3,
 0xAF, 0x6D, 0xF6, 0xEE, 0xEE, 0xCC, 0xCE, 0x4E, 0x2B, 0x6C, 0x19, 0xD4, 0x18, 0x8B, 0xDA, 0x72,
 0x80, 0xB2, 0x7E, 0x8E, 0xFB, 0x40, 0xF7, 0xC5, 0xEE, 0x91, 0x64, 0x1B, 0x9B, 0x8F, 0x10, 0xA0,
 0x85, 0x4E, 0x9B, 0x19, 0x90, 0xE5, 0xA3, 0xA3, 0x73, 0xCE, 0xEF, 0x7C, 0x48, 0xC6, 0xEA, 0xC5,
 0x91, 0x4D, 0x2D, 0x36, 0x19, 0x62, 0xA5, 0xCF, 0x06, 0x6E, 0xF3, 0x87, 0x0B, 0xF9, 0xA5, 0xC0,
 0xBF, 0x8B, 0x3E, 0x46, 0xB6, 0x6C, 0x8A, 0xCB, 0x01, 0x66, 0x48, 0xB1, 0xFA, 0xC8, 0x0F, 0x30,
 0x6B, 0xA8, 0x21, 0x73, 0x8A, 0xE7, 0xEA, 0xFC, 0x6D, 0x0F, 0x0D, 0x70, 0x43, 0xBD, 0x23, 0x78,
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 0x7C, 0x47, 0x2C, 0x5C, 0x14, 0x17, 0x06, 0xF1, 0x08, 0x23, 0xC8, 0x2D, 0x06, 0x16, 0x72, 0x71,
 0xA3, 0x92, 0xE5, 0xC5, 0x08, 0x73, 0x71, 0xB3, 0x73, 0xF3, 0xF6, 0xA4, 0xAA, 0xBC, 0xF9, 0xA3,
 0x5A, 0x3B, 0x2B, 0x5F, 0x1C, 0xCB, 0xBE, 0x19, 0x4D, 0xC0, 0x26, 0xFC, 0xBA, 0x4B, 0xED, 0xC9,
 0xD4, 0x81, 0x69, 0x8A, 0x0E, 0x1A, 0x10, 0x77, 0x62, 0x5E, 0xF9, 0xC0, 0xD4, 0x78, 0x81, 0xDD,
 0x3B, 0xCC, 0x88, 0x85, 0x8C, 0x00, 0x79, 0x41, 0x31, 0xC0, 0x3E, 0x71, 0xEA, 0x5D, 0x64, 0xDD,
 0xF6, 0x7C, 0x1A, 0x7A, 0xB6, 0xF9, 0xA8, 0x72, 0xCE, 0xFF, 0xEA, 0x16, 0x75, 0xA9, 0x6F, 0x3E,
 0xEA, 0x3C, 0xE3, 0x7F, 0x75, 0xC1, 0x27, 0x20, 0x9F, 0xB1, 0x59, 0x39, 0x1B, 0x8E, 0xA3, 0x7E,
 0x75, 0x9A, 0xE9, 0x39, 0x87, 0x9E, 0x00, 0x5B, 0x8C, 0x50, 0xAF, 0x34, 0x40, 0xC4, 0x9B, 0xDA,
 0x24, 0x18, 0xBA, 0x68, 0x62, 0x3A, 0x2E, 0x1E, 0x47, 0x8F, 0x06, 0xD8, 0x0B, 0x8D, 0xDC, 0x7D,
 0xDE, 0x5F, 0xB4, 0x89, 0x2F, 0xFB, 0x4C, 0x98, 0x2A, 0x1C, 0x78, 0x92, 0x30, 0x1D, 0xEB, 0x51,
 0x0F, 0xD7, 0x05, 0xE1, 0xC8, 0x47, 0x43, 0xB8, 0xE4, 0x5F, 0xF5, 0x01, 0xF1, 0xA4, 0x91, 0xCC,
 0x93, 0x5A, 0x79, 0x38, 0xCE, 0x09, 0x7E, 0x72, 0xC6, 0xFF, 0xEA, 0x43, 0x64, 0xDB, 0xC4, 0xEB,
 0x99, 0xE7, 0xFC, 0x36, 0xF5, 0x6D, 0xEC, 0x17, 0x7D, 0x64, 0x93, 0x30, 0x30, 0x6B, 0xD0, 0x33,
 0x40, 0x7E, 0x0F, 0x78, 0x30, 0x3A, 0x34, 0x8B, 0x95, 0xF2, 0xAC, 0xC3, 0x27, 0xBD, 0x3E, 0x33,
 0x79, 0x4F, 0xF4, 0x28, 0xC6, 0x26, 0xA7, 0x46, 0x46, 0x14, 0x21, 0x08, 0x72, 0x49, 0xCF, 0x2B,
 0x12, 0x86, 0x07, 0x81, 0x19, 0x30, 0x1F, 0x33, 0xAB, 0x1F, 0x39, 0xA4, 0x17, 0xFA, 0x78, 0x9A,
 0x08, 0x50, 0x8E, 0x79, 0x43, 0xA3, 0x38, 0xC2, 0xDD, 0x5B, 0xC2, 0x8A, 0xF1, 0x64, 0x5D, 0xEC,
 0x50, 0x1F, 0xA7, 0x04, 0xC5, 0xAE, 0x4B, 0xAD, 0xDB, 0x62, 0xC0, 0x90, 0xCF, 0x16, 0x89, 0x91,
 0xC3, 0xB0, 0x3F, 0x4F, 0x8B, 0x41, 0xE1, 0x05, 0xCA, 0x84, 0x41, 0x7C, 0x49, 0x3C, 0x97, 0x78,
 0x78, 0x15, 0x5B, 0xC9, 0x21, 0x4F, 0x2A, 0xFA, 0x62, 0x35, 0x14, 0x32, 0xE8, 0xA5, 0x16, 0x10,
 0x93, 0xD6, 0xA5, 0xE1, 0x2B, 0xE5, 0xF2, 0x4F, 0xF5, 0x3E, 0x16, 0xF6, 0x42, 0x21, 0xA3, 0xF7,
 0x1B, 0x99, 0xFB, 0xC6, 0x2F, 0x03, 0x6C, 0x13, 0xA4, 0x68, 0x33, 0xF0, 0x94, 0xF3, 0x32, 0x58,
 0x5A, 0x57, 0x90, 0x67, 0x2B, 0x1A, 0xF5, 0x09, 0x58, 0x1B, 0x09, 0x57, 0x70, 0xA1, 0x07, 0xDC,
 0x7E, 0x88, 0xF5, 0xE9, 0x3A, 0x18, 0x62, 0x8F, 0x58, 0x0D, 0xC4, 0x12, 0x0D, 0x06, 0x68, 0x5C,
 0xCC, 0x68, 0xC1, 0x2F, 0x63, 0x4D, 0x20, 0xD4, 0x2C, 0x0D, 0x3A, 0xEF, 0xFA, 0x4A, 0x51, 0xE1,
 0xAE, 0xA5, 0xC7, 0xEA, 0x0A, 0x15, 0x33, 0xEA, 0x7E, 0x2F, 0x28, 0x27, 0x11, 0xFB, 0xA8, 0x1B,
 0x32, 0x46, 0xBD, 0x60, 0x8D, 0x99, 0x3F, 0x86, 0x01, 0x23, 0xCE, 0xA4, 0x18, 0x83, 0x62, 0x06,
 0x43, 0x04, 0xF9, 0xAA, 0x8B, 0xD9, 0x08, 0x63, 0x08, 0x5D, 0x0F, 0xDD, 0x01, 0xDC, 0xBD, 0x9E,
 0x8B, 0xA7, 0x56, 0xE8, 0x07, 0x90, 0x39, 0x86, 0x94, 0x00, 0xA5, 0x5F, 0xCF, 0x01, 0x90, 0x25,
 0x2C, 0x5A, 0xDD, 0x29, 0x0D, 0x19, 0x17, 0x09, 0x44, 0xA4, 0xC0, 0x8F, 0xB0, 0x09, 0xB4, 0xA4,
 0xD9, 0xCB, 0x89, 0xCD, 0xCB, 0x73, 0x63, 0x4C, 0xAB, 0x8F, 0xAD, 0x5B, 0x6C, 0xFF, 0x9C, 0x4F,
 0x17, 0x22, 0xD5, 0x94, 0x88, 0x37, 0x0C, 0x59, 0x91, 0x27, 0x84, 0xE1, 0x1A, 0x7D, 0x84, 0x25,
 0xE2, 0x29, 0xAA, 0xD5, 0xD4, 0x67, 0xCD, 0xD3, 0xE1, 0x58, 0x29, 0xE7, 0x18, 0x35, 0x5D, 0xD4,
 0xC5, 0x6E, 0xCA, 0x2E, 0x36, 0xA2, 0xF4, 0xA7, 0xD8, 0x09, 0x32, 0xD9, 0x23, 0x93, 0xA1, 0x6A,
 0x4F, 0x7E, 0xCA, 0x31, 0x52, 0x44, 0xDB, 0xC8, 0x75, 0x05, 0xD8, 0x05, 0x18, 0x64, 0x42, 0x84,
 0x9E, 0x91, 0x59, 0x89, 0x4A, 0x3E, 0xF2, 0x7A, 0x18, 0x00, 0x1C, 0x1B, 0x49, 0x33, 0x93, 0x52,
 0x97, 0x4D, 0x6F, 0x96, 0x15, 0x10, 0x3B, 0x92, 0x40, 0x2E, 0x78, 0x7C, 0xA2, 0x56, 0x86, 0xBA,
 0x52, 0x4D, 0x73, 0x23, 0x18, 0x3A, 0x67, 0x0A, 0x9E, 0x35, 0xE7, 0x10, 0x8C, 0x2B, 0x81, 0xE3,
 0xE4, 0xEB, 0x84, 0xE3, 0x9C, 0x94, 0x4F, 0x6A, 0x73, 0xD1, 0xCF, 0xE7, 0xC9, 0xD7, 0x8A, 0x7A,
 0x8A, 0x71, 0x2C, 0xA0, 0xD9, 0xA7, 0x77, 0xD8, 0x9F, 0xE6, 0x59, 0xD5, 0x9E, 0xD6, 0xEC, 0xE4,
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 0x06, 0x2B, 0x68, 0x85, 0xEB, 0x37, 0xAF, 0xDA, 0xF2, 0xDC, 0xC3, 0x4B, 0x8A, 0x6C, 0x6C, 0x17,
 0x0C, 0x27, 0xF4, 0x04, 0x1F, 0x4D, 0x9F, 0x26, 0x4D, 0xA5, 0xAB, 0xB5, 0xF4, 0xA9, 0x0B, 0x4E,
 0xDB, 0xAE, 0xCB, 0xF4, 0xA0, 0xB5, 0x4A, 0x3C, 0xC6, 0xF5, 0xA9, 0x85, 0x02, 0x5C, 0x48, 0x02,
 0xBD, 0x60, 0xB6, 0x1B, 0xAD, 0x52, 0xBC, 0xF6, 0xB9, 0xAC, 0xF0, 0x53, 0x34, 0xA0, 0xF4, 0x6D,
 0x5D, 0x10, 0x89, 0xE7, 0x54, 0x05, 0x53, 0xB4, 0xE5, 0x2F, 0xBE, 0x45, 0xEA, 0x61, 0x39, 0x44,
 0x3C, 0x0D, 0xCB, 0x12, 0x4B, 0xCF, 0x4A, 0xA8, 0xC3, 0xEE, 0x80, 0x30, 0x4E, 0x59, 0xA8, 0x14,
 0x62, 0xAA, 0x38, 0x95, 0x98, 0x3E, 0x66, 0xA1, 0xEF, 0xD5, 0x23, 0x00, 0x36, 0x60, 0xCA, 0x75,
 0xE3, 0xC3, 0x8F, 0x53, 0x2B, 0x3A, 0x16, 0x6F, 0x50, 0x52, 0xF7, 0xF2, 0x0E, 0xF9, 0x8D, 0x1F,
 0xA7, 0xAD, 0x12, 0xB1, 0xA3, 0xC7, 0x30, 0x07, 0xB4, 0xDB, 0xD1, 0x87, 0xBA, 0xC3, 0x8F, 0xF1,
 0x6B, 0xD7, 0x7A, 0x89, 0xF5, 0xB1, 0xA7, 0x75, 0x1A, 0xCD, 0x29, 0x1F, 0x4D, 0x5D, 0x5C, 0x72,
 0x69, 0x4F, 0xFB, 0xE0, 0xE3, 0x4F, 0x21, 0x06, 0x66, 0x8C, 0x2A, 0x3F, 0x4E, 0xAF, 0x23, 0xC5,
 0x21, 0x1E, 0x09, 0xFA, 0xD8, 0x36, 0x94, 0x80, 0x21, 0x16, 0x06, 0x26, 0x74, 0x77, 0x4A, 0xB2,
 0x1D, 0x7D, 0xD0, 0x23, 0x3D, 0x82, 0x69, 0x14, 0xAB, 0x91, 0x5A, 0xD9, 0xA5, 0x96, 0x78, 0x4F,
 0xB0, 0x44, 0x7D, 0xD2, 0x23, 0x5E, 0x5D, 0xCA, 0x86, 0x1B, 0x2D, 0x98, 0x09, 0xCC, 0xC3, 0x5D,
 0x8A, 0x03, 0xC0, 0xD1, 0xD0, 0x0A, 0xD2, 0x0F, 0x0B, 0x7A, 0x64, 0x38, 0x0B, 0x04, 0x3E, 0x1E,
 0xD0, 0x3B, 0x9C, 0xA5, 0xE9, 0x2D, 0x67, 0x92, 0xC4, 0x67, 0x41, 0x37, 0x5A, 0xE9, 0x01, 0xE6,
 0xC6, 0x51, 0x39, 0x32, 0xFA, 0x2B, 0x99, 0xAE, 0x18, 0x53, 0x89, 0x0C, 0xD2, 0xD0, 0x5A, 0x46,
 0xDB, 0xB8, 0xD6, 0x61, 0xE4, 0x75, 0xE3, 0x48, 0xF3, 0x42, 0xD7, 0x3D, 0x6A, 0x5C, 0xEB, 0xFF,
 0xFE, 0x7B, 0x5D, 0xE7, 0x4E, 0xD0, 0xA9, 0xCF, 0x10, 0x6F, 0x34, 0x1A, 0xD2, 0x15, 0x2E, 0xC1,
 0x90, 0x29, 0xF6, 0x46, 0xBB, 0x71, 0x74, 0xD4, 0x36, 0xD2, 0xEB, 0x46, 0x5B, 0x37, 0xC5, 0x7D,
 0x01, 0xB4, 0x11, 0x7F, 0x43, 0xAF, 0x71, 0xFD, 0xF8, 0x71, 0xE7, 0xA8, 0xD1, 0x68, 0x5F, 0x72,
 0x17, 0x33, 0x8F, 0xE0, 0x52, 0x2B, 0x20, 0x6C, 0x49, 0xBE, 0xC4, 0xBE, 0x6C, 0x5F, 0x62, 0xED,
 0x4E, 0x37, 0x1D, 0xFE, 0x51, 0x40, 0xBD, 0xEC, 0x0D, 0xCD, 0xD1, 0x98, 0x6E, 0x60, 0x2D, 0xD0,
 0x81, 0x39, 0xE6, 0x6D, 0x47, 0xB4, 0x0B, 0xC9, 0xAB, 0x2E, 0x19, 0x5A, 0x47, 0x1B, 0xEB, 0x26,
 0xE6, 0x1F, 0x85, 0x7C, 0xE1, 0x48, 0x68, 0x60, 0xDE, 0xF6, 0x65, 0x5F, 0xF3, 0x74, 0xB3, 0x07,
 0x1F, 0xBA, 0x1E, 0xD5, 0x53, 0x38, 0xC1, 0x1B, 0xFC, 0xC9, 0x8D, 0xF0, 0x58, 0xEA, 0x5F, 0xB9,
 0xAE, 0x56, 0x90, 0xC7, 0xBA, 0x0A, 0x7A, 0x09, 0x2A, 0x51, 0x07, 0xF1, 0x68, 0x10, 0x36, 0xA6,
 0x9E, 0xE5, 0x12, 0xEB, 0xB6, 0xA1, 0x71, 0xC3, 0x61, 0x08, 0x11, 0x79, 0xE0, 0xF4, 0x35, 0xB5,
 0xB1, 0x1E, 0x45, 0x20, 0x9E, 0xF0, 0x3B, 0xE9, 0xA1, 0xD2, 0x7D, 0x3E, 0xC4, 0x3E, 0x98, 0xC6,
 0x1C, 0x84, 0x99, 0xF4, 0x68, 0xA5, 0x55, 0xFA, 0x18, 0xF0, 0x20, 0x8C, 0x96, 0x90, 0xDC, 0x27,
 0x5A, 0xBE, 0xC6, 0x66, 0x64, 0x6C, 0x83, 0x50, 0x44, 0x03, 0x50, 0xFE, 0x6E, 0x83, 0xBE, 0xFF,
 0x18, 0x47, 0x15, 0xEE, 0xBA, 0x7A, 0xEC, 0x9D, 0x1F, 0x67, 0xEE, 0x0B, 0x75, 0xAA, 0xE3, 0x62,
 0xDE, 0x6C, 0x4D, 0x7E, 0x05, 0xE7, 0x92, 0x99, 0x0B, 0xDC, 0xE4, 0x76, 0x1D, 0xCD, 0x2C, 0xBD,
 0x02, 0xB5, 0xBB, 0x9A, 0x3A, 0xAD, 0x84, 0x40, 0x36, 0x58, 0x4D, 0x96, 0x2B, 0x75, 0x40, 0xEA,
 0xAD, 0x26, 0xCD, 0x14, 0x32, 0x20, 0xA4, 0xAB, 0x09, 0xB3, 0xE9, 0x1B, 0x28, 0x87, 0x12, 0xAC,
 0x11, 0xF1, 0x6C, 0x3A, 0x82, 0x98, 0xA6, 0x43, 0x0D, 0x44, 0x2A, 0x11, 0x0F, 0x74, 0x78, 0xF1,
 0xFB, 0xAB, 0x97, 0x8D, 0x42, 0xB6, 0xC0, 0x16, 0x22, 0xE3, 0x93, 0x1C, 0xF0, 0xB1, 0xC4, 0xF3,
 0x38, 0x87, 0xF2, 0xE7, 0x82, 0x79, 0x5E, 0x29, 0x70, 0x40, 0x39, 0xC5, 0x07, 0xF0, 0xC1, 0xDB,
 0x05, 0x0E, 0x74, 0x98, 0x32, 0xA8, 0xBB, 0x79, 0x37, 0xE1, 0xF3, 0xCD, 0x98, 0x41, 0xE6, 0x42,
 0x43, 0x80, 0x1F, 0x5F, 0xBE, 0xB7, 0xBA, 0x90, 0xAD, 0xAE, 0x11, 0xC3, 0x25, 0x8F, 0x8E, 0xC0,
 0x0D, 0x24, 0xE7, 0xC8, 0xA0, 0x8B, 0xE3, 0xB1, 0xB8, 0x31, 0xC8, 0xDF, 0x90, 0xB0, 0xB6, 0xF2,
 0xD3, 0x83, 0xB3, 0x67, 0x44, 0xAB, 0xB7, 0x2E, 0x61, 0xB8, 0xF9, 0x09, 0xB8, 0x1B, 0x5E, 0x7E,
 0x74, 0x17, 0x82, 0x20, 0x32, 0xB6, 0xF2, 0xB3, 0x34, 0x16, 0xFA, 0x3C, 0xE1, 0x0B, 0x76, 0x3C,
 0xB6, 0x53, 0x4F, 0xF3, 0x57, 0x83, 0xC3, 0xE3, 0x5B, 0x37, 0x82, 0x7B, 0x09, 0x32, 0x3F, 0xD7,
 0x01, 0x2D, 0xBB, 0xC7, 0xC9, 0xE6, 0x7F, 0x4C, 0x2A, 0xE8, 0x75, 0x3F, 0x2F, 0x17, 0xA8, 0xE9,
 0xEB, 0x86, 0x9F, 0x56, 0xAC, 0x15, 0x19, 0x25, 0x8A, 0x25, 0x0F, 0xEF, 0x11, 0x0C, 0x73, 0xC9,
 0xEF, 0xEE, 0x25, 0xC8, 0xFE, 0x50, 0x0F, 0xB2, 0x84, 0x0B, 0xB2, 0x84, 0xBA, 0x11, 0xA6, 0xB2,
 0xA4, 0x69, 0x2F, 0x99, 0x7D, 0x74, 0x0F, 0xF3, 0x24, 0xE1, 0xE9, 0xC6, 0x78, 0x35, 0x55, 0xEE,
 0xBD, 0x3B, 0x10, 0x60, 0xB4, 0x20, 0xC0, 0x48, 0x37, 0x46, 0xA9, 0x00, 0x69, 0xCA, 0x4C, 0x04,
 0x98, 0xAC, 0x09, 0x3F, 0xB9, 0xA1, 0x02, 0x19, 0x3E, 0xAF, 0x21, 0x9C, 0x25, 0x5F, 0xDD, 0xB8,
 0xBA, 0x87, 0x36, 0x39, 0x38, 0x08, 0xB2, 0x5E, 0x2D, 0xC8, 0x7A, 0xA5, 0x1B, 0xA7, 0x17, 0x57,
 0xB2, 0x90, 0x40, 0xF2, 0x26, 0xDA, 0x84, 0x67, 0x34, 0x83, 0x68, 0x9F, 0xF9, 0x37, 0x38, 0xEF,
 0x64, 0x6E, 0x48, 0x9C, 0x57, 0xD3, 0x41, 0x97, 0x1A, 0x72, 0xB1, 0xCF, 0xB4, 0xC2, 0x5B, 0x17,
 0xC3, 0x2A, 0x23, 0x7E, 0x95, 0x4F, 0x69, 0xFF, 0xFA, 0x4C, 0xA1, 0xBE, 0x22, 0x8E, 0xAD, 0x2B,
 0x7E, 0x7A, 0xEC, 0x51, 0x91, 0x27, 0x93, 0x15, 0xCC, 0xFF, 0xAF, 0x07, 0x70, 0x29, 0x85, 0xF5,
 0x49, 0xA0, 0x38, 0x98, 0x1F, 0x0A, 0xC0, 0x47, 0x1C, 0x7B, 0x4A, 0x6C, 0x25, 0x96, 0x42, 0x37,
 0xF9, 0x95, 0xD6, 0xD5, 0x26, 0xBA, 0x71, 0x34, 0x49, 0x2C, 0x0A, 0x52, 0xF2, 0xDA, 0x92, 0x8A,
 0x08, 0x32, 0x7E, 0x3E, 0x88, 0x8C, 0x9F, 0x73, 0x32, 0x7E, 0x06, 0xC0, 0x66, 0x11, 0xD0, 0x97,
 0x12, 0x82, 0x1A, 0x65, 0x3D, 0xAE, 0x85, 0x50, 0xBA, 0xEA, 0xD9, 0x65, 0x66, 0xBC, 0xA8, 0x94,
 0x57, 0xF2, 0x0C, 0xF0, 0xC5, 0xB1, 0xFC, 0xFF, 0xCB, 0xFE, 0x0F, 0x86, 0xED, 0x24, 0xF8, 0xD7,
 0x4C, 0x00, 0x00
};

The final working of the motion of the motor in Forward, Reverse, Left and Right is shown in the video below:

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