A prototype!

Firmware/.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

Firmware/src/cameraInit.h

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+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include "esp_camera.h"
+
+// WROVER-KIT PIN Map
+#define CAM_PIN_PWDN 32
+#define CAM_PIN_RESET -1 // software reset will be performed
+#define CAM_PIN_XCLK 0
+#define CAM_PIN_SIOD 26
+#define CAM_PIN_SIOC 27
+
+#define CAM_PIN_D7 35
+#define CAM_PIN_D6 34
+#define CAM_PIN_D5 39
+#define CAM_PIN_D4 36
+#define CAM_PIN_D3 21
+#define CAM_PIN_D2 19
+#define CAM_PIN_D1 18
+#define CAM_PIN_D0 5
+#define CAM_PIN_VSYNC 25
+#define CAM_PIN_HREF 23
+#define CAM_PIN_PCLK 22
+
+static camera_config_t camera_config = {
+    .pin_pwdn = CAM_PIN_PWDN,
+    .pin_reset = CAM_PIN_RESET,
+    .pin_xclk = CAM_PIN_XCLK,
+    .pin_sscb_sda = CAM_PIN_SIOD,
+    .pin_sscb_scl = CAM_PIN_SIOC,
+
+    .pin_d7 = CAM_PIN_D7,
+    .pin_d6 = CAM_PIN_D6,
+    .pin_d5 = CAM_PIN_D5,
+    .pin_d4 = CAM_PIN_D4,
+    .pin_d3 = CAM_PIN_D3,
+    .pin_d2 = CAM_PIN_D2,
+    .pin_d1 = CAM_PIN_D1,
+    .pin_d0 = CAM_PIN_D0,
+    .pin_vsync = CAM_PIN_VSYNC,
+    .pin_href = CAM_PIN_HREF,
+    .pin_pclk = CAM_PIN_PCLK,
+
+    .xclk_freq_hz = 20000000, // EXPERIMENTAL: Set to 16MHz on ESP32-S2 or ESP32-S3 to enable EDMA mode
+    .ledc_timer = LEDC_TIMER_0,
+    .ledc_channel = LEDC_CHANNEL_0,
+
+    .pixel_format = PIXFORMAT_JPEG, // YUV422,GRAYSCALE,RGB565,JPEG
+    .frame_size = FRAMESIZE_UXGA,   // QQVGA-QXGA Do not use sizes above QVGA when not JPEG
+
+    .jpeg_quality = 12, // 0-63 lower number means higher quality
+    .fb_count = 1,      // if more than one, i2s runs in continuous mode. Use only with JPEG
+    // .grab_mode = CAMERA_GRAB_WHEN_EMPTY // CAMERA_GRAB_LATEST. Sets when buffers should be filled
+};
+
+esp_err_t camera_init()
+{
+    // power up the camera if PWDN pin is defined
+    if (CAM_PIN_PWDN != -1)
+    {
+        pinMode(CAM_PIN_PWDN, OUTPUT);
+        digitalWrite(CAM_PIN_PWDN, LOW);
+    }
+
+    // initialize the camera
+    esp_err_t err = esp_camera_init(&camera_config);
+    if (err != ESP_OK)
+    {
+        ESP_LOGE(TAG, "Camera Init Failed");
+        return err;
+    }
+
+    return ESP_OK;
+}
+
+esp_err_t camera_capture()
+{
+    // acquire a frame
+    camera_fb_t *fb = esp_camera_fb_get();
+    if (!fb)
+    {
+        ESP_LOGE(TAG, "Camera Capture Failed");
+        return ESP_FAIL;
+    }
+    // replace this with your own function
+    //  process_image(fb->width, fb->height, fb->format, fb->buf, fb->len);
+
+    // return the frame buffer back to the driver for reuse
+    esp_camera_fb_return(fb);
+    return ESP_OK;
+}

Firmware/src/cameraStreamer.h

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+#include "esp_camera.h"
+#include "esp_http_server.h"
+#include "esp_timer.h"
+
+#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 const char *TAG = "example:take_picture"; // Change me later?
+
+esp_err_t jpg_stream_httpd_handler(httpd_req_t *req)
+{
+    camera_fb_t *fb = NULL;
+    esp_err_t res = ESP_OK;
+    size_t _jpg_buf_len;
+    uint8_t *_jpg_buf;
+    char *part_buf[64];
+    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)
+        {
+            ESP_LOGE(TAG, "Camera capture failed");
+            res = ESP_FAIL;
+            break;
+        }
+        if (fb->format != PIXFORMAT_JPEG)
+        {
+            bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
+            if (!jpeg_converted)
+            {
+                ESP_LOGE(TAG, "JPEG compression failed");
+                esp_camera_fb_return(fb);
+                res = ESP_FAIL;
+            }
+        }
+        else
+        {
+            _jpg_buf_len = fb->len;
+            _jpg_buf = fb->buf;
+        }
+
+        if (res == ESP_OK)
+        {
+            res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
+        }
+        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 (fb->format != PIXFORMAT_JPEG)
+        {
+            free(_jpg_buf);
+        }
+        esp_camera_fb_return(fb);
+        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;
+        ESP_LOGI(TAG, "MJPG: %uKB %ums (%.1ffps)",
+                 (uint32_t)(_jpg_buf_len / 1024),
+                 (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time);
+    }
+
+    last_frame = 0;
+    return res;
+}

Firmware/src/main.cpp

@@ -1,23 +1,36 @@
-/* Orbital Percession
- * Concord Robotics
+/* SNHU Robotics
  *
  * Fight robots! Fight!
  */
 
 // Arduino Libs
 #include "Arduino.h"
 
-#define FLASH_LED 4
+// ESP Libs
+#include "esp_camera.h"
+#include <WiFi.h>
+
+// Pins
+#include "cameraInit.h"
+
+// Wifi settings
+const char *ssid = "BattleBot";
+const char *password = "iamnotacrook";
 
 void setup()
 {
     // Serial over USB
     Serial.begin(115200);
 
-    // initialize digital pin LED_BUILTIN as an output.
-    pinMode(FLASH_LED, OUTPUT);
+    // Wifi setup
+    WiFi.softAP(ssid, password);
+
+    IPAddress IP = WiFi.softAPIP();
+    Serial.print("AP IP address: ");
+    Serial.println(IP);
 
-    delay(500);
+    // Camera
+    camera_init();
 
     // Print MOTD
     Serial.println(MOTD);