Add ESP32 wifi support #109
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This PR addresses Issue #106
@hippo5329 @grassjelly this PR is to request review and merge of wifi support into the upstream repo. This is a port of the wifi functionality from Thomas' repo. I'm about to leave the country for 6 weeks and will not be able to test any changes on HW, so I recommend not merging yet. However I'm submitting this PR to allow testing and comment, if there's anything you guys see you don't like. While I'm traveling I will work on updating documentation - which I've started and is on a different branch and will be the subject of a different PR.
This PR brings the following functionality from Thomas' repo:
It does not bring the following features from Thomas' repo:
The reason for omitting features that are in Thomas' repo is to contain the scope of changes for this PR. Juan had asked for a half-dozen files changed per PR, and there are 16 here, that are all needed to make wifi work in a comprehensive way. The scope of this PR is wifi support, not full-blown feature transfer from Thomas' repo, which may be addressed incrementally in subsequent PRs.
I have tested SLAM & navigation using both serial-connection (to an RPi, to ensure no regressions), and wifi connection from minniebot ESP32 to my laptop. I tested OTA update. I have tested that the configs I can't test on-robot (e.g. esp32s2 & friends) do at least build.