Actualy i have not yet integrate the universal PFOD and test with the code on Git.
Also I can adjust some part of my AZURITBER code to your dev (like PerimeterLeftMag instead of PerimeterMag etc .... to normalise again)
You can't use Pfod and webserver at same time (Into server page Connection change to PFOD if pfod is connected.)
But everything work very well with mower near Acces point ,need a full week test to see the stability when ESP32 lost the acces point.
Loops per sec is 385000 using Oled screen and nothing connected
Loops per sec change between 200000 and 345000 using Oled screen and Pfod connected into setting motor menu
Loops per sec is 200000 stable using Oled screen and Serveur web connected into setting motor menu
I first prefer to test step by step and validate each functionality but many thanks for OTA and i hope ESP32 can manage all with 80% of prog memory use.
: i have some small trouble with the SD card : The SPI interface is already in use with RFID reader !!!!
On PFOD there is a save option on the Console page , maybe it's possible to do the same with Html console page and back to the simple line send into console instead of html_line and only store everything in the PC if needed , To debug simply connect the PC for long duration and for standard run use the Teensy SD Card storage ,but maybe more complex for transfer later to one history html page ???
Also a string of 1000 char is not something very good for Teensy or Due .
We need a bigger reflection on this topic to see the best solution.
Here the simple raspberry / mqtt page: