Merge branch 'ide-1.5.x' into dev-ide-1.5.x-discovery

Conflicts:
	app/src/processing/app/Preferences.java
	app/src/processing/app/debug/Uploader.java

36 files changed, 0 insertions, 7573 deletions

diff --git a/cores/robot/Arduino.h b/cores/robot/Arduino.h
deleted file mode 100755
index 3b9ccca..0000000
--- a/cores/robot/Arduino.h
+++ /dev/null
@@ -1,215 +0,0 @@
-#ifndef Arduino_h
-#define Arduino_h
-
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-
-#include <avr/pgmspace.h>
-#include <avr/io.h>
-#include <avr/interrupt.h>
-
-#include "binary.h"
-
-#ifdef __cplusplus
-extern "C"{
-#endif
-
-#define HIGH 0x1
-#define LOW  0x0
-
-#define INPUT 0x0
-#define OUTPUT 0x1
-#define INPUT_PULLUP 0x2
-
-#define true 0x1
-#define false 0x0
-
-#define PI 3.1415926535897932384626433832795
-#define HALF_PI 1.5707963267948966192313216916398
-#define TWO_PI 6.283185307179586476925286766559
-#define DEG_TO_RAD 0.017453292519943295769236907684886
-#define RAD_TO_DEG 57.295779513082320876798154814105
-
-#define SERIAL  0x0
-#define DISPLAY 0x1
-
-#define LSBFIRST 0
-#define MSBFIRST 1
-
-#define CHANGE 1
-#define FALLING 2
-#define RISING 3
-
-#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__) || defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)
-#define DEFAULT 0
-#define EXTERNAL 1
-#define INTERNAL 2
-#else  
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__)
-#define INTERNAL1V1 2
-#define INTERNAL2V56 3
-#else
-#define INTERNAL 3
-#endif
-#define DEFAULT 1
-#define EXTERNAL 0
-#endif
-
-// undefine stdlib's abs if encountered
-#ifdef abs
-#undef abs
-#endif
-
-#define min(a,b) ((a)<(b)?(a):(b))
-#define max(a,b) ((a)>(b)?(a):(b))
-#define abs(x) ((x)>0?(x):-(x))
-#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
-#define round(x)     ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
-#define radians(deg) ((deg)*DEG_TO_RAD)
-#define degrees(rad) ((rad)*RAD_TO_DEG)
-#define sq(x) ((x)*(x))
-
-#define interrupts() sei()
-#define noInterrupts() cli()
-
-#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )
-#define clockCyclesToMicroseconds(a) ( (a) / clockCyclesPerMicrosecond() )
-#define microsecondsToClockCycles(a) ( (a) * clockCyclesPerMicrosecond() )
-
-#define lowByte(w) ((uint8_t) ((w) & 0xff))
-#define highByte(w) ((uint8_t) ((w) >> 8))
-
-#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
-#define bitSet(value, bit) ((value) |= (1UL << (bit)))
-#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
-#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))
-
-
-typedef unsigned int word;
-
-#define bit(b) (1UL << (b))
-
-typedef uint8_t boolean;
-typedef uint8_t byte;
-
-void init(void);
-
-void pinMode(uint8_t, uint8_t);
-void digitalWrite(uint8_t, uint8_t);
-int digitalRead(uint8_t);
-int analogRead(uint8_t);
-void analogReference(uint8_t mode);
-void analogWrite(uint8_t, int);
-
-unsigned long millis(void);
-unsigned long micros(void);
-void delay(unsigned long);
-void delayMicroseconds(unsigned int us);
-unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout);
-
-void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val);
-uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder);
-
-void attachInterrupt(uint8_t, void (*)(void), int mode);
-void detachInterrupt(uint8_t);
-
-void setup(void);
-void loop(void);
-
-// Get the bit location within the hardware port of the given virtual pin.
-// This comes from the pins_*.c file for the active board configuration.
-
-#define analogInPinToBit(P) (P)
-
-// On the ATmega1280, the addresses of some of the port registers are
-// greater than 255, so we can't store them in uint8_t's.
-extern const uint16_t PROGMEM port_to_mode_PGM[];
-extern const uint16_t PROGMEM port_to_input_PGM[];
-extern const uint16_t PROGMEM port_to_output_PGM[];
-
-extern const uint8_t PROGMEM digital_pin_to_port_PGM[];
-// extern const uint8_t PROGMEM digital_pin_to_bit_PGM[];
-extern const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[];
-extern const uint8_t PROGMEM digital_pin_to_timer_PGM[];
-
-// Get the bit location within the hardware port of the given virtual pin.
-// This comes from the pins_*.c file for the active board configuration.
-// 
-// These perform slightly better as macros compared to inline functions
-//
-#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) )
-#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )
-#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )
-#define analogInPinToBit(P) (P)
-#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) )
-#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) )
-#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) )
-
-#define NOT_A_PIN 0
-#define NOT_A_PORT 0
-
-#ifdef ARDUINO_MAIN
-#define PA 1
-#define PB 2
-#define PC 3
-#define PD 4
-#define PE 5
-#define PF 6
-#define PG 7
-#define PH 8
-#define PJ 10
-#define PK 11
-#define PL 12
-#endif
-
-#define NOT_ON_TIMER 0
-#define TIMER0A 1
-#define TIMER0B 2
-#define TIMER1A 3
-#define TIMER1B 4
-#define TIMER2  5
-#define TIMER2A 6
-#define TIMER2B 7
-
-#define TIMER3A 8
-#define TIMER3B 9
-#define TIMER3C 10
-#define TIMER4A 11
-#define TIMER4B 12
-#define TIMER4C 13
-#define TIMER4D 14	
-#define TIMER5A 15
-#define TIMER5B 16
-#define TIMER5C 17
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#ifdef __cplusplus
-#include "WCharacter.h"
-#include "WString.h"
-#include "HardwareSerial.h"
-
-uint16_t makeWord(uint16_t w);
-uint16_t makeWord(byte h, byte l);
-
-#define word(...) makeWord(__VA_ARGS__)
-
-unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L);
-
-void tone(uint8_t _pin, unsigned int frequency, unsigned long duration = 0);
-void noTone(uint8_t _pin);
-
-// WMath prototypes
-long random(long);
-long random(long, long);
-void randomSeed(unsigned int);
-long map(long, long, long, long, long);
-
-#endif
-
-#include "pins_arduino.h"
-
-#endif
diff --git a/cores/robot/CDC.cpp b/cores/robot/CDC.cpp
deleted file mode 100644
index fb25a96..0000000
--- a/cores/robot/CDC.cpp
+++ /dev/null
@@ -1,220 +0,0 @@
-
-
-/* Copyright (c) 2011, Peter Barrett  
-**  
-** Permission to use, copy, modify, and/or distribute this software for  
-** any purpose with or without fee is hereby granted, provided that the  
-** above copyright notice and this permission notice appear in all copies.  
-** 
-** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL  
-** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED  
-** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR  
-** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES  
-** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,  
-** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,  
-** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS  
-** SOFTWARE.  
-*/
-
-#include "Platform.h"
-#include "USBAPI.h"
-#include <avr/wdt.h>
-
-#if defined(USBCON)
-#ifdef CDC_ENABLED
-
-typedef struct
-{
-	u32	dwDTERate;
-	u8	bCharFormat;
-	u8 	bParityType;
-	u8 	bDataBits;
-	u8	lineState;
-} LineInfo;
-
-static volatile LineInfo _usbLineInfo = { 57600, 0x00, 0x00, 0x00, 0x00 };
-
-#define WEAK __attribute__ ((weak))
-
-extern const CDCDescriptor _cdcInterface PROGMEM;
-const CDCDescriptor _cdcInterface =
-{
-	D_IAD(0,2,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,1),
-
-	//	CDC communication interface
-	D_INTERFACE(CDC_ACM_INTERFACE,1,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,0),
-	D_CDCCS(CDC_HEADER,0x10,0x01),								// Header (1.10 bcd)
-	D_CDCCS(CDC_CALL_MANAGEMENT,1,1),							// Device handles call management (not)
-	D_CDCCS4(CDC_ABSTRACT_CONTROL_MANAGEMENT,6),				// SET_LINE_CODING, GET_LINE_CODING, SET_CONTROL_LINE_STATE supported
-	D_CDCCS(CDC_UNION,CDC_ACM_INTERFACE,CDC_DATA_INTERFACE),	// Communication interface is master, data interface is slave 0
-	D_ENDPOINT(USB_ENDPOINT_IN (CDC_ENDPOINT_ACM),USB_ENDPOINT_TYPE_INTERRUPT,0x10,0x40),
-
-	//	CDC data interface
-	D_INTERFACE(CDC_DATA_INTERFACE,2,CDC_DATA_INTERFACE_CLASS,0,0),
-	D_ENDPOINT(USB_ENDPOINT_OUT(CDC_ENDPOINT_OUT),USB_ENDPOINT_TYPE_BULK,0x40,0),
-	D_ENDPOINT(USB_ENDPOINT_IN (CDC_ENDPOINT_IN ),USB_ENDPOINT_TYPE_BULK,0x40,0)
-};
-
-int WEAK CDC_GetInterface(u8* interfaceNum)
-{
-	interfaceNum[0] += 2;	// uses 2
-	return USB_SendControl(TRANSFER_PGM,&_cdcInterface,sizeof(_cdcInterface));
-}
-
-bool WEAK CDC_Setup(Setup& setup)
-{
-	u8 r = setup.bRequest;
-	u8 requestType = setup.bmRequestType;
-
-	if (REQUEST_DEVICETOHOST_CLASS_INTERFACE == requestType)
-	{
-		if (CDC_GET_LINE_CODING == r)
-		{
-			USB_SendControl(0,(void*)&_usbLineInfo,7);
-			return true;
-		}
-	}
-
-	if (REQUEST_HOSTTODEVICE_CLASS_INTERFACE == requestType)
-	{
-		if (CDC_SET_LINE_CODING == r)
-		{
-			USB_RecvControl((void*)&_usbLineInfo,7);
-			return true;
-		}
-
-		if (CDC_SET_CONTROL_LINE_STATE == r)
-		{
-			_usbLineInfo.lineState = setup.wValueL;
-
-			// auto-reset into the bootloader is triggered when the port, already 
-			// open at 1200 bps, is closed.  this is the signal to start the watchdog
-			// with a relatively long period so it can finish housekeeping tasks
-			// like servicing endpoints before the sketch ends
-			if (1200 == _usbLineInfo.dwDTERate) {
-				// We check DTR state to determine if host port is open (bit 0 of lineState).
-				if ((_usbLineInfo.lineState & 0x01) == 0) {
-					*(uint16_t *)0x0800 = 0x7777;
-					wdt_enable(WDTO_120MS);
-				} else {
-					// Most OSs do some intermediate steps when configuring ports and DTR can
-					// twiggle more than once before stabilizing.
-					// To avoid spurious resets we set the watchdog to 250ms and eventually
-					// cancel if DTR goes back high.
-	
-					wdt_disable();
-					wdt_reset();
-					*(uint16_t *)0x0800 = 0x0;
-				}
-			}
-			return true;
-		}
-	}
-	return false;
-}
-
-
-int _serialPeek = -1;
-void Serial_::begin(uint16_t baud_count)
-{
-}
-
-void Serial_::end(void)
-{
-}
-
-void Serial_::accept(void) 
-{
-	int i = (unsigned int)(_rx_buffer_head+1) % SERIAL_BUFFER_SIZE;
-	
-	// if we should be storing the received character into the location
-	// just before the tail (meaning that the head would advance to the
-	// current location of the tail), we're about to overflow the buffer
-	// and so we don't write the character or advance the head.
-
-	// while we have room to store a byte
-	while (i != _rx_buffer_tail) {
-		int c = USB_Recv(CDC_RX);
-		if (c == -1)
-			break;	// no more data
-		_rx_buffer[_rx_buffer_head] = c;
-		_rx_buffer_head = i;
-
-		i = (unsigned int)(_rx_buffer_head+1) % SERIAL_BUFFER_SIZE;
-	}
-}
-
-int Serial_::available(void)
-{
-	return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer_head - _rx_buffer_tail) % SERIAL_BUFFER_SIZE;
-}
-
-int Serial_::peek(void)
-{
-	if (_rx_buffer_head == _rx_buffer_tail) {
-		return -1;
-	} else {
-		return _rx_buffer[_rx_buffer_tail];
-	}
-}
-
-int Serial_::read(void)
-{
-	// if the head isn't ahead of the tail, we don't have any characters
-	if (_rx_buffer_head == _rx_buffer_tail) {
-		return -1;
-	} else {
-		unsigned char c = _rx_buffer[_rx_buffer_tail];
-		_rx_buffer_tail = (unsigned int)(_rx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
-		return c;
-	}	
-}
-
-void Serial_::flush(void)
-{
-	USB_Flush(CDC_TX);
-}
-
-size_t Serial_::write(uint8_t c)
-{
-	/* only try to send bytes if the high-level CDC connection itself 
-	 is open (not just the pipe) - the OS should set lineState when the port
-	 is opened and clear lineState when the port is closed.
-	 bytes sent before the user opens the connection or after
-	 the connection is closed are lost - just like with a UART. */
-	
-	// TODO - ZE - check behavior on different OSes and test what happens if an
-	// open connection isn't broken cleanly (cable is yanked out, host dies
-	// or locks up, or host virtual serial port hangs)
-	if (_usbLineInfo.lineState > 0)	{
-		int r = USB_Send(CDC_TX,&c,1);
-		if (r > 0) {
-			return r;
-		} else {
-			setWriteError();
-			return 0;
-		}
-	}
-	setWriteError();
-	return 0;
-}
-
-// This operator is a convenient way for a sketch to check whether the
-// port has actually been configured and opened by the host (as opposed
-// to just being connected to the host).  It can be used, for example, in 
-// setup() before printing to ensure that an application on the host is
-// actually ready to receive and display the data.
-// We add a short delay before returning to fix a bug observed by Federico
-// where the port is configured (lineState != 0) but not quite opened.
-Serial_::operator bool() {
-	bool result = false;
-	if (_usbLineInfo.lineState > 0) 
-		result = true;
-	delay(10);
-	return result;
-}
-
-Serial_ Serial;
-
-#endif
-#endif /* if defined(USBCON) */
diff --git a/cores/robot/Client.h b/cores/robot/Client.h
deleted file mode 100644
index ea13483..0000000
--- a/cores/robot/Client.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef client_h
-#define client_h
-#include "Print.h"
-#include "Stream.h"
-#include "IPAddress.h"
-
-class Client : public Stream {
-
-public:
-  virtual int connect(IPAddress ip, uint16_t port) =0;
-  virtual int connect(const char *host, uint16_t port) =0;
-  virtual size_t write(uint8_t) =0;
-  virtual size_t write(const uint8_t *buf, size_t size) =0;
-  virtual int available() = 0;
-  virtual int read() = 0;
-  virtual int read(uint8_t *buf, size_t size) = 0;
-  virtual int peek() = 0;
-  virtual void flush() = 0;
-  virtual void stop() = 0;
-  virtual uint8_t connected() = 0;
-  virtual operator bool() = 0;
-protected:
-  uint8_t* rawIPAddress(IPAddress& addr) { return addr.raw_address(); };
-};
-
-#endif
diff --git a/cores/robot/HID.cpp b/cores/robot/HID.cpp
deleted file mode 100644
index ac63608..0000000
--- a/cores/robot/HID.cpp
+++ /dev/null
@@ -1,520 +0,0 @@
-
-
-/* Copyright (c) 2011, Peter Barrett  
-**  
-** Permission to use, copy, modify, and/or distribute this software for  
-** any purpose with or without fee is hereby granted, provided that the  
-** above copyright notice and this permission notice appear in all copies.  
-** 
-** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL  
-** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED  
-** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR  
-** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES  
-** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,  
-** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,  
-** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS  
-** SOFTWARE.  
-*/
-
-#include "Platform.h"
-#include "USBAPI.h"
-#include "USBDesc.h"
-
-#if defined(USBCON)
-#ifdef HID_ENABLED
-
-//#define RAWHID_ENABLED
-
-//	Singletons for mouse and keyboard
-
-Mouse_ Mouse;
-Keyboard_ Keyboard;
-
-//================================================================================
-//================================================================================
-
-//	HID report descriptor
-
-#define LSB(_x) ((_x) & 0xFF)
-#define MSB(_x) ((_x) >> 8)
-
-#define RAWHID_USAGE_PAGE	0xFFC0
-#define RAWHID_USAGE		0x0C00
-#define RAWHID_TX_SIZE 64
-#define RAWHID_RX_SIZE 64
-
-extern const u8 _hidReportDescriptor[] PROGMEM;
-const u8 _hidReportDescriptor[] = {
-	
-	//	Mouse
-    0x05, 0x01,                    // USAGE_PAGE (Generic Desktop)	// 54
-    0x09, 0x02,                    // USAGE (Mouse)
-    0xa1, 0x01,                    // COLLECTION (Application)
-    0x09, 0x01,                    //   USAGE (Pointer)
-    0xa1, 0x00,                    //   COLLECTION (Physical)
-    0x85, 0x01,                    //     REPORT_ID (1)
-    0x05, 0x09,                    //     USAGE_PAGE (Button)
-    0x19, 0x01,                    //     USAGE_MINIMUM (Button 1)
-    0x29, 0x03,                    //     USAGE_MAXIMUM (Button 3)
-    0x15, 0x00,                    //     LOGICAL_MINIMUM (0)
-    0x25, 0x01,                    //     LOGICAL_MAXIMUM (1)
-    0x95, 0x03,                    //     REPORT_COUNT (3)
-    0x75, 0x01,                    //     REPORT_SIZE (1)
-    0x81, 0x02,                    //     INPUT (Data,Var,Abs)
-    0x95, 0x01,                    //     REPORT_COUNT (1)
-    0x75, 0x05,                    //     REPORT_SIZE (5)
-    0x81, 0x03,                    //     INPUT (Cnst,Var,Abs)
-    0x05, 0x01,                    //     USAGE_PAGE (Generic Desktop)
-    0x09, 0x30,                    //     USAGE (X)
-    0x09, 0x31,                    //     USAGE (Y)
-    0x09, 0x38,                    //     USAGE (Wheel)
-    0x15, 0x81,                    //     LOGICAL_MINIMUM (-127)
-    0x25, 0x7f,                    //     LOGICAL_MAXIMUM (127)
-    0x75, 0x08,                    //     REPORT_SIZE (8)
-    0x95, 0x03,                    //     REPORT_COUNT (3)
-    0x81, 0x06,                    //     INPUT (Data,Var,Rel)
-    0xc0,                          //   END_COLLECTION
-    0xc0,                          // END_COLLECTION
-
-	//	Keyboard
-    0x05, 0x01,                    // USAGE_PAGE (Generic Desktop)	// 47
-    0x09, 0x06,                    // USAGE (Keyboard)
-    0xa1, 0x01,                    // COLLECTION (Application)
-    0x85, 0x02,                    //   REPORT_ID (2)
-    0x05, 0x07,                    //   USAGE_PAGE (Keyboard)
-   
-	0x19, 0xe0,                    //   USAGE_MINIMUM (Keyboard LeftControl)
-    0x29, 0xe7,                    //   USAGE_MAXIMUM (Keyboard Right GUI)
-    0x15, 0x00,                    //   LOGICAL_MINIMUM (0)
-    0x25, 0x01,                    //   LOGICAL_MAXIMUM (1)
-    0x75, 0x01,                    //   REPORT_SIZE (1)
-    
-	0x95, 0x08,                    //   REPORT_COUNT (8)
-    0x81, 0x02,                    //   INPUT (Data,Var,Abs)
-    0x95, 0x01,                    //   REPORT_COUNT (1)
-    0x75, 0x08,                    //   REPORT_SIZE (8)
-    0x81, 0x03,                    //   INPUT (Cnst,Var,Abs)
-    
-	0x95, 0x06,                    //   REPORT_COUNT (6)
-    0x75, 0x08,                    //   REPORT_SIZE (8)
-    0x15, 0x00,                    //   LOGICAL_MINIMUM (0)
-    0x25, 0x65,                    //   LOGICAL_MAXIMUM (101)
-    0x05, 0x07,                    //   USAGE_PAGE (Keyboard)
-    
-	0x19, 0x00,                    //   USAGE_MINIMUM (Reserved (no event indicated))
-    0x29, 0x65,                    //   USAGE_MAXIMUM (Keyboard Application)
-    0x81, 0x00,                    //   INPUT (Data,Ary,Abs)
-    0xc0,                          // END_COLLECTION
-
-#if RAWHID_ENABLED
-	//	RAW HID
-	0x06, LSB(RAWHID_USAGE_PAGE), MSB(RAWHID_USAGE_PAGE),	// 30
-	0x0A, LSB(RAWHID_USAGE), MSB(RAWHID_USAGE),
-
-	0xA1, 0x01,				// Collection 0x01
-    0x85, 0x03,             // REPORT_ID (3)
-	0x75, 0x08,				// report size = 8 bits
-	0x15, 0x00,				// logical minimum = 0
-	0x26, 0xFF, 0x00,		// logical maximum = 255
-
-	0x95, 64,				// report count TX
-	0x09, 0x01,				// usage
-	0x81, 0x02,				// Input (array)
-
-	0x95, 64,				// report count RX
-	0x09, 0x02,				// usage
-	0x91, 0x02,				// Output (array)
-	0xC0					// end collection
-#endif
-};
-
-extern const HIDDescriptor _hidInterface PROGMEM;
-const HIDDescriptor _hidInterface =
-{
-	D_INTERFACE(HID_INTERFACE,1,3,0,0),
-	D_HIDREPORT(sizeof(_hidReportDescriptor)),
-	D_ENDPOINT(USB_ENDPOINT_IN (HID_ENDPOINT_INT),USB_ENDPOINT_TYPE_INTERRUPT,0x40,0x01)
-};
-
-//================================================================================
-//================================================================================
-//	Driver
-
-u8 _hid_protocol = 1;
-u8 _hid_idle = 1;
-
-#define WEAK __attribute__ ((weak))
-
-int WEAK HID_GetInterface(u8* interfaceNum)
-{
-	interfaceNum[0] += 1;	// uses 1
-	return USB_SendControl(TRANSFER_PGM,&_hidInterface,sizeof(_hidInterface));
-}
-
-int WEAK HID_GetDescriptor(int i)
-{
-	return USB_SendControl(TRANSFER_PGM,_hidReportDescriptor,sizeof(_hidReportDescriptor));
-}
-
-void WEAK HID_SendReport(u8 id, const void* data, int len)
-{
-	USB_Send(HID_TX, &id, 1);
-	USB_Send(HID_TX | TRANSFER_RELEASE,data,len);
-}
-
-bool WEAK HID_Setup(Setup& setup)
-{
-	u8 r = setup.bRequest;
-	u8 requestType = setup.bmRequestType;
-	if (REQUEST_DEVICETOHOST_CLASS_INTERFACE == requestType)
-	{
-		if (HID_GET_REPORT == r)
-		{
-			//HID_GetReport();
-			return true;
-		}
-		if (HID_GET_PROTOCOL == r)
-		{
-			//Send8(_hid_protocol);	// TODO
-			return true;
-		}
-	}
-	
-	if (REQUEST_HOSTTODEVICE_CLASS_INTERFACE == requestType)
-	{
-		if (HID_SET_PROTOCOL == r)
-		{
-			_hid_protocol = setup.wValueL;
-			return true;
-		}
-
-		if (HID_SET_IDLE == r)
-		{
-			_hid_idle = setup.wValueL;
-			return true;
-		}
-	}
-	return false;
-}
-
-//================================================================================
-//================================================================================
-//	Mouse
-
-Mouse_::Mouse_(void) : _buttons(0)
-{
-}
-
-void Mouse_::begin(void) 
-{
-}
-
-void Mouse_::end(void) 
-{
-}
-
-void Mouse_::click(uint8_t b)
-{
-	_buttons = b;
-	move(0,0,0);
-	_buttons = 0;
-	move(0,0,0);
-}
-
-void Mouse_::move(signed char x, signed char y, signed char wheel)
-{
-	u8 m[4];
-	m[0] = _buttons;
-	m[1] = x;
-	m[2] = y;
-	m[3] = wheel;
-	HID_SendReport(1,m,4);
-}
-
-void Mouse_::buttons(uint8_t b)
-{
-	if (b != _buttons)
-	{
-		_buttons = b;
-		move(0,0,0);
-	}
-}
-
-void Mouse_::press(uint8_t b) 
-{
-	buttons(_buttons | b);
-}
-
-void Mouse_::release(uint8_t b)
-{
-	buttons(_buttons & ~b);
-}
-
-bool Mouse_::isPressed(uint8_t b)
-{
-	if ((b & _buttons) > 0) 
-		return true;
-	return false;
-}
-
-//================================================================================
-//================================================================================
-//	Keyboard
-
-Keyboard_::Keyboard_(void) 
-{
-}
-
-void Keyboard_::begin(void) 
-{
-}
-
-void Keyboard_::end(void) 
-{
-}
-
-void Keyboard_::sendReport(KeyReport* keys)
-{
-	HID_SendReport(2,keys,sizeof(KeyReport));
-}
-
-extern
-const uint8_t _asciimap[128] PROGMEM;
-
-#define SHIFT 0x80
-const uint8_t _asciimap[128] =
-{
-	0x00,             // NUL
-	0x00,             // SOH
-	0x00,             // STX
-	0x00,             // ETX
-	0x00,             // EOT
-	0x00,             // ENQ
-	0x00,             // ACK  
-	0x00,             // BEL
-	0x2a,			// BS	Backspace
-	0x2b,			// TAB	Tab
-	0x28,			// LF	Enter
-	0x00,             // VT 
-	0x00,             // FF 
-	0x00,             // CR 
-	0x00,             // SO 
-	0x00,             // SI 
-	0x00,             // DEL
-	0x00,             // DC1
-	0x00,             // DC2
-	0x00,             // DC3
-	0x00,             // DC4
-	0x00,             // NAK
-	0x00,             // SYN
-	0x00,             // ETB
-	0x00,             // CAN
-	0x00,             // EM 
-	0x00,             // SUB
-	0x00,             // ESC
-	0x00,             // FS 
-	0x00,             // GS 
-	0x00,             // RS 
-	0x00,             // US 
-
-	0x2c,		   //  ' '
-	0x1e|SHIFT,	   // !
-	0x34|SHIFT,	   // "
-	0x20|SHIFT,    // #
-	0x21|SHIFT,    // $
-	0x22|SHIFT,    // %
-	0x24|SHIFT,    // &
-	0x34,          // '
-	0x26|SHIFT,    // (
-	0x27|SHIFT,    // )
-	0x25|SHIFT,    // *
-	0x2e|SHIFT,    // +
-	0x36,          // ,
-	0x2d,          // -
-	0x37,          // .
-	0x38,          // /
-	0x27,          // 0
-	0x1e,          // 1
-	0x1f,          // 2
-	0x20,          // 3
-	0x21,          // 4
-	0x22,          // 5
-	0x23,          // 6
-	0x24,          // 7
-	0x25,          // 8
-	0x26,          // 9
-	0x33|SHIFT,      // :
-	0x33,          // ;
-	0x36|SHIFT,      // <
-	0x2e,          // =
-	0x37|SHIFT,      // >
-	0x38|SHIFT,      // ?
-	0x1f|SHIFT,      // @
-	0x04|SHIFT,      // A
-	0x05|SHIFT,      // B
-	0x06|SHIFT,      // C
-	0x07|SHIFT,      // D
-	0x08|SHIFT,      // E
-	0x09|SHIFT,      // F
-	0x0a|SHIFT,      // G
-	0x0b|SHIFT,      // H
-	0x0c|SHIFT,      // I
-	0x0d|SHIFT,      // J
-	0x0e|SHIFT,      // K
-	0x0f|SHIFT,      // L
-	0x10|SHIFT,      // M
-	0x11|SHIFT,      // N
-	0x12|SHIFT,      // O
-	0x13|SHIFT,      // P
-	0x14|SHIFT,      // Q
-	0x15|SHIFT,      // R
-	0x16|SHIFT,      // S
-	0x17|SHIFT,      // T
-	0x18|SHIFT,      // U
-	0x19|SHIFT,      // V
-	0x1a|SHIFT,      // W
-	0x1b|SHIFT,      // X
-	0x1c|SHIFT,      // Y
-	0x1d|SHIFT,      // Z
-	0x2f,          // [
-	0x31,          // bslash
-	0x30,          // ]
-	0x23|SHIFT,    // ^
-	0x2d|SHIFT,    // _
-	0x35,          // `
-	0x04,          // a
-	0x05,          // b
-	0x06,          // c
-	0x07,          // d
-	0x08,          // e
-	0x09,          // f
-	0x0a,          // g
-	0x0b,          // h
-	0x0c,          // i
-	0x0d,          // j
-	0x0e,          // k
-	0x0f,          // l
-	0x10,          // m
-	0x11,          // n
-	0x12,          // o
-	0x13,          // p
-	0x14,          // q
-	0x15,          // r
-	0x16,          // s
-	0x17,          // t
-	0x18,          // u
-	0x19,          // v
-	0x1a,          // w
-	0x1b,          // x
-	0x1c,          // y
-	0x1d,          // z
-	0x2f|SHIFT,    // 
-	0x31|SHIFT,    // |
-	0x30|SHIFT,    // }
-	0x35|SHIFT,    // ~
-	0				// DEL
-};
-
-uint8_t USBPutChar(uint8_t c);
-
-// press() adds the specified key (printing, non-printing, or modifier)
-// to the persistent key report and sends the report.  Because of the way 
-// USB HID works, the host acts like the key remains pressed until we 
-// call release(), releaseAll(), or otherwise clear the report and resend.
-size_t Keyboard_::press(uint8_t k) 
-{
-	uint8_t i;
-	if (k >= 136) {			// it's a non-printing key (not a modifier)
-		k = k - 136;
-	} else if (k >= 128) {	// it's a modifier key
-		_keyReport.modifiers |= (1<<(k-128));
-		k = 0;
-	} else {				// it's a printing key
-		k = pgm_read_byte(_asciimap + k);
-		if (!k) {
-			setWriteError();
-			return 0;
-		}
-		if (k & 0x80) {						// it's a capital letter or other character reached with shift
-			_keyReport.modifiers |= 0x02;	// the left shift modifier
-			k &= 0x7F;
-		}
-	}
-	
-	// Add k to the key report only if it's not already present
-	// and if there is an empty slot.
-	if (_keyReport.keys[0] != k && _keyReport.keys[1] != k && 
-		_keyReport.keys[2] != k && _keyReport.keys[3] != k &&
-		_keyReport.keys[4] != k && _keyReport.keys[5] != k) {
-		
-		for (i=0; i<6; i++) {
-			if (_keyReport.keys[i] == 0x00) {
-				_keyReport.keys[i] = k;
-				break;
-			}
-		}
-		if (i == 6) {
-			setWriteError();
-			return 0;
-		}	
-	}
-	sendReport(&_keyReport);
-	return 1;
-}
-
-// release() takes the specified key out of the persistent key report and
-// sends the report.  This tells the OS the key is no longer pressed and that
-// it shouldn't be repeated any more.
-size_t Keyboard_::release(uint8_t k) 
-{
-	uint8_t i;
-	if (k >= 136) {			// it's a non-printing key (not a modifier)
-		k = k - 136;
-	} else if (k >= 128) {	// it's a modifier key
-		_keyReport.modifiers &= ~(1<<(k-128));
-		k = 0;
-	} else {				// it's a printing key
-		k = pgm_read_byte(_asciimap + k);
-		if (!k) {
-			return 0;
-		}
-		if (k & 0x80) {							// it's a capital letter or other character reached with shift
-			_keyReport.modifiers &= ~(0x02);	// the left shift modifier
-			k &= 0x7F;
-		}
-	}
-	
-	// Test the key report to see if k is present.  Clear it if it exists.
-	// Check all positions in case the key is present more than once (which it shouldn't be)
-	for (i=0; i<6; i++) {
-		if (0 != k && _keyReport.keys[i] == k) {
-			_keyReport.keys[i] = 0x00;
-		}
-	}
-
-	sendReport(&_keyReport);
-	return 1;
-}
-
-void Keyboard_::releaseAll(void)
-{
-	_keyReport.keys[0] = 0;
-	_keyReport.keys[1] = 0;	
-	_keyReport.keys[2] = 0;
-	_keyReport.keys[3] = 0;	
-	_keyReport.keys[4] = 0;
-	_keyReport.keys[5] = 0;	
-	_keyReport.modifiers = 0;
-	sendReport(&_keyReport);
-}
-
-size_t Keyboard_::write(uint8_t c)
-{	
-	uint8_t p = press(c);		// Keydown
-	uint8_t r = release(c);		// Keyup
-	return (p);					// just return the result of press() since release() almost always returns 1
-}
-
-#endif
-
-#endif /* if defined(USBCON) */
\ No newline at end of file
diff --git a/cores/robot/HardwareSerial.cpp b/cores/robot/HardwareSerial.cpp
deleted file mode 100644
index e40bfbc..0000000
--- a/cores/robot/HardwareSerial.cpp
+++ /dev/null
@@ -1,469 +0,0 @@
-/*
-  HardwareSerial.cpp - Hardware serial library for Wiring
-  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-  
-  Modified 23 November 2006 by David A. Mellis
-  Modified 28 September 2010 by Mark Sproul
-  Modified 14 August 2012 by Alarus
-*/
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <inttypes.h>
-#include "Arduino.h"
-#include "wiring_private.h"
-
-// this next line disables the entire HardwareSerial.cpp, 
-// this is so I can support Attiny series and any other chip without a uart
-#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
-
-#include "HardwareSerial.h"
-
-/*
- * on ATmega8, the uart and its bits are not numbered, so there is no "TXC0"
- * definition.
- */
-#if !defined(TXC0)
-#if defined(TXC)
-#define TXC0 TXC
-#elif defined(TXC1)
-// Some devices have uart1 but no uart0
-#define TXC0 TXC1
-#else
-#error TXC0 not definable in HardwareSerial.h
-#endif
-#endif
-
-inline void store_char(unsigned char c, HardwareSerial *s)
-{
-  int i = (unsigned int)(s->_rx_buffer_head + 1) % SERIAL_BUFFER_SIZE;
-
-  // if we should be storing the received character into the location
-  // just before the tail (meaning that the head would advance to the
-  // current location of the tail), we're about to overflow the buffer
-  // and so we don't write the character or advance the head.
-  if (i != s->_rx_buffer_tail) {
-    s->_rx_buffer[s->_rx_buffer_head] = c;
-    s->_rx_buffer_head = i;
-  }
-}
-
-#if !defined(USART0_RX_vect) && defined(USART1_RX_vect)
-// do nothing - on the 32u4 the first USART is USART1
-#else
-#if !defined(USART_RX_vect) && !defined(USART0_RX_vect) && \
-    !defined(USART_RXC_vect)
-  #error "Don't know what the Data Received vector is called for the first UART"
-#else
-  void serialEvent() __attribute__((weak));
-  void serialEvent() {}
-  #define serialEvent_implemented
-#if defined(USART_RX_vect)
-  ISR(USART_RX_vect)
-#elif defined(USART0_RX_vect)
-  ISR(USART0_RX_vect)
-#elif defined(USART_RXC_vect)
-  ISR(USART_RXC_vect) // ATmega8
-#endif
-  {
-  #if defined(UDR0)
-    if (bit_is_clear(UCSR0A, UPE0)) {
-      unsigned char c = UDR0;
-      store_char(c, &Serial);
-    } else {
-      unsigned char c = UDR0;
-    };
-  #elif defined(UDR)
-    if (bit_is_clear(UCSRA, PE)) {
-      unsigned char c = UDR;
-      store_char(c, &rx_buffer);
-    } else {
-      unsigned char c = UDR;
-    };
-  #else
-    #error UDR not defined
-  #endif
-  }
-#endif
-#endif
-
-#if defined(USART1_RX_vect)
-  void serialEvent1() __attribute__((weak));
-  void serialEvent1() {}
-  #define serialEvent1_implemented
-  ISR(USART1_RX_vect)
-  {
-    if (bit_is_clear(UCSR1A, UPE1)) {
-      unsigned char c = UDR1;
-      store_char(c, &Serial1);
-    } else {
-      unsigned char c = UDR1;
-    };
-  }
-#endif
-
-#if defined(USART2_RX_vect) && defined(UDR2)
-  void serialEvent2() __attribute__((weak));
-  void serialEvent2() {}
-  #define serialEvent2_implemented
-  ISR(USART2_RX_vect)
-  {
-    if (bit_is_clear(UCSR2A, UPE2)) {
-      unsigned char c = UDR2;
-      store_char(c, &Serial2);
-    } else {
-      unsigned char c = UDR2;
-    };
-  }
-#endif
-
-#if defined(USART3_RX_vect) && defined(UDR3)
-  void serialEvent3() __attribute__((weak));
-  void serialEvent3() {}
-  #define serialEvent3_implemented
-  ISR(USART3_RX_vect)
-  {
-    if (bit_is_clear(UCSR3A, UPE3)) {
-      unsigned char c = UDR3;
-      store_char(c, &Serial3);
-    } else {
-      unsigned char c = UDR3;
-    };
-  }
-#endif
-
-void serialEventRun(void)
-{
-#ifdef serialEvent_implemented
-  if (Serial.available()) serialEvent();
-#endif
-#ifdef serialEvent1_implemented
-  if (Serial1.available()) serialEvent1();
-#endif
-#ifdef serialEvent2_implemented
-  if (Serial2.available()) serialEvent2();
-#endif
-#ifdef serialEvent3_implemented
-  if (Serial3.available()) serialEvent3();
-#endif
-}
-
-
-#if !defined(USART0_UDRE_vect) && defined(USART1_UDRE_vect)
-// do nothing - on the 32u4 the first USART is USART1
-#else
-#if !defined(UART0_UDRE_vect) && !defined(UART_UDRE_vect) && !defined(USART0_UDRE_vect) && !defined(USART_UDRE_vect)
-  #error "Don't know what the Data Register Empty vector is called for the first UART"
-#else
-#if defined(UART0_UDRE_vect)
-ISR(UART0_UDRE_vect)
-#elif defined(UART_UDRE_vect)
-ISR(UART_UDRE_vect)
-#elif defined(USART0_UDRE_vect)
-ISR(USART0_UDRE_vect)
-#elif defined(USART_UDRE_vect)
-ISR(USART_UDRE_vect)
-#endif
-{
-  if (Serial._tx_buffer_head == Serial._tx_buffer_tail) {
-	// Buffer empty, so disable interrupts
-#if defined(UCSR0B)
-    cbi(UCSR0B, UDRIE0);
-#else
-    cbi(UCSRB, UDRIE);
-#endif
-  }
-  else {
-    // There is more data in the output buffer. Send the next byte
-    unsigned char c = Serial._tx_buffer[Serial._tx_buffer_tail];
-    Serial._tx_buffer_tail = (Serial._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
-	
-  #if defined(UDR0)
-    UDR0 = c;
-  #elif defined(UDR)
-    UDR = c;
-  #else
-    #error UDR not defined
-  #endif
-  }
-}
-#endif
-#endif
-
-#ifdef USART1_UDRE_vect
-ISR(USART1_UDRE_vect)
-{
-  if (Serial1._tx_buffer_head == Serial1._tx_buffer_tail) {
-	// Buffer empty, so disable interrupts
-    cbi(UCSR1B, UDRIE1);
-  }
-  else {
-    // There is more data in the output buffer. Send the next byte
-    unsigned char c = Serial1._tx_buffer[Serial1._tx_buffer_tail];
-    Serial1._tx_buffer_tail = (Serial1._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
-	
-    UDR1 = c;
-  }
-}
-#endif
-
-#ifdef USART2_UDRE_vect
-ISR(USART2_UDRE_vect)
-{
-  if (Serial2._tx_buffer_head == Serial2._tx_buffer_tail) {
-	// Buffer empty, so disable interrupts
-    cbi(UCSR2B, UDRIE2);
-  }
-  else {
-    // There is more data in the output buffer. Send the next byte
-    unsigned char c = Serial2._tx_buffer[Serial2._tx_buffer_tail];
-    Serial2._tx_buffer_tail = (Serial2._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
-	
-    UDR2 = c;
-  }
-}
-#endif
-
-#ifdef USART3_UDRE_vect
-ISR(USART3_UDRE_vect)
-{
-  if (Serial3._tx_buffer_head == Serial3._tx_buffer_tail) {
-	// Buffer empty, so disable interrupts
-    cbi(UCSR3B, UDRIE3);
-  }
-  else {
-    // There is more data in the output buffer. Send the next byte
-    unsigned char c = Serial3._tx_buffer[Serial3._tx_buffer_tail];
-    Serial3._tx_buffer_tail = (Serial3._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
-	
-    UDR3 = c;
-  }
-}
-#endif
-
-// Constructors ////////////////////////////////////////////////////////////////
-
-HardwareSerial::HardwareSerial(
-  volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
-  volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
-  volatile uint8_t *ucsrc, volatile uint8_t *udr,
-  uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x)
-{
-  _tx_buffer_head = _tx_buffer_tail = 0;
-  _rx_buffer_head = _rx_buffer_tail = 0;
-  _ubrrh = ubrrh;
-  _ubrrl = ubrrl;
-  _ucsra = ucsra;
-  _ucsrb = ucsrb;
-  _ucsrc = ucsrc;
-  _udr = udr;
-  _rxen = rxen;
-  _txen = txen;
-  _rxcie = rxcie;
-  _udrie = udrie;
-  _u2x = u2x;
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-
-void HardwareSerial::begin(unsigned long baud)
-{
-  uint16_t baud_setting;
-  bool use_u2x = true;
-
-#if F_CPU == 16000000UL
-  // hardcoded exception for compatibility with the bootloader shipped
-  // with the Duemilanove and previous boards and the firmware on the 8U2
-  // on the Uno and Mega 2560.
-  if (baud == 57600) {
-    use_u2x = false;
-  }
-#endif
-
-try_again:
-  
-  if (use_u2x) {
-    *_ucsra = 1 << _u2x;
-    baud_setting = (F_CPU / 4 / baud - 1) / 2;
-  } else {
-    *_ucsra = 0;
-    baud_setting = (F_CPU / 8 / baud - 1) / 2;
-  }
-  
-  if ((baud_setting > 4095) && use_u2x)
-  {
-    use_u2x = false;
-    goto try_again;
-  }
-
-  // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
-  *_ubrrh = baud_setting >> 8;
-  *_ubrrl = baud_setting;
-
-  transmitting = false;
-
-  sbi(*_ucsrb, _rxen);
-  sbi(*_ucsrb, _txen);
-  sbi(*_ucsrb, _rxcie);
-  cbi(*_ucsrb, _udrie);
-}
-
-void HardwareSerial::begin(unsigned long baud, byte config)
-{
-  uint16_t baud_setting;
-  uint8_t current_config;
-  bool use_u2x = true;
-
-#if F_CPU == 16000000UL
-  // hardcoded exception for compatibility with the bootloader shipped
-  // with the Duemilanove and previous boards and the firmware on the 8U2
-  // on the Uno and Mega 2560.
-  if (baud == 57600) {
-    use_u2x = false;
-  }
-#endif
-
-try_again:
-  
-  if (use_u2x) {
-    *_ucsra = 1 << _u2x;
-    baud_setting = (F_CPU / 4 / baud - 1) / 2;
-  } else {
-    *_ucsra = 0;
-    baud_setting = (F_CPU / 8 / baud - 1) / 2;
-  }
-  
-  if ((baud_setting > 4095) && use_u2x)
-  {
-    use_u2x = false;
-    goto try_again;
-  }
-
-  // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
-  *_ubrrh = baud_setting >> 8;
-  *_ubrrl = baud_setting;
-
-  //set the data bits, parity, and stop bits
-#if defined(__AVR_ATmega8__)
-  config |= 0x80; // select UCSRC register (shared with UBRRH)
-#endif
-  *_ucsrc = config;
-  
-  sbi(*_ucsrb, _rxen);
-  sbi(*_ucsrb, _txen);
-  sbi(*_ucsrb, _rxcie);
-  cbi(*_ucsrb, _udrie);
-}
-
-void HardwareSerial::end()
-{
-  // wait for transmission of outgoing data
-  while (_tx_buffer_head != _tx_buffer_tail)
-    ;
-
-  cbi(*_ucsrb, _rxen);
-  cbi(*_ucsrb, _txen);
-  cbi(*_ucsrb, _rxcie);  
-  cbi(*_ucsrb, _udrie);
-  
-  // clear any received data
-  _rx_buffer_head = _rx_buffer_tail;
-}
-
-int HardwareSerial::available(void)
-{
-  return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer_head - _rx_buffer_tail) % SERIAL_BUFFER_SIZE;
-}
-
-int HardwareSerial::peek(void)
-{
-  if (_rx_buffer_head == _rx_buffer_tail) {
-    return -1;
-  } else {
-    return _rx_buffer[_rx_buffer_tail];
-  }
-}
-
-int HardwareSerial::read(void)
-{
-  // if the head isn't ahead of the tail, we don't have any characters
-  if (_rx_buffer_head == _rx_buffer_tail) {
-    return -1;
-  } else {
-    unsigned char c = _rx_buffer[_rx_buffer_tail];
-    _rx_buffer_tail = (unsigned int)(_rx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
-    return c;
-  }
-}
-
-void HardwareSerial::flush()
-{
-  // UDR is kept full while the buffer is not empty, so TXC triggers when EMPTY && SENT
-  while (transmitting && ! (*_ucsra & _BV(TXC0)));
-  transmitting = false;
-}
-
-size_t HardwareSerial::write(uint8_t c)
-{
-  int i = (_tx_buffer_head + 1) % SERIAL_BUFFER_SIZE;
-	
-  // If the output buffer is full, there's nothing for it other than to 
-  // wait for the interrupt handler to empty it a bit
-  // ???: return 0 here instead?
-  while (i == _tx_buffer_tail)
-    ;
-	
-  _tx_buffer[_tx_buffer_head] = c;
-  _tx_buffer_head = i;
-	
-  sbi(*_ucsrb, _udrie);
-  // clear the TXC bit -- "can be cleared by writing a one to its bit location"
-  transmitting = true;
-  sbi(*_ucsra, TXC0);
-  
-  return 1;
-}
-
-HardwareSerial::operator bool() {
-	return true;
-}
-
-// Preinstantiate Objects //////////////////////////////////////////////////////
-
-#if defined(UBRRH) && defined(UBRRL)
-  HardwareSerial Serial(&UBRRH, &UBRRL, &UCSRA, &UCSRB, &UCSRC, &UDR, RXEN, TXEN, RXCIE, UDRIE, U2X);
-#elif defined(UBRR0H) && defined(UBRR0L)
-  HardwareSerial Serial(&UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UCSR0C, &UDR0, RXEN0, TXEN0, RXCIE0, UDRIE0, U2X0);
-#elif defined(USBCON)
-  // do nothing - Serial object and buffers are initialized in CDC code
-#else
-  #error no serial port defined  (port 0)
-#endif
-
-#if defined(UBRR1H)
-  HardwareSerial Serial1(&UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UCSR1C, &UDR1, RXEN1, TXEN1, RXCIE1, UDRIE1, U2X1);
-#endif
-#if defined(UBRR2H)
-  HardwareSerial Serial2(&UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UCSR2C, &UDR2, RXEN2, TXEN2, RXCIE2, UDRIE2, U2X2);
-#endif
-#if defined(UBRR3H)
-  HardwareSerial Serial3(&UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UCSR3C, &UDR3, RXEN3, TXEN3, RXCIE3, UDRIE3, U2X3);
-#endif
-
-#endif // whole file
-
diff --git a/cores/robot/HardwareSerial.h b/cores/robot/HardwareSerial.h
deleted file mode 100644
index 0f62262..0000000
--- a/cores/robot/HardwareSerial.h
+++ /dev/null
@@ -1,133 +0,0 @@
-/*
-  HardwareSerial.h - Hardware serial library for Wiring
-  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-
-  Modified 28 September 2010 by Mark Sproul
-  Modified 14 August 2012 by Alarus
-*/
-
-#ifndef HardwareSerial_h
-#define HardwareSerial_h
-
-#include <inttypes.h>
-
-#include "Stream.h"
-
-// Define constants and variables for buffering incoming serial data.  We're
-// using a ring buffer (I think), in which head is the index of the location
-// to which to write the next incoming character and tail is the index of the
-// location from which to read.
-#if (RAMEND < 1000)
-  #define SERIAL_BUFFER_SIZE 16
-#else
-  #define SERIAL_BUFFER_SIZE 64
-#endif
-
-class HardwareSerial : public Stream
-{
-  protected:
-    volatile uint8_t *_ubrrh;
-    volatile uint8_t *_ubrrl;
-    volatile uint8_t *_ucsra;
-    volatile uint8_t *_ucsrb;
-    volatile uint8_t *_ucsrc;
-    volatile uint8_t *_udr;
-    uint8_t _rxen;
-    uint8_t _txen;
-    uint8_t _rxcie;
-    uint8_t _udrie;
-    uint8_t _u2x;
-    bool transmitting;
-
-  public:
-    volatile uint8_t _rx_buffer_head;
-    volatile uint8_t _rx_buffer_tail;
-    volatile uint8_t _tx_buffer_head;
-    volatile uint8_t _tx_buffer_tail;
-
-    // Don't put any members after these buffers, since only the first
-    // 32 bytes of this struct can be accessed quickly using the ldd
-    // instruction.
-    unsigned char _rx_buffer[SERIAL_BUFFER_SIZE];
-    unsigned char _tx_buffer[SERIAL_BUFFER_SIZE];
-
-    HardwareSerial(
-      volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
-      volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
-      volatile uint8_t *ucsrc, volatile uint8_t *udr,
-      uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x);
-    void begin(unsigned long);
-    void begin(unsigned long, uint8_t);
-    void end();
-    virtual int available(void);
-    virtual int peek(void);
-    virtual int read(void);
-    virtual void flush(void);
-    virtual size_t write(uint8_t);
-    inline size_t write(unsigned long n) { return write((uint8_t)n); }
-    inline size_t write(long n) { return write((uint8_t)n); }
-    inline size_t write(unsigned int n) { return write((uint8_t)n); }
-    inline size_t write(int n) { return write((uint8_t)n); }
-    using Print::write; // pull in write(str) and write(buf, size) from Print
-    operator bool();
-};
-
-// Define config for Serial.begin(baud, config);
-#define SERIAL_5N1 0x00
-#define SERIAL_6N1 0x02
-#define SERIAL_7N1 0x04
-#define SERIAL_8N1 0x06
-#define SERIAL_5N2 0x08
-#define SERIAL_6N2 0x0A
-#define SERIAL_7N2 0x0C
-#define SERIAL_8N2 0x0E
-#define SERIAL_5E1 0x20
-#define SERIAL_6E1 0x22
-#define SERIAL_7E1 0x24
-#define SERIAL_8E1 0x26
-#define SERIAL_5E2 0x28
-#define SERIAL_6E2 0x2A
-#define SERIAL_7E2 0x2C
-#define SERIAL_8E2 0x2E
-#define SERIAL_5O1 0x30
-#define SERIAL_6O1 0x32
-#define SERIAL_7O1 0x34
-#define SERIAL_8O1 0x36
-#define SERIAL_5O2 0x38
-#define SERIAL_6O2 0x3A
-#define SERIAL_7O2 0x3C
-#define SERIAL_8O2 0x3E
-
-#if defined(UBRRH) || defined(UBRR0H)
-  extern HardwareSerial Serial;
-#elif defined(USBCON)
-  #include "USBAPI.h"
-//  extern HardwareSerial Serial_;  
-#endif
-#if defined(UBRR1H)
-  extern HardwareSerial Serial1;
-#endif
-#if defined(UBRR2H)
-  extern HardwareSerial Serial2;
-#endif
-#if defined(UBRR3H)
-  extern HardwareSerial Serial3;
-#endif
-
-extern void serialEventRun(void) __attribute__((weak));
-
-#endif
diff --git a/cores/robot/IPAddress.cpp b/cores/robot/IPAddress.cpp
deleted file mode 100644
index fe3deb7..0000000
--- a/cores/robot/IPAddress.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-
-#include <Arduino.h>
-#include <IPAddress.h>
-
-IPAddress::IPAddress()
-{
-    memset(_address, 0, sizeof(_address));
-}
-
-IPAddress::IPAddress(uint8_t first_octet, uint8_t second_octet, uint8_t third_octet, uint8_t fourth_octet)
-{
-    _address[0] = first_octet;
-    _address[1] = second_octet;
-    _address[2] = third_octet;
-    _address[3] = fourth_octet;
-}
-
-IPAddress::IPAddress(uint32_t address)
-{
-    memcpy(_address, &address, sizeof(_address));
-}
-
-IPAddress::IPAddress(const uint8_t *address)
-{
-    memcpy(_address, address, sizeof(_address));
-}
-
-IPAddress& IPAddress::operator=(const uint8_t *address)
-{
-    memcpy(_address, address, sizeof(_address));
-    return *this;
-}
-
-IPAddress& IPAddress::operator=(uint32_t address)
-{
-    memcpy(_address, (const uint8_t *)&address, sizeof(_address));
-    return *this;
-}
-
-bool IPAddress::operator==(const uint8_t* addr)
-{
-    return memcmp(addr, _address, sizeof(_address)) == 0;
-}
-
-size_t IPAddress::printTo(Print& p) const
-{
-    size_t n = 0;
-    for (int i =0; i < 3; i++)
-    {
-        n += p.print(_address[i], DEC);
-        n += p.print('.');
-    }
-    n += p.print(_address[3], DEC);
-    return n;
-}
-
diff --git a/cores/robot/IPAddress.h b/cores/robot/IPAddress.h
deleted file mode 100644
index 2585aec..0000000
--- a/cores/robot/IPAddress.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- *
- * MIT License:
- * Copyright (c) 2011 Adrian McEwen
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- * 
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- * adrianm@mcqn.com 1/1/2011
- */
-
-#ifndef IPAddress_h
-#define IPAddress_h
-
-#include <Printable.h>
-
-// A class to make it easier to handle and pass around IP addresses
-
-class IPAddress : public Printable {
-private:
-    uint8_t _address[4];  // IPv4 address
-    // Access the raw byte array containing the address.  Because this returns a pointer
-    // to the internal structure rather than a copy of the address this function should only
-    // be used when you know that the usage of the returned uint8_t* will be transient and not
-    // stored.
-    uint8_t* raw_address() { return _address; };
-
-public:
-    // Constructors
-    IPAddress();
-    IPAddress(uint8_t first_octet, uint8_t second_octet, uint8_t third_octet, uint8_t fourth_octet);
-    IPAddress(uint32_t address);
-    IPAddress(const uint8_t *address);
-
-    // Overloaded cast operator to allow IPAddress objects to be used where a pointer
-    // to a four-byte uint8_t array is expected
-    operator uint32_t() { return *((uint32_t*)_address); };
-    bool operator==(const IPAddress& addr) { return (*((uint32_t*)_address)) == (*((uint32_t*)addr._address)); };
-    bool operator==(const uint8_t* addr);
-
-    // Overloaded index operator to allow getting and setting individual octets of the address
-    uint8_t operator[](int index) const { return _address[index]; };
-    uint8_t& operator[](int index) { return _address[index]; };
-
-    // Overloaded copy operators to allow initialisation of IPAddress objects from other types
-    IPAddress& operator=(const uint8_t *address);
-    IPAddress& operator=(uint32_t address);
-
-    virtual size_t printTo(Print& p) const;
-
-    friend class EthernetClass;
-    friend class UDP;
-    friend class Client;
-    friend class Server;
-    friend class DhcpClass;
-    friend class DNSClient;
-};
-
-const IPAddress INADDR_NONE(0,0,0,0);
-
-
-#endif
diff --git a/cores/robot/Platform.h b/cores/robot/Platform.h
deleted file mode 100644
index 8b8f742..0000000
--- a/cores/robot/Platform.h
+++ /dev/null
@@ -1,23 +0,0 @@
-
-#ifndef __PLATFORM_H__
-#define __PLATFORM_H__
-
-#include <inttypes.h>
-#include <avr/pgmspace.h>
-#include <avr/eeprom.h>
-#include <avr/interrupt.h>
-#include <util/delay.h>
-
-typedef unsigned char u8;
-typedef unsigned short u16;
-typedef unsigned long u32;
-
-#include "Arduino.h"
-
-#if defined(USBCON)
-	#include "USBDesc.h"
-	#include "USBCore.h"
-	#include "USBAPI.h"
-#endif /* if defined(USBCON) */
-
-#endif
diff --git a/cores/robot/Print.cpp b/cores/robot/Print.cpp
deleted file mode 100755
index 53961ec..0000000
--- a/cores/robot/Print.cpp
+++ /dev/null
@@ -1,268 +0,0 @@
-/*
- Print.cpp - Base class that provides print() and println()
- Copyright (c) 2008 David A. Mellis.  All right reserved.
- 
- This library is free software; you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public
- License as published by the Free Software Foundation; either
- version 2.1 of the License, or (at your option) any later version.
- 
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- Lesser General Public License for more details.
- 
- You should have received a copy of the GNU Lesser General Public
- License along with this library; if not, write to the Free Software
- Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
- 
- Modified 23 November 2006 by David A. Mellis
- */
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <math.h>
-#include "Arduino.h"
-
-#include "Print.h"
-
-// Public Methods //////////////////////////////////////////////////////////////
-
-/* default implementation: may be overridden */
-size_t Print::write(const uint8_t *buffer, size_t size)
-{
-  size_t n = 0;
-  while (size--) {
-    n += write(*buffer++);
-  }
-  return n;
-}
-
-size_t Print::print(const __FlashStringHelper *ifsh)
-{
-  const char PROGMEM *p = (const char PROGMEM *)ifsh;
-  size_t n = 0;
-  while (1) {
-    unsigned char c = pgm_read_byte(p++);
-    if (c == 0) break;
-    n += write(c);
-  }
-  return n;
-}
-
-size_t Print::print(const String &s)
-{
-  size_t n = 0;
-  for (uint16_t i = 0; i < s.length(); i++) {
-    n += write(s[i]);
-  }
-  return n;
-}
-
-size_t Print::print(const char str[])
-{
-  return write(str);
-}
-
-size_t Print::print(char c)
-{
-  return write(c);
-}
-
-size_t Print::print(unsigned char b, int base)
-{
-  return print((unsigned long) b, base);
-}
-
-size_t Print::print(int n, int base)
-{
-  return print((long) n, base);
-}
-
-size_t Print::print(unsigned int n, int base)
-{
-  return print((unsigned long) n, base);
-}
-
-size_t Print::print(long n, int base)
-{
-  if (base == 0) {
-    return write(n);
-  } else if (base == 10) {
-    if (n < 0) {
-      int t = print('-');
-      n = -n;
-      return printNumber(n, 10) + t;
-    }
-    return printNumber(n, 10);
-  } else {
-    return printNumber(n, base);
-  }
-}
-
-size_t Print::print(unsigned long n, int base)
-{
-  if (base == 0) return write(n);
-  else return printNumber(n, base);
-}
-
-size_t Print::print(double n, int digits)
-{
-  return printFloat(n, digits);
-}
-
-size_t Print::println(const __FlashStringHelper *ifsh)
-{
-  size_t n = print(ifsh);
-  n += println();
-  return n;
-}
-
-size_t Print::print(const Printable& x)
-{
-  return x.printTo(*this);
-}
-
-size_t Print::println(void)
-{
-  size_t n = print('\r');
-  n += print('\n');
-  return n;
-}
-
-size_t Print::println(const String &s)
-{
-  size_t n = print(s);
-  n += println();
-  return n;
-}
-
-size_t Print::println(const char c[])
-{
-  size_t n = print(c);
-  n += println();
-  return n;
-}
-
-size_t Print::println(char c)
-{
-  size_t n = print(c);
-  n += println();
-  return n;
-}
-
-size_t Print::println(unsigned char b, int base)
-{
-  size_t n = print(b, base);
-  n += println();
-  return n;
-}
-
-size_t Print::println(int num, int base)
-{
-  size_t n = print(num, base);
-  n += println();
-  return n;
-}
-
-size_t Print::println(unsigned int num, int base)
-{
-  size_t n = print(num, base);
-  n += println();
-  return n;
-}
-
-size_t Print::println(long num, int base)
-{
-  size_t n = print(num, base);
-  n += println();
-  return n;
-}
-
-size_t Print::println(unsigned long num, int base)
-{
-  size_t n = print(num, base);
-  n += println();
-  return n;
-}
-
-size_t Print::println(double num, int digits)
-{
-  size_t n = print(num, digits);
-  n += println();
-  return n;
-}
-
-size_t Print::println(const Printable& x)
-{
-  size_t n = print(x);
-  n += println();
-  return n;
-}
-
-// Private Methods /////////////////////////////////////////////////////////////
-
-size_t Print::printNumber(unsigned long n, uint8_t base) {
-  char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte.
-  char *str = &buf[sizeof(buf) - 1];
-
-  *str = '\0';
-
-  // prevent crash if called with base == 1
-  if (base < 2) base = 10;
-
-  do {
-    unsigned long m = n;
-    n /= base;
-    char c = m - base * n;
-    *--str = c < 10 ? c + '0' : c + 'A' - 10;
-  } while(n);
-
-  return write(str);
-}
-
-size_t Print::printFloat(double number, uint8_t digits) 
-{ 
-  size_t n = 0;
-  
-  if (isnan(number)) return print("nan");
-  if (isinf(number)) return print("inf");
-  if (number > 4294967040.0) return print ("ovf");  // constant determined empirically
-  if (number <-4294967040.0) return print ("ovf");  // constant determined empirically
-  
-  // Handle negative numbers
-  if (number < 0.0)
-  {
-     n += print('-');
-     number = -number;
-  }
-
-  // Round correctly so that print(1.999, 2) prints as "2.00"
-  double rounding = 0.5;
-  for (uint8_t i=0; i<digits; ++i)
-    rounding /= 10.0;
-  
-  number += rounding;
-
-  // Extract the integer part of the number and print it
-  unsigned long int_part = (unsigned long)number;
-  double remainder = number - (double)int_part;
-  n += print(int_part);
-
-  // Print the decimal point, but only if there are digits beyond
-  if (digits > 0) {
-    n += print("."); 
-  }
-
-  // Extract digits from the remainder one at a time
-  while (digits-- > 0)
-  {
-    remainder *= 10.0;
-    int toPrint = int(remainder);
-    n += print(toPrint);
-    remainder -= toPrint; 
-  } 
-  
-  return n;
-}
diff --git a/cores/robot/Print.h b/cores/robot/Print.h
deleted file mode 100755
index dc76150..0000000
--- a/cores/robot/Print.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
-  Print.h - Base class that provides print() and println()
-  Copyright (c) 2008 David A. Mellis.  All right reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-*/
-
-#ifndef Print_h
-#define Print_h
-
-#include <inttypes.h>
-#include <stdio.h> // for size_t
-
-#include "WString.h"
-#include "Printable.h"
-
-#define DEC 10
-#define HEX 16
-#define OCT 8
-#define BIN 2
-
-class Print
-{
-  private:
-    int write_error;
-    size_t printNumber(unsigned long, uint8_t);
-    size_t printFloat(double, uint8_t);
-  protected:
-    void setWriteError(int err = 1) { write_error = err; }
-  public:
-    Print() : write_error(0) {}
-  
-    int getWriteError() { return write_error; }
-    void clearWriteError() { setWriteError(0); }
-  
-    virtual size_t write(uint8_t) = 0;
-    size_t write(const char *str) {
-      if (str == NULL) return 0;
-      return write((const uint8_t *)str, strlen(str));
-    }
-    virtual size_t write(const uint8_t *buffer, size_t size);
-    
-    size_t print(const __FlashStringHelper *);
-    size_t print(const String &);
-    size_t print(const char[]);
-    size_t print(char);
-    size_t print(unsigned char, int = DEC);
-    size_t print(int, int = DEC);
-    size_t print(unsigned int, int = DEC);
-    size_t print(long, int = DEC);
-    size_t print(unsigned long, int = DEC);
-    size_t print(double, int = 2);
-    size_t print(const Printable&);
-
-    size_t println(const __FlashStringHelper *);
-    size_t println(const String &s);
-    size_t println(const char[]);
-    size_t println(char);
-    size_t println(unsigned char, int = DEC);
-    size_t println(int, int = DEC);
-    size_t println(unsigned int, int = DEC);
-    size_t println(long, int = DEC);
-    size_t println(unsigned long, int = DEC);
-    size_t println(double, int = 2);
-    size_t println(const Printable&);
-    size_t println(void);
-};
-
-#endif
diff --git a/cores/robot/Printable.h b/cores/robot/Printable.h
deleted file mode 100644
index d03c9af..0000000
--- a/cores/robot/Printable.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-  Printable.h - Interface class that allows printing of complex types
-  Copyright (c) 2011 Adrian McEwen.  All right reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-*/
-
-#ifndef Printable_h
-#define Printable_h
-
-#include <new.h>
-
-class Print;
-
-/** The Printable class provides a way for new classes to allow themselves to be printed.
-    By deriving from Printable and implementing the printTo method, it will then be possible
-    for users to print out instances of this class by passing them into the usual
-    Print::print and Print::println methods.
-*/
-
-class Printable
-{
-  public:
-    virtual size_t printTo(Print& p) const = 0;
-};
-
-#endif
-
diff --git a/cores/robot/Server.h b/cores/robot/Server.h
deleted file mode 100644
index 9674c76..0000000
--- a/cores/robot/Server.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#ifndef server_h
-#define server_h
-
-class Server : public Print {
-public:
-  virtual void begin() =0;
-};
-
-#endif
diff --git a/cores/robot/Stream.cpp b/cores/robot/Stream.cpp
deleted file mode 100644
index aafb7fc..0000000
--- a/cores/robot/Stream.cpp
+++ /dev/null
@@ -1,270 +0,0 @@
-/*
- Stream.cpp - adds parsing methods to Stream class
- Copyright (c) 2008 David A. Mellis.  All right reserved.
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public
- License as published by the Free Software Foundation; either
- version 2.1 of the License, or (at your option) any later version.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General Public
- License along with this library; if not, write to the Free Software
- Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-
- Created July 2011
- parsing functions based on TextFinder library by Michael Margolis
- */
-
-#include "Arduino.h"
-#include "Stream.h"
-
-#define PARSE_TIMEOUT 1000  // default number of milli-seconds to wait
-#define NO_SKIP_CHAR  1  // a magic char not found in a valid ASCII numeric field
-
-// private method to read stream with timeout
-int Stream::timedRead()
-{
-  int c;
-  _startMillis = millis();
-  do {
-    c = read();
-    if (c >= 0) return c;
-  } while(millis() - _startMillis < _timeout);
-  return -1;     // -1 indicates timeout
-}
-
-// private method to peek stream with timeout
-int Stream::timedPeek()
-{
-  int c;
-  _startMillis = millis();
-  do {
-    c = peek();
-    if (c >= 0) return c;
-  } while(millis() - _startMillis < _timeout);
-  return -1;     // -1 indicates timeout
-}
-
-// returns peek of the next digit in the stream or -1 if timeout
-// discards non-numeric characters
-int Stream::peekNextDigit()
-{
-  int c;
-  while (1) {
-    c = timedPeek();
-    if (c < 0) return c;  // timeout
-    if (c == '-') return c;
-    if (c >= '0' && c <= '9') return c;
-    read();  // discard non-numeric
-  }
-}
-
-// Public Methods
-//////////////////////////////////////////////////////////////
-
-void Stream::setTimeout(unsigned long timeout)  // sets the maximum number of milliseconds to wait
-{
-  _timeout = timeout;
-}
-
- // find returns true if the target string is found
-bool  Stream::find(char *target)
-{
-  return findUntil(target, NULL);
-}
-
-// reads data from the stream until the target string of given length is found
-// returns true if target string is found, false if timed out
-bool Stream::find(char *target, size_t length)
-{
-  return findUntil(target, length, NULL, 0);
-}
-
-// as find but search ends if the terminator string is found
-bool  Stream::findUntil(char *target, char *terminator)
-{
-  return findUntil(target, strlen(target), terminator, strlen(terminator));
-}
-
-// reads data from the stream until the target string of the given length is found
-// search terminated if the terminator string is found
-// returns true if target string is found, false if terminated or timed out
-bool Stream::findUntil(char *target, size_t targetLen, char *terminator, size_t termLen)
-{
-  size_t index = 0;  // maximum target string length is 64k bytes!
-  size_t termIndex = 0;
-  int c;
-  
-  if( *target == 0)
-    return true;   // return true if target is a null string
-  while( (c = timedRead()) > 0){
-    
-    if(c != target[index])
-      index = 0; // reset index if any char does not match
-    
-    if( c == target[index]){
-      //////Serial.print("found "); Serial.write(c); Serial.print("index now"); Serial.println(index+1);
-      if(++index >= targetLen){ // return true if all chars in the target match
-        return true;
-      }
-    }
-    
-    if(termLen > 0 && c == terminator[termIndex]){
-      if(++termIndex >= termLen)
-        return false;       // return false if terminate string found before target string
-    }
-    else
-      termIndex = 0;
-  }
-  return false;
-}
-
-
-// returns the first valid (long) integer value from the current position.
-// initial characters that are not digits (or the minus sign) are skipped
-// function is terminated by the first character that is not a digit.
-long Stream::parseInt()
-{
-  return parseInt(NO_SKIP_CHAR); // terminate on first non-digit character (or timeout)
-}
-
-// as above but a given skipChar is ignored
-// this allows format characters (typically commas) in values to be ignored
-long Stream::parseInt(char skipChar)
-{
-  boolean isNegative = false;
-  long value = 0;
-  int c;
-
-  c = peekNextDigit();
-  // ignore non numeric leading characters
-  if(c < 0)
-    return 0; // zero returned if timeout
-
-  do{
-    if(c == skipChar)
-      ; // ignore this charactor
-    else if(c == '-')
-      isNegative = true;
-    else if(c >= '0' && c <= '9')        // is c a digit?
-      value = value * 10 + c - '0';
-    read();  // consume the character we got with peek
-    c = timedPeek();
-  }
-  while( (c >= '0' && c <= '9') || c == skipChar );
-
-  if(isNegative)
-    value = -value;
-  return value;
-}
-
-
-// as parseInt but returns a floating point value
-float Stream::parseFloat()
-{
-  return parseFloat(NO_SKIP_CHAR);
-}
-
-// as above but the given skipChar is ignored
-// this allows format characters (typically commas) in values to be ignored
-float Stream::parseFloat(char skipChar){
-  boolean isNegative = false;
-  boolean isFraction = false;
-  long value = 0;
-  char c;
-  float fraction = 1.0;
-
-  c = peekNextDigit();
-    // ignore non numeric leading characters
-  if(c < 0)
-    return 0; // zero returned if timeout
-
-  do{
-    if(c == skipChar)
-      ; // ignore
-    else if(c == '-')
-      isNegative = true;
-    else if (c == '.')
-      isFraction = true;
-    else if(c >= '0' && c <= '9')  {      // is c a digit?
-      value = value * 10 + c - '0';
-      if(isFraction)
-         fraction *= 0.1;
-    }
-    read();  // consume the character we got with peek
-    c = timedPeek();
-  }
-  while( (c >= '0' && c <= '9')  || c == '.' || c == skipChar );
-
-  if(isNegative)
-    value = -value;
-  if(isFraction)
-    return value * fraction;
-  else
-    return value;
-}
-
-// read characters from stream into buffer
-// terminates if length characters have been read, or timeout (see setTimeout)
-// returns the number of characters placed in the buffer
-// the buffer is NOT null terminated.
-//
-size_t Stream::readBytes(char *buffer, size_t length)
-{
-  size_t count = 0;
-  while (count < length) {
-    int c = timedRead();
-    if (c < 0) break;
-    *buffer++ = (char)c;
-    count++;
-  }
-  return count;
-}
-
-
-// as readBytes with terminator character
-// terminates if length characters have been read, timeout, or if the terminator character  detected
-// returns the number of characters placed in the buffer (0 means no valid data found)
-
-size_t Stream::readBytesUntil(char terminator, char *buffer, size_t length)
-{
-  if (length < 1) return 0;
-  size_t index = 0;
-  while (index < length) {
-    int c = timedRead();
-    if (c < 0 || c == terminator) break;
-    *buffer++ = (char)c;
-    index++;
-  }
-  return index; // return number of characters, not including null terminator
-}
-
-String Stream::readString()
-{
-  String ret;
-  int c = timedRead();
-  while (c >= 0)
-  {
-    ret += (char)c;
-    c = timedRead();
-  }
-  return ret;
-}
-
-String Stream::readStringUntil(char terminator)
-{
-  String ret;
-  int c = timedRead();
-  while (c >= 0 && c != terminator)
-  {
-    ret += (char)c;
-    c = timedRead();
-  }
-  return ret;
-}
-
diff --git a/cores/robot/Stream.h b/cores/robot/Stream.h
deleted file mode 100644
index 007b4bc..0000000
--- a/cores/robot/Stream.h
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
-  Stream.h - base class for character-based streams.
-  Copyright (c) 2010 David A. Mellis.  All right reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-
-  parsing functions based on TextFinder library by Michael Margolis
-*/
-
-#ifndef Stream_h
-#define Stream_h
-
-#include <inttypes.h>
-#include "Print.h"
-
-// compatability macros for testing
-/*
-#define   getInt()            parseInt()
-#define   getInt(skipChar)    parseInt(skipchar)
-#define   getFloat()          parseFloat()
-#define   getFloat(skipChar)  parseFloat(skipChar)
-#define   getString( pre_string, post_string, buffer, length)
-readBytesBetween( pre_string, terminator, buffer, length)
-*/
-
-class Stream : public Print
-{
-  protected:
-    unsigned long _timeout;      // number of milliseconds to wait for the next char before aborting timed read
-    unsigned long _startMillis;  // used for timeout measurement
-    int timedRead();    // private method to read stream with timeout
-    int timedPeek();    // private method to peek stream with timeout
-    int peekNextDigit(); // returns the next numeric digit in the stream or -1 if timeout
-
-  public:
-    virtual int available() = 0;
-    virtual int read() = 0;
-    virtual int peek() = 0;
-    virtual void flush() = 0;
-
-    Stream() {_timeout=1000;}
-
-// parsing methods
-
-  void setTimeout(unsigned long timeout);  // sets maximum milliseconds to wait for stream data, default is 1 second
-
-  bool find(char *target);   // reads data from the stream until the target string is found
-  // returns true if target string is found, false if timed out (see setTimeout)
-
-  bool find(char *target, size_t length);   // reads data from the stream until the target string of given length is found
-  // returns true if target string is found, false if timed out
-
-  bool findUntil(char *target, char *terminator);   // as find but search ends if the terminator string is found
-
-  bool findUntil(char *target, size_t targetLen, char *terminate, size_t termLen);   // as above but search ends if the terminate string is found
-
-
-  long parseInt(); // returns the first valid (long) integer value from the current position.
-  // initial characters that are not digits (or the minus sign) are skipped
-  // integer is terminated by the first character that is not a digit.
-
-  float parseFloat();               // float version of parseInt
-
-  size_t readBytes( char *buffer, size_t length); // read chars from stream into buffer
-  // terminates if length characters have been read or timeout (see setTimeout)
-  // returns the number of characters placed in the buffer (0 means no valid data found)
-
-  size_t readBytesUntil( char terminator, char *buffer, size_t length); // as readBytes with terminator character
-  // terminates if length characters have been read, timeout, or if the terminator character  detected
-  // returns the number of characters placed in the buffer (0 means no valid data found)
-
-  // Arduino String functions to be added here
-  String readString();
-  String readStringUntil(char terminator);
-
-  protected:
-  long parseInt(char skipChar); // as above but the given skipChar is ignored
-  // as above but the given skipChar is ignored
-  // this allows format characters (typically commas) in values to be ignored
-
-  float parseFloat(char skipChar);  // as above but the given skipChar is ignored
-};
-
-#endif
diff --git a/cores/robot/Tone.cpp b/cores/robot/Tone.cpp
deleted file mode 100755
index 9bb6fe7..0000000
--- a/cores/robot/Tone.cpp
+++ /dev/null
@@ -1,616 +0,0 @@
-/* Tone.cpp
-
-  A Tone Generator Library
-
-  Written by Brett Hagman
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-
-Version Modified By Date     Comments
-------- ----------- -------- --------
-0001    B Hagman    09/08/02 Initial coding
-0002    B Hagman    09/08/18 Multiple pins
-0003    B Hagman    09/08/18 Moved initialization from constructor to begin()
-0004    B Hagman    09/09/26 Fixed problems with ATmega8
-0005    B Hagman    09/11/23 Scanned prescalars for best fit on 8 bit timers
-                    09/11/25 Changed pin toggle method to XOR
-                    09/11/25 Fixed timer0 from being excluded
-0006    D Mellis    09/12/29 Replaced objects with functions
-0007    M Sproul    10/08/29 Changed #ifdefs from cpu to register
-0008    S Kanemoto  12/06/22 Fixed for Leonardo by @maris_HY
-*************************************************/
-
-#include <avr/interrupt.h>
-#include <avr/pgmspace.h>
-#include "Arduino.h"
-#include "pins_arduino.h"
-
-#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__)
-#define TCCR2A TCCR2
-#define TCCR2B TCCR2
-#define COM2A1 COM21
-#define COM2A0 COM20
-#define OCR2A OCR2
-#define TIMSK2 TIMSK
-#define OCIE2A OCIE2
-#define TIMER2_COMPA_vect TIMER2_COMP_vect
-#define TIMSK1 TIMSK
-#endif
-
-// timerx_toggle_count:
-//  > 0 - duration specified
-//  = 0 - stopped
-//  < 0 - infinitely (until stop() method called, or new play() called)
-
-#if !defined(__AVR_ATmega8__)
-volatile long timer0_toggle_count;
-volatile uint8_t *timer0_pin_port;
-volatile uint8_t timer0_pin_mask;
-#endif
-
-volatile long timer1_toggle_count;
-volatile uint8_t *timer1_pin_port;
-volatile uint8_t timer1_pin_mask;
-volatile long timer2_toggle_count;
-volatile uint8_t *timer2_pin_port;
-volatile uint8_t timer2_pin_mask;
-
-#if defined(TIMSK3)
-volatile long timer3_toggle_count;
-volatile uint8_t *timer3_pin_port;
-volatile uint8_t timer3_pin_mask;
-#endif
-
-#if defined(TIMSK4)
-volatile long timer4_toggle_count;
-volatile uint8_t *timer4_pin_port;
-volatile uint8_t timer4_pin_mask;
-#endif
-
-#if defined(TIMSK5)
-volatile long timer5_toggle_count;
-volatile uint8_t *timer5_pin_port;
-volatile uint8_t timer5_pin_mask;
-#endif
-
-
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-
-#define AVAILABLE_TONE_PINS 1
-#define USE_TIMER2
-
-const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 3, 4, 5, 1, 0 */ };
-static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255, 255, 255, 255 */ };
-
-#elif defined(__AVR_ATmega8__)
-
-#define AVAILABLE_TONE_PINS 1
-#define USE_TIMER2
-
-const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1 */ };
-static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255 */ };
-
-#elif defined(__AVR_ATmega32U4__)
- 
-#define AVAILABLE_TONE_PINS 1
-#define USE_TIMER3
- 
-const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 3 /*, 1 */ };
-static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255 */ };
- 
-#else
-
-#define AVAILABLE_TONE_PINS 1
-#define USE_TIMER2
-
-// Leave timer 0 to last.
-const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1, 0 */ };
-static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255 */ };
-
-#endif
-
-
-
-static int8_t toneBegin(uint8_t _pin)
-{
-  int8_t _timer = -1;
-
-  // if we're already using the pin, the timer should be configured.  
-  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
-    if (tone_pins[i] == _pin) {
-      return pgm_read_byte(tone_pin_to_timer_PGM + i);
-    }
-  }
-  
-  // search for an unused timer.
-  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
-    if (tone_pins[i] == 255) {
-      tone_pins[i] = _pin;
-      _timer = pgm_read_byte(tone_pin_to_timer_PGM + i);
-      break;
-    }
-  }
-  
-  if (_timer != -1)
-  {
-    // Set timer specific stuff
-    // All timers in CTC mode
-    // 8 bit timers will require changing prescalar values,
-    // whereas 16 bit timers are set to either ck/1 or ck/64 prescalar
-    switch (_timer)
-    {
-      #if defined(TCCR0A) && defined(TCCR0B)
-      case 0:
-        // 8 bit timer
-        TCCR0A = 0;
-        TCCR0B = 0;
-        bitWrite(TCCR0A, WGM01, 1);
-        bitWrite(TCCR0B, CS00, 1);
-        timer0_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer0_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-
-      #if defined(TCCR1A) && defined(TCCR1B) && defined(WGM12)
-      case 1:
-        // 16 bit timer
-        TCCR1A = 0;
-        TCCR1B = 0;
-        bitWrite(TCCR1B, WGM12, 1);
-        bitWrite(TCCR1B, CS10, 1);
-        timer1_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer1_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-
-      #if defined(TCCR2A) && defined(TCCR2B)
-      case 2:
-        // 8 bit timer
-        TCCR2A = 0;
-        TCCR2B = 0;
-        bitWrite(TCCR2A, WGM21, 1);
-        bitWrite(TCCR2B, CS20, 1);
-        timer2_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer2_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-
-      #if defined(TCCR3A) && defined(TCCR3B) &&  defined(TIMSK3)
-      case 3:
-        // 16 bit timer
-        TCCR3A = 0;
-        TCCR3B = 0;
-        bitWrite(TCCR3B, WGM32, 1);
-        bitWrite(TCCR3B, CS30, 1);
-        timer3_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer3_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-
-      #if defined(TCCR4A) && defined(TCCR4B) &&  defined(TIMSK4)
-      case 4:
-        // 16 bit timer
-        TCCR4A = 0;
-        TCCR4B = 0;
-        #if defined(WGM42)
-          bitWrite(TCCR4B, WGM42, 1);
-        #elif defined(CS43)
-          #warning this may not be correct
-          // atmega32u4
-          bitWrite(TCCR4B, CS43, 1);
-        #endif
-        bitWrite(TCCR4B, CS40, 1);
-        timer4_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer4_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-
-      #if defined(TCCR5A) && defined(TCCR5B) &&  defined(TIMSK5)
-      case 5:
-        // 16 bit timer
-        TCCR5A = 0;
-        TCCR5B = 0;
-        bitWrite(TCCR5B, WGM52, 1);
-        bitWrite(TCCR5B, CS50, 1);
-        timer5_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer5_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-    }
-  }
-
-  return _timer;
-}
-
-
-
-// frequency (in hertz) and duration (in milliseconds).
-
-void tone(uint8_t _pin, unsigned int frequency, unsigned long duration)
-{
-  uint8_t prescalarbits = 0b001;
-  long toggle_count = 0;
-  uint32_t ocr = 0;
-  int8_t _timer;
-
-  _timer = toneBegin(_pin);
-
-  if (_timer >= 0)
-  {
-    // Set the pinMode as OUTPUT
-    pinMode(_pin, OUTPUT);
-    
-    // if we are using an 8 bit timer, scan through prescalars to find the best fit
-    if (_timer == 0 || _timer == 2)
-    {
-      ocr = F_CPU / frequency / 2 - 1;
-      prescalarbits = 0b001;  // ck/1: same for both timers
-      if (ocr > 255)
-      {
-        ocr = F_CPU / frequency / 2 / 8 - 1;
-        prescalarbits = 0b010;  // ck/8: same for both timers
-
-        if (_timer == 2 && ocr > 255)
-        {
-          ocr = F_CPU / frequency / 2 / 32 - 1;
-          prescalarbits = 0b011;
-        }
-
-        if (ocr > 255)
-        {
-          ocr = F_CPU / frequency / 2 / 64 - 1;
-          prescalarbits = _timer == 0 ? 0b011 : 0b100;
-
-          if (_timer == 2 && ocr > 255)
-          {
-            ocr = F_CPU / frequency / 2 / 128 - 1;
-            prescalarbits = 0b101;
-          }
-
-          if (ocr > 255)
-          {
-            ocr = F_CPU / frequency / 2 / 256 - 1;
-            prescalarbits = _timer == 0 ? 0b100 : 0b110;
-            if (ocr > 255)
-            {
-              // can't do any better than /1024
-              ocr = F_CPU / frequency / 2 / 1024 - 1;
-              prescalarbits = _timer == 0 ? 0b101 : 0b111;
-            }
-          }
-        }
-      }
-
-#if defined(TCCR0B)
-      if (_timer == 0)
-      {
-        TCCR0B = prescalarbits;
-      }
-      else
-#endif
-#if defined(TCCR2B)
-      {
-        TCCR2B = prescalarbits;
-      }
-#else
-      {
-        // dummy place holder to make the above ifdefs work
-      }
-#endif
-    }
-    else
-    {
-      // two choices for the 16 bit timers: ck/1 or ck/64
-      ocr = F_CPU / frequency / 2 - 1;
-
-      prescalarbits = 0b001;
-      if (ocr > 0xffff)
-      {
-        ocr = F_CPU / frequency / 2 / 64 - 1;
-        prescalarbits = 0b011;
-      }
-
-      if (_timer == 1)
-      {
-#if defined(TCCR1B)
-        TCCR1B = (TCCR1B & 0b11111000) | prescalarbits;
-#endif
-      }
-#if defined(TCCR3B)
-      else if (_timer == 3)
-        TCCR3B = (TCCR3B & 0b11111000) | prescalarbits;
-#endif
-#if defined(TCCR4B)
-      else if (_timer == 4)
-        TCCR4B = (TCCR4B & 0b11111000) | prescalarbits;
-#endif
-#if defined(TCCR5B)
-      else if (_timer == 5)
-        TCCR5B = (TCCR5B & 0b11111000) | prescalarbits;
-#endif
-
-    }
-    
-
-    // Calculate the toggle count
-    if (duration > 0)
-    {
-      toggle_count = 2 * frequency * duration / 1000;
-    }
-    else
-    {
-      toggle_count = -1;
-    }
-
-    // Set the OCR for the given timer,
-    // set the toggle count,
-    // then turn on the interrupts
-    switch (_timer)
-    {
-
-#if defined(OCR0A) && defined(TIMSK0) && defined(OCIE0A)
-      case 0:
-        OCR0A = ocr;
-        timer0_toggle_count = toggle_count;
-        bitWrite(TIMSK0, OCIE0A, 1);
-        break;
-#endif
-
-      case 1:
-#if defined(OCR1A) && defined(TIMSK1) && defined(OCIE1A)
-        OCR1A = ocr;
-        timer1_toggle_count = toggle_count;
-        bitWrite(TIMSK1, OCIE1A, 1);
-#elif defined(OCR1A) && defined(TIMSK) && defined(OCIE1A)
-        // this combination is for at least the ATmega32
-        OCR1A = ocr;
-        timer1_toggle_count = toggle_count;
-        bitWrite(TIMSK, OCIE1A, 1);
-#endif
-        break;
-
-#if defined(OCR2A) && defined(TIMSK2) && defined(OCIE2A)
-      case 2:
-        OCR2A = ocr;
-        timer2_toggle_count = toggle_count;
-        bitWrite(TIMSK2, OCIE2A, 1);
-        break;
-#endif
-
-#if defined(TIMSK3)
-      case 3:
-        OCR3A = ocr;
-        timer3_toggle_count = toggle_count;
-        bitWrite(TIMSK3, OCIE3A, 1);
-        break;
-#endif
-
-#if defined(TIMSK4)
-      case 4:
-        OCR4A = ocr;
-        timer4_toggle_count = toggle_count;
-        bitWrite(TIMSK4, OCIE4A, 1);
-        break;
-#endif
-
-#if defined(OCR5A) && defined(TIMSK5) && defined(OCIE5A)
-      case 5:
-        OCR5A = ocr;
-        timer5_toggle_count = toggle_count;
-        bitWrite(TIMSK5, OCIE5A, 1);
-        break;
-#endif
-
-    }
-  }
-}
-
-
-// XXX: this function only works properly for timer 2 (the only one we use
-// currently).  for the others, it should end the tone, but won't restore
-// proper PWM functionality for the timer.
-void disableTimer(uint8_t _timer)
-{
-  switch (_timer)
-  {
-    case 0:
-      #if defined(TIMSK0)
-        TIMSK0 = 0;
-      #elif defined(TIMSK)
-        TIMSK = 0; // atmega32
-      #endif
-      break;
-
-#if defined(TIMSK1) && defined(OCIE1A)
-    case 1:
-      bitWrite(TIMSK1, OCIE1A, 0);
-      break;
-#endif
-
-    case 2:
-      #if defined(TIMSK2) && defined(OCIE2A)
-        bitWrite(TIMSK2, OCIE2A, 0); // disable interrupt
-      #endif
-      #if defined(TCCR2A) && defined(WGM20)
-        TCCR2A = (1 << WGM20);
-      #endif
-      #if defined(TCCR2B) && defined(CS22)
-        TCCR2B = (TCCR2B & 0b11111000) | (1 << CS22);
-      #endif
-      #if defined(OCR2A)
-        OCR2A = 0;
-      #endif
-      break;
-
-#if defined(TIMSK3)
-    case 3:
-      TIMSK3 = 0;
-      break;
-#endif
-
-#if defined(TIMSK4)
-    case 4:
-      TIMSK4 = 0;
-      break;
-#endif
-
-#if defined(TIMSK5)
-    case 5:
-      TIMSK5 = 0;
-      break;
-#endif
-  }
-}
-
-
-void noTone(uint8_t _pin)
-{
-  int8_t _timer = -1;
-  
-  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
-    if (tone_pins[i] == _pin) {
-      _timer = pgm_read_byte(tone_pin_to_timer_PGM + i);
-      tone_pins[i] = 255;
-    }
-  }
-  
-  disableTimer(_timer);
-
-  digitalWrite(_pin, 0);
-}
-
-#ifdef USE_TIMER0
-ISR(TIMER0_COMPA_vect)
-{
-  if (timer0_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer0_pin_port ^= timer0_pin_mask;
-
-    if (timer0_toggle_count > 0)
-      timer0_toggle_count--;
-  }
-  else
-  {
-    disableTimer(0);
-    *timer0_pin_port &= ~(timer0_pin_mask);  // keep pin low after stop
-  }
-}
-#endif
-
-
-#ifdef USE_TIMER1
-ISR(TIMER1_COMPA_vect)
-{
-  if (timer1_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer1_pin_port ^= timer1_pin_mask;
-
-    if (timer1_toggle_count > 0)
-      timer1_toggle_count--;
-  }
-  else
-  {
-    disableTimer(1);
-    *timer1_pin_port &= ~(timer1_pin_mask);  // keep pin low after stop
-  }
-}
-#endif
-
-
-#ifdef USE_TIMER2
-ISR(TIMER2_COMPA_vect)
-{
-
-  if (timer2_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer2_pin_port ^= timer2_pin_mask;
-
-    if (timer2_toggle_count > 0)
-      timer2_toggle_count--;
-  }
-  else
-  {
-    // need to call noTone() so that the tone_pins[] entry is reset, so the
-    // timer gets initialized next time we call tone().
-    // XXX: this assumes timer 2 is always the first one used.
-    noTone(tone_pins[0]);
-//    disableTimer(2);
-//    *timer2_pin_port &= ~(timer2_pin_mask);  // keep pin low after stop
-  }
-}
-#endif
-
-
-#ifdef USE_TIMER3
-ISR(TIMER3_COMPA_vect)
-{
-  if (timer3_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer3_pin_port ^= timer3_pin_mask;
-
-    if (timer3_toggle_count > 0)
-      timer3_toggle_count--;
-  }
-  else
-  {
-    disableTimer(3);
-    *timer3_pin_port &= ~(timer3_pin_mask);  // keep pin low after stop
-  }
-}
-#endif
-
-
-#ifdef USE_TIMER4
-ISR(TIMER4_COMPA_vect)
-{
-  if (timer4_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer4_pin_port ^= timer4_pin_mask;
-
-    if (timer4_toggle_count > 0)
-      timer4_toggle_count--;
-  }
-  else
-  {
-    disableTimer(4);
-    *timer4_pin_port &= ~(timer4_pin_mask);  // keep pin low after stop
-  }
-}
-#endif
-
-
-#ifdef USE_TIMER5
-ISR(TIMER5_COMPA_vect)
-{
-  if (timer5_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer5_pin_port ^= timer5_pin_mask;
-
-    if (timer5_toggle_count > 0)
-      timer5_toggle_count--;
-  }
-  else
-  {
-    disableTimer(5);
-    *timer5_pin_port &= ~(timer5_pin_mask);  // keep pin low after stop
-  }
-}
-#endif
diff --git a/cores/robot/USBAPI.h b/cores/robot/USBAPI.h
deleted file mode 100644
index cabecf3..0000000
--- a/cores/robot/USBAPI.h
+++ /dev/null
@@ -1,206 +0,0 @@
-
-
-#ifndef __USBAPI__
-#define __USBAPI__
-
-#if defined(USBCON)
-
-//================================================================================
-//================================================================================
-//	USB
-
-class USBDevice_
-{
-public:
-	USBDevice_();
-	bool configured();
-
-	void attach();
-	void detach();	// Serial port goes down too...
-	void poll();
-};
-extern USBDevice_ USBDevice;
-
-//================================================================================
-//================================================================================
-//	Serial over CDC (Serial1 is the physical port)
-
-struct ring_buffer;
-
-#if (RAMEND < 1000)
-#define SERIAL_BUFFER_SIZE 16
-#else
-#define SERIAL_BUFFER_SIZE 64
-#endif
-
-class Serial_ : public Stream
-{
-public:
-	void begin(uint16_t baud_count);
-	void end(void);
-
-	virtual int available(void);
-	virtual void accept(void);
-	virtual int peek(void);
-	virtual int read(void);
-	virtual void flush(void);
-	virtual size_t write(uint8_t);
-	using Print::write; // pull in write(str) and write(buf, size) from Print
-	operator bool();
-
-	volatile uint8_t _rx_buffer_head;
-	volatile uint8_t _rx_buffer_tail;
-	unsigned char _rx_buffer[SERIAL_BUFFER_SIZE];
-};
-extern Serial_ Serial;
-
-//================================================================================
-//================================================================================
-//	Mouse
-
-#define MOUSE_LEFT 1
-#define MOUSE_RIGHT 2
-#define MOUSE_MIDDLE 4
-#define MOUSE_ALL (MOUSE_LEFT | MOUSE_RIGHT | MOUSE_MIDDLE)
-
-class Mouse_
-{
-private:
-	uint8_t _buttons;
-	void buttons(uint8_t b);
-public:
-	Mouse_(void);
-	void begin(void);
-	void end(void);
-	void click(uint8_t b = MOUSE_LEFT);
-	void move(signed char x, signed char y, signed char wheel = 0);	
-	void press(uint8_t b = MOUSE_LEFT);		// press LEFT by default
-	void release(uint8_t b = MOUSE_LEFT);	// release LEFT by default
-	bool isPressed(uint8_t b = MOUSE_LEFT);	// check LEFT by default
-};
-extern Mouse_ Mouse;
-
-//================================================================================
-//================================================================================
-//	Keyboard
-
-#define KEY_LEFT_CTRL		0x80
-#define KEY_LEFT_SHIFT		0x81
-#define KEY_LEFT_ALT		0x82
-#define KEY_LEFT_GUI		0x83
-#define KEY_RIGHT_CTRL		0x84
-#define KEY_RIGHT_SHIFT		0x85
-#define KEY_RIGHT_ALT		0x86
-#define KEY_RIGHT_GUI		0x87
-
-#define KEY_UP_ARROW		0xDA
-#define KEY_DOWN_ARROW		0xD9
-#define KEY_LEFT_ARROW		0xD8
-#define KEY_RIGHT_ARROW		0xD7
-#define KEY_BACKSPACE		0xB2
-#define KEY_TAB				0xB3
-#define KEY_RETURN			0xB0
-#define KEY_ESC				0xB1
-#define KEY_INSERT			0xD1
-#define KEY_DELETE			0xD4
-#define KEY_PAGE_UP			0xD3
-#define KEY_PAGE_DOWN		0xD6
-#define KEY_HOME			0xD2
-#define KEY_END				0xD5
-#define KEY_CAPS_LOCK		0xC1
-#define KEY_F1				0xC2
-#define KEY_F2				0xC3
-#define KEY_F3				0xC4
-#define KEY_F4				0xC5
-#define KEY_F5				0xC6
-#define KEY_F6				0xC7
-#define KEY_F7				0xC8
-#define KEY_F8				0xC9
-#define KEY_F9				0xCA
-#define KEY_F10				0xCB
-#define KEY_F11				0xCC
-#define KEY_F12				0xCD
-
-//	Low level key report: up to 6 keys and shift, ctrl etc at once
-typedef struct
-{
-	uint8_t modifiers;
-	uint8_t reserved;
-	uint8_t keys[6];
-} KeyReport;
-
-class Keyboard_ : public Print
-{
-private:
-	KeyReport _keyReport;
-	void sendReport(KeyReport* keys);
-public:
-	Keyboard_(void);
-	void begin(void);
-	void end(void);
-	virtual size_t write(uint8_t k);
-	virtual size_t press(uint8_t k);
-	virtual size_t release(uint8_t k);
-	virtual void releaseAll(void);
-};
-extern Keyboard_ Keyboard;
-
-//================================================================================
-//================================================================================
-//	Low level API
-
-typedef struct
-{
-	uint8_t bmRequestType;
-	uint8_t bRequest;
-	uint8_t wValueL;
-	uint8_t wValueH;
-	uint16_t wIndex;
-	uint16_t wLength;
-} Setup;
-
-//================================================================================
-//================================================================================
-//	HID 'Driver'
-
-int		HID_GetInterface(uint8_t* interfaceNum);
-int		HID_GetDescriptor(int i);
-bool	HID_Setup(Setup& setup);
-void	HID_SendReport(uint8_t id, const void* data, int len);
-
-//================================================================================
-//================================================================================
-//	MSC 'Driver'
-
-int		MSC_GetInterface(uint8_t* interfaceNum);
-int		MSC_GetDescriptor(int i);
-bool	MSC_Setup(Setup& setup);
-bool	MSC_Data(uint8_t rx,uint8_t tx);
-
-//================================================================================
-//================================================================================
-//	CSC 'Driver'
-
-int		CDC_GetInterface(uint8_t* interfaceNum);
-int		CDC_GetDescriptor(int i);
-bool	CDC_Setup(Setup& setup);
-
-//================================================================================
-//================================================================================
-
-#define TRANSFER_PGM		0x80
-#define TRANSFER_RELEASE	0x40
-#define TRANSFER_ZERO		0x20
-
-int USB_SendControl(uint8_t flags, const void* d, int len);
-int USB_RecvControl(void* d, int len);
-
-uint8_t	USB_Available(uint8_t ep);
-int USB_Send(uint8_t ep, const void* data, int len);	// blocking
-int USB_Recv(uint8_t ep, void* data, int len);		// non-blocking
-int USB_Recv(uint8_t ep);							// non-blocking
-void USB_Flush(uint8_t ep);
-
-#endif
-
-#endif /* if defined(USBCON) */
diff --git a/cores/robot/USBCore.cpp b/cores/robot/USBCore.cpp
deleted file mode 100644
index c46c75f..0000000
--- a/cores/robot/USBCore.cpp
+++ /dev/null
@@ -1,694 +0,0 @@
-
-
-/* Copyright (c) 2010, Peter Barrett  
-**  
-** Permission to use, copy, modify, and/or distribute this software for  
-** any purpose with or without fee is hereby granted, provided that the  
-** above copyright notice and this permission notice appear in all copies.  
-** 
-** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL  
-** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED  
-** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR  
-** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES  
-** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,  
-** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,  
-** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS  
-** SOFTWARE.  
-*/
-
-#include "Platform.h"
-#include "USBAPI.h"
-#include "USBDesc.h"
-
-#if defined(USBCON)
-
-#define EP_TYPE_CONTROL				0x00
-#define EP_TYPE_BULK_IN				0x81
-#define EP_TYPE_BULK_OUT			0x80
-#define EP_TYPE_INTERRUPT_IN		0xC1
-#define EP_TYPE_INTERRUPT_OUT		0xC0
-#define EP_TYPE_ISOCHRONOUS_IN		0x41
-#define EP_TYPE_ISOCHRONOUS_OUT		0x40
-
-/** Pulse generation counters to keep track of the number of milliseconds remaining for each pulse type */
-#define TX_RX_LED_PULSE_MS 100
-volatile u8 TxLEDPulse; /**< Milliseconds remaining for data Tx LED pulse */
-volatile u8 RxLEDPulse; /**< Milliseconds remaining for data Rx LED pulse */
-
-//==================================================================
-//==================================================================
-
-extern const u16 STRING_LANGUAGE[] PROGMEM;
-extern const u8 STRING_PRODUCT[] PROGMEM;
-extern const u8 STRING_MANUFACTURER[] PROGMEM;
-extern const DeviceDescriptor USB_DeviceDescriptor PROGMEM;
-extern const DeviceDescriptor USB_DeviceDescriptorA PROGMEM;
-
-const u16 STRING_LANGUAGE[2] = {
-	(3<<8) | (2+2),
-	0x0409	// English
-};
-
-#ifndef USB_PRODUCT
-// If no product is provided, use USB IO Board
-#define USB_PRODUCT     "USB IO Board"
-#endif
-
-const u8 STRING_PRODUCT[] PROGMEM = USB_PRODUCT;
-
-#if USB_VID == 0x2341
-#define USB_MANUFACTURER "Arduino LLC"
-#elif USB_VID == 0x1b4f
-#define USB_MANUFACTURER "SparkFun"
-#elif !defined(USB_MANUFACTURER)
-// Fall through to unknown if no manufacturer name was provided in a macro
-#define USB_MANUFACTURER "Unknown"
-#endif
-
-const u8 STRING_MANUFACTURER[] PROGMEM = USB_MANUFACTURER;
-
-
-#ifdef CDC_ENABLED
-#define DEVICE_CLASS 0x02
-#else
-#define DEVICE_CLASS 0x00
-#endif
-
-//	DEVICE DESCRIPTOR
-const DeviceDescriptor USB_DeviceDescriptor =
-	D_DEVICE(0x00,0x00,0x00,64,USB_VID,USB_PID,0x100,IMANUFACTURER,IPRODUCT,0,1);
-
-const DeviceDescriptor USB_DeviceDescriptorA =
-	D_DEVICE(DEVICE_CLASS,0x00,0x00,64,USB_VID,USB_PID,0x100,IMANUFACTURER,IPRODUCT,0,1);
-
-//==================================================================
-//==================================================================
-
-volatile u8 _usbConfiguration = 0;
-
-static inline void WaitIN(void)
-{
-	while (!(UEINTX & (1<<TXINI)));
-}
-
-static inline void ClearIN(void)
-{
-	UEINTX = ~(1<<TXINI);
-}
-
-static inline void WaitOUT(void)
-{
-	while (!(UEINTX & (1<<RXOUTI)))
-		;
-}
-
-static inline u8 WaitForINOrOUT()
-{
-	while (!(UEINTX & ((1<<TXINI)|(1<<RXOUTI))))
-		;
-	return (UEINTX & (1<<RXOUTI)) == 0;
-}
-
-static inline void ClearOUT(void)
-{
-	UEINTX = ~(1<<RXOUTI);
-}
-
-void Recv(volatile u8* data, u8 count)
-{
-	while (count--)
-		*data++ = UEDATX;
-	
-	RXLED1;					// light the RX LED
-	RxLEDPulse = TX_RX_LED_PULSE_MS;	
-}
-
-static inline u8 Recv8()
-{
-	RXLED1;					// light the RX LED
-	RxLEDPulse = TX_RX_LED_PULSE_MS;
-
-	return UEDATX;	
-}
-
-static inline void Send8(u8 d)
-{
-	UEDATX = d;
-}
-
-static inline void SetEP(u8 ep)
-{
-	UENUM = ep;
-}
-
-static inline u8 FifoByteCount()
-{
-	return UEBCLX;
-}
-
-static inline u8 ReceivedSetupInt()
-{
-	return UEINTX & (1<<RXSTPI);
-}
-
-static inline void ClearSetupInt()
-{
-	UEINTX = ~((1<<RXSTPI) | (1<<RXOUTI) | (1<<TXINI));
-}
-
-static inline void Stall()
-{
-	UECONX = (1<<STALLRQ) | (1<<EPEN);
-}
-
-static inline u8 ReadWriteAllowed()
-{
-	return UEINTX & (1<<RWAL);
-}
-
-static inline u8 Stalled()
-{
-	return UEINTX & (1<<STALLEDI);
-}
-
-static inline u8 FifoFree()
-{
-	return UEINTX & (1<<FIFOCON);
-}
-
-static inline void ReleaseRX()
-{
-	UEINTX = 0x6B;	// FIFOCON=0 NAKINI=1 RWAL=1 NAKOUTI=0 RXSTPI=1 RXOUTI=0 STALLEDI=1 TXINI=1
-}
-
-static inline void ReleaseTX()
-{
-	UEINTX = 0x3A;	// FIFOCON=0 NAKINI=0 RWAL=1 NAKOUTI=1 RXSTPI=1 RXOUTI=0 STALLEDI=1 TXINI=0
-}
-
-static inline u8 FrameNumber()
-{
-	return UDFNUML;
-}
-
-//==================================================================
-//==================================================================
-
-u8 USBGetConfiguration(void)
-{
-	return _usbConfiguration;
-}
-
-#define USB_RECV_TIMEOUT
-class LockEP
-{
-	u8 _sreg;
-public:
-	LockEP(u8 ep) : _sreg(SREG)
-	{
-		cli();
-		SetEP(ep & 7);
-	}
-	~LockEP()
-	{
-		SREG = _sreg;
-	}
-};
-
-//	Number of bytes, assumes a rx endpoint
-u8 USB_Available(u8 ep)
-{
-	LockEP lock(ep);
-	return FifoByteCount();
-}
-
-//	Non Blocking receive
-//	Return number of bytes read
-int USB_Recv(u8 ep, void* d, int len)
-{
-	if (!_usbConfiguration || len < 0)
-		return -1;
-	
-	LockEP lock(ep);
-	u8 n = FifoByteCount();
-	len = min(n,len);
-	n = len;
-	u8* dst = (u8*)d;
-	while (n--)
-		*dst++ = Recv8();
-	if (len && !FifoByteCount())	// release empty buffer
-		ReleaseRX();
-	
-	return len;
-}
-
-//	Recv 1 byte if ready
-int USB_Recv(u8 ep)
-{
-	u8 c;
-	if (USB_Recv(ep,&c,1) != 1)
-		return -1;
-	return c;
-}
-
-//	Space in send EP
-u8 USB_SendSpace(u8 ep)
-{
-	LockEP lock(ep);
-	if (!ReadWriteAllowed())
-		return 0;
-	return 64 - FifoByteCount();
-}
-
-//	Blocking Send of data to an endpoint
-int USB_Send(u8 ep, const void* d, int len)
-{
-	if (!_usbConfiguration)
-		return -1;
-
-	int r = len;
-	const u8* data = (const u8*)d;
-	u8 zero = ep & TRANSFER_ZERO;
-	u8 timeout = 250;		// 250ms timeout on send? TODO
-	while (len)
-	{
-		u8 n = USB_SendSpace(ep);
-		if (n == 0)
-		{
-			if (!(--timeout))
-				return -1;
-			delay(1);
-			continue;
-		}
-
-		if (n > len)
-			n = len;
-		len -= n;
-		{
-			LockEP lock(ep);
-			if (ep & TRANSFER_ZERO)
-			{
-				while (n--)
-					Send8(0);
-			}
-			else if (ep & TRANSFER_PGM)
-			{
-				while (n--)
-					Send8(pgm_read_byte(data++));
-			}
-			else
-			{
-				while (n--)
-					Send8(*data++);
-			}
-			if (!ReadWriteAllowed() || ((len == 0) && (ep & TRANSFER_RELEASE)))	// Release full buffer
-				ReleaseTX();
-		}
-	}
-	TXLED1;					// light the TX LED
-	TxLEDPulse = TX_RX_LED_PULSE_MS;
-	return r;
-}
-
-extern const u8 _initEndpoints[] PROGMEM;
-const u8 _initEndpoints[] = 
-{
-	0,
-	
-#ifdef CDC_ENABLED
-	EP_TYPE_INTERRUPT_IN,		// CDC_ENDPOINT_ACM
-	EP_TYPE_BULK_OUT,			// CDC_ENDPOINT_OUT
-	EP_TYPE_BULK_IN,			// CDC_ENDPOINT_IN
-#endif
-
-#ifdef HID_ENABLED
-	EP_TYPE_INTERRUPT_IN		// HID_ENDPOINT_INT
-#endif
-};
-
-#define EP_SINGLE_64 0x32	// EP0
-#define EP_DOUBLE_64 0x36	// Other endpoints
-
-static
-void InitEP(u8 index, u8 type, u8 size)
-{
-	UENUM = index;
-	UECONX = 1;
-	UECFG0X = type;
-	UECFG1X = size;
-}
-
-static
-void InitEndpoints()
-{
-	for (u8 i = 1; i < sizeof(_initEndpoints); i++)
-	{
-		UENUM = i;
-		UECONX = 1;
-		UECFG0X = pgm_read_byte(_initEndpoints+i);
-		UECFG1X = EP_DOUBLE_64;
-	}
-	UERST = 0x7E;	// And reset them
-	UERST = 0;
-}
-
-//	Handle CLASS_INTERFACE requests
-static
-bool ClassInterfaceRequest(Setup& setup)
-{
-	u8 i = setup.wIndex;
-
-#ifdef CDC_ENABLED
-	if (CDC_ACM_INTERFACE == i)
-		return CDC_Setup(setup);
-#endif
-
-#ifdef HID_ENABLED
-	if (HID_INTERFACE == i)
-		return HID_Setup(setup);
-#endif
-	return false;
-}
-
-int _cmark;
-int _cend;
-void InitControl(int end)
-{
-	SetEP(0);
-	_cmark = 0;
-	_cend = end;
-}
-
-static
-bool SendControl(u8 d)
-{
-	if (_cmark < _cend)
-	{
-		if (!WaitForINOrOUT())
-			return false;
-		Send8(d);
-		if (!((_cmark + 1) & 0x3F))
-			ClearIN();	// Fifo is full, release this packet
-	}
-	_cmark++;
-	return true;
-};
-
-//	Clipped by _cmark/_cend
-int USB_SendControl(u8 flags, const void* d, int len)
-{
-	int sent = len;
-	const u8* data = (const u8*)d;
-	bool pgm = flags & TRANSFER_PGM;
-	while (len--)
-	{
-		u8 c = pgm ? pgm_read_byte(data++) : *data++;
-		if (!SendControl(c))
-			return -1;
-	}
-	return sent;
-}
-
-// Send a USB descriptor string. The string is stored in PROGMEM as a
-// plain ASCII string but is sent out as UTF-16 with the correct 2-byte
-// prefix
-static bool USB_SendStringDescriptor(const u8*string_P, u8 string_len) {
-        SendControl(2 + string_len * 2);
-        SendControl(3);
-        for(u8 i = 0; i < string_len; i++) {
-                bool r = SendControl(pgm_read_byte(&string_P[i]));
-                r &= SendControl(0); // high byte
-                if(!r) {
-                        return false;
-                }
-        }
-        return true;
-}
-
-//	Does not timeout or cross fifo boundaries
-//	Will only work for transfers <= 64 bytes
-//	TODO
-int USB_RecvControl(void* d, int len)
-{
-	WaitOUT();
-	Recv((u8*)d,len);
-	ClearOUT();
-	return len;
-}
-
-int SendInterfaces()
-{
-	int total = 0;
-	u8 interfaces = 0;
-
-#ifdef CDC_ENABLED
-	total = CDC_GetInterface(&interfaces);
-#endif
-
-#ifdef HID_ENABLED
-	total += HID_GetInterface(&interfaces);
-#endif
-
-	return interfaces;
-}
-
-//	Construct a dynamic configuration descriptor
-//	This really needs dynamic endpoint allocation etc
-//	TODO
-static
-bool SendConfiguration(int maxlen)
-{
-	//	Count and measure interfaces
-	InitControl(0);	
-	int interfaces = SendInterfaces();
-	ConfigDescriptor config = D_CONFIG(_cmark + sizeof(ConfigDescriptor),interfaces);
-
-	//	Now send them
-	InitControl(maxlen);
-	USB_SendControl(0,&config,sizeof(ConfigDescriptor));
-	SendInterfaces();
-	return true;
-}
-
-u8 _cdcComposite = 0;
-
-static
-bool SendDescriptor(Setup& setup)
-{
-	u8 t = setup.wValueH;
-	if (USB_CONFIGURATION_DESCRIPTOR_TYPE == t)
-		return SendConfiguration(setup.wLength);
-
-	InitControl(setup.wLength);
-#ifdef HID_ENABLED
-	if (HID_REPORT_DESCRIPTOR_TYPE == t)
-		return HID_GetDescriptor(t);
-#endif
-
-	const u8* desc_addr = 0;
-	if (USB_DEVICE_DESCRIPTOR_TYPE == t)
-	{
-		if (setup.wLength == 8)
-			_cdcComposite = 1;
-		desc_addr = _cdcComposite ?  (const u8*)&USB_DeviceDescriptorA : (const u8*)&USB_DeviceDescriptor;
-	}
-	else if (USB_STRING_DESCRIPTOR_TYPE == t)
-	{
-		if (setup.wValueL == 0) {
-			desc_addr = (const u8*)&STRING_LANGUAGE;
-		}
-		else if (setup.wValueL == IPRODUCT) {
-			return USB_SendStringDescriptor(STRING_PRODUCT, strlen(USB_PRODUCT));
-		}
-		else if (setup.wValueL == IMANUFACTURER) {
-			return USB_SendStringDescriptor(STRING_MANUFACTURER, strlen(USB_MANUFACTURER));
-		}
-		else
-			return false;
-	}
-
-	if (desc_addr == 0)
-		return false;
-	u8 desc_length = pgm_read_byte(desc_addr);
-
-	USB_SendControl(TRANSFER_PGM,desc_addr,desc_length);
-	return true;
-}
-
-//	Endpoint 0 interrupt
-ISR(USB_COM_vect)
-{
-    SetEP(0);
-	if (!ReceivedSetupInt())
-		return;
-
-	Setup setup;
-	Recv((u8*)&setup,8);
-	ClearSetupInt();
-
-	u8 requestType = setup.bmRequestType;
-	if (requestType & REQUEST_DEVICETOHOST)
-		WaitIN();
-	else
-		ClearIN();
-
-    bool ok = true;
-	if (REQUEST_STANDARD == (requestType & REQUEST_TYPE))
-	{
-		//	Standard Requests
-		u8 r = setup.bRequest;
-		if (GET_STATUS == r)
-		{
-			Send8(0);		// TODO
-			Send8(0);
-		}
-		else if (CLEAR_FEATURE == r)
-		{
-		}
-		else if (SET_FEATURE == r)
-		{
-		}
-		else if (SET_ADDRESS == r)
-		{
-			WaitIN();
-			UDADDR = setup.wValueL | (1<<ADDEN);
-		}
-		else if (GET_DESCRIPTOR == r)
-		{
-			ok = SendDescriptor(setup);
-		}
-		else if (SET_DESCRIPTOR == r)
-		{
-			ok = false;
-		}
-		else if (GET_CONFIGURATION == r)
-		{
-			Send8(1);
-		}
-		else if (SET_CONFIGURATION == r)
-		{
-			if (REQUEST_DEVICE == (requestType & REQUEST_RECIPIENT))
-			{
-				InitEndpoints();
-				_usbConfiguration = setup.wValueL;
-			} else
-				ok = false;
-		}
-		else if (GET_INTERFACE == r)
-		{
-		}
-		else if (SET_INTERFACE == r)
-		{
-		}
-	}
-	else
-	{
-		InitControl(setup.wLength);		//	Max length of transfer
-		ok = ClassInterfaceRequest(setup);
-	}
-
-	if (ok)
-		ClearIN();
-	else
-	{
-		Stall();
-	}
-}
-
-void USB_Flush(u8 ep)
-{
-	SetEP(ep);
-	if (FifoByteCount())
-		ReleaseTX();
-}
-
-//	General interrupt
-ISR(USB_GEN_vect)
-{
-	u8 udint = UDINT;
-	UDINT = 0;
-
-	//	End of Reset
-	if (udint & (1<<EORSTI))
-	{
-		InitEP(0,EP_TYPE_CONTROL,EP_SINGLE_64);	// init ep0
-		_usbConfiguration = 0;			// not configured yet
-		UEIENX = 1 << RXSTPE;			// Enable interrupts for ep0
-	}
-
-	//	Start of Frame - happens every millisecond so we use it for TX and RX LED one-shot timing, too
-	if (udint & (1<<SOFI))
-	{
-#ifdef CDC_ENABLED
-		USB_Flush(CDC_TX);				// Send a tx frame if found
-		if (USB_Available(CDC_RX))	// Handle received bytes (if any)
-			Serial.accept();
-#endif
-		
-		// check whether the one-shot period has elapsed.  if so, turn off the LED
-		if (TxLEDPulse && !(--TxLEDPulse))
-			TXLED0;
-		if (RxLEDPulse && !(--RxLEDPulse))
-			RXLED0;
-	}
-}
-
-//	VBUS or counting frames
-//	Any frame counting?
-u8 USBConnected()
-{
-	u8 f = UDFNUML;
-	delay(3);
-	return f != UDFNUML;
-}
-
-//=======================================================================
-//=======================================================================
-
-USBDevice_ USBDevice;
-
-USBDevice_::USBDevice_()
-{
-}
-
-void USBDevice_::attach()
-{
-	_usbConfiguration = 0;
-	UHWCON = 0x01;						// power internal reg
-	USBCON = (1<<USBE)|(1<<FRZCLK);		// clock frozen, usb enabled
-#if F_CPU == 16000000UL
-	PLLCSR = 0x12;						// Need 16 MHz xtal
-#elif F_CPU == 8000000UL
-	PLLCSR = 0x02;						// Need 8 MHz xtal
-#endif
-	while (!(PLLCSR & (1<<PLOCK)))		// wait for lock pll
-		;
-
-	// Some tests on specific versions of macosx (10.7.3), reported some
-	// strange behaviuors when the board is reset using the serial
-	// port touch at 1200 bps. This delay fixes this behaviour.
-	delay(1);
-
-	USBCON = ((1<<USBE)|(1<<OTGPADE));	// start USB clock
-	UDIEN = (1<<EORSTE)|(1<<SOFE);		// Enable interrupts for EOR (End of Reset) and SOF (start of frame)
-	UDCON = 0;							// enable attach resistor
-	
-	TX_RX_LED_INIT;
-}
-
-void USBDevice_::detach()
-{
-}
-
-//	Check for interrupts
-//	TODO: VBUS detection
-bool USBDevice_::configured()
-{
-	return _usbConfiguration;
-}
-
-void USBDevice_::poll()
-{
-}
-
-#endif /* if defined(USBCON) */
diff --git a/cores/robot/USBCore.h b/cores/robot/USBCore.h
deleted file mode 100644
index 8d13806..0000000
--- a/cores/robot/USBCore.h
+++ /dev/null
@@ -1,303 +0,0 @@
-
-// Copyright (c) 2010, Peter Barrett 
-/*
-** Permission to use, copy, modify, and/or distribute this software for  
-** any purpose with or without fee is hereby granted, provided that the  
-** above copyright notice and this permission notice appear in all copies.  
-**  
-** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL  
-** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED  
-** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR  
-** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES  
-** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,  
-** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,  
-** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS  
-** SOFTWARE.  
-*/
-
-#ifndef __USBCORE_H__
-#define __USBCORE_H__
-
-//	Standard requests
-#define GET_STATUS			0
-#define CLEAR_FEATURE		1
-#define SET_FEATURE			3
-#define SET_ADDRESS			5
-#define GET_DESCRIPTOR		6
-#define SET_DESCRIPTOR		7
-#define GET_CONFIGURATION	8
-#define SET_CONFIGURATION	9
-#define GET_INTERFACE		10
-#define SET_INTERFACE		11
-
-
-// bmRequestType
-#define REQUEST_HOSTTODEVICE	0x00
-#define REQUEST_DEVICETOHOST	0x80
-#define REQUEST_DIRECTION		0x80
-
-#define REQUEST_STANDARD		0x00
-#define REQUEST_CLASS			0x20
-#define REQUEST_VENDOR			0x40
-#define REQUEST_TYPE			0x60
-
-#define REQUEST_DEVICE			0x00
-#define REQUEST_INTERFACE		0x01
-#define REQUEST_ENDPOINT		0x02
-#define REQUEST_OTHER			0x03
-#define REQUEST_RECIPIENT		0x03
-
-#define REQUEST_DEVICETOHOST_CLASS_INTERFACE  (REQUEST_DEVICETOHOST + REQUEST_CLASS + REQUEST_INTERFACE)
-#define REQUEST_HOSTTODEVICE_CLASS_INTERFACE  (REQUEST_HOSTTODEVICE + REQUEST_CLASS + REQUEST_INTERFACE)
-
-//	Class requests
-
-#define CDC_SET_LINE_CODING			0x20
-#define CDC_GET_LINE_CODING			0x21
-#define CDC_SET_CONTROL_LINE_STATE	0x22
-
-#define MSC_RESET					0xFF
-#define MSC_GET_MAX_LUN				0xFE
-
-#define HID_GET_REPORT				0x01
-#define HID_GET_IDLE				0x02
-#define HID_GET_PROTOCOL			0x03
-#define HID_SET_REPORT				0x09
-#define HID_SET_IDLE				0x0A
-#define HID_SET_PROTOCOL			0x0B
-
-//	Descriptors
-
-#define USB_DEVICE_DESC_SIZE 18
-#define USB_CONFIGUARTION_DESC_SIZE 9
-#define USB_INTERFACE_DESC_SIZE 9
-#define USB_ENDPOINT_DESC_SIZE 7
-
-#define USB_DEVICE_DESCRIPTOR_TYPE             1
-#define USB_CONFIGURATION_DESCRIPTOR_TYPE      2
-#define USB_STRING_DESCRIPTOR_TYPE             3
-#define USB_INTERFACE_DESCRIPTOR_TYPE          4
-#define USB_ENDPOINT_DESCRIPTOR_TYPE           5
-
-#define USB_DEVICE_CLASS_COMMUNICATIONS        0x02
-#define USB_DEVICE_CLASS_HUMAN_INTERFACE       0x03
-#define USB_DEVICE_CLASS_STORAGE               0x08
-#define USB_DEVICE_CLASS_VENDOR_SPECIFIC       0xFF
-
-#define USB_CONFIG_POWERED_MASK                0x40
-#define USB_CONFIG_BUS_POWERED                 0x80
-#define USB_CONFIG_SELF_POWERED                0xC0
-#define USB_CONFIG_REMOTE_WAKEUP               0x20
-
-// bMaxPower in Configuration Descriptor
-#define USB_CONFIG_POWER_MA(mA)                ((mA)/2)
-
-// bEndpointAddress in Endpoint Descriptor
-#define USB_ENDPOINT_DIRECTION_MASK            0x80
-#define USB_ENDPOINT_OUT(addr)                 ((addr) | 0x00)
-#define USB_ENDPOINT_IN(addr)                  ((addr) | 0x80)
-
-#define USB_ENDPOINT_TYPE_MASK                 0x03
-#define USB_ENDPOINT_TYPE_CONTROL              0x00
-#define USB_ENDPOINT_TYPE_ISOCHRONOUS          0x01
-#define USB_ENDPOINT_TYPE_BULK                 0x02
-#define USB_ENDPOINT_TYPE_INTERRUPT            0x03
-
-#define TOBYTES(x) ((x) & 0xFF),(((x) >> 8) & 0xFF)
-
-#define CDC_V1_10                               0x0110
-#define CDC_COMMUNICATION_INTERFACE_CLASS       0x02
-
-#define CDC_CALL_MANAGEMENT                     0x01
-#define CDC_ABSTRACT_CONTROL_MODEL              0x02
-#define CDC_HEADER                              0x00
-#define CDC_ABSTRACT_CONTROL_MANAGEMENT         0x02
-#define CDC_UNION                               0x06
-#define CDC_CS_INTERFACE                        0x24
-#define CDC_CS_ENDPOINT                         0x25
-#define CDC_DATA_INTERFACE_CLASS                0x0A
-
-#define MSC_SUBCLASS_SCSI						0x06 
-#define MSC_PROTOCOL_BULK_ONLY					0x50 
-
-#define HID_HID_DESCRIPTOR_TYPE					0x21
-#define HID_REPORT_DESCRIPTOR_TYPE				0x22
-#define HID_PHYSICAL_DESCRIPTOR_TYPE			0x23
-
-
-//	Device
-typedef struct {
-	u8 len;				// 18
-	u8 dtype;			// 1 USB_DEVICE_DESCRIPTOR_TYPE
-	u16 usbVersion;		// 0x200
-	u8	deviceClass;
-	u8	deviceSubClass;
-	u8	deviceProtocol;
-	u8	packetSize0;	// Packet 0
-	u16	idVendor;
-	u16	idProduct;
-	u16	deviceVersion;	// 0x100
-	u8	iManufacturer;
-	u8	iProduct;
-	u8	iSerialNumber;
-	u8	bNumConfigurations;
-} DeviceDescriptor;
-
-//	Config
-typedef struct {
-	u8	len;			// 9
-	u8	dtype;			// 2
-	u16 clen;			// total length
-	u8	numInterfaces;
-	u8	config;
-	u8	iconfig;
-	u8	attributes;
-	u8	maxPower;
-} ConfigDescriptor;
-
-//	String
-
-//	Interface
-typedef struct
-{
-	u8 len;		// 9
-	u8 dtype;	// 4
-	u8 number;
-	u8 alternate;
-	u8 numEndpoints;
-	u8 interfaceClass;
-	u8 interfaceSubClass;
-	u8 protocol;
-	u8 iInterface;
-} InterfaceDescriptor;
-
-//	Endpoint
-typedef struct
-{
-	u8 len;		// 7
-	u8 dtype;	// 5
-	u8 addr;
-	u8 attr;
-	u16 packetSize;
-	u8 interval;
-} EndpointDescriptor;
-
-// Interface Association Descriptor
-// Used to bind 2 interfaces together in CDC compostite device
-typedef struct
-{
-	u8 len;				// 8
-	u8 dtype;			// 11
-	u8 firstInterface;
-	u8 interfaceCount;
-	u8 functionClass;
-	u8 funtionSubClass;
-	u8 functionProtocol;
-	u8 iInterface;
-} IADDescriptor;
-
-//	CDC CS interface descriptor
-typedef struct
-{
-	u8 len;		// 5
-	u8 dtype;	// 0x24
-	u8 subtype;
-	u8 d0;
-	u8 d1;
-} CDCCSInterfaceDescriptor;
-
-typedef struct
-{
-	u8 len;		// 4
-	u8 dtype;	// 0x24
-	u8 subtype;
-	u8 d0;
-} CDCCSInterfaceDescriptor4;
-
-typedef struct 
-{
-    u8	len;
-    u8 	dtype;		// 0x24
-    u8 	subtype;	// 1
-    u8 	bmCapabilities;
-    u8 	bDataInterface;
-} CMFunctionalDescriptor;
-	
-typedef struct 
-{
-    u8	len;
-    u8 	dtype;		// 0x24
-    u8 	subtype;	// 1
-    u8 	bmCapabilities;
-} ACMFunctionalDescriptor;
-
-typedef struct 
-{
-	//	IAD
-	IADDescriptor				iad;	// Only needed on compound device
-
-	//	Control
-	InterfaceDescriptor			cif;	// 
-	CDCCSInterfaceDescriptor	header;
-	CMFunctionalDescriptor		callManagement;			// Call Management
-	ACMFunctionalDescriptor		controlManagement;		// ACM
-	CDCCSInterfaceDescriptor	functionalDescriptor;	// CDC_UNION
-	EndpointDescriptor			cifin;
-
-	//	Data
-	InterfaceDescriptor			dif;
-	EndpointDescriptor			in;
-	EndpointDescriptor			out;
-} CDCDescriptor;
-
-typedef struct 
-{
-	InterfaceDescriptor			msc;
-	EndpointDescriptor			in;
-	EndpointDescriptor			out;
-} MSCDescriptor;
-
-typedef struct
-{
-	u8 len;			// 9
-	u8 dtype;		// 0x21
-	u8 addr;
-	u8	versionL;	// 0x101
-	u8	versionH;	// 0x101
-	u8	country;
-	u8	desctype;	// 0x22 report
-	u8	descLenL;
-	u8	descLenH;
-} HIDDescDescriptor;
-
-typedef struct 
-{
-	InterfaceDescriptor			hid;
-	HIDDescDescriptor			desc;
-	EndpointDescriptor			in;
-} HIDDescriptor;
-
-
-#define D_DEVICE(_class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs) \
-	{ 18, 1, 0x200, _class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs }
-
-#define D_CONFIG(_totalLength,_interfaces) \
-	{ 9, 2, _totalLength,_interfaces, 1, 0, USB_CONFIG_BUS_POWERED, USB_CONFIG_POWER_MA(500) }
-
-#define D_INTERFACE(_n,_numEndpoints,_class,_subClass,_protocol) \
-	{ 9, 4, _n, 0, _numEndpoints, _class,_subClass, _protocol, 0 }
-
-#define D_ENDPOINT(_addr,_attr,_packetSize, _interval) \
-	{ 7, 5, _addr,_attr,_packetSize, _interval }
-
-#define D_IAD(_firstInterface, _count, _class, _subClass, _protocol) \
-	{ 8, 11, _firstInterface, _count, _class, _subClass, _protocol, 0 }
-
-#define D_HIDREPORT(_descriptorLength) \
-	{ 9, 0x21, 0x1, 0x1, 0, 1, 0x22, _descriptorLength, 0 }
-
-#define D_CDCCS(_subtype,_d0,_d1)	{ 5, 0x24, _subtype, _d0, _d1 }
-#define D_CDCCS4(_subtype,_d0)		{ 4, 0x24, _subtype, _d0 }
-
-
-#endif
\ No newline at end of file
diff --git a/cores/robot/USBDesc.h b/cores/robot/USBDesc.h
deleted file mode 100644
index 900713e..0000000
--- a/cores/robot/USBDesc.h
+++ /dev/null
@@ -1,63 +0,0 @@
-
-
-/* Copyright (c) 2011, Peter Barrett  
-**  
-** Permission to use, copy, modify, and/or distribute this software for  
-** any purpose with or without fee is hereby granted, provided that the  
-** above copyright notice and this permission notice appear in all copies.  
-** 
-** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL  
-** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED  
-** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR  
-** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES  
-** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,  
-** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,  
-** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS  
-** SOFTWARE.  
-*/
-
-#define CDC_ENABLED
-#define HID_ENABLED
-
-
-#ifdef CDC_ENABLED
-#define CDC_INTERFACE_COUNT	2
-#define CDC_ENPOINT_COUNT	3
-#else
-#define CDC_INTERFACE_COUNT	0
-#define CDC_ENPOINT_COUNT	0
-#endif
-
-#ifdef HID_ENABLED
-#define HID_INTERFACE_COUNT	1
-#define HID_ENPOINT_COUNT	1
-#else
-#define HID_INTERFACE_COUNT	0
-#define HID_ENPOINT_COUNT	0
-#endif
-
-#define CDC_ACM_INTERFACE	0	// CDC ACM
-#define CDC_DATA_INTERFACE	1	// CDC Data
-#define CDC_FIRST_ENDPOINT	1
-#define CDC_ENDPOINT_ACM	(CDC_FIRST_ENDPOINT)							// CDC First
-#define CDC_ENDPOINT_OUT	(CDC_FIRST_ENDPOINT+1)
-#define CDC_ENDPOINT_IN		(CDC_FIRST_ENDPOINT+2)
-
-#define HID_INTERFACE		(CDC_ACM_INTERFACE + CDC_INTERFACE_COUNT)		// HID Interface
-#define HID_FIRST_ENDPOINT	(CDC_FIRST_ENDPOINT + CDC_ENPOINT_COUNT)
-#define HID_ENDPOINT_INT	(HID_FIRST_ENDPOINT)
-
-#define INTERFACE_COUNT		(MSC_INTERFACE + MSC_INTERFACE_COUNT)
-
-#ifdef CDC_ENABLED
-#define CDC_RX CDC_ENDPOINT_OUT
-#define CDC_TX CDC_ENDPOINT_IN
-#endif
-
-#ifdef HID_ENABLED
-#define HID_TX HID_ENDPOINT_INT
-#endif
-
-#define IMANUFACTURER	1
-#define IPRODUCT		2
-
diff --git a/cores/robot/Udp.h b/cores/robot/Udp.h
deleted file mode 100644
index dc5644b..0000000
--- a/cores/robot/Udp.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
- *  Udp.cpp: Library to send/receive UDP packets.
- *
- * NOTE: UDP is fast, but has some important limitations (thanks to Warren Gray for mentioning these)
- * 1) UDP does not guarantee the order in which assembled UDP packets are received. This
- * might not happen often in practice, but in larger network topologies, a UDP
- * packet can be received out of sequence. 
- * 2) UDP does not guard against lost packets - so packets *can* disappear without the sender being
- * aware of it. Again, this may not be a concern in practice on small local networks.
- * For more information, see http://www.cafeaulait.org/course/week12/35.html
- *
- * MIT License:
- * Copyright (c) 2008 Bjoern Hartmann
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- * 
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- * bjoern@cs.stanford.edu 12/30/2008
- */
-
-#ifndef udp_h
-#define udp_h
-
-#include <Stream.h>
-#include <IPAddress.h>
-
-class UDP : public Stream {
-
-public:
-  virtual uint8_t begin(uint16_t) =0;	// initialize, start listening on specified port. Returns 1 if successful, 0 if there are no sockets available to use
-  virtual void stop() =0;  // Finish with the UDP socket
-
-  // Sending UDP packets
-  
-  // Start building up a packet to send to the remote host specific in ip and port
-  // Returns 1 if successful, 0 if there was a problem with the supplied IP address or port
-  virtual int beginPacket(IPAddress ip, uint16_t port) =0;
-  // Start building up a packet to send to the remote host specific in host and port
-  // Returns 1 if successful, 0 if there was a problem resolving the hostname or port
-  virtual int beginPacket(const char *host, uint16_t port) =0;
-  // Finish off this packet and send it
-  // Returns 1 if the packet was sent successfully, 0 if there was an error
-  virtual int endPacket() =0;
-  // Write a single byte into the packet
-  virtual size_t write(uint8_t) =0;
-  // Write size bytes from buffer into the packet
-  virtual size_t write(const uint8_t *buffer, size_t size) =0;
-
-  // Start processing the next available incoming packet
-  // Returns the size of the packet in bytes, or 0 if no packets are available
-  virtual int parsePacket() =0;
-  // Number of bytes remaining in the current packet
-  virtual int available() =0;
-  // Read a single byte from the current packet
-  virtual int read() =0;
-  // Read up to len bytes from the current packet and place them into buffer
-  // Returns the number of bytes read, or 0 if none are available
-  virtual int read(unsigned char* buffer, size_t len) =0;
-  // Read up to len characters from the current packet and place them into buffer
-  // Returns the number of characters read, or 0 if none are available
-  virtual int read(char* buffer, size_t len) =0;
-  // Return the next byte from the current packet without moving on to the next byte
-  virtual int peek() =0;
-  virtual void flush() =0;	// Finish reading the current packet
-
-  // Return the IP address of the host who sent the current incoming packet
-  virtual IPAddress remoteIP() =0;
-  // Return the port of the host who sent the current incoming packet
-  virtual uint16_t remotePort() =0;
-protected:
-  uint8_t* rawIPAddress(IPAddress& addr) { return addr.raw_address(); };
-};
-
-#endif
diff --git a/cores/robot/WCharacter.h b/cores/robot/WCharacter.h
deleted file mode 100644
index 79733b5..0000000
--- a/cores/robot/WCharacter.h
+++ /dev/null
@@ -1,168 +0,0 @@
-/*
- WCharacter.h - Character utility functions for Wiring & Arduino
- Copyright (c) 2010 Hernando Barragan.  All right reserved.
- 
- This library is free software; you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public
- License as published by the Free Software Foundation; either
- version 2.1 of the License, or (at your option) any later version.
- 
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- Lesser General Public License for more details.
- 
- You should have received a copy of the GNU Lesser General Public
- License along with this library; if not, write to the Free Software
- Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
- */
-
-#ifndef Character_h
-#define Character_h
-
-#include <ctype.h>
-
-// WCharacter.h prototypes
-inline boolean isAlphaNumeric(int c) __attribute__((always_inline));
-inline boolean isAlpha(int c) __attribute__((always_inline));
-inline boolean isAscii(int c) __attribute__((always_inline));
-inline boolean isWhitespace(int c) __attribute__((always_inline));
-inline boolean isControl(int c) __attribute__((always_inline));
-inline boolean isDigit(int c) __attribute__((always_inline));
-inline boolean isGraph(int c) __attribute__((always_inline));
-inline boolean isLowerCase(int c) __attribute__((always_inline));
-inline boolean isPrintable(int c) __attribute__((always_inline));
-inline boolean isPunct(int c) __attribute__((always_inline));
-inline boolean isSpace(int c) __attribute__((always_inline));
-inline boolean isUpperCase(int c) __attribute__((always_inline));
-inline boolean isHexadecimalDigit(int c) __attribute__((always_inline));
-inline int toAscii(int c) __attribute__((always_inline));
-inline int toLowerCase(int c) __attribute__((always_inline));
-inline int toUpperCase(int c)__attribute__((always_inline));
-
-
-// Checks for an alphanumeric character. 
-// It is equivalent to (isalpha(c) || isdigit(c)).
-inline boolean isAlphaNumeric(int c) 
-{
-  return ( isalnum(c) == 0 ? false : true);
-}
-
-
-// Checks for an alphabetic character. 
-// It is equivalent to (isupper(c) || islower(c)).
-inline boolean isAlpha(int c)
-{
-  return ( isalpha(c) == 0 ? false : true);
-}
-
-
-// Checks whether c is a 7-bit unsigned char value 
-// that fits into the ASCII character set.
-inline boolean isAscii(int c)
-{
-  return ( isascii (c) == 0 ? false : true);
-}
-
-
-// Checks for a blank character, that is, a space or a tab.
-inline boolean isWhitespace(int c)
-{
-  return ( isblank (c) == 0 ? false : true);
-}
-
-
-// Checks for a control character.
-inline boolean isControl(int c)
-{
-  return ( iscntrl (c) == 0 ? false : true);
-}
-
-
-// Checks for a digit (0 through 9).
-inline boolean isDigit(int c)
-{
-  return ( isdigit (c) == 0 ? false : true);
-}
-
-
-// Checks for any printable character except space.
-inline boolean isGraph(int c)
-{
-  return ( isgraph (c) == 0 ? false : true);
-}
-
-
-// Checks for a lower-case character.
-inline boolean isLowerCase(int c)
-{
-  return (islower (c) == 0 ? false : true);
-}
-
-
-// Checks for any printable character including space.
-inline boolean isPrintable(int c)
-{
-  return ( isprint (c) == 0 ? false : true);
-}
-
-
-// Checks for any printable character which is not a space 
-// or an alphanumeric character.
-inline boolean isPunct(int c)
-{
-  return ( ispunct (c) == 0 ? false : true);
-}
-
-
-// Checks for white-space characters. For the avr-libc library, 
-// these are: space, formfeed ('\f'), newline ('\n'), carriage 
-// return ('\r'), horizontal tab ('\t'), and vertical tab ('\v').
-inline boolean isSpace(int c)
-{
-  return ( isspace (c) == 0 ? false : true);
-}
-
-
-// Checks for an uppercase letter.
-inline boolean isUpperCase(int c)
-{
-  return ( isupper (c) == 0 ? false : true);
-}
-
-
-// Checks for a hexadecimal digits, i.e. one of 0 1 2 3 4 5 6 7 
-// 8 9 a b c d e f A B C D E F.
-inline boolean isHexadecimalDigit(int c)
-{
-  return ( isxdigit (c) == 0 ? false : true);
-}
-
-
-// Converts c to a 7-bit unsigned char value that fits into the 
-// ASCII character set, by clearing the high-order bits.
-inline int toAscii(int c)
-{
-  return toascii (c);
-}
-
-
-// Warning:
-// Many people will be unhappy if you use this function. 
-// This function will convert accented letters into random 
-// characters.
-
-// Converts the letter c to lower case, if possible.
-inline int toLowerCase(int c)
-{
-  return tolower (c);
-}
-
-
-// Converts the letter c to upper case, if possible.
-inline int toUpperCase(int c)
-{
-  return toupper (c);
-}
-
-#endif
\ No newline at end of file
diff --git a/cores/robot/WInterrupts.c b/cores/robot/WInterrupts.c
deleted file mode 100644
index d3fbf10..0000000
--- a/cores/robot/WInterrupts.c
+++ /dev/null
@@ -1,334 +0,0 @@
-/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */
-
-/*
-  Part of the Wiring project - http://wiring.uniandes.edu.co
-
-  Copyright (c) 2004-05 Hernando Barragan
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General
-  Public License along with this library; if not, write to the
-  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
-  Boston, MA  02111-1307  USA
-  
-  Modified 24 November 2006 by David A. Mellis
-  Modified 1 August 2010 by Mark Sproul
-*/
-
-#include <inttypes.h>
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <avr/pgmspace.h>
-#include <stdio.h>
-
-#include "wiring_private.h"
-
-static volatile voidFuncPtr intFunc[EXTERNAL_NUM_INTERRUPTS];
-// volatile static voidFuncPtr twiIntFunc;
-
-void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) {
-  if(interruptNum < EXTERNAL_NUM_INTERRUPTS) {
-    intFunc[interruptNum] = userFunc;
-    
-    // Configure the interrupt mode (trigger on low input, any change, rising
-    // edge, or falling edge).  The mode constants were chosen to correspond
-    // to the configuration bits in the hardware register, so we simply shift
-    // the mode into place.
-      
-    // Enable the interrupt.
-      
-    switch (interruptNum) {
-#if defined(__AVR_ATmega32U4__)
-	// I hate doing this, but the register assignment differs between the 1280/2560
-	// and the 32U4.  Since avrlib defines registers PCMSK1 and PCMSK2 that aren't 
-	// even present on the 32U4 this is the only way to distinguish between them.
-    case 0:
-	EICRA = (EICRA & ~((1<<ISC00) | (1<<ISC01))) | (mode << ISC00);
-	EIMSK |= (1<<INT0);
-	break;
-    case 1:
-	EICRA = (EICRA & ~((1<<ISC10) | (1<<ISC11))) | (mode << ISC10);
-	EIMSK |= (1<<INT1);
-	break;	
-    case 2:
-        EICRA = (EICRA & ~((1<<ISC20) | (1<<ISC21))) | (mode << ISC20);
-        EIMSK |= (1<<INT2);
-        break;
-    case 3:
-        EICRA = (EICRA & ~((1<<ISC30) | (1<<ISC31))) | (mode << ISC30);
-        EIMSK |= (1<<INT3);
-        break;
-    case 4:
-        EICRB = (EICRB & ~((1<<ISC60) | (1<<ISC61))) | (mode << ISC60);
-        EIMSK |= (1<<INT6);
-        break;
-#elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
-    case 2:
-      EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
-      EIMSK |= (1 << INT0);
-      break;
-    case 3:
-      EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
-      EIMSK |= (1 << INT1);
-      break;
-    case 4:
-      EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
-      EIMSK |= (1 << INT2);
-      break;
-    case 5:
-      EICRA = (EICRA & ~((1 << ISC30) | (1 << ISC31))) | (mode << ISC30);
-      EIMSK |= (1 << INT3);
-      break;
-    case 0:
-      EICRB = (EICRB & ~((1 << ISC40) | (1 << ISC41))) | (mode << ISC40);
-      EIMSK |= (1 << INT4);
-      break;
-    case 1:
-      EICRB = (EICRB & ~((1 << ISC50) | (1 << ISC51))) | (mode << ISC50);
-      EIMSK |= (1 << INT5);
-      break;
-    case 6:
-      EICRB = (EICRB & ~((1 << ISC60) | (1 << ISC61))) | (mode << ISC60);
-      EIMSK |= (1 << INT6);
-      break;
-    case 7:
-      EICRB = (EICRB & ~((1 << ISC70) | (1 << ISC71))) | (mode << ISC70);
-      EIMSK |= (1 << INT7);
-      break;
-#else		
-    case 0:
-    #if defined(EICRA) && defined(ISC00) && defined(EIMSK)
-      EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
-      EIMSK |= (1 << INT0);
-    #elif defined(MCUCR) && defined(ISC00) && defined(GICR)
-      MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
-      GICR |= (1 << INT0);
-    #elif defined(MCUCR) && defined(ISC00) && defined(GIMSK)
-      MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
-      GIMSK |= (1 << INT0);
-    #else
-      #error attachInterrupt not finished for this CPU (case 0)
-    #endif
-      break;
-
-    case 1:
-    #if defined(EICRA) && defined(ISC10) && defined(ISC11) && defined(EIMSK)
-      EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
-      EIMSK |= (1 << INT1);
-    #elif defined(MCUCR) && defined(ISC10) && defined(ISC11) && defined(GICR)
-      MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
-      GICR |= (1 << INT1);
-    #elif defined(MCUCR) && defined(ISC10) && defined(GIMSK) && defined(GIMSK)
-      MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
-      GIMSK |= (1 << INT1);
-    #else
-      #warning attachInterrupt may need some more work for this cpu (case 1)
-    #endif
-      break;
-    
-    case 2:
-    #if defined(EICRA) && defined(ISC20) && defined(ISC21) && defined(EIMSK)
-      EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
-      EIMSK |= (1 << INT2);
-    #elif defined(MCUCR) && defined(ISC20) && defined(ISC21) && defined(GICR)
-      MCUCR = (MCUCR & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
-      GICR |= (1 << INT2);
-    #elif defined(MCUCR) && defined(ISC20) && defined(GIMSK) && defined(GIMSK)
-      MCUCR = (MCUCR & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
-      GIMSK |= (1 << INT2);
-    #endif
-      break;
-#endif
-    }
-  }
-}
-
-void detachInterrupt(uint8_t interruptNum) {
-  if(interruptNum < EXTERNAL_NUM_INTERRUPTS) {
-    // Disable the interrupt.  (We can't assume that interruptNum is equal
-    // to the number of the EIMSK bit to clear, as this isn't true on the 
-    // ATmega8.  There, INT0 is 6 and INT1 is 7.)
-    switch (interruptNum) {
-#if defined(__AVR_ATmega32U4__)
-    case 0:
-        EIMSK &= ~(1<<INT0);
-        break;
-    case 1:
-        EIMSK &= ~(1<<INT1);
-        break;
-    case 2:
-        EIMSK &= ~(1<<INT2);
-        break;
-    case 3:
-        EIMSK &= ~(1<<INT3);
-        break;	
-    case 4:
-        EIMSK &= ~(1<<INT6);
-        break;	
-#elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
-    case 2:
-      EIMSK &= ~(1 << INT0);
-      break;
-    case 3:
-      EIMSK &= ~(1 << INT1);
-      break;
-    case 4:
-      EIMSK &= ~(1 << INT2);
-      break;
-    case 5:
-      EIMSK &= ~(1 << INT3);
-      break;
-    case 0:
-      EIMSK &= ~(1 << INT4);
-      break;
-    case 1:
-      EIMSK &= ~(1 << INT5);
-      break;
-    case 6:
-      EIMSK &= ~(1 << INT6);
-      break;
-    case 7:
-      EIMSK &= ~(1 << INT7);
-      break;
-#else
-    case 0:
-    #if defined(EIMSK) && defined(INT0)
-      EIMSK &= ~(1 << INT0);
-    #elif defined(GICR) && defined(ISC00)
-      GICR &= ~(1 << INT0); // atmega32
-    #elif defined(GIMSK) && defined(INT0)
-      GIMSK &= ~(1 << INT0);
-    #else
-      #error detachInterrupt not finished for this cpu
-    #endif
-      break;
-
-    case 1:
-    #if defined(EIMSK) && defined(INT1)
-      EIMSK &= ~(1 << INT1);
-    #elif defined(GICR) && defined(INT1)
-      GICR &= ~(1 << INT1); // atmega32
-    #elif defined(GIMSK) && defined(INT1)
-      GIMSK &= ~(1 << INT1);
-    #else
-      #warning detachInterrupt may need some more work for this cpu (case 1)
-    #endif
-      break;
-#endif
-    }
-      
-    intFunc[interruptNum] = 0;
-  }
-}
-
-/*
-void attachInterruptTwi(void (*userFunc)(void) ) {
-  twiIntFunc = userFunc;
-}
-*/
-
-#if defined(__AVR_ATmega32U4__)
-ISR(INT0_vect) {
-	if(intFunc[EXTERNAL_INT_0])
-		intFunc[EXTERNAL_INT_0]();
-}
-
-ISR(INT1_vect) {
-	if(intFunc[EXTERNAL_INT_1])
-		intFunc[EXTERNAL_INT_1]();
-}
-
-ISR(INT2_vect) {
-    if(intFunc[EXTERNAL_INT_2])
-		intFunc[EXTERNAL_INT_2]();
-}
-
-ISR(INT3_vect) {
-    if(intFunc[EXTERNAL_INT_3])
-		intFunc[EXTERNAL_INT_3]();
-}
-
-ISR(INT6_vect) {
-    if(intFunc[EXTERNAL_INT_4])
-		intFunc[EXTERNAL_INT_4]();
-}
-
-#elif defined(EICRA) && defined(EICRB)
-
-ISR(INT0_vect) {
-  if(intFunc[EXTERNAL_INT_2])
-    intFunc[EXTERNAL_INT_2]();
-}
-
-ISR(INT1_vect) {
-  if(intFunc[EXTERNAL_INT_3])
-    intFunc[EXTERNAL_INT_3]();
-}
-
-ISR(INT2_vect) {
-  if(intFunc[EXTERNAL_INT_4])
-    intFunc[EXTERNAL_INT_4]();
-}
-
-ISR(INT3_vect) {
-  if(intFunc[EXTERNAL_INT_5])
-    intFunc[EXTERNAL_INT_5]();
-}
-
-ISR(INT4_vect) {
-  if(intFunc[EXTERNAL_INT_0])
-    intFunc[EXTERNAL_INT_0]();
-}
-
-ISR(INT5_vect) {
-  if(intFunc[EXTERNAL_INT_1])
-    intFunc[EXTERNAL_INT_1]();
-}
-
-ISR(INT6_vect) {
-  if(intFunc[EXTERNAL_INT_6])
-    intFunc[EXTERNAL_INT_6]();
-}
-
-ISR(INT7_vect) {
-  if(intFunc[EXTERNAL_INT_7])
-    intFunc[EXTERNAL_INT_7]();
-}
-
-#else
-
-ISR(INT0_vect) {
-  if(intFunc[EXTERNAL_INT_0])
-    intFunc[EXTERNAL_INT_0]();
-}
-
-ISR(INT1_vect) {
-  if(intFunc[EXTERNAL_INT_1])
-    intFunc[EXTERNAL_INT_1]();
-}
-
-#if defined(EICRA) && defined(ISC20)
-ISR(INT2_vect) {
-  if(intFunc[EXTERNAL_INT_2])
-    intFunc[EXTERNAL_INT_2]();
-}
-#endif
-
-#endif
-
-/*
-ISR(TWI_vect) {
-  if(twiIntFunc)
-    twiIntFunc();
-}
-*/
-
diff --git a/cores/robot/WMath.cpp b/cores/robot/WMath.cpp
deleted file mode 100644
index 2120c4c..0000000
--- a/cores/robot/WMath.cpp
+++ /dev/null
@@ -1,60 +0,0 @@
-/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */
-
-/*
-  Part of the Wiring project - http://wiring.org.co
-  Copyright (c) 2004-06 Hernando Barragan
-  Modified 13 August 2006, David A. Mellis for Arduino - http://www.arduino.cc/
-  
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General
-  Public License along with this library; if not, write to the
-  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
-  Boston, MA  02111-1307  USA
-  
-  $Id$
-*/
-
-extern "C" {
-  #include "stdlib.h"
-}
-
-void randomSeed(unsigned int seed)
-{
-  if (seed != 0) {
-    srandom(seed);
-  }
-}
-
-long random(long howbig)
-{
-  if (howbig == 0) {
-    return 0;
-  }
-  return random() % howbig;
-}
-
-long random(long howsmall, long howbig)
-{
-  if (howsmall >= howbig) {
-    return howsmall;
-  }
-  long diff = howbig - howsmall;
-  return random(diff) + howsmall;
-}
-
-long map(long x, long in_min, long in_max, long out_min, long out_max)
-{
-  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-}
-
-unsigned int makeWord(unsigned int w) { return w; }
-unsigned int makeWord(unsigned char h, unsigned char l) { return (h << 8) | l; }
\ No newline at end of file
diff --git a/cores/robot/WString.cpp b/cores/robot/WString.cpp
deleted file mode 100644
index db79da4..0000000
--- a/cores/robot/WString.cpp
+++ /dev/null
@@ -1,746 +0,0 @@
-/*
-  WString.cpp - String library for Wiring & Arduino
-  ...mostly rewritten by Paul Stoffregen...
-  Copyright (c) 2009-10 Hernando Barragan.  All rights reserved.
-  Copyright 2011, Paul Stoffregen, paul@pjrc.com
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-*/
-
-#include "WString.h"
-
-
-/*********************************************/
-/*  Constructors                             */
-/*********************************************/
-
-String::String(const char *cstr)
-{
-	init();
-	if (cstr) copy(cstr, strlen(cstr));
-}
-
-String::String(const String &value)
-{
-	init();
-	*this = value;
-}
-
-String::String(const __FlashStringHelper *pstr)
-{
-	init();
-	*this = pstr;
-}
-
-#ifdef __GXX_EXPERIMENTAL_CXX0X__
-String::String(String &&rval)
-{
-	init();
-	move(rval);
-}
-String::String(StringSumHelper &&rval)
-{
-	init();
-	move(rval);
-}
-#endif
-
-String::String(char c)
-{
-	init();
-	char buf[2];
-	buf[0] = c;
-	buf[1] = 0;
-	*this = buf;
-}
-
-String::String(unsigned char value, unsigned char base)
-{
-	init();
-	char buf[9];
-	utoa(value, buf, base);
-	*this = buf;
-}
-
-String::String(int value, unsigned char base)
-{
-	init();
-	char buf[18];
-	itoa(value, buf, base);
-	*this = buf;
-}
-
-String::String(unsigned int value, unsigned char base)
-{
-	init();
-	char buf[17];
-	utoa(value, buf, base);
-	*this = buf;
-}
-
-String::String(long value, unsigned char base)
-{
-	init();
-	char buf[34];
-	ltoa(value, buf, base);
-	*this = buf;
-}
-
-String::String(unsigned long value, unsigned char base)
-{
-	init();
-	char buf[33];
-	ultoa(value, buf, base);
-	*this = buf;
-}
-
-String::String(float value, int decimalPlaces)
-{
-	init();
-	char buf[33];
-	*this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf);
-}
-
-String::String(double value, int decimalPlaces)
-{
-	init();
-	char buf[33];
-	*this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf);
-}
-
-String::~String()
-{
-	free(buffer);
-}
-
-/*********************************************/
-/*  Memory Management                        */
-/*********************************************/
-
-inline void String::init(void)
-{
-	buffer = NULL;
-	capacity = 0;
-	len = 0;
-	flags = 0;
-}
-
-void String::invalidate(void)
-{
-	if (buffer) free(buffer);
-	buffer = NULL;
-	capacity = len = 0;
-}
-
-unsigned char String::reserve(unsigned int size)
-{
-	if (buffer && capacity >= size) return 1;
-	if (changeBuffer(size)) {
-		if (len == 0) buffer[0] = 0;
-		return 1;
-	}
-	return 0;
-}
-
-unsigned char String::changeBuffer(unsigned int maxStrLen)
-{
-	char *newbuffer = (char *)realloc(buffer, maxStrLen + 1);
-	if (newbuffer) {
-		buffer = newbuffer;
-		capacity = maxStrLen;
-		return 1;
-	}
-	return 0;
-}
-
-/*********************************************/
-/*  Copy and Move                            */
-/*********************************************/
-
-String & String::copy(const char *cstr, unsigned int length)
-{
-	if (!reserve(length)) {
-		invalidate();
-		return *this;
-	}
-	len = length;
-	strcpy(buffer, cstr);
-	return *this;
-}
-
-String & String::copy(const __FlashStringHelper *pstr, unsigned int length)
-{
-	if (!reserve(length)) {
-		invalidate();
-		return *this;
-	}
-	len = length;
-	strcpy_P(buffer, (const prog_char *)pstr);
-	return *this;
-}
-
-#ifdef __GXX_EXPERIMENTAL_CXX0X__
-void String::move(String &rhs)
-{
-	if (buffer) {
-		if (capacity >= rhs.len) {
-			strcpy(buffer, rhs.buffer);
-			len = rhs.len;
-			rhs.len = 0;
-			return;
-		} else {
-			free(buffer);
-		}
-	}
-	buffer = rhs.buffer;
-	capacity = rhs.capacity;
-	len = rhs.len;
-	rhs.buffer = NULL;
-	rhs.capacity = 0;
-	rhs.len = 0;
-}
-#endif
-
-String & String::operator = (const String &rhs)
-{
-	if (this == &rhs) return *this;
-	
-	if (rhs.buffer) copy(rhs.buffer, rhs.len);
-	else invalidate();
-	
-	return *this;
-}
-
-#ifdef __GXX_EXPERIMENTAL_CXX0X__
-String & String::operator = (String &&rval)
-{
-	if (this != &rval) move(rval);
-	return *this;
-}
-
-String & String::operator = (StringSumHelper &&rval)
-{
-	if (this != &rval) move(rval);
-	return *this;
-}
-#endif
-
-String & String::operator = (const char *cstr)
-{
-	if (cstr) copy(cstr, strlen(cstr));
-	else invalidate();
-	
-	return *this;
-}
-
-String & String::operator = (const __FlashStringHelper *pstr)
-{
-	if (pstr) copy(pstr, strlen_P((const prog_char *)pstr));
-	else invalidate();
-
-	return *this;
-}
-
-/*********************************************/
-/*  concat                                   */
-/*********************************************/
-
-unsigned char String::concat(const String &s)
-{
-	return concat(s.buffer, s.len);
-}
-
-unsigned char String::concat(const char *cstr, unsigned int length)
-{
-	unsigned int newlen = len + length;
-	if (!cstr) return 0;
-	if (length == 0) return 1;
-	if (!reserve(newlen)) return 0;
-	strcpy(buffer + len, cstr);
-	len = newlen;
-	return 1;
-}
-
-unsigned char String::concat(const char *cstr)
-{
-	if (!cstr) return 0;
-	return concat(cstr, strlen(cstr));
-}
-
-unsigned char String::concat(char c)
-{
-	char buf[2];
-	buf[0] = c;
-	buf[1] = 0;
-	return concat(buf, 1);
-}
-
-unsigned char String::concat(unsigned char num)
-{
-	char buf[4];
-	itoa(num, buf, 10);
-	return concat(buf, strlen(buf));
-}
-
-unsigned char String::concat(int num)
-{
-	char buf[12];
-	itoa(num, buf, 10);
-	return concat(buf, strlen(buf));
-}
-
-unsigned char String::concat(unsigned int num)
-{
-	char buf[11];
-	utoa(num, buf, 10);
-	return concat(buf, strlen(buf));
-}
-
-unsigned char String::concat(long num)
-{
-	char buf[12];
-	ltoa(num, buf, 10);
-	return concat(buf, strlen(buf));
-}
-
-unsigned char String::concat(unsigned long num)
-{
-	char buf[11];
-	ultoa(num, buf, 10);
-	return concat(buf, strlen(buf));
-}
-
-unsigned char String::concat(float num)
-{
-	char buf[20];
-	char* string = dtostrf(num, 4, 2, buf);
-	return concat(string, strlen(string));
-}
-
-unsigned char String::concat(double num)
-{
-	char buf[20];
-	char* string = dtostrf(num, 4, 2, buf);
-	return concat(string, strlen(string));
-}
-
-unsigned char String::concat(const __FlashStringHelper * str)
-{
-	if (!str) return 0;
-	int length = strlen_P((const char *) str);
-	if (length == 0) return 1;
-	unsigned int newlen = len + length;
-	if (!reserve(newlen)) return 0;
-	strcpy_P(buffer + len, (const char *) str);
-	len = newlen;
-	return 1;
-}
-
-/*********************************************/
-/*  Concatenate                              */
-/*********************************************/
-
-StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(rhs.buffer, rhs.len)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!cstr || !a.concat(cstr, strlen(cstr))) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, char c)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(c)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, int num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, long num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, float num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, double num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, const __FlashStringHelper *rhs)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(rhs))	a.invalidate();
-	return a;
-}
-
-/*********************************************/
-/*  Comparison                               */
-/*********************************************/
-
-int String::compareTo(const String &s) const
-{
-	if (!buffer || !s.buffer) {
-		if (s.buffer && s.len > 0) return 0 - *(unsigned char *)s.buffer;
-		if (buffer && len > 0) return *(unsigned char *)buffer;
-		return 0;
-	}
-	return strcmp(buffer, s.buffer);
-}
-
-unsigned char String::equals(const String &s2) const
-{
-	return (len == s2.len && compareTo(s2) == 0);
-}
-
-unsigned char String::equals(const char *cstr) const
-{
-	if (len == 0) return (cstr == NULL || *cstr == 0);
-	if (cstr == NULL) return buffer[0] == 0;
-	return strcmp(buffer, cstr) == 0;
-}
-
-unsigned char String::operator<(const String &rhs) const
-{
-	return compareTo(rhs) < 0;
-}
-
-unsigned char String::operator>(const String &rhs) const
-{
-	return compareTo(rhs) > 0;
-}
-
-unsigned char String::operator<=(const String &rhs) const
-{
-	return compareTo(rhs) <= 0;
-}
-
-unsigned char String::operator>=(const String &rhs) const
-{
-	return compareTo(rhs) >= 0;
-}
-
-unsigned char String::equalsIgnoreCase( const String &s2 ) const
-{
-	if (this == &s2) return 1;
-	if (len != s2.len) return 0;
-	if (len == 0) return 1;
-	const char *p1 = buffer;
-	const char *p2 = s2.buffer;
-	while (*p1) {
-		if (tolower(*p1++) != tolower(*p2++)) return 0;
-	} 
-	return 1;
-}
-
-unsigned char String::startsWith( const String &s2 ) const
-{
-	if (len < s2.len) return 0;
-	return startsWith(s2, 0);
-}
-
-unsigned char String::startsWith( const String &s2, unsigned int offset ) const
-{
-	if (offset > len - s2.len || !buffer || !s2.buffer) return 0;
-	return strncmp( &buffer[offset], s2.buffer, s2.len ) == 0;
-}
-
-unsigned char String::endsWith( const String &s2 ) const
-{
-	if ( len < s2.len || !buffer || !s2.buffer) return 0;
-	return strcmp(&buffer[len - s2.len], s2.buffer) == 0;
-}
-
-/*********************************************/
-/*  Character Access                         */
-/*********************************************/
-
-char String::charAt(unsigned int loc) const
-{
-	return operator[](loc);
-}
-
-void String::setCharAt(unsigned int loc, char c) 
-{
-	if (loc < len) buffer[loc] = c;
-}
-
-char & String::operator[](unsigned int index)
-{
-	static char dummy_writable_char;
-	if (index >= len || !buffer) {
-		dummy_writable_char = 0;
-		return dummy_writable_char;
-	}
-	return buffer[index];
-}
-
-char String::operator[]( unsigned int index ) const
-{
-	if (index >= len || !buffer) return 0;
-	return buffer[index];
-}
-
-void String::getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index) const
-{
-	if (!bufsize || !buf) return;
-	if (index >= len) {
-		buf[0] = 0;
-		return;
-	}
-	unsigned int n = bufsize - 1;
-	if (n > len - index) n = len - index;
-	strncpy((char *)buf, buffer + index, n);
-	buf[n] = 0;
-}
-
-/*********************************************/
-/*  Search                                   */
-/*********************************************/
-
-int String::indexOf(char c) const
-{
-	return indexOf(c, 0);
-}
-
-int String::indexOf( char ch, unsigned int fromIndex ) const
-{
-	if (fromIndex >= len) return -1;
-	const char* temp = strchr(buffer + fromIndex, ch);
-	if (temp == NULL) return -1;
-	return temp - buffer;
-}
-
-int String::indexOf(const String &s2) const
-{
-	return indexOf(s2, 0);
-}
-
-int String::indexOf(const String &s2, unsigned int fromIndex) const
-{
-	if (fromIndex >= len) return -1;
-	const char *found = strstr(buffer + fromIndex, s2.buffer);
-	if (found == NULL) return -1;
-	return found - buffer;
-}
-
-int String::lastIndexOf( char theChar ) const
-{
-	return lastIndexOf(theChar, len - 1);
-}
-
-int String::lastIndexOf(char ch, unsigned int fromIndex) const
-{
-	if (fromIndex >= len) return -1;
-	char tempchar = buffer[fromIndex + 1];
-	buffer[fromIndex + 1] = '\0';
-	char* temp = strrchr( buffer, ch );
-	buffer[fromIndex + 1] = tempchar;
-	if (temp == NULL) return -1;
-	return temp - buffer;
-}
-
-int String::lastIndexOf(const String &s2) const
-{
-	return lastIndexOf(s2, len - s2.len);
-}
-
-int String::lastIndexOf(const String &s2, unsigned int fromIndex) const
-{
-  	if (s2.len == 0 || len == 0 || s2.len > len) return -1;
-	if (fromIndex >= len) fromIndex = len - 1;
-	int found = -1;
-	for (char *p = buffer; p <= buffer + fromIndex; p++) {
-		p = strstr(p, s2.buffer);
-		if (!p) break;
-		if ((unsigned int)(p - buffer) <= fromIndex) found = p - buffer;
-	}
-	return found;
-}
-
-String String::substring(unsigned int left, unsigned int right) const
-{
-	if (left > right) {
-		unsigned int temp = right;
-		right = left;
-		left = temp;
-	}
-	String out;
-	if (left > len) return out;
-	if (right > len) right = len;
-	char temp = buffer[right];  // save the replaced character
-	buffer[right] = '\0';	
-	out = buffer + left;  // pointer arithmetic
-	buffer[right] = temp;  //restore character
-	return out;
-}
-
-/*********************************************/
-/*  Modification                             */
-/*********************************************/
-
-void String::replace(char find, char replace)
-{
-	if (!buffer) return;
-	for (char *p = buffer; *p; p++) {
-		if (*p == find) *p = replace;
-	}
-}
-
-void String::replace(const String& find, const String& replace)
-{
-	if (len == 0 || find.len == 0) return;
-	int diff = replace.len - find.len;
-	char *readFrom = buffer;
-	char *foundAt;
-	if (diff == 0) {
-		while ((foundAt = strstr(readFrom, find.buffer)) != NULL) {
-			memcpy(foundAt, replace.buffer, replace.len);
-			readFrom = foundAt + replace.len;
-		}
-	} else if (diff < 0) {
-		char *writeTo = buffer;
-		while ((foundAt = strstr(readFrom, find.buffer)) != NULL) {
-			unsigned int n = foundAt - readFrom;
-			memcpy(writeTo, readFrom, n);
-			writeTo += n;
-			memcpy(writeTo, replace.buffer, replace.len);
-			writeTo += replace.len;
-			readFrom = foundAt + find.len;
-			len += diff;
-		}
-		strcpy(writeTo, readFrom);
-	} else {
-		unsigned int size = len; // compute size needed for result
-		while ((foundAt = strstr(readFrom, find.buffer)) != NULL) {
-			readFrom = foundAt + find.len;
-			size += diff;
-		}
-		if (size == len) return;
-		if (size > capacity && !changeBuffer(size)) return; // XXX: tell user!
-		int index = len - 1;
-		while (index >= 0 && (index = lastIndexOf(find, index)) >= 0) {
-			readFrom = buffer + index + find.len;
-			memmove(readFrom + diff, readFrom, len - (readFrom - buffer));
-			len += diff;
-			buffer[len] = 0;
-			memcpy(buffer + index, replace.buffer, replace.len);
-			index--;
-		}
-	}
-}
-
-void String::remove(unsigned int index){
-	if (index >= len) { return; }
-	int count = len - index;
-	remove(index, count);
-}
-
-void String::remove(unsigned int index, unsigned int count){
-	if (index >= len) { return; }
-	if (count <= 0) { return; }
-	if (index + count > len) { count = len - index; }
-	char *writeTo = buffer + index;
-	len = len - count;
-	strncpy(writeTo, buffer + index + count,len - index);
-	buffer[len] = 0;
-}
-
-void String::toLowerCase(void)
-{
-	if (!buffer) return;
-	for (char *p = buffer; *p; p++) {
-		*p = tolower(*p);
-	}
-}
-
-void String::toUpperCase(void)
-{
-	if (!buffer) return;
-	for (char *p = buffer; *p; p++) {
-		*p = toupper(*p);
-	}
-}
-
-void String::trim(void)
-{
-	if (!buffer || len == 0) return;
-	char *begin = buffer;
-	while (isspace(*begin)) begin++;
-	char *end = buffer + len - 1;
-	while (isspace(*end) && end >= begin) end--;
-	len = end + 1 - begin;
-	if (begin > buffer) memcpy(buffer, begin, len);
-	buffer[len] = 0;
-}
-
-/*********************************************/
-/*  Parsing / Conversion                     */
-/*********************************************/
-
-long String::toInt(void) const
-{
-	if (buffer) return atol(buffer);
-	return 0;
-}
-
-float String::toFloat(void) const
-{
-	if (buffer) return float(atof(buffer));
-	return 0;
-}
diff --git a/cores/robot/WString.h b/cores/robot/WString.h
deleted file mode 100644
index 0404f76..0000000
--- a/cores/robot/WString.h
+++ /dev/null
@@ -1,225 +0,0 @@
-/*
-  WString.h - String library for Wiring & Arduino
-  ...mostly rewritten by Paul Stoffregen...
-  Copyright (c) 2009-10 Hernando Barragan.  All right reserved.
-  Copyright 2011, Paul Stoffregen, paul@pjrc.com
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-*/
-
-#ifndef String_class_h
-#define String_class_h
-#ifdef __cplusplus
-
-#include <stdlib.h>
-#include <string.h>
-#include <ctype.h>
-#include <avr/pgmspace.h>
-
-// When compiling programs with this class, the following gcc parameters
-// dramatically increase performance and memory (RAM) efficiency, typically
-// with little or no increase in code size.
-//     -felide-constructors
-//     -std=c++0x
-
-class __FlashStringHelper;
-#define F(string_literal) (reinterpret_cast<const __FlashStringHelper *>(PSTR(string_literal)))
-
-// An inherited class for holding the result of a concatenation.  These
-// result objects are assumed to be writable by subsequent concatenations.
-class StringSumHelper;
-
-// The string class
-class String
-{
-	// use a function pointer to allow for "if (s)" without the
-	// complications of an operator bool(). for more information, see:
-	// http://www.artima.com/cppsource/safebool.html
-	typedef void (String::*StringIfHelperType)() const;
-	void StringIfHelper() const {}
-
-public:
-	// constructors
-	// creates a copy of the initial value.
-	// if the initial value is null or invalid, or if memory allocation
-	// fails, the string will be marked as invalid (i.e. "if (s)" will
-	// be false).
-	String(const char *cstr = "");
-	String(const String &str);
-	String(const __FlashStringHelper *str);
-	#ifdef __GXX_EXPERIMENTAL_CXX0X__
-	String(String &&rval);
-	String(StringSumHelper &&rval);
-	#endif
-	explicit String(char c);
-	explicit String(unsigned char, unsigned char base=10);
-	explicit String(int, unsigned char base=10);
-	explicit String(unsigned int, unsigned char base=10);
-	explicit String(long, unsigned char base=10);
-	explicit String(unsigned long, unsigned char base=10);
-	explicit String(float, int decimalPlaces=2);
-	explicit String(double, int decimalPlaces=2);
-	~String(void);
-
-	// memory management
-	// return true on success, false on failure (in which case, the string
-	// is left unchanged).  reserve(0), if successful, will validate an
-	// invalid string (i.e., "if (s)" will be true afterwards)
-	unsigned char reserve(unsigned int size);
-	inline unsigned int length(void) const {return len;}
-
-	// creates a copy of the assigned value.  if the value is null or
-	// invalid, or if the memory allocation fails, the string will be 
-	// marked as invalid ("if (s)" will be false).
-	String & operator = (const String &rhs);
-	String & operator = (const char *cstr);
-	String & operator = (const __FlashStringHelper *str);
-	#ifdef __GXX_EXPERIMENTAL_CXX0X__
-	String & operator = (String &&rval);
-	String & operator = (StringSumHelper &&rval);
-	#endif
-
-	// concatenate (works w/ built-in types)
-	
-	// returns true on success, false on failure (in which case, the string
-	// is left unchanged).  if the argument is null or invalid, the 
-	// concatenation is considered unsucessful.  
-	unsigned char concat(const String &str);
-	unsigned char concat(const char *cstr);
-	unsigned char concat(char c);
-	unsigned char concat(unsigned char c);
-	unsigned char concat(int num);
-	unsigned char concat(unsigned int num);
-	unsigned char concat(long num);
-	unsigned char concat(unsigned long num);
-	unsigned char concat(float num);
-	unsigned char concat(double num);
-	unsigned char concat(const __FlashStringHelper * str);
-	
-	// if there's not enough memory for the concatenated value, the string
-	// will be left unchanged (but this isn't signalled in any way)
-	String & operator += (const String &rhs)	{concat(rhs); return (*this);}
-	String & operator += (const char *cstr)		{concat(cstr); return (*this);}
-	String & operator += (char c)			{concat(c); return (*this);}
-	String & operator += (unsigned char num)		{concat(num); return (*this);}
-	String & operator += (int num)			{concat(num); return (*this);}
-	String & operator += (unsigned int num)		{concat(num); return (*this);}
-	String & operator += (long num)			{concat(num); return (*this);}
-	String & operator += (unsigned long num)	{concat(num); return (*this);}
-	String & operator += (float num)		{concat(num); return (*this);}
-	String & operator += (double num)		{concat(num); return (*this);}
-	String & operator += (const __FlashStringHelper *str){concat(str); return (*this);}
-
-	friend StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs);
-	friend StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr);
-	friend StringSumHelper & operator + (const StringSumHelper &lhs, char c);
-	friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num);
-	friend StringSumHelper & operator + (const StringSumHelper &lhs, int num);
-	friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num);
-	friend StringSumHelper & operator + (const StringSumHelper &lhs, long num);
-	friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num);
-	friend StringSumHelper & operator + (const StringSumHelper &lhs, float num);
-	friend StringSumHelper & operator + (const StringSumHelper &lhs, double num);
-	friend StringSumHelper & operator + (const StringSumHelper &lhs, const __FlashStringHelper *rhs);
-
-	// comparison (only works w/ Strings and "strings")
-	operator StringIfHelperType() const { return buffer ? &String::StringIfHelper : 0; }
-	int compareTo(const String &s) const;
-	unsigned char equals(const String &s) const;
-	unsigned char equals(const char *cstr) const;
-	unsigned char operator == (const String &rhs) const {return equals(rhs);}
-	unsigned char operator == (const char *cstr) const {return equals(cstr);}
-	unsigned char operator != (const String &rhs) const {return !equals(rhs);}
-	unsigned char operator != (const char *cstr) const {return !equals(cstr);}
-	unsigned char operator <  (const String &rhs) const;
-	unsigned char operator >  (const String &rhs) const;
-	unsigned char operator <= (const String &rhs) const;
-	unsigned char operator >= (const String &rhs) const;
-	unsigned char equalsIgnoreCase(const String &s) const;
-	unsigned char startsWith( const String &prefix) const;
-	unsigned char startsWith(const String &prefix, unsigned int offset) const;
-	unsigned char endsWith(const String &suffix) const;
-
-	// character acccess
-	char charAt(unsigned int index) const;
-	void setCharAt(unsigned int index, char c);
-	char operator [] (unsigned int index) const;
-	char& operator [] (unsigned int index);
-	void getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index=0) const;
-	void toCharArray(char *buf, unsigned int bufsize, unsigned int index=0) const
-		{getBytes((unsigned char *)buf, bufsize, index);}
-	const char * c_str() const { return buffer; }
-
-	// search
-	int indexOf( char ch ) const;
-	int indexOf( char ch, unsigned int fromIndex ) const;
-	int indexOf( const String &str ) const;
-	int indexOf( const String &str, unsigned int fromIndex ) const;
-	int lastIndexOf( char ch ) const;
-	int lastIndexOf( char ch, unsigned int fromIndex ) const;
-	int lastIndexOf( const String &str ) const;
-	int lastIndexOf( const String &str, unsigned int fromIndex ) const;
-	String substring( unsigned int beginIndex ) const { return substring(beginIndex, len); };
-	String substring( unsigned int beginIndex, unsigned int endIndex ) const;
-
-	// modification
-	void replace(char find, char replace);
-	void replace(const String& find, const String& replace);
-	void remove(unsigned int index);
-	void remove(unsigned int index, unsigned int count);
-	void toLowerCase(void);
-	void toUpperCase(void);
-	void trim(void);
-
-	// parsing/conversion
-	long toInt(void) const;
-	float toFloat(void) const;
-
-protected:
-	char *buffer;	        // the actual char array
-	unsigned int capacity;  // the array length minus one (for the '\0')
-	unsigned int len;       // the String length (not counting the '\0')
-	unsigned char flags;    // unused, for future features
-protected:
-	void init(void);
-	void invalidate(void);
-	unsigned char changeBuffer(unsigned int maxStrLen);
-	unsigned char concat(const char *cstr, unsigned int length);
-
-	// copy and move
-	String & copy(const char *cstr, unsigned int length);
-	String & copy(const __FlashStringHelper *pstr, unsigned int length);
-	#ifdef __GXX_EXPERIMENTAL_CXX0X__
-	void move(String &rhs);
-	#endif
-};
-
-class StringSumHelper : public String
-{
-public:
-	StringSumHelper(const String &s) : String(s) {}
-	StringSumHelper(const char *p) : String(p) {}
-	StringSumHelper(char c) : String(c) {}
-	StringSumHelper(unsigned char num) : String(num) {}
-	StringSumHelper(int num) : String(num) {}
-	StringSumHelper(unsigned int num) : String(num) {}
-	StringSumHelper(long num) : String(num) {}
-	StringSumHelper(unsigned long num) : String(num) {}
-	StringSumHelper(float num) : String(num) {}
-	StringSumHelper(double num) : String(num) {}
-};
-
-#endif  // __cplusplus
-#endif  // String_class_h
diff --git a/cores/robot/binary.h b/cores/robot/binary.h
deleted file mode 100644
index af14980..0000000
--- a/cores/robot/binary.h
+++ /dev/null
@@ -1,515 +0,0 @@
-#ifndef Binary_h
-#define Binary_h
-
-#define B0 0
-#define B00 0
-#define B000 0
-#define B0000 0
-#define B00000 0
-#define B000000 0
-#define B0000000 0
-#define B00000000 0
-#define B1 1
-#define B01 1
-#define B001 1
-#define B0001 1
-#define B00001 1
-#define B000001 1
-#define B0000001 1
-#define B00000001 1
-#define B10 2
-#define B010 2
-#define B0010 2
-#define B00010 2
-#define B000010 2
-#define B0000010 2
-#define B00000010 2
-#define B11 3
-#define B011 3
-#define B0011 3
-#define B00011 3
-#define B000011 3
-#define B0000011 3
-#define B00000011 3
-#define B100 4
-#define B0100 4
-#define B00100 4
-#define B000100 4
-#define B0000100 4
-#define B00000100 4
-#define B101 5
-#define B0101 5
-#define B00101 5
-#define B000101 5
-#define B0000101 5
-#define B00000101 5
-#define B110 6
-#define B0110 6
-#define B00110 6
-#define B000110 6
-#define B0000110 6
-#define B00000110 6
-#define B111 7
-#define B0111 7
-#define B00111 7
-#define B000111 7
-#define B0000111 7
-#define B00000111 7
-#define B1000 8
-#define B01000 8
-#define B001000 8
-#define B0001000 8
-#define B00001000 8
-#define B1001 9
-#define B01001 9
-#define B001001 9
-#define B0001001 9
-#define B00001001 9
-#define B1010 10
-#define B01010 10
-#define B001010 10
-#define B0001010 10
-#define B00001010 10
-#define B1011 11
-#define B01011 11
-#define B001011 11
-#define B0001011 11
-#define B00001011 11
-#define B1100 12
-#define B01100 12
-#define B001100 12
-#define B0001100 12
-#define B00001100 12
-#define B1101 13
-#define B01101 13
-#define B001101 13
-#define B0001101 13
-#define B00001101 13
-#define B1110 14
-#define B01110 14
-#define B001110 14
-#define B0001110 14
-#define B00001110 14
-#define B1111 15
-#define B01111 15
-#define B001111 15
-#define B0001111 15
-#define B00001111 15
-#define B10000 16
-#define B010000 16
-#define B0010000 16
-#define B00010000 16
-#define B10001 17
-#define B010001 17
-#define B0010001 17
-#define B00010001 17
-#define B10010 18
-#define B010010 18
-#define B0010010 18
-#define B00010010 18
-#define B10011 19
-#define B010011 19
-#define B0010011 19
-#define B00010011 19
-#define B10100 20
-#define B010100 20
-#define B0010100 20
-#define B00010100 20
-#define B10101 21
-#define B010101 21
-#define B0010101 21
-#define B00010101 21
-#define B10110 22
-#define B010110 22
-#define B0010110 22
-#define B00010110 22
-#define B10111 23
-#define B010111 23
-#define B0010111 23
-#define B00010111 23
-#define B11000 24
-#define B011000 24
-#define B0011000 24
-#define B00011000 24
-#define B11001 25
-#define B011001 25
-#define B0011001 25
-#define B00011001 25
-#define B11010 26
-#define B011010 26
-#define B0011010 26
-#define B00011010 26
-#define B11011 27
-#define B011011 27
-#define B0011011 27
-#define B00011011 27
-#define B11100 28
-#define B011100 28
-#define B0011100 28
-#define B00011100 28
-#define B11101 29
-#define B011101 29
-#define B0011101 29
-#define B00011101 29
-#define B11110 30
-#define B011110 30
-#define B0011110 30
-#define B00011110 30
-#define B11111 31
-#define B011111 31
-#define B0011111 31
-#define B00011111 31
-#define B100000 32
-#define B0100000 32
-#define B00100000 32
-#define B100001 33
-#define B0100001 33
-#define B00100001 33
-#define B100010 34
-#define B0100010 34
-#define B00100010 34
-#define B100011 35
-#define B0100011 35
-#define B00100011 35
-#define B100100 36
-#define B0100100 36
-#define B00100100 36
-#define B100101 37
-#define B0100101 37
-#define B00100101 37
-#define B100110 38
-#define B0100110 38
-#define B00100110 38
-#define B100111 39
-#define B0100111 39
-#define B00100111 39
-#define B101000 40
-#define B0101000 40
-#define B00101000 40
-#define B101001 41
-#define B0101001 41
-#define B00101001 41
-#define B101010 42
-#define B0101010 42
-#define B00101010 42
-#define B101011 43
-#define B0101011 43
-#define B00101011 43
-#define B101100 44
-#define B0101100 44
-#define B00101100 44
-#define B101101 45
-#define B0101101 45
-#define B00101101 45
-#define B101110 46
-#define B0101110 46
-#define B00101110 46
-#define B101111 47
-#define B0101111 47
-#define B00101111 47
-#define B110000 48
-#define B0110000 48
-#define B00110000 48
-#define B110001 49
-#define B0110001 49
-#define B00110001 49
-#define B110010 50
-#define B0110010 50
-#define B00110010 50
-#define B110011 51
-#define B0110011 51
-#define B00110011 51
-#define B110100 52
-#define B0110100 52
-#define B00110100 52
-#define B110101 53
-#define B0110101 53
-#define B00110101 53
-#define B110110 54
-#define B0110110 54
-#define B00110110 54
-#define B110111 55
-#define B0110111 55
-#define B00110111 55
-#define B111000 56
-#define B0111000 56
-#define B00111000 56
-#define B111001 57
-#define B0111001 57
-#define B00111001 57
-#define B111010 58
-#define B0111010 58
-#define B00111010 58
-#define B111011 59
-#define B0111011 59
-#define B00111011 59
-#define B111100 60
-#define B0111100 60
-#define B00111100 60
-#define B111101 61
-#define B0111101 61
-#define B00111101 61
-#define B111110 62
-#define B0111110 62
-#define B00111110 62
-#define B111111 63
-#define B0111111 63
-#define B00111111 63
-#define B1000000 64
-#define B01000000 64
-#define B1000001 65
-#define B01000001 65
-#define B1000010 66
-#define B01000010 66
-#define B1000011 67
-#define B01000011 67
-#define B1000100 68
-#define B01000100 68
-#define B1000101 69
-#define B01000101 69
-#define B1000110 70
-#define B01000110 70
-#define B1000111 71
-#define B01000111 71
-#define B1001000 72
-#define B01001000 72
-#define B1001001 73
-#define B01001001 73
-#define B1001010 74
-#define B01001010 74
-#define B1001011 75
-#define B01001011 75
-#define B1001100 76
-#define B01001100 76
-#define B1001101 77
-#define B01001101 77
-#define B1001110 78
-#define B01001110 78
-#define B1001111 79
-#define B01001111 79
-#define B1010000 80
-#define B01010000 80
-#define B1010001 81
-#define B01010001 81
-#define B1010010 82
-#define B01010010 82
-#define B1010011 83
-#define B01010011 83
-#define B1010100 84
-#define B01010100 84
-#define B1010101 85
-#define B01010101 85
-#define B1010110 86
-#define B01010110 86
-#define B1010111 87
-#define B01010111 87
-#define B1011000 88
-#define B01011000 88
-#define B1011001 89
-#define B01011001 89
-#define B1011010 90
-#define B01011010 90
-#define B1011011 91
-#define B01011011 91
-#define B1011100 92
-#define B01011100 92
-#define B1011101 93
-#define B01011101 93
-#define B1011110 94
-#define B01011110 94
-#define B1011111 95
-#define B01011111 95
-#define B1100000 96
-#define B01100000 96
-#define B1100001 97
-#define B01100001 97
-#define B1100010 98
-#define B01100010 98
-#define B1100011 99
-#define B01100011 99
-#define B1100100 100
-#define B01100100 100
-#define B1100101 101
-#define B01100101 101
-#define B1100110 102
-#define B01100110 102
-#define B1100111 103
-#define B01100111 103
-#define B1101000 104
-#define B01101000 104
-#define B1101001 105
-#define B01101001 105
-#define B1101010 106
-#define B01101010 106
-#define B1101011 107
-#define B01101011 107
-#define B1101100 108
-#define B01101100 108
-#define B1101101 109
-#define B01101101 109
-#define B1101110 110
-#define B01101110 110
-#define B1101111 111
-#define B01101111 111
-#define B1110000 112
-#define B01110000 112
-#define B1110001 113
-#define B01110001 113
-#define B1110010 114
-#define B01110010 114
-#define B1110011 115
-#define B01110011 115
-#define B1110100 116
-#define B01110100 116
-#define B1110101 117
-#define B01110101 117
-#define B1110110 118
-#define B01110110 118
-#define B1110111 119
-#define B01110111 119
-#define B1111000 120
-#define B01111000 120
-#define B1111001 121
-#define B01111001 121
-#define B1111010 122
-#define B01111010 122
-#define B1111011 123
-#define B01111011 123
-#define B1111100 124
-#define B01111100 124
-#define B1111101 125
-#define B01111101 125
-#define B1111110 126
-#define B01111110 126
-#define B1111111 127
-#define B01111111 127
-#define B10000000 128
-#define B10000001 129
-#define B10000010 130
-#define B10000011 131
-#define B10000100 132
-#define B10000101 133
-#define B10000110 134
-#define B10000111 135
-#define B10001000 136
-#define B10001001 137
-#define B10001010 138
-#define B10001011 139
-#define B10001100 140
-#define B10001101 141
-#define B10001110 142
-#define B10001111 143
-#define B10010000 144
-#define B10010001 145
-#define B10010010 146
-#define B10010011 147
-#define B10010100 148
-#define B10010101 149
-#define B10010110 150
-#define B10010111 151
-#define B10011000 152
-#define B10011001 153
-#define B10011010 154
-#define B10011011 155
-#define B10011100 156
-#define B10011101 157
-#define B10011110 158
-#define B10011111 159
-#define B10100000 160
-#define B10100001 161
-#define B10100010 162
-#define B10100011 163
-#define B10100100 164
-#define B10100101 165
-#define B10100110 166
-#define B10100111 167
-#define B10101000 168
-#define B10101001 169
-#define B10101010 170
-#define B10101011 171
-#define B10101100 172
-#define B10101101 173
-#define B10101110 174
-#define B10101111 175
-#define B10110000 176
-#define B10110001 177
-#define B10110010 178
-#define B10110011 179
-#define B10110100 180
-#define B10110101 181
-#define B10110110 182
-#define B10110111 183
-#define B10111000 184
-#define B10111001 185
-#define B10111010 186
-#define B10111011 187
-#define B10111100 188
-#define B10111101 189
-#define B10111110 190
-#define B10111111 191
-#define B11000000 192
-#define B11000001 193
-#define B11000010 194
-#define B11000011 195
-#define B11000100 196
-#define B11000101 197
-#define B11000110 198
-#define B11000111 199
-#define B11001000 200
-#define B11001001 201
-#define B11001010 202
-#define B11001011 203
-#define B11001100 204
-#define B11001101 205
-#define B11001110 206
-#define B11001111 207
-#define B11010000 208
-#define B11010001 209
-#define B11010010 210
-#define B11010011 211
-#define B11010100 212
-#define B11010101 213
-#define B11010110 214
-#define B11010111 215
-#define B11011000 216
-#define B11011001 217
-#define B11011010 218
-#define B11011011 219
-#define B11011100 220
-#define B11011101 221
-#define B11011110 222
-#define B11011111 223
-#define B11100000 224
-#define B11100001 225
-#define B11100010 226
-#define B11100011 227
-#define B11100100 228
-#define B11100101 229
-#define B11100110 230
-#define B11100111 231
-#define B11101000 232
-#define B11101001 233
-#define B11101010 234
-#define B11101011 235
-#define B11101100 236
-#define B11101101 237
-#define B11101110 238
-#define B11101111 239
-#define B11110000 240
-#define B11110001 241
-#define B11110010 242
-#define B11110011 243
-#define B11110100 244
-#define B11110101 245
-#define B11110110 246
-#define B11110111 247
-#define B11111000 248
-#define B11111001 249
-#define B11111010 250
-#define B11111011 251
-#define B11111100 252
-#define B11111101 253
-#define B11111110 254
-#define B11111111 255
-
-#endif
diff --git a/cores/robot/main.cpp b/cores/robot/main.cpp
deleted file mode 100644
index 3d4e079..0000000
--- a/cores/robot/main.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <Arduino.h>
-
-int main(void)
-{
-	init();
-
-#if defined(USBCON)
-	USBDevice.attach();
-#endif
-	
-	setup();
-    
-	for (;;) {
-		loop();
-		if (serialEventRun) serialEventRun();
-	}
-        
-	return 0;
-}
-
diff --git a/cores/robot/new.cpp b/cores/robot/new.cpp
deleted file mode 100644
index b81031e..0000000
--- a/cores/robot/new.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-#include <new.h>
-
-void * operator new(size_t size)
-{
-  return malloc(size);
-}
-
-void * operator new[](size_t size)
-{
-  return malloc(size);
-}
-
-void operator delete(void * ptr)
-{
-  free(ptr);
-}
-
-void operator delete[](void * ptr)
-{
-  free(ptr);
-}
-
-int __cxa_guard_acquire(__guard *g) {return !*(char *)(g);};
-void __cxa_guard_release (__guard *g) {*(char *)g = 1;};
-void __cxa_guard_abort (__guard *) {}; 
-
-void __cxa_pure_virtual(void) {};
-
diff --git a/cores/robot/new.h b/cores/robot/new.h
deleted file mode 100644
index 991c86c..0000000
--- a/cores/robot/new.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/* Header to define new/delete operators as they aren't provided by avr-gcc by default
-   Taken from http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&t=59453 
- */
-
-#ifndef NEW_H
-#define NEW_H
-
-#include <stdlib.h>
-
-void * operator new(size_t size);
-void * operator new[](size_t size);
-void operator delete(void * ptr);
-void operator delete[](void * ptr);
-
-__extension__ typedef int __guard __attribute__((mode (__DI__)));
-
-extern "C" int __cxa_guard_acquire(__guard *);
-extern "C" void __cxa_guard_release (__guard *);
-extern "C" void __cxa_guard_abort (__guard *); 
-
-extern "C" void __cxa_pure_virtual(void);
-
-#endif
-
diff --git a/cores/robot/wiring.c b/cores/robot/wiring.c
deleted file mode 100644
index a3c4390..0000000
--- a/cores/robot/wiring.c
+++ /dev/null
@@ -1,324 +0,0 @@
-/*
-  wiring.c - Partial implementation of the Wiring API for the ATmega8.
-  Part of Arduino - http://www.arduino.cc/
-
-  Copyright (c) 2005-2006 David A. Mellis
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General
-  Public License along with this library; if not, write to the
-  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
-  Boston, MA  02111-1307  USA
-
-  $Id$
-*/
-
-#include "wiring_private.h"
-
-// the prescaler is set so that timer0 ticks every 64 clock cycles, and the
-// the overflow handler is called every 256 ticks.
-#define MICROSECONDS_PER_TIMER0_OVERFLOW (clockCyclesToMicroseconds(64 * 256))
-
-// the whole number of milliseconds per timer0 overflow
-#define MILLIS_INC (MICROSECONDS_PER_TIMER0_OVERFLOW / 1000)
-
-// the fractional number of milliseconds per timer0 overflow. we shift right
-// by three to fit these numbers into a byte. (for the clock speeds we care
-// about - 8 and 16 MHz - this doesn't lose precision.)
-#define FRACT_INC ((MICROSECONDS_PER_TIMER0_OVERFLOW % 1000) >> 3)
-#define FRACT_MAX (1000 >> 3)
-
-volatile unsigned long timer0_overflow_count = 0;
-volatile unsigned long timer0_millis = 0;
-static unsigned char timer0_fract = 0;
-
-#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__)
-ISR(TIM0_OVF_vect)
-#else
-ISR(TIMER0_OVF_vect)
-#endif
-{
-	// copy these to local variables so they can be stored in registers
-	// (volatile variables must be read from memory on every access)
-	unsigned long m = timer0_millis;
-	unsigned char f = timer0_fract;
-
-	m += MILLIS_INC;
-	f += FRACT_INC;
-	if (f >= FRACT_MAX) {
-		f -= FRACT_MAX;
-		m += 1;
-	}
-
-	timer0_fract = f;
-	timer0_millis = m;
-	timer0_overflow_count++;
-}
-
-unsigned long millis()
-{
-	unsigned long m;
-	uint8_t oldSREG = SREG;
-
-	// disable interrupts while we read timer0_millis or we might get an
-	// inconsistent value (e.g. in the middle of a write to timer0_millis)
-	cli();
-	m = timer0_millis;
-	SREG = oldSREG;
-
-	return m;
-}
-
-unsigned long micros() {
-	unsigned long m;
-	uint8_t oldSREG = SREG, t;
-	
-	cli();
-	m = timer0_overflow_count;
-#if defined(TCNT0)
-	t = TCNT0;
-#elif defined(TCNT0L)
-	t = TCNT0L;
-#else
-	#error TIMER 0 not defined
-#endif
-
-  
-#ifdef TIFR0
-	if ((TIFR0 & _BV(TOV0)) && (t < 255))
-		m++;
-#else
-	if ((TIFR & _BV(TOV0)) && (t < 255))
-		m++;
-#endif
-
-	SREG = oldSREG;
-	
-	return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond());
-}
-
-void delay(unsigned long ms)
-{
-	uint16_t start = (uint16_t)micros();
-
-	while (ms > 0) {
-		if (((uint16_t)micros() - start) >= 1000) {
-			ms--;
-			start += 1000;
-		}
-	}
-}
-
-/* Delay for the given number of microseconds.  Assumes a 8 or 16 MHz clock. */
-void delayMicroseconds(unsigned int us)
-{
-	// calling avrlib's delay_us() function with low values (e.g. 1 or
-	// 2 microseconds) gives delays longer than desired.
-	//delay_us(us);
-#if F_CPU >= 20000000L
-	// for the 20 MHz clock on rare Arduino boards
-
-	// for a one-microsecond delay, simply wait 2 cycle and return. The overhead
-	// of the function call yields a delay of exactly a one microsecond.
-	__asm__ __volatile__ (
-		"nop" "\n\t"
-		"nop"); //just waiting 2 cycle
-	if (--us == 0)
-		return;
-
-	// the following loop takes a 1/5 of a microsecond (4 cycles)
-	// per iteration, so execute it five times for each microsecond of
-	// delay requested.
-	us = (us<<2) + us; // x5 us
-
-	// account for the time taken in the preceeding commands.
-	us -= 2;
-
-#elif F_CPU >= 16000000L
-	// for the 16 MHz clock on most Arduino boards
-
-	// for a one-microsecond delay, simply return.  the overhead
-	// of the function call yields a delay of approximately 1 1/8 us.
-	if (--us == 0)
-		return;
-
-	// the following loop takes a quarter of a microsecond (4 cycles)
-	// per iteration, so execute it four times for each microsecond of
-	// delay requested.
-	us <<= 2;
-
-	// account for the time taken in the preceeding commands.
-	us -= 2;
-#else
-	// for the 8 MHz internal clock on the ATmega168
-
-	// for a one- or two-microsecond delay, simply return.  the overhead of
-	// the function calls takes more than two microseconds.  can't just
-	// subtract two, since us is unsigned; we'd overflow.
-	if (--us == 0)
-		return;
-	if (--us == 0)
-		return;
-
-	// the following loop takes half of a microsecond (4 cycles)
-	// per iteration, so execute it twice for each microsecond of
-	// delay requested.
-	us <<= 1;
-    
-	// partially compensate for the time taken by the preceeding commands.
-	// we can't subtract any more than this or we'd overflow w/ small delays.
-	us--;
-#endif
-
-	// busy wait
-	__asm__ __volatile__ (
-		"1: sbiw %0,1" "\n\t" // 2 cycles
-		"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
-	);
-}
-
-void init()
-{
-	// this needs to be called before setup() or some functions won't
-	// work there
-	sei();
-	
-	// on the ATmega168, timer 0 is also used for fast hardware pwm
-	// (using phase-correct PWM would mean that timer 0 overflowed half as often
-	// resulting in different millis() behavior on the ATmega8 and ATmega168)
-#if defined(TCCR0A) && defined(WGM01)
-	sbi(TCCR0A, WGM01);
-	sbi(TCCR0A, WGM00);
-#endif  
-
-	// set timer 0 prescale factor to 64
-#if defined(__AVR_ATmega128__)
-	// CPU specific: different values for the ATmega128
-	sbi(TCCR0, CS02);
-#elif defined(TCCR0) && defined(CS01) && defined(CS00)
-	// this combination is for the standard atmega8
-	sbi(TCCR0, CS01);
-	sbi(TCCR0, CS00);
-#elif defined(TCCR0B) && defined(CS01) && defined(CS00)
-	// this combination is for the standard 168/328/1280/2560
-	sbi(TCCR0B, CS01);
-	sbi(TCCR0B, CS00);
-#elif defined(TCCR0A) && defined(CS01) && defined(CS00)
-	// this combination is for the __AVR_ATmega645__ series
-	sbi(TCCR0A, CS01);
-	sbi(TCCR0A, CS00);
-#else
-	#error Timer 0 prescale factor 64 not set correctly
-#endif
-
-	// enable timer 0 overflow interrupt
-#if defined(TIMSK) && defined(TOIE0)
-	sbi(TIMSK, TOIE0);
-#elif defined(TIMSK0) && defined(TOIE0)
-	sbi(TIMSK0, TOIE0);
-#else
-	#error	Timer 0 overflow interrupt not set correctly
-#endif
-
-	// timers 1 and 2 are used for phase-correct hardware pwm
-	// this is better for motors as it ensures an even waveform
-	// note, however, that fast pwm mode can achieve a frequency of up
-	// 8 MHz (with a 16 MHz clock) at 50% duty cycle
-
-#if defined(TCCR1B) && defined(CS11) && defined(CS10)
-	TCCR1B = 0;
-
-	// set timer 1 prescale factor to 64
-	sbi(TCCR1B, CS11);
-#if F_CPU >= 8000000L
-	sbi(TCCR1B, CS10);
-#endif
-#elif defined(TCCR1) && defined(CS11) && defined(CS10)
-	sbi(TCCR1, CS11);
-#if F_CPU >= 8000000L
-	sbi(TCCR1, CS10);
-#endif
-#endif
-	// put timer 1 in 8-bit phase correct pwm mode
-#if defined(TCCR1A) && defined(WGM10)
-	sbi(TCCR1A, WGM10);
-#elif defined(TCCR1)
-	#warning this needs to be finished
-#endif
-
-	// set timer 2 prescale factor to 64
-#if defined(TCCR2) && defined(CS22)
-	sbi(TCCR2, CS22);
-#elif defined(TCCR2B) && defined(CS22)
-	sbi(TCCR2B, CS22);
-#else
-	#warning Timer 2 not finished (may not be present on this CPU)
-#endif
-
-	// configure timer 2 for phase correct pwm (8-bit)
-#if defined(TCCR2) && defined(WGM20)
-	sbi(TCCR2, WGM20);
-#elif defined(TCCR2A) && defined(WGM20)
-	sbi(TCCR2A, WGM20);
-#else
-	#warning Timer 2 not finished (may not be present on this CPU)
-#endif
-
-#if defined(TCCR3B) && defined(CS31) && defined(WGM30)
-	sbi(TCCR3B, CS31);		// set timer 3 prescale factor to 64
-	sbi(TCCR3B, CS30);
-	sbi(TCCR3A, WGM30);		// put timer 3 in 8-bit phase correct pwm mode
-#endif
-
-#if defined(TCCR4A) && defined(TCCR4B) && defined(TCCR4D) /* beginning of timer4 block for 32U4 and similar */
-	sbi(TCCR4B, CS42);		// set timer4 prescale factor to 64
-	sbi(TCCR4B, CS41);
-	sbi(TCCR4B, CS40);
-	sbi(TCCR4D, WGM40);		// put timer 4 in phase- and frequency-correct PWM mode	
-	sbi(TCCR4A, PWM4A);		// enable PWM mode for comparator OCR4A
-	sbi(TCCR4C, PWM4D);		// enable PWM mode for comparator OCR4D
-#else /* beginning of timer4 block for ATMEGA1280 and ATMEGA2560 */
-#if defined(TCCR4B) && defined(CS41) && defined(WGM40)
-	sbi(TCCR4B, CS41);		// set timer 4 prescale factor to 64
-	sbi(TCCR4B, CS40);
-	sbi(TCCR4A, WGM40);		// put timer 4 in 8-bit phase correct pwm mode
-#endif
-#endif /* end timer4 block for ATMEGA1280/2560 and similar */	
-
-#if defined(TCCR5B) && defined(CS51) && defined(WGM50)
-	sbi(TCCR5B, CS51);		// set timer 5 prescale factor to 64
-	sbi(TCCR5B, CS50);
-	sbi(TCCR5A, WGM50);		// put timer 5 in 8-bit phase correct pwm mode
-#endif
-
-#if defined(ADCSRA)
-	// set a2d prescale factor to 128
-	// 16 MHz / 128 = 125 KHz, inside the desired 50-200 KHz range.
-	// XXX: this will not work properly for other clock speeds, and
-	// this code should use F_CPU to determine the prescale factor.
-	sbi(ADCSRA, ADPS2);
-	sbi(ADCSRA, ADPS1);
-	sbi(ADCSRA, ADPS0);
-
-	// enable a2d conversions
-	sbi(ADCSRA, ADEN);
-#endif
-
-	// the bootloader connects pins 0 and 1 to the USART; disconnect them
-	// here so they can be used as normal digital i/o; they will be
-	// reconnected in Serial.begin()
-#if defined(UCSRB)
-	UCSRB = 0;
-#elif defined(UCSR0B)
-	UCSR0B = 0;
-#endif
-}
diff --git a/cores/robot/wiring_analog.c b/cores/robot/wiring_analog.c
deleted file mode 100644
index 7ed0e4e..0000000
--- a/cores/robot/wiring_analog.c
+++ /dev/null
@@ -1,284 +0,0 @@
-/*
-  wiring_analog.c - analog input and output
-  Part of Arduino - http://www.arduino.cc/
-
-  Copyright (c) 2005-2006 David A. Mellis
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General
-  Public License along with this library; if not, write to the
-  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
-  Boston, MA  02111-1307  USA
-
-  Modified 28 September 2010 by Mark Sproul
-
-  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
-*/
-
-#include "wiring_private.h"
-#include "pins_arduino.h"
-
-uint8_t analog_reference = DEFAULT;
-
-void analogReference(uint8_t mode)
-{
-	// can't actually set the register here because the default setting
-	// will connect AVCC and the AREF pin, which would cause a short if
-	// there's something connected to AREF.
-	analog_reference = mode;
-}
-
-int analogRead(uint8_t pin)
-{
-	uint8_t low, high;
-
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-	if (pin >= 54) pin -= 54; // allow for channel or pin numbers
-#elif defined(__AVR_ATmega32U4__)
-	if (pin >= 18) pin -= 18; // allow for channel or pin numbers
-#elif defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__)
-	if (pin >= 24) pin -= 24; // allow for channel or pin numbers
-#elif defined(analogPinToChannel) && (defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__))
-	pin = analogPinToChannel(pin);
-#else
-	if (pin >= 14) pin -= 14; // allow for channel or pin numbers
-#endif
-	
-#if defined(__AVR_ATmega32U4__)
-	pin = analogPinToChannel(pin);
-	ADCSRB = (ADCSRB & ~(1 << MUX5)) | (((pin >> 3) & 0x01) << MUX5);
-#elif defined(ADCSRB) && defined(MUX5)
-	// the MUX5 bit of ADCSRB selects whether we're reading from channels
-	// 0 to 7 (MUX5 low) or 8 to 15 (MUX5 high).
-	ADCSRB = (ADCSRB & ~(1 << MUX5)) | (((pin >> 3) & 0x01) << MUX5);
-#endif
-  
-	// set the analog reference (high two bits of ADMUX) and select the
-	// channel (low 4 bits).  this also sets ADLAR (left-adjust result)
-	// to 0 (the default).
-#if defined(ADMUX)
-	ADMUX = (analog_reference << 6) | (pin & 0x07);
-#endif
-
-	// without a delay, we seem to read from the wrong channel
-	//delay(1);
-
-#if defined(ADCSRA) && defined(ADCL)
-	// start the conversion
-	sbi(ADCSRA, ADSC);
-
-	// ADSC is cleared when the conversion finishes
-	while (bit_is_set(ADCSRA, ADSC));
-
-	// we have to read ADCL first; doing so locks both ADCL
-	// and ADCH until ADCH is read.  reading ADCL second would
-	// cause the results of each conversion to be discarded,
-	// as ADCL and ADCH would be locked when it completed.
-	low  = ADCL;
-	high = ADCH;
-#else
-	// we dont have an ADC, return 0
-	low  = 0;
-	high = 0;
-#endif
-
-	// combine the two bytes
-	return (high << 8) | low;
-}
-
-// Right now, PWM output only works on the pins with
-// hardware support.  These are defined in the appropriate
-// pins_*.c file.  For the rest of the pins, we default
-// to digital output.
-void analogWrite(uint8_t pin, int val)
-{
-	// We need to make sure the PWM output is enabled for those pins
-	// that support it, as we turn it off when digitally reading or
-	// writing with them.  Also, make sure the pin is in output mode
-	// for consistenty with Wiring, which doesn't require a pinMode
-	// call for the analog output pins.
-	pinMode(pin, OUTPUT);
-	if (val == 0)
-	{
-		digitalWrite(pin, LOW);
-	}
-	else if (val == 255)
-	{
-		digitalWrite(pin, HIGH);
-	}
-	else
-	{
-		switch(digitalPinToTimer(pin))
-		{
-			// XXX fix needed for atmega8
-			#if defined(TCCR0) && defined(COM00) && !defined(__AVR_ATmega8__)
-			case TIMER0A:
-				// connect pwm to pin on timer 0
-				sbi(TCCR0, COM00);
-				OCR0 = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR0A) && defined(COM0A1)
-			case TIMER0A:
-				// connect pwm to pin on timer 0, channel A
-				sbi(TCCR0A, COM0A1);
-				OCR0A = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR0A) && defined(COM0B1)
-			case TIMER0B:
-				// connect pwm to pin on timer 0, channel B
-				sbi(TCCR0A, COM0B1);
-				OCR0B = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR1A) && defined(COM1A1)
-			case TIMER1A:
-				// connect pwm to pin on timer 1, channel A
-				sbi(TCCR1A, COM1A1);
-				OCR1A = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR1A) && defined(COM1B1)
-			case TIMER1B:
-				// connect pwm to pin on timer 1, channel B
-				sbi(TCCR1A, COM1B1);
-				OCR1B = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR2) && defined(COM21)
-			case TIMER2:
-				// connect pwm to pin on timer 2
-				sbi(TCCR2, COM21);
-				OCR2 = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR2A) && defined(COM2A1)
-			case TIMER2A:
-				// connect pwm to pin on timer 2, channel A
-				sbi(TCCR2A, COM2A1);
-				OCR2A = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR2A) && defined(COM2B1)
-			case TIMER2B:
-				// connect pwm to pin on timer 2, channel B
-				sbi(TCCR2A, COM2B1);
-				OCR2B = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR3A) && defined(COM3A1)
-			case TIMER3A:
-				// connect pwm to pin on timer 3, channel A
-				sbi(TCCR3A, COM3A1);
-				OCR3A = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR3A) && defined(COM3B1)
-			case TIMER3B:
-				// connect pwm to pin on timer 3, channel B
-				sbi(TCCR3A, COM3B1);
-				OCR3B = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR3A) && defined(COM3C1)
-			case TIMER3C:
-				// connect pwm to pin on timer 3, channel C
-				sbi(TCCR3A, COM3C1);
-				OCR3C = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR4A)
-			case TIMER4A:
-				//connect pwm to pin on timer 4, channel A
-				sbi(TCCR4A, COM4A1);
-				#if defined(COM4A0)		// only used on 32U4
-				cbi(TCCR4A, COM4A0);
-				#endif
-				OCR4A = val;	// set pwm duty
-				break;
-			#endif
-			
-			#if defined(TCCR4A) && defined(COM4B1)
-			case TIMER4B:
-				// connect pwm to pin on timer 4, channel B
-				sbi(TCCR4A, COM4B1);
-				OCR4B = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR4A) && defined(COM4C1)
-			case TIMER4C:
-				// connect pwm to pin on timer 4, channel C
-				sbi(TCCR4A, COM4C1);
-				OCR4C = val; // set pwm duty
-				break;
-			#endif
-				
-			#if defined(TCCR4C) && defined(COM4D1)
-			case TIMER4D:				
-				// connect pwm to pin on timer 4, channel D
-				sbi(TCCR4C, COM4D1);
-				#if defined(COM4D0)		// only used on 32U4
-				cbi(TCCR4C, COM4D0);
-				#endif
-				OCR4D = val;	// set pwm duty
-				break;
-			#endif
-
-							
-			#if defined(TCCR5A) && defined(COM5A1)
-			case TIMER5A:
-				// connect pwm to pin on timer 5, channel A
-				sbi(TCCR5A, COM5A1);
-				OCR5A = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR5A) && defined(COM5B1)
-			case TIMER5B:
-				// connect pwm to pin on timer 5, channel B
-				sbi(TCCR5A, COM5B1);
-				OCR5B = val; // set pwm duty
-				break;
-			#endif
-
-			#if defined(TCCR5A) && defined(COM5C1)
-			case TIMER5C:
-				// connect pwm to pin on timer 5, channel C
-				sbi(TCCR5A, COM5C1);
-				OCR5C = val; // set pwm duty
-				break;
-			#endif
-
-			case NOT_ON_TIMER:
-			default:
-				if (val < 128) {
-					digitalWrite(pin, LOW);
-				} else {
-					digitalWrite(pin, HIGH);
-				}
-		}
-	}
-}
-
diff --git a/cores/robot/wiring_digital.c b/cores/robot/wiring_digital.c
deleted file mode 100644
index be323b1..0000000
--- a/cores/robot/wiring_digital.c
+++ /dev/null
@@ -1,178 +0,0 @@
-/*
-  wiring_digital.c - digital input and output functions
-  Part of Arduino - http://www.arduino.cc/
-
-  Copyright (c) 2005-2006 David A. Mellis
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General
-  Public License along with this library; if not, write to the
-  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
-  Boston, MA  02111-1307  USA
-
-  Modified 28 September 2010 by Mark Sproul
-
-  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
-*/
-
-#define ARDUINO_MAIN
-#include "wiring_private.h"
-#include "pins_arduino.h"
-
-void pinMode(uint8_t pin, uint8_t mode)
-{
-	uint8_t bit = digitalPinToBitMask(pin);
-	uint8_t port = digitalPinToPort(pin);
-	volatile uint8_t *reg, *out;
-
-	if (port == NOT_A_PIN) return;
-
-	// JWS: can I let the optimizer do this?
-	reg = portModeRegister(port);
-	out = portOutputRegister(port);
-
-	if (mode == INPUT) { 
-		uint8_t oldSREG = SREG;
-                cli();
-		*reg &= ~bit;
-		*out &= ~bit;
-		SREG = oldSREG;
-	} else if (mode == INPUT_PULLUP) {
-		uint8_t oldSREG = SREG;
-                cli();
-		*reg &= ~bit;
-		*out |= bit;
-		SREG = oldSREG;
-	} else {
-		uint8_t oldSREG = SREG;
-                cli();
-		*reg |= bit;
-		SREG = oldSREG;
-	}
-}
-
-// Forcing this inline keeps the callers from having to push their own stuff
-// on the stack. It is a good performance win and only takes 1 more byte per
-// user than calling. (It will take more bytes on the 168.)
-//
-// But shouldn't this be moved into pinMode? Seems silly to check and do on
-// each digitalread or write.
-//
-// Mark Sproul:
-// - Removed inline. Save 170 bytes on atmega1280
-// - changed to a switch statment; added 32 bytes but much easier to read and maintain.
-// - Added more #ifdefs, now compiles for atmega645
-//
-//static inline void turnOffPWM(uint8_t timer) __attribute__ ((always_inline));
-//static inline void turnOffPWM(uint8_t timer)
-static void turnOffPWM(uint8_t timer)
-{
-	switch (timer)
-	{
-		#if defined(TCCR1A) && defined(COM1A1)
-		case TIMER1A:   cbi(TCCR1A, COM1A1);    break;
-		#endif
-		#if defined(TCCR1A) && defined(COM1B1)
-		case TIMER1B:   cbi(TCCR1A, COM1B1);    break;
-		#endif
-		
-		#if defined(TCCR2) && defined(COM21)
-		case  TIMER2:   cbi(TCCR2, COM21);      break;
-		#endif
-		
-		#if defined(TCCR0A) && defined(COM0A1)
-		case  TIMER0A:  cbi(TCCR0A, COM0A1);    break;
-		#endif
-		
-		#if defined(TIMER0B) && defined(COM0B1)
-		case  TIMER0B:  cbi(TCCR0A, COM0B1);    break;
-		#endif
-		#if defined(TCCR2A) && defined(COM2A1)
-		case  TIMER2A:  cbi(TCCR2A, COM2A1);    break;
-		#endif
-		#if defined(TCCR2A) && defined(COM2B1)
-		case  TIMER2B:  cbi(TCCR2A, COM2B1);    break;
-		#endif
-		
-		#if defined(TCCR3A) && defined(COM3A1)
-		case  TIMER3A:  cbi(TCCR3A, COM3A1);    break;
-		#endif
-		#if defined(TCCR3A) && defined(COM3B1)
-		case  TIMER3B:  cbi(TCCR3A, COM3B1);    break;
-		#endif
-		#if defined(TCCR3A) && defined(COM3C1)
-		case  TIMER3C:  cbi(TCCR3A, COM3C1);    break;
-		#endif
-
-		#if defined(TCCR4A) && defined(COM4A1)
-		case  TIMER4A:  cbi(TCCR4A, COM4A1);    break;
-		#endif					
-		#if defined(TCCR4A) && defined(COM4B1)
-		case  TIMER4B:  cbi(TCCR4A, COM4B1);    break;
-		#endif
-		#if defined(TCCR4A) && defined(COM4C1)
-		case  TIMER4C:  cbi(TCCR4A, COM4C1);    break;
-		#endif			
-		#if defined(TCCR4C) && defined(COM4D1)
-		case TIMER4D:	cbi(TCCR4C, COM4D1);	break;
-		#endif			
-			
-		#if defined(TCCR5A)
-		case  TIMER5A:  cbi(TCCR5A, COM5A1);    break;
-		case  TIMER5B:  cbi(TCCR5A, COM5B1);    break;
-		case  TIMER5C:  cbi(TCCR5A, COM5C1);    break;
-		#endif
-	}
-}
-
-void digitalWrite(uint8_t pin, uint8_t val)
-{
-	uint8_t timer = digitalPinToTimer(pin);
-	uint8_t bit = digitalPinToBitMask(pin);
-	uint8_t port = digitalPinToPort(pin);
-	volatile uint8_t *out;
-
-	if (port == NOT_A_PIN) return;
-
-	// If the pin that support PWM output, we need to turn it off
-	// before doing a digital write.
-	if (timer != NOT_ON_TIMER) turnOffPWM(timer);
-
-	out = portOutputRegister(port);
-
-	uint8_t oldSREG = SREG;
-	cli();
-
-	if (val == LOW) {
-		*out &= ~bit;
-	} else {
-		*out |= bit;
-	}
-
-	SREG = oldSREG;
-}
-
-int digitalRead(uint8_t pin)
-{
-	uint8_t timer = digitalPinToTimer(pin);
-	uint8_t bit = digitalPinToBitMask(pin);
-	uint8_t port = digitalPinToPort(pin);
-
-	if (port == NOT_A_PIN) return LOW;
-
-	// If the pin that support PWM output, we need to turn it off
-	// before getting a digital reading.
-	if (timer != NOT_ON_TIMER) turnOffPWM(timer);
-
-	if (*portInputRegister(port) & bit) return HIGH;
-	return LOW;
-}
diff --git a/cores/robot/wiring_private.h b/cores/robot/wiring_private.h
deleted file mode 100755
index c366005..0000000
--- a/cores/robot/wiring_private.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
-  wiring_private.h - Internal header file.
-  Part of Arduino - http://www.arduino.cc/
-
-  Copyright (c) 2005-2006 David A. Mellis
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General
-  Public License along with this library; if not, write to the
-  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
-  Boston, MA  02111-1307  USA
-
-  $Id: wiring.h 239 2007-01-12 17:58:39Z mellis $
-*/
-
-#ifndef WiringPrivate_h
-#define WiringPrivate_h
-
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <stdio.h>
-#include <stdarg.h>
-
-#include "Arduino.h"
-
-#ifdef __cplusplus
-extern "C"{
-#endif
-
-#ifndef cbi
-#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
-#endif
-#ifndef sbi
-#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
-#endif
-
-#define EXTERNAL_INT_0 0
-#define EXTERNAL_INT_1 1
-#define EXTERNAL_INT_2 2
-#define EXTERNAL_INT_3 3
-#define EXTERNAL_INT_4 4
-#define EXTERNAL_INT_5 5
-#define EXTERNAL_INT_6 6
-#define EXTERNAL_INT_7 7
-
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-#define EXTERNAL_NUM_INTERRUPTS 8
-#elif defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__)
-#define EXTERNAL_NUM_INTERRUPTS 3
-#elif defined(__AVR_ATmega32U4__)
-#define EXTERNAL_NUM_INTERRUPTS 5
-#else
-#define EXTERNAL_NUM_INTERRUPTS 2
-#endif
-
-typedef void (*voidFuncPtr)(void);
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#endif
diff --git a/cores/robot/wiring_pulse.c b/cores/robot/wiring_pulse.c
deleted file mode 100755
index 0d96886..0000000
--- a/cores/robot/wiring_pulse.c
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
-  wiring_pulse.c - pulseIn() function
-  Part of Arduino - http://www.arduino.cc/
-
-  Copyright (c) 2005-2006 David A. Mellis
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General
-  Public License along with this library; if not, write to the
-  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
-  Boston, MA  02111-1307  USA
-
-  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
-*/
-
-#include "wiring_private.h"
-#include "pins_arduino.h"
-
-/* Measures the length (in microseconds) of a pulse on the pin; state is HIGH
- * or LOW, the type of pulse to measure.  Works on pulses from 2-3 microseconds
- * to 3 minutes in length, but must be called at least a few dozen microseconds
- * before the start of the pulse. */
-unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout)
-{
-	// cache the port and bit of the pin in order to speed up the
-	// pulse width measuring loop and achieve finer resolution.  calling
-	// digitalRead() instead yields much coarser resolution.
-	uint8_t bit = digitalPinToBitMask(pin);
-	uint8_t port = digitalPinToPort(pin);
-	uint8_t stateMask = (state ? bit : 0);
-	unsigned long width = 0; // keep initialization out of time critical area
-	
-	// convert the timeout from microseconds to a number of times through
-	// the initial loop; it takes 16 clock cycles per iteration.
-	unsigned long numloops = 0;
-	unsigned long maxloops = microsecondsToClockCycles(timeout) / 16;
-	
-	// wait for any previous pulse to end
-	while ((*portInputRegister(port) & bit) == stateMask)
-		if (numloops++ == maxloops)
-			return 0;
-	
-	// wait for the pulse to start
-	while ((*portInputRegister(port) & bit) != stateMask)
-		if (numloops++ == maxloops)
-			return 0;
-	
-	// wait for the pulse to stop
-	while ((*portInputRegister(port) & bit) == stateMask) {
-		if (numloops++ == maxloops)
-			return 0;
-		width++;
-	}
-
-	// convert the reading to microseconds. The loop has been determined
-	// to be 20 clock cycles long and have about 16 clocks between the edge
-	// and the start of the loop. There will be some error introduced by
-	// the interrupt handlers.
-	return clockCyclesToMicroseconds(width * 21 + 16); 
-}
diff --git a/cores/robot/wiring_shift.c b/cores/robot/wiring_shift.c
deleted file mode 100755
index cfe7867..0000000
--- a/cores/robot/wiring_shift.c
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
-  wiring_shift.c - shiftOut() function
-  Part of Arduino - http://www.arduino.cc/
-
-  Copyright (c) 2005-2006 David A. Mellis
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General
-  Public License along with this library; if not, write to the
-  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
-  Boston, MA  02111-1307  USA
-
-  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
-*/
-
-#include "wiring_private.h"
-
-uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder) {
-	uint8_t value = 0;
-	uint8_t i;
-
-	for (i = 0; i < 8; ++i) {
-		digitalWrite(clockPin, HIGH);
-		if (bitOrder == LSBFIRST)
-			value |= digitalRead(dataPin) << i;
-		else
-			value |= digitalRead(dataPin) << (7 - i);
-		digitalWrite(clockPin, LOW);
-	}
-	return value;
-}
-
-void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val)
-{
-	uint8_t i;
-
-	for (i = 0; i < 8; i++)  {
-		if (bitOrder == LSBFIRST)
-			digitalWrite(dataPin, !!(val & (1 << i)));
-		else	
-			digitalWrite(dataPin, !!(val & (1 << (7 - i))));
-			
-		digitalWrite(clockPin, HIGH);
-		digitalWrite(clockPin, LOW);		
-	}
-}