SPI library to the new format and moved Robot_Motor and Robot_Control libraries

1 files changed, 0 insertions, 298 deletions

diff --git a/libraries/Robot_Control/Wire.cpp b/libraries/Robot_Control/Wire.cpp
deleted file mode 100644
index 4e7a17c..0000000
--- a/libraries/Robot_Control/Wire.cpp
+++ /dev/null
@@ -1,298 +0,0 @@
-/*
-  TwoWire.cpp - TWI/I2C library for Wiring & Arduino
-  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 2012 by Todd Krein (todd@krein.org) to implement repeated starts
-*/
-
-extern "C" {
-  #include <stdlib.h>
-  #include <string.h>
-  #include <inttypes.h>
-  #include "twi.h"
-}
-
-#include "Wire.h"
-
-// Initialize Class Variables //////////////////////////////////////////////////
-
-uint8_t TwoWire::rxBuffer[BUFFER_LENGTH];
-uint8_t TwoWire::rxBufferIndex = 0;
-uint8_t TwoWire::rxBufferLength = 0;
-
-uint8_t TwoWire::txAddress = 0;
-uint8_t TwoWire::txBuffer[BUFFER_LENGTH];
-uint8_t TwoWire::txBufferIndex = 0;
-uint8_t TwoWire::txBufferLength = 0;
-
-uint8_t TwoWire::transmitting = 0;
-void (*TwoWire::user_onRequest)(void);
-void (*TwoWire::user_onReceive)(int);
-
-// Constructors ////////////////////////////////////////////////////////////////
-
-TwoWire::TwoWire()
-{
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-
-void TwoWire::begin(void)
-{
-  rxBufferIndex = 0;
-  rxBufferLength = 0;
-
-  txBufferIndex = 0;
-  txBufferLength = 0;
-
-  twi_init();
-}
-
-void TwoWire::begin(uint8_t address)
-{
-  twi_setAddress(address);
-  twi_attachSlaveTxEvent(onRequestService);
-  twi_attachSlaveRxEvent(onReceiveService);
-  begin();
-}
-
-void TwoWire::begin(int address)
-{
-  begin((uint8_t)address);
-}
-
-uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity, uint8_t sendStop)
-{
-  // clamp to buffer length
-  if(quantity > BUFFER_LENGTH){
-    quantity = BUFFER_LENGTH;
-  }
-  // perform blocking read into buffer
-  uint8_t read = twi_readFrom(address, rxBuffer, quantity, sendStop);
-  // set rx buffer iterator vars
-  rxBufferIndex = 0;
-  rxBufferLength = read;
-
-  return read;
-}
-
-uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity)
-{
-  return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true);
-}
-
-uint8_t TwoWire::requestFrom(int address, int quantity)
-{
-  return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true);
-}
-
-uint8_t TwoWire::requestFrom(int address, int quantity, int sendStop)
-{
-  return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)sendStop);
-}
-
-void TwoWire::beginTransmission(uint8_t address)
-{
-  // indicate that we are transmitting
-  transmitting = 1;
-  // set address of targeted slave
-  txAddress = address;
-  // reset tx buffer iterator vars
-  txBufferIndex = 0;
-  txBufferLength = 0;
-}
-
-void TwoWire::beginTransmission(int address)
-{
-  beginTransmission((uint8_t)address);
-}
-
-//
-//	Originally, 'endTransmission' was an f(void) function.
-//	It has been modified to take one parameter indicating
-//	whether or not a STOP should be performed on the bus.
-//	Calling endTransmission(false) allows a sketch to 
-//	perform a repeated start. 
-//
-//	WARNING: Nothing in the library keeps track of whether
-//	the bus tenure has been properly ended with a STOP. It
-//	is very possible to leave the bus in a hung state if
-//	no call to endTransmission(true) is made. Some I2C
-//	devices will behave oddly if they do not see a STOP.
-//
-uint8_t TwoWire::endTransmission(uint8_t sendStop)
-{
-  // transmit buffer (blocking)
-  int8_t ret = twi_writeTo(txAddress, txBuffer, txBufferLength, 1, sendStop);
-  // reset tx buffer iterator vars
-  txBufferIndex = 0;
-  txBufferLength = 0;
-  // indicate that we are done transmitting
-  transmitting = 0;
-  return ret;
-}
-
-//	This provides backwards compatibility with the original
-//	definition, and expected behaviour, of endTransmission
-//
-uint8_t TwoWire::endTransmission(void)
-{
-  return endTransmission(true);
-}
-
-// must be called in:
-// slave tx event callback
-// or after beginTransmission(address)
-size_t TwoWire::write(uint8_t data)
-{
-  if(transmitting){
-  // in master transmitter mode
-    // don't bother if buffer is full
-    if(txBufferLength >= BUFFER_LENGTH){
-      setWriteError();
-      return 0;
-    }
-    // put byte in tx buffer
-    txBuffer[txBufferIndex] = data;
-    ++txBufferIndex;
-    // update amount in buffer   
-    txBufferLength = txBufferIndex;
-  }else{
-  // in slave send mode
-    // reply to master
-    twi_transmit(&data, 1);
-  }
-  return 1;
-}
-
-// must be called in:
-// slave tx event callback
-// or after beginTransmission(address)
-size_t TwoWire::write(const uint8_t *data, size_t quantity)
-{
-  if(transmitting){
-  // in master transmitter mode
-    for(size_t i = 0; i < quantity; ++i){
-      write(data[i]);
-    }
-  }else{
-  // in slave send mode
-    // reply to master
-    twi_transmit(data, quantity);
-  }
-  return quantity;
-}
-
-// must be called in:
-// slave rx event callback
-// or after requestFrom(address, numBytes)
-int TwoWire::available(void)
-{
-  return rxBufferLength - rxBufferIndex;
-}
-
-// must be called in:
-// slave rx event callback
-// or after requestFrom(address, numBytes)
-int TwoWire::read(void)
-{
-  int value = -1;
-  
-  // get each successive byte on each call
-  if(rxBufferIndex < rxBufferLength){
-    value = rxBuffer[rxBufferIndex];
-    ++rxBufferIndex;
-  }
-
-  return value;
-}
-
-// must be called in:
-// slave rx event callback
-// or after requestFrom(address, numBytes)
-int TwoWire::peek(void)
-{
-  int value = -1;
-  
-  if(rxBufferIndex < rxBufferLength){
-    value = rxBuffer[rxBufferIndex];
-  }
-
-  return value;
-}
-
-void TwoWire::flush(void)
-{
-  // XXX: to be implemented.
-}
-
-// behind the scenes function that is called when data is received
-void TwoWire::onReceiveService(uint8_t* inBytes, int numBytes)
-{
-  // don't bother if user hasn't registered a callback
-  if(!user_onReceive){
-    return;
-  }
-  // don't bother if rx buffer is in use by a master requestFrom() op
-  // i know this drops data, but it allows for slight stupidity
-  // meaning, they may not have read all the master requestFrom() data yet
-  if(rxBufferIndex < rxBufferLength){
-    return;
-  }
-  // copy twi rx buffer into local read buffer
-  // this enables new reads to happen in parallel
-  for(uint8_t i = 0; i < numBytes; ++i){
-    rxBuffer[i] = inBytes[i];    
-  }
-  // set rx iterator vars
-  rxBufferIndex = 0;
-  rxBufferLength = numBytes;
-  // alert user program
-  user_onReceive(numBytes);
-}
-
-// behind the scenes function that is called when data is requested
-void TwoWire::onRequestService(void)
-{
-  // don't bother if user hasn't registered a callback
-  if(!user_onRequest){
-    return;
-  }
-  // reset tx buffer iterator vars
-  // !!! this will kill any pending pre-master sendTo() activity
-  txBufferIndex = 0;
-  txBufferLength = 0;
-  // alert user program
-  user_onRequest();
-}
-
-// sets function called on slave write
-void TwoWire::onReceive( void (*function)(int) )
-{
-  user_onReceive = function;
-}
-
-// sets function called on slave read
-void TwoWire::onRequest( void (*function)(void) )
-{
-  user_onRequest = function;
-}
-
-// Preinstantiate Objects //////////////////////////////////////////////////////
-
-TwoWire Wire = TwoWire();
-