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

11 files changed, 0 insertions, 1390 deletions

diff --git a/libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino b/libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino
deleted file mode 100644
index 794479e..0000000
--- a/libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino
+++ /dev/null
@@ -1,134 +0,0 @@
-/* Robot Logo
-
- This sketch demonstrates basic movement of the Robot. 
- When the sketch starts, press the on-board buttons to tell 
- the robot how to move. Pressing the middle button will 
- save the pattern, and the robot will follow accordingly. 
- You can record up to 20 commands. The robot will move for 
- one second per command.
- 
- This example uses images on an SD card. It looks for
- files named "lg0.bmp" and "lg1.bmp" and draws them on the
- screen.
-
- Circuit:
- * Arduino Robot
- 
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
- */
-
-#include <ArduinoRobot.h> // include the robot library
-
-int commands[20];  //  array for storing commands
-
-void setup() {
-  // initialize the Robot, SD card, and display 
-  Robot.begin();
-  Robot.beginTFT();
-  Robot.beginSD();
-
-  // draw "lg0.bmp" and "lg1.bmp" on the screen
-  Robot.displayLogos();
-}
-
-void loop() {
-  
-  Robot.drawBMP("intro.bmp", 0, 0);  //display background image
-  
-  iniCommands(); // remove commands from the array
-  addCommands(); // add commands to the array
-  
-  delay(1000); // wait for a second
-  
-  executeCommands(); // follow orders
-  
-  Robot.stroke(0,0,0);
-  Robot.text("Done!", 5, 103); // write some text to the display
-  delay(1500); // wait for a moment
-}
-
-// empty the commands array
-void iniCommands() {
-  for(int i=0; i<20; i++)
-    commands[i]=-1;
-}
-
-// add commands to the array
-void addCommands() {
-  Robot.stroke(0,0,0);
-  // display text on the screen
-  Robot.text("1. Press buttons to\n add commands.\n\n 2. Middle to finish.", 5, 5);
-  
-  // read the buttons' state
-  for(int i=0; i<20;) {  //max 20 commands
-    int key = Robot.keyboardRead();
-    if(key == BUTTON_MIDDLE) {  //finish input
-      break;
-    }else if(key == BUTTON_NONE) {  //if no button is pressed 
-      continue;
-    }
-    commands[i] = key; // save the button to the array
-    PrintCommandI(i, 46); // print the command on the screen
-    delay(100);
-    i++;
-  }
-}
-
-// run through the array and move the robot
-void executeCommands() {
-  // print status to the screen
-  Robot.text("Excuting...",5,70);
-  
-  // read through the array and move accordingly
-  for(int i=0; i<20; i++) {
-    switch(commands[i]) {
-      case BUTTON_LEFT:
-        Robot.turn(-90);
-        break;
-      case BUTTON_RIGHT:
-        Robot.turn(90);
-        break;
-      case BUTTON_UP:
-        Robot.motorsWrite(255, 255);
-        break;
-      case BUTTON_DOWN:
-        Robot.motorsWrite(-255, -255);
-        break;
-      case BUTTON_NONE:
-        return;
-    }
-    // print the current command to the screen
-    Robot.stroke(255,0,0);
-    PrintCommandI(i, 86);
-    delay(1000);
-    
-    // stop moving for a second
-    Robot.motorsStop();
-    delay(1000);
-  }
-}
-
-// convert the button press to a single character
-char keyToChar(int key) {
-  switch(key) {
-    case BUTTON_LEFT:
-      return '<';
-    case BUTTON_RIGHT:
-      return '>';
-    case BUTTON_UP:
-      return '^';
-    case BUTTON_DOWN:
-      return 'v';
-  }
-}
-
-// display a command
-void PrintCommandI(int i, int originY) {
-  Robot.text(keyToChar(commands[i]), i%14*8+5, i/14*10+originY);
-}
-
diff --git a/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino b/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino
deleted file mode 100644
index 58de253..0000000
--- a/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino
+++ /dev/null
@@ -1,73 +0,0 @@
-/* Robot Line Follow
-
- This sketch demonstrates the line following capabilities
- of the Arduino Robot. On the floor, place some black 
- electrical tape along the path you wish the robot to follow.
- To indicate a stopping point, place another piece of tape
- perpendicular to the path.
-
- Circuit:
- * Arduino Robot
- 
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
- */
-
-#include <ArduinoRobot.h> // include the robot library
-
-long timerOrigin; // used for counting elapsed time
-
-void setup() {
-  // initialize the Robot, SD card, display, and speaker 
-  Robot.begin();
-  Robot.beginTFT();
-  Robot.beginSD();
-  Robot.beginSpeaker();
-
-  // show the logots on the TFT screen
-  Robot.displayLogos();
-  
-  Robot.drawBMP("lf.bmp", 0, 0); // display background image
-
-  Robot.playFile("chase.sqm");  // play a song from the SD card
-  
-  // add the instructions
-  Robot.text("Line Following\n\n place the robot on\n the track and \n see it run", 5, 5);
-  Robot.text("Press the middle\n button to start...", 5, 61);
-  Robot.waitContinue();
-
-  // These are some general values that work for line following 
-  // uncomment one or the other to see the different behaviors of the robot
-  // Robot.lineFollowConfig(11, 5, 50, 10);
-  Robot.lineFollowConfig(14, 9, 50, 10);
-  
-  //set the motor board into line-follow mode
-  Robot.setMode(MODE_LINE_FOLLOW);  
-  
-  // start
-  Robot.fill(255, 255, 255);
-  Robot.stroke(255, 255, 255);
-  Robot.rect(0, 0, 128, 80); // erase the previous text
-  Robot.stroke(0, 0, 0);
-  Robot.text("Start", 5, 5);
-  
-  Robot.stroke(0, 0, 0); // choose color for the text
-  Robot.text("Time passed:", 5, 21); // write some text to the screen
-  
-  timerOrigin=millis(); // keep track of the elapsed time
-  
-  while(!Robot.isActionDone()) {  //wait for the finish signal
-    Robot.debugPrint(millis()-timerOrigin, 5, 29);  // show how much time has passed
-  }
-  
-  Robot.stroke(0, 0, 0);  
-  Robot.text("Done!", 5, 45);
-}
-void loop() {
-  //nothing here, the program only runs once. Reset the robot 
-  //to do it again!
-}
diff --git a/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino b/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino
deleted file mode 100644
index 3574b01..0000000
--- a/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino
+++ /dev/null
@@ -1,179 +0,0 @@
-/* Disco Bot
-
- This sketch shows you how to use the melody playing 
- feature of the robot, with some really cool 8-bit music. 
- Music will play when the robot is turned on, and it 
- will show you some dance moves.
-
- Circuit:
- * Arduino Robot
- 
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
- */
-
-#include <ArduinoRobot.h> // include the robot library
-
-/* Dancing steps:
-  S: stop
-  L: turn left
-  R: turn right
-  F: go forward
-  B: go backwards
-
-  The number after each command determines how long 
-  each step lasts. Each number is 1/2 second long.
-
-  The "\0" indicates end of string
-*/
-char danceScript[] = "S4L1R1S2F1B1S1\0"; 
-
-int currentScript = 0; // what step are we at
-
-int currentSong = 0; // keep track of the current song
-static const int SONGS_COUNT = 3; // number of songs
-
-// an array to hold the songs
-char musics[][11] = {
-  "melody.sqm",
-  "menu.sqm",
-  "chase.sqm",
-};
-
-// variables for non-blocking delay
-long waitFrom;
-long waitTime = 0;
-
-void setup() {
-  // initialize the Robot, SD card, display, and speaker 
-  Robot.begin();
-  Robot.beginSpeaker();
-  Robot.beginSD();
-  Robot.beginTFT();
- 
-  // draw "lg0.bmp" and "lg1.bmp" on the screen
-  Robot.displayLogos();
-  
-  // Print instructions to the screen
-  Robot.text("1. Use left and\n right key to switch\n song", 5, 5);
-  Robot.text("2. Put robot on the\n ground to dance", 5, 33);
-
-  // wait for a few soconds
-  delay(3000);
-  
-  setInterface(); // display the current song
-  play(0);  //play the first song in the array
-  
-  resetWait();  //Initialize non-blocking delay
-}
-
-void loop() {
-  // read the butttons on the robot
-  int key = Robot.keyboardRead();
-  
-  // Right/left buttons play next/previous song
-  switch(key) {
-    case BUTTON_UP:
-    case BUTTON_LEFT:
-      play(-1);  //play previous song
-      break;
-    case BUTTON_DOWN:
-    case BUTTON_RIGHT:
-      play(1);  //play next song
-      break;
-  }
-  
-  // dance!
-  runScript();
-}
-
-// Dancing function
-void runScript() { 
- if(!waiting()) { // if the previous instructions have finished
-   // get the next 2 commands (direction and duration)
-    parseCommand(danceScript[currentScript], danceScript[currentScript+1]);
-    currentScript += 2;
-    if(danceScript[currentScript] == '\0') // at the end of the array
-      currentScript = 0; // start again at the beginning
- }
-}
-
-// instead of delay, use this timer
-boolean waiting() {
-  if(millis()-waitFrom >= waitTime)
-    return false;
-  else
-    return true;
-}
-
-// how long to wait
-void wait(long t) {
-  resetWait();
-  waitTime = t;
-}
-
-// reset the timer
-void resetWait() {
-  waitFrom = millis();
-}
-
-// read the direction and dirstion of the steps
-void parseCommand(char dir, char duration) { 
-  //convert the scripts to action
-  switch(dir) { 
-    case 'L':
-      Robot.motorsWrite(-255, 255);
-      break;
-    case 'R':
-      Robot.motorsWrite(255, -255);
-      break;
-    case 'F':
-      Robot.motorsWrite(255, 255);
-      break;
-    case 'B':
-      Robot.motorsWrite(-255, -255);
-      break;
-    case 'S':
-      Robot.motorsStop();
-      break;
-  }
-  //You can change "500" to change the pace of dancing
-  wait(500*(duration-'0'));
-}
-
-// display the song
-void setInterface() {
-  Robot.clearScreen();
-  Robot.stroke(0, 0, 0);
-  Robot.text(musics[0], 0, 0);
-}
-
-// display the next song
-void select(int seq, boolean onOff) {
-  if(onOff){//select
-    Robot.stroke(0, 0, 0);
-    Robot.text(musics[seq], 0, 0);
-  }else{//deselect
-    Robot.stroke(255, 255, 255);
-    Robot.text(musics[seq], 0, 0);
-  }
-}
-
-// play the slected song
-void play(int seq) {
-  select(currentSong, false);
-  if(currentSong <= 0 && seq == -1) {  //previous of 1st song?
-    currentSong = SONGS_COUNT-1;  //go to last song
-  } else if(currentSong >= SONGS_COUNT-1 && seq == 1) {  //next of last?
-    currentSong = 0;  //go to 1st song
-  } else {
-    currentSong += seq;  //next song
-  }
-  Robot.stopPlayFile();
-  Robot.playFile(musics[currentSong]);
-  select(currentSong, true);  //display the current song
-}
diff --git a/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino b/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino
deleted file mode 100644
index a7a7315..0000000
--- a/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino
+++ /dev/null
@@ -1,70 +0,0 @@
-/* Robot Compass
-
- The robot has an on-board compass module, with
- which it can tell the direction the robot is 
- facing. This sketch will make sure the robot 
- goes towards a certain direction. 
- 
- Beware, magnets will interfere with the compass
- readings.
-
- Circuit:
- * Arduino Robot
- 
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
- */
-
-// include the robot library
-#include <ArduinoRobot.h>
-
-int speedLeft;
-int speedRight;
-int compassValue;
-int direc = 180;  //Direction the robot is heading
-
-void setup() {
-  // initialize the modules
-  Robot.begin();
-  Robot.beginTFT();
-  Robot.beginSD();
-  Robot.displayLogos();
-}
-
-void loop() { 
-  // read the compass orientation
-  compassValue = Robot.compassRead();
-  
-  // how many degrees are we off
-  int diff = compassValue-direc;
-  
-  // modify degress 
-  if(diff > 180)
-    diff = -360+diff;
-  else if(diff < -180)
-    diff = 360+diff;
-    
-  // Make the robot turn to its proper orientation
-  diff = map(diff, -180, 180, -255, 255);
-  
-  if(diff > 0) {
-    // keep the right wheel spinning, 
-    // change the speed of the left wheel 
-    speedLeft = 255-diff;
-    speedRight = 255;
-  } else {
-    // keep the right left spinning,
-    // change the speed of the left wheel   
-    speedLeft = 255;
-    speedRight = 255+diff;
-  }
-  // write out to the motors
-  Robot.motorsWrite(speedLeft, speedRight);
-
-  // draw the orientation on the screen
-  Robot.drawCompass(compassValue);
-}
diff --git a/libraries/Robot_Control/examples/explore/R05_Inputs/R05_Inputs.ino b/libraries/Robot_Control/examples/explore/R05_Inputs/R05_Inputs.ino
deleted file mode 100644
index 1359f8d..0000000
--- a/libraries/Robot_Control/examples/explore/R05_Inputs/R05_Inputs.ino
+++ /dev/null
@@ -1,166 +0,0 @@
-/* Robot Inputs
-
- This sketch shows you how to use the on-board 
- potentiometer and buttons as inputs. 
-
- Turning the potentiometer draws a clock-shaped 
- circle. The up and down buttons change the pitch, 
- while the left and right buttons change the tempo. 
- The middle button resets tempo and pitch.
-
- Circuit:
- * Arduino Robot
- 
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
- */
-
-#include <ArduinoRobot.h>
-
-// default tempo and pitch of the music
-int tempo = 60;
-int pitch = 1000;
-
-void setup() {
-  // initialize the Robot, SD card, speaker, and display 
-  Robot.begin();
-  Robot.beginTFT();
-  Robot.beginSpeaker();
-  Robot.beginSD();
-
-  // draw "lg0.bmp" and "lg1.bmp" on the screen  
-  Robot.displayLogos();
-
-  // play a sound file  
-  Robot.playFile("Melody.sqm");
-}
-
-void loop() {
-  // check the value of the buttons
-  keyDown(Robot.keyboardRead());
-
-  // check the value of the pot
-  drawKnob(Robot.knobRead());
-}
-
-// Draw the basic interface
-void renderUI() {
-  //fill the buttons blank
-  Robot.fill(255, 255, 255);      
-  Robot.rect(53, 58, 13, 13); // left
-  Robot.rect(93, 58, 13, 13); // right
-  Robot.rect(73, 38, 13, 13); // up
-  Robot.circle(79, 64, 6); // middle
-  Robot.rect(73, 78, 13, 13); // down
-  Robot.circle(26, 116, 18); // knob
-
-  //draw the vertical bargraph
-  int fullPart=map(pitch, 200, 2000, 0, 58);  //length of filled bargraph
-  Robot.fill(255, 255, 255);        
-  Robot.rect(21, 30, 13, 58-fullPart);
-  Robot.fill(0, 0, 255);        
-  Robot.rect(21, 88-fullPart, 13, fullPart); //58-fullPart+30
-
-  //draw the horizontal bargraph
-  fullPart = map(tempo, 20, 100, 0, 58);  // length of filled bargraph
-  Robot.fill(255, 190, 0);  
-  Robot.rect(53, 110, fullPart, 13);
-  Robot.fill(255, 255, 255);        
-  Robot.rect(53+fullPart, 110, 58-fullPart, 13);
-}
-
-void keyDown(int keyCode) {
-  // use a static int so it is persistent over time
-  static int oldKey;
-  switch(keyCode) {
-    case BUTTON_LEFT:
-      //left button pressed, reduces tempo
-      tempo -= 5;
-      if(tempo < 20) tempo = 20; //lowest tempo 20
-      Robot.fill(255,190,0);
-
-      Robot.rect(53, 58, 13, 13);
-      break;
-    case BUTTON_RIGHT:
-      //right button pressed, increases tempo
-      tempo += 5;
-      if(tempo > 100) tempo = 100; //highest tempo 100
-      Robot.fill(255,190,0);
-      Robot.rect(93, 58, 13, 13);
-      break;
-    case BUTTON_UP:
-      //up button pressed, increases pitch
-      pitch += 120;
-      if(pitch > 2000) pitch = 2000;
-      Robot.fill(0, 0, 255);
-
-      Robot.rect(73, 38, 13, 13);
-      break;
-    case BUTTON_DOWN:
-      //down button pressed, reduces pitch
-      pitch -= 120;
-      if(pitch < 200){
-        pitch = 200;  
-      }
-      Robot.fill(0, 0, 255);
-
-      Robot.rect(73, 78, 13, 13);
-      break;
-    case BUTTON_MIDDLE:
-      //middle button pressed, resets tempo and pitch
-      tempo = 60;
-      pitch = 1000;
-      Robot.fill(160,160,160);
-
-      Robot.circle(79, 64, 6);
-      break;
-    case BUTTON_NONE:
-      //Only when the keys are released(thus BUTTON_NONE is
-      //encountered the first time), the interface will be 
-      //re-drawn.
-      if(oldKey != BUTTON_NONE){  
-        renderUI();
-      }
-      break;
-  }
-  if(oldKey != keyCode) {
-    // change the song's tempo
-    Robot.tempoWrite(tempo);
-    // change the song's pitch
-    Robot.tuneWrite(float(pitch/1000.0));
-  }
-  oldKey = keyCode;
-}
-
-void drawKnob(int val) {
-  static int x = 0, y = 0, val_old = 0;
-  // radian number, -3.14 to 3.14
-  float ang = map(val, 0, 1023, -PI*1000, PI*1000) / 1000.0;
-
-  // erase the old line  
-  if (val_old != val) {
-    Robot.stroke(255, 255, 255);
-    Robot.line(26, 116, x, y);
-  }
-  
-  // the following lines avoid a glitch in the TFT library
-  // that seems to appear when drawing a vertical line 
-  if (val < 1011 && val > 265 || val < 253) { 
-    //a bit math for drawing the hand inside the clock
-    x = 16*sin(ang)+26;
-    y = 16*cos(ang)+116;
-  } 
-  if (val > 265 && val < 253) {
-    x = 10; y = 116; 
-  }    
-  if (val >= 1011) {
-    x = 27; y = 100; 
-  }    
-  Robot.stroke(0, 0, 0);
-  Robot.line(26, 116, x, y); 
-  val_old = val;
-}
diff --git a/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino b/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino
deleted file mode 100644
index c571b3a..0000000
--- a/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino
+++ /dev/null
@@ -1,103 +0,0 @@
-/* 6 Wheel Calibration
-
- Use this sketch to calibrate the wheels in your robot. 
- Your robot should drive as straight as possible when 
- putting both motors at the same speed.
-
- Run the software and follow the on-screen instructions. 
- Use the trimmer on the motor board to make sure the 
- robot is working at its best!
- Circuit:
- * Arduino Robot
- 
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
- */
-
-#include <ArduinoRobot.h> // inport the robot librsry
-// import the utility library
-// a description of its funtionality is below
-#include <utility/RobotTextManager.h> 
-
-// arrays to hold the text for instructions
-char script1[] ="Wheel Calibration";
-char script2[] ="1. Put Robot on a\n flat surface";
-char script3[] ="2. Adjust speed with the knob on top";
-char script4[] ="3. If robot goes\n straight, it's done";
-char script5[] ="4. Use screwdriver\n on the bottom trim";
-char script6[] ="- Robot turns left,\n screw it clockwise;";
-char script7[] ="- Turns right, screw it ct-colockwise;";
-char script8[] ="5. Repeat 4 until\n going straight";
-
-int speedRobot;  //robot speed
-int calibrationValue; //value for calibrate difference between wheels
-
-void setup(){
-  //necessary initialization sequence
-  Robot.begin();
-  Robot.beginTFT();
-  Robot.beginSD();
-  
-  // left and top margin for displaying text
-  // see below for a description of this
-  textManager.setMargin(5,5);
-  // write all instructions at once
-  writeAllscript();
-  
-}
-void loop(){
-  //Control the robot's speed with knob on top
-  int speedRobot=map(Robot.knobRead(),0,1023,-255,255);
-  Robot.motorsWrite(speedRobot,speedRobot);
-
-  //read value of the pot on motor baord,to clibrate the wheels
-  int calibrationValue=map(Robot.trimRead(),0,1023,-30,30);
-  // print the values to the screen
-  Robot.debugPrint(calibrationValue,110,145);
-  delay(40);
-
-}
-
-void writeAllscript(){
-  //prints 8 scripts one after another
-  textManager.writeText(0,0,script1);
-  textManager.writeText(1,0,script2);
-  textManager.writeText(3,0,script3);
-  textManager.writeText(5,0,script4);
-  textManager.writeText(7,0,script5);
-  textManager.writeText(9,0,script6);
-  textManager.writeText(11,0,script7);
-  textManager.writeText(13,0,script8);
-}
-
-/**
-textManager mostly contains helper functions for 
-R06_Wheel_Calibration and R01_Hello_User.
-
-  textManager.setMargin(margin_left, margin_top):
-    Configure the left and top margin for text
-    display. The margins will be used by 
-    textManager.writeText().
-    Parameters:
-      margin_left, margin_top: int, the margin values
-      from the top and left side of the screen.
-    Returns:
-      none
-    
-  textManager.writeText(line,column,text):
-    Display text on the specific line and column. 
-    It's different from Robot.text() which
-    uses pixels for positioning the text.
-    Parameters:
-      line:int, which line is the text displayed. Each line
-        is 10px high.
-      column:int,  which column is the text displayed. Each
-        column is 8px wide.
-      text:a char array(string) of the text to be displayed.
-    Returns:
-      none
-*/
diff --git a/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino b/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino
deleted file mode 100644
index 9832d29..0000000
--- a/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino
+++ /dev/null
@@ -1,78 +0,0 @@
-/* Runaway Robot
-
- Play tag with your robot! With an ultrasonic 
- distance sensor, it's capable of detecting and avoiding
- obstacles, never bumping into walls again!
-  
- You'll need to attach an untrasonic range finder to TK1.
-
- Circuit:
- * Arduino Robot
- * US range finder like Maxbotix EZ10, with analog output
- 
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
- */
-
-// include the robot library
-#include <ArduinoRobot.h>
-
-int sensorPin = TK1;  // pin is used by the sensor
-
-void setup() {
-  // initialize the Robot, SD card, and display
-  Serial.begin(9600);
-  Robot.begin();
-  Robot.beginTFT();
-  Robot.beginSD();
-  Robot.displayLogos();
-  
-  // draw a face on the LCD screen
-  setFace(true);
-}
-
-void loop() {
-  // If the robot is blocked, turn until free
-  while(getDistance() < 40) {  // If an obstacle is less than 20cm away
-    setFace(false); //shows an unhappy face
-    Robot.motorsStop(); // stop the motors
-    delay(1000); // wait for a moment
-    Robot.turn(90); // turn to the right and try again
-    setFace(true); // happy face
-  }
-  // if there are no objects in the way, keep moving
-  Robot.motorsWrite(255, 255); 
-  delay(100);
-}
-
-// return the distance in cm
-float getDistance() {
-  // read the value from the sensor
-  int sensorValue = Robot.analogRead(sensorPin);
-  //Convert the sensor input to cm.
-  float distance_cm = sensorValue*1.27;
-  return distance_cm;  
-}
-
-// make a happy or sad face
-void setFace(boolean onOff) {
-  if(onOff) {
-    // if true show a happy face
-    Robot.background(0, 0, 255);
-    Robot.setCursor(44, 60);
-    Robot.stroke(0, 255, 0);
-    Robot.setTextSize(4);
-    Robot.print(":)");
-  }else{
-    // if false show an upset face
-    Robot.background(255, 0, 0);
-    Robot.setCursor(44, 60);
-    Robot.stroke(0, 255, 0);
-    Robot.setTextSize(4);
-    Robot.print("X(");
-  }
-}
diff --git a/libraries/Robot_Control/examples/explore/R08_Remote_Control/R08_Remote_Control.ino b/libraries/Robot_Control/examples/explore/R08_Remote_Control/R08_Remote_Control.ino
deleted file mode 100644
index fda21cb..0000000
--- a/libraries/Robot_Control/examples/explore/R08_Remote_Control/R08_Remote_Control.ino
+++ /dev/null
@@ -1,123 +0,0 @@
-/* 08 Remote Control
-
- *******************
- ***
- ***This example code is in an experimental state.
- ***You are welcome to try this with your robot,
- ***and no harm will come to it. We will provide a
- ***detailed description of an updated version of this
- ***in a future update
- ***
- *** For this example to work you need:
- ***
- *** - download and install the IR-Remote library by Ken Shirriff
- ***   to be found at https://github.com/shirriff/Arduino-IRremote
- *** - get a Sony remote control
- ***
- *** This example will be updated soon, come back to the Robot
- *** page on the Arduino server for updates!!
- ***
- *******************
- 
- If you connect a IR receiver to the robot, 
- you can control it like you control a TV set. 
- Using a Sony compatiable remote control, 
- map some buttons to different actions. 
- You can make the robot move around without 
- even touching it!
-
- Circuit: 
- * Arduino Robot
- * Connect the IRreceiver to TDK2
- * Sony compatible remote control
-
- based on the IRremote library
- by Ken Shirriff
- http://arcfn.com
- 
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
- */
-
-// include the necessary libraries
-#include <IRremote.h>
-#include <ArduinoRobot.h>
-
-// Define a few commands from your remote control
-#define IR_CODE_FORWARD 0x2C9B
-#define IR_CODE_BACKWARDS 0x6C9B
-#define IR_CODE_TURN_LEFT 0xD4B8F
-#define IR_CODE_TURN_RIGHT 0x34B8F
-
-int RECV_PIN = TKD2; // the pin the IR receiver is connected to
-IRrecv irrecv(RECV_PIN); // an instance of the IR receiver object
-decode_results results; // container for received IR codes
-
-void setup() {
-  // initialize the Robot, SD card, display, and speaker 
-  Robot.begin();
-  Robot.beginTFT();
-  Robot.beginSD();
-
-  // print some text to the screen
-  Robot.stroke(0, 0, 0);
-  Robot.text("Remote Control code:", 5, 5);
-  Robot.text("Command:", 5, 26);
-  irrecv.enableIRIn(); // Start the receiver
-}
-
-void loop() {
-  // if there is an IR command, process it
-  if (irrecv.decode(&results)) {
-    processResult();
-    irrecv.resume(); // resume receiver
-  }
-}
-
-void processResult() {
-  unsigned long res = results.value;
-  // print the value to the screen
-  Robot.debugPrint(res, 5, 15);
-
-  if(res == IR_CODE_FORWARD || res == IR_CODE_BACKWARDS || res == IR_CODE_TURN_LEFT || res == IR_CODE_TURN_RIGHT) {
-    Robot.fill(255, 255, 255);
-    Robot.stroke(255, 255, 255);
-
-    Robot.rect(5, 36, 55, 10);
-  }
-  switch(results.value){
-    case IR_CODE_FORWARD:
-      Robot.stroke(0, 0, 0);
-      Robot.text("Forward", 5, 36);
-      Robot.motorsWrite(255, 255);
-      delay(300);
-      Robot.motorsStop();
-      break;
-    case IR_CODE_BACKWARDS:
-      Robot.stroke(0, 0, 0);
-      Robot.text("Backwards", 5, 36);
-      Robot.motorsWrite(-255, -255);
-      delay(300);
-      Robot.motorsStop();
-      break;
-    case IR_CODE_TURN_LEFT:
-      Robot.stroke(0, 0, 0);
-      Robot.text("Left", 5, 36);
-      Robot.motorsWrite(-255, 255); 
-      delay(100);
-      Robot.motorsStop();
-      break;
-    case IR_CODE_TURN_RIGHT:
-      Robot.stroke(0, 0, 0);
-      Robot.text("Right", 5, 36);
-      Robot.motorsWrite(255, -255); 
-      delay(100);
-      Robot.motorsStop();
-      break;
-  }
-}
-
diff --git a/libraries/Robot_Control/examples/explore/R09_Picture_Browser/R09_Picture_Browser.ino b/libraries/Robot_Control/examples/explore/R09_Picture_Browser/R09_Picture_Browser.ino
deleted file mode 100644
index a43348c..0000000
--- a/libraries/Robot_Control/examples/explore/R09_Picture_Browser/R09_Picture_Browser.ino
+++ /dev/null
@@ -1,159 +0,0 @@
-/* Picture Browser
-
- You can make your own gallery/picture show with the 
- Robot. Put some pictures on the SD card, start the 
- sketch, they will diplay on the screen. 
- 
- Use the left/right buttons to navigate through the 
- previous and next images. 
- 
- Press up or down to enter a mode where you change 
- the pictures by rotating the robot.
- 
- You can add your own pictures onto the SD card, and 
- view them in the Robot's gallery!
-
- Pictures must be uncompressed BMP, 24-bit color depth, 
- 160 pixels wide, and 128 pixels tall.
- 
- They should be named as "picN.bmp". Replace 'N' with a 
- number between 0 and 9.
-
- The current code only supports 10 pictures. How would you 
- improve it to handle more?
-
- Circuit:
- * Arduino Robot
-
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
- */
-
-#include <ArduinoRobot.h> // include the robot library
-
-const int NUM_PICS = 4;  //Total number of pictures in Gallery
-
-// name the modes
-const int CONTROL_MODE_KEY = 0;
-const int CONTROL_MODE_COMPASS = 1;
-
-char buffer[] = "pic1.bmp";  // current file name
-int i = 1;  // Current gallery sequence counter
-int mode = 0;  // Current mode
-
-// text to display on screen
-char modeNames[][9] = { "keyboard", "tilt    " };
-
-void setup() {
-  // initialize the Robot, SD card, display, and speaker 
-  Robot.beginSD();
-  Robot.beginTFT();
-  Robot.begin();
-  
-  // draw "lg0.bmp" and "lg1.bmp" on the screen  
-  Robot.displayLogos();
-  
-  // draw init3.bmp from the SD card on the screen
-  Robot.drawBMP("init3.bmp", 0, 0);
-
-  // display instructions
-  Robot.stroke(0, 0, 0);
-  Robot.text("The gallery\n\n has 2 modes, in\n keyboard mode, L/R\n key for switching\n pictures, U/D key\n for changing modes", 5, 5);
-  delay(6000);
-  Robot.clearScreen();
-  Robot.drawBMP("pb.bmp", 0, 0);
-  Robot.text("In tilt mode,\n quickly tilt the\n robot to switch\n pictures", 5, 5);
-  delay(4000);
-}
-
-void loop() {
-  buffer[3] = '0'+i;// change filename of the img to be displayed
-  Robot.drawBMP(buffer, 0, 0); // draw the file on the screen
-  // change control modes
-  switch(mode) { 
-    case CONTROL_MODE_COMPASS:
-      compassControl(3);
-      break;
-    case CONTROL_MODE_KEY:
-      keyboardControl();
-      break;
-  }
-  delay(200);
-}
-
-void keyboardControl() {
-  //Use buttons to control the gallery
-  while(true) {
-    int keyPressed = Robot.keyboardRead(); // read the button values
-    switch(keyPressed) {
-      case BUTTON_LEFT:  // display previous picture
-        if(--i < 1) i = NUM_PICS;
-        return;
-      case BUTTON_MIDDLE:  // do nothing
-      case BUTTON_RIGHT:  // display next picture
-        if(++i > NUM_PICS) i = 1;
-        return;
-      case BUTTON_UP:  // change mode
-        changeMode(-1);
-        return;
-      case BUTTON_DOWN:  // change mode
-        changeMode(1);
-        return;
-    }
-  }
-}
-
-// if controlling by the compass
-void compassControl(int change) {
-  // Rotate the robot to change the pictures
-  while(true) {
-    // read the value of the compass
-    int oldV = Robot.compassRead();
-    
-    //get the change of angle
-    int diff = Robot.compassRead()-oldV;
-    if(diff > 180) diff -= 360;
-    else if(diff < -180) diff += 360;
-    
-    if(abs(diff) > change) {
-      if(++i > NUM_PICS) i = 1;
-      return;
-    }
-    
-    // chage modes, if buttons are pressed
-    int keyPressed = Robot.keyboardRead();
-    switch(keyPressed) {
-      case BUTTON_UP:
-        changeMode(-1);
-        return;
-      case BUTTON_DOWN:
-        changeMode(1);
-        return;
-    }
-    delay(10);
-  }
-}
-
-// Change the control mode and display it on the LCD
-void changeMode(int changeDir) {
-  // alternate modes
-  mode += changeDir;
-  if(mode < 0) { 
-    mode = 1;
-  } else if(mode > 1)
-    mode=0;
-    
-  // display  the mode on screen  
-  Robot.fill(255, 255, 255);  
-  Robot.stroke(255, 255, 255);
-  Robot.rect(0, 0, 128, 12);
-  Robot.stroke(0, 0, 0);
-  Robot.text("Control:", 2, 2);
-  Robot.text(modeNames[mode], 52, 2);
-  delay(1000);
-}
-
diff --git a/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino b/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino
deleted file mode 100644
index 48044db..0000000
--- a/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino
+++ /dev/null
@@ -1,124 +0,0 @@
-/* Robot Rescue
-
- In this example, the robot enters the line following mode and
- plays some music until it reaches its target. Once it finds the 
- target, it pushes it out of the track. It then returns to the 
- track and looks for a second target.
-
- You can make the robot push as many objects as you want to, just
- add more to calls to the rescue function or even move that code
- into the loop.
-
- Circuit:
- * Arduino Robot
- * some objects for the robot to push
- * a line-following circuit
-
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
- */
-
-#include <ArduinoRobot.h> // include the robot library
-
-void setup(){
-  // initialize the Robot, SD card, display, and speaker 
-  Robot.begin();
-  Robot.beginTFT();
-  Robot.beginSD();
-  Robot.beginSpeaker();
- 
-  // draw "lg0.bmp" and "lg1.bmp" on the screen 
-  Robot.displayLogos();
-
-  // display the line following instructional image from the SD card
-  Robot.drawBMP("lf.bmp", 0, 0);
-
-  // play the chase music file
-  Robot.playFile("chase.sqm");
-
-  // add the instructions
-  Robot.text("Rescue\n\n place the robot on\n the rescue track\n pushing the\n obstacles away", 5, 5);
-  Robot.text("Press the middle\n button to start...", 5, 61);
-  Robot.waitContinue();
-
-  // start
-  Robot.fill(255, 255, 255);
-  Robot.stroke(255, 255, 255);
-  Robot.rect(0, 0, 128, 80); // erase the previous text
-  Robot.stroke(0, 0, 0);
-  Robot.text("Start", 5, 5);
-  
-  // use this to calibrate the line following algorithm
-  // uncomment one or the other to see the different behaviors of the robot
-  // Robot.lineFollowConfig(11, 5, 50, 10);
-  Robot.lineFollowConfig(14, 9, 50, 10);
-  
-  // run the rescue sequence  
-  rescueSequence();
-  Robot.text("Found obstacle", 5, 12);
-  // find the track again
-  goToNext();
-  Robot.text("Found track", 5, 19);
-  // run the rescue sequence a second time
-  rescueSequence();
-  Robot.text("Found obstacle", 5, 26);
-  
-  // here you could go on ...
- 
-  // write status on the screen
-  Robot.stroke(0, 0, 0);
-  Robot.text("Done!", 5, 25);
-}
-
-void loop(){
-  //nothing here, the program only runs once.
-}
-
-// run the sequence
-void rescueSequence(){
-  //set the motor board into line-follow mode
-  Robot.setMode(MODE_LINE_FOLLOW);  
-  
-  while(!Robot.isActionDone()){  // wait until it is no longer following the line
-  }
-  delay(1000);
-
-  // do the rescue operation
-  doRescue();
-  delay(1000);
-}
-
-void doRescue(){
-  // Reached the endline, engage the target
-  Robot.motorsWrite(200,200);
-  delay(250);
-  Robot.motorsStop();
-  delay(1000);
-
-  // Turn the robot 
-  Robot.turn(90);
-  Robot.motorsStop();
-  delay(1000);
-  
-  // Move forward
-  Robot.motorsWrite(200,200);
-  delay(500);
-  Robot.motorsStop();
-  delay(1000);
-  
-  // move backwards, leave the target
-  Robot.motorsWrite(-200,-200);
-  delay(500);
-  Robot.motorsStop();
-}
-
-void goToNext(){
-  // Turn the robot 
-  Robot.turn(-90);
-  Robot.motorsStop();
-  delay(1000);
-}
diff --git a/libraries/Robot_Control/examples/explore/R11_Hello_User/R11_Hello_User.ino b/libraries/Robot_Control/examples/explore/R11_Hello_User/R11_Hello_User.ino
deleted file mode 100644
index 90fbfff..0000000
--- a/libraries/Robot_Control/examples/explore/R11_Hello_User/R11_Hello_User.ino
+++ /dev/null
@@ -1,181 +0,0 @@
-/* Hello User
-
- Hello User! This sketch is the first thing you see 
- when starting this robot. It gives you a warm welcome, 
- showing you some of the really amazing abilities of 
- the robot, and make itself really personal to you. 
-
- Circuit:
- * Arduino Robot
-
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
- */
-
-#include <ArduinoRobot.h> // include the robot library
-// include the utility function for ths sketch
-// see the details below
-#include <utility/RobotTextManager.h>  
-
-char buffer[20];//for storing user name
-
-void setup(){
-  //necessary initialization sequence
-  Robot.begin();
-  Robot.beginTFT();
-  Robot.beginSpeaker(32000);
-  Robot.beginSD();
-
-  // show the logos from the SD card
-  Robot.displayLogos();
-  
-  // play the music file
-  Robot.playFile("menu.sqm");
-
-  // clear the screen
-  Robot.clearScreen();
-  
-  // From now on, display different slides of 
-  // text/pictures in sequence. The so-called
-  // scripts are strings of text stored in the
-  // robot's memory
-  
-  // these functions are explained below
-  
-  //Script 6
-  textManager.writeScript(5, 4, 0); 
-  textManager.writeScript(9, 10, 0);
-  Robot.waitContinue();
-  delay(500);
-  Robot.clearScreen();
-
-  //Script 7
-  textManager.writeScript(6, 4, 0);
-  textManager.writeScript(9, 10, 0);
-  Robot.waitContinue();
-  delay(500);
-  Robot.clearScreen();
-
-  //Script 8
-  // this function enables sound and images at once
-  textManager.showPicture("init2.bmp", 0, 0);
-  
-  textManager.writeScript(7, 2, 0);
-  textManager.writeScript(9, 7, 0);
-  Robot.waitContinue();
-  delay(500);
-  Robot.clearScreen();
-
-  //Script 9
-  textManager.showPicture("init3.bmp", 0, 0);
-  textManager.writeScript(8, 2, 0);
-  textManager.writeScript(9, 7, 0);
-  Robot.waitContinue();
-  delay(500);
-  Robot.clearScreen();
-
-  //Script 11
-  textManager.writeScript(10, 4, 0);
-  textManager.writeScript(9, 10, 0);
-  Robot.waitContinue();
-  delay(500);
-  Robot.clearScreen();
-
-  //Input screen
-  textManager.writeScript(0, 1, 1);
-  textManager.input(3, 1, USERNAME);
-  
-  textManager.writeScript(1, 5, 1);
-  textManager.input(7, 1, ROBOTNAME);
-
-  delay(1000);
-  Robot.clearScreen();
-  
-  //last screen
-  textManager.showPicture("init4.bmp", 0, 0);
-  textManager.writeText(1, 2, "Hello");
-  Robot.userNameRead(buffer);
-  textManager.writeText(3, 2, buffer);
-
-  textManager.writeScript(4,10,0);
-
-  Robot.waitContinue(BUTTON_LEFT);
-  Robot.waitContinue(BUTTON_RIGHT);
-  textManager.showPicture("kt1.bmp", 0, 0);
-}
-
-void loop(){
-  // do nothing here
-}
-
-
-/**
-textManager mostly contains helper functions for 
-R06_Wheel_Calibration and R01_Hello_User.
-
-The ones used in this example:
-  textManager.setMargin(margin_left, margin_top):
-    Configure the left and top margin for text
-    display. The margins will be used for 
-    textManager.writeText().
-    Parameters:
-      margin_left, margin_top: the margin values
-      from the top and left side of the screen.
-    Returns:
-      none
-    
-  textManager.writeScript(script_number,line,column):
-    Display a script of Hello User example. 
-    Parameters:
-      script_number: an int value representing the 
-        script to be displayed.
-      line, column: in which line,column is the script
-        displayed. Same as writeText().
-    Returns:
-      none
-  
-  textManager.input(line,column,codename):
-    Print an input indicator(">") in the line and column,
-    dispaly and receive input from a virtual keyboard,
-    and save the value into EEPROM represented by codename
-    Parameters:
-      line,column: int values represents where the input
-        starts. Same as wirteText().
-      codename: either USERNAME,ROBOTNAME,CITYNAME or
-        COUNTRYNAME. You can call Robot.userNameRead(),
-        robotNameRead(),cityNameRead() or countryNameRead()
-        to access the values later.
-    Returns:
-      none;
-  
-  textManager.writeText(line,column,text):
-    Display text on the specific line and column. 
-    It's different from Robot.text() as the later
-    uses pixels for positioning the text.
-    Parameters:
-      line:in which line is the text displayed. Each line
-        is 10px high.
-      column:in which column is the text displayed. Each
-        column is 8px wide.
-      text:a char array(string) of the text to be displayed.
-    Returns:
-      none
-      
-    textManager.showPicture(filename, x, y):
-      It has the same functionality as Robot.drawPicture(),
-      while fixing the conflict between drawPicture() and 
-      sound playing. Using Robot.drawPicture(), it'll have
-      glitches when playing sound at the same time. Using
-      showPicture(), it'll stop sound when displaying 
-      picture, so preventing the problem.
-      Parameters:
-        filename:string, name of the bmp file in sd
-        x,y: int values, position of the picture
-      Returns:
-        none  
-    
-*/