Merged 1.0.5

11 files changed, 1390 insertions, 0 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
new file mode 100644
index 0000000..794479e
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino
@@ -0,0 +1,134 @@
+/* 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
new file mode 100644
index 0000000..58de253
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino
@@ -0,0 +1,73 @@
+/* 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
new file mode 100644
index 0000000..3574b01
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino
@@ -0,0 +1,179 @@
+/* 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
new file mode 100644
index 0000000..a7a7315
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino
@@ -0,0 +1,70 @@
+/* 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
new file mode 100644
index 0000000..1359f8d
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R05_Inputs/R05_Inputs.ino
@@ -0,0 +1,166 @@
+/* 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
new file mode 100644
index 0000000..c571b3a
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino
@@ -0,0 +1,103 @@
+/* 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
new file mode 100644
index 0000000..9832d29
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino
@@ -0,0 +1,78 @@
+/* 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
new file mode 100644
index 0000000..fda21cb
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R08_Remote_Control/R08_Remote_Control.ino
@@ -0,0 +1,123 @@
+/* 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
new file mode 100644
index 0000000..a43348c
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R09_Picture_Browser/R09_Picture_Browser.ino
@@ -0,0 +1,159 @@
+/* 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
new file mode 100644
index 0000000..48044db
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino
@@ -0,0 +1,124 @@
+/* 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
new file mode 100644
index 0000000..90fbfff
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R11_Hello_User/R11_Hello_User.ino
@@ -0,0 +1,181 @@
+/* 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  
+    
+*/