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

7 files changed, 0 insertions, 1055 deletions

diff --git a/libraries/Robot_Control/utility/RobotTextManager.cpp b/libraries/Robot_Control/utility/RobotTextManager.cpp
deleted file mode 100644
index b516409..0000000
--- a/libraries/Robot_Control/utility/RobotTextManager.cpp
+++ /dev/null
@@ -1,192 +0,0 @@
-#include <avr/pgmspace.h>
-#include <ArduinoRobot.h>
-#include "VirtualKeyboard.h"
-#include "RobotTextManager.h"
-#include "scripts_Hello_User.h"
-
-const int TextManager::lineHeight=10;
-const int TextManager::charWidth=6;
-
-
-void TextManager::setMargin(int margin_left,int margin_top){
-	this->margin_left=margin_left;
-	this->margin_top=margin_top;
-}
-int TextManager::getLin(int lineNum){
-   return lineNum*lineHeight+margin_top;
-}
-
-int TextManager::getCol(int colNum){
-   return colNum*charWidth+margin_left;
-}
-
-void TextManager::writeText(int lineNum, int colNum, char* txt, bool onOff){
-  if(!onOff)
-	Robot.setTextColor(WHITE);
-
-  Robot.setCursor(getCol(colNum),getLin(lineNum));
-  Robot.print(txt);
-  
-  Robot.setTextColor(BLACK);
-}
-
-void TextManager::drawInput(bool onOff){
-  if(!onOff)
-    Robot.setTextColor(WHITE);
-
-  Robot.setCursor(getCol(inputCol),getLin(inputLin)+1);
-  Robot.print('_');
-  
-  Robot.setTextColor(BLACK);
-
-}
-
-void TextManager::mvInput(int dire){
-  drawInput(0);
-  if(dire<0){
-    if(inputPos>0){
-      inputPos--;
-      inputCol--;
-    }
-  }else{
-    if(inputPos<16){
-      inputPos++;
-      inputCol++;
-    }
-  }
-  drawInput(1);
-}
-
-char TextManager::selectLetter(){
-  static int oldVal;
-  char val=map(Robot.knobRead(),0,1023,32,125);
-  if(val==oldVal){
-    return 0;  //No changes
-  }else{
-    oldVal=val;
-    return val;  //Current letter
-  }
-}
-
-void TextManager::refreshCurrentLetter(char letter){
-  if(letter){
-	writeText(inputLin,inputCol,inputPool+inputPos,false);//erase
-	inputPool[inputPos]=letter;
-	writeText(inputLin,inputCol,inputPool+inputPos,true);//write
-  }
-}
-
-
-void TextManager::getInput(int lin, int col){
-  writeText(lin,col,">");  //Input indicator
-  
-  writeText(lin, col+1, inputPool);
-  
-  inputLin=lin;  //Ini input cursor
-  inputCol=col+1;
-  inputPos=0;
-  drawInput(true);
-  
-  Vkey.display(100);//Vkey is a object of VirtualKeyboard class
-  
-  while(true){
-    switch(Robot.keyboardRead()){
-      case BUTTON_LEFT:
-        //Robot.beep(BEEP_SIMPLE);
-        mvInput(-1);
-        break;
-      case BUTTON_RIGHT:
-        //Robot.beep(BEEP_SIMPLE);
-        mvInput(1);
-        break;
-      case BUTTON_MIDDLE:
-        //Robot.beep(BEEP_DOUBLE);
-        char selection=Vkey.getSelection();
-        if(selection!='\0'){
-          refreshCurrentLetter(selection);
-          mvInput(1);
-        }else{
-          drawInput(false);
-          return;
-        }
-    }
-    Vkey.run();
-    delay(10);
-  }
-}
-void TextManager::setInputPool(int code){
-  switch(code){
-    case USERNAME:
-      Robot.userNameRead(inputPool);
-      break;
-    case ROBOTNAME:
-      Robot.robotNameRead(inputPool);
-      break;
-    case CITYNAME:
-      Robot.cityNameRead(inputPool);
-      break;
-    case COUNTRYNAME:
-      Robot.countryNameRead(inputPool);
-      break;
-  }
-  for(int i=0;i<18;i++){
-    if(inputPool[i]=='\0'){
-      for(int j=i;j<18;j++){
-        inputPool[j]='\0';
-      }
-      break;
-    }
-  }
-}
-void TextManager::pushInput(int code){
-  switch(code){
-    case USERNAME:
-      Robot.userNameWrite(inputPool);
-      break;
-    case ROBOTNAME:
-      Robot.robotNameWrite(inputPool);
-      break;
-    case CITYNAME:
-      Robot.cityNameWrite(inputPool);
-      break;
-    case COUNTRYNAME:
-      Robot.countryNameWrite(inputPool);
-      break;
-  }
-  for(int i=0;i<18;i++){
-    inputPool[i]='\0';
-  }
-}
-void TextManager::input(int lin,int col, int code){
-  setInputPool(code);
-  getInput(lin,col);
-  pushInput(code);
-}
-
-void TextManager::showPicture(char * filename, int posX, int posY){
-  Robot.pause();
-  Robot._drawBMP(filename,posX,posY);
-  Robot.play();
-}
-
-void TextManager::getPGMtext(int seq){
-  //It takes a string from program space, and fill it  
-  //in the buffer
-  //if(in hello user example){
-  if(true){
-	strcpy_P(PGMbuffer,(char*)pgm_read_word(&(::scripts_Hello_User[seq])));
-  }
-}
-
-void TextManager::writeScript(int seq, int line, int col){
-  //print a string from program space to a specific line,
-  //column on the LCD
-  
-  //first fill the buffer with text from program space
-  getPGMtext(seq);
-  //then print it to the screen
-  textManager.writeText(line,col,PGMbuffer);
-}
-
-
-TextManager textManager=TextManager();
diff --git a/libraries/Robot_Control/utility/RobotTextManager.h b/libraries/Robot_Control/utility/RobotTextManager.h
deleted file mode 100644
index 6c0b7bd..0000000
--- a/libraries/Robot_Control/utility/RobotTextManager.h
+++ /dev/null
@@ -1,77 +0,0 @@
-#ifndef ROBOTTEXTMANAGER_H
-#define ROBOTTEXTMANAGER_H
-
-#define USERNAME  0
-#define ROBOTNAME  1
-#define CITYNAME  2
-#define COUNTRYNAME  3
-#define EMPTY 4
-
-class TextManager{
-  //The TextManager class is a collection of features specific for Hello 
-  //User example. 
-  //
-  //- It includes solution for setting text position based on
-  //  line/column. The original Robot.text(), or the more low level 
-  //  print() function can only set text position on pixels from left,
-  //  top. 
-  //
-  //- The process of accepting input with the virtual keyboard, saving
-  //  into or reading from EEPROM is delt with here.
-  //
-  //- A workflow for stop the music while displaying image. Trouble
-  //  will happen otherwise.
-  
-  public:
-	//add some margin to the text, left side only atm.
-	void setMargin(int margin_left,int margin_top);
-    
-    //print text based on line, column. 
-    void writeText(int lineNum, int colNum, char* txt, bool onOff=true);
-	
-	//print a script from the scripts library
-	void writeScript(int seq, int line, int col);
-
-	//The whole process of getting input
-	void input(int lin,int col, int code);
-    //Print a cursor and virtual keyboard on screen, and save the user's input
-    void getInput(int lin, int col);  
-    //Get user name, robot name, city name or country name from EEPROM
-    //and store in the input pool.
-    void setInputPool(int code);
-    //save user input to EEPROM
-    void pushInput(int code);
-	
-    //Replaces Robot.drawPicture(), as this one solves collision between
-    //image and music
-    void showPicture(char * filename, int posX, int posY);
-
-  private:
-    int margin_left,margin_top;
-	int getLin(int lineNum);  //Convert line to pixels from top
-    int getCol(int colNum);  //Convert line to pixels from left
-  
-    static const int lineHeight;//8+2=10
-    static const int charWidth;//5+1=6
-    
-    int inputPos;
-    int inputLin;
-    int inputCol;
-	
-    void drawInput(bool onOff);
-    void mvInput(int dire);
-
-    char selectLetter();
-    void refreshCurrentLetter(char letter);
-
-	void getPGMtext(int seq);
-	
-	char PGMbuffer[85];  //the buffer for storing strings
-    char inputPool[18];
-};
-
-//a trick for removing the need of creating an object of TextManager.
-//So you can call me.somefunction() directly in the sketch.
-extern TextManager textManager;
-
-#endif
diff --git a/libraries/Robot_Control/utility/VirtualKeyboard.cpp b/libraries/Robot_Control/utility/VirtualKeyboard.cpp
deleted file mode 100644
index ad73c75..0000000
--- a/libraries/Robot_Control/utility/VirtualKeyboard.cpp
+++ /dev/null
@@ -1,127 +0,0 @@
-#include "VirtualKeyboard.h"
-
-int VirtualKeyboard::getColLin(int val){
-  uint8_t col,lin;
-  lin=val/10;
-  col=val%10; // saving 36 bytes :(
-  /*if(0<=val && 9>=val){
-    col=val;
-    lin=0;
-  }else if(10<=val && 19>=val){
-    col=val-10;
-    lin=1;
-  }else if(20<=val && 29>=val){
-    col=val-20;
-    lin=2;
-  }else if(30<=val && 39>=val){
-    col=val-30;
-    lin=3;
-  }*/
-  return (col<<8)+lin;	//Put col and lin in one int
-}
-void VirtualKeyboard::run(){
-/** visually select a letter on the keyboard
-*	The selection boarder is 1px higher than the character, 
-*	1px on the bottom, 2px to the left and 2px to the right.
-*
-*/
-  if(!onOff)return;
-  //Serial.println(onOff);
-  static int oldColLin=0;
-  uint8_t val=map(Robot.knobRead(),0,1023,0,38);
-  if(val==38)val=37;	//The last value is jumpy when using batteries
-  int colLin=getColLin(val);
-  
-  if(oldColLin!=colLin){
-    uint8_t x=(oldColLin>>8 & 0xFF)*11+10;//col*11+1+9
-    uint8_t y=(oldColLin & 0xFF)*11+1+top;//lin*11+1+top
-    uint8_t w=9;
-    if(oldColLin==1795)  //last item "Enter", col=7 lin=3
-      w=33; //(5+1)*6-1+2+2  charWidth=5, charMargin=1, count("Enter")=6, lastItem_MarginRight=0, marginLeft==marginRight=2
-    Robot.drawRect(x,y,w,9,hideColor);
-
-
-    x=(colLin>>8 & 0xFF)*11+10;
-    y=(colLin & 0xFF)*11+1+top;
-    w=9;
-    if(colLin==1795)  //last item "Enter", col=7 lin=3
-      w=33; //(5+1)*6-1+2+2  charWidth=5, charMargin=1, count("Enter")=6, lastItem_MarginRight=0, marginLeft==marginRight=2
-    Robot.drawRect(x,y,w,9,showColor);
-    oldColLin=colLin;
-  }
-}
-
-char VirtualKeyboard::getSelection(){
-  if(!onOff)return -1;
-
-  uint8_t val=map(Robot.knobRead(),0,1023,0,38);
-  if(0<=val && 9>=val)
-    val='0'+val;	
-  else if(10<=val && 35>=val)
-    val='A'+val-10;	
-  else if(val==36)
-    val=' ';
-  else if(val>=37)
-    val='\0';
-  
-  return val;
-}
-void VirtualKeyboard::hide(){
-	onOff=false;
-	Robot.fillRect(0,top,128,44,hideColor);//11*4
-}
-
-void VirtualKeyboard::display(uint8_t top, uint16_t showColor, uint16_t hideColor){
-/** Display the keyboard at y position of top
-*	formular:
-*	When text size is 1, one character is 5*7
-*	margin-left==margin-right==3,
-*	margin-top==margin-bottom==2,
-*	keyWidth=5+3+3==11,
-*	keyHeight=7+2+2==11,
-*	keyboard-margin-left=keyboard-margin-right==9
-*	so character-x=11*col+9+3=11*col+12
-*	character-y=11*lin+2+top
-*	
-**/
-  this->top=top;
-  this->onOff=true;
-  
-  this->showColor=showColor;
-  this->hideColor=hideColor;
-  
-  for(uint8_t i=0;i<36;i++){
-	Robot.setCursor(i%10*11+12,2+top+i/10*11);
-	if(i<10)
-		Robot.print(char('0'+i));
-	else
-		Robot.print(char(55+i));//'A'-10=55
-  }//for saving 58 bytes :(
-  
-  /*for(int i=0;i<10;i++){
-    Robot.setCursor(i*11+12,2+top);//11*0+2+top
-    Robot.print(char('0'+i));//line_1: 0-9
-  }
-  for(int i=0;i<10;i++){
-    Robot.setCursor(i*11+12,13+top);//11*1+2+top
-    Robot.print(char('A'+i));//line_2: A-J
-  }
-  for(int i=0;i<10;i++){
-    Robot.setCursor(i*11+12,24+top);//11*2+2+top
-    Robot.print(char('K'+i));//line_3: K-T
-  }
-  for(int i=0;i<6;i++){
-    Robot.setCursor(i*11+12,35+top);//11*3+2+top
-    Robot.print(char('U'+i));//line_4: U-Z
-  }*/
-  //space and enter at the end of the last line.
-  Robot.setCursor(78,35+top);//6*11+12=78
-  Robot.print('_');//_
-  
-  Robot.setCursor(89,35+top);//7*11+12=89
-  Robot.print("Enter");//enter
-}
-
-
-
-VirtualKeyboard Vkey=VirtualKeyboard();
\ No newline at end of file
diff --git a/libraries/Robot_Control/utility/VirtualKeyboard.h b/libraries/Robot_Control/utility/VirtualKeyboard.h
deleted file mode 100644
index 273edb7..0000000
--- a/libraries/Robot_Control/utility/VirtualKeyboard.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#ifndef VIRTUAL_KEYBOARD_H
-#define VIRTUAL_KEYBOARD_H
-
-#include <Arduino.h>
-#include <ArduinoRobot.h>
-
-class VirtualKeyboard{
-	public:
-		//void begin();
-		void display(uint8_t top, uint16_t showColor=BLACK, uint16_t hideColor=WHITE);
-		void hide();
-		
-		char getSelection();
-		void run();
-		
-	private:
-		uint8_t top;
-		bool onOff;
-		
-		uint16_t showColor;
-		uint16_t hideColor;
-		
-		int getColLin(int val);
-
-};
-
-extern VirtualKeyboard Vkey;
-#endif
\ No newline at end of file
diff --git a/libraries/Robot_Control/utility/scripts_Hello_User.h b/libraries/Robot_Control/utility/scripts_Hello_User.h
deleted file mode 100644
index 29f085f..0000000
--- a/libraries/Robot_Control/utility/scripts_Hello_User.h
+++ /dev/null
@@ -1,51 +0,0 @@
-#include <avr/pgmspace.h>
-
-//an advanced trick for storing strings inside the program space
-//as the ram of Arduino is very tiny, keeping too many string in it
-//can kill the program
-
-prog_char hello_user_script1[] PROGMEM="What's your name?";
-prog_char hello_user_script2[] PROGMEM="Give me a name!";
-prog_char hello_user_script3[] PROGMEM="And the country?";
-prog_char hello_user_script4[] PROGMEM="The city you're in?";
-prog_char hello_user_script5[] PROGMEM="  Plug me to\n\n  your computer\n\n  and start coding!";
-
-prog_char hello_user_script6[] PROGMEM="     Hello User!\n\n It's me, your robot\n\n    I'm alive! <3";
-prog_char hello_user_script7[] PROGMEM="  First I need some\n\n   input from you!";
-prog_char hello_user_script8[] PROGMEM="     Use the knob\n\n   to select letters";
-prog_char hello_user_script9[] PROGMEM="   Use L/R button\n\n to move the cursor,\n\n  middle to confirm";
-prog_char hello_user_script10[] PROGMEM="  Press middle key\n   to continue...";
-prog_char hello_user_script11[] PROGMEM="  Choose \"enter\" to\n\n  finish the input";
-
-PROGMEM const char *scripts_Hello_User[]={
-  hello_user_script1,
-  hello_user_script2,
-  hello_user_script3,
-  hello_user_script4,
-  hello_user_script5,
-  hello_user_script6,
-  hello_user_script7,
-  hello_user_script8,
-  hello_user_script9,
-  hello_user_script10,
-  hello_user_script11,
-};
-
-/*
-void getPGMtext(int seq){
-  //It takes a string from program space, and fill it  
-  //in the buffer
-  strcpy_P(buffer,(char*)pgm_read_word(&(scripts[seq])));
-}
-
-void writeScript(int seq, int line, int col){
-  //print a string from program space to a specific line,
-  //column on the LCD
-  
-  //first fill the buffer with text from program space
-  getPGMtext(seq);
-  //then print it to the screen
-  textManager.writeText(line,col,buffer);
-}
-
-*/
\ No newline at end of file
diff --git a/libraries/Robot_Control/utility/twi.c b/libraries/Robot_Control/utility/twi.c
deleted file mode 100644
index 6b2db3c..0000000
--- a/libraries/Robot_Control/utility/twi.c
+++ /dev/null
@@ -1,527 +0,0 @@
-/*
-  twi.c - 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
-*/
-
-#include <math.h>
-#include <stdlib.h>
-#include <inttypes.h>
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <compat/twi.h>
-#include "Arduino.h" // for digitalWrite
-
-#ifndef cbi
-#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
-#endif
-
-#ifndef sbi
-#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
-#endif
-
-#include "pins_arduino.h"
-#include "twi.h"
-
-static volatile uint8_t twi_state;
-static volatile uint8_t twi_slarw;
-static volatile uint8_t twi_sendStop;			// should the transaction end with a stop
-static volatile uint8_t twi_inRepStart;			// in the middle of a repeated start
-
-static void (*twi_onSlaveTransmit)(void);
-static void (*twi_onSlaveReceive)(uint8_t*, int);
-
-static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH];
-static volatile uint8_t twi_masterBufferIndex;
-static volatile uint8_t twi_masterBufferLength;
-
-static uint8_t twi_txBuffer[TWI_BUFFER_LENGTH];
-static volatile uint8_t twi_txBufferIndex;
-static volatile uint8_t twi_txBufferLength;
-
-static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH];
-static volatile uint8_t twi_rxBufferIndex;
-
-static volatile uint8_t twi_error;
-
-/* 
- * Function twi_init
- * Desc     readys twi pins and sets twi bitrate
- * Input    none
- * Output   none
- */
-void twi_init(void)
-{
-  // initialize state
-  twi_state = TWI_READY;
-  twi_sendStop = true;		// default value
-  twi_inRepStart = false;
-  
-  // activate internal pullups for twi.
-  digitalWrite(SDA, 1);
-  digitalWrite(SCL, 1);
-
-  // initialize twi prescaler and bit rate
-  cbi(TWSR, TWPS0);
-  cbi(TWSR, TWPS1);
-  TWBR = ((F_CPU / TWI_FREQ) - 16) / 2;
-
-  /* twi bit rate formula from atmega128 manual pg 204
-  SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR))
-  note: TWBR should be 10 or higher for master mode
-  It is 72 for a 16mhz Wiring board with 100kHz TWI */
-
-  // enable twi module, acks, and twi interrupt
-  TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);
-}
-
-/* 
- * Function twi_slaveInit
- * Desc     sets slave address and enables interrupt
- * Input    none
- * Output   none
- */
-void twi_setAddress(uint8_t address)
-{
-  // set twi slave address (skip over TWGCE bit)
-  TWAR = address << 1;
-}
-
-/* 
- * Function twi_readFrom
- * Desc     attempts to become twi bus master and read a
- *          series of bytes from a device on the bus
- * Input    address: 7bit i2c device address
- *          data: pointer to byte array
- *          length: number of bytes to read into array
- *          sendStop: Boolean indicating whether to send a stop at the end
- * Output   number of bytes read
- */
-uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop)
-{
-  uint8_t i;
-
-  // ensure data will fit into buffer
-  if(TWI_BUFFER_LENGTH < length){
-    return 0;
-  }
-
-  // wait until twi is ready, become master receiver
-  while(TWI_READY != twi_state){
-    continue;
-  }
-  twi_state = TWI_MRX;
-  twi_sendStop = sendStop;
-  // reset error state (0xFF.. no error occured)
-  twi_error = 0xFF;
-
-  // initialize buffer iteration vars
-  twi_masterBufferIndex = 0;
-  twi_masterBufferLength = length-1;  // This is not intuitive, read on...
-  // On receive, the previously configured ACK/NACK setting is transmitted in
-  // response to the received byte before the interrupt is signalled. 
-  // Therefor we must actually set NACK when the _next_ to last byte is
-  // received, causing that NACK to be sent in response to receiving the last
-  // expected byte of data.
-
-  // build sla+w, slave device address + w bit
-  twi_slarw = TW_READ;
-  twi_slarw |= address << 1;
-
-  if (true == twi_inRepStart) {
-    // if we're in the repeated start state, then we've already sent the start,
-    // (@@@ we hope), and the TWI statemachine is just waiting for the address byte.
-    // We need to remove ourselves from the repeated start state before we enable interrupts,
-    // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning
-    // up. Also, don't enable the START interrupt. There may be one pending from the 
-    // repeated start that we sent outselves, and that would really confuse things.
-    twi_inRepStart = false;			// remember, we're dealing with an ASYNC ISR
-    TWDR = twi_slarw;
-    TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE);	// enable INTs, but not START
-  }
-  else
-    // send start condition
-    TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);
-
-  // wait for read operation to complete
-  while(TWI_MRX == twi_state){
-    continue;
-  }
-
-  if (twi_masterBufferIndex < length)
-    length = twi_masterBufferIndex;
-
-  // copy twi buffer to data
-  for(i = 0; i < length; ++i){
-    data[i] = twi_masterBuffer[i];
-  }
-	
-  return length;
-}
-
-/* 
- * Function twi_writeTo
- * Desc     attempts to become twi bus master and write a
- *          series of bytes to a device on the bus
- * Input    address: 7bit i2c device address
- *          data: pointer to byte array
- *          length: number of bytes in array
- *          wait: boolean indicating to wait for write or not
- *          sendStop: boolean indicating whether or not to send a stop at the end
- * Output   0 .. success
- *          1 .. length to long for buffer
- *          2 .. address send, NACK received
- *          3 .. data send, NACK received
- *          4 .. other twi error (lost bus arbitration, bus error, ..)
- */
-uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop)
-{
-  uint8_t i;
-
-  // ensure data will fit into buffer
-  if(TWI_BUFFER_LENGTH < length){
-    return 1;
-  }
-
-  // wait until twi is ready, become master transmitter
-  while(TWI_READY != twi_state){
-    continue;
-  }
-  twi_state = TWI_MTX;
-  twi_sendStop = sendStop;
-  // reset error state (0xFF.. no error occured)
-  twi_error = 0xFF;
-
-  // initialize buffer iteration vars
-  twi_masterBufferIndex = 0;
-  twi_masterBufferLength = length;
-  
-  // copy data to twi buffer
-  for(i = 0; i < length; ++i){
-    twi_masterBuffer[i] = data[i];
-  }
-  
-  // build sla+w, slave device address + w bit
-  twi_slarw = TW_WRITE;
-  twi_slarw |= address << 1;
-  
-  // if we're in a repeated start, then we've already sent the START
-  // in the ISR. Don't do it again.
-  //
-  if (true == twi_inRepStart) {
-    // if we're in the repeated start state, then we've already sent the start,
-    // (@@@ we hope), and the TWI statemachine is just waiting for the address byte.
-    // We need to remove ourselves from the repeated start state before we enable interrupts,
-    // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning
-    // up. Also, don't enable the START interrupt. There may be one pending from the 
-    // repeated start that we sent outselves, and that would really confuse things.
-    twi_inRepStart = false;			// remember, we're dealing with an ASYNC ISR
-    TWDR = twi_slarw;				
-    TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE);	// enable INTs, but not START
-  }
-  else
-    // send start condition
-    TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA);	// enable INTs
-
-  // wait for write operation to complete
-  while(wait && (TWI_MTX == twi_state)){
-    continue;
-  }
-  
-  if (twi_error == 0xFF)
-    return 0;	// success
-  else if (twi_error == TW_MT_SLA_NACK)
-    return 2;	// error: address send, nack received
-  else if (twi_error == TW_MT_DATA_NACK)
-    return 3;	// error: data send, nack received
-  else
-    return 4;	// other twi error
-}
-
-/* 
- * Function twi_transmit
- * Desc     fills slave tx buffer with data
- *          must be called in slave tx event callback
- * Input    data: pointer to byte array
- *          length: number of bytes in array
- * Output   1 length too long for buffer
- *          2 not slave transmitter
- *          0 ok
- */
-uint8_t twi_transmit(const uint8_t* data, uint8_t length)
-{
-  uint8_t i;
-
-  // ensure data will fit into buffer
-  if(TWI_BUFFER_LENGTH < length){
-    return 1;
-  }
-  
-  // ensure we are currently a slave transmitter
-  if(TWI_STX != twi_state){
-    return 2;
-  }
-  
-  // set length and copy data into tx buffer
-  twi_txBufferLength = length;
-  for(i = 0; i < length; ++i){
-    twi_txBuffer[i] = data[i];
-  }
-  
-  return 0;
-}
-
-/* 
- * Function twi_attachSlaveRxEvent
- * Desc     sets function called before a slave read operation
- * Input    function: callback function to use
- * Output   none
- */
-void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) )
-{
-  twi_onSlaveReceive = function;
-}
-
-/* 
- * Function twi_attachSlaveTxEvent
- * Desc     sets function called before a slave write operation
- * Input    function: callback function to use
- * Output   none
- */
-void twi_attachSlaveTxEvent( void (*function)(void) )
-{
-  twi_onSlaveTransmit = function;
-}
-
-/* 
- * Function twi_reply
- * Desc     sends byte or readys receive line
- * Input    ack: byte indicating to ack or to nack
- * Output   none
- */
-void twi_reply(uint8_t ack)
-{
-  // transmit master read ready signal, with or without ack
-  if(ack){
-    TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA);
-  }else{
-	  TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);
-  }
-}
-
-/* 
- * Function twi_stop
- * Desc     relinquishes bus master status
- * Input    none
- * Output   none
- */
-void twi_stop(void)
-{
-  // send stop condition
-  TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO);
-
-  // wait for stop condition to be exectued on bus
-  // TWINT is not set after a stop condition!
-  while(TWCR & _BV(TWSTO)){
-    continue;
-  }
-
-  // update twi state
-  twi_state = TWI_READY;
-}
-
-/* 
- * Function twi_releaseBus
- * Desc     releases bus control
- * Input    none
- * Output   none
- */
-void twi_releaseBus(void)
-{
-  // release bus
-  TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT);
-
-  // update twi state
-  twi_state = TWI_READY;
-}
-
-SIGNAL(TWI_vect)
-{
-  switch(TW_STATUS){
-    // All Master
-    case TW_START:     // sent start condition
-    case TW_REP_START: // sent repeated start condition
-      // copy device address and r/w bit to output register and ack
-      TWDR = twi_slarw;
-      twi_reply(1);
-      break;
-
-    // Master Transmitter
-    case TW_MT_SLA_ACK:  // slave receiver acked address
-    case TW_MT_DATA_ACK: // slave receiver acked data
-      // if there is data to send, send it, otherwise stop 
-      if(twi_masterBufferIndex < twi_masterBufferLength){
-        // copy data to output register and ack
-        TWDR = twi_masterBuffer[twi_masterBufferIndex++];
-        twi_reply(1);
-      }else{
-	if (twi_sendStop)
-          twi_stop();
-	else {
-	  twi_inRepStart = true;	// we're gonna send the START
-	  // don't enable the interrupt. We'll generate the start, but we 
-	  // avoid handling the interrupt until we're in the next transaction,
-	  // at the point where we would normally issue the start.
-	  TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;
-	  twi_state = TWI_READY;
-	}
-      }
-      break;
-    case TW_MT_SLA_NACK:  // address sent, nack received
-      twi_error = TW_MT_SLA_NACK;
-      twi_stop();
-      break;
-    case TW_MT_DATA_NACK: // data sent, nack received
-      twi_error = TW_MT_DATA_NACK;
-      twi_stop();
-      break;
-    case TW_MT_ARB_LOST: // lost bus arbitration
-      twi_error = TW_MT_ARB_LOST;
-      twi_releaseBus();
-      break;
-
-    // Master Receiver
-    case TW_MR_DATA_ACK: // data received, ack sent
-      // put byte into buffer
-      twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
-    case TW_MR_SLA_ACK:  // address sent, ack received
-      // ack if more bytes are expected, otherwise nack
-      if(twi_masterBufferIndex < twi_masterBufferLength){
-        twi_reply(1);
-      }else{
-        twi_reply(0);
-      }
-      break;
-    case TW_MR_DATA_NACK: // data received, nack sent
-      // put final byte into buffer
-      twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
-	if (twi_sendStop)
-          twi_stop();
-	else {
-	  twi_inRepStart = true;	// we're gonna send the START
-	  // don't enable the interrupt. We'll generate the start, but we 
-	  // avoid handling the interrupt until we're in the next transaction,
-	  // at the point where we would normally issue the start.
-	  TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;
-	  twi_state = TWI_READY;
-	}    
-	break;
-    case TW_MR_SLA_NACK: // address sent, nack received
-      twi_stop();
-      break;
-    // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case
-
-    // Slave Receiver
-    case TW_SR_SLA_ACK:   // addressed, returned ack
-    case TW_SR_GCALL_ACK: // addressed generally, returned ack
-    case TW_SR_ARB_LOST_SLA_ACK:   // lost arbitration, returned ack
-    case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack
-      // enter slave receiver mode
-      twi_state = TWI_SRX;
-      // indicate that rx buffer can be overwritten and ack
-      twi_rxBufferIndex = 0;
-      twi_reply(1);
-      break;
-    case TW_SR_DATA_ACK:       // data received, returned ack
-    case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack
-      // if there is still room in the rx buffer
-      if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){
-        // put byte in buffer and ack
-        twi_rxBuffer[twi_rxBufferIndex++] = TWDR;
-        twi_reply(1);
-      }else{
-        // otherwise nack
-        twi_reply(0);
-      }
-      break;
-    case TW_SR_STOP: // stop or repeated start condition received
-      // put a null char after data if there's room
-      if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){
-        twi_rxBuffer[twi_rxBufferIndex] = '\0';
-      }
-      // sends ack and stops interface for clock stretching
-      twi_stop();
-      // callback to user defined callback
-      twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex);
-      // since we submit rx buffer to "wire" library, we can reset it
-      twi_rxBufferIndex = 0;
-      // ack future responses and leave slave receiver state
-      twi_releaseBus();
-      break;
-    case TW_SR_DATA_NACK:       // data received, returned nack
-    case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack
-      // nack back at master
-      twi_reply(0);
-      break;
-    
-    // Slave Transmitter
-    case TW_ST_SLA_ACK:          // addressed, returned ack
-    case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack
-      // enter slave transmitter mode
-      twi_state = TWI_STX;
-      // ready the tx buffer index for iteration
-      twi_txBufferIndex = 0;
-      // set tx buffer length to be zero, to verify if user changes it
-      twi_txBufferLength = 0;
-      // request for txBuffer to be filled and length to be set
-      // note: user must call twi_transmit(bytes, length) to do this
-      twi_onSlaveTransmit();
-      // if they didn't change buffer & length, initialize it
-      if(0 == twi_txBufferLength){
-        twi_txBufferLength = 1;
-        twi_txBuffer[0] = 0x00;
-      }
-      // transmit first byte from buffer, fall
-    case TW_ST_DATA_ACK: // byte sent, ack returned
-      // copy data to output register
-      TWDR = twi_txBuffer[twi_txBufferIndex++];
-      // if there is more to send, ack, otherwise nack
-      if(twi_txBufferIndex < twi_txBufferLength){
-        twi_reply(1);
-      }else{
-        twi_reply(0);
-      }
-      break;
-    case TW_ST_DATA_NACK: // received nack, we are done 
-    case TW_ST_LAST_DATA: // received ack, but we are done already!
-      // ack future responses
-      twi_reply(1);
-      // leave slave receiver state
-      twi_state = TWI_READY;
-      break;
-
-    // All
-    case TW_NO_INFO:   // no state information
-      break;
-    case TW_BUS_ERROR: // bus error, illegal stop/start
-      twi_error = TW_BUS_ERROR;
-      twi_stop();
-      break;
-  }
-}
-
diff --git a/libraries/Robot_Control/utility/twi.h b/libraries/Robot_Control/utility/twi.h
deleted file mode 100644
index 6526593..0000000
--- a/libraries/Robot_Control/utility/twi.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
-  twi.h - 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
-*/
-
-#ifndef twi_h
-#define twi_h
-
-  #include <inttypes.h>
-
-  //#define ATMEGA8
-
-  #ifndef TWI_FREQ
-  #define TWI_FREQ 100000L
-  #endif
-
-  #ifndef TWI_BUFFER_LENGTH
-  #define TWI_BUFFER_LENGTH 32
-  #endif
-
-  #define TWI_READY 0
-  #define TWI_MRX   1
-  #define TWI_MTX   2
-  #define TWI_SRX   3
-  #define TWI_STX   4
-  
-  void twi_init(void);
-  void twi_setAddress(uint8_t);
-  uint8_t twi_readFrom(uint8_t, uint8_t*, uint8_t, uint8_t);
-  uint8_t twi_writeTo(uint8_t, uint8_t*, uint8_t, uint8_t, uint8_t);
-  uint8_t twi_transmit(const uint8_t*, uint8_t);
-  void twi_attachSlaveRxEvent( void (*)(uint8_t*, int) );
-  void twi_attachSlaveTxEvent( void (*)(void) );
-  void twi_reply(uint8_t);
-  void twi_stop(void);
-  void twi_releaseBus(void);
-
-#endif
-