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

75 files changed, 0 insertions, 11159 deletions

diff --git a/libraries/Robot_Control/Adafruit_GFX.cpp b/libraries/Robot_Control/Adafruit_GFX.cpp
deleted file mode 100644
index acfed1d..0000000
--- a/libraries/Robot_Control/Adafruit_GFX.cpp
+++ /dev/null
@@ -1,688 +0,0 @@
-/******************************************************************
- This is the core graphics library for all our displays, providing
- basic graphics primitives (points, lines, circles, etc.). It needs
- to be paired with a hardware-specific library for each display
- device we carry (handling the lower-level functions).
- 
- Adafruit invests time and resources providing this open
- source code, please support Adafruit and open-source hardware
- by purchasing products from Adafruit!
- 
- Written by Limor Fried/Ladyada for Adafruit Industries.
- BSD license, check license.txt for more information.
- All text above must be included in any redistribution.
- ******************************************************************/
-
-#include "Adafruit_GFX.h"
-#include "glcdfont.c"
-#include <avr/pgmspace.h>
-
-void Adafruit_GFX::constructor(int16_t w, int16_t h) {
-  _width = WIDTH = w;
-  _height = HEIGHT = h;
-
-  rotation = 0;    
-  cursor_y = cursor_x = 0;
-  textsize = 1;
-  textcolor = textbgcolor = 0xFFFF;
-  wrap = true;
-  
-  strokeColor = 0;
-  useStroke = true;
-  fillColor = 0;
-  useFill = false;
-
-}
-
-
-// draw a circle outline
-void Adafruit_GFX::drawCircle(int16_t x0, int16_t y0, int16_t r, 
-			      uint16_t color) {
-  int16_t f = 1 - r;
-  int16_t ddF_x = 1;
-  int16_t ddF_y = -2 * r;
-  int16_t x = 0;
-  int16_t y = r;
-
-  drawPixel(x0, y0+r, color);
-  drawPixel(x0, y0-r, color);
-  drawPixel(x0+r, y0, color);
-  drawPixel(x0-r, y0, color);
-
-  while (x<y) {
-    if (f >= 0) {
-      y--;
-      ddF_y += 2;
-      f += ddF_y;
-    }
-    x++;
-    ddF_x += 2;
-    f += ddF_x;
-  
-    drawPixel(x0 + x, y0 + y, color);
-    drawPixel(x0 - x, y0 + y, color);
-    drawPixel(x0 + x, y0 - y, color);
-    drawPixel(x0 - x, y0 - y, color);
-    drawPixel(x0 + y, y0 + x, color);
-    drawPixel(x0 - y, y0 + x, color);
-    drawPixel(x0 + y, y0 - x, color);
-    drawPixel(x0 - y, y0 - x, color);
-    
-  }
-}
-
-void Adafruit_GFX::drawCircleHelper( int16_t x0, int16_t y0,
-               int16_t r, uint8_t cornername, uint16_t color) {
-  int16_t f     = 1 - r;
-  int16_t ddF_x = 1;
-  int16_t ddF_y = -2 * r;
-  int16_t x     = 0;
-  int16_t y     = r;
-
-  while (x<y) {
-    if (f >= 0) {
-      y--;
-      ddF_y += 2;
-      f     += ddF_y;
-    }
-    x++;
-    ddF_x += 2;
-    f     += ddF_x;
-    if (cornername & 0x4) {
-      drawPixel(x0 + x, y0 + y, color);
-      drawPixel(x0 + y, y0 + x, color);
-    } 
-    if (cornername & 0x2) {
-      drawPixel(x0 + x, y0 - y, color);
-      drawPixel(x0 + y, y0 - x, color);
-    }
-    if (cornername & 0x8) {
-      drawPixel(x0 - y, y0 + x, color);
-      drawPixel(x0 - x, y0 + y, color);
-    }
-    if (cornername & 0x1) {
-      drawPixel(x0 - y, y0 - x, color);
-      drawPixel(x0 - x, y0 - y, color);
-    }
-  }
-}
-
-void Adafruit_GFX::fillCircle(int16_t x0, int16_t y0, int16_t r, 
-			      uint16_t color) {
-  drawFastVLine(x0, y0-r, 2*r+1, color);
-  fillCircleHelper(x0, y0, r, 3, 0, color);
-}
-
-// used to do circles and roundrects!
-void Adafruit_GFX::fillCircleHelper(int16_t x0, int16_t y0, int16_t r,
-				    uint8_t cornername, int16_t delta, uint16_t color) {
-
-  int16_t f     = 1 - r;
-  int16_t ddF_x = 1;
-  int16_t ddF_y = -2 * r;
-  int16_t x     = 0;
-  int16_t y     = r;
-
-  while (x<y) {
-    if (f >= 0) {
-      y--;
-      ddF_y += 2;
-      f     += ddF_y;
-    }
-    x++;
-    ddF_x += 2;
-    f     += ddF_x;
-
-    if (cornername & 0x1) {
-      drawFastVLine(x0+x, y0-y, 2*y+1+delta, color);
-      drawFastVLine(x0+y, y0-x, 2*x+1+delta, color);
-    }
-    if (cornername & 0x2) {
-      drawFastVLine(x0-x, y0-y, 2*y+1+delta, color);
-      drawFastVLine(x0-y, y0-x, 2*x+1+delta, color);
-    }
-  }
-}
-
-// bresenham's algorithm - thx wikpedia
-void Adafruit_GFX::drawLine(int16_t x0, int16_t y0, 
-			    int16_t x1, int16_t y1, 
-			    uint16_t color) {
-  int16_t steep = abs(y1 - y0) > abs(x1 - x0);
-  if (steep) {
-    swap(x0, y0);
-    swap(x1, y1);
-  }
-
-  if (x0 > x1) {
-    swap(x0, x1);
-    swap(y0, y1);
-  }
-
-  int16_t dx, dy;
-  dx = x1 - x0;
-  dy = abs(y1 - y0);
-
-  int16_t err = dx / 2;
-  int16_t ystep;
-
-  if (y0 < y1) {
-    ystep = 1;
-  } else {
-    ystep = -1;
-  }
-
-  for (; x0<=x1; x0++) {
-    if (steep) {
-      drawPixel(y0, x0, color);
-    } else {
-      drawPixel(x0, y0, color);
-    }
-    err -= dy;
-    if (err < 0) {
-      y0 += ystep;
-      err += dx;
-    }
-  }
-}
-
-
-// draw a rectangle
-void Adafruit_GFX::drawRect(int16_t x, int16_t y, 
-			    int16_t w, int16_t h, 
-			    uint16_t color) {
-  drawFastHLine(x, y, w, color);
-  drawFastHLine(x, y+h-1, w, color);
-  drawFastVLine(x, y, h, color);
-  drawFastVLine(x+w-1, y, h, color);
-}
-
-void Adafruit_GFX::drawFastVLine(int16_t x, int16_t y, 
-				 int16_t h, uint16_t color) {
-  // stupidest version - update in subclasses if desired!
-  drawLine(x, y, x, y+h-1, color);
-}
-
-
-void Adafruit_GFX::drawFastHLine(int16_t x, int16_t y, 
-				 int16_t w, uint16_t color) {
-  // stupidest version - update in subclasses if desired!
-  drawLine(x, y, x+w-1, y, color);
-}
-
-void Adafruit_GFX::fillRect(int16_t x, int16_t y, int16_t w, int16_t h, 
-			    uint16_t color) {
-  // stupidest version - update in subclasses if desired!
-  for (int16_t i=x; i<x+w; i++) {
-    drawFastVLine(i, y, h, color); 
-  }
-}
-
-
-void Adafruit_GFX::fillScreen(uint16_t color) {
-  fillRect(0, 0, _width, _height, color);
-}
-
-// draw a rounded rectangle!
-void Adafruit_GFX::drawRoundRect(int16_t x, int16_t y, int16_t w,
-  int16_t h, int16_t r, uint16_t color) {
-  // smarter version
-  drawFastHLine(x+r  , y    , w-2*r, color); // Top
-  drawFastHLine(x+r  , y+h-1, w-2*r, color); // Bottom
-  drawFastVLine(  x    , y+r  , h-2*r, color); // Left
-  drawFastVLine(  x+w-1, y+r  , h-2*r, color); // Right
-  // draw four corners
-  drawCircleHelper(x+r    , y+r    , r, 1, color);
-  drawCircleHelper(x+w-r-1, y+r    , r, 2, color);
-  drawCircleHelper(x+w-r-1, y+h-r-1, r, 4, color);
-  drawCircleHelper(x+r    , y+h-r-1, r, 8, color);
-}
-
-// fill a rounded rectangle!
-void Adafruit_GFX::fillRoundRect(int16_t x, int16_t y, int16_t w,
-				 int16_t h, int16_t r, uint16_t color) {
-  // smarter version
-  fillRect(x+r, y, w-2*r, h, color);
-
-  // draw four corners
-  fillCircleHelper(x+w-r-1, y+r, r, 1, h-2*r-1, color);
-  fillCircleHelper(x+r    , y+r, r, 2, h-2*r-1, color);
-}
-
-// draw a triangle!
-void Adafruit_GFX::drawTriangle(int16_t x0, int16_t y0,
-				int16_t x1, int16_t y1, 
-				int16_t x2, int16_t y2, uint16_t color) {
-  drawLine(x0, y0, x1, y1, color);
-  drawLine(x1, y1, x2, y2, color);
-  drawLine(x2, y2, x0, y0, color);
-}
-
-// fill a triangle!
-void Adafruit_GFX::fillTriangle ( int16_t x0, int16_t y0,
-				  int16_t x1, int16_t y1, 
-				  int16_t x2, int16_t y2, uint16_t color) {
-
-  int16_t a, b, y, last;
-
-  // Sort coordinates by Y order (y2 >= y1 >= y0)
-  if (y0 > y1) {
-    swap(y0, y1); swap(x0, x1);
-  }
-  if (y1 > y2) {
-    swap(y2, y1); swap(x2, x1);
-  }
-  if (y0 > y1) {
-    swap(y0, y1); swap(x0, x1);
-  }
-
-  if(y0 == y2) { // Handle awkward all-on-same-line case as its own thing
-    a = b = x0;
-    if(x1 < a)      a = x1;
-    else if(x1 > b) b = x1;
-    if(x2 < a)      a = x2;
-    else if(x2 > b) b = x2;
-    drawFastHLine(a, y0, b-a+1, color);
-    return;
-  }
-
-  int16_t
-    dx01 = x1 - x0,
-    dy01 = y1 - y0,
-    dx02 = x2 - x0,
-    dy02 = y2 - y0,
-    dx12 = x2 - x1,
-    dy12 = y2 - y1,
-    sa   = 0,
-    sb   = 0;
-
-  // For upper part of triangle, find scanline crossings for segments
-  // 0-1 and 0-2.  If y1=y2 (flat-bottomed triangle), the scanline y1
-  // is included here (and second loop will be skipped, avoiding a /0
-  // error there), otherwise scanline y1 is skipped here and handled
-  // in the second loop...which also avoids a /0 error here if y0=y1
-  // (flat-topped triangle).
-  if(y1 == y2) last = y1;   // Include y1 scanline
-  else         last = y1-1; // Skip it
-
-  for(y=y0; y<=last; y++) {
-    a   = x0 + sa / dy01;
-    b   = x0 + sb / dy02;
-    sa += dx01;
-    sb += dx02;
-    /* longhand:
-    a = x0 + (x1 - x0) * (y - y0) / (y1 - y0);
-    b = x0 + (x2 - x0) * (y - y0) / (y2 - y0);
-    */
-    if(a > b) swap(a,b);
-    drawFastHLine(a, y, b-a+1, color);
-  }
-
-  // For lower part of triangle, find scanline crossings for segments
-  // 0-2 and 1-2.  This loop is skipped if y1=y2.
-  sa = dx12 * (y - y1);
-  sb = dx02 * (y - y0);
-  for(; y<=y2; y++) {
-    a   = x1 + sa / dy12;
-    b   = x0 + sb / dy02;
-    sa += dx12;
-    sb += dx02;
-    /* longhand:
-    a = x1 + (x2 - x1) * (y - y1) / (y2 - y1);
-    b = x0 + (x2 - x0) * (y - y0) / (y2 - y0);
-    */
-    if(a > b) swap(a,b);
-    drawFastHLine(a, y, b-a+1, color);
-  }
-}
-
-void Adafruit_GFX::drawBitmap(int16_t x, int16_t y, 
-			      const uint8_t *bitmap, int16_t w, int16_t h,
-			      uint16_t color) {
-
-  int16_t i, j, byteWidth = (w + 7) / 8;
-
-  for(j=0; j<h; j++) {
-    for(i=0; i<w; i++ ) {
-      if(pgm_read_byte(bitmap + j * byteWidth + i / 8) & (128 >> (i & 7))) {
-	drawPixel(x+i, y+j, color);
-      }
-    }
-  }
-}
-
-
-#if ARDUINO >= 100
-size_t Adafruit_GFX::write(uint8_t c) {
-#else
-void Adafruit_GFX::write(uint8_t c) {
-#endif
-  if (c == '\n') {
-    cursor_y += textsize*8;
-    cursor_x = 0;
-  } else if (c == '\r') {
-    // skip em
-  } else {
-    drawChar(cursor_x, cursor_y, c, textcolor, textbgcolor, textsize);
-    cursor_x += textsize*6;
-    if (wrap && (cursor_x > (_width - textsize*6))) {
-      cursor_y += textsize*8;
-      cursor_x = 0;
-    }
-  }
-#if ARDUINO >= 100
-  return 1;
-#endif
-}
-
-// draw a character
-void Adafruit_GFX::drawChar(int16_t x, int16_t y, unsigned char c,
-			    uint16_t color, uint16_t bg, uint8_t size) {
-
-  if((x >= _width)            || // Clip right
-     (y >= _height)           || // Clip bottom
-     ((x + 5 * size - 1) < 0) || // Clip left
-     ((y + 8 * size - 1) < 0))   // Clip top
-    return;
-
-  for (int8_t i=0; i<6; i++ ) {
-    uint8_t line;
-    if (i == 5) 
-      line = 0x0;
-    else 
-      line = pgm_read_byte(font+(c*5)+i);
-    for (int8_t j = 0; j<8; j++) {
-      if (line & 0x1) {
-        if (size == 1) // default size
-          drawPixel(x+i, y+j, color);
-        else {  // big size
-          fillRect(x+(i*size), y+(j*size), size, size, color);
-        } 
-      } else if (bg != color) {
-        if (size == 1) // default size
-          drawPixel(x+i, y+j, bg);
-        else {  // big size
-          fillRect(x+i*size, y+j*size, size, size, bg);
-        } 	
-      }
-      line >>= 1;
-    }
-  }
-}
-
-void Adafruit_GFX::setCursor(int16_t x, int16_t y) {
-  cursor_x = x;
-  cursor_y = y;
-}
-
-
-void Adafruit_GFX::setTextSize(uint8_t s) {
-  textsize = (s > 0) ? s : 1;
-}
-
-
-void Adafruit_GFX::setTextColor(uint16_t c) {
-  textcolor = c;
-  textbgcolor = c; 
-  // for 'transparent' background, we'll set the bg 
-  // to the same as fg instead of using a flag
-}
-
- void Adafruit_GFX::setTextColor(uint16_t c, uint16_t b) {
-   textcolor = c;
-   textbgcolor = b; 
- }
-
-void Adafruit_GFX::setTextWrap(boolean w) {
-  wrap = w;
-}
-
-uint8_t Adafruit_GFX::getRotation(void) {
-  rotation %= 4;
-  return rotation;
-}
-
-void Adafruit_GFX::setRotation(uint8_t x) {
-  x %= 4;  // cant be higher than 3
-  rotation = x;
-  switch (x) {
-  case 0:
-  case 2:
-    _width = WIDTH;
-    _height = HEIGHT;
-    break;
-  case 1:
-  case 3:
-    _width = HEIGHT;
-    _height = WIDTH;
-    break;
-  }
-}
-
-void Adafruit_GFX::invertDisplay(boolean i) {
-  // do nothing, can be subclassed
-}
-
-
-// return the size of the display which depends on the rotation!
-int16_t Adafruit_GFX::width(void) { 
-  return _width; 
-}
- 
-int16_t Adafruit_GFX::height(void) { 
-  return _height; 
-}
-
-
-
-uint16_t Adafruit_GFX::newColor(uint8_t r, uint8_t g, uint8_t b) {
-  return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3);
-}
-
-
-void Adafruit_GFX::background(uint8_t red, uint8_t green, uint8_t blue) {
-  background(newColor(red, green, blue));
-}
-
-void Adafruit_GFX::background(color c) {
-  fillScreen(c);
-}
-
-void Adafruit_GFX::stroke(uint8_t red, uint8_t green, uint8_t blue) {
-  stroke(newColor(red, green, blue));
-}
-
-void Adafruit_GFX::stroke(color c) {
-  useStroke = true;
-  strokeColor = c;
-  setTextColor(c);
-}
-
-void Adafruit_GFX::noStroke() {
-  useStroke = false;
-}
-
-void Adafruit_GFX::noFill() {
-  useFill = false;
-}
-
-void Adafruit_GFX::fill(uint8_t red, uint8_t green, uint8_t blue) {
-  fill(newColor(red, green, blue));
-}
-
-void Adafruit_GFX::fill(color c) {
-  useFill = true;
-  fillColor = c;
-}
-
-void Adafruit_GFX::text(int value, uint8_t x, uint8_t y){
-  if (!useStroke)
-    return;
-  
-  setTextWrap(false);
-  setTextColor(strokeColor);
-  setCursor(x, y);
-  print(value);
-}
-void Adafruit_GFX::text(long value, uint8_t x, uint8_t y){
-  if (!useStroke)
-    return;
-  
-  setTextWrap(false);
-  setTextColor(strokeColor);
-  setCursor(x, y);
-  print(value);
-}
-void Adafruit_GFX::text(char value, uint8_t x, uint8_t y){
-  if (!useStroke)
-    return;
-  
-  setTextWrap(false);
-  setTextColor(strokeColor);
-  setCursor(x, y);
-  print(value);
-}
-
-void Adafruit_GFX::text(const char * text, int16_t x, int16_t y) {
-  if (!useStroke)
-    return;
-  
-  setTextWrap(false);
-  setTextColor(strokeColor);
-  setCursor(x, y);
-  print(text);
-}
-
-void Adafruit_GFX::textWrap(const char * text, int16_t x, int16_t y) {
-  if (!useStroke)
-    return;
-  
-  setTextWrap(true);
-  setTextColor(strokeColor);
-  setCursor(x, y);
-  print(text);
-}
-
-
-void Adafruit_GFX::textSize(uint8_t size) {
-  setTextSize(size);
-}
-
-void Adafruit_GFX::point(int16_t x, int16_t y) {
-  if (!useStroke)
-    return;
-  
-  drawPixel(x, y, strokeColor);
-}
-
-void Adafruit_GFX::line(int16_t x1, int16_t y1, int16_t x2, int16_t y2) {
-  if (!useStroke)
-    return;
-  
-  if (x1 == x2) {
-    drawFastVLine(x1, y1, y2 - y1, strokeColor);
-  }
-  else if (y1 == y2) {
-    drawFastHLine(x1, y1, x2 - x1, strokeColor);
-  }
-  else {
-    drawLine(x1, y1, x2, y2, strokeColor);
-  }
-}
-
-void Adafruit_GFX::rect(int16_t x, int16_t y, int16_t width, int16_t height) {
-  if (useFill) {
-    fillRect(x, y, width, height, fillColor);
-  }
-  if (useStroke) {
-    drawRect(x, y, width, height, strokeColor);
-  }
-}
-
-void Adafruit_GFX::rect(int16_t x, int16_t y, int16_t width, int16_t height, int16_t radius) {
-  if (radius == 0) {
-    rect(x, y, width, height);
-  }
-  if (useFill) {
-    fillRoundRect(x, y, width, height, radius, fillColor);
-  }
-  if (useStroke) {
-    drawRoundRect(x, y, width, height, radius, strokeColor);
-  }
-}
-
-void Adafruit_GFX::circle(int16_t x, int16_t y, int16_t r) {
-  if (r == 0)
-    return;
-  
-  if (useFill) {
-    fillCircle(x, y, r, fillColor);
-  }
-  if (useStroke) {
-    drawCircle(x, y, r, strokeColor);
-  }
-}
-
-void Adafruit_GFX::triangle(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3) {
-  if (useFill) {
-    fillTriangle(x1, y1, x2, y2, x3, y3, fillColor);
-  }
-  if (useStroke) {
-    drawTriangle(x1, y1, x2, y2, x3, y3, strokeColor);
-  }
-}
-
-#define BUFFPIXEL 20
-/*
-void Adafruit_GFX::image(PImage & img, uint16_t x, uint16_t y) {
-  int      w, h, row, col;
-  uint8_t  r, g, b;
-  uint32_t pos = 0;
-  uint8_t  sdbuffer[3*BUFFPIXEL]; // pixel buffer (R+G+B per pixel)
-  uint8_t  buffidx = sizeof(sdbuffer); // Current position in sdbuffer
-
-  // Crop area to be loaded
-  w = img._bmpWidth;
-  h = img._bmpHeight;
-  if((x+w-1) >= width())  w = width()  - x;
-  if((y+h-1) >= height()) h = height() - y;
-
-  
-  // Set TFT address window to clipped image bounds
-  //setAddrWindow(x, y, x+w-1, y+h-1);
-  
-  
-  for (row=0; row<h; row++) { // For each scanline...
-    // Seek to start of scan line.  It might seem labor-
-    // intensive to be doing this on every line, but this
-    // method covers a lot of gritty details like cropping
-    // and scanline padding.  Also, the seek only takes
-    // place if the file position actually needs to change
-    // (avoids a lot of cluster math in SD library).
-    if(img._flip) // Bitmap is stored bottom-to-top order (normal BMP)
-      pos = img._bmpImageoffset + (img._bmpHeight - 1 - row) * img._rowSize;
-    else     // Bitmap is stored top-to-bottom
-      pos = img._bmpImageoffset + row * img._rowSize;
-    if(img._bmpFile.position() != pos) { // Need seek?
-      img._bmpFile.seek(pos);
-      buffidx = sizeof(sdbuffer); // Force buffer reload
-    }
-
-    for (col=0; col<w; col++) { // For each pixel...
-      // Time to read more pixel data?
-      if (buffidx >= sizeof(sdbuffer)) { // Indeed
-        img._bmpFile.read(sdbuffer, sizeof(sdbuffer));
-        buffidx = 0; // Set index to beginning
-      }
-
-      // Convert pixel from BMP to TFT format, push to display
-      b = sdbuffer[buffidx++];
-      g = sdbuffer[buffidx++];
-      r = sdbuffer[buffidx++];
-      //pushColor(tft.Color565(r,g,b));
-      drawPixel(x + col, y + row, newColor(r, g, b));
-      
-    } // end pixel
-  } // end scanline
-
-}*/
diff --git a/libraries/Robot_Control/Adafruit_GFX.h b/libraries/Robot_Control/Adafruit_GFX.h
deleted file mode 100644
index 1f6b8d8..0000000
--- a/libraries/Robot_Control/Adafruit_GFX.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/******************************************************************
- This is the core graphics library for all our displays, providing
- basic graphics primitives (points, lines, circles, etc.). It needs
- to be paired with a hardware-specific library for each display
- device we carry (handling the lower-level functions).
- 
- Adafruit invests time and resources providing this open
- source code, please support Adafruit and open-source hardware
- by purchasing products from Adafruit!
- 
- Written by Limor Fried/Ladyada for Adafruit Industries.
- BSD license, check license.txt for more information.
- All text above must be included in any redistribution.
- ******************************************************************/
-
-#ifndef _ADAFRUIT_GFX_H
-#define _ADAFRUIT_GFX_H
-
-#if ARDUINO >= 100
- #include "Arduino.h"
- #include "Print.h"
-#else
- #include "WProgram.h"
-#endif
-
-//#include "PImage.h"
-
-#define swap(a, b) { int16_t t = a; a = b; b = t; }
-
-/* TODO
-enum RectMode {
-  CORNER,
-  CORNERS,
-  RADIUS,
-  CENTER
-};
-*/
-
-typedef uint16_t color;
-
-class Adafruit_GFX : public Print {
- public:
-
-  //Adafruit_GFX();
-  // i have no idea why we have to formally call the constructor. kinda sux
-  void constructor(int16_t w, int16_t h);
-
-  // this must be defined by the subclass
-  virtual void drawPixel(int16_t x, int16_t y, uint16_t color);
-  virtual void invertDisplay(boolean i);
-
-  // these are 'generic' drawing functions, so we can share them!
-  virtual void drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, 
-		uint16_t color);
-  virtual void drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color);
-  virtual void drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color);
-  virtual void drawRect(int16_t x, int16_t y, int16_t w, int16_t h, 
-		uint16_t color);
-  virtual void fillRect(int16_t x, int16_t y, int16_t w, int16_t h, 
-		uint16_t color);
-  virtual void fillScreen(uint16_t color);
-
-  void drawCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color);
-  void drawCircleHelper(int16_t x0, int16_t y0,
-			int16_t r, uint8_t cornername, uint16_t color);
-  void fillCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color);
-  void fillCircleHelper(int16_t x0, int16_t y0, int16_t r,
-		      uint8_t cornername, int16_t delta, uint16_t color);
-
-  void drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1,
-		    int16_t x2, int16_t y2, uint16_t color);
-  void fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1,
-		    int16_t x2, int16_t y2, uint16_t color);
-  void drawRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h,
-		     int16_t radius, uint16_t color);
-  void fillRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h,
-		     int16_t radius, uint16_t color);
-
-  void drawBitmap(int16_t x, int16_t y, 
-		  const uint8_t *bitmap, int16_t w, int16_t h,
-		  uint16_t color);
-  void drawChar(int16_t x, int16_t y, unsigned char c,
-		uint16_t color, uint16_t bg, uint8_t size);
-#if ARDUINO >= 100
-  virtual size_t write(uint8_t);
-#else
-  virtual void   write(uint8_t);
-#endif
-  void setCursor(int16_t x, int16_t y);
-  void setTextColor(uint16_t c);
-  void setTextColor(uint16_t c, uint16_t bg);
-  void setTextSize(uint8_t s);
-  void setTextWrap(boolean w);
-
-  int16_t height(void);
-  int16_t width(void);
-
-  void setRotation(uint8_t r);
-  uint8_t getRotation(void);
-
-  
-  /*
-   * Processing-like graphics primitives
-   */
-  
-  /// transforms a color in 16-bit form given the RGB components.
-  /// The default implementation makes a 5-bit red, a 6-bit
-  /// green and a 5-bit blue (MSB to LSB). Devices that use
-  /// different scheme should override this. 
-  virtual uint16_t newColor(uint8_t red, uint8_t green, uint8_t blue);
-  
-  
-  // http://processing.org/reference/background_.html
-  void background(uint8_t red, uint8_t green, uint8_t blue);
-  void background(color c);
-
-  // http://processing.org/reference/fill_.html
-  void fill(uint8_t red, uint8_t green, uint8_t blue);
-  void fill(color c);
-
-  // http://processing.org/reference/noFill_.html
-  void noFill();
-
-  // http://processing.org/reference/stroke_.html
-  void stroke(uint8_t red, uint8_t green, uint8_t blue);
-  void stroke(color c);
-
-  // http://processing.org/reference/noStroke_.html
-  void noStroke();
-  
-  void text(const char * text, int16_t x, int16_t y);
-  void text(int value, uint8_t posX, uint8_t posY);
-  void text(long value, uint8_t posX, uint8_t posY);
-  void text(char value, uint8_t posX, uint8_t posY);
-  
-  void textWrap(const char * text, int16_t x, int16_t y);
-
-  void textSize(uint8_t size);
-  
-  // similar to ellipse() in Processing, but with
-  // a single radius.
-  // http://processing.org/reference/ellipse_.html
-  void circle(int16_t x, int16_t y, int16_t r);
-  
-  void point(int16_t x, int16_t y);
-  
-  void line(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
-  
-  void quad(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3, int16_t x4, int16_t y4);
-  
-  void rect(int16_t x, int16_t y, int16_t width, int16_t height);
-
-  void rect(int16_t x, int16_t y, int16_t width, int16_t height, int16_t radius);
-  
-  void triangle(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3);
-  
-  /* TODO
-  void rectMode(RectMode mode);
-  
-  void pushStyle();
-  void popStyle();
-  */
-
-//  PImage loadImage(const char * fileName) { return PImage::loadImage(fileName); }
-  
-//  void image(PImage & img, uint16_t x, uint16_t y);
-  
- protected:
-  int16_t  WIDTH, HEIGHT;   // this is the 'raw' display w/h - never changes
-  int16_t  _width, _height; // dependent on rotation
-  int16_t  cursor_x, cursor_y;
-  uint16_t textcolor, textbgcolor;
-  uint8_t  textsize;
-  uint8_t  rotation;
-  boolean  wrap; // If set, 'wrap' text at right edge of display
-  
-  /*
-   * Processing-style graphics state
-   */
-  
-  color strokeColor;
-  bool useStroke;
-  color fillColor;
-  bool useFill;
-};
-
-
-
-
-#endif
diff --git a/libraries/Robot_Control/ArduinoRobot.cpp b/libraries/Robot_Control/ArduinoRobot.cpp
deleted file mode 100644
index 3adac73..0000000
--- a/libraries/Robot_Control/ArduinoRobot.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-#include "ArduinoRobot.h"
-#include "Multiplexer.h"
-#include "Wire.h"
-#include "EasyTransfer2.h"
-
-//RobotControl::RobotControl(){}
-
-RobotControl::RobotControl():Arduino_LCD(LCD_CS,DC_LCD,RST_LCD){
-
-}
-
-void RobotControl::begin(){
-	Wire.begin();
-	//Compass
-	//nothing here
-		
-	//TK sensors
-	uint8_t MuxPins[]={MUXA,MUXB,MUXC,MUXD};
-	Multiplexer::begin(MuxPins,MUX_IN,4);
-	
-	//piezo
-	pinMode(BUZZ,OUTPUT);
-	
-	//communication
-	Serial1.begin(9600);
-	messageOut.begin(&Serial1);
-	messageIn.begin(&Serial1);
-	
-	//TFT initialization
-	//Arduino_LCD::initR(INITR_GREENTAB);
-}
-
-void RobotControl::setMode(uint8_t mode){
-	messageOut.writeByte(COMMAND_SWITCH_MODE);
-	messageOut.writeByte(mode);
-	messageOut.sendData();
-}
-
-
-RobotControl Robot=RobotControl();
\ No newline at end of file
diff --git a/libraries/Robot_Control/ArduinoRobot.h b/libraries/Robot_Control/ArduinoRobot.h
deleted file mode 100644
index becdca8..0000000
--- a/libraries/Robot_Control/ArduinoRobot.h
+++ /dev/null
@@ -1,360 +0,0 @@
-#ifndef ArduinoRobot_h
-#define ArduinoRobot_h
-
-#include "Arduino_LCD.h" // Hardware-specific library
-//#include "FormattedText.h"
-#include "SquawkSD.h"
-#include "Multiplexer.h"
-#include "EasyTransfer2.h"
-#include "EEPROM_I2C.h"
-#include "Compass.h"
-#include "Fat16.h"
-
-#if ARDUINO >= 100
-#include "Arduino.h"
-#else
-#include "WProgram.h"
-#endif
-
-
-#define BUTTON_NONE   -1
-#define BUTTON_LEFT  0
-#define BUTTON_DOWN      1
-#define BUTTON_UP     2
-#define BUTTON_RIGHT    3
-#define BUTTON_MIDDLE     4
-#define NUMBER_BUTTONS 5
-
-//beep length
-#define BEEP_SIMPLE   0
-#define BEEP_DOUBLE    1
-#define BEEP_LONG    2
-
-// image locations on the EEPROM
- #define HOME_BMP	0
-#define BATTERY_BMP	2048
-#define COMPASS_BMP	4096
-#define CONTROL_BMP	6144
-#define GEARS_BMP	8192
-#define LIGHT_BMP	10240
-#define OSCILLO_BMP	12288
-#define VOLT_BMP	14336
-#define INICIO_BMP	16384  // this is a full screen splash
-
-//Command code
-#define COMMAND_SWITCH_MODE 0
-#define COMMAND_RUN	10
-#define COMMAND_MOTORS_STOP	11
-#define COMMAND_ANALOG_WRITE	20
-#define COMMAND_DIGITAL_WRITE	30
-#define COMMAND_ANALOG_READ	40
-#define COMMAND_ANALOG_READ_RE	41
-#define COMMAND_DIGITAL_READ	50
-#define COMMAND_DIGITAL_READ_RE	51
-#define COMMAND_READ_IR	60
-#define COMMAND_READ_IR_RE	61
-#define COMMAND_ACTION_DONE 70
-#define COMMAND_READ_TRIM 80
-#define COMMAND_READ_TRIM_RE 81
-#define COMMAND_PAUSE_MODE 90
-#define COMMAND_LINE_FOLLOW_CONFIG 100
-
-//component codename
-#define CN_LEFT_MOTOR	0
-#define CN_RIGHT_MOTOR	1
-#define CN_IR 2
-
-//motor board modes
-#define MODE_SIMPLE 0
-#define MODE_LINE_FOLLOW 1
-#define MODE_ADJUST_MOTOR 2
-#define MODE_IR_CONTROL 3
-
-//port types, for R/W
-#define TYPE_TOP_TK 0
-#define TYPE_TOP_TKD 1
-#define TYPE_BOTTOM_TK 2
-
-//top TKs
-#define TK0 100
-#define TK1 101
-#define TK2 102
-#define TK3 103
-#define TK4 104
-#define TK5 105
-#define TK6 106
-#define TK7 107
-
-//bottom TKs, just for communication purpose
-#define B_TK1 201
-#define B_TK2 202
-#define B_TK3 203
-#define B_TK4 204
-
-//bottom IRs, for communication purpose
-#define B_IR0 210
-#define B_IR1 211
-#define B_IR2 212
-#define B_IR3 213
-#define B_IR4 214
-
-#ifndef LED1
-#define LED1 17
-#endif
-
-//320 - 337 username, 
-#define ADDRESS_USERNAME 320
-//338 - 355 robotname, 
-#define ADDRESS_ROBOTNAME 338
-//356 - 373 cityname, 
-#define ADDRESS_CITYNAME 356
- //374- 391 countryname, 
-#define ADDRESS_COUNTRYNAME 374
-//508-511 robot info
-#define ADDRESS_ROBOTINFO 508
-
-#define	BLACK	ILI9163C_BLACK   
-#define	BLUE	ILI9163C_BLUE    
-#define	RED		ILI9163C_RED     
-#define	GREEN	ILI9163C_GREEN   
-#define CYAN	ILI9163C_CYAN    
-#define MAGENTA	ILI9163C_MAGENTA 
-#define YELLOW	ILI9163C_YELLOW    
-#define WHITE	ILI9163C_WHITE   
- 
-//A data structure for storing the current state of motor board
-struct MOTOR_BOARD_DATA{
-	int _B_TK1;
-	int _B_TK2;
-	int _B_TK3;
-	int _B_TK4;
-	
-	/*int _B_IR0;
-	int _B_IR1;
-	int _B_IR2;
-	int _B_IR3;
-	int _B_IR4;*/
-};
-
-/*
-A message structure will be:
-switch mode:
-	byte COMMAND_SWITCH_MODE, byte mode
-run:
-	byte COMMAND_RUN, int speedL, int speedR
-analogWrite:
-	byte COMMAND_ANALOG_WRITE, byte codename, byte value;
-digitalWrite:
-	byte COMMAND_DIGITAL_WRITE, byte codename, byte value;
-analogRead:
-	byte COMMAND_ANALOG_READ, byte codename;
-analogRead return:
-	byte COMMAND_ANALOG_READ_RE, byte codename, int value;
-digitalRead return:
-	byte COMMAND_DIGITAL_READ_RE, byte codename, byte value;
-read IR:
-	byte COMMAND_READ_IR, int valueA, int valueB, int valueC, int valueD;
-
-
-*/
-#define NUM_EEPROM_BMP 10
-struct EEPROM_BMP{
-	char name[8];
-	uint8_t width;
-	uint8_t height;
-	uint16_t address;
-};
-
-//if you call #undef USE_SQUAWK_SYNTH_SD at the beginning of your sketch,
-//it's going to remove anything regarding sound playing
-
-class RobotControl:public Multiplexer, 
-public EEPROM_I2C, 
-public Compass, 
-public SquawkSynthSD, 
-//public FormattedText
-public Arduino_LCD
-{
-	public:
-		RobotControl();
-		void begin();
-		void setMode(uint8_t mode);
-		
-		//Read & Write, TK0 - TK7, TKD0 - TKD1, bottom TK0 - TK4
-		bool digitalRead(uint8_t port);
-		int analogRead(uint8_t port);
-		void digitalWrite(uint8_t port, bool value);
-		void analogWrite(uint8_t port, uint8_t value);//It's not available, as there's no pin can be used for analog write
-		
-		//IR sensors from the bottom board
-		//define an array as "int arr[4];", and supply the arry name here
-		uint16_t IRarray[5];
-		void updateIR();
-		
-		//on board Potentiometor
-		int knobRead();
-		//Potentiometor of the motor board
-		int trimRead();
-		
-		//on board piezo
-		void beginSpeaker(uint16_t frequency=44100);
-		void playMelody(char* script);
-		void playFile(char* filename);
-		void stopPlayFile();
-		void beep(int beep_length=BEEP_SIMPLE);
-		void tempoWrite(int tempo);
-		void tuneWrite(float tune);
-
-		//compass
-		uint16_t compassRead();
-		void drawCompass(uint16_t value);
-		void drawBase();
-		void drawDire(int16_t dire);
-		
-		//keyboard
-		void keyboardCalibrate(int *vals);
-		int8_t keyboardRead();//return the key that is being pressed?Has been pressed(with _processKeyboard)?
-		
-		//movement
-		void moveForward(int speed);
-		void moveBackward(int speed);
-		void turnLeft(int speed);
-		void turnRight(int speed);
-		void motorsStop();
-		void motorsWritePct(int speedLeftPct, int speedRightPct);
-		
-		void motorsWrite(int speedLeft,int speedRight);
-		void pointTo(int degrees);//turn to an absolute angle from the compass
-		void turn(int degress);//turn certain degrees from the current heading
-		
-		//Line Following
-		void lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);//default 11 5 50 10
-		
-		//TFT LCD
-		//use the same commands as Arduino_LCD
-		void beginTFT(uint16_t foreGround=BLACK, uint16_t background=WHITE);
-		/*void text(int value, uint8_t posX, uint8_t posY, bool EW);
-		void text(long value, uint8_t posX, uint8_t posY, bool EW);
-		void text(char* value, uint8_t posX, uint8_t posY, bool EW);
-		void text(char value, uint8_t posX, uint8_t posY, bool EW);*/
-		void debugPrint(long value, uint8_t x=0, uint8_t y=0);
-		void clearScreen();
-		
-		void drawBMP(char* filename, uint8_t x, uint8_t y);//detect if draw with EEPROM or SD, and draw it
-		void _drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height);//draw from EEPROM
-		void _drawBMP(char* filename, uint8_t x, uint8_t y);//draw from SD
-		void beginBMPFromEEPROM();
-		void endBMPFromEEPROM();
-		
-		uint16_t foreGround;//foreground color
-		uint16_t backGround;//background color
-
-		
-		//SD card
-		void beginSD();
-		
-		//Information
-		void userNameRead(char* container);
-		void robotNameRead(char* container);
-		void cityNameRead(char* container);
-		void countryNameRead(char* container);
-		
-		void userNameWrite(char* text);
-		void robotNameWrite(char* text);
-		void cityNameWrite(char* text);
-		void countryNameWrite(char* text);
-		
-		//Others
-		bool isActionDone();
-		void pauseMode(uint8_t onOff);
-		void displayLogos();
-		void waitContinue(uint8_t key=BUTTON_MIDDLE);
-		
-	private:
-		//Read & Write
-		uint8_t _getTypeCode(uint8_t port);//different ports need different actions
-		uint8_t _portToTopMux(uint8_t port);//get the number for multiplexer within top TKs
-		uint8_t _topDPortToAPort(uint8_t port);//get the corrensponding analogIn pin for top TKDs
-		
-		bool _digitalReadTopMux(uint8_t port);//TK0 - TK7
-		int _analogReadTopMux(uint8_t port);
-		
-		bool _digitalReadTopPin(uint8_t port);
-		int _analogReadTopPin(uint8_t port);
-		void _digitalWriteTopPin(uint8_t port, bool value);
-		
-		MOTOR_BOARD_DATA motorBoardData;
-		int* parseMBDPort(uint8_t port);
-		int get_motorBoardData(uint8_t port);
-		void set_motorBoardData(uint8_t port, int value);
-		
-		bool _requestDigitalRead(uint8_t port);
-		int _requestAnalogRead(uint8_t port);
-		void _requestDigitalWrite(uint8_t port, uint8_t value);
-				
-		//LCD
-		void _enableLCD();
-		void _setWrite(uint8_t posX, uint8_t posY);
-		void _setErase(uint8_t posX, uint8_t posY);
-		
-		
-		//SD
-		SdCard card;
-		Fat16 file;
-		Fat16 melody;
-		void _enableSD();
-		
-		//keyboard
-		void _processKeyboard(); //need to run in loop, detect if the key is actually pressed
-		int averageAnalogInput(int pinNum);
-		
-		//Ultrasonic ranger
-		//uint8_t pinTrigger_UR;
-		//uint8_t pinEcho_UR;
-		
-		//Melody
-		void playNote(byte period, word length, char modifier); 
-		
-		//Communication
-		
-		EasyTransfer2 messageOut;
-		EasyTransfer2 messageIn;
-		
-		//TFT LCD
-		bool _isEEPROM_BMP_Allocated;
-		EEPROM_BMP * _eeprom_bmp;
-		void _drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height);
-		void _drawBMP_SD(char* filename, uint8_t x, uint8_t y);
-
-		
-};
-
-inline void RobotControl::userNameRead(char* container){
-	EEPROM_I2C::readBuffer(ADDRESS_USERNAME,(uint8_t*)container,18);
-}
-inline void RobotControl::robotNameRead(char* container){
-	EEPROM_I2C::readBuffer(ADDRESS_ROBOTNAME,(uint8_t*)container,18);
-}
-inline void RobotControl::cityNameRead(char* container){
-	EEPROM_I2C::readBuffer(ADDRESS_CITYNAME,(uint8_t*)container,18);
-}
-inline void RobotControl::countryNameRead(char* container){
-	EEPROM_I2C::readBuffer(ADDRESS_COUNTRYNAME,(uint8_t*)container,18);
-}
-
-inline void RobotControl::userNameWrite(char* text){
-	EEPROM_I2C::writePage(ADDRESS_USERNAME,(uint8_t*)text,18);
-}
-inline void RobotControl::robotNameWrite(char* text){
-	EEPROM_I2C::writePage(ADDRESS_ROBOTNAME,(uint8_t*)text,18);
-}
-inline void RobotControl::cityNameWrite(char* text){
-	EEPROM_I2C::writePage(ADDRESS_CITYNAME,(uint8_t*)text,18);
-}
-inline void RobotControl::countryNameWrite(char* text){
-	EEPROM_I2C::writePage(ADDRESS_COUNTRYNAME,(uint8_t*)text,18);
-}
-
-extern RobotControl Robot;
-
-#endif
\ No newline at end of file
diff --git a/libraries/Robot_Control/Arduino_LCD.cpp b/libraries/Robot_Control/Arduino_LCD.cpp
deleted file mode 100644
index db28cd0..0000000
--- a/libraries/Robot_Control/Arduino_LCD.cpp
+++ /dev/null
@@ -1,706 +0,0 @@
-/*************************************************** 
-  This is a library for the Adafruit 1.8" SPI display.
-  This library works with the Adafruit 1.8" TFT Breakout w/SD card
-  ----> http://www.adafruit.com/products/358
-  as well as Adafruit raw 1.8" TFT display
-  ----> http://www.adafruit.com/products/618
- 
-  Check out the links above for our tutorials and wiring diagrams
-  These displays use SPI to communicate, 4 or 5 pins are required to
-  interface (RST is optional)
-  Adafruit invests time and resources providing this open source code,
-  please support Adafruit and open-source hardware by purchasing
-  products from Adafruit!
-
-  Written by Limor Fried/Ladyada for Adafruit Industries.
-  MIT license, all text above must be included in any redistribution
- ****************************************************/
-
-#include "Arduino_LCD.h"
-//#include <avr/pgmspace.h>
-#include <limits.h>
-//#include "pins_arduino.h"
-#include "wiring_private.h"
-#include <SPI.h>
-
-
-// Constructor when using software SPI.  All output pins are configurable.
-Arduino_LCD::Arduino_LCD(uint8_t cs, uint8_t rs, uint8_t sid,
- uint8_t sclk, uint8_t rst) {
-  _cs   = cs;
-  _rs   = rs;
-  _sid  = sid;
-  _sclk = sclk;
-  _rst  = rst;
-  hwSPI = false;
-}
-
-
-// Constructor when using hardware SPI.  Faster, but must use SPI pins
-// specific to each board type (e.g. 11,13 for Uno, 51,52 for Mega, etc.)
-Arduino_LCD::Arduino_LCD(uint8_t cs, uint8_t rs, uint8_t rst) {
-  _cs   = cs;
-  _rs   = rs;
-  _rst  = rst;
-  hwSPI = true;
-  _sid  = _sclk = 0;
-}
-
-
-inline void Arduino_LCD::spiwrite(uint8_t c) {
-
-  //Serial.println(c, HEX);
-
-/*  if (hwSPI) {
-    SPDR = c;
-    while(!(SPSR & _BV(SPIF)));
-  } else {
-    // Fast SPI bitbang swiped from LPD8806 library
-    for(uint8_t bit = 0x80; bit; bit >>= 1) {
-      if(c & bit) *dataport |=  datapinmask;
-      else        *dataport &= ~datapinmask;
-      *clkport |=  clkpinmask;
-      *clkport &= ~clkpinmask;
-    }
-  }
-*/
-SPI.transfer(c);
-}
-
-
-void Arduino_LCD::writecommand(uint8_t c) {
-//  *rsport &= ~rspinmask;
-//  *csport &= ~cspinmask;
-digitalWrite(_rs, LOW);
-digitalWrite(_cs, LOW);
-
-  //Serial.print("C ");
-  spiwrite(c);
-//SPI.transfer(c);
-//  *csport |= cspinmask;
-digitalWrite(_cs, HIGH);
-}
-
-
-void Arduino_LCD::writedata(uint8_t c) {
-//  *rsport &= ~rspinmask;
-//  *csport &= ~cspinmask;
-digitalWrite(_rs, HIGH);
-digitalWrite(_cs, LOW);
-
-  //Serial.print("D ");
-  spiwrite(c);
-//SPI.transfer(c);
-//  *csport |= cspinmask;
-digitalWrite(_cs, HIGH);
-} 
-
-
-// Rather than a bazillion writecommand() and writedata() calls, screen
-// initialization commands and arguments are organized in these tables
-// stored in PROGMEM.  The table may look bulky, but that's mostly the
-// formatting -- storage-wise this is hundreds of bytes more compact
-// than the equivalent code.  Companion function follows.
-#define DELAY 0x80
-//PROGMEM static prog_uchar
-/*uint8_t
-  Bcmd[] = {                  // Initialization commands for 7735B screens
-   18,                       // 18 commands in list:
-    ILI9163C_SWRESET,   DELAY,  //  1: Software reset, no args, w/delay
-      50,                     //     50 ms delay
-    ILI9163C_SLPOUT ,   DELAY,  //  2: Out of sleep mode, no args, w/delay
-      255,                    //     255 = 500 ms delay
-    ILI9163C_COLMOD , 1+DELAY,  //  3: Set color mode, 1 arg + delay: // I THINK THERE WAS SOMETHING HERE BECAUSE THE COMMAND IS CALLED 3A on Adafruits
-      0x05,                   //     16-bit color
-      10,                     //     10 ms delay
-    ILI9163C_FRMCTR1, 3+DELAY,  //  4: Frame rate control, 3 args + delay:
-      0x00,                   //     fastest refresh
-      0x06,                   //     6 lines front porch
-      0x03,                   //     3 lines back porch
-      10,                     //     10 ms delay
-    ILI9163C_MADCTL , 1      ,  //  5: Memory access ctrl (directions), 1 arg:
-      0x08,                   //     Row addr/col addr, bottom to top refresh
-    ILI9163C_DISSET5, 2      ,  //  6: Display settings #5, 2 args, no delay:
-      0x15,                   //     1 clk cycle nonoverlap, 2 cycle gate
-                              //     rise, 3 cycle osc equalize
-      0x02,                   //     Fix on VTL
-    ILI9163C_INVCTR , 1      ,  //  7: Display inversion control, 1 arg:
-      0x0,                    //     Line inversion
-    ILI9163C_PWCTR1 , 2+DELAY,  //  8: Power control, 2 args + delay:
-      0x02,                   //     GVDD = 4.7V
-      0x70,                   //     1.0uA
-      10,                     //     10 ms delay
-    ILI9163C_PWCTR2 , 1      ,  //  9: Power control, 1 arg, no delay:
-      0x05,                   //     VGH = 14.7V, VGL = -7.35V
-    ILI9163C_PWCTR3 , 2      ,  // 10: Power control, 2 args, no delay:
-      0x01,                   //     Opamp current small
-      0x02,                   //     Boost frequency
-    ILI9163C_VMCTR1 , 2+DELAY,  // 11: Power control, 2 args + delay:
-      0x3C,                   //     VCOMH = 4V
-      0x38,                   //     VCOML = -1.1V
-      10,                     //     10 ms delay
-    ILI9163C_PWCTR6 , 2      ,  // 12: Power control, 2 args, no delay:
-      0x11, 0x15,
-    ILI9163C_GMCTRP1,16      ,  // 13: Magical unicorn dust, 16 args, no delay:
-      0x09, 0x16, 0x09, 0x20, //     (seriously though, not sure what
-      0x21, 0x1B, 0x13, 0x19, //      these config values represent)
-      0x17, 0x15, 0x1E, 0x2B,
-      0x04, 0x05, 0x02, 0x0E,
-    ILI9163C_GMCTRN1,16+DELAY,  // 14: Sparkles and rainbows, 16 args + delay:
-      0x0B, 0x14, 0x08, 0x1E, //     (ditto)
-      0x22, 0x1D, 0x18, 0x1E,
-      0x1B, 0x1A, 0x24, 0x2B,
-      0x06, 0x06, 0x02, 0x0F,
-      10,                     //     10 ms delay
-    ILI9163C_CASET  , 4      ,  // 15: Column addr set, 4 args, no delay:
-      0x00, 0x02,             //     XSTART = 2
-      0x00, 0x81,             //     XEND = 129
-    ILI9163C_RASET  , 4      ,  // 16: Row addr set, 4 args, no delay:
-      0x00, 0x02,             //     XSTART = 1
-      0x00, 0x81,             //     XEND = 160
-    ILI9163C_NORON  ,   DELAY,  // 17: Normal display on, no args, w/delay
-      10,                     //     10 ms delay
-    ILI9163C_DISPON ,   DELAY,  // 18: Main screen turn on, no args, w/delay
-      255 },                  //     255 = 500 ms delay
-*/
-uint8_t
-  Bcmd[] = {                    // Initialization commands for 7735B screens
-   19,                          // 19 commands in list:
-    ILI9163C_SWRESET,   DELAY,  // 1: Software reset, no args, w/delay
-      50,                       //     50 ms delay
-    0x11 ,   DELAY,  		// 2: Out of sleep mode, no args, w/delay
-      100,                      //     255 = 500 ms delay
-    0x26 , 1,  			// 3: Set default gamma
-      0x04,                     //     16-bit color
-    0xb1, 2,              	// 4: Frame Rate
-      0x0b,
-      0x14,
-    0xc0, 2,                    // 5: VRH1[4:0] & VC[2:0]
-      0x08,
-      0x00,
-    0xc1, 1,                    // 6: BT[2:0]
-      0x05,
-    0xc5, 2,                    // 7: VMH[6:0] & VML[6:0]
-      0x41,
-      0x30,
-    0xc7, 1,                    // 8: LCD Driving control
-      0xc1,
-    0xEC, 1,                    // 9: Set pumping color freq
-      0x1b,
-    0x3a , 1 + DELAY,  	        // 10: Set color format
-      0x55,                     //     16-bit color
-      100,
-    0x2a, 4,                    // 11: Set Column Address
-      0x00,
-      0x00,
-      0x00,
-      0x7f,
-    0x2b, 4,                    // 12: Set Page Address
-      0x00,
-      0x00,
-      0x00,
-      0x9f,
-    0x36, 1,                    // 12+1: Set Scanning Direction
-      0xc8,
-    0xb7, 1,			// 14: Set Source Output Direciton
-      0x00,
-    0xf2, 1,			// 15: Enable Gamma bit
-      0x01,
-    0xe0, 15 + DELAY,		// 16: magic
-      0x28, 0x24, 0x22, 0x31,
-      0x2b, 0x0e, 0x53, 0xa5,
-      0x42, 0x16, 0x18, 0x12,
-      0x1a, 0x14, 0x03,
-      50,
-    0xe1, 15 + DELAY,		// 17: more magic
-      0x17, 0x1b, 0x1d, 0x0e,
-      0x14, 0x11, 0x2c, 0xa5,
-      0x3d, 0x09, 0x27, 0x2d,
-      0x25, 0x2b, 0x3c, 
-      50, 
-    ILI9163C_NORON  ,    DELAY, // 18: Normal display on, no args, w/delay
-      10,                       //     10 ms delay
-    ILI9163C_DISPON ,    DELAY, // 19: Main screen turn on, no args w/delay
-      100 },                    //     100 ms delay
-Rcmd1[] = {                   // Init for 7735R, part 1 (red or green tab)
-    15,                       // 15 commands in list:
-    ILI9163C_SWRESET,   DELAY,  //  1: Software reset, 0 args, w/delay
-      150,                    //     150 ms delay
-    ILI9163C_SLPOUT ,   DELAY,  //  2: Out of sleep mode, 0 args, w/delay
-      255,                    //     500 ms delay
-    ILI9163C_FRMCTR1, 3      ,  //  3: Frame rate ctrl - normal mode, 3 args:
-      0x01, 0x2C, 0x2D,       //     Rate = fosc/(1x2+40) * (LINE+2C+2D)
-    ILI9163C_FRMCTR2, 3      ,  //  4: Frame rate control - idle mode, 3 args:
-      0x01, 0x2C, 0x2D,       //     Rate = fosc/(1x2+40) * (LINE+2C+2D)
-    ILI9163C_FRMCTR3, 6      ,  //  5: Frame rate ctrl - partial mode, 6 args:
-      0x01, 0x2C, 0x2D,       //     Dot inversion mode
-      0x01, 0x2C, 0x2D,       //     Line inversion mode
-    ILI9163C_INVCTR , 1      ,  //  6: Display inversion ctrl, 1 arg, no delay:
-      0x07,                   //     No inversion
-    ILI9163C_PWCTR1 , 3      ,  //  7: Power control, 3 args, no delay:
-      0xA2,
-      0x02,                   //     -4.6V
-      0x84,                   //     AUTO mode
-    ILI9163C_PWCTR2 , 1      ,  //  8: Power control, 1 arg, no delay:
-      0xC5,                   //     VGH25 = 2.4C VGSEL = -10 VGH = 3 * AVDD
-    ILI9163C_PWCTR3 , 2      ,  //  9: Power control, 2 args, no delay:
-      0x0A,                   //     Opamp current small
-      0x00,                   //     Boost frequency
-    ILI9163C_PWCTR4 , 2      ,  // 10: Power control, 2 args, no delay:
-      0x8A,                   //     BCLK/2, Opamp current small & Medium low
-      0x2A,  
-    ILI9163C_PWCTR5 , 2      ,  // 11: Power control, 2 args, no delay:
-      0x8A, 0xEE,
-    ILI9163C_VMCTR1 , 1      ,  // 12: Power control, 1 arg, no delay:
-      0x0E,
-    ILI9163C_INVOFF , 0      ,  // 13: Don't invert display, no args, no delay
-    ILI9163C_MADCTL , 1      ,  // 14: Memory access control (directions), 1 arg:
-      0xC8,                   //     row addr/col addr, bottom to top refresh
-    ILI9163C_COLMOD , 1      ,  // 15: set color mode, 1 arg, no delay:
-      0x05 },                 //     16-bit color
-
-  Rcmd2green[] = {            // Init for 7735R, part 2 (green tab only)
-    2,                        //  2 commands in list:
-    ILI9163C_CASET  , 4      ,  //  1: Column addr set, 4 args, no delay:
-      0x00, 0x02,             //     XSTART = 0
-      0x00, 0x7F+0x02,        //     XEND = 127
-    ILI9163C_RASET  , 4      ,  //  2: Row addr set, 4 args, no delay:
-      0x00, 0x01,             //     XSTART = 0
-      0x00, 0x9F+0x01 },      //     XEND = 159
-  Rcmd2red[] = {              // Init for 7735R, part 2 (red tab only)
-    2,                        //  2 commands in list:
-    ILI9163C_CASET  , 4      ,  //  1: Column addr set, 4 args, no delay:
-      0x00, 0x00,             //     XSTART = 0
-      0x00, 0x7F,             //     XEND = 127
-    ILI9163C_RASET  , 4      ,  //  2: Row addr set, 4 args, no delay:
-      0x00, 0x00,             //     XSTART = 0
-      0x00, 0x9F },           //     XEND = 159
-
-  Rcmd3[] = {                 // Init for 7735R, part 3 (red or green tab)
-    4,                        //  4 commands in list:
-    ILI9163C_GMCTRP1, 16      , //  1: Magical unicorn dust, 16 args, no delay:
-      0x02, 0x1c, 0x07, 0x12,
-      0x37, 0x32, 0x29, 0x2d,
-      0x29, 0x25, 0x2B, 0x39,
-      0x00, 0x01, 0x03, 0x10,
-    ILI9163C_GMCTRN1, 16      , //  2: Sparkles and rainbows, 16 args, no delay:
-      0x03, 0x1d, 0x07, 0x06,
-      0x2E, 0x2C, 0x29, 0x2D,
-      0x2E, 0x2E, 0x37, 0x3F,
-      0x00, 0x00, 0x02, 0x10,
-    ILI9163C_NORON  ,    DELAY, //  3: Normal display on, no args, w/delay
-      10,                     //     10 ms delay
-    ILI9163C_DISPON ,    DELAY, //  4: Main screen turn on, no args w/delay
-      100 };                  //     100 ms delay
-
-
-// Companion code to the above tables.  Reads and issues
-// a series of LCD commands stored in PROGMEM byte array.
-//void Arduino_LCD::commandList(prog_uchar *addr) {
-void Arduino_LCD::commandList(uint8_t *addr) {
-
-  uint8_t  numCommands, numArgs;
-  uint16_t ms;
-
-  numCommands = *addr++;   // Number of commands to follow
-  while(numCommands--) {                 // For each command...
-    writecommand(*addr++); //   Read, issue command
-    numArgs  = *addr++;    //   Number of args to follow
-    ms       = numArgs & DELAY;          //   If hibit set, delay follows args
-    numArgs &= ~DELAY;                   //   Mask out delay bit
-    while(numArgs--) {                   //   For each argument...
-      writedata(*addr++);  //     Read, issue argument
-    }
-
-    if(ms) {
-      ms = *addr++; // Read post-command delay time (ms)
-      if(ms == 255) ms = 500;     // If 255, delay for 500 ms
-      delay(ms);
-    }
-  }
-}
-
-
-// Initialization code common to both 'B' and 'R' type displays
-//void Arduino_LCD::commonInit(prog_uchar *cmdList) {
-void Arduino_LCD::commonInit(uint8_t *cmdList) {
-
-  constructor(ILI9163C_TFTWIDTH, ILI9163C_TFTHEIGHT);
-  colstart  = rowstart = 0; // May be overridden in init func
-
-  pinMode(_rs, OUTPUT);
-  pinMode(_cs, OUTPUT);
-/*
-  csport    = portOutputRegister(digitalPinToPort(_cs));
-  cspinmask = digitalPinToBitMask(_cs);
-  rsport    = portOutputRegister(digitalPinToPort(_rs));
-  rspinmask = digitalPinToBitMask(_rs);
-*/
-
-//  if(hwSPI) { // Using hardware SPI
-    SPI.begin();
-    SPI.setClockDivider(21); // 4 MHz (half speed)
-//    SPI.setClockDivider(SPI_CLOCK_DIV4); // 4 MHz (half speed)
-//    SPI.setBitOrder(MSBFIRST);
-// there is no setBitOrder on the SPI library for the Due
-    SPI.setDataMode(SPI_MODE0);
-/*
-  } else {
-    pinMode(_sclk, OUTPUT);
-    pinMode(_sid , OUTPUT);
-    clkport     = portOutputRegister(digitalPinToPort(_sclk));
-    clkpinmask  = digitalPinToBitMask(_sclk);
-    dataport    = portOutputRegister(digitalPinToPort(_sid));
-    datapinmask = digitalPinToBitMask(_sid);
-    *clkport   &= ~clkpinmask;
-    *dataport  &= ~datapinmask;
-  }
-*/
-
-  // toggle RST low to reset; CS low so it'll listen to us
-//  *csport &= ~cspinmask;
-  digitalWrite(_cs, LOW);
-  if (_rst) {
-    pinMode(_rst, OUTPUT);
-    digitalWrite(_rst, HIGH);
-    delay(500);
-    digitalWrite(_rst, LOW);
-    delay(500);
-    digitalWrite(_rst, HIGH);
-    delay(500);
-  }
-
-  if(cmdList) commandList(cmdList);
-}
-
-
-// Initialization for ST7735B screens
-void Arduino_LCD::initB(void) {
-  commonInit(Bcmd);
-  commandList(Rcmd3);
-}
-
-
-// Initialization for ST7735R screens (green or red tabs)
-void Arduino_LCD::initR(uint8_t options) {
-  commonInit(Rcmd1);
-  if(options == INITR_GREENTAB) {
-    commandList(Rcmd2green);
-    colstart = 2;
-    rowstart = 1;
-  } else {
-    // colstart, rowstart left at default '0' values
-    commandList(Rcmd2red);
-  }
-  commandList(Rcmd3);
-}
-
-
-void Arduino_LCD::setAddrWindow(uint8_t x0, uint8_t y0, uint8_t x1,
- uint8_t y1) {
-
-  writecommand(ILI9163C_CASET); // Column addr set
-  writedata(0x00);
-  writedata(x0+colstart);     // XSTART 
-  writedata(0x00);
-  writedata(x1+colstart);     // XEND
-
-  writecommand(ILI9163C_RASET); // Row addr set
-  writedata(0x00);
-  writedata(y0+rowstart);     // YSTART
-  writedata(0x00);
-  writedata(y1+rowstart);     // YEND
-
-  writecommand(ILI9163C_RAMWR); // write to RAM
-}
-
-
-void Arduino_LCD::fillScreen(uint16_t color) {
-
-  uint8_t x, y, hi = color >> 8, lo = color;
-
-  setAddrWindow(0, 0, _width-1, _height-1);
-
-//  *rsport |=  rspinmask;
-//  *csport &= ~cspinmask;
-digitalWrite(_rs, HIGH);
-  digitalWrite(_cs, LOW);
-
-  for(y=_height; y>0; y--) {
-    for(x=_width; x>0; x--) {
-//SPI.transfer(hi);
-//SPI.transfer(lo);
-      spiwrite(hi);
-      spiwrite(lo);
-    }
-  }
-
-//  *csport |= cspinmask;
-  digitalWrite(_cs, HIGH);
-}
-
-
-void Arduino_LCD::pushColor(uint16_t color) {
-//  *rsport |=  rspinmask;
-//  *csport &= ~cspinmask;
-digitalWrite(_rs, HIGH);
-  digitalWrite(_cs, LOW);
-
-  spiwrite(color >> 8);
-  spiwrite(color);
-//SPI.transfer(color>>8);
-//SPI.transfer(color);
-
-//  *csport |= cspinmask;
-  digitalWrite(_cs, HIGH);
-}
-
-
-void Arduino_LCD::drawPixel(int16_t x, int16_t y, uint16_t color) {
-
-  if((x < 0) ||(x >= _width) || (y < 0) || (y >= _height)) return;
-
-  setAddrWindow(x,y,x+1,y+1);
-
-//  *rsport |=  rspinmask;
-//  *csport &= ~cspinmask;
-digitalWrite(_rs, HIGH);
-  digitalWrite(_cs, LOW);
-
-  spiwrite(color >> 8);
-  spiwrite(color);
-//SPI.transfer(color>>8);
-//SPI.transfer(color);
-
-//  *csport |= cspinmask;
-  digitalWrite(_cs, HIGH);
-}
-
-
-void Arduino_LCD::drawFastVLine(int16_t x, int16_t y, int16_t h,
- uint16_t color) {
-
-  // Rudimentary clipping
-  if((x >= _width) || (y >= _height)) return;
-  if((y+h-1) >= _height) h = _height-y;
-  setAddrWindow(x, y, x, y+h-1);
-
-  uint8_t hi = color >> 8, lo = color;
-//  *rsport |=  rspinmask;
-//  *csport &= ~cspinmask;
-digitalWrite(_rs, HIGH);
-  digitalWrite(_cs, LOW);
-  while (h--) {
-    spiwrite(hi);
-    spiwrite(lo);
-//SPI.transfer(hi);
-//SPI.transfer(lo);
-  }
-//  *csport |= cspinmask;
-  digitalWrite(_cs, HIGH);
-}
-
-
-void Arduino_LCD::drawFastHLine(int16_t x, int16_t y, int16_t w,
-  uint16_t color) {
-
-  // Rudimentary clipping
-  if((x >= _width) || (y >= _height)) return;
-  if((x+w-1) >= _width)  w = _width-x;
-  setAddrWindow(x, y, x+w-1, y);
-
-  uint8_t hi = color >> 8, lo = color;
-//  *rsport |=  rspinmask;
-//  *csport &= ~cspinmask;
-digitalWrite(_rs, HIGH);
-  digitalWrite(_cs, LOW);
-  while (w--) {
-    spiwrite(hi);
-    spiwrite(lo);
-//SPI.transfer(hi);
-//SPI.transfer(lo);
-  }
-//  *csport |= cspinmask;
-  digitalWrite(_cs, HIGH);
-}
-
-
-// fill a rectangle
-void Arduino_LCD::fillRect(int16_t x, int16_t y, int16_t w, int16_t h,
-  uint16_t color) {
-
-  // rudimentary clipping (drawChar w/big text requires this)
-  if((x >= _width) || (y >= _height)) return;
-  if((x + w - 1) >= _width)  w = _width  - x;
-  if((y + h - 1) >= _height) h = _height - y;
-
-  setAddrWindow(x, y, x+w-1, y+h-1);
-
-  uint8_t hi = color >> 8, lo = color;
-//  *rsport |=  rspinmask;
-//  *csport &= ~cspinmask;
-digitalWrite(_rs, HIGH);
-digitalWrite(_cs, LOW);
-  for(y=h; y>0; y--) {
-    for(x=w; x>0; x--) {
-      spiwrite(hi);
-      spiwrite(lo);
-//SPI.transfer(hi);
-//SPI.transfer(lo);
-    }
-  }
-
-//  *csport |= cspinmask;
-digitalWrite(_cs, HIGH);
-}
-
-
-// Pass 8-bit (each) R,G,B, get back 16-bit packed color
-uint16_t Arduino_LCD::Color565(uint8_t r, uint8_t g, uint8_t b) {
-  return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3);
-}
-
-
-#define MADCTL_MY  0x80
-#define MADCTL_MX  0x40
-#define MADCTL_MV  0x20
-#define MADCTL_ML  0x10
-#define MADCTL_RGB 0x08
-#define MADCTL_MH  0x04
-
-void Arduino_LCD::setRotation(uint8_t m) {
-
-  writecommand(ILI9163C_MADCTL);
-  rotation = m % 4; // can't be higher than 3
-  switch (rotation) {
-   case 0:
-    writedata(MADCTL_MX | MADCTL_MY | MADCTL_RGB);
-    _width  = ILI9163C_TFTWIDTH;
-    _height = ILI9163C_TFTHEIGHT;
-    break;
-   case 1:
-    writedata(MADCTL_MY | MADCTL_MV | MADCTL_RGB);
-    _width  = ILI9163C_TFTHEIGHT;
-    _height = ILI9163C_TFTWIDTH;
-    break;
-   case 2:
-    writedata(MADCTL_RGB);
-    _width  = ILI9163C_TFTWIDTH;
-    _height = ILI9163C_TFTHEIGHT;
-    break;
-   case 3:
-    writedata(MADCTL_MX | MADCTL_MV | MADCTL_RGB);
-    _width  = ILI9163C_TFTHEIGHT;
-    _height = ILI9163C_TFTWIDTH;
-    break;
-  }
-}
-
-
-void Arduino_LCD::invertDisplay(boolean i) {
-  writecommand(i ? ILI9163C_INVON : ILI9163C_INVOFF);
-}
-
-/* 
-  18, // there are 17 commands
-    ILI9163C_SWRESET,   DELAY,  //  1: Software reset, no args, w/delay
-      50,                     //     50 ms delay
-
-	0x11, 			//Exit Sleep
-	DELAY,50,
-
-	0x26, 			//Set Default Gamma
-	0x104,
-
-	//0xF2, //E0h & E1h Enable/Disable
-	//0x100,
-
-	0xB1,
-	0x10C,
-	0x114,
-
-	0xC0, //Set VRH1[4:0] & VC[2:0] for VCI1 & GVDD
-	0x10C,
-	0x105,
-
-	0xC1, //Set BT[2:0] for AVDD & VCL & VGH & VGL
-	0x102,
-
-	0xC5, //Set VMH[6:0] & VML[6:0] for VOMH & VCOML
-	0x129,
-	0x143,
-
-	0xC7,
-	0x140,
-
-	0x3a, //Set Color Format
-	0x105,
-
-	0x2A, //Set Column Address
-	0x100,
-	0x100,
-	0x100,
-	0x17F,
-
-	0x2B, //Set Page Address
-	0x100,
-	0x100,
-	0x100,
-	0x19F,
-
-	0x36, //Set Scanning Direction, RGB
-	0x1C0,
-
-	0xB7, //Set Source Output Direction
-	0x100,
-
-	0xf2, //Enable Gamma bit
-	0x101,
-
-	0xE0,
-	0x136,//p1
-	0x129,//p2
-	0x112,//p3
-	0x122,//p4
-	0x11C,//p5
-	0x115,//p6
-	0x142,//p7
-	0x1B7,//p8
-	0x12F,//p9
-	0x113,//p10
-	0x112,//p11
-	0x10A,//p12
-	0x111,//p13
-	0x10B,//p14
-	0x106,//p15
-
-	0xE1,
-	0x109,//p1
-	0x116,//p2
-	0x12D,//p3
-	0x10D,//p4
-	0x113,//p5
-	0x115,//p6
-	0x140,//p7
-	0x148,//p8
-	0x153,//p9
-	0x10C,//p10
-	0x11D,//p11
-	0x125,//p12
-	0x12E,//p13
-	0x134,//p14
-	0x139,//p15
-
-	0x33, // scroll setup
-	0x100,
-	0x100,
-	0x100,
-	0x1C1,
-	0x100,
-	0x100,
-
-	0x29,	// Display On
-	0x2C},	// write gram
-
-*/
-
diff --git a/libraries/Robot_Control/Arduino_LCD.h b/libraries/Robot_Control/Arduino_LCD.h
deleted file mode 100644
index a518133..0000000
--- a/libraries/Robot_Control/Arduino_LCD.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/***************************************************
-  This is a library for the Adafruit 1.8" SPI display.
-  This library works with the Adafruit 1.8" TFT Breakout w/SD card
-  ----> http://www.adafruit.com/products/358
-  as well as Adafruit raw 1.8" TFT display
-  ----> http://www.adafruit.com/products/618
- 
-  Check out the links above for our tutorials and wiring diagrams
-  These displays use SPI to communicate, 4 or 5 pins are required to
-  interface (RST is optional)
-  Adafruit invests time and resources providing this open source code,
-  please support Adafruit and open-source hardware by purchasing
-  products from Adafruit!
-
-  Written by Limor Fried/Ladyada for Adafruit Industries.
-  MIT license, all text above must be included in any redistribution
- ****************************************************/
-
-#ifndef _ARDUINO_LCDH_
-#define _ARDUINO_LCDH_
-
-#if ARDUINO >= 100
- #include "Arduino.h"
- #include "Print.h"
-#else
- #include "WProgram.h"
-#endif
-#include "Adafruit_GFX.h"
-//#include <avr/pgmspace.h>
-
-// some flags for initR() :(
-#define INITR_GREENTAB 0x0
-#define INITR_REDTAB   0x1
-
-#define ILI9163C_TFTWIDTH  128
-#define ILI9163C_TFTHEIGHT 160
-
-#define ILI9163C_NOP     0x00
-#define ILI9163C_SWRESET 0x01
-#define ILI9163C_RDDID   0x04
-#define ILI9163C_RDDST   0x09
-
-#define ILI9163C_SLPIN   0x10
-#define ILI9163C_SLPOUT  0x11
-#define ILI9163C_PTLON   0x12
-#define ILI9163C_NORON   0x13
-
-#define ILI9163C_INVOFF  0x20
-#define ILI9163C_INVON   0x21
-#define ILI9163C_DISPOFF 0x28
-#define ILI9163C_DISPON  0x29
-#define ILI9163C_CASET   0x2A
-#define ILI9163C_RASET   0x2B
-#define ILI9163C_RAMWR   0x2C
-#define ILI9163C_RAMRD   0x2E
-
-#define ILI9163C_PTLAR   0x30
-#define ILI9163C_COLMOD  0x3A // this is interface pixel format, this might be the issue
-#define ILI9163C_MADCTL  0x36
-
-#define ILI9163C_FRMCTR1 0xB1
-#define ILI9163C_FRMCTR2 0xB2
-#define ILI9163C_FRMCTR3 0xB3
-#define ILI9163C_INVCTR  0xB4
-#define ILI9163C_DISSET5 0xB6
-
-#define ILI9163C_PWCTR1  0xC0
-#define ILI9163C_PWCTR2  0xC1
-#define ILI9163C_PWCTR3  0xC2
-#define ILI9163C_PWCTR4  0xC3
-#define ILI9163C_PWCTR5  0xC4
-#define ILI9163C_VMCTR1  0xC5
-
-#define ILI9163C_RDID1   0xDA
-#define ILI9163C_RDID2   0xDB
-#define ILI9163C_RDID3   0xDC
-#define ILI9163C_RDID4   0xDD
-
-#define ILI9163C_PWCTR6  0xFC
-
-#define ILI9163C_GMCTRP1 0xE0
-#define ILI9163C_GMCTRN1 0xE1
-
-// Color definitions
-#define	ILI9163C_BLACK   0x0000
-#define	ILI9163C_BLUE    0x001F
-#define	ILI9163C_RED     0xF800
-#define	ILI9163C_GREEN   0x07E0
-#define ILI9163C_CYAN    0x07FF
-#define ILI9163C_MAGENTA 0xF81F
-#define ILI9163C_YELLOW  0xFFE0  
-#define ILI9163C_WHITE   0xFFFF
-
-
-class Arduino_LCD : public Adafruit_GFX {
-
- public:
-
-  Arduino_LCD(uint8_t CS, uint8_t RS, uint8_t SID, uint8_t SCLK, uint8_t RST);
-  Arduino_LCD(uint8_t CS, uint8_t RS, uint8_t RST);
-
-  void     initB(void),                             // for ST7735B displays
-           initR(uint8_t options = INITR_GREENTAB), // for ST7735R
-           setAddrWindow(uint8_t x0, uint8_t y0, uint8_t x1, uint8_t y1),
-           pushColor(uint16_t color),
-           fillScreen(uint16_t color),
-           drawPixel(int16_t x, int16_t y, uint16_t color),
-           drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color),
-           drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color),
-           fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color),
-           setRotation(uint8_t r),
-           invertDisplay(boolean i);
-  uint16_t Color565(uint8_t r, uint8_t g, uint8_t b);
-
-  /* These are not for current use, 8-bit protocol only!
-  uint8_t  readdata(void),
-           readcommand8(uint8_t);
-  uint16_t readcommand16(uint8_t);
-  uint32_t readcommand32(uint8_t);
-  void     dummyclock(void);
-  */
-
- private:
-
-  void     spiwrite(uint8_t),
-           writecommand(uint8_t c),
-           writedata(uint8_t d),
-//           commandList(prog_uchar *addr),
-//           commonInit(prog_uchar *cmdList);
-           commandList(uint8_t *addr),
-           commonInit(uint8_t *cmdList);
-//uint8_t  spiread(void);
-
-  boolean  hwSPI;
-  volatile uint8_t *dataport, *clkport, *csport, *rsport;
-  uint8_t  _cs, _rs, _rst, _sid, _sclk,
-           datapinmask, clkpinmask, cspinmask, rspinmask,
-           colstart, rowstart; // some displays need this changed
-};
-
-#endif
diff --git a/libraries/Robot_Control/Compass.cpp b/libraries/Robot_Control/Compass.cpp
deleted file mode 100644
index 1b1ef31..0000000
--- a/libraries/Robot_Control/Compass.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-#include "Compass.h"
-#include <Wire.h>
-
-void Compass::begin(){
-	Wire.begin();
-}
-float Compass::getReading(){
-	_beginTransmission();
-	_endTransmission();
-	
-  //time delays required by HMC6352 upon receipt of the command
-  //Get Data. Compensate and Calculate New Heading : 6ms
-  delay(6);
-
-  Wire.requestFrom(HMC6352SlaveAddress, 2); //get the two data bytes, MSB and LSB
-
-  //"The heading output data will be the value in tenths of degrees
-  //from zero to 3599 and provided in binary format over the two bytes."
-  byte MSB = Wire.read();
-  byte LSB = Wire.read();
-
-  float headingSum = (MSB << 8) + LSB; //(MSB / LSB sum)
-  float headingInt = headingSum / 10; 
-  
-  return headingInt;
-}
-
-void Compass::_beginTransmission(){
-  Wire.beginTransmission(HMC6352SlaveAddress);
-  Wire.write(HMC6352ReadAddress);
-}
-void Compass::_endTransmission(){
-  Wire.endTransmission();
-}
\ No newline at end of file
diff --git a/libraries/Robot_Control/Compass.h b/libraries/Robot_Control/Compass.h
deleted file mode 100644
index aa085a9..0000000
--- a/libraries/Robot_Control/Compass.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef Compass_h
-#define Compass_h
-
-#if ARDUINO >= 100
-#include "Arduino.h"
-#else
-#include "WProgram.h"
-#endif
-
-//0x21==0x42>>1, from bildr's code
-#define HMC6352SlaveAddress 0x21
-#define HMC6352ReadAddress 0x41
-
-class Compass{
-	public:
-		void begin();
-		float getReading();
-	private:
-		void _beginTransmission();
-		void _endTransmission();
-
-};
-
-#endif
\ No newline at end of file
diff --git a/libraries/Robot_Control/EEPROM_I2C.cpp b/libraries/Robot_Control/EEPROM_I2C.cpp
deleted file mode 100644
index dd12695..0000000
--- a/libraries/Robot_Control/EEPROM_I2C.cpp
+++ /dev/null
@@ -1,62 +0,0 @@
-#include "EEPROM_I2C.h"
-#include <Wire.h>
-
-#if ARDUINO >= 100
-#include "Arduino.h"
-#else
-#include "WProgram.h"
-#endif
-
-void EEPROM_I2C::begin(){
-  Wire.begin();
-}
-
-void EEPROM_I2C::writeByte(unsigned int eeaddress, byte data){
-  int rdata = data;
-  this->_beginTransmission(eeaddress);
-  Wire.write(rdata);
-  this->_endTransmission();
-}
-
-byte EEPROM_I2C::readByte(unsigned int eeaddress){
-  int rdata;
-  this->_beginTransmission(eeaddress);
-  this->_endTransmission();
-  
-  Wire.requestFrom(DEVICEADDRESS,1);
-  if (Wire.available()) rdata = Wire.read();
-  return rdata;
-}
-
-void EEPROM_I2C::writePage(unsigned int eeaddress, byte* data, byte length ){
-  this->_beginTransmission(eeaddress);
-  
-  byte c;
-  
-  for ( c = 0; c < length; c++)
-    Wire.write(data[c]);
-	
-  this->_endTransmission();
-  
-  delay(10);                           // need some delay
-}
-
-void EEPROM_I2C::readBuffer(unsigned int eeaddress, byte *buffer, int length ){
-  this->_beginTransmission(eeaddress);
-  this->_endTransmission();
-  Wire.requestFrom(DEVICEADDRESS,length);
-
-  for ( int c = 0; c < length; c++ )
-    if (Wire.available()) buffer[c] = Wire.read();
-}
-
-
-
-void EEPROM_I2C::_beginTransmission(unsigned int eeaddress){
-  Wire.beginTransmission(DEVICEADDRESS);
-  Wire.write((eeaddress >> 8));    // Address High Byte
-  Wire.write((eeaddress & 0xFF));  // Address Low Byte
-}
-void EEPROM_I2C::_endTransmission(){
-  Wire.endTransmission();
-}
\ No newline at end of file
diff --git a/libraries/Robot_Control/EEPROM_I2C.h b/libraries/Robot_Control/EEPROM_I2C.h
deleted file mode 100644
index 9bd0f6a..0000000
--- a/libraries/Robot_Control/EEPROM_I2C.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef EEPROM_I2C_h
-#define EEPROM_I2C_h
-
-#if ARDUINO >= 100
-#include "Arduino.h"
-#else
-#include "WProgram.h"
-#endif
-
-#define EE24LC512MAXBYTES 64000
-#define DEVICEADDRESS 0x50
-
-class EEPROM_I2C{
-	public:
-		void begin();
-		
-		void writeByte(unsigned int eeaddresspage, byte data);
-		byte readByte(unsigned int eeaddresspage);
-		
-		void writePage(unsigned int eeaddresspage, byte* data, byte length );
-		void readBuffer(unsigned int eeaddress, byte *buffer, int length );
-		
-		//uint16_t readPixel(uint16_t theMemoryAddress);
-		//void readImage(uint16_t theMemoryAddress, int width, int height);
-			
-	protected:
-		void _beginTransmission(unsigned int eeaddress);
-		void _endTransmission();
-};
-
-#endif
\ No newline at end of file
diff --git a/libraries/Robot_Control/EasyTransfer2.cpp b/libraries/Robot_Control/EasyTransfer2.cpp
deleted file mode 100644
index 24427cc..0000000
--- a/libraries/Robot_Control/EasyTransfer2.cpp
+++ /dev/null
@@ -1,152 +0,0 @@
-#include "EasyTransfer2.h"
-
-
-
-
-//Captures address and size of struct
-void EasyTransfer2::begin(HardwareSerial *theSerial){
-	_serial = theSerial;
-	
-	//dynamic creation of rx parsing buffer in RAM
-	//rx_buffer = (uint8_t*) malloc(size);
-	
-	resetData();
-}
-
-void EasyTransfer2::writeByte(uint8_t dat){
-	if(position<20)
-		data[position++]=dat;
-		size++;
-}
-void EasyTransfer2::writeInt(int dat){
-	if(position<19){
-		data[position++]=dat>>8;
-		data[position++]=dat;
-		size+=2;
-	}
-}
-uint8_t EasyTransfer2::readByte(){
-	if(position>=size)return 0;
-	return data[position++];
-}
-int EasyTransfer2::readInt(){
-	if(position+1>=size)return 0;
-	int dat_1=data[position++]<<8;
-	int dat_2=data[position++];
-	int dat= dat_1 | dat_2;
-	return dat;
-}
-
-void EasyTransfer2::resetData(){
-	for(int i=0;i<20;i++){
-		data[i]=0;
-	}
-	size=0;
-	position=0;
-}
-
-//Sends out struct in binary, with header, length info and checksum
-void EasyTransfer2::sendData(){
-  uint8_t CS = size;
-  _serial->write(0x06);
-  _serial->write(0x85);
-  _serial->write(size);
-  for(int i = 0; i<size; i++){
-    CS^=*(data+i);
-    _serial->write(*(data+i));
-	//Serial.print(*(data+i));
-	//Serial.print(",");
-  }
-  //Serial.println("");
-  _serial->write(CS);
-  
-  resetData();
-}
-
-boolean EasyTransfer2::receiveData(){
-  
-  //start off by looking for the header bytes. If they were already found in a previous call, skip it.
-  if(rx_len == 0){
-  //this size check may be redundant due to the size check below, but for now I'll leave it the way it is.
-    if(_serial->available() >= 3){
-	//this will block until a 0x06 is found or buffer size becomes less then 3.
-      while(_serial->read() != 0x06) {
-		//This will trash any preamble junk in the serial buffer
-		//but we need to make sure there is enough in the buffer to process while we trash the rest
-		//if the buffer becomes too empty, we will escape and try again on the next call
-		if(_serial->available() < 3)
-			return false;
-		}
-		//Serial.println("head");
-      if (_serial->read() == 0x85){
-        rx_len = _serial->read();
-		//Serial.print("rx_len:");
-		//Serial.println(rx_len);
-		resetData();
-
-		//make sure the binary structs on both Arduinos are the same size.
-        /*if(rx_len != size){
-          rx_len = 0;
-          return false;
-        }*/
-      }
-    }
-	//Serial.println("nothing");
-  }
-  
-  //we get here if we already found the header bytes, the struct size matched what we know, and now we are byte aligned.
-  if(rx_len != 0){
-	
-    while(_serial->available() && rx_array_inx <= rx_len){
-      data[rx_array_inx++] = _serial->read();
-    }
-    
-    if(rx_len == (rx_array_inx-1)){
-      //seem to have got whole message
-      //last uint8_t is CS
-      calc_CS = rx_len;
-	  //Serial.print("len:");
-	  //Serial.println(rx_len);
-      for (int i = 0; i<rx_len; i++){
-        calc_CS^=data[i];
-		//Serial.print("m");
-		//Serial.print(data[i]);
-		//Serial.print(",");
-      } 
-	  //Serial.println();
-      //Serial.print(data[rx_array_inx-1]);
-	  //Serial.print(" ");
-	  //Serial.println(calc_CS);
-	  
-      if(calc_CS == data[rx_array_inx-1]){//CS good
-		//resetData();
-        //memcpy(data,d,rx_len);
-		for(int i=0;i<20;i++){
-			//Serial.print(data[i]);
-			//Serial.print(",");
-		}
-		//Serial.println("");
-		size=rx_len;
-		rx_len = 0;
-		rx_array_inx = 0;
-		return true;
-		}
-		
-	  else{
-  		//Serial.println("CS");
-		resetData();
-	  //failed checksum, need to clear this out anyway
-		rx_len = 0;
-		rx_array_inx = 0;
-		return false;
-	  }
-        
-    }
-  }
-  //Serial.print(rx_len);
-  //Serial.print(" ");
-  //Serial.print(rx_array_inx);
-  //Serial.print(" ");
-  //Serial.println("Short");
-  return false;
-}
\ No newline at end of file
diff --git a/libraries/Robot_Control/EasyTransfer2.h b/libraries/Robot_Control/EasyTransfer2.h
deleted file mode 100644
index 3369a51..0000000
--- a/libraries/Robot_Control/EasyTransfer2.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/******************************************************************
-*  EasyTransfer Arduino Library 
-*		details and example sketch: 
-*			http://www.billporter.info/easytransfer-arduino-library/
-*
-*		Brought to you by:
-*              Bill Porter
-*              www.billporter.info
-*
-*		See Readme for other info and version history
-*	
-*  
-*This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or(at your option) any later version.
-This program 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 General Public License for more details.
-<http://www.gnu.org/licenses/>
-*
-*This work is licensed under the Creative Commons Attribution-ShareAlike 3.0 Unported License. 
-*To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/3.0/ or
-*send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-******************************************************************/
-#ifndef EasyTransfer2_h
-#define EasyTransfer2_h
-
-
-//make it a little prettier on the front end. 
-#define details(name) (byte*)&name,sizeof(name)
-
-//Not neccessary, but just in case. 
-#if ARDUINO > 22
-#include "Arduino.h"
-#else
-#include "WProgram.h"
-#endif
-#include "HardwareSerial.h"
-//#include <NewSoftSerial.h>
-#include <math.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <avr/io.h>
-
-class EasyTransfer2 {
-public:
-void begin(HardwareSerial *theSerial);
-//void begin(uint8_t *, uint8_t, NewSoftSerial *theSerial);
-void sendData();
-boolean receiveData();
-
-void writeByte(uint8_t dat);
-void writeInt(int dat);
-uint8_t readByte();
-int readInt();
-
-
-private:
-HardwareSerial *_serial;
-
-void resetData();
-
-uint8_t data[20];	//data storage, for both read and send
-uint8_t position;
-uint8_t size; //size of data in bytes. Both for read and send
-//uint8_t * address;  //address of struct
-//uint8_t size;       //size of struct
-//uint8_t * rx_buffer; //address for temporary storage and parsing buffer
-//uint8_t rx_buffer[20];
-uint8_t rx_array_inx;  //index for RX parsing buffer
-uint8_t rx_len;		//RX packet length according to the packet
-uint8_t calc_CS;	   //calculated Chacksum
-};
-
-
-
-#endif
\ No newline at end of file
diff --git a/libraries/Robot_Control/Fat16.cpp b/libraries/Robot_Control/Fat16.cpp
deleted file mode 100644
index aa8f585..0000000
--- a/libraries/Robot_Control/Fat16.cpp
+++ /dev/null
@@ -1,990 +0,0 @@
-/* Arduino FAT16 Library
- * Copyright (C) 2008 by William Greiman
- *
- * This file is part of the Arduino FAT16 Library
- *
- * This Library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 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 General Public License for more details.
-
- * You should have received a copy of the GNU General Public License
- * along with the Arduino Fat16 Library.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-#include <avr/pgmspace.h>
-#if ARDUINO < 100
-#include <WProgram.h>
-#else  // ARDUINO
-#include <Arduino.h>
-#endif  // ARDUINO
-#include <Fat16.h>
-//-----------------------------------------------------------------------------
-// volume info
-uint8_t  Fat16::volumeInitialized_ = 0;  // true if FAT16 volume is valid
-uint8_t  Fat16::fatCount_;               // number of file allocation tables
-uint8_t  Fat16::blocksPerCluster_;       // must be power of 2
-uint16_t Fat16::rootDirEntryCount_;      // should be 512 for FAT16
-fat_t    Fat16::blocksPerFat_;           // number of blocks in one FAT
-fat_t    Fat16::clusterCount_;           // total clusters in volume
-uint32_t Fat16::fatStartBlock_;          // start of first FAT
-uint32_t Fat16::rootDirStartBlock_;      // start of root dir
-uint32_t Fat16::dataStartBlock_;         // start of data clusters
-//------------------------------------------------------------------------------
-// raw block cache
-SdCard *Fat16::rawDev_ = 0;             // class for block read and write
-uint32_t Fat16::cacheBlockNumber_ = 0XFFFFFFFF;  // init to invalid block number
-cache16_t  Fat16::cacheBuffer_;         // 512 byte cache for SdCard
-uint8_t  Fat16::cacheDirty_ = 0;        // cacheFlush() will write block if true
-uint32_t Fat16::cacheMirrorBlock_ = 0;  // mirror  block for second FAT
-//------------------------------------------------------------------------------
-// callback function for date/time
-void (*Fat16::dateTime_)(uint16_t* date, uint16_t* time) = NULL;
-
-#if ALLOW_DEPRECATED_FUNCTIONS
-void (*Fat16::oldDateTime_)(uint16_t& date, uint16_t& time) = NULL;  // NOLINT
-#endif  // ALLOW_DEPRECATED_FUNCTIONS
-//------------------------------------------------------------------------------
-// format 8.3 name for directory entry
-static uint8_t make83Name(const char* str, uint8_t* name) {
-  uint8_t c;
-  uint8_t n = 7;  // max index for part before dot
-  uint8_t i = 0;
-  // blank fill name and extension
-  while (i < 11) name[i++] = ' ';
-  i = 0;
-  while ((c = *str++) != '\0') {
-    if (c == '.') {
-      if (n == 10) return false;  // only one dot allowed
-      n = 10;  // max index for full 8.3 name
-      i = 8;   // place for extension
-    } else {
-      // illegal FAT characters
-      PGM_P p = PSTR("|<>^+=?/[];,*\"\\");
-      uint8_t b;
-      while ((b = pgm_read_byte(p++))) if (b == c) return false;
-      // check length and only allow ASCII printable characters
-      if (i > n || c < 0X21 || c > 0X7E) return false;
-      // only upper case allowed in 8.3 names - convert lower to upper
-      name[i++] = c < 'a' || c > 'z' ?  c : c + ('A' - 'a');
-    }
-  }
-  // must have a file name, extension is optional
-  return name[0] != ' ';
-}
-//==============================================================================
-// Fat16 member functions
-//------------------------------------------------------------------------------
-uint8_t Fat16::addCluster(void) {
-  // start search after last cluster of file or at cluster two in FAT
-  fat_t freeCluster = curCluster_ ? curCluster_ : 1;
-  for (fat_t i = 0; ; i++) {
-    // return no free clusters
-    if (i >= clusterCount_) return false;
-    // Fat has clusterCount + 2 entries
-    if (freeCluster > clusterCount_) freeCluster = 1;
-    freeCluster++;
-    fat_t value;
-    if (!fatGet(freeCluster, &value)) return false;
-    if (value == 0) break;
-  }
-  // mark cluster allocated
-  if (!fatPut(freeCluster, FAT16EOC)) return false;
-
-  if (curCluster_ != 0) {
-    // link cluster to chain
-    if (!fatPut(curCluster_, freeCluster)) return false;
-  } else {
-    // first cluster of file so update directory entry
-    flags_ |= F_FILE_DIR_DIRTY;
-    firstCluster_ = freeCluster;
-  }
-  curCluster_ = freeCluster;
-  return true;
-}
-//------------------------------------------------------------------------------
-//
-dir_t* Fat16::cacheDirEntry(uint16_t index, uint8_t action) {
-  if (index >= rootDirEntryCount_) return NULL;
-  if (!cacheRawBlock(rootDirStartBlock_ + (index >> 4), action)) return NULL;
-  return &cacheBuffer_.dir[index & 0XF];
-}
-//------------------------------------------------------------------------------
-//
-uint8_t Fat16::cacheFlush(void) {
-  if (cacheDirty_) {
-    if (!rawDev_->writeBlock(cacheBlockNumber_, cacheBuffer_.data)) {
-      return false;
-    }
-    // mirror FAT tables
-    if (cacheMirrorBlock_) {
-      if (!rawDev_->writeBlock(cacheMirrorBlock_, cacheBuffer_.data)) {
-        return false;
-      }
-      cacheMirrorBlock_ = 0;
-    }
-    cacheDirty_ = 0;
-  }
-  return true;
-}
-//------------------------------------------------------------------------------
-//
-uint8_t Fat16::cacheRawBlock(uint32_t blockNumber, uint8_t action) {
-  if (cacheBlockNumber_ != blockNumber) {
-    if (!cacheFlush()) return false;
-    if (!rawDev_->readBlock(blockNumber, cacheBuffer_.data)) return false;
-    cacheBlockNumber_ = blockNumber;
-  }
-  cacheDirty_ |= action;
-  return true;
-}
-//------------------------------------------------------------------------------
-/**
- *  Close a file and force cached data and directory information
- *  to be written to the storage device.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- * Reasons for failure include no file is open or an I/O error.
- */
-uint8_t Fat16::close(void) {
-  if (!sync()) return false;
-  flags_ = 0;
-  return true;
-}
-//------------------------------------------------------------------------------
-/**
- * Return a files directory entry
- *
- * \param[out] dir Location for return of the files directory entry.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-uint8_t Fat16::dirEntry(dir_t* dir) {
-  if (!sync()) return false;
-  dir_t* p = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE);
-  if (!p) return false;
-  memcpy(dir, p, sizeof(dir_t));
-  return true;
-}
-//------------------------------------------------------------------------------
-uint8_t Fat16::fatGet(fat_t cluster, fat_t* value) {
-  if (cluster > (clusterCount_ + 1)) return false;
-  uint32_t lba = fatStartBlock_ + (cluster >> 8);
-  if (lba != cacheBlockNumber_) {
-    if (!cacheRawBlock(lba)) return false;
-  }
-  *value = cacheBuffer_.fat[cluster & 0XFF];
-  return true;
-}
-//------------------------------------------------------------------------------
-uint8_t Fat16::fatPut(fat_t cluster, fat_t value) {
-  if (cluster < 2) return false;
-  if (cluster > (clusterCount_ + 1)) return false;
-  uint32_t lba = fatStartBlock_ + (cluster >> 8);
-  if (lba != cacheBlockNumber_) {
-    if (!cacheRawBlock(lba)) return false;
-  }
-  cacheBuffer_.fat[cluster & 0XFF] = value;
-  cacheSetDirty();
-  // mirror second FAT
-  if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_;
-  return true;
-}
-//------------------------------------------------------------------------------
-// free a cluster chain
-uint8_t Fat16::freeChain(fat_t cluster) {
-  while (1) {
-    fat_t next;
-    if (!fatGet(cluster, &next)) return false;
-    if (!fatPut(cluster, 0)) return false;
-    if (isEOC(next)) return true;
-    cluster = next;
-  }
-}
-//------------------------------------------------------------------------------
-/**
- *  Initialize a FAT16 volume.
- *
- * \param[in] dev The SdCard where the volume is located.
- *
- * \param[in] part The partition to be used.  Legal values for \a part are
- * 1-4 to use the corresponding partition on a device formatted with
- * a MBR, Master Boot Record, or zero if the device is formatted as
- * a super floppy with the FAT boot sector in block zero.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.  reasons for
- * failure include not finding a valid FAT16 file system in the
- * specified partition, a call to init() after a volume has
- * been successful initialized or an I/O error.
- *
- */
-uint8_t Fat16::init(SdCard* dev, uint8_t part) {
-  // error if invalid partition
-  if (part > 4) return false;
-  rawDev_ = dev;
-  uint32_t volumeStartBlock = 0;
-  // if part == 0 assume super floppy with FAT16 boot sector in block zero
-  // if part > 0 assume mbr volume with partition table
-  if (part) {
-    if (!cacheRawBlock(volumeStartBlock)) return false;
-    volumeStartBlock = cacheBuffer_.mbr.part[part - 1].firstSector;
-  }
-  if (!cacheRawBlock(volumeStartBlock)) return false;
-  // check boot block signature
-  if (cacheBuffer_.data[510] != BOOTSIG0 ||
-      cacheBuffer_.data[511] != BOOTSIG1) return false;
-  bpb_t* bpb = &cacheBuffer_.fbs.bpb;
-  fatCount_ = bpb->fatCount;
-  blocksPerCluster_ = bpb->sectorsPerCluster;
-  blocksPerFat_ = bpb->sectorsPerFat16;
-  rootDirEntryCount_ = bpb->rootDirEntryCount;
-  fatStartBlock_ = volumeStartBlock + bpb->reservedSectorCount;
-  rootDirStartBlock_ = fatStartBlock_ + bpb->fatCount*bpb->sectorsPerFat16;
-  dataStartBlock_ = rootDirStartBlock_
-                    + ((32*bpb->rootDirEntryCount + 511)/512);
-  uint32_t totalBlocks = bpb->totalSectors16 ?
-                               bpb->totalSectors16 : bpb->totalSectors32;
-  clusterCount_ = (totalBlocks - (dataStartBlock_ - volumeStartBlock))
-                  /bpb->sectorsPerCluster;
-  // verify valid FAT16 volume
-  if (bpb->bytesPerSector != 512       // only allow 512 byte blocks
-     || bpb->sectorsPerFat16 == 0      // zero for FAT32
-     || clusterCount_ < 4085           // FAT12 if true
-     || totalBlocks > 0X800000         // Max size for FAT16 volume
-     || bpb->reservedSectorCount == 0  // invalid volume
-     || bpb->fatCount == 0             // invalid volume
-     || bpb->sectorsPerFat16 < (clusterCount_ >> 8)  // invalid volume
-     || bpb->sectorsPerCluster == 0   // invalid volume
-        // power of 2 test
-     || bpb->sectorsPerCluster & (bpb->sectorsPerCluster - 1)) {
-    // not a usable FAT16 bpb
-    return false;
-  }
-  volumeInitialized_ = 1;
-  return true;
-}
-//------------------------------------------------------------------------------
-/** List directory contents to Serial.
- *
- * \param[in] flags The inclusive OR of
- *
- * LS_DATE - %Print file modification date
- *
- * LS_SIZE - %Print file size.
- */
-void Fat16::ls(uint8_t flags) {
-  dir_t d;
-  for (uint16_t index = 0; readDir(&d, &index, DIR_ATT_VOLUME_ID); index++) {
-    // print file name with possible blank fill
-    printDirName(d, flags & (LS_DATE | LS_SIZE) ? 14 : 0);
-
-    // print modify date/time if requested
-    if (flags & LS_DATE) {
-       printFatDate(d.lastWriteDate);
-       Serial.write(' ');
-       printFatTime(d.lastWriteTime);
-    }
-
-    // print size if requested
-    if (DIR_IS_FILE(&d) && (flags & LS_SIZE)) {
-      Serial.write(' ');
-      Serial.print(d.fileSize);
-    }
-    Serial.println();
-  }
-}
-//------------------------------------------------------------------------------
-/**
- * Open a file by file name.
- *
- * \note The file must be in the root directory and must have a DOS
- * 8.3 name.
- *
- * \param[in] fileName A valid 8.3 DOS name for a file in the root directory.
- *
- * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive
- *  OR of flags from the following list
- *
- * O_READ - Open for reading.
- *
- * O_RDONLY - Same as O_READ.
- *
- * O_WRITE - Open for writing.
- *
- * O_WRONLY - Same as O_WRITE.
- *
- * O_RDWR - Open for reading and writing.
- *
- * O_APPEND - If set, the file offset shall be set to the end of the
- * file prior to each write.
- *
- * O_CREAT - If the file exists, this flag has no effect except as noted
- * under O_EXCL below. Otherwise, the file shall be created
- *
- * O_EXCL - If O_CREAT and O_EXCL are set, open() shall fail if the file exists.
- *
- * O_SYNC - Call sync() after each write.  This flag should not be used with
- * write(uint8_t), write_P(PGM_P), writeln_P(PGM_P), or the Arduino Print class.
- * These functions do character a time writes so sync() will be called
- * after each byte.
- *
- * O_TRUNC - If the file exists and is a regular file, and the file is
- * successfully opened and is not read only, its length shall be truncated to 0.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- * Reasons for failure include the FAT volume has not been initialized,
- * a file is already open, \a fileName is invalid, the file does not exist,
- * is a directory, or can't be opened in the access mode specified by oflag.
- */
-uint8_t Fat16::open(const char* fileName, uint8_t oflag) {
-  uint8_t dname[11];   // name formated for dir entry
-  int16_t empty = -1;  // index of empty slot
-  dir_t* p;            // pointer to cached dir entry
-
-  if (!volumeInitialized_ || isOpen()) return false;
-
-  // error if invalid name
-  if (!make83Name(fileName, dname)) return false;
-
-  for (uint16_t index = 0; index < rootDirEntryCount_; index++) {
-    if (!(p = cacheDirEntry(index))) return false;
-    if (p->name[0] == DIR_NAME_FREE || p->name[0] == DIR_NAME_DELETED) {
-      // remember first empty slot
-      if (empty < 0) empty = index;
-      // done if no entries follow
-      if (p->name[0] == DIR_NAME_FREE) break;
-    } else if (!memcmp(dname, p->name, 11)) {
-      // don't open existing file if O_CREAT and O_EXCL
-      if ((oflag & (O_CREAT | O_EXCL)) == (O_CREAT | O_EXCL)) return false;
-
-      // open existing file
-      return open(index, oflag);
-    }
-  }
-  // error if directory is full
-  if (empty < 0) return false;
-
-  // only create file if O_CREAT and O_WRITE
-  if ((oflag & (O_CREAT | O_WRITE)) != (O_CREAT | O_WRITE)) return false;
-
-  if (!(p = cacheDirEntry(empty, CACHE_FOR_WRITE))) return false;
-
-  // initialize as empty file
-  memset(p, 0, sizeof(dir_t));
-  memcpy(p->name, dname, 11);
-
-  // set timestamps
-  if (dateTime_) {
-    // call user function
-    dateTime_(&p->creationDate, &p->creationTime);
-  } else {
-    // use default date/time
-    p->creationDate = FAT_DEFAULT_DATE;
-    p->creationTime = FAT_DEFAULT_TIME;
-  }
-  p->lastAccessDate = p->creationDate;
-  p->lastWriteDate = p->creationDate;
-  p->lastWriteTime = p->creationTime;
-
-  // insure created directory entry will be written to storage device
-  if (!cacheFlush()) return false;
-
-  // open entry
-  return open(empty, oflag);
-}
-//------------------------------------------------------------------------------
-/**
- * Open a file by file index.
- *
- * \param[in] index The root directory index of the file to be opened.  See \link
- *  Fat16::readDir() readDir()\endlink.
- *
- * \param[in] oflag  See \link Fat16::open(const char*, uint8_t)\endlink.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- * Reasons for failure include the FAT volume has not been initialized,
- * a file is already open, \a index is invalid or is not the index of a
- * file or the file cannot be opened in the access mode specified by oflag.
- */
-uint8_t Fat16::open(uint16_t index, uint8_t oflag) {
-  if (!volumeInitialized_ || isOpen()) return false;
-  if ((oflag & O_TRUNC) && !(oflag & O_WRITE)) return false;
-  dir_t* d = cacheDirEntry(index);
-  // if bad file index or I/O error
-  if (!d) return false;
-
-  // error if unused entry
-  if (d->name[0] == DIR_NAME_FREE || d->name[0] == DIR_NAME_DELETED) {
-    return false;
-  }
-  // error if long name, volume label or subdirectory
-  if ((d->attributes & (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY)) != 0) {
-    return false;
-  }
-  // don't allow write or truncate if read-only
-  if (d->attributes & DIR_ATT_READ_ONLY) {
-    if (oflag & (O_WRITE | O_TRUNC)) return false;
-  }
-
-  curCluster_ = 0;
-  curPosition_ = 0;
-  dirEntryIndex_ = index;
-  fileSize_ = d->fileSize;
-  firstCluster_ = d->firstClusterLow;
-  flags_ = oflag & (O_ACCMODE | O_SYNC | O_APPEND);
-
-  if (oflag & O_TRUNC ) return truncate(0);
-  return true;
-}
-//------------------------------------------------------------------------------
-/** %Print the name field of a directory entry in 8.3 format to Serial.
- *
- * \param[in] dir The directory structure containing the name.
- * \param[in] width Blank fill name if length is less than \a width.
- */
-void Fat16::printDirName(const dir_t& dir, uint8_t width) {
-  uint8_t w = 0;
-  for (uint8_t i = 0; i < 11; i++) {
-    if (dir.name[i] == ' ') continue;
-    if (i == 8) {
-      Serial.write('.');
-      w++;
-    }
-    Serial.write(dir.name[i]);
-    w++;
-  }
-  if (DIR_IS_SUBDIR(&dir)) {
-    Serial.write('/');
-    w++;
-  }
-  while (w < width) {
-    Serial.write(' ');
-    w++;
-  }
-}
-//------------------------------------------------------------------------------
-/** %Print a directory date field to Serial.
- *
- *  Format is yyyy-mm-dd.
- *
- * \param[in] fatDate The date field from a directory entry.
- */
-void Fat16::printFatDate(uint16_t fatDate) {
-  Serial.print(FAT_YEAR(fatDate));
-  Serial.write('-');
-  printTwoDigits(FAT_MONTH(fatDate));
-  Serial.write('-');
-  printTwoDigits(FAT_DAY(fatDate));
-}
-//------------------------------------------------------------------------------
-/** %Print a directory time field to Serial.
- *
- * Format is hh:mm:ss.
- *
- * \param[in] fatTime The time field from a directory entry.
- */
-void Fat16::printFatTime(uint16_t fatTime) {
-  printTwoDigits(FAT_HOUR(fatTime));
-  Serial.write(':');
-  printTwoDigits(FAT_MINUTE(fatTime));
-  Serial.write(':');
-  printTwoDigits(FAT_SECOND(fatTime));
-}
-
-//------------------------------------------------------------------------------
-/** %Print a value as two digits to Serial.
- *
- * \param[in] v Value to be printed, 0 <= \a v <= 99
- */
-void Fat16::printTwoDigits(uint8_t v) {
-  char str[3];
-  str[0] = '0' + v/10;
-  str[1] = '0' + v % 10;
-  str[2] = 0;
-  Serial.print(str);
-}
-//------------------------------------------------------------------------------
-/**
- * Read the next byte from a file.
- *
- * \return For success read returns the next byte in the file as an int.
- * If an error occurs or end of file is reached -1 is returned.
- */
-int16_t Fat16::read(void) {
-  uint8_t b;
-  return read(&b, 1) == 1 ? b : -1;
-}
-//------------------------------------------------------------------------------
-/**
- * Read data from a file at starting at the current file position.
- *
- * \param[out] buf Pointer to the location that will receive the data.
- *
- * \param[in] nbyte Maximum number of bytes to read.
- *
- * \return For success read returns the number of bytes read.
- * A value less than \a nbyte, including zero, may be returned
- * if end of file is reached.
- * If an error occurs, read returns -1.  Possible errors include
- * read called before a file has been opened, the file has not been opened in
- * read mode, a corrupt file system, or an I/O error.
- */
-int16_t Fat16::read(void* buf, uint16_t nbyte) {
-  // convert void pointer to uin8_t pointer
-  uint8_t* dst = reinterpret_cast<uint8_t*>(buf);
-
-  // error if not open for read
-  if (!(flags_ & O_READ)) return -1;
-
-  // don't read beyond end of file
-  if ((curPosition_ + nbyte) > fileSize_) nbyte = fileSize_ - curPosition_;
-
-  // bytes left to read in loop
-  uint16_t nToRead = nbyte;
-  while (nToRead > 0) {
-    uint8_t blkOfCluster = blockOfCluster(curPosition_);
-    uint16_t blockOffset = cacheDataOffset(curPosition_);
-    if (blkOfCluster == 0 && blockOffset == 0) {
-      // start next cluster
-      if (curCluster_ == 0) {
-        curCluster_ = firstCluster_;
-      } else {
-        if (!fatGet(curCluster_, &curCluster_)) return -1;
-      }
-      // return error if bad cluster chain
-      if (curCluster_ < 2 || isEOC(curCluster_)) return -1;
-    }
-    // cache data block
-    if (!cacheRawBlock(dataBlockLba(curCluster_, blkOfCluster))) return -1;
-
-    // location of data in cache
-    uint8_t* src = cacheBuffer_.data + blockOffset;
-
-    // max number of byte available in block
-    uint16_t n = 512 - blockOffset;
-
-    // lesser of available and amount to read
-    if (n > nToRead) n = nToRead;
-
-    // copy data to caller
-    memcpy(dst, src, n);
-
-    curPosition_ += n;
-    dst += n;
-    nToRead -= n;
-  }
-  return nbyte;
-}
-//------------------------------------------------------------------------------
-/**
- *  Read the next short, 8.3, directory entry.
- *
- *  Unused entries and entries for long names are skipped.
- *
- * \param[out] dir Location that will receive the entry.
- *
- * \param[in,out] index The search starts at \a index and \a index is
- * updated with the root directory index of the found directory entry.
- * If the entry is a file, it may be opened by calling
- * \link Fat16::open(uint16_t, uint8_t) \endlink.
- *
- * \param[in] skip Skip entries that have these attributes. If \a skip
- * is not specified, the default is to skip the volume label and directories.
- *
- * \return The value one, true, is returned for success and the value zero,
- * false, is returned if an error occurs or the end of the root directory is
- * reached.  On success, \a entry is set to the index of the found directory
- * entry.
- */
-uint8_t Fat16::readDir(dir_t* dir, uint16_t* index, uint8_t skip) {
-  dir_t* p;
-  for (uint16_t i = *index; ; i++) {
-    if (i >= rootDirEntryCount_) return false;
-    if (!(p = cacheDirEntry(i))) return false;
-
-    // done if beyond last used entry
-    if (p->name[0] == DIR_NAME_FREE) return false;
-
-    // skip deleted entry
-    if (p->name[0] == DIR_NAME_DELETED) continue;
-
-    // skip long names
-    if ((p->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME) continue;
-
-    // skip if attribute match
-    if (p->attributes & skip) continue;
-
-    // return found index
-    *index = i;
-    break;
-  }
-  memcpy(dir, p, sizeof(dir_t));
-  return true;
-}
-//------------------------------------------------------------------------------
-/**
- * Remove a file.  The directory entry and all data for the file are deleted.
- *
- * \note This function should not be used to delete the 8.3 version of a
- * file that has a long name. For example if a file has the long name
- * "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT".
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- * Reasons for failure include the file is not open for write
- * or an I/O error occurred.
- */
-uint8_t Fat16::remove(void) {
-  // error if file is not open for write
-  if (!(flags_ & O_WRITE)) return false;
-  if (firstCluster_) {
-    if (!freeChain(firstCluster_)) return false;
-  }
-  dir_t* d = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE);
-  if (!d) return false;
-  d->name[0] = DIR_NAME_DELETED;
-  flags_ = 0;
-  return cacheFlush();
-}
-//------------------------------------------------------------------------------
-/**
- * Remove a file.
- *
- * The directory entry and all data for the file are deleted.
- *
- * \param[in] fileName The name of the file to be removed.
- *
- * \note This function should not be used to delete the 8.3 version of a
- * file that has a long name. For example if a file has the long name
- * "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT".
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- * Reasons for failure include the file is read only, \a fileName is not found
- * or an I/O error occurred.
- */
-uint8_t Fat16::remove(const char* fileName) {
-  Fat16 file;
-  if (!file.open(fileName, O_WRITE)) return false;
-  return file.remove();
-}
-//------------------------------------------------------------------------------
-/**
- * Sets the file's read/write position.
- *
- * \param[in] pos The new position in bytes from the beginning of the file.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-uint8_t Fat16::seekSet(uint32_t pos) {
-  // error if file not open or seek past end of file
-  if (!isOpen() || pos > fileSize_) return false;
-  if (pos == 0) {
-    // set position to start of file
-    curCluster_ = 0;
-    curPosition_ = 0;
-    return true;
-  }
-  fat_t n = ((pos - 1) >> 9)/blocksPerCluster_;
-  if (pos < curPosition_ || curPosition_ == 0) {
-    // must follow chain from first cluster
-    curCluster_ = firstCluster_;
-  } else {
-    // advance from curPosition
-    n -= ((curPosition_ - 1) >> 9)/blocksPerCluster_;
-  }
-  while (n--) {
-    if (!fatGet(curCluster_, &curCluster_)) return false;
-  }
-  curPosition_ = pos;
-  return true;
-}
-//------------------------------------------------------------------------------
-/**
- *  The sync() call causes all modified data and directory fields
- *  to be written to the storage device.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- * Reasons for failure include a call to sync() before a file has been
- * opened or an I/O error.
- */
-uint8_t Fat16::sync(void) {
-  if (flags_ & F_FILE_DIR_DIRTY) {
-    // cache directory entry
-    dir_t* d = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE);
-    if (!d) return false;
-
-    // update file size and first cluster
-    d->fileSize = fileSize_;
-    d->firstClusterLow = firstCluster_;
-
-    // set modify time if user supplied a callback date/time function
-    if (dateTime_) {
-      dateTime_(&d->lastWriteDate, &d->lastWriteTime);
-      d->lastAccessDate = d->lastWriteDate;
-    }
-    flags_ &= ~F_FILE_DIR_DIRTY;
-  }
-  return cacheFlush();
-}
-//------------------------------------------------------------------------------
-/**
- * The timestamp() call sets a file's timestamps in its directory entry.
- *
- * \param[in] flags Values for \a flags are constructed by a bitwise-inclusive
- * OR of flags from the following list
- *
- * T_ACCESS - Set the file's last access date.
- *
- * T_CREATE - Set the file's creation date and time.
- *
- * T_WRITE - Set the file's last write/modification date and time.
- *
- * \param[in] year Valid range 1980 - 2107 inclusive.
- *
- * \param[in] month Valid range 1 - 12 inclusive.
- *
- * \param[in] day Valid range 1 - 31 inclusive.
- *
- * \param[in] hour Valid range 0 - 23 inclusive.
- *
- * \param[in] minute Valid range 0 - 59 inclusive.
- *
- * \param[in] second Valid range 0 - 59 inclusive
- *
- * \note It is possible to set an invalid date since there is no check for
- * the number of days in a month.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-uint8_t Fat16::timestamp(uint8_t flags, uint16_t year, uint8_t month,
-         uint8_t day, uint8_t hour, uint8_t minute, uint8_t second) {
-  if (!isOpen()
-    || year < 1980
-    || year > 2107
-    || month < 1
-    || month > 12
-    || day < 1
-    || day > 31
-    || hour > 23
-    || minute > 59
-    || second > 59) {
-      return false;
-  }
-  dir_t* d = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE);
-  if (!d) return false;
-  uint16_t dirDate = FAT_DATE(year, month, day);
-  uint16_t dirTime = FAT_TIME(hour, minute, second);
-  if (flags & T_ACCESS) {
-    d->lastAccessDate = dirDate;
-  }
-  if (flags & T_CREATE) {
-    d->creationDate = dirDate;
-    d->creationTime = dirTime;
-    // seems to be units of 1/100 second not 1/10 as Microsoft standard states
-    d->creationTimeTenths = second & 1 ? 100 : 0;
-  }
-  if (flags & T_WRITE) {
-    d->lastWriteDate = dirDate;
-    d->lastWriteTime = dirTime;
-  }
-  cacheSetDirty();
-  return sync();
-}
-//------------------------------------------------------------------------------
-/**
- * Truncate a file to a specified length.  The current file position
- * will be maintained if it is less than or equal to \a length otherwise
- * it will be set to end of file.
- *
- * \param[in] length The desired length for the file.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- * Reasons for failure include file is read only, file is a directory,
- * \a length is greater than the current file size or an I/O error occurs.
- */
-uint8_t Fat16::truncate(uint32_t length) {
-  // error if file is not open for write
-  if (!(flags_ & O_WRITE)) return false;
-
-  if (length > fileSize_) return false;
-
-  // fileSize and length are zero - nothing to do
-  if (fileSize_ == 0) return true;
-  uint32_t newPos = curPosition_ > length ? length : curPosition_;
-  if (length == 0) {
-    // free all clusters
-    if (!freeChain(firstCluster_)) return false;
-    curCluster_ = firstCluster_ = 0;
-  } else {
-    fat_t toFree;
-    if (!seekSet(length)) return false;
-    if (!fatGet(curCluster_, &toFree)) return false;
-    if (!isEOC(toFree)) {
-      // free extra clusters
-      if (!fatPut(curCluster_, FAT16EOC)) return false;
-      if (!freeChain(toFree)) return false;
-    }
-  }
-  fileSize_ = length;
-  flags_ |= F_FILE_DIR_DIRTY;
-  if (!sync()) return false;
-  return seekSet(newPos);
-}
-//------------------------------------------------------------------------------
-/**
- * Write data at the current position of an open file.
- *
- * \note Data is moved to the cache but may not be written to the
- * storage device until sync() is called.
- *
- * \param[in] buf Pointer to the location of the data to be written.
- *
- * \param[in] nbyte Number of bytes to write.
- *
- * \return For success write() returns the number of bytes written, always
- * \a nbyte.  If an error occurs, write() returns -1.  Possible errors include
- * write() is called before a file has been opened, the file has not been opened
- * for write, device is full, a corrupt file system or an I/O error.
- *
- */
-int16_t Fat16::write(const void* buf, uint16_t nbyte) {
-  uint16_t nToWrite = nbyte;
-  const uint8_t* src = reinterpret_cast<const uint8_t*>(buf);
-
-  // error if file is not open for write
-  if (!(flags_ & O_WRITE)) goto writeErrorReturn;
-
-  // go to end of file if O_APPEND
-  if ((flags_ & O_APPEND) && curPosition_ != fileSize_) {
-    if (!seekEnd()) goto writeErrorReturn;
-  }
-  while (nToWrite > 0) {
-    uint8_t blkOfCluster = blockOfCluster(curPosition_);
-    uint16_t blockOffset = cacheDataOffset(curPosition_);
-    if (blkOfCluster == 0 && blockOffset == 0) {
-      // start of new cluster
-      if (curCluster_ == 0) {
-        if (firstCluster_ == 0) {
-          // allocate first cluster of file
-          if (!addCluster()) goto writeErrorReturn;
-        } else {
-          curCluster_ = firstCluster_;
-        }
-      } else {
-        fat_t next;
-        if (!fatGet(curCluster_, &next)) goto writeErrorReturn;
-        if (isEOC(next)) {
-          // add cluster if at end of chain
-          if (!addCluster()) goto writeErrorReturn;
-        } else {
-          curCluster_ = next;
-        }
-      }
-    }
-    uint32_t lba = dataBlockLba(curCluster_, blkOfCluster);
-    if (blockOffset == 0 && curPosition_ >= fileSize_) {
-      // start of new block don't need to read into cache
-      if (!cacheFlush()) goto writeErrorReturn;
-      cacheBlockNumber_ = lba;
-      cacheSetDirty();
-    } else {
-      // rewrite part of block
-      if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) return -1;
-    }
-    uint8_t* dst = cacheBuffer_.data + blockOffset;
-
-    // max space in block
-    uint16_t n = 512 - blockOffset;
-
-    // lesser of space and amount to write
-    if (n > nToWrite) n = nToWrite;
-
-    // copy data to cache
-    memcpy(dst, src, n);
-
-    curPosition_ += n;
-    nToWrite -= n;
-    src += n;
-  }
-  if (curPosition_ > fileSize_) {
-    // update fileSize and insure sync will update dir entry
-    fileSize_ = curPosition_;
-    flags_ |= F_FILE_DIR_DIRTY;
-  } else if (dateTime_ && nbyte) {
-    // insure sync will update modified date and time
-    flags_ |= F_FILE_DIR_DIRTY;
-  }
-
-  if (flags_ & O_SYNC) {
-    if (!sync()) goto writeErrorReturn;
-  }
-  return nbyte;
-
- writeErrorReturn:
-  writeError = true;
-  return -1;
-}
-//------------------------------------------------------------------------------
-/**
- * Write a byte to a file. Required by the Arduino Print class.
- *
- *  Use Fat16::writeError to check for errors.
- */
-#if ARDUINO < 100
-void Fat16::write(uint8_t b) {
-  write(&b, 1);
-}
-#else  // ARDUINO < 100
-size_t Fat16::write(uint8_t b) {
-  return write(&b, 1) == 1 ? 1 : 0;
-}
-#endif  // ARDUINO < 100
-//------------------------------------------------------------------------------
-/**
- * Write a string to a file. Used by the Arduino Print class.
- *
- * Use Fat16::writeError to check for errors.
- */
-#if ARDUINO < 100
-void Fat16::write(const char* str) {
-  write(str, strlen(str));
-}
-#else  // ARDUINO < 100
-int16_t Fat16::write(const char* str) {
-  return write(str, strlen(str));
-}
-#endif  // ARDUINO < 100
-//------------------------------------------------------------------------------
-/**
- * Write a PROGMEM string to a file.
- *
- * Use Fat16::writeError to check for errors.
- */
-void Fat16::write_P(PGM_P str) {
-  for (uint8_t c; (c = pgm_read_byte(str)); str++) write(c);
-}
-//------------------------------------------------------------------------------
-/**
- * Write a PROGMEM string followed by CR/LF to a file.
- *
- * Use Fat16::writeError to check for errors.
- */
-void Fat16::writeln_P(PGM_P str) {
-  write_P(str);
-  println();
-}
diff --git a/libraries/Robot_Control/Fat16.h b/libraries/Robot_Control/Fat16.h
deleted file mode 100644
index 935b9b0..0000000
--- a/libraries/Robot_Control/Fat16.h
+++ /dev/null
@@ -1,378 +0,0 @@
-/* Arduino FAT16 Library
- * Copyright (C) 2008 by William Greiman
- *
- * This file is part of the Arduino FAT16 Library
- *
- * This Library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 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 General Public License for more details.
-
- * You should have received a copy of the GNU General Public License
- * along with the Arduino Fat16 Library.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-#ifndef Fat16_h
-#define Fat16_h
-/**
- * \file
- * Fat16 class
- */
-#include <string.h>
-#include <avr/pgmspace.h>
-#include <Print.h>
-#include <SdCard.h>
-#include <FatStructs.h>
-#include <Fat16Config.h>
-//------------------------------------------------------------------------------
-/** Fat16 version YYYYMMDD */
-#define FAT16_VERSION 20111205
-//------------------------------------------------------------------------------
-// flags for ls()
-/** ls() flag to print modify date */
-uint8_t const LS_DATE = 1;
-/** ls() flag to print file size */
-uint8_t const LS_SIZE = 2;
-
-// use the gnu style oflags
-/** open for reading */
-uint8_t const O_READ    = 0X01;
-/** same as O_READ */
-uint8_t const O_RDONLY  = O_READ;
-/** open for write */
-uint8_t const O_WRITE   = 0X02;
-/** same as O_WRITE */
-uint8_t const O_WRONLY  = O_WRITE;
-/** open for reading and writing */
-uint8_t const O_RDWR    = O_READ | O_WRITE;
-/** mask for access modes */
-uint8_t const O_ACCMODE = O_READ | O_WRITE;
-/** The file offset shall be set to the end of the file prior to each write. */
-uint8_t const O_APPEND  = 0X04;
-/** synchronous writes - call sync() after each write */
-uint8_t const O_SYNC    = 0X08;
-/** create the file if nonexistent */
-uint8_t const O_CREAT   = 0X10;
-/** If O_CREAT and O_EXCL are set, open() shall fail if the file exists */
-uint8_t const O_EXCL    = 0X20;
-/** truncate the file to zero length */
-uint8_t const O_TRUNC   = 0X40;
-
-// flags for timestamp
-/** set the file's last access date */
-uint8_t const T_ACCESS = 1;
-/** set the file's creation date and time */
-uint8_t const T_CREATE = 2;
-/** Set the file's write date and time */
-uint8_t const T_WRITE  = 4;
-
-/** date field for FAT directory entry */
-static inline uint16_t FAT_DATE(uint16_t year, uint8_t month, uint8_t day) {
-  return (year - 1980) << 9 | month << 5 | day;
-}
-/** year part of FAT directory date field */
-static inline uint16_t FAT_YEAR(uint16_t fatDate) {
-  return 1980 + (fatDate >> 9);
-}
-/** month part of FAT directory date field */
-static inline uint8_t FAT_MONTH(uint16_t fatDate) {
-  return (fatDate >> 5) & 0XF;
-}
-/** day part of FAT directory date field */
-static inline uint8_t FAT_DAY(uint16_t fatDate) {
-  return fatDate & 0X1F;
-}
-/** time field for FAT directory entry */
-static inline uint16_t FAT_TIME(uint8_t hour, uint8_t minute, uint8_t second) {
-  return hour << 11 | minute << 5 | second >> 1;
-}
-/** hour part of FAT directory time field */
-static inline uint8_t FAT_HOUR(uint16_t fatTime) {
-  return fatTime >> 11;
-}
-/** minute part of FAT directory time field */
-static inline uint8_t FAT_MINUTE(uint16_t fatTime) {
-  return(fatTime >> 5) & 0X3F;
-}
-/** second part of FAT directory time field */
-static inline uint8_t FAT_SECOND(uint16_t fatTime) {
-  return 2*(fatTime & 0X1F);
-}
-/** Default date for file timestamps is 1 Jan 2000 */
-uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1;
-/** Default time for file timestamp is 1 am */
-uint16_t const FAT_DEFAULT_TIME = (1 << 11);
-//------------------------------------------------------------------------------
-/**
- * \typedef fat_t
- *
- * \brief Type for FAT16 entry
- */
-typedef uint16_t fat_t;
-/**
- * \union cache16_t
- *
- * \brief Cache buffer data type
- *
- */
-union cache16_t {
-          /** Used to access cached file data blocks. */
-  uint8_t data[512];
-          /** Used to access cached FAT entries. */
-  fat_t   fat[256];
-          /** Used to access cached directory entries. */
-  dir_t   dir[16];
-          /** Used to access a cached Master Boot Record. */
-  mbr_t   mbr;
-          /** Used to access to a cached FAT16 boot sector. */
-  fbs_t   fbs;
-};
-//------------------------------------------------------------------------------
-/** \class Fat16
- * \brief Fat16 implements a minimal Arduino FAT16 Library
- *
- * Fat16 does not support subdirectories or long file names.
- */
-class Fat16 : public Print {
- public:
-  /*
-   * Public functions
-   */
-  /** create with file closed */
-  Fat16(void) : flags_(0) {}
-  /** \return The current cluster number. */
-  fat_t curCluster(void) const {return curCluster_;}
-  uint8_t close(void);
-  /** \return The count of clusters in the FAT16 volume. */
-  static fat_t clusterCount(void) {return clusterCount_;}
-  /** \return The number of 512 byte blocks in a cluster */
-  static uint8_t clusterSize(void) {return blocksPerCluster_;}
-  /** \return The current file position. */
-  uint32_t curPosition(void) const {return curPosition_;}
-  /**
-   * Set the date/time callback function
-   *
-   * \param[in] dateTime The user's callback function.  The callback
-   * function is of the form:
-   *
-   * \code
-   * void dateTime(uint16_t* date, uint16_t* time) {
-   *   uint16_t year;
-   *   uint8_t month, day, hour, minute, second;
-   *
-   *   // User gets date and time from GPS or real-time clock here
-   *
-   *   // return date using FAT_DATE macro to format fields
-   *   *date = FAT_DATE(year, month, day);
-   *
-   *   // return time using FAT_TIME macro to format fields
-   *   *time = FAT_TIME(hour, minute, second);
-   * }
-   * \endcode
-   *
-   * Sets the function that is called when a file is created or when
-   * a file's directory entry is modified by sync(). All timestamps,
-   * access, creation, and modify, are set when a file is created.
-   * sync() maintains the last access date and last modify date/time.
-   *
-   * See the timestamp() function.
-   */
-  static void dateTimeCallback(
-    void (*dateTime)(uint16_t* date, uint16_t* time)) {
-    dateTime_ = dateTime;
-  }
-  /**
-   * Cancel the date/time callback function.
-   */
-  static void dateTimeCallbackCancel(void) {dateTime_ = NULL;}
-  uint8_t dirEntry(dir_t* dir);
-
-  /** \return The file's size in bytes. */
-  uint32_t fileSize(void) const {return fileSize_;}
-  static uint8_t init(SdCard* dev, uint8_t part);
-  /**
-   *  Initialize a FAT16 volume.
-   *
-   *  First try partition 1 then try super floppy format.
-   *
-   * \param[in] dev The SdCard where the volume is located.
-   *
-   * \return The value one, true, is returned for success and
-   * the value zero, false, is returned for failure.  reasons for
-   * failure include not finding a valid FAT16 file system, a call
-   * to init() after a volume has been successful initialized or
-   * an I/O error.
-   *
-   */
-  static uint8_t init(SdCard* dev) {
-    return init(dev, 1) ? true : init(dev, 0);
-  }
-  /**
-   * Checks the file's open/closed status for this instance of Fat16.
-   * \return The value true if a file is open otherwise false;
-   */
-  uint8_t isOpen(void) const {return (flags_ & O_ACCMODE) != 0;}
-  static void ls(uint8_t flags = 0);
-  uint8_t open(const char* fileName, uint8_t oflag);
-  uint8_t open(uint16_t entry, uint8_t oflag);
-  static void printDirName(const dir_t& dir, uint8_t width);
-  static void printFatDate(uint16_t fatDate);
-  static void printFatTime(uint16_t fatTime);
-  static void printTwoDigits(uint8_t v);
-  int16_t read(void);
-  int16_t read(void* buf, uint16_t nbyte);
-  static uint8_t readDir(dir_t* dir, uint16_t* index,
-                    uint8_t skip = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY));
-
-  uint8_t remove(void);
-  static uint8_t remove(const char* fileName);
-  /** Sets the file's current position to zero. */
-  void rewind(void) {curPosition_ = curCluster_ = 0;}
-  /** \return The number of entries in the root directory. */
-  static uint16_t rootDirEntryCount(void) {return rootDirEntryCount_;}
-  /**  Seek to current position plus \a pos bytes. See Fat16::seekSet(). */
-  uint8_t seekCur(uint32_t pos) {return seekSet(curPosition_ + pos);}
-  /** Seek to end of file.  See Fat16::seekSet(). */
-  uint8_t seekEnd(void) {return seekSet(fileSize_);}
-  uint8_t seekSet(uint32_t pos);
-  uint8_t sync(void);
-  uint8_t timestamp(uint8_t flag, uint16_t year, uint8_t month, uint8_t day,
-          uint8_t hour, uint8_t minute, uint8_t second);
-  uint8_t truncate(uint32_t size);
-  /** Fat16::writeError is set to true if an error occurs during a write().
-   * Set Fat16::writeError to false before calling print() and/or write() and check
-   * for true after calls to write() and/or print().
-   */
-  bool writeError;
-  int16_t write(const void *buf, uint16_t nbyte);
-#if ARDUINO < 100
-  void write(uint8_t b);
-  void write(const char* str);
-#else  // ARDUINO < 100
-  size_t write(uint8_t b);
-  int16_t write(const char* str);
-#endif  // ARDUINO < 100
-  void write_P(PGM_P str);
-  void writeln_P(PGM_P str);
-//------------------------------------------------------------------------------
-#if FAT16_DEBUG_SUPPORT
-  /** For debug only.  Do not use in applications. */
-  static cache16_t* dbgBufAdd(void) {return &cacheBuffer_;}
-  /** For debug only.  Do not use in applications. */
-  static void dbgSetDev(SdCard* dev) {rawDev_ = dev;}
-  /** For debug only.  Do not use in applications. */
-  static uint8_t* dbgCacheBlock(uint32_t blockNumber) {
-    return cacheRawBlock(blockNumber) ? cacheBuffer_.data : 0; }
-  /** For debug only.  Do not use in applications. */
-  static dir_t* dbgCacheDir(uint16_t index) {
-    return cacheDirEntry(index);}
-#endif  // FAT16_DEBUG_SUPPORT
-//------------------------------------------------------------------------------
-#if ALLOW_DEPRECATED_FUNCTIONS
-// Deprecated functions - suppress cpplint messages with NOLINT comment
- public:
-  /**
-   * Deprecated - Use:
-   * static void Fat16::dateTimeCallback(
-   *        void (*dateTime)(uint16_t* date, uint16_t* time));
-   */
-  static void dateTimeCallback(
-    void (*dateTime)(uint16_t& date, uint16_t& time)) {  // NOLINT
-    oldDateTime_ = dateTime;
-    dateTime_ = dateTime ? oldToNew : 0;
-  }
-  /** Deprecated - Use: uint8_t Fat16::dirEntry(dir_t* dir); */
-  uint8_t dirEntry(dir_t& dir) {  // NOLINT
-    return dirEntry(&dir);
-  }
-  /** Deprecated - Use: static uint8_t Fat16::init(SdCard *dev); */
-  static uint8_t init(SdCard& dev) {return init(&dev);}  // NOLINT
-
-  /** Deprecated - Use: static uint8_t Fat16::init(SdCard *dev, uint8_t part) */
-  static uint8_t init(SdCard& dev, uint8_t part) {  // NOLINT
-    return init(&dev, part);
-  }
-  /**
-   * Deprecated - Use:
-   * uint8_t Fat16::readDir(dir_t* dir, uint16_t* index, uint8_t skip);
-   */
-  static uint8_t readDir(dir_t& dir, uint16_t& index,  // NOLINT
-         uint8_t skip = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY)) {
-    return readDir(&dir, &index, skip);
-  }
-//------------------------------------------------------------------------------
- private:
-  static void (*oldDateTime_)(uint16_t& date, uint16_t& time);  // NOLINT
-  static void oldToNew(uint16_t *date, uint16_t *time) {
-    uint16_t d;
-    uint16_t t;
-    oldDateTime_(d, t);
-    *date = d;
-    *time = t;
-  }
-#endif  // ALLOW_DEPRECATED_FUNCTIONS
-//------------------------------------------------------------------------------
- private:
-  // Volume info
-  static uint8_t  volumeInitialized_;  // true if volume has been initialized
-  static uint8_t  fatCount_;           // number of FATs
-  static uint8_t  blocksPerCluster_;   // must be power of 2
-  static uint16_t rootDirEntryCount_;  // should be 512 for FAT16
-  static fat_t    blocksPerFat_;       // number of blocks in one FAT
-  static fat_t    clusterCount_;       // total clusters in volume
-  static uint32_t fatStartBlock_;      // start of first FAT
-  static uint32_t rootDirStartBlock_;  // start of root dir
-  static uint32_t dataStartBlock_;     // start of data clusters
-
-  // block cache
-  static uint8_t const CACHE_FOR_READ  = 0;    // cache a block for read
-  static uint8_t const CACHE_FOR_WRITE = 1;    // cache a block and set dirty
-  static SdCard *rawDev_;             // Device
-  static cache16_t cacheBuffer_;      // 512 byte cache for raw blocks
-  static uint32_t cacheBlockNumber_;  // Logical number of block in the cache
-  static uint8_t cacheDirty_;         // cacheFlush() will write block if true
-  static uint32_t cacheMirrorBlock_;  // mirror block for second FAT
-
-  // callback function for date/time
-  static void (*dateTime_)(uint16_t* date, uint16_t* time);
-
-  // define fields in flags_
-  static uint8_t const F_OFLAG = O_ACCMODE | O_APPEND | O_SYNC;
-  static uint8_t const F_FILE_DIR_DIRTY = 0X80;  // require sync directory entry
-
-  uint8_t flags_;          // see above for bit definitions
-  int16_t dirEntryIndex_;  // index of directory entry for open file
-  fat_t firstCluster_;     // first cluster of file
-  uint32_t fileSize_;      // fileSize
-  fat_t curCluster_;       // current cluster
-  uint32_t curPosition_;   // current byte offset
-
-  // private functions for cache
-  static uint8_t blockOfCluster(uint32_t position) {
-    // depends on blocks per cluster being power of two
-    return (position >> 9) & (blocksPerCluster_ - 1);
-  }
-  static uint16_t cacheDataOffset(uint32_t position) {return position & 0X1FF;}
-  static dir_t* cacheDirEntry(uint16_t index, uint8_t action = 0);
-  static uint8_t cacheRawBlock(uint32_t blockNumber, uint8_t action = 0);
-  static uint8_t cacheFlush(void);
-  static void cacheSetDirty(void) {cacheDirty_ |= CACHE_FOR_WRITE;}
-  static uint32_t dataBlockLba(fat_t cluster, uint8_t blockOfCluster) {
-    return dataStartBlock_ + (uint32_t)(cluster - 2) * blocksPerCluster_
-      + blockOfCluster;
-  }
-  static uint8_t fatGet(fat_t cluster, fat_t* value);
-  static uint8_t fatPut(fat_t cluster, fat_t value);
-  // end of chain test
-  static uint8_t isEOC(fat_t cluster) {return cluster >= 0XFFF8;}
-  // allocate a cluster to a file
-  uint8_t addCluster(void);
-  // free a cluster chain
-  uint8_t freeChain(fat_t cluster);
-};
-#endif  // Fat16_h
diff --git a/libraries/Robot_Control/Fat16Config.h b/libraries/Robot_Control/Fat16Config.h
deleted file mode 100644
index d598b56..0000000
--- a/libraries/Robot_Control/Fat16Config.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/* Arduino FAT16 Library
- * Copyright (C) 2008 by William Greiman
- *
- * This file is part of the Arduino FAT16 Library
- *
- * This Library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 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 General Public License for more details.
-
- * You should have received a copy of the GNU General Public License
- * along with the Arduino Fat16 Library.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
- /**
-  * \file
-  * Configuration file
-  */
-#ifndef Fat16Config_h
-#define Fat16Config_h
-/**
- * Allow use of deprecated functions if non-zero
- */
-#define ALLOW_DEPRECATED_FUNCTIONS 1
-/**
- * SdCard::writeBlock will protect block zero if set non-zero
- */
-#define SD_PROTECT_BLOCK_ZERO 1
-/**
- * Set non-zero to allow access to Fat16 internals by cardInfo debug sketch
- */
-#define FAT16_DEBUG_SUPPORT 1
-#endif  // Fat16Config_h
diff --git a/libraries/Robot_Control/Fat16mainpage.h b/libraries/Robot_Control/Fat16mainpage.h
deleted file mode 100644
index 2c4f773..0000000
--- a/libraries/Robot_Control/Fat16mainpage.h
+++ /dev/null
@@ -1,208 +0,0 @@
-/* Arduino FAT16 Library
- * Copyright (C) 2008 by William Greiman
- *  
- * This file is part of the Arduino FAT16 Library
- *  
- * This Library is free software: you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation, either version 3 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 General Public License for more details.
- 
- * You should have received a copy of the GNU General Public License
- * along with the Arduino Fat16 Library.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-
-/**
-\mainpage Arduino Fat16 Library
-<CENTER>Copyright &copy; 2008 by William Greiman
-</CENTER>
-
-\section Intro Introduction
-The Arduino Fat16 Library is a minimal implementation of the FAT16 file system
-on standard SD flash memory cards.  Fat16 supports read, write, file
-creation, deletion, and truncation. 
-
-The Fat16 class only supports access to files in the root directory and only
-supports short 8.3 names.  Directory time and date fields for creation
-and modification can be maintained by providing a date/time callback
-function \link Fat16::dateTimeCallback() dateTimeCallback()\endlink
-or calling \link Fat16::timestamp() timestamp()\endlink.
-
-Fat16 was designed to use the Arduino Print class which
-allows files to be written with \link Print::print() print() \endlink and 
-\link Print::println()  println()\endlink.
-
-\section comment Bugs and Comments
-
-If you wish to report bugs or have comments, send email to fat16lib@sbcglobal.net.
-
-
-\section SDcard SD Cards
-
-Arduinos access SD cards using the cards SPI protocol.  PCs, Macs, and
-most consumer devices use the 4-bit parallel SD protocol.  A card that
-functions well on A PC or Mac may not work well on the Arduino.
-
-Most cards have good SPI read performance but cards vary widely in SPI
-write performance.  Write performance is limited by how efficiently the
-card manages internal erase/remapping operations.  The Arduino cannot
-optimize writes to reduce erase operations because of its limit RAM.
-
-SanDisk cards generally have good write performance.  They seem to have
-more internal RAM buffering than other cards and therefore can limit
-the number of flash erase operations that the Arduino forces due to its
-limited RAM.
-
-Some Dane-Elec cards have a write speed that is only 20% as fast as
-a good SanDisk card.
-
-
-\section Hardware Hardware Configuration
-Fat16 was developed using an <A HREF = "http://www.adafruit.com/"> Adafruit Industries</A> 
-<A HREF = "http://ladyada.net/make/gpsshield/modules.html"> GPS Shield</A>.
-
-The hardware interface to the SD card should not use a resistor based level
-shifter.  SdCard::init() sets the SPI bus frequency to 8 MHz which results in
-signal rise times that are too slow for the edge detectors in many newer SD card
-controllers when resistor voltage dividers are used.
-
-The 5 to 3.3 V level shifter for 5 V arduinos should be IC based like the
-74HC4050N based circuit shown in the file SdLevel.png.  The Adafruit Wave Shield
-uses a 74AHC125N.  Gravitech sells SD and MicroSD Card Adapters based on the
-74LCX245.
-
-If you are using a resistor based level shifter and are having problems try
-setting the SPI bus frequency to 4 MHz.  This can be done by using
-card.init(true) to initialize the SD card.
-
-
-\section Fat16Class Fat16 Usage
-
-The class Fat16 is a minimal implementation of FAT16 on standard SD cards.
-High Capacity SD cards, SDHC, are not supported. It should work on all
-standard cards from 8MB to 2GB formatted with a FAT16 file system.
-
-\note 
-  The Arduino Print class uses character
-at a time writes so it was necessary to use a \link Fat16::sync() sync() \endlink
-function to control when data is written to the SD card.
-
-\par
-An application which writes to a file using \link Print::print() print()\endlink, 
-\link Print::println() println() \endlink 
-or \link Fat16::write write() \endlink must call \link Fat16::sync() sync() \endlink 
-at the appropriate time to force data and directory information to be written 
-to the SD Card.  Data and directory information are also written to the SD card
-when \link Fat16::close() close() \endlink is called.
-
-\par 
-Applications must use care calling \link Fat16::sync() sync() \endlink
-since 2048 bytes of I/O is required to update file and
-directory information.  This includes writing the current data block, reading
-the block that contains the directory entry for update, writing the directory
-block back and reading back the current data block.
-
-Fat16 only supports access to files in the root directory and only supports
-short 8.3 names.
-
-It is possible to open a file with two or more instances of Fat16.  A file may
-be corrupted if data is written to the file by more than one instance of Fat16.
-
-Short names are limited to 8 characters followed by an optional period (.)
-and extension of up to 3 characters.  The characters may be any combination
-of letters and digits.  The following special characters are also allowed:
-
-$ % ' - _ @ ~ ` ! ( ) { } ^ # &
-
-Short names are always converted to upper case and their original case
-value is lost.  
-
-Fat16 uses a slightly restricted form of short names.
-Only printable ASCII characters are supported. No characters with code point
-values greater than 127 are allowed.  Space is not allowed even though space 
-was allowed in the API of early versions of DOS.
-
-Fat16 has been optimized for The Arduino ATmega168.  Minimizing RAM use is the
-highest priority goal followed by flash use and finally performance.  
-Most SD cards only support 512 byte block write operations so a 512 byte
-cache buffer is used by Fat16.  This is the main use of RAM.  A small
-amount of RAM is used to store key volume and file information.
-Flash memory usage can be controlled by selecting options in Fat16Config.h.
-
-\section HowTo How to format SD Cards as FAT16 Volumes
-
-Microsoft operating systems support removable media formatted with a 
-Master Boot Record, MBR, or formatted as a super floppy with a FAT Boot Sector
-in block zero.
-
-Microsoft operating systems expect MBR formatted removable media 
-to have only one partition. The first partition should be used.
-
-Microsoft operating systems do not support partitioning SD flash cards.
-If you erase an SD card with a program like KillDisk, Most versions of
-Windows will format the card as a super floppy.
-
-The best way to restore an SD card's MBR is to use SDFormatter 
-which can be downloaded from:
-
-http://www.sdcard.org/consumers/formatter/
-
-SDFormatter does not have an option for FAT type so it may format
-small cards as FAT12.
-
-After the MBR is restored by SDFormatter you may need to reformat small
-cards that have been formatted FAT12 to force the volume type to be FAT16. 
-
-The FAT type, FAT12, FAT16, or FAT32, is determined by the count 
-of clusters on the volume and nothing else.
-
-Microsoft published the following code for determining FAT type:
-
-\code
-if (CountOfClusters < 4085) {
-  // Volume is FAT12
-}
-else if (CountOfClusters < 65525) {
-  // Volume is FAT16
-}
-else {
-  // Volume is FAT32
-}
-
-\endcode
-If you format a FAT volume with an OS utility , choose a cluster size that 
-will result in:
-
-4084 < CountOfClusters && CountOfClusters < 65525
-
-The volume will then be FAT16.
-
-If you are formatting an SD card on OS X or Linux, be sure to use the first 
-partition. Format this partition with a cluster count in above range.
-
-\section  References References
-
-The Arduino site:
-
-http://www.arduino.cc/
-
-For more information about FAT file systems see:
-
-http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx
-
-For information about using SD cards as SPI devices see:
-
-http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
-
-The ATmega328 datasheet:
-
-http://www.atmel.com/dyn/resources/prod_documents/doc8161.pdf
- 
-
- */  
\ No newline at end of file
diff --git a/libraries/Robot_Control/Fat16util.h b/libraries/Robot_Control/Fat16util.h
deleted file mode 100644
index 1fea068..0000000
--- a/libraries/Robot_Control/Fat16util.h
+++ /dev/null
@@ -1,74 +0,0 @@
-#ifndef Fat16util_h
-#define Fat16util_h
-/* Arduino FAT16 Library
- * Copyright (C) 2008 by William Greiman
- *
- * This file is part of the Arduino FAT16 Library
- *
- * This Library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 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 General Public License for more details.
-
- * You should have received a copy of the GNU General Public License
- * along with the Arduino Fat16 Library.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-/**
- * \file
- * Useful utility functions.
- */
-#if ARDUINO < 100
-#include <WProgram.h>
-#else  // ARDUINO
-#include <Arduino.h>
-#endif  // ARDUINO
-#include <avr/pgmspace.h>
-/** Store and print a string in flash memory.*/
-#define PgmPrint(x) SerialPrint_P(PSTR(x))
-/** Store and print a string in flash memory followed by a CR/LF.*/
-#define PgmPrintln(x) SerialPrintln_P(PSTR(x))
-/** Defined so doxygen works for function definitions. */
-#define NOINLINE __attribute__((noinline))
-//------------------------------------------------------------------------------
-/** Return the number of bytes currently free in RAM. */
-static int FreeRam(void) {
-  extern int  __bss_end;
-  extern int* __brkval;
-  int free_memory;
-  if (reinterpret_cast<int>(__brkval) == 0) {
-    // if no heap use from end of bss section
-    free_memory = reinterpret_cast<int>(&free_memory)
-                  - reinterpret_cast<int>(&__bss_end);
-  } else {
-    // use from top of stack to heap
-    free_memory = reinterpret_cast<int>(&free_memory)
-                  - reinterpret_cast<int>(__brkval);
-  }
-  return free_memory;
-}
-//------------------------------------------------------------------------------
-/**
- * %Print a string in flash memory to the serial port.
- *
- * \param[in] str Pointer to string stored in flash memory.
- */
-static NOINLINE void SerialPrint_P(PGM_P str) {
-  for (uint8_t c; (c = pgm_read_byte(str)); str++) Serial.write(c);
-}
-//------------------------------------------------------------------------------
-/**
- * %Print a string in flash memory followed by a CR/LF.
- *
- * \param[in] str Pointer to string stored in flash memory.
- */
-static NOINLINE void SerialPrintln_P(PGM_P str) {
-  SerialPrint_P(str);
-  Serial.println();
-}
-#endif  // #define Fat16util_h
diff --git a/libraries/Robot_Control/FatStructs.h b/libraries/Robot_Control/FatStructs.h
deleted file mode 100644
index 431bf30..0000000
--- a/libraries/Robot_Control/FatStructs.h
+++ /dev/null
@@ -1,418 +0,0 @@
-/* Arduino Fat16 Library
- * Copyright (C) 2009 by William Greiman
- *
- * This file is part of the Arduino Fat16 Library
- *
- * This Library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with the Arduino Fat16 Library.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-#ifndef FatStructs_h
-#define FatStructs_h
-/**
- * \file
- * FAT file structures
- */
-/*
- * mostly from Microsoft document fatgen103.doc
- * http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx
- */
-//------------------------------------------------------------------------------
-/** Value for byte 510 of boot block or MBR */
-uint8_t const BOOTSIG0 = 0X55;
-/** Value for byte 511 of boot block or MBR */
-uint8_t const BOOTSIG1 = 0XAA;
-//------------------------------------------------------------------------------
-/**
- * \struct partitionTable
- * \brief MBR partition table entry
- *
- * A partition table entry for a MBR formatted storage device.
- * The MBR partition table has four entries.
- */
-struct partitionTable {
-          /**
-           * Boot Indicator . Indicates whether the volume is the active
-           * partition.  Legal values include: 0X00. Do not use for booting.
-           * 0X80 Active partition.
-           */
-  uint8_t  boot;
-          /**
-            * Head part of Cylinder-head-sector address of the first block in
-            * the partition. Legal values are 0-255. Only used in old PC BIOS.
-            */
-  uint8_t  beginHead;
-          /**
-           * Sector part of Cylinder-head-sector address of the first block in
-           * the partition. Legal values are 1-63. Only used in old PC BIOS.
-           */
-  unsigned beginSector : 6;
-           /** High bits cylinder for first block in partition. */
-  unsigned beginCylinderHigh : 2;
-          /**
-           * Combine beginCylinderLow with beginCylinderHigh. Legal values
-           * are 0-1023.  Only used in old PC BIOS.
-           */
-  uint8_t  beginCylinderLow;
-          /**
-           * Partition type. See defines that begin with PART_TYPE_ for
-           * some Microsoft partition types.
-           */
-  uint8_t  type;
-          /**
-           * head part of cylinder-head-sector address of the last sector in the
-           * partition.  Legal values are 0-255. Only used in old PC BIOS.
-           */
-  uint8_t  endHead;
-          /**
-           * Sector part of cylinder-head-sector address of the last sector in
-           * the partition.  Legal values are 1-63. Only used in old PC BIOS.
-           */
-  unsigned endSector : 6;
-           /** High bits of end cylinder */
-  unsigned endCylinderHigh : 2;
-          /**
-           * Combine endCylinderLow with endCylinderHigh. Legal values
-           * are 0-1023.  Only used in old PC BIOS.
-           */
-  uint8_t  endCylinderLow;
-           /** Logical block address of the first block in the partition. */
-  uint32_t firstSector;
-           /** Length of the partition, in blocks. */
-  uint32_t totalSectors;
-};
-/** Type name for partitionTable */
-typedef struct partitionTable part_t;
-//------------------------------------------------------------------------------
-/**
- * \struct masterBootRecord
- *
- * \brief Master Boot Record
- *
- * The first block of a storage device that is formatted with a MBR.
- */
-struct masterBootRecord {
-           /** Code Area for master boot program. */
-  uint8_t  codeArea[440];
-           /** Optional WindowsNT disk signature. May contain more boot code. */
-  uint32_t diskSignature;
-           /** Usually zero but may be more boot code. */
-  uint16_t usuallyZero;
-           /** Partition tables. */
-  part_t   part[4];
-           /** First MBR signature byte. Must be 0X55 */
-  uint8_t  mbrSig0;
-           /** Second MBR signature byte. Must be 0XAA */
-  uint8_t  mbrSig1;
-};
-/** Type name for masterBootRecord */
-typedef struct masterBootRecord mbr_t;
-//------------------------------------------------------------------------------
-/** 
- * \struct biosParmBlock
- *
- * \brief BIOS parameter block
- * 
- *  The BIOS parameter block describes the physical layout of a FAT volume.
- */
-struct biosParmBlock {
-          /**
-           * Count of bytes per sector. This value may take on only the
-           * following values: 512, 1024, 2048 or 4096
-           */
-  uint16_t bytesPerSector;
-          /**
-           * Number of sectors per allocation unit. This value must be a
-           * power of 2 that is greater than 0. The legal values are
-           * 1, 2, 4, 8, 16, 32, 64, and 128.
-           */
-  uint8_t  sectorsPerCluster;
-          /**
-           * Number of sectors before the first FAT.
-           * This value must not be zero.
-           */
-  uint16_t reservedSectorCount;
-          /** The count of FAT data structures on the volume. This field should
-           *  always contain the value 2 for any FAT volume of any type.
-           */
-  uint8_t  fatCount;
-          /**
-          * For FAT12 and FAT16 volumes, this field contains the count of
-          * 32-byte directory entries in the root directory. For FAT32 volumes,
-          * this field must be set to 0. For FAT12 and FAT16 volumes, this
-          * value should always specify a count that when multiplied by 32
-          * results in a multiple of bytesPerSector.  FAT16 volumes should
-          * use the value 512.
-          */
-  uint16_t rootDirEntryCount;
-          /**
-           * This field is the old 16-bit total count of sectors on the volume.
-           * This count includes the count of all sectors in all four regions
-           * of the volume. This field can be 0; if it is 0, then totalSectors32
-           * must be non-zero.  For FAT32 volumes, this field must be 0. For
-           * FAT12 and FAT16 volumes, this field contains the sector count, and
-           * totalSectors32 is 0 if the total sector count fits
-           * (is less than 0x10000).
-           */
-  uint16_t totalSectors16;
-          /**
-           * This dates back to the old MS-DOS 1.x media determination and is
-           * no longer usually used for anything.  0xF8 is the standard value
-           * for fixed (non-removable) media. For removable media, 0xF0 is
-           * frequently used. Legal values are 0xF0 or 0xF8-0xFF.
-           */
-  uint8_t  mediaType;
-          /**
-           * Count of sectors occupied by one FAT on FAT12/FAT16 volumes.
-           * On FAT32 volumes this field must be 0, and sectorsPerFat32
-           * contains the FAT size count.
-           */
-  uint16_t sectorsPerFat16;
-           /** Sectors per track for interrupt 0x13. Not used otherwise. */
-  uint16_t sectorsPerTrtack;
-           /** Number of heads for interrupt 0x13.  Not used otherwise. */
-  uint16_t headCount;
-          /**
-           * Count of hidden sectors preceding the partition that contains this
-           * FAT volume. This field is generally only relevant for media
-           *  visible on interrupt 0x13.
-           */
-  uint32_t hidddenSectors;
-          /**
-           * This field is the new 32-bit total count of sectors on the volume.
-           * This count includes the count of all sectors in all four regions
-           * of the volume.  This field can be 0; if it is 0, then
-           * totalSectors16 must be non-zero.
-           */
-  uint32_t totalSectors32;
-          /**
-           * Count of sectors occupied by one FAT on FAT32 volumes.
-           */
-  uint32_t sectorsPerFat32;
-          /**
-           * This field is only defined for FAT32 media and does not exist on
-           * FAT12 and FAT16 media.
-           * Bits 0-3 -- Zero-based number of active FAT.
-           *             Only valid if mirroring is disabled.
-           * Bits 4-6 -- Reserved.
-           * Bit 7	-- 0 means the FAT is mirrored at runtime into all FATs.
-	         *        -- 1 means only one FAT is active; it is the one referenced in bits 0-3.
-           * Bits 8-15 	-- Reserved.
-           */
-  uint16_t fat32Flags;
-          /**
-           * FAT32 version. High byte is major revision number.
-           * Low byte is minor revision number. Only 0.0 define.
-           */
-  uint16_t fat32Version;
-          /**
-           * Cluster number of the first cluster of the root directory for FAT32.
-           * This usually 2 but not required to be 2.
-           */
-  uint32_t fat32RootCluster;
-          /**
-           * Sector number of FSINFO structure in the reserved area of the
-           * FAT32 volume. Usually 1.
-           */
-  uint16_t fat32FSInfo;
-          /**
-           * If non-zero, indicates the sector number in the reserved area
-           * of the volume of a copy of the boot record. Usually 6.
-           * No value other than 6 is recommended.
-           */
-  uint16_t fat32BackBootBlock;
-          /**
-           * Reserved for future expansion. Code that formats FAT32 volumes
-           * should always set all of the bytes of this field to 0.
-           */
-  uint8_t  fat32Reserved[12];
-};
-/** Type name for biosParmBlock */
-typedef struct biosParmBlock bpb_t;
-//------------------------------------------------------------------------------
-/**
- * \struct fat32BootSector
- *
- * \brief Boot sector for a FAT16 or FAT32 volume.
- * 
- */  
-struct fat32BootSector {
-           /** X86 jmp to boot program */
-  uint8_t  jmpToBootCode[3];
-           /** informational only - don't depend on it */
-  char     oemName[8];
-           /** BIOS Parameter Block */
-  bpb_t    bpb;
-           /** for int0x13 use value 0X80 for hard drive */
-  uint8_t  driveNumber;
-           /** used by Windows NT - should be zero for FAT */
-  uint8_t  reserved1;
-           /** 0X29 if next three fields are valid */
-  uint8_t  bootSignature;
-           /** usually generated by combining date and time */
-  uint32_t volumeSerialNumber;
-           /** should match volume label in root dir */
-  char     volumeLabel[11];
-           /** informational only - don't depend on it */
-  char     fileSystemType[8];
-           /** X86 boot code */
-  uint8_t  bootCode[420];
-           /** must be 0X55 */
-  uint8_t  bootSectorSig0;
-           /** must be 0XAA */
-  uint8_t  bootSectorSig1;
-};
-//------------------------------------------------------------------------------
-// End Of Chain values for FAT entries
-/** FAT16 end of chain value used by Microsoft. */
-uint16_t const FAT16EOC = 0XFFFF;
-/** Minimum value for FAT16 EOC.  Use to test for EOC. */
-uint16_t const FAT16EOC_MIN = 0XFFF8;
-/** FAT32 end of chain value used by Microsoft. */
-uint32_t const FAT32EOC = 0X0FFFFFFF;
-/** Minimum value for FAT32 EOC.  Use to test for EOC. */
-uint32_t const FAT32EOC_MIN = 0X0FFFFFF8;
-/** Mask a for FAT32 entry. Entries are 28 bits. */
-uint32_t const FAT32MASK = 0X0FFFFFFF;
-
-/** Type name for fat32BootSector */
-typedef struct fat32BootSector fbs_t;
-//------------------------------------------------------------------------------
-/**
- * \struct directoryEntry
- * \brief FAT short directory entry
- *
- * Short means short 8.3 name, not the entry size.
- *  
- * Date Format. A FAT directory entry date stamp is a 16-bit field that is 
- * basically a date relative to the MS-DOS epoch of 01/01/1980. Here is the
- * format (bit 0 is the LSB of the 16-bit word, bit 15 is the MSB of the 
- * 16-bit word):
- *   
- * Bits 9-15: Count of years from 1980, valid value range 0-127 
- * inclusive (1980-2107).
- *   
- * Bits 5-8: Month of year, 1 = January, valid value range 1-12 inclusive.
- *
- * Bits 0-4: Day of month, valid value range 1-31 inclusive.
- *
- * Time Format. A FAT directory entry time stamp is a 16-bit field that has
- * a granularity of 2 seconds. Here is the format (bit 0 is the LSB of the 
- * 16-bit word, bit 15 is the MSB of the 16-bit word).
- *   
- * Bits 11-15: Hours, valid value range 0-23 inclusive.
- * 
- * Bits 5-10: Minutes, valid value range 0-59 inclusive.
- *      
- * Bits 0-4: 2-second count, valid value range 0-29 inclusive (0 - 58 seconds).
- *   
- * The valid time range is from Midnight 00:00:00 to 23:59:58.
- */
-struct directoryEntry {
-           /**
-            * Short 8.3 name.
-            * The first eight bytes contain the file name with blank fill.
-            * The last three bytes contain the file extension with blank fill.
-            */
-  uint8_t  name[11];
-          /** Entry attributes.
-           *
-           * The upper two bits of the attribute byte are reserved and should
-           * always be set to 0 when a file is created and never modified or
-           * looked at after that.  See defines that begin with DIR_ATT_.
-           */
-  uint8_t  attributes;
-          /**
-           * Reserved for use by Windows NT. Set value to 0 when a file is
-           * created and never modify or look at it after that.
-           */
-  uint8_t  reservedNT;
-          /**
-           * The granularity of the seconds part of creationTime is 2 seconds
-           * so this field is a count of tenths of a second and its valid
-           * value range is 0-199 inclusive. (WHG note - seems to be hundredths)
-           */
-  uint8_t  creationTimeTenths;
-           /** Time file was created. */
-  uint16_t creationTime;
-           /** Date file was created. */
-  uint16_t creationDate;
-          /**
-           * Last access date. Note that there is no last access time, only
-           * a date.  This is the date of last read or write. In the case of
-           * a write, this should be set to the same date as lastWriteDate.
-           */
-  uint16_t lastAccessDate;
-          /**
-           * High word of this entry's first cluster number (always 0 for a
-           * FAT12 or FAT16 volume).
-           */
-  uint16_t firstClusterHigh;
-           /** Time of last write. File creation is considered a write. */
-  uint16_t lastWriteTime;
-           /** Date of last write. File creation is considered a write. */
-  uint16_t lastWriteDate;
-           /** Low word of this entry's first cluster number. */
-  uint16_t firstClusterLow;
-           /** 32-bit unsigned holding this file's size in bytes. */
-  uint32_t fileSize;
-};
-//------------------------------------------------------------------------------
-// Definitions for directory entries
-//
-/** Type name for directoryEntry */
-typedef struct directoryEntry dir_t;
-/** escape for name[0] = 0XE5 */
-uint8_t const DIR_NAME_0XE5 = 0X05;
-/** name[0] value for entry that is free after being "deleted" */
-uint8_t const DIR_NAME_DELETED = 0XE5;
-/** name[0] value for entry that is free and no allocated entries follow */
-uint8_t const DIR_NAME_FREE = 0X00;
-/** file is read-only */
-uint8_t const DIR_ATT_READ_ONLY = 0X01;
-/** File should hidden in directory listings */
-uint8_t const DIR_ATT_HIDDEN = 0X02;
-/** Entry is for a system file */
-uint8_t const DIR_ATT_SYSTEM = 0X04;
-/** Directory entry contains the volume label */
-uint8_t const DIR_ATT_VOLUME_ID = 0X08;
-/** Entry is for a directory */
-uint8_t const DIR_ATT_DIRECTORY = 0X10;
-/** Old DOS archive bit for backup support */
-uint8_t const DIR_ATT_ARCHIVE = 0X20;
-/** Test value for long name entry.  Test is
-  (d->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME. */
-uint8_t const DIR_ATT_LONG_NAME = 0X0F;
-/** Test mask for long name entry */
-uint8_t const DIR_ATT_LONG_NAME_MASK = 0X3F;
-/** defined attribute bits */
-uint8_t const DIR_ATT_DEFINED_BITS = 0X3F;
-/** Directory entry is part of a long name */
-static inline uint8_t DIR_IS_LONG_NAME(const dir_t* dir) {
-  return (dir->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME;
-}
-/** Mask for file/subdirectory tests */
-uint8_t const DIR_ATT_FILE_TYPE_MASK = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY);
-/** Directory entry is for a file */
-static inline uint8_t DIR_IS_FILE(const dir_t* dir) {
-  return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == 0;
-}
-/** Directory entry is for a subdirectory */
-static inline uint8_t DIR_IS_SUBDIR(const dir_t* dir) {
-  return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == DIR_ATT_DIRECTORY;
-}
-/** Directory entry is for a file or subdirectory */
-static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) {
-  return (dir->attributes & DIR_ATT_VOLUME_ID) == 0;
-}
-#endif  // FatStructs_h
diff --git a/libraries/Robot_Control/Melody.cpp b/libraries/Robot_Control/Melody.cpp
deleted file mode 100644
index 0341c55..0000000
--- a/libraries/Robot_Control/Melody.cpp
+++ /dev/null
@@ -1,100 +0,0 @@
-#include "ArduinoRobot.h"
-#include "SquawkSD.h"
-#include "Fat16.h"
-
-
-
-SQUAWK_CONSTRUCT_ISR(SQUAWK_PWM_PIN5);
-
-
-void RobotControl::beginSpeaker(uint16_t frequency){
-  SquawkSynth::begin(frequency);
-  SquawkSynth::play();
-  osc[2].vol = 0x7F;
-}
-
-void RobotControl::playNote(byte period, word length, char modifier) {
-  // Modifier . makes note length 2/3
-  if(modifier == '.') length = (length * 2) / 3;
-  // Set up the play frequency, 352800 is [sample_rate]=44100 * [tuning]=8.0
-  osc[2].freq = 352800 / period;
-  // Delay, silence, delay
-  delay(length);
-  osc[2].freq = 0;
-  delay(length);
-}
-
-void RobotControl::playMelody(char* script){
-  // Find length of play string
-  word length = strlen(script);
-  // Set the default note time
-  word time = 500;
-  // Loop through each character in the play string
-  for(int n = 0; n < length; n++) {
-    // Fetch the character AFTER the current one - it may contain a modifier
-    char modifier = script[n + 1];
-    // Fetch the current character and branch accordingly
-    switch(script[n]) {
-      // Notes
-      case 'c': playNote(214, time, modifier); break; // Play a  C
-      case 'C': playNote(202, time, modifier); break; // Play a  C#
-      case 'd': playNote(190, time, modifier); break; // Play a  D
-      case 'D': playNote(180, time, modifier); break; // Play a  D#
-      case 'e': playNote(170, time, modifier); break; // Play an F
-      case 'f': playNote(160, time, modifier); break; // Play an F
-      case 'F': playNote(151, time, modifier); break; // Play an F#
-      case 'g': playNote(143, time, modifier); break; // Play a  G
-      case 'G': playNote(135, time, modifier); break; // Play a  G#
-      case 'a': playNote(127, time, modifier); break; // Play an A
-      case 'A': playNote(120, time, modifier); break; // Play an A#
-      case 'b': playNote(113, time, modifier); break; // Play a  B
-      // Delay
-      case '-': playNote(0,   time, modifier); break; // Play a quiet note
-      // Note lengths
-      case '1': time = 1000; break; // Full note
-      case '2': time =  500; break; // Half note
-      case '4': time =  250; break; // Quarter note
-      case '8': time =   50; break; // Eigth note
-	  // Modifier '.' makes note length 2/3
-
-    }
-  }
-}
-
-void RobotControl::beep(int beep_length){
-  char scr1[]="8F";
-  char scr2[]="8Fe";
-  char scr3[]="1F";
-
-  switch (beep_length)
-  {
-  case BEEP_SIMPLE:
-  default:
-    playMelody(scr1);
-    break;
-
-  case BEEP_DOUBLE:
-	playMelody(scr2);
-    break;
-
-  case BEEP_LONG:
-    playMelody(scr3);
-  }
-
-}
-
-void RobotControl::tempoWrite(int tempo){
-	SquawkSynthSD::tempo(tempo);
-}
-void RobotControl::tuneWrite(float tune){
-	SquawkSynthSD::tune(tune);
-}
-
-void RobotControl::playFile(char* filename){
-  melody.open(filename,O_READ);
-  SquawkSynthSD::play(melody);
-}
-
-void RobotControl::stopPlayFile(){
-  melody.close();
-}
\ No newline at end of file
diff --git a/libraries/Robot_Control/Motors.cpp b/libraries/Robot_Control/Motors.cpp
deleted file mode 100644
index 9d5e8b0..0000000
--- a/libraries/Robot_Control/Motors.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "ArduinoRobot.h"
#include "EasyTransfer2.h"


void RobotControl::motorsStop(){
	messageOut.writeByte(COMMAND_MOTORS_STOP);
	messageOut.sendData();
}
void RobotControl::motorsWrite(int speedLeft,int speedRight){
	messageOut.writeByte(COMMAND_RUN);
	messageOut.writeInt(speedLeft);
	messageOut.writeInt(speedRight);
	messageOut.sendData();
}
void RobotControl::motorsWritePct(int speedLeftPct, int speedRightPct){
	int16_t speedLeft=255*speedLeftPct;
	int16_t speedRight=255*speedRightPct;
	
	motorsWrite(speedLeft,speedRight);
}
void RobotControl::pointTo(int angle){
	int target=angle;
	uint8_t speed=80;
	target=target%360;
	if(target<0){
		target+=360;
	}
	int direction=angle;
	while(1){
		if(direction>0){
			motorsWrite(speed,-speed);//right
			delay(10);
		}else{
			motorsWrite(-speed,speed);//left
			delay(10);
		}
		int currentAngle=compassRead();
		int diff=target-currentAngle;
		if(diff<-180) 
			diff += 360;
		else if(diff> 180) 
			diff -= 360;
		direction=-diff;
		
		if(abs(diff)<5){
			motorsWrite(0,0);
			return;
		}
	}
}
void RobotControl::turn(int angle){
	int originalAngle=compassRead();
	int target=originalAngle+angle;
	pointTo(target);
	/*uint8_t speed=80;
	target=target%360;
	if(target<0){
		target+=360;
	}
	int direction=angle;
	while(1){
		if(direction>0){
			motorsWrite(speed,speed);//right
			delay(10);
		}else{
			motorsWrite(-speed,-speed);//left
			delay(10);
		}
		int currentAngle=compassRead();
		int diff=target-currentAngle;
		if(diff<-180) 
			diff += 360;
		else if(diff> 180) 
			diff -= 360;
		direction=-diff;
		
		if(abs(diff)<5){
			motorsWrite(0,0);
			return;
		}
	}*/
}

void RobotControl::moveForward(int speed){
	motorsWrite(speed,speed);
}
void RobotControl::moveBackward(int speed){
	motorsWrite(speed,speed);
}
void RobotControl::turnLeft(int speed){
	motorsWrite(speed,255);
}
void RobotControl::turnRight(int speed){
	motorsWrite(255,speed);
}



/*
int RobotControl::getIRrecvResult(){
	messageOut.writeByte(COMMAND_GET_IRRECV);
	messageOut.sendData();
	//delay(10);
	while(!messageIn.receiveData());
	
	if(messageIn.readByte()==COMMAND_GET_IRRECV_RE){
		return messageIn.readInt();
	}


	return -1;
}
*/
\ No newline at end of file
diff --git a/libraries/Robot_Control/Multiplexer.cpp b/libraries/Robot_Control/Multiplexer.cpp
deleted file mode 100644
index 8f7d30e..0000000
--- a/libraries/Robot_Control/Multiplexer.cpp
+++ /dev/null
@@ -1,37 +0,0 @@
-#include "Multiplexer.h"
-
-void Multiplexer::begin(uint8_t* selectors, uint8_t Z, uint8_t length){
-	for(uint8_t i=0;i<length;i++){
-		this->selectors[i]=selectors[i];
-		pinMode(selectors[i],OUTPUT);
-	}
-	this->length=length;
-	this->pin_Z=Z;
-	pinMode(pin_Z,INPUT);
-}
-
-void Multiplexer::selectPin(uint8_t num){
-	for(uint8_t i=0;i<length;i++){
-		//Serial.print(bitRead(num,i));
-		digitalWrite(selectors[i],bitRead(num,i));
-	}
-	//Serial.println("");
-}
-
-int Multiplexer::getAnalogValue(){
-	return analogRead(pin_Z);
-}
-
-bool Multiplexer::getDigitalValue(){
-	return digitalRead(pin_Z);
-}
-
-int Multiplexer::getAnalogValueAt(uint8_t num){
-	selectPin(num);
-	return getAnalogValue();
-}
-
-bool Multiplexer::getDigitalValueAt(uint8_t num){
-	selectPin(num);
-	return getDigitalValue();
-}
diff --git a/libraries/Robot_Control/Multiplexer.h b/libraries/Robot_Control/Multiplexer.h
deleted file mode 100644
index a0c4c5c..0000000
--- a/libraries/Robot_Control/Multiplexer.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef Multiplexer_h
-#define Multiplexer_h
-
-#if ARDUINO >= 100
-#include "Arduino.h"
-#else
-#include "WProgram.h"
-#endif
-
-class Multiplexer{
-	public:
-		void begin(uint8_t* selectors, uint8_t Z, uint8_t length);
-		void selectPin(uint8_t num);
-		int getAnalogValue();
-		int getAnalogValueAt(uint8_t num);
-		bool getDigitalValue();
-		bool getDigitalValueAt(uint8_t num);
-	private:
-		uint8_t selectors[4];
-		uint8_t pin_Z;
-		uint8_t length;
-};
-
-#endif
diff --git a/libraries/Robot_Control/RobotSdCard.cpp b/libraries/Robot_Control/RobotSdCard.cpp
deleted file mode 100644
index df833d2..0000000
--- a/libraries/Robot_Control/RobotSdCard.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-#include <ArduinoRobot.h>
-
-void RobotControl::beginSD(){
-  card.init();
-  file.init(&card);
-  melody.init(&card);
-}
-
-void RobotControl::_enableSD(){
-  DDRB = DDRB & 0xDF; //pinMode(CS_LCD,INPUT);
-  DDRB = DDRB | 0x10; //pinMode(CS_SD,OUTPUT);
-}
-
-/*
-void RobotControl::sdTest(){
-  file.open("Infor.txt",O_READ);
-  uint8_t buf[7];
-  char n;
-  while ((n = file.read(buf, sizeof(buf))) > 0) {
-    for (uint8_t i = 0; i < n; i++) Serial.write(buf[i]);
-  }
-}*/
\ No newline at end of file
diff --git a/libraries/Robot_Control/SPI.cpp b/libraries/Robot_Control/SPI.cpp
deleted file mode 100644
index 5e48073..0000000
--- a/libraries/Robot_Control/SPI.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
- * Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st>
- * SPI Master library for arduino.
- *
- * This file is free software; you can redistribute it and/or modify
- * it under the terms of either the GNU General Public License version 2
- * or the GNU Lesser General Public License version 2.1, both as
- * published by the Free Software Foundation.
- */
-
-#include "pins_arduino.h"
-#include "SPI.h"
-
-SPIClass SPI;
-
-void SPIClass::begin() {
-
-  // Set SS to high so a connected chip will be "deselected" by default
-  digitalWrite(SS, HIGH);
-
-  // When the SS pin is set as OUTPUT, it can be used as
-  // a general purpose output port (it doesn't influence
-  // SPI operations).
-  pinMode(SS, OUTPUT);
-
-  // Warning: if the SS pin ever becomes a LOW INPUT then SPI
-  // automatically switches to Slave, so the data direction of
-  // the SS pin MUST be kept as OUTPUT.
-  SPCR |= _BV(MSTR);
-  SPCR |= _BV(SPE);
-
-  // Set direction register for SCK and MOSI pin.
-  // MISO pin automatically overrides to INPUT.
-  // By doing this AFTER enabling SPI, we avoid accidentally
-  // clocking in a single bit since the lines go directly
-  // from "input" to SPI control.  
-  // http://code.google.com/p/arduino/issues/detail?id=888
-  pinMode(SCK, OUTPUT);
-  pinMode(MOSI, OUTPUT);
-}
-
-
-void SPIClass::end() {
-  SPCR &= ~_BV(SPE);
-}
-
-void SPIClass::setBitOrder(uint8_t bitOrder)
-{
-  if(bitOrder == LSBFIRST) {
-    SPCR |= _BV(DORD);
-  } else {
-    SPCR &= ~(_BV(DORD));
-  }
-}
-
-void SPIClass::setDataMode(uint8_t mode)
-{
-  SPCR = (SPCR & ~SPI_MODE_MASK) | mode;
-}
-
-void SPIClass::setClockDivider(uint8_t rate)
-{
-  SPCR = (SPCR & ~SPI_CLOCK_MASK) | (rate & SPI_CLOCK_MASK);
-  SPSR = (SPSR & ~SPI_2XCLOCK_MASK) | ((rate >> 2) & SPI_2XCLOCK_MASK);
-}
-
diff --git a/libraries/Robot_Control/SPI.h b/libraries/Robot_Control/SPI.h
deleted file mode 100644
index f647d5c..0000000
--- a/libraries/Robot_Control/SPI.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
- * Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st>
- * SPI Master library for arduino.
- *
- * This file is free software; you can redistribute it and/or modify
- * it under the terms of either the GNU General Public License version 2
- * or the GNU Lesser General Public License version 2.1, both as
- * published by the Free Software Foundation.
- */
-
-#ifndef _SPI_H_INCLUDED
-#define _SPI_H_INCLUDED
-
-#include <stdio.h>
-#include <Arduino.h>
-#include <avr/pgmspace.h>
-
-#define SPI_CLOCK_DIV4 0x00
-#define SPI_CLOCK_DIV16 0x01
-#define SPI_CLOCK_DIV64 0x02
-#define SPI_CLOCK_DIV128 0x03
-#define SPI_CLOCK_DIV2 0x04
-#define SPI_CLOCK_DIV8 0x05
-#define SPI_CLOCK_DIV32 0x06
-//#define SPI_CLOCK_DIV64 0x07
-
-#define SPI_MODE0 0x00
-#define SPI_MODE1 0x04
-#define SPI_MODE2 0x08
-#define SPI_MODE3 0x0C
-
-#define SPI_MODE_MASK 0x0C  // CPOL = bit 3, CPHA = bit 2 on SPCR
-#define SPI_CLOCK_MASK 0x03  // SPR1 = bit 1, SPR0 = bit 0 on SPCR
-#define SPI_2XCLOCK_MASK 0x01  // SPI2X = bit 0 on SPSR
-
-class SPIClass {
-public:
-  inline static byte transfer(byte _data);
-
-  // SPI Configuration methods
-
-  inline static void attachInterrupt();
-  inline static void detachInterrupt(); // Default
-
-  static void begin(); // Default
-  static void end();
-
-  static void setBitOrder(uint8_t);
-  static void setDataMode(uint8_t);
-  static void setClockDivider(uint8_t);
-};
-
-extern SPIClass SPI;
-
-byte SPIClass::transfer(byte _data) {
-  SPDR = _data;
-  while (!(SPSR & _BV(SPIF)))
-    ;
-  return SPDR;
-}
-
-void SPIClass::attachInterrupt() {
-  SPCR |= _BV(SPIE);
-}
-
-void SPIClass::detachInterrupt() {
-  SPCR &= ~_BV(SPIE);
-}
-
-#endif
diff --git a/libraries/Robot_Control/SdCard.cpp b/libraries/Robot_Control/SdCard.cpp
deleted file mode 100644
index fbbd8bc..0000000
--- a/libraries/Robot_Control/SdCard.cpp
+++ /dev/null
@@ -1,279 +0,0 @@
-/* Arduino FAT16 Library
- * Copyright (C) 2008 by William Greiman
- *
- * This file is part of the Arduino FAT16 Library
- *
- * This Library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 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 General Public License for more details.
-
- * You should have received a copy of the GNU General Public License
- * along with the Arduino Fat16 Library.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-#include <avr/pgmspace.h>
-#if ARDUINO < 100
-#include <WProgram.h>
-#else  // ARDUINO
-#include <Arduino.h>
-#endif  // ARDUINO
-#include <Fat16Config.h>
-#include <SdCard.h>
-//------------------------------------------------------------------------------
-// r1 status values
-uint8_t const R1_READY_STATE = 0;
-uint8_t const R1_IDLE_STATE  = 1;
-// start data token for read or write
-uint8_t const DATA_START_BLOCK = 0XFE;
-// data response tokens for write block
-uint8_t const DATA_RES_MASK        = 0X1F;
-uint8_t const DATA_RES_ACCEPTED    = 0X05;
-uint8_t const DATA_RES_CRC_ERROR   = 0X0B;
-uint8_t const DATA_RES_WRITE_ERROR = 0X0D;
-//
-// stop compiler from inlining where speed optimization is not required
-#define STATIC_NOINLINE static __attribute__((noinline))
-//------------------------------------------------------------------------------
-// SPI static functions
-//
-// clock byte in
-STATIC_NOINLINE uint8_t spiRec(void) {
-  SPDR = 0xff;
-  while (!(SPSR & (1 << SPIF)));
-  return SPDR;
-}
-// clock byte out
-STATIC_NOINLINE void spiSend(uint8_t b) {
-  SPDR = b;
-  while (!(SPSR & (1 << SPIF)));
-}
-//------------------------------------------------------------------------------
-// wait for card to go not busy
-// return false if timeout
-static uint8_t waitForToken(uint8_t token, uint16_t timeoutMillis) {
-  uint16_t t0 = millis();
-  while (spiRec() != token) {
-    if (((uint16_t)millis() - t0) > timeoutMillis) return false;
-  }
-  return true;
-}
-//------------------------------------------------------------------------------
-uint8_t SdCard::cardCommand(uint8_t cmd, uint32_t arg) {
-  uint8_t r1;
-
-  // select card
-  chipSelectLow();
-
-  // wait if busy
-  waitForToken(0XFF, SD_COMMAND_TIMEOUT);
-
-  // send command
-  spiSend(cmd | 0x40);
-
-  // send argument
-  for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s);
-
-  // send CRC - must send valid CRC for CMD0
-  spiSend(cmd == CMD0 ? 0x95 : 0XFF);
-
-  // wait for not busy
-  for (uint8_t retry = 0; (0X80 & (r1 = spiRec())) && retry != 0XFF; retry++);
-  return r1;
-}
-//------------------------------------------------------------------------------
-uint8_t SdCard::cardAcmd(uint8_t cmd, uint32_t arg) {
-  cardCommand(CMD55, 0);
-  return cardCommand(cmd, arg);
-}
-//==============================================================================
-// SdCard member functions
-//------------------------------------------------------------------------------
-/**
- * Determine the size of a standard SD flash memory card
- * \return The number of 512 byte data blocks in the card
- */
-uint32_t SdCard::cardSize(void) {
-  uint16_t c_size;
-  csd_t csd;
-  if (!readReg(CMD9, &csd)) return 0;
-  uint8_t read_bl_len = csd.read_bl_len;
-  c_size = (csd.c_size_high << 10) | (csd.c_size_mid << 2) | csd.c_size_low;
-  uint8_t c_size_mult = (csd.c_size_mult_high << 1) | csd.c_size_mult_low;
-  return (uint32_t)(c_size+1) << (c_size_mult + read_bl_len - 7);
-}
-//------------------------------------------------------------------------------
-void SdCard::chipSelectHigh(void) {
-  digitalWrite(chipSelectPin_, HIGH);
-  // make sure MISO goes high impedance
-  spiSend(0XFF);
-}
-//------------------------------------------------------------------------------
-void SdCard::chipSelectLow(void) {
-  // Enable SPI, Master, clock rate F_CPU/4
-  SPCR = (1 << SPE) | (1 << MSTR);
-
-  // Doubled Clock Frequency to F_CPU/2 unless speed_ is nonzero
-  if (!speed_) SPSR |= (1 << SPI2X);
-
-  digitalWrite(chipSelectPin_, LOW);
-}
-//------------------------------------------------------------------------------
-void SdCard::error(uint8_t code, uint8_t data) {
-  errorData = data;
-  error(code);
-}
-//------------------------------------------------------------------------------
-void SdCard::error(uint8_t code) {
-  errorCode = code;
-  chipSelectHigh();
-}
-//------------------------------------------------------------------------------
-/**
- * Initialize a SD flash memory card.
- *
- * \param[in] speed Set SPI Frequency to F_CPU/2 if speed = 0 or F_CPU/4
- *  if speed = 1.
- * \param[in] chipSelectPin SD chip select pin number.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- *
- */
-uint8_t SdCard::init(uint8_t speed, uint8_t chipSelectPin) {
-  if (speed > 1) {
-    error(SD_ERROR_SPI_SPEED);
-    return false;
-  }
-  speed_ = speed;
-  chipSelectPin_ = chipSelectPin;
-  errorCode = 0;
-  uint8_t r;
-  // 16-bit init start time allows over a minute
-  uint16_t t0 = (uint16_t)millis();
-
-  pinMode(chipSelectPin_, OUTPUT);
-  digitalWrite(chipSelectPin_, HIGH);
-  pinMode(SPI_MISO_PIN, INPUT);
-  pinMode(SPI_SS_PIN, OUTPUT);
-  pinMode(SPI_MOSI_PIN, OUTPUT);
-  pinMode(SPI_SCK_PIN, OUTPUT);
-
-  // Enable SPI, Master, clock rate F_CPU/128
-  SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0);
-
-  // must supply min of 74 clock cycles with CS high.
-  for (uint8_t i = 0; i < 10; i++) spiSend(0XFF);
-  digitalWrite(chipSelectPin_, LOW);
-
-  // command to go idle in SPI mode
-  while ((r = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
-    if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
-      error(SD_ERROR_CMD0, r);
-      return false;
-    }
-  }
-  // start initialization and wait for completed initialization
-  while ((r = cardAcmd(ACMD41, 0)) != R1_READY_STATE) {
-    if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
-      error(SD_ERROR_ACMD41, r);
-      return false;
-    }
-  }
-  chipSelectHigh();
-  return true;
-}
-//------------------------------------------------------------------------------
-/**
- * Reads a 512 byte block from a storage device.
- *
- * \param[in] blockNumber Logical block to be read.
- * \param[out] dst Pointer to the location that will receive the data.
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-uint8_t SdCard::readBlock(uint32_t blockNumber, uint8_t* dst) {
-  if (cardCommand(CMD17, blockNumber << 9)) {
-    error(SD_ERROR_CMD17);
-    return false;
-  }
-  return readTransfer(dst, 512);
-}
-//------------------------------------------------------------------------------
-uint8_t SdCard::readReg(uint8_t cmd, void* buf) {
-  uint8_t* dst = reinterpret_cast<uint8_t*>(buf);
-  if (cardCommand(cmd, 0)) {
-    chipSelectHigh();
-    return false;
-  }
-  return readTransfer(dst, 16);
-}
-//------------------------------------------------------------------------------
-uint8_t SdCard::readTransfer(uint8_t* dst, uint16_t count) {
-  // wait for start of data
-  if (!waitForToken(DATA_START_BLOCK, SD_READ_TIMEOUT)) {
-    error(SD_ERROR_READ_TIMEOUT);
-  }
-  // start first spi transfer
-  SPDR = 0XFF;
-  for (uint16_t i = 0; i < count; i++) {
-    while (!(SPSR & (1 << SPIF)));
-    dst[i] = SPDR;
-    SPDR = 0XFF;
-  }
-  // wait for first CRC byte
-  while (!(SPSR & (1 << SPIF)));
-  spiRec();  // second CRC byte
-  chipSelectHigh();
-  return true;
-}
-//------------------------------------------------------------------------------
-/**
- * Writes a 512 byte block to a storage device.
- *
- * \param[in] blockNumber Logical block to be written.
- * \param[in] src Pointer to the location of the data to be written.
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-uint8_t SdCard::writeBlock(uint32_t blockNumber, const uint8_t* src) {
-  uint32_t address = blockNumber << 9;
-#if SD_PROTECT_BLOCK_ZERO
-  // don't allow write to first block
-  if (address == 0) {
-    error(SD_ERROR_BLOCK_ZERO_WRITE);
-    return false;
-  }
-#endif  // SD_PROTECT_BLOCK_ZERO
-  if (cardCommand(CMD24, address)) {
-    error(SD_ERROR_CMD24);
-    return false;
-  }
-  // optimize write loop
-  SPDR = DATA_START_BLOCK;
-  for (uint16_t i = 0; i < 512; i++) {
-    while (!(SPSR & (1 << SPIF)));
-    SPDR = src[i];
-  }
-  while (!(SPSR & (1 << SPIF)));  // wait for last data byte
-  spiSend(0xFF);  // dummy crc
-  spiSend(0xFF);  // dummy crc
-
-  // get write response
-  uint8_t r1 = spiRec();
-  if ((r1 & DATA_RES_MASK) != DATA_RES_ACCEPTED) {
-    error(SD_ERROR_WRITE_RESPONSE, r1);
-    return false;
-  }
-  // wait for card to complete write programming
-  if (!waitForToken(0XFF, SD_WRITE_TIMEOUT)) {
-      error(SD_ERROR_WRITE_TIMEOUT);
-  }
-  chipSelectHigh();
-  return true;
-}
diff --git a/libraries/Robot_Control/SdCard.h b/libraries/Robot_Control/SdCard.h
deleted file mode 100644
index c03e6ab..0000000
--- a/libraries/Robot_Control/SdCard.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/* Arduino FAT16 Library
- * Copyright (C) 2008 by William Greiman
- *
- * This file is part of the Arduino FAT16 Library
- *
- * This Library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 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 General Public License for more details.
-
- * You should have received a copy of the GNU General Public License
- * along with the Arduino Fat16 Library.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-#ifndef SdCard_h
-#define SdCard_h
- /**
-  * \file
-  * SdCard class
-  */
-#include <SdInfo.h>
-//------------------------------------------------------------------------------
-// Warning only SD_CHIP_SELECT_PIN, the SD card select pin, may be redefined.
-// define hardware SPI pins
-#if defined(__AVR_ATmega168__)\
-||defined(__AVR_ATmega168P__)\
-||defined(__AVR_ATmega328P__)
-// 168 and 328 Arduinos
-/** Slave Select pin */
-uint8_t const SPI_SS_PIN   = 10;
-/** Master Out Slave In pin */
-uint8_t const SPI_MOSI_PIN = 11;
-/** Master In Slave Out pin */
-uint8_t const SPI_MISO_PIN = 12;
-/** Serial Clock */
-uint8_t const SPI_SCK_PIN  = 13;
-//------------------------------------------------------------------------------
-#elif defined(__AVR_ATmega1280__)\
-|| defined(__AVR_ATmega2560__)
-// pins for Arduino Mega
-uint8_t const SPI_SS_PIN   = 53;
-uint8_t const SPI_MOSI_PIN = 51;
-uint8_t const SPI_MISO_PIN = 50;
-uint8_t const SPI_SCK_PIN  = 52;
-//------------------------------------------------------------------------------
-#elif defined(__AVR_ATmega644P__)\
-|| defined(__AVR_ATmega644__)\
-|| defined(__AVR_ATmega1284P__)
-// pins for Sanguino
-uint8_t const SPI_SS_PIN   = 4;
-uint8_t const SPI_MOSI_PIN = 5;
-uint8_t const SPI_MISO_PIN = 6;
-uint8_t const SPI_SCK_PIN  = 7;
-//------------------------------------------------------------------------------
-#elif defined(__AVR_ATmega32U4__)
-// pins for Teensy 2.0
-uint8_t const SPI_SS_PIN   = 8;
-uint8_t const SPI_MOSI_PIN = 16;
-uint8_t const SPI_MISO_PIN = 14;
-uint8_t const SPI_SCK_PIN  = 15;
-//------------------------------------------------------------------------------
-#elif defined(__AVR_AT90USB646__)\
-|| defined(__AVR_AT90USB1286__)
-// pins for Teensy++ 1.0 & 2.0
-uint8_t const SPI_SS_PIN   = 20;
-uint8_t const SPI_MOSI_PIN = 22;
-uint8_t const SPI_MISO_PIN = 23;
-uint8_t const SPI_SCK_PIN  = 21;
-//------------------------------------------------------------------------------
-#else  // SPI pins
-#error unknown CPU
-#endif  // SPI pins
-//------------------------------------------------------------------------------
-/**
- * SD Chip Select pin
- *
- * Warning if this pin is redefined the hardware SS pin will be enabled
- * as an output by init().  An avr processor will not function as an SPI
- * master unless SS is set to output mode.
- *
- * For example to set SD_CHIP_SELECT_PIN to 8 for the SparkFun microSD shield:
- * uint8_t const SD_CHIP_SELECT_PIN = 8;
- *
- * The default chip select pin for the SD card is SS.
- */
-uint8_t const SD_CHIP_SELECT_PIN = SPI_SS_PIN;
-//------------------------------------------------------------------------------
-/** command timeout ms */
-uint16_t const SD_COMMAND_TIMEOUT = 300;
-/** init timeout ms */
-uint16_t const SD_INIT_TIMEOUT    = 2000;
-/** read timeout ms */
-uint16_t const SD_READ_TIMEOUT    = 300;
-/** write timeout ms */
-uint16_t const SD_WRITE_TIMEOUT   = 600;
-//------------------------------------------------------------------------------
-// error codes
-/** Card did not go into SPI mode */
-uint8_t const SD_ERROR_CMD0              = 1;
-/** Card did not go ready */
-uint8_t const SD_ERROR_ACMD41            = 2;
-/** Write command not accepted */
-uint8_t const SD_ERROR_CMD24             = 3;
-/** Read command not accepted */
-uint8_t const SD_ERROR_CMD17             = 4;
-/** timeout waiting for read data */
-uint8_t const SD_ERROR_READ_TIMEOUT      = 5;
-/** write error occurred */
-uint8_t const SD_ERROR_WRITE_RESPONSE    = 6;
-/** timeout waiting for write status */
-uint8_t const SD_ERROR_WRITE_TIMEOUT     = 7;
-/** attempt to write block zero */
-uint8_t const SD_ERROR_BLOCK_ZERO_WRITE  = 8;
-/** card returned an error to a CMD13 status check after a write */
-uint8_t const SD_ERROR_WRITE_PROGRAMMING = 9;
-/** invalid SPI speed in init() call */
-uint8_t const SD_ERROR_SPI_SPEED         = 10;
-//------------------------------------------------------------------------------
-// SD command codes
-/** SEND OPERATING CONDITIONS */
-uint8_t const ACMD41   = 0X29;
-/** GO_IDLE_STATE - init card in spi mode if CS low */
-uint8_t const CMD0     = 0X00;
-/** SEND_CSD - Card Specific Data */
-uint8_t const CMD9     = 0X09;
-/** SEND_CID - Card IDentification */
-uint8_t const CMD10    = 0X0A;
-/** SEND_STATUS - read the card status register */
-uint8_t const CMD13    = 0X0D;
-/** READ_BLOCK */
-uint8_t const CMD17    = 0X11;
-/** WRITE_BLOCK */
-uint8_t const CMD24    = 0X18;
-/** APP_CMD - escape for application specific command */
-uint8_t const CMD55    = 0X37;
-//------------------------------------------------------------------------------
-/**
- * \class SdCard
- * \brief Hardware access class for SD flash cards
- *
- * Supports raw access to a standard SD flash memory card.
- *
- */
-class SdCard  {
- public:
-  /** Code for a SD error. See SdCard.h for definitions. */
-  uint8_t errorCode;
-  /** Data that may be helpful in determining the cause of an error */
-  uint8_t errorData;
-  uint32_t cardSize(void);
-  /**
-   * Initialize an SD flash memory card with default clock rate and chip
-   * select pin.  See SdCard::init(uint8_t sckRateID, uint8_t chipSelectPin).
-   */
-  uint8_t init(void) {
-    return init(0, SD_CHIP_SELECT_PIN);
-  }
-  /**
-   * Initialize an SD flash memory card with the selected SPI clock rate
-   * and the default SD chip select pin.
-   * See SdCard::init(uint8_t slow, uint8_t chipSelectPin).
-   */
-  uint8_t init(uint8_t speed) {
-    return init(speed, SD_CHIP_SELECT_PIN);
-  }
-  uint8_t init(uint8_t speed, uint8_t chipselectPin);
-  uint8_t readBlock(uint32_t block, uint8_t* dst);
-  /** Read the CID register which contains info about the card.
-   *  This includes Manufacturer ID, OEM ID, product name, version,
-   *  serial number, and manufacturing date. */
-  uint8_t readCID(cid_t* cid) {
-    return readReg(CMD10, cid);
-  }
-  uint8_t writeBlock(uint32_t block, const uint8_t* src);
- private:
-  uint8_t cardAcmd(uint8_t cmd, uint32_t arg);
-  uint8_t cardCommand(uint8_t cmd, uint32_t arg);
-  uint8_t chipSelectPin_;
-  uint8_t speed_;
-  void chipSelectHigh(void);
-  void chipSelectLow(void);
-  void error(uint8_t code, uint8_t data);
-  void error(uint8_t code);
-  uint8_t readReg(uint8_t cmd, void* buf);
-  uint8_t readTransfer(uint8_t* dst, uint16_t count);
-};
-#endif  // SdCard_h
diff --git a/libraries/Robot_Control/SdInfo.h b/libraries/Robot_Control/SdInfo.h
deleted file mode 100644
index 4c82e0b..0000000
--- a/libraries/Robot_Control/SdInfo.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/* Arduino FAT16 Library
- * Copyright (C) 2008 by William Greiman
- *
- * This file is part of the Arduino FAT16 Library
- *
- * This Library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 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 General Public License for more details.
-
- * You should have received a copy of the GNU General Public License
- * along with the Arduino Fat16 Library.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-#ifndef SdInfo_h
-#define SdInfo_h
-#include <stdint.h>
-// Based on the document:
-//
-// SD Specifications
-// Part 1
-// Physical Layer
-// Simplified Specification
-// Version 2.00
-// September 25, 2006
-//
-// www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
-//
-// Card IDentification (CID) register
-typedef struct CID {
-  // byte 0
-  uint8_t mid;  // Manufacturer ID
-  // byte 1-2
-  char oid[2];  // OEM/Application ID
-  // byte 3-7
-  char pnm[5];  // Product name
-  // byte 8
-  unsigned prv_m : 4;  // Product revision n.m
-  unsigned prv_n : 4;
-  // byte 9-12
-  uint32_t psn;  // Product serial number
-  // byte 13
-  unsigned mdt_year_high : 4;  // Manufacturing date
-  unsigned reserved : 4;
-  // byte 14
-  unsigned mdt_month : 4;
-  unsigned mdt_year_low :4;
-  // byte 15
-  unsigned always1 : 1;
-  unsigned crc : 7;
-}cid_t;
-// Card-Specific Data register
-typedef struct CSD {
-  // byte 0
-  unsigned reserved1 : 6;
-  unsigned csd_ver : 2;
-  // byte 1
-  uint8_t taac;
-  // byte 2
-  uint8_t nsac;
-  // byte 3
-  uint8_t tran_speed;
-  // byte 4
-  uint8_t ccc_high;
-  // byte 5
-  unsigned read_bl_len : 4;
-  unsigned ccc_low : 4;
-  // byte 6
-  unsigned c_size_high : 2;
-  unsigned reserved2 : 2;
-  unsigned dsr_imp : 1;
-  unsigned read_blk_misalign :1;
-  unsigned write_blk_misalign : 1;
-  unsigned read_bl_partial : 1;
-  // byte 7
-  uint8_t c_size_mid;
-  // byte 8
-  unsigned vdd_r_curr_max : 3;
-  unsigned vdd_r_curr_min : 3;
-  unsigned c_size_low :2;
-  // byte 9
-  unsigned c_size_mult_high : 2;
-  unsigned vdd_w_cur_max : 3;
-  unsigned vdd_w_curr_min : 3;
-  // byte 10
-  unsigned sector_size_high : 6;
-  unsigned erase_blk_en : 1;
-  unsigned c_size_mult_low : 1;
-  // byte 11
-  unsigned wp_grp_size : 7;
-  unsigned sector_size_low : 1;
-  // byte 12
-  unsigned write_bl_len_high : 2;
-  unsigned r2w_factor : 3;
-  unsigned reserved3 : 2;
-  unsigned wp_grp_enable : 1;
-  // byte 13
-  unsigned reserved4 : 5;
-  unsigned write_partial : 1;
-  unsigned write_bl_len_low : 2;
-  // byte 14
-  unsigned reserved5: 2;
-  unsigned file_format : 2;
-  unsigned tmp_write_protect : 1;
-  unsigned perm_write_protect : 1;
-  unsigned copy : 1;
-  unsigned file_format_grp : 1;
-  // byte 15
-  unsigned always1 : 1;
-  unsigned crc : 7;
-}csd_t;
-#endif  // SdInfo_h
diff --git a/libraries/Robot_Control/Sensors.cpp b/libraries/Robot_Control/Sensors.cpp
deleted file mode 100644
index b651c28..0000000
--- a/libraries/Robot_Control/Sensors.cpp
+++ /dev/null
@@ -1,274 +0,0 @@
-#include "ArduinoRobot.h"
-#include "Multiplexer.h"
-#include "Wire.h"
-bool RobotControl::digitalRead(uint8_t port){
-	uint8_t type=_getTypeCode(port);
-	switch(type){
-		case TYPE_TOP_TK:
-			return _digitalReadTopMux(port);
-			break;
-		case TYPE_TOP_TKD:
-			return _digitalReadTopPin(port);
-			break;
-		case TYPE_BOTTOM_TK:
-			return _requestDigitalRead(port);
-			break;
-	}
-}
-int RobotControl::analogRead(uint8_t port){
-	uint8_t type=_getTypeCode(port);
-	switch(type){
-		case TYPE_TOP_TK:
-			return _analogReadTopMux(port);
-			break;
-		case TYPE_TOP_TKD:
-			return _analogReadTopPin(port);
-			break;
-		case TYPE_BOTTOM_TK:
-			return _requestAnalogRead(port);
-			break;
-	}
-}
-void RobotControl::digitalWrite(uint8_t port, bool value){
-	uint8_t type=_getTypeCode(port);
-	switch(type){
-		case TYPE_TOP_TK:
-			//Top TKs can't use digitalWrite?
-			break;
-		case TYPE_TOP_TKD:
-			_digitalWriteTopPin(port, value);
-			break;
-		case TYPE_BOTTOM_TK:
-			_requestDigitalWrite(port, value);
-			break;
-	}
-}
-void RobotControl::analogWrite(uint8_t port, uint8_t value){
-	if(port==TKD4)
-		::analogWrite(port,value);
-}
-
-uint8_t RobotControl::_getTypeCode(uint8_t port){
-	switch(port){
-		case TK0:
-		case TK1:
-		case TK2:
-		case TK3:
-		case TK4:
-		case TK5:
-		case TK6:
-		case TK7:
-			return TYPE_TOP_TK;
-			break;
-			
-		case TKD0:
-		case TKD1:
-		case TKD2:
-		case TKD3:
-		case TKD4:
-		case TKD5:
-		case LED1:
-			return TYPE_TOP_TKD;
-			break;
-			
-		case B_TK1:
-		case B_TK2:
-		case B_TK3:
-		case B_TK4:
-			return TYPE_BOTTOM_TK;
-			break;
-	}
-}
-uint8_t RobotControl::_portToTopMux(uint8_t port){
-	switch(port){
-		case TK0:
-			return 0;
-		case TK1:
-			return 1;
-		case TK2:
-			return 2;
-		case TK3:
-			return 3;
-		case TK4:
-			return 4;
-		case TK5:
-			return 5;
-		case TK6:
-			return 6;
-		case TK7:
-			return 7;
-	}
-}
-uint8_t RobotControl::_topDPortToAPort(uint8_t port){
-	switch(port){
-		case TKD0:
-		  return A1;
-		case TKD1:
-		  return A2;
-		case TKD2:
-		  return A3;
-		case TKD3:
-		  return A4;
-		case TKD4:
-		  return A7;
-		case TKD5:
-		  return A11;
-	}
-}
-int* RobotControl::parseMBDPort(uint8_t port){
-	//Serial.println(port);
-	switch(port){
-		case B_TK1:
-			return &motorBoardData._B_TK1;
-		case B_TK2:
-			return &motorBoardData._B_TK2;
-		case B_TK3:
-			return &motorBoardData._B_TK3;
-		case B_TK4:
-			return &motorBoardData._B_TK4;
-		
-		/*		
-		case B_IR0:
-			return &motorBoardData._B_IR0;
-		case B_IR1:
-			return &motorBoardData._B_IR1;
-		case B_IR2:
-			return &motorBoardData._B_IR2;
-		case B_IR3:
-			return &motorBoardData._B_IR3;
-		case B_IR4:
-			return &motorBoardData._B_IR4;*/
-	}
-}
-int RobotControl::get_motorBoardData(uint8_t port){
-	return *parseMBDPort(port);
-}
-void RobotControl::set_motorBoardData(uint8_t port, int data){
-	*parseMBDPort(port)=data;
-}
-
-bool RobotControl::_digitalReadTopMux(uint8_t port){
-	uint8_t num=_portToTopMux(port);
-	return Multiplexer::getDigitalValueAt(num);
-}
-
-int RobotControl::_analogReadTopMux(uint8_t port){
-	uint8_t num=_portToTopMux(port);
-	return Multiplexer::getAnalogValueAt(num);
-}
-
-bool RobotControl::_digitalReadTopPin(uint8_t port){
-	return ::digitalRead(port);
-}
-int RobotControl::_analogReadTopPin(uint8_t port){
-	uint8_t aPin=_topDPortToAPort(port);
-	return ::analogRead(aPin);
-}
-void RobotControl::_digitalWriteTopPin(uint8_t port, bool value){
-	::digitalWrite(port, value);
-}
-
-bool RobotControl::_requestDigitalRead(uint8_t port){
-	messageOut.writeByte(COMMAND_DIGITAL_READ);
-	messageOut.writeByte(port);//B_TK1 - B_TK4
-	messageOut.sendData();
-	delay(10);
-	if(messageIn.receiveData()){
-		//Serial.println("*************");
-		uint8_t cmd=messageIn.readByte();
-		//Serial.print("cmd: ");
-		//Serial.println(cmd);
-		if(!(cmd==COMMAND_DIGITAL_READ_RE))
-			return false;
-			
-		uint8_t pt=messageIn.readByte(); //Bottom TK port codename
-		//Serial.print("pt: ");
-		//Serial.println(pt);
-		set_motorBoardData(pt,messageIn.readByte());
-		return get_motorBoardData(port);
-	}
-}
-int RobotControl::_requestAnalogRead(uint8_t port){
-	messageOut.writeByte(COMMAND_ANALOG_READ);
-	messageOut.writeByte(port);//B_TK1 - B_TK4
-	messageOut.sendData();
-	delay(10);
-	if(messageIn.receiveData()){
-		uint8_t cmd=messageIn.readByte();
-		//Serial.println("*************");
-		//Serial.print("cmd: ");
-		//Serial.println(cmd);
-		if(!(cmd==COMMAND_ANALOG_READ_RE))
-			return false;
-			
-		uint8_t pt=messageIn.readByte();
-		//Serial.print("pt: ");
-		//Serial.println(pt);
-		set_motorBoardData(pt,messageIn.readInt());
-		return get_motorBoardData(port);
-	}
-}
-void RobotControl::_requestDigitalWrite(uint8_t selector, uint8_t value){
-	messageOut.writeByte(COMMAND_DIGITAL_WRITE);
-	messageOut.writeByte(selector);//B_TK1 - B_TK4
-	messageOut.writeByte(value);
-	messageOut.sendData();
-}
-
-
-
-
-
-void RobotControl::updateIR(){
-	messageOut.writeByte(COMMAND_READ_IR);
-	messageOut.sendData();
-	delay(10);
-	if(messageIn.receiveData()){
-		if(messageIn.readByte()==COMMAND_READ_IR_RE){
-			for(int i=0;i<5;i++){
-				IRarray[i]=messageIn.readInt();
-			}
-		}
-	}
-}
-
-int RobotControl::knobRead(){
-	return ::analogRead(POT);
-}
-
-int RobotControl::trimRead(){
-	messageOut.writeByte(COMMAND_READ_TRIM);
-	messageOut.sendData();
-	delay(10);
-	if(messageIn.receiveData()){
-		uint8_t cmd=messageIn.readByte();
-		if(!(cmd==COMMAND_READ_TRIM_RE))
-			return false;
-			
-		uint16_t pt=messageIn.readInt();
-		return pt;
-	}
-}
-
-uint16_t RobotControl::compassRead(){
-	return Compass::getReading();
-}
-
-/*
-void RobotControl::beginUR(uint8_t pinTrigger, uint8_t pinEcho){
-	pinTrigger_UR=pinTrigger;
-	pinEcho_UR=pinEcho;
-	
-	pinMode(pinEcho_UR, INPUT);
-	pinMode(pinTrigger_UR, OUTPUT);
-}
-uint16_t RobotControl::getDistance(){
-	digitalWrite(pinTrigger_UR, LOW);                   // Set the trigger pin to low for 2uS
-	delayMicroseconds(2);
-	digitalWrite(pinTrigger_UR, HIGH);                  // Send a 10uS high to trigger ranging
-	delayMicroseconds(10);
-	digitalWrite(pinTrigger_UR, LOW);                   // Send pin low again
-	uint16_t distance = pulseIn(pinEcho_UR, HIGH);        // Read in times pulse
-	distance= distance/58;                        // Calculate distance from time of pulse
-	return distance;
-}*/
\ No newline at end of file
diff --git a/libraries/Robot_Control/Squawk.cpp b/libraries/Robot_Control/Squawk.cpp
deleted file mode 100644
index 5b39ebe..0000000
--- a/libraries/Robot_Control/Squawk.cpp
+++ /dev/null
@@ -1,601 +0,0 @@
-// Squawk Soft-Synthesizer Library for Arduino
-//
-// Davey Taylor 2013
-// d.taylor@arduino.cc
-
-#include "Squawk.h"
-
-// Period range, used for clamping
-#define PERIOD_MIN 28
-#define PERIOD_MAX 3424
-
-// Convenience macros
-#define LO4(V)    ((V) & 0x0F)
-#define HI4(V)    (((V) & 0xF0) >> 4)
-#define MIN(A, B) ((A) < (B) ? (A) : (B))
-#define MAX(A, B) ((A) > (B) ? (A) : (B))
-#define FREQ(PERIOD) (tuning_long / (PERIOD))
-
-// SquawkStream class for PROGMEM data
-class StreamROM : public SquawkStream {
-  private:
-    uint8_t *p_start;
-    uint8_t *p_cursor;
-  public:
-    StreamROM(const uint8_t *p_rom = NULL) { p_start = p_cursor = (uint8_t*)p_rom; }
-    uint8_t read() { return pgm_read_byte(p_cursor++); }
-    void seek(size_t offset) { p_cursor = p_start + offset; }
-};
-
-// Oscillator memory
-typedef struct {
-  uint8_t fxp;
-  uint8_t offset;
-  uint8_t mode;
-} pto_t;
-
-// Deconstructed cell
-typedef struct {
-  uint8_t fxc, fxp, ixp;
-} cel_t;
-
-// Effect memory
-typedef struct {
-  int8_t    volume;
-  uint8_t   port_speed;
-  uint16_t  port_target;
-  bool      glissando;
-  pto_t     vibr;
-  pto_t     trem;
-  uint16_t  period;
-  uint8_t   param;
-} fxm_t;
-
-// Locals
-static uint8_t  order_count;
-static uint8_t  order[64];
-static uint8_t  speed;
-static uint8_t  tick;
-static uint8_t  ix_row;
-static uint8_t  ix_order;
-static uint8_t  ix_nextrow;
-static uint8_t  ix_nextorder;
-static uint8_t  row_delay;
-static fxm_t    fxm[4];
-static cel_t    cel[4];
-static uint32_t tuning_long;
-static uint16_t sample_rate;
-static float    tuning = 1.0;
-static uint16_t tick_rate = 50;
-
-static SquawkStream *stream;
-static uint16_t stream_base;
-static StreamROM rom;
-
-// Imports
-extern intptr_t squawk_register;
-extern uint16_t cia;
-
-// Exports
-osc_t osc[4];
-uint8_t pcm = 128;
-
-// ProTracker period tables
-uint16_t period_tbl[84] PROGMEM = {
-  3424, 3232, 3048, 2880, 2712, 2560, 2416, 2280, 2152, 2032, 1920, 1814,
-  1712, 1616, 1524, 1440, 1356, 1280, 1208, 1140, 1076, 1016,  960,  907,
-   856,  808,  762,  720,  678,  640,  604,  570,  538,  508,  480,  453,
-   428,  404,  381,  360,  339,  320,  302,  285,  269,  254,  240,  226,
-   214,  202,  190,  180,  170,  160,  151,  143,  135,  127,  120,  113,
-   107,  101,   95,   90,   85,   80,   75,   71,   67,   63,   60,   56,
-    53,   50,   47,   45,   42,   40,   37,   35,   33,   31,   30,   28,
-};
-
-// ProTracker sine table
-int8_t sine_tbl[32] PROGMEM = {
-  0x00, 0x0C, 0x18, 0x25, 0x30, 0x3C, 0x47, 0x51, 0x5A, 0x62, 0x6A, 0x70, 0x76, 0x7A, 0x7D, 0x7F,
-  0x7F, 0x7F, 0x7D, 0x7A, 0x76, 0x70, 0x6A, 0x62, 0x5A, 0x51, 0x47, 0x3C, 0x30, 0x25, 0x18, 0x0C,
-};
-
-// Squawk object
-SquawkSynth Squawk;
-
-// Look up or generate waveform for ProTracker vibrato/tremolo oscillator
-static int8_t do_osc(pto_t *p_osc) {
-  int8_t sample = 0;
-  int16_t mul;
-  switch(p_osc->mode & 0x03) {
-    case 0: // Sine
-      sample = pgm_read_byte(&sine_tbl[(p_osc->offset) & 0x1F]);
-      if(p_osc->offset & 0x20) sample = -sample;
-      break;
-    case 1: // Square
-      sample = (p_osc->offset & 0x20) ? 127 : -128;
-      break;
-    case 2: // Saw
-      sample = -(p_osc->offset << 2);
-      break;
-    case 3: // Noise (random)
-      sample = rand();
-      break;
-  }
-  mul = sample * LO4(p_osc->fxp);
-  p_osc->offset = (p_osc->offset + HI4(p_osc->fxp));
-  return mul >> 6;
-}
-
-// Calculates and returns arpeggio period
-// Essentially finds period of current note + halftones
-static inline uint16_t arpeggio(uint8_t ch, uint8_t halftones) {
-  uint8_t n;
-  for(n = 0; n != 47; n++) {
-    if(fxm[ch].period >= pgm_read_word(&period_tbl[n])) break;
-  }
-  return pgm_read_word(&period_tbl[MIN(n + halftones, 47)]);
-}
-
-// Calculates and returns glissando period
-// Essentially snaps a sliding frequency to the closest note
-static inline uint16_t glissando(uint8_t ch) {
-  uint8_t n;
-  uint16_t period_h, period_l;
-  for(n = 0; n != 47; n++) {
-    period_l = pgm_read_word(&period_tbl[n]);
-    period_h = pgm_read_word(&period_tbl[n + 1]);
-    if(fxm[ch].period < period_l && fxm[ch].period >= period_h) {
-      if(period_l - fxm[ch].period <= fxm[ch].period - period_h) {
-        period_h = period_l;
-      }
-      break;
-    }
-  }
-  return period_h;
-}
-
-// Tunes Squawk to a different frequency
-void SquawkSynth::tune(float new_tuning) {
-  tuning = new_tuning;
-  tuning_long = (long)(((double)3669213184.0 / (double)sample_rate) * (double)tuning);
-
-}
-
-// Sets tempo
-void SquawkSynth::tempo(uint16_t new_tempo) {
-  tick_rate = new_tempo;
-  cia = sample_rate / tick_rate; // not atomic?
-}
-
-// Initializes Squawk
-// Sets up the selected port, and the sample grinding ISR
-void SquawkSynth::begin(uint16_t hz) {
-  word isr_rr;
-
-  sample_rate = hz;
-  tuning_long = (long)(((double)3669213184.0 / (double)sample_rate) * (double)tuning);
-  cia = sample_rate / tick_rate;
-
-  if(squawk_register == (intptr_t)&OCR0A) {
-    // Squawk uses PWM on OCR0A/PD5(ATMega328/168)/PB7(ATMega32U4)
-#ifdef  __AVR_ATmega32U4__
-    DDRB  |= 0b10000000; // TODO: FAIL on 32U4
-#else
-    DDRD  |= 0b01000000;
-#endif
-    TCCR0A = 0b10000011; // Fast-PWM 8-bit
-    TCCR0B = 0b00000001; // 62500Hz
-    OCR0A  = 0x7F;
-  } else if(squawk_register == (intptr_t)&OCR0B) {
-    // Squawk uses PWM on OCR0B/PC5(ATMega328/168)/PD0(ATMega32U4)
-#ifdef  __AVR_ATmega32U4__
-    DDRD  |= 0b00000001;
-#else
-    DDRD  |= 0b00100000;
-#endif                   // Set timer mode to
-    TCCR0A = 0b00100011; // Fast-PWM 8-bit
-    TCCR0B = 0b00000001; // 62500Hz
-    OCR0B  = 0x7F;
-#ifdef OCR2A
-  } else if(squawk_register == (intptr_t)&OCR2A) {
-    // Squawk uses PWM on OCR2A/PB3
-    DDRB  |= 0b00001000; // Set timer mode to
-    TCCR2A = 0b10000011; // Fast-PWM 8-bit
-    TCCR2B = 0b00000001; // 62500Hz
-    OCR2A  = 0x7F;
-#endif
-#ifdef OCR2B
-  } else if(squawk_register == (intptr_t)&OCR2B) {
-    // Squawk uses PWM on OCR2B/PD3
-    DDRD  |= 0b00001000; // Set timer mode to
-    TCCR2A = 0b00100011; // Fast-PWM 8-bit
-    TCCR2B = 0b00000001; // 62500Hz
-    OCR2B  = 0x7F;
-#endif
-#ifdef OCR3AL
-  } else if(squawk_register == (intptr_t)&OCR3AL) {
-    // Squawk uses PWM on OCR3AL/PC6
-    DDRC  |= 0b01000000; // Set timer mode to
-    TCCR3A = 0b10000001; // Fast-PWM 8-bit
-    TCCR3B = 0b00001001; // 62500Hz
-    OCR3AH = 0x00;
-    OCR3AL = 0x7F;
-#endif
-  } else if(squawk_register == (intptr_t)&SPDR) {
-    // NOT YET SUPPORTED
-    // Squawk uses external DAC via SPI
-    // TODO: Configure SPI
-    // TODO: Needs SS toggle in sample grinder
-  } else if(squawk_register == (intptr_t)&PORTB) {
-    // NOT YET SUPPORTED
-    // Squawk uses resistor ladder on PORTB
-    // TODO: Needs shift right in sample grinder
-    DDRB   = 0b11111111;
-  } else if(squawk_register == (intptr_t)&PORTC) {
-    // NOT YET SUPPORTED
-    // Squawk uses resistor ladder on PORTC
-    // TODO: Needs shift right in sample grinder
-    DDRC   = 0b11111111;
-  }
-
-  // Seed LFSR (needed for noise)
-  osc[3].freq = 0x2000;
-
-  // Set up ISR to run at sample_rate (may not be exact)
-  isr_rr = F_CPU / sample_rate;
-  TCCR1A = 0b00000000;     // Set timer mode
-  TCCR1B = 0b00001001;
-  OCR1AH = isr_rr >> 8;    // Set freq
-  OCR1AL = isr_rr & 0xFF;
-}
-
-// Decrunches a 9 byte row into a useful data
-static void decrunch_row() {
-  uint8_t data;
-
-  // Initial decrunch
-  stream->seek(stream_base + ((order[ix_order] << 6) + ix_row) * 9);
-  data = stream->read(); cel[0].fxc  =  data << 0x04;
-                         cel[1].fxc  =  data &  0xF0;
-  data = stream->read(); cel[0].fxp  =  data;
-  data = stream->read(); cel[1].fxp  =  data;
-  data = stream->read(); cel[2].fxc  =  data << 0x04;
-                         cel[3].fxc  =  data >> 0x04;
-  data = stream->read(); cel[2].fxp  =  data;
-  data = stream->read(); cel[3].fxp  =  data;
-  data = stream->read(); cel[0].ixp  =  data;
-  data = stream->read(); cel[1].ixp  =  data;
-  data = stream->read(); cel[2].ixp  =  data;
-
-  // Decrunch extended effects
-  if(cel[0].fxc == 0xE0) { cel[0].fxc |= cel[0].fxp >> 4; cel[0].fxp &= 0x0F; }
-  if(cel[1].fxc == 0xE0) { cel[1].fxc |= cel[1].fxp >> 4; cel[1].fxp &= 0x0F; }
-  if(cel[2].fxc == 0xE0) { cel[2].fxc |= cel[2].fxp >> 4; cel[2].fxp &= 0x0F; }
-
-  // Decrunch cell 3 ghetto-style
-  cel[3].ixp = ((cel[3].fxp & 0x80) ? 0x00 : 0x7F) | ((cel[3].fxp & 0x40) ? 0x80 : 0x00);
-  cel[3].fxp &= 0x3F;
-  switch(cel[3].fxc) {
-    case 0x02:
-    case 0x03: if(cel[3].fxc & 0x01) cel[3].fxp |= 0x40; cel[3].fxp = (cel[3].fxp >> 4) | (cel[3].fxp << 4); cel[3].fxc = 0x70; break;
-    case 0x01: if(cel[3].fxp & 0x08) cel[3].fxp = (cel[3].fxp & 0x07) << 4; cel[3].fxc = 0xA0; break;
-    case 0x04: cel[3].fxc = 0xC0; break;
-    case 0x05: cel[3].fxc = 0xB0; break;
-    case 0x06: cel[3].fxc = 0xD0; break;
-    case 0x07: cel[3].fxc = 0xF0; break;
-    case 0x08: cel[3].fxc = 0xE7; break;
-    case 0x09: cel[3].fxc = 0xE9; break;
-    case 0x0A: cel[3].fxc = (cel[3].fxp & 0x08) ? 0xEA : 0xEB; cel[3].fxp &= 0x07; break;
-    case 0x0B: cel[3].fxc = (cel[3].fxp & 0x10) ? 0xED : 0xEC; cel[3].fxp &= 0x0F; break;
-    case 0x0C: cel[3].fxc = 0xEE; break;
-  }
-
-  // Apply generic effect parameter memory
-  uint8_t ch;
-  cel_t *p_cel = cel;
-  fxm_t *p_fxm = fxm;
-  for(ch = 0; ch != 4; ch++) {
-    uint8_t fx = p_cel->fxc;
-    if(fx == 0x10 || fx == 0x20 || fx == 0xE1 || fx == 0xE2 || fx == 0x50 || fx == 0x60 || fx == 0xA0) {
-      if(p_cel->fxp) {
-        p_fxm->param = p_cel->fxp;
-      } else {
-        p_cel->fxp = p_fxm->param;
-      }
-    }
-    p_cel++; p_fxm++;
-  }
-}
-
-// Resets playback
-static void playroutine_reset() {
-  memset(fxm, 0, sizeof(fxm));
-  tick         = 0;
-  ix_row       = 0;
-  ix_order     = 0;
-  ix_nextrow   = 0xFF;
-  ix_nextorder = 0xFF;
-  row_delay    = 0;
-  speed        = 6;
-  decrunch_row();
-}
-
-// Start grinding samples
-void SquawkSynth::play() {
-  TIMSK1 = 1 << OCIE1A; // Enable interrupt
-}
-
-// Load a melody stream and start grinding samples
-void SquawkSynth::play(SquawkStream *melody) {
-  uint8_t n;
-  pause();
-  stream = melody;
-  stream->seek(0);
-  n = stream->read();
-  if(n == 'S') {
-    // Squawk SD file
-    stream->seek(4);
-    stream_base = stream->read() << 8;
-    stream_base |= stream->read();
-    stream_base += 6;
-  } else {
-    // Squawk ROM array
-    stream_base = 1;
-  }
-  stream->seek(stream_base);
-  order_count = stream->read();
-  if(order_count <= 64) {
-    stream_base += order_count + 1;
-    for(n = 0; n < order_count; n++) order[n] = stream->read();
-    playroutine_reset();
-    play();
-  } else {
-    order_count = 0;
-  }
-}
-
-// Load a melody in PROGMEM and start grinding samples
-void SquawkSynth::play(const uint8_t *melody) {
-  pause();
-  rom = StreamROM(melody);
-  play(&rom);
-}
-
-// Pause playback
-void SquawkSynth::pause() {
-  TIMSK1 = 0; // Disable interrupt
-}
-
-// Stop playing, unload melody
-void SquawkSynth::stop() {
-  pause();
-  order_count = 0; // Unload melody
-}
-
-// Progress module by one tick
-void squawk_playroutine() {
-  static bool lockout = false;
-
-  if(!order_count) return;
-
-  // Protect from re-entry via ISR
-  cli();
-  if(lockout) {
-    sei();
-    return;
-  }
-  lockout = true;
-  sei();
-
-  // Handle row delay
-  if(row_delay) {
-    if(tick == 0) row_delay--;
-    // Advance tick
-    if(++tick == speed) tick = 0;
-  } else {
-
-    // Quick pointer access
-    fxm_t *p_fxm = fxm;
-    osc_t *p_osc = osc;
-    cel_t *p_cel = cel;
-
-    // Temps
-    uint8_t ch, fx, fxp;
-    bool    pattern_jump = false;
-    uint8_t ix_period;
-
-    for(ch = 0; ch != 4; ch++) {
-      uint8_t       temp;
-
-      // Local register copy
-      fx        = p_cel->fxc;
-      fxp       = p_cel->fxp;
-      ix_period = p_cel->ixp;
-
-      // If first tick
-      if(tick == (fx == 0xED ? fxp : 0)) {
-
-        // Reset volume
-        if(ix_period & 0x80) p_osc->vol = p_fxm->volume = 0x20;
-
-        if((ix_period & 0x7F) != 0x7F) {
-
-          // Reset oscillators (unless continous flag set)
-          if((p_fxm->vibr.mode & 0x4) == 0x0) p_fxm->vibr.offset = 0;
-          if((p_fxm->trem.mode & 0x4) == 0x0) p_fxm->trem.offset = 0;
-
-          // Cell has note
-          if(fx == 0x30 || fx == 0x50) {
-
-            // Tone-portamento effect setup
-            p_fxm->port_target = pgm_read_word(&period_tbl[ix_period & 0x7F]);
-          } else {
-
-            // Set required effect memory parameters
-            p_fxm->period = pgm_read_word(&period_tbl[ix_period & 0x7F]);
-
-            // Start note
-            if(ch != 3) p_osc->freq = FREQ(p_fxm->period);
-
-          }
-        }
-
-        // Effects processed when tick = 0
-        switch(fx) {
-          case 0x30: // Portamento
-            if(fxp) p_fxm->port_speed = fxp;
-            break;
-          case 0xB0: // Jump to pattern
-            ix_nextorder = (fxp >= order_count ? 0x00 : fxp);
-            ix_nextrow = 0;
-            pattern_jump = true;
-            break;
-          case 0xC0: // Set volume
-            p_osc->vol = p_fxm->volume = MIN(fxp, 0x20);
-            break;
-          case 0xD0: // Jump to row
-            if(!pattern_jump) ix_nextorder = ((ix_order + 1) >= order_count ? 0x00 : ix_order + 1);
-            pattern_jump = true;
-            ix_nextrow = (fxp > 63 ? 0 : fxp);
-            break;
-          case 0xF0: // Set speed, BPM(CIA) not supported
-            if(fxp <= 0x20) speed = fxp;
-            break;
-          case 0x40: // Vibrato
-            if(fxp) p_fxm->vibr.fxp = fxp;
-            break;
-          case 0x70: // Tremolo
-            if(fxp) p_fxm->trem.fxp = fxp;
-            break;
-          case 0xE1: // Fine slide up
-            if(ch != 3) {
-              p_fxm->period = MAX(p_fxm->period - fxp, PERIOD_MIN);
-              p_osc->freq = FREQ(p_fxm->period);
-            }
-            break;
-          case 0xE2: // Fine slide down
-            if(ch != 3) {
-              p_fxm->period = MIN(p_fxm->period + fxp, PERIOD_MAX);
-              p_osc->freq = FREQ(p_fxm->period);
-            }
-            break;
-          case 0xE3: // Glissando control
-            p_fxm->glissando = (fxp != 0);
-            break;
-          case 0xE4: // Set vibrato waveform
-            p_fxm->vibr.mode = fxp;
-            break;
-          case 0xE7: // Set tremolo waveform
-            p_fxm->trem.mode = fxp;
-            break;
-          case 0xEA: // Fine volume slide up
-            p_osc->vol = p_fxm->volume = MIN(p_fxm->volume + fxp, 0x20);
-            break;
-          case 0xEB: // Fine volume slide down
-            p_osc->vol = p_fxm->volume = MAX(p_fxm->volume - fxp, 0);
-            break;
-          case 0xEE: // Delay
-            row_delay = fxp;
-            break;
-        }
-      } else {
-
-        // Effects processed when tick > 0
-        switch(fx) {
-          case 0x10: // Slide up
-            if(ch != 3) {
-              p_fxm->period = MAX(p_fxm->period - fxp, PERIOD_MIN);
-              p_osc->freq = FREQ(p_fxm->period);
-            }
-            break;
-          case 0x20: // Slide down
-            if(ch != 3) {
-              p_fxm->period = MIN(p_fxm->period + fxp, PERIOD_MAX);
-              p_osc->freq = FREQ(p_fxm->period);
-            }
-            break;
-/*
-          // Just feels... ugly
-          case 0xE9: // Retrigger note
-            temp = tick; while(temp >= fxp) temp -= fxp;
-            if(!temp) {
-              if(ch == 3) {
-                p_osc->freq = p_osc->phase = 0x2000;
-              } else {
-                p_osc->phase = 0;
-              }
-            }
-            break;
-*/            
-          case 0xEC: // Note cut
-            if(fxp == tick) p_osc->vol = 0x00;
-            break;
-          default:   // Multi-effect processing
-
-            // Portamento
-            if(ch != 3 && (fx == 0x30 || fx == 0x50)) {
-              if(p_fxm->period < p_fxm->port_target) p_fxm->period = MIN(p_fxm->period + p_fxm->port_speed,  p_fxm->port_target);
-              else                                   p_fxm->period = MAX(p_fxm->period - p_fxm->port_speed,  p_fxm->port_target);
-              if(p_fxm->glissando) p_osc->freq = FREQ(glissando(ch));
-              else                 p_osc->freq = FREQ(p_fxm->period);
-            }
-
-            // Volume slide
-            if(fx == 0x50 || fx == 0x60 || fx == 0xA0) {
-              if((fxp & 0xF0) == 0) p_fxm->volume -= (LO4(fxp));
-              if((fxp & 0x0F) == 0) p_fxm->volume += (HI4(fxp));
-              p_osc->vol = p_fxm->volume = MAX(MIN(p_fxm->volume, 0x20), 0);
-            }
-        }
-      }
-
-      // Normal play and arpeggio
-      if(fx == 0x00) {
-        if(ch != 3) {
-          temp = tick; while(temp > 2) temp -= 2;
-          if(temp == 0) {
-
-            // Reset
-            p_osc->freq = FREQ(p_fxm->period);
-          } else if(fxp) {
-
-            // Arpeggio
-            p_osc->freq = FREQ(arpeggio(ch, (temp == 1 ? HI4(fxp) : LO4(fxp))));
-          }
-        }
-      } else if(fx == 0x40 || fx == 0x60) {
-
-        // Vibrato
-        if(ch != 3) p_osc->freq = FREQ((p_fxm->period + do_osc(&p_fxm->vibr)));
-      } else if(fx == 0x70) {
-        int8_t trem = p_fxm->volume + do_osc(&p_fxm->trem);
-        p_osc->vol = MAX(MIN(trem, 0x20), 0);
-      }
-
-      // Next channel
-      p_fxm++; p_cel++; p_osc++;
-    }
-
-    // Advance tick
-    if(++tick == speed) tick = 0;
-
-    // Advance playback
-    if(tick == 0) {
-      if(++ix_row == 64) {
-        ix_row = 0;
-        if(++ix_order >= order_count) ix_order = 0;
-      }
-	    // Forced order/row
-	    if( ix_nextorder != 0xFF ) {
-	      ix_order = ix_nextorder;
-	      ix_nextorder = 0xFF;
-	    }
-	    if( ix_nextrow != 0xFF ) {
-	      ix_row = ix_nextrow;
-	      ix_nextrow = 0xFF;
-	    }
-			decrunch_row();
-    }
-
-  }
-
-  lockout = false;
-}
\ No newline at end of file
diff --git a/libraries/Robot_Control/Squawk.h b/libraries/Robot_Control/Squawk.h
deleted file mode 100644
index 3481acf..0000000
--- a/libraries/Robot_Control/Squawk.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// Squawk Soft-Synthesizer Library for Arduino
-//
-// Davey Taylor 2013
-// d.taylor@arduino.cc
-
-#ifndef _SQUAWK_H_
-#define _SQUAWK_H_
-#include <stddef.h>
-#include <inttypes.h>
-#include "Arduino.h"
-
-#define Melody const uint8_t PROGMEM
-
-class SquawkStream {
-	public:
-	  virtual ~SquawkStream() = 0;
-    virtual uint8_t read() = 0;
-    virtual void seek(size_t offset) = 0;
-};
-inline SquawkStream::~SquawkStream() { }
-
-class SquawkSynth {
-
-protected:
-  // Load and play specified melody
-  void play(SquawkStream *melody);
-
-public:
-  SquawkSynth() {};
-
-  // Initialize Squawk to generate samples at sample_rate Hz
-  void begin(uint16_t sample_rate);
-
-  // Load and play specified melody
-  // melody needs to point to PROGMEM data
-  void play(const uint8_t *melody);
-  
-  // Resume currently loaded melody (or enable direct osc manipulation by sketch)
-  void play();
-    
-  // Pause playback
-  void pause();
-  
-  // Stop playback (unloads song)
-  void stop();
-  
-  // Tune Squawk to a different frequency - default is 1.0
-  void tune(float tuning);
-
-  // Change the tempo - default is 50
-	void tempo(uint16_t tempo);
-};
-
-extern SquawkSynth Squawk;
-
-// oscillator structure
-typedef struct {
-  uint8_t  vol;
-  uint16_t freq;
-  uint16_t phase;
-} osc_t;
-
-typedef osc_t Oscillator;
-
-// oscillator memory
-extern osc_t osc[4];
-extern uint8_t pcm;
-// channel 0 is pulse wave @ 25% duty
-// channel 1 is square wave
-// channel 2 is triangle wave
-// channel 3 is noise
-
-// For channel 3, freq is used as part of its LFSR and should not be changed.
-// LFSR: Linear feedback shift register, a method of producing a
-// pseudo-random bit sequence, used to generate nasty noise.
-
-#ifdef __AVR_ATmega32U4__
-// Supported configurations for ATmega32U4
-#define SQUAWK_PWM_PIN5  OCR3AL
-#define SQUAWK_PWM_PIN11 OCR0A
-#define SQUAWK_PWM_PIN3  OCR0B
-/*
-// NOT SUPPORTED YET
-#define SQUAWK_PWM_PIN6  OCR4D
-#define SQUAWK_PWM_PIN9  OCR4B
-#define SQUAWK_PWM_PIN10 OCR4B
-*/
-#endif
-
-#ifdef __AVR_ATmega168__
-// Supported configurations for ATmega168
-#define SQUAWK_PWM_PIN6  OCR0A
-#define SQUAWK_PWM_PIN5  OCR0B
-#define SQUAWK_PWM_PIN11 OCR2A
-#define SQUAWK_PWM_PIN3  OCR2B
-#endif
-
-#ifdef __AVR_ATmega328P__
-// Supported configurations for ATmega328P
-#define SQUAWK_PWM_PIN6  OCR0A
-#define SQUAWK_PWM_PIN5  OCR0B
-#define SQUAWK_PWM_PIN11 OCR2A
-#define SQUAWK_PWM_PIN3  OCR2B
-#endif
-
-/*
-// NOT SUPPORTED YET
-#define SQUAWK_SPI SPDR
-#define SQUAWK_RLD_PORTB PORTB
-#define SQUAWK_RLD_PORTC PORTC
-*/
-
-extern void squawk_playroutine() asm("squawk_playroutine");
-
-// SAMPLE GRINDER
-// generates samples and updates oscillators
-// uses 132 cycles (not counting playroutine)
-//     ~1/3 CPU @ 44kHz on 16MHz
-#define SQUAWK_CONSTRUCT_ISR(TARGET_REGISTER) \
-uint16_t cia, cia_count; \
-intptr_t squawk_register = (intptr_t)&TARGET_REGISTER; \
-ISR(TIMER1_COMPA_vect, ISR_NAKED) { \
-  asm volatile( \
-    "push r2                                          " "\n\t" \
-    "in   r2,                    __SREG__             " "\n\t" \
-    "push r18                                         " "\n\t" \
-    "push r27                                         " "\n\t" \
-    "push r26                                         " "\n\t" \
-    "push r0                                          " "\n\t" \
-    "push r1                                          " "\n\t" \
-\
-    "lds  r18,                   osc+2*%[mul]+%[fre]  " "\n\t" \
-    "lds  r0,                    osc+2*%[mul]+%[pha]  " "\n\t" \
-    "add  r0,                    r18                  " "\n\t" \
-    "sts  osc+2*%[mul]+%[pha],   r0                   " "\n\t" \
-    "lds  r18,                   osc+2*%[mul]+%[fre]+1" "\n\t" \
-    "lds  r1,                    osc+2*%[mul]+%[pha]+1" "\n\t" \
-    "adc  r1,                    r18                  " "\n\t" \
-    "sts  osc+2*%[mul]+%[pha]+1, r1                   " "\n\t" \
-\
-    "mov  r27,                   r1                   " "\n\t" \
-    "sbrc r27,                   7                    " "\n\t" \
-    "com  r27                                         " "\n\t" \
-    "lsl  r27                                         " "\n\t" \
-    "lds  r26,                   osc+2*%[mul]+%[vol]  " "\n\t" \
-    "subi r27,                   128                  " "\n\t" \
-    "muls r27,                   r26                  " "\n\t" \
-    "lsl  r1                                          " "\n\t" \
-    "mov  r26,                   r1                   " "\n\t" \
-\
-    "lds  r18,                   osc+0*%[mul]+%[fre]  " "\n\t" \
-    "lds  r0,                    osc+0*%[mul]+%[pha]  " "\n\t" \
-    "add  r0,                    r18                  " "\n\t" \
-    "sts  osc+0*%[mul]+%[pha],   r0                   " "\n\t" \
-    "lds  r18,                   osc+0*%[mul]+%[fre]+1" "\n\t" \
-    "lds  r1,                    osc+0*%[mul]+%[pha]+1" "\n\t" \
-    "adc  r1,                    r18                  " "\n\t" \
-    "sts  osc+0*%[mul]+%[pha]+1, r1                   " "\n\t" \
-\
-    "mov  r18,                   r1                   " "\n\t" \
-    "lsl  r18                                         " "\n\t" \
-    "and  r18,                   r1                   " "\n\t" \
-    "lds  r27,                   osc+0*%[mul]+%[vol]  " "\n\t" \
-    "sbrc r18,                   7                    " "\n\t" \
-    "neg  r27                                         " "\n\t" \
-    "add  r26,                   r27                  " "\n\t" \
-\
-    "lds  r18,                   osc+1*%[mul]+%[fre]  " "\n\t" \
-    "lds  r0,                    osc+1*%[mul]+%[pha]  " "\n\t" \
-    "add  r0,                    r18                  " "\n\t" \
-    "sts  osc+1*%[mul]+%[pha],   r0                   " "\n\t" \
-    "lds  r18,                   osc+1*%[mul]+%[fre]+1" "\n\t" \
-    "lds  r1,                    osc+1*%[mul]+%[pha]+1" "\n\t" \
-    "adc  r1,                    r18                  " "\n\t" \
-    "sts  osc+1*%[mul]+%[pha]+1, r1                   " "\n\t" \
-\
-    "lds  r27,                   osc+1*%[mul]+%[vol]  " "\n\t" \
-    "sbrc r1,                    7                    " "\n\t" \
-    "neg  r27                                         " "\n\t" \
-    "add  r26,                   r27                  " "\n\t" \
-\
-    "ldi  r27,                   1                    " "\n\t" \
-    "lds  r0,                    osc+3*%[mul]+%[fre]  " "\n\t" \
-    "lds  r1,                    osc+3*%[mul]+%[fre]+1" "\n\t" \
-    "add  r0,                    r0                   " "\n\t" \
-    "adc  r1,                    r1                   " "\n\t" \
-    "sbrc r1,                    7                    " "\n\t" \
-    "eor  r0,                    r27                  " "\n\t" \
-    "sbrc r1,                    6                    " "\n\t" \
-    "eor  r0,                    r27                  " "\n\t" \
-    "sts  osc+3*%[mul]+%[fre],   r0                   " "\n\t" \
-    "sts  osc+3*%[mul]+%[fre]+1, r1                   " "\n\t" \
-\
-    "lds  r27,                   osc+3*%[mul]+%[vol]  " "\n\t" \
-    "sbrc r1,                    7                    " "\n\t" \
-    "neg  r27                                         " "\n\t" \
-    "add  r26,                   r27                  " "\n\t" \
-\
-    "lds  r27,                   pcm                  " "\n\t" \
-    "add  r26,                   r27                  " "\n\t" \
-    "sts  %[reg],                r26                  " "\n\t" \
-\
-	  "lds  r27,                   cia_count+1          " "\n\t" \
-	  "lds  r26,                   cia_count            " "\n\t" \
-	  "sbiw r26,                   1                    " "\n\t" \
-	  "breq call_playroutine                            " "\n\t" \
-	  "sts  cia_count+1,           r27                  " "\n\t" \
-	  "sts  cia_count,             r26                  " "\n\t" \
-    "pop  r1                                          " "\n\t" \
-    "pop  r0                                          " "\n\t" \
-    "pop  r26                                         " "\n\t" \
-    "pop  r27                                         " "\n\t" \
-    "pop  r18                                         " "\n\t" \
-    "out  __SREG__,              r2                   " "\n\t" \
-    "pop  r2                                          " "\n\t" \
-	  "reti                                             " "\n\t" \
-    "call_playroutine:                                " "\n\t" \
-\
-	  "lds  r27, cia+1                                  " "\n\t" \
-	  "lds  r26, cia                                    " "\n\t" \
-	  "sts  cia_count+1,           r27                  " "\n\t" \
-	  "sts  cia_count,             r26                  " "\n\t" \
-\
-    "sei                                              " "\n\t" \
-	  "push r19                                         " "\n\t" \
-	  "push r20                                         " "\n\t" \
-	  "push r21                                         " "\n\t" \
-	  "push r22                                         " "\n\t" \
-	  "push r23                                         " "\n\t" \
-	  "push r24                                         " "\n\t" \
-	  "push r25                                         " "\n\t" \
-	  "push r30                                         " "\n\t" \
-	  "push r31                                         " "\n\t" \
-\
-    "clr  r1                                          " "\n\t" \
-    "call squawk_playroutine                          " "\n\t" \
-\
-	  "pop  r31                                         " "\n\t" \
-	  "pop  r30                                         " "\n\t" \
-	  "pop  r25                                         " "\n\t" \
-	  "pop  r24                                         " "\n\t" \
-	  "pop  r23                                         " "\n\t" \
-	  "pop  r22                                         " "\n\t" \
-	  "pop  r21                                         " "\n\t" \
-	  "pop  r20                                         " "\n\t" \
-	  "pop  r19                                         " "\n\t" \
-\
-    "pop  r1                                          " "\n\t" \
-    "pop  r0                                          " "\n\t" \
-    "pop  r26                                         " "\n\t" \
-    "pop  r27                                         " "\n\t" \
-    "pop  r18                                         " "\n\t" \
-    "out  __SREG__,              r2                   " "\n\t" \
-    "pop  r2                                          " "\n\t" \
-	  "reti                                             " "\n\t" \
-    : \
-    : [reg] "M" _SFR_MEM_ADDR(TARGET_REGISTER), \
-      [mul] "M" (sizeof(Oscillator)), \
-      [pha] "M" (offsetof(Oscillator, phase)), \
-      [fre] "M" (offsetof(Oscillator, freq)), \
-      [vol] "M" (offsetof(Oscillator, vol)) \
-  ); \
-}
-
-#endif
\ No newline at end of file
diff --git a/libraries/Robot_Control/SquawkSD.cpp b/libraries/Robot_Control/SquawkSD.cpp
deleted file mode 100644
index 3c97ef4..0000000
--- a/libraries/Robot_Control/SquawkSD.cpp
+++ /dev/null
@@ -1,182 +0,0 @@
-#include <SquawkSD.h>
-
-SquawkSynthSD SquawkSD;
-
-class StreamFile : public SquawkStream {
-  private:
-    Fat16 f;
-	public:
-		StreamFile(Fat16 file = Fat16()) { f = file; }
-    uint8_t read() { return f.read(); }
-    void seek(size_t offset) { f.seekSet(offset); }
-};
-
-static StreamFile file;
-
-extern uint16_t period_tbl[84] PROGMEM;
-
-void SquawkSynthSD::play(Fat16 melody) {
-	SquawkSynth::pause();
-	file = StreamFile(melody);
-	SquawkSynth::play(&file);
-}
-
-/*
-void SquawkSynthSD::convert(Fat16 in, Fat16 out) {
-  unsigned int n;
-  uint8_t patterns = 0, order_count;
-  unsigned int ptn, row, chn;
-  uint8_t temp;
-
-  uint8_t fxc[4], fxp[4], note[4], sample[4];
-  uint16_t period;
-
-  out.write('S'); // ID
-  out.write('Q');
-  out.write('M');
-  out.write('1');
-  out.write((uint8_t)0); // No meta data
-  out.write((uint8_t)0);
-  
-  // Write order list, count patterns
-  in.seek(0x3B6);
-  order_count = in.read();
-  out.write(order_count);
-  in.seek(0x3B8);
-  for(n = 0; n < order_count; n++) {
-    temp = in.read();
-    if(temp >= patterns) patterns = temp + 1;
-    out.write(temp);
-  }
-  
-  // Write patterns
-  in.seek(0x43C);
-  for(ptn = 0; ptn < patterns; ptn++) {
-    for(row = 0; row < 64; row++) {
-      for(chn = 0; chn < 4; chn++) {
-        
-        // Basic extraction
-        temp         = in.read();          // sample.msb and period.msb
-        period       = (temp & 0x0F) << 8;
-        sample[chn]  = temp & 0xF0;
-        period      |= in.read();          // period.lsb
-        temp         = in.read();          // sample.lsb and effect
-        sample[chn] |= temp >> 4;
-        fxc[chn]     = (temp & 0x0F) << 4;
-        fxp[chn]     = in.read();          // parameters
-        if(fxc[chn] == 0xE0) {
-          fxc[chn]    |= fxp[chn] >> 4;    // extended parameters
-          fxp[chn]    &= 0x0F;
-        }
-        
-        #define DIF(A, B) ((A) > (B) ? ((int32_t)(A) - (int32_t)(B)) : ((int32_t)(B) - (int32_t)(A)))
-        // Find closest matching period
-        if(period == 0) {
-          note[chn] = 0x7F;
-        } else {
-          int16_t best = DIF(period, pgm_read_word(&period_tbl[0]));
-          note[chn] = 0;
-          for(n = 0; n < sizeof(period_tbl) / sizeof(uint16_t); n++) {
-            if(DIF(period, pgm_read_word(&period_tbl[n])) < best) {
-              note[chn] = n;
-              best = DIF(period, pgm_read_word(&period_tbl[n]));
-            }
-          }
-        }
-        
-        // Crunch volume/decimal commands
-        if(fxc[chn] == 0x50 || fxc[chn] == 0x60 || fxc[chn] == 0xA0) {
-          fxp[chn] = (fxp[chn] >> 1) & 0x77;
-        } else if(fxc[chn] == 0x70) {
-          fxp[chn] = (fxp[chn] & 0xF0) | ((fxp[chn] & 0x0F) >> 1);
-        } else if(fxc[chn] == 0xC0 || fxc[chn] == 0xEA || fxc[chn] == 0xEB) {
-          fxp[chn] >>= 1;
-        } else if(fxc[chn] == 0xD0) {
-          fxp[chn] = ((fxp[chn] >> 4) * 10) | (fxp[chn] & 0x0F);
-        }
-
-        // Re-nibblify - it's a word!
-        if(chn != 3) {
-          if((fxc[chn] & 0xF0) == 0xE0) fxp[chn] |= fxc[chn] << 4;
-          fxc[chn] >>= 4;       
-        }
-
-      }
-
-      // Ghetto crunch the last channel to save a byte
-      switch(fxc[3]) {
-        case 0x50: case 0x60: case 0xA0:
-          fxc[3] = 0x1;
-          if((fxp[3] >> 4) >= (fxp[3] & 0x0F)) {
-            fxp[3] = 0x80 + ((fxp[3] >> 4) - (fxp[3] & 0x0F));
-          } else {
-            fxp[3] = ((fxp[3] & 0x0F) - (fxp[3] >> 4));
-          }
-          break;
-        case 0x70:
-          fxc[3] = (fxp[3] & 0x4) ? 0x3 : 0x2;
-          fxp[3] = (fxp[3] >> 4) | ((fxp[3] & 0x03) << 4);
-          break;
-        case 0xC0:
-          fxc[3] = 0x4;
-          fxp[3] &= 0x1F;
-          break;
-        case 0xB0:
-          fxc[3] = 0x5;
-          fxp[3] &= 0x1F;
-          break;
-        case 0xD0:
-          fxc[3] = 0x6;
-          if(fxp[3] > 63) fxp[3] = 0;
-          break;
-        case 0xF0:
-          if(fxp[3] > 0x20) {
-            fxc[3] = 0x0;
-            fxp[3] = 0x00;
-          } else {
-            fxc[3] = 0x7;             
-          }
-          break;
-        case 0xE7:
-          fxc[3] = 0x8;
-          break;
-        case 0xE9:
-          fxc[3] = 0x9;
-          break;
-        case 0xEA:
-          fxc[3] = 0xA;
-          fxp[3] |= 0x08;
-          break;
-        case 0xEB:
-          fxc[3] = 0xA;
-          break;
-        case 0xEC:
-          fxc[3] = 0xB;
-          break;
-        case 0xED:
-          fxc[3] = 0xB;
-          fxp[3] |= 0x10;
-          break;
-        case 0xEE:
-          fxc[3] = 0xC;
-          break;
-        default:
-          fxc[3] = 0;
-          fxp[3] = 0;
-      }
-      if(note[3] != 0x7F) fxp[3] |= 0x80;
-      if(sample[3]) fxp[3] |= 0x40;
-
-      // Write out
-      out.write((fxc[0]) | fxc[1] << 4);
-      out.write(fxp[0]);
-      out.write(fxp[1]);
-      out.write((fxc[2]) | fxc[3] << 4);
-      out.write(fxp[2]);
-      out.write(fxp[3]);
-      out.write(note[0] | (sample[0] == 0 ? 0x00 : 0x80));
-      out.write(note[1] | (sample[1] == 0 ? 0x00 : 0x80));
-      out.write(note[2] | (sample[2] == 0 ? 0x00 : 0x80));
-    }
-  }
-}*/
\ No newline at end of file
diff --git a/libraries/Robot_Control/SquawkSD.h b/libraries/Robot_Control/SquawkSD.h
deleted file mode 100644
index 89d46a5..0000000
--- a/libraries/Robot_Control/SquawkSD.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef _SQUAWKSD_H_
-#define _SQUAWKSD_H_
-#include <Squawk.h>
-#include "Fat16.h"
-
-class SquawkSynthSD : public SquawkSynth {
-  private:
-  	Fat16 f;
-	public:
-	  inline void play() { Squawk.play(); };
-		void play(Fat16 file);
-		//void convert(Fat16 in, Fat16 out);
-};
-
-extern SquawkSynthSD SquawkSD;
-
-#endif
\ No newline at end of file
diff --git a/libraries/Robot_Control/Wire.cpp b/libraries/Robot_Control/Wire.cpp
deleted file mode 100644
index 4e7a17c..0000000
--- a/libraries/Robot_Control/Wire.cpp
+++ /dev/null
@@ -1,298 +0,0 @@
-/*
-  TwoWire.cpp - TWI/I2C library for Wiring & Arduino
-  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
- 
-  Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
-*/
-
-extern "C" {
-  #include <stdlib.h>
-  #include <string.h>
-  #include <inttypes.h>
-  #include "twi.h"
-}
-
-#include "Wire.h"
-
-// Initialize Class Variables //////////////////////////////////////////////////
-
-uint8_t TwoWire::rxBuffer[BUFFER_LENGTH];
-uint8_t TwoWire::rxBufferIndex = 0;
-uint8_t TwoWire::rxBufferLength = 0;
-
-uint8_t TwoWire::txAddress = 0;
-uint8_t TwoWire::txBuffer[BUFFER_LENGTH];
-uint8_t TwoWire::txBufferIndex = 0;
-uint8_t TwoWire::txBufferLength = 0;
-
-uint8_t TwoWire::transmitting = 0;
-void (*TwoWire::user_onRequest)(void);
-void (*TwoWire::user_onReceive)(int);
-
-// Constructors ////////////////////////////////////////////////////////////////
-
-TwoWire::TwoWire()
-{
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-
-void TwoWire::begin(void)
-{
-  rxBufferIndex = 0;
-  rxBufferLength = 0;
-
-  txBufferIndex = 0;
-  txBufferLength = 0;
-
-  twi_init();
-}
-
-void TwoWire::begin(uint8_t address)
-{
-  twi_setAddress(address);
-  twi_attachSlaveTxEvent(onRequestService);
-  twi_attachSlaveRxEvent(onReceiveService);
-  begin();
-}
-
-void TwoWire::begin(int address)
-{
-  begin((uint8_t)address);
-}
-
-uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity, uint8_t sendStop)
-{
-  // clamp to buffer length
-  if(quantity > BUFFER_LENGTH){
-    quantity = BUFFER_LENGTH;
-  }
-  // perform blocking read into buffer
-  uint8_t read = twi_readFrom(address, rxBuffer, quantity, sendStop);
-  // set rx buffer iterator vars
-  rxBufferIndex = 0;
-  rxBufferLength = read;
-
-  return read;
-}
-
-uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity)
-{
-  return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true);
-}
-
-uint8_t TwoWire::requestFrom(int address, int quantity)
-{
-  return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true);
-}
-
-uint8_t TwoWire::requestFrom(int address, int quantity, int sendStop)
-{
-  return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)sendStop);
-}
-
-void TwoWire::beginTransmission(uint8_t address)
-{
-  // indicate that we are transmitting
-  transmitting = 1;
-  // set address of targeted slave
-  txAddress = address;
-  // reset tx buffer iterator vars
-  txBufferIndex = 0;
-  txBufferLength = 0;
-}
-
-void TwoWire::beginTransmission(int address)
-{
-  beginTransmission((uint8_t)address);
-}
-
-//
-//	Originally, 'endTransmission' was an f(void) function.
-//	It has been modified to take one parameter indicating
-//	whether or not a STOP should be performed on the bus.
-//	Calling endTransmission(false) allows a sketch to 
-//	perform a repeated start. 
-//
-//	WARNING: Nothing in the library keeps track of whether
-//	the bus tenure has been properly ended with a STOP. It
-//	is very possible to leave the bus in a hung state if
-//	no call to endTransmission(true) is made. Some I2C
-//	devices will behave oddly if they do not see a STOP.
-//
-uint8_t TwoWire::endTransmission(uint8_t sendStop)
-{
-  // transmit buffer (blocking)
-  int8_t ret = twi_writeTo(txAddress, txBuffer, txBufferLength, 1, sendStop);
-  // reset tx buffer iterator vars
-  txBufferIndex = 0;
-  txBufferLength = 0;
-  // indicate that we are done transmitting
-  transmitting = 0;
-  return ret;
-}
-
-//	This provides backwards compatibility with the original
-//	definition, and expected behaviour, of endTransmission
-//
-uint8_t TwoWire::endTransmission(void)
-{
-  return endTransmission(true);
-}
-
-// must be called in:
-// slave tx event callback
-// or after beginTransmission(address)
-size_t TwoWire::write(uint8_t data)
-{
-  if(transmitting){
-  // in master transmitter mode
-    // don't bother if buffer is full
-    if(txBufferLength >= BUFFER_LENGTH){
-      setWriteError();
-      return 0;
-    }
-    // put byte in tx buffer
-    txBuffer[txBufferIndex] = data;
-    ++txBufferIndex;
-    // update amount in buffer   
-    txBufferLength = txBufferIndex;
-  }else{
-  // in slave send mode
-    // reply to master
-    twi_transmit(&data, 1);
-  }
-  return 1;
-}
-
-// must be called in:
-// slave tx event callback
-// or after beginTransmission(address)
-size_t TwoWire::write(const uint8_t *data, size_t quantity)
-{
-  if(transmitting){
-  // in master transmitter mode
-    for(size_t i = 0; i < quantity; ++i){
-      write(data[i]);
-    }
-  }else{
-  // in slave send mode
-    // reply to master
-    twi_transmit(data, quantity);
-  }
-  return quantity;
-}
-
-// must be called in:
-// slave rx event callback
-// or after requestFrom(address, numBytes)
-int TwoWire::available(void)
-{
-  return rxBufferLength - rxBufferIndex;
-}
-
-// must be called in:
-// slave rx event callback
-// or after requestFrom(address, numBytes)
-int TwoWire::read(void)
-{
-  int value = -1;
-  
-  // get each successive byte on each call
-  if(rxBufferIndex < rxBufferLength){
-    value = rxBuffer[rxBufferIndex];
-    ++rxBufferIndex;
-  }
-
-  return value;
-}
-
-// must be called in:
-// slave rx event callback
-// or after requestFrom(address, numBytes)
-int TwoWire::peek(void)
-{
-  int value = -1;
-  
-  if(rxBufferIndex < rxBufferLength){
-    value = rxBuffer[rxBufferIndex];
-  }
-
-  return value;
-}
-
-void TwoWire::flush(void)
-{
-  // XXX: to be implemented.
-}
-
-// behind the scenes function that is called when data is received
-void TwoWire::onReceiveService(uint8_t* inBytes, int numBytes)
-{
-  // don't bother if user hasn't registered a callback
-  if(!user_onReceive){
-    return;
-  }
-  // don't bother if rx buffer is in use by a master requestFrom() op
-  // i know this drops data, but it allows for slight stupidity
-  // meaning, they may not have read all the master requestFrom() data yet
-  if(rxBufferIndex < rxBufferLength){
-    return;
-  }
-  // copy twi rx buffer into local read buffer
-  // this enables new reads to happen in parallel
-  for(uint8_t i = 0; i < numBytes; ++i){
-    rxBuffer[i] = inBytes[i];    
-  }
-  // set rx iterator vars
-  rxBufferIndex = 0;
-  rxBufferLength = numBytes;
-  // alert user program
-  user_onReceive(numBytes);
-}
-
-// behind the scenes function that is called when data is requested
-void TwoWire::onRequestService(void)
-{
-  // don't bother if user hasn't registered a callback
-  if(!user_onRequest){
-    return;
-  }
-  // reset tx buffer iterator vars
-  // !!! this will kill any pending pre-master sendTo() activity
-  txBufferIndex = 0;
-  txBufferLength = 0;
-  // alert user program
-  user_onRequest();
-}
-
-// sets function called on slave write
-void TwoWire::onReceive( void (*function)(int) )
-{
-  user_onReceive = function;
-}
-
-// sets function called on slave read
-void TwoWire::onRequest( void (*function)(void) )
-{
-  user_onRequest = function;
-}
-
-// Preinstantiate Objects //////////////////////////////////////////////////////
-
-TwoWire Wire = TwoWire();
-
diff --git a/libraries/Robot_Control/Wire.h b/libraries/Robot_Control/Wire.h
deleted file mode 100644
index a93d0f5..0000000
--- a/libraries/Robot_Control/Wire.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
-  TwoWire.h - TWI/I2C library for Arduino & Wiring
-  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-
-  Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
-*/
-
-#ifndef TwoWire_h
-#define TwoWire_h
-
-#include <inttypes.h>
-#include "Stream.h"
-
-#define BUFFER_LENGTH 32
-
-class TwoWire : public Stream
-{
-  private:
-    static uint8_t rxBuffer[];
-    static uint8_t rxBufferIndex;
-    static uint8_t rxBufferLength;
-
-    static uint8_t txAddress;
-    static uint8_t txBuffer[];
-    static uint8_t txBufferIndex;
-    static uint8_t txBufferLength;
-
-    static uint8_t transmitting;
-    static void (*user_onRequest)(void);
-    static void (*user_onReceive)(int);
-    static void onRequestService(void);
-    static void onReceiveService(uint8_t*, int);
-  public:
-    TwoWire();
-    void begin();
-    void begin(uint8_t);
-    void begin(int);
-    void beginTransmission(uint8_t);
-    void beginTransmission(int);
-    uint8_t endTransmission(void);
-    uint8_t endTransmission(uint8_t);
-    uint8_t requestFrom(uint8_t, uint8_t);
-    uint8_t requestFrom(uint8_t, uint8_t, uint8_t);
-    uint8_t requestFrom(int, int);
-    uint8_t requestFrom(int, int, int);
-    virtual size_t write(uint8_t);
-    virtual size_t write(const uint8_t *, size_t);
-    virtual int available(void);
-    virtual int read(void);
-    virtual int peek(void);
-	virtual void flush(void);
-    void onReceive( void (*)(int) );
-    void onRequest( void (*)(void) );
-  
-    inline size_t write(unsigned long n) { return write((uint8_t)n); }
-    inline size_t write(long n) { return write((uint8_t)n); }
-    inline size_t write(unsigned int n) { return write((uint8_t)n); }
-    inline size_t write(int n) { return write((uint8_t)n); }
-    using Print::write;
-};
-
-extern TwoWire Wire;
-
-#endif
-
diff --git a/libraries/Robot_Control/communication.cpp b/libraries/Robot_Control/communication.cpp
deleted file mode 100644
index eaf5346..0000000
--- a/libraries/Robot_Control/communication.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include <ArduinoRobot.h>

bool RobotControl::isActionDone(){
	if(messageIn.receiveData()){
		if(messageIn.readByte()==COMMAND_ACTION_DONE){
			return true;
		}
	}
	return false;
}

void RobotControl::pauseMode(uint8_t onOff){
	messageOut.writeByte(COMMAND_PAUSE_MODE);
	if(onOff){
		messageOut.writeByte(true);
	}else{
		messageOut.writeByte(false);
	}
	messageOut.sendData();
}

void RobotControl::lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
	messageOut.writeByte(COMMAND_LINE_FOLLOW_CONFIG);
	messageOut.writeByte(KP);
	messageOut.writeByte(KD);
	messageOut.writeByte(robotSpeed);
	messageOut.writeByte(intergrationTime);
	messageOut.sendData();
}
\ No newline at end of file
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  
-    
-*/
diff --git a/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino b/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino
deleted file mode 100644
index 3520214..0000000
--- a/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino
+++ /dev/null
@@ -1,149 +0,0 @@
-/*
- All IO Ports
- 
- This example goes through all the IO ports on your robot and
- reads/writes from/to them. Uncomment the different lines inside 
- the loop to test the different possibilities.
-
- The TK inputs on the Control Board are multiplexed and therefore 
- it is not recommended to use them as outputs. The TKD pins on the
- Control Board as well as the TK pins on the Motor Board go directly
- to the microcontroller and therefore can be used both as inputs 
- and outputs.
- 
- 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>
-
-// use arrays to store the names of the pins to be read
-uint8_t arr[]  = { TK0, TK1, TK2, TK3, TK4, TK5, TK6, TK7 };
-uint8_t arr2[] = { TKD0, TKD1, TKD2, TKD3, TKD4, TKD5 };
-uint8_t arr3[] = { B_TK1, B_TK2, B_TK3, B_TK4 };
-
-void setup(){
-  // initialize the robot
-  Robot.begin();
-
-  // open the serial port to send the information of what you are reading
-  Serial.begin(9600);
-}
-
-void loop(){
-  // read all the TK inputs at the Motor Board as analog 
-  analogReadB_TKs();
-
-  // read all the TK inputs at the Motor Board as digital
-  //digitalReadB_TKs();
-
-  // read all the TK inputs at the Control Board as analog
-  //analogReadTKs();
-
-  // read all the TK inputs at the Control Board as digital
-  //digitalReadTKs();
-
-  // read all the TKD inputs at the Control Board as analog
-  //analogReadTKDs();
-
-  // read all the TKD inputs at the Control Board as digital
-  //digitalReadTKDs();
-
-  // write all the TK outputs at the Motor Board as digital
-  //digitalWriteB_TKs();
-
-  // write all the TKD outputs at the Control Board as digital
-  //digitalWriteTKDs();
-  delay(5);  
-}
-
-// read all TK inputs on the Control Board as analog inputs
-void analogReadTKs() {
-  for(int i=0;i<8;i++) {
-    Serial.print(Robot.analogRead(arr[i]));
-    Serial.print(",");
-  }
-  Serial.println("");
-}
-
-// read all TK inputs on the Control Board as digital inputs
-void digitalReadTKs() {
-  for(int i=0;i<8;i++) {
-    Serial.print(Robot.digitalRead(arr[i]));
-    Serial.print(",");
-  }
-  Serial.println("");
-}
-
-// read all TKD inputs on the Control Board as analog inputs
-void analogReadTKDs() {
-  for(int i=0; i<6; i++) {
-    Serial.print(Robot.analogRead(arr2[i]));
-    Serial.print(",");
-  }
-  Serial.println("");
-}
-
-// read all TKD inputs on the Control Board as digital inputs
-void digitalReadTKDs() {
-  for(int i=0; i<6; i++) {
-    Serial.print(Robot.digitalRead(arr2[i]));
-    Serial.print(",");
-  }
-  Serial.println("");
-}
-
-// write all TKD outputs on the Control Board as digital outputs
-void digitalWriteTKDs() {
-  // turn all the pins on
-  for(int i=0; i<6; i++) {
-    Robot.digitalWrite(arr2[i], HIGH);
-  }
-  delay(500);
-
-  // turn all the pins off
-  for(int i=0; i<6; i++){
-    Robot.digitalWrite(arr2[i], LOW);
-  }
-  delay(500);
-}
-
-// write all TK outputs on the Motor Board as digital outputs
-void digitalWriteB_TKs() {
-  // turn all the pins on
-  for(int i=0; i<4; i++) {
-    Robot.digitalWrite(arr3[i], HIGH);
-  }
-  delay(500);
-
-  // turn all the pins off
-  for(int i=0; i<4; i++) {
-    Robot.digitalWrite(arr3[i], LOW);
-  }
-  delay(500);
-}
-
-// read all TK inputs on the Motor Board as analog inputs
-void analogReadB_TKs() {
-  for(int i=0; i<4; i++) {
-    Serial.print(Robot.analogRead(arr3[i]));
-    Serial.print(",");
-  }
-  Serial.println("");
-}
-
-// read all TKD inputs on the Motor Board as digital inputs
-void digitalReadB_TKs() {
-  for(int i=0; i<4; i++) {
-    Serial.print(Robot.digitalRead(arr3[i]));
-    Serial.print(",");
-  }
-  Serial.println("");
-}
diff --git a/libraries/Robot_Control/examples/learn/Beep/Beep.ino b/libraries/Robot_Control/examples/learn/Beep/Beep.ino
deleted file mode 100644
index 1a78673..0000000
--- a/libraries/Robot_Control/examples/learn/Beep/Beep.ino
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
- Beep
- 
- Test different pre-configured beeps on
- the robot's speaker.
-
- Possible beeps are:
- - BEEP_SIMPLE
- - BEEP_DOUBLE
- - BEEP_LONG
- 
- 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>
-
-void setup() {
-  // initialize the robot
-  Robot.begin();
-
-  // initialize the sound speaker
-  Robot.beginSpeaker();
-}
-void loop() {
-  Robot.beep(BEEP_SIMPLE);
-  delay(1000);
-  Robot.beep(BEEP_DOUBLE);
-  delay(1000);
-  Robot.beep(BEEP_LONG);
-  delay(1000);
-}
diff --git a/libraries/Robot_Control/examples/learn/CleanEEPROM/CleanEEPROM.ino b/libraries/Robot_Control/examples/learn/CleanEEPROM/CleanEEPROM.ino
deleted file mode 100644
index ae14bdd..0000000
--- a/libraries/Robot_Control/examples/learn/CleanEEPROM/CleanEEPROM.ino
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
- Clean EEPROM
- 
- This example erases the user information stored on the
- external EEPROM memory chip on your robot.
-
- BEWARE, this will erase the following information:
- - your name
- - your robots name given by you
- - your city and country if you configured them via software
-
- EEPROMs shouldn't be rewritten too often, therefore the
- code runs only during setup and not inside loop.
- 
- 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>
-
-void setup(){
-  // initialize the robot
-  Robot.begin();
-
-  // write empty strings for the different fields
-  Robot.userNameWrite("");
-  Robot.robotNameWrite("");
-  Robot.cityNameWrite("");
-  Robot.countryNameWrite(""); 
-}
-
-void loop(){
-  // do nothing  
-}
diff --git a/libraries/Robot_Control/examples/learn/Compass/Compass.ino b/libraries/Robot_Control/examples/learn/Compass/Compass.ino
deleted file mode 100644
index 4170ab7..0000000
--- a/libraries/Robot_Control/examples/learn/Compass/Compass.ino
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
- Compass
- 
- Try the compass both on the robot's TFT
- and through the serial port.
- 
- 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>
-
-void setup() {
-  // initialize the robot
-  Robot.begin();
-
-  // initialize the robot's screen
-  Robot.beginTFT();
-
-  // initialize the serial port
-  Serial.begin(9600);
-}
-
-void loop() {
-  // read the compass
-  int compass = Robot.compassRead();
-
-  // print out the sensor's value
-  Serial.println(compass);  
-  
-  // show the value on the robot's screen
-  Robot.drawCompass(compass);
-}
-
diff --git a/libraries/Robot_Control/examples/learn/IRArray/IRArray.ino b/libraries/Robot_Control/examples/learn/IRArray/IRArray.ino
deleted file mode 100644
index 36b4acf..0000000
--- a/libraries/Robot_Control/examples/learn/IRArray/IRArray.ino
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- IR array
- 
- Read the analog value of the IR sensors at the 
- bottom of the robot. The also-called line following 
- sensors are a series of pairs of IR sender/receiver
- used to detect how dark it is underneath the robot.
-
- The information coming from the sensor array is stored
- into the Robot.IRarray[] and updated using the Robot.updateIR()
- method.
- 
- 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>
-
-void setup(){
-  // initialize the robot
-  Robot.begin();
-
-  // initialize the serial port
-  Serial.begin(9600);
-}
-
-void loop(){
-  // store the sensor information into the array 
-  Robot.updateIR();
-
-  // iterate the array and print the data to the Serial port
-  for(int i=0; i<5; i++){
-    Serial.print(Robot.IRarray[i]);
-    Serial.print(" ");
-  }
-  Serial.println("");
-}
diff --git a/libraries/Robot_Control/examples/learn/LCDDebugPrint/LCDDebugPrint.ino b/libraries/Robot_Control/examples/learn/LCDDebugPrint/LCDDebugPrint.ino
deleted file mode 100644
index 0078b77..0000000
--- a/libraries/Robot_Control/examples/learn/LCDDebugPrint/LCDDebugPrint.ino
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
- LCD Debug Print
- 
- Use the Robot's library function debugPrint() to
- quickly send a sensor reading to the robot's creen.
- 
- 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>
-
-int value;
-
-void setup() {
-  // initialize the robot
-  Robot.begin();
-
-  // initialize the screen
-  Robot.beginTFT();
-}
-void loop(){
-  // read a value
-  value = analogRead(A4);
-
-  // send the value to the screen
-  Robot.debugPrint(value);
-
-  delay(40);
-}
diff --git a/libraries/Robot_Control/examples/learn/LCDPrint/LCDPrint.ino b/libraries/Robot_Control/examples/learn/LCDPrint/LCDPrint.ino
deleted file mode 100644
index d34168c..0000000
--- a/libraries/Robot_Control/examples/learn/LCDPrint/LCDPrint.ino
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- LCD Print
- 
- Print the reading from a sensor to 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>
-
-int value;
-
-void setup() {
-  // initialize the robot
-  Robot.begin();
-
-  // initialize the robot's screen
-  Robot.beginLCD();
-}
-
-void loop() {
-  // read a analog port
-  value=Robot.analogRead(TK4);
-
-  // write the sensor value on the screen
-  Robot.fill(0, 255, 0);
-  Robot.textSize(1);
-  Robot.text(value, 0, 0);  
-
-  delay(500);
-
-  // erase the previous text on the screen
-  Robot.fill(255, 255, 255);
-  Robot.textSize(1);
-  Robot.text(value, 0, 0);  
-}
diff --git a/libraries/Robot_Control/examples/learn/LCDWriteText/LCDWriteText.ino b/libraries/Robot_Control/examples/learn/LCDWriteText/LCDWriteText.ino
deleted file mode 100644
index e34a7d2..0000000
--- a/libraries/Robot_Control/examples/learn/LCDWriteText/LCDWriteText.ino
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
- LCD Write Text
- 
- Use the Robot's library function text() to
- print out text to the robot's screen. Take
- into account that you need to erase the
- information before continuing writing.
- 
- 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>
-
-void setup() {
-  // initialize the robot
-  Robot.begin();
-
-  // initialize the screen
-  Robot.beginTFT();
-}
-void loop() {
-  Robot.stroke(0, 0, 0);              // choose the color black
-  Robot.text("Hello World", 0, 0);  // print the text
-  delay(2000);
-  Robot.stroke(255, 255, 255);        // choose the color white
-  Robot.text("Hello World", 0, 0);  // writing text in the same color as the BG erases the text!
-  
-  Robot.stroke(0, 0, 0);              // choose the color black
-  Robot.text("I am a robot", 0, 0); // print the text
-  delay(3000);
-  Robot.stroke(255, 255, 255);         // choose the color black
-  Robot.text("I am a robot", 0, 0);  // print the text
-}
diff --git a/libraries/Robot_Control/examples/learn/LineFollowWithPause/LineFollowWithPause.ino b/libraries/Robot_Control/examples/learn/LineFollowWithPause/LineFollowWithPause.ino
deleted file mode 100644
index a3d3fc0..0000000
--- a/libraries/Robot_Control/examples/learn/LineFollowWithPause/LineFollowWithPause.ino
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- Line Following with Pause
- 
- As the robot has two processors, one to command the motors and one to
- take care of the screen and user input, it is possible to write 
- programs that put one part of the robot to do something and get the
- other half to control it.
-
- This example shows how the Control Board assigns the Motor one to
- follow a line, but asks it to stop every 3 seconds.
- 
- 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>
-
-void setup() {
-  // initialize the robot
-  Robot.begin();
-
-  // initialize the screen
-  Robot.beginTFT();
-
-  // get some time to place the robot on the ground
-  delay(3000);
-
-  // set the robot in line following mode
-  Robot.setMode(MODE_LINE_FOLLOW);
-}
-
-void loop() {
-      // tell the robot to take a break and stop
-      Robot.pauseMode(true);
-      Robot.debugPrint('p');
-      delay(3000);
-
-      // tell the robot to move on
-      Robot.pauseMode(false);
-      Robot.debugPrint('>');
-      delay(3000);
-}
diff --git a/libraries/Robot_Control/examples/learn/Melody/Melody.ino b/libraries/Robot_Control/examples/learn/Melody/Melody.ino
deleted file mode 100644
index 6c049a7..0000000
--- a/libraries/Robot_Control/examples/learn/Melody/Melody.ino
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- Melody
- 
- Plays a melody stored in a string. 
- 
- The notes and durations are encoded as follows:
-
- NOTES:
- c  play "C"
- C  play "#C"
- d  play "D"
- D  play "#D"
- e  play "E"
- f  play "F"
- F  play "#F"
- g  play "G"
- G  play "#G"
- a  play "A"
- A  play "#A"
- b  play "B"
- -  silence
-
- DURATIONS:
- 1  Set as full note
- 2  Set as half note
- 4  Set as quarter note
- 8  Set as eigth note
-
- SPECIAL NOTATION:
- .  Make the previous note 3/4 the length
-
- Circuit:
- * Arduino Robot
- 
- created 1 May 2013
- by X. Yang
- modified 12 May 2013
- by D. Cuartielles
- 
- This example is in the public domain
-
- This code uses the Squawk sound library designed by STG. For
- more information about it check: http://github.com/stg/squawk
- */
-
-#include <ArduinoRobot.h>
-
-void setup() {
-  // initialize the robot
-  Robot.begin();
-
-  // initialize the sound library
-  Robot.beginSpeaker();
-}
-
-void loop() {
-  // array containing the melody
-  char aTinyMelody[] = "8eF-FFga4b.a.g.F.8beee-d2e.1-";
-
-  // play the melody
-  Robot.playMelody(aTinyMelody);
-}
diff --git a/libraries/Robot_Control/examples/learn/MotorTest/MotorTest.ino b/libraries/Robot_Control/examples/learn/MotorTest/MotorTest.ino
deleted file mode 100644
index baaaf06..0000000
--- a/libraries/Robot_Control/examples/learn/MotorTest/MotorTest.ino
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
- Motor Test
- 
- Just see if the robot can move and turn.
- 
- 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>
-
-void setup() {
-  // initialize the robot
-  Robot.begin();
-}
-
-void loop() {
-  Robot.motorsWrite(255,255);   // move forward
-  delay(2000);
-  Robot.motorsStop();           // fast stop
-  delay(1000);
-  Robot.motorsWrite(-255,-255); // backward
-  delay(1000);
-  Robot.motorsWrite(0,0);       // slow stop
-  delay(1000);
-  Robot.motorsWrite(-255,255);  // turn left
-  delay(2000);
-  Robot.motorsStop();           // fast stop
-  delay(1000);
-  Robot.motorsWrite(255,-255);  // turn right
-  delay(2000);
-  Robot.motorsStop();           // fast stop
-  delay(1000);
-}
diff --git a/libraries/Robot_Control/examples/learn/SpeedByPotentiometer/SpeedByPotentiometer.ino b/libraries/Robot_Control/examples/learn/SpeedByPotentiometer/SpeedByPotentiometer.ino
deleted file mode 100644
index e97f48d..0000000
--- a/libraries/Robot_Control/examples/learn/SpeedByPotentiometer/SpeedByPotentiometer.ino
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
- Speed by Potentiometer
- 
- Control the robot's speed using the on-board
- potentiometer. The speed will be printed on
- the TFT 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>
-
-void setup() {
-  // initialize the robot
-  Robot.begin();
-
-  // initialize the screen
-  Robot.beginTFT();
-}
-
-void loop() {
-  // read the value of the potentiometer
-  int val=map(Robot.knobRead(), 0, 1023, -255, 255);
-
-  // print the value to the TFT screen
-  Robot.debugPrint(val);
-
-  // set the same speed on both of the robot's wheels
-  Robot.motorsWrite(val,val);
-  delay(10);
-}
diff --git a/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino b/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino
deleted file mode 100644
index 543c06c..0000000
--- a/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- Turn Test
- 
- Check if the robot turns a certain amount of degrees.
- 
- 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>
-
-void setup() {
-  // initialize the robot
-  Robot.begin();
-}
-
-void loop(){  
-  Robot.turn(50); //turn 50 degrees to the right
-  Robot.motorsStop();
-  delay(1000);
-
-  Robot.turn(-100); //turn 100 degrees to the left
-  Robot.motorsStop();
-  delay(1000);
-}
diff --git a/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino.orig b/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino.orig
deleted file mode 100644
index 4e3624f..0000000
--- a/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino.orig
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
- Turn Test
- 
- Check if the robot turns a certain amount of degrees.
- 
- 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>
-
-void setup() {
-  // initialize the robot
-  Robot.begin();
-}
-
-<<<<<<< HEAD
-void loop() {  
-  Robot.turn(50);  //turn 50 degrees to the right
-=======
-void loop(){  
-  Robot.turn(50);//turn 50 degrees to the right
-  Robot.motorsStop();
->>>>>>> f062f704463222e83390b4a954e211f0f7e6e66f
-  delay(1000);
-
-  Robot.turn(-100);//turn 100 degrees to the left
-  Robot.motorsStop();
-  delay(1000);
-}
diff --git a/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino b/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino
deleted file mode 100644
index 5bbc0e5..0000000
--- a/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- Keyboard Test
- 
- Check how the robot's keyboard works. This example
- sends the data about the key pressed through the
- serial port.
-
- All the buttons on the Control Board are tied up to a
- single analog input pin, in this way it is possible to multiplex a
- whole series of buttons on one single pin.
-
- It is possible to recalibrate the thresholds of the buttons using
- the Robot.keyboardCalibrate() function, that takes a 5 ints long
- array as parameter
- 
- 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>
-
-void setup() {
-  // initialize the serial port
-  Serial.begin(9600);
-}
-
-void loop() {
-  // print out the keyboard readings
-  Serial.println(Robot.keyboardRead());
-  delay(100);
-}
diff --git a/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino.orig b/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino.orig
deleted file mode 100644
index 6ee6c05..0000000
--- a/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino.orig
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- Keyboard Test
- 
- Check how the robot's keyboard works. This example
- sends the data about the key pressed through the
- serial port.
-
- All the buttons on the Control Board are tied up to a
- single analog input pin, in this way it is possible to multiplex a
- whole series of buttons on one single pin.
-
- It is possible to recalibrate the thresholds of the buttons using
- the Robot.keyboardCalibrate() function, that takes a 5 ints long
- array as parameter
- 
- 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>
-
-<<<<<<< HEAD
-// it is possible to use an array to calibrate
-//int vals[] = { 0, 133, 305, 481, 724 };
-
-void setup() {
-  // initialize the serial port
-  Serial.begin(9600);
-
-  // calibrate the keyboard
-  //Robot.keyboardCalibrate(vals);//For the new robot only.
-=======
-void setup(){
-  Serial.begin(9600);
->>>>>>> f062f704463222e83390b4a954e211f0f7e6e66f
-}
-
-void loop() {
-  // print out the keyboard readings
-  Serial.println(Robot.keyboardRead());
-  delay(100);
-}
diff --git a/libraries/Robot_Control/glcdfont.c b/libraries/Robot_Control/glcdfont.c
deleted file mode 100644
index abc3631..0000000
--- a/libraries/Robot_Control/glcdfont.c
+++ /dev/null
@@ -1,266 +0,0 @@
-#include <avr/io.h>
-#include <avr/pgmspace.h> 
- 
-#ifndef FONT5X7_H
-#define FONT5X7_H
-
-// standard ascii 5x7 font
-
-static unsigned char  font[] PROGMEM = {
-        0x00, 0x00, 0x00, 0x00, 0x00,   
-	0x3E, 0x5B, 0x4F, 0x5B, 0x3E, 	
-	0x3E, 0x6B, 0x4F, 0x6B, 0x3E, 	
-	0x1C, 0x3E, 0x7C, 0x3E, 0x1C, 
-	0x18, 0x3C, 0x7E, 0x3C, 0x18, 
-	0x1C, 0x57, 0x7D, 0x57, 0x1C, 
-	0x1C, 0x5E, 0x7F, 0x5E, 0x1C, 
-	0x00, 0x18, 0x3C, 0x18, 0x00, 
-	0xFF, 0xE7, 0xC3, 0xE7, 0xFF, 
-	0x00, 0x18, 0x24, 0x18, 0x00, 
-	0xFF, 0xE7, 0xDB, 0xE7, 0xFF, 
-	0x30, 0x48, 0x3A, 0x06, 0x0E, 
-	0x26, 0x29, 0x79, 0x29, 0x26, 
-	0x40, 0x7F, 0x05, 0x05, 0x07, 
-	0x40, 0x7F, 0x05, 0x25, 0x3F, 
-	0x5A, 0x3C, 0xE7, 0x3C, 0x5A, 
-	0x7F, 0x3E, 0x1C, 0x1C, 0x08, 
-	0x08, 0x1C, 0x1C, 0x3E, 0x7F, 
-	0x14, 0x22, 0x7F, 0x22, 0x14, 
-	0x5F, 0x5F, 0x00, 0x5F, 0x5F, 
-	0x06, 0x09, 0x7F, 0x01, 0x7F, 
-	0x00, 0x66, 0x89, 0x95, 0x6A, 
-	0x60, 0x60, 0x60, 0x60, 0x60, 
-	0x94, 0xA2, 0xFF, 0xA2, 0x94, 
-	0x08, 0x04, 0x7E, 0x04, 0x08, 
-	0x10, 0x20, 0x7E, 0x20, 0x10, 
-	0x08, 0x08, 0x2A, 0x1C, 0x08, 
-	0x08, 0x1C, 0x2A, 0x08, 0x08, 
-	0x1E, 0x10, 0x10, 0x10, 0x10, 
-	0x0C, 0x1E, 0x0C, 0x1E, 0x0C, 
-	0x30, 0x38, 0x3E, 0x38, 0x30, 
-	0x06, 0x0E, 0x3E, 0x0E, 0x06, 
-	0x00, 0x00, 0x00, 0x00, 0x00, 
-	0x00, 0x00, 0x5F, 0x00, 0x00, 
-	0x00, 0x07, 0x00, 0x07, 0x00, 
-	0x14, 0x7F, 0x14, 0x7F, 0x14, 
-	0x24, 0x2A, 0x7F, 0x2A, 0x12, 
-	0x23, 0x13, 0x08, 0x64, 0x62, 
-	0x36, 0x49, 0x56, 0x20, 0x50, 
-	0x00, 0x08, 0x07, 0x03, 0x00, 
-	0x00, 0x1C, 0x22, 0x41, 0x00, 
-	0x00, 0x41, 0x22, 0x1C, 0x00, 
-	0x2A, 0x1C, 0x7F, 0x1C, 0x2A, 
-	0x08, 0x08, 0x3E, 0x08, 0x08, 
-	0x00, 0x80, 0x70, 0x30, 0x00, 
-	0x08, 0x08, 0x08, 0x08, 0x08, 
-	0x00, 0x00, 0x60, 0x60, 0x00, 
-	0x20, 0x10, 0x08, 0x04, 0x02, 
-	0x3E, 0x51, 0x49, 0x45, 0x3E, 
-	0x00, 0x42, 0x7F, 0x40, 0x00, 
-	0x72, 0x49, 0x49, 0x49, 0x46, 
-	0x21, 0x41, 0x49, 0x4D, 0x33, 
-	0x18, 0x14, 0x12, 0x7F, 0x10, 
-	0x27, 0x45, 0x45, 0x45, 0x39, 
-	0x3C, 0x4A, 0x49, 0x49, 0x31, 
-	0x41, 0x21, 0x11, 0x09, 0x07, 
-	0x36, 0x49, 0x49, 0x49, 0x36, 
-	0x46, 0x49, 0x49, 0x29, 0x1E, 
-	0x00, 0x00, 0x14, 0x00, 0x00, 
-	0x00, 0x40, 0x34, 0x00, 0x00, 
-	0x00, 0x08, 0x14, 0x22, 0x41, 
-	0x14, 0x14, 0x14, 0x14, 0x14, 
-	0x00, 0x41, 0x22, 0x14, 0x08, 
-	0x02, 0x01, 0x59, 0x09, 0x06, 
-	0x3E, 0x41, 0x5D, 0x59, 0x4E, 
-	0x7C, 0x12, 0x11, 0x12, 0x7C, 
-	0x7F, 0x49, 0x49, 0x49, 0x36, 
-	0x3E, 0x41, 0x41, 0x41, 0x22, 
-	0x7F, 0x41, 0x41, 0x41, 0x3E, 
-	0x7F, 0x49, 0x49, 0x49, 0x41, 
-	0x7F, 0x09, 0x09, 0x09, 0x01, 
-	0x3E, 0x41, 0x41, 0x51, 0x73, 
-	0x7F, 0x08, 0x08, 0x08, 0x7F, 
-	0x00, 0x41, 0x7F, 0x41, 0x00, 
-	0x20, 0x40, 0x41, 0x3F, 0x01, 
-	0x7F, 0x08, 0x14, 0x22, 0x41, 
-	0x7F, 0x40, 0x40, 0x40, 0x40, 
-	0x7F, 0x02, 0x1C, 0x02, 0x7F, 
-	0x7F, 0x04, 0x08, 0x10, 0x7F, 
-	0x3E, 0x41, 0x41, 0x41, 0x3E, 
-	0x7F, 0x09, 0x09, 0x09, 0x06, 
-	0x3E, 0x41, 0x51, 0x21, 0x5E, 
-	0x7F, 0x09, 0x19, 0x29, 0x46, 
-	0x26, 0x49, 0x49, 0x49, 0x32, 
-	0x03, 0x01, 0x7F, 0x01, 0x03, 
-	0x3F, 0x40, 0x40, 0x40, 0x3F, 
-	0x1F, 0x20, 0x40, 0x20, 0x1F, 
-	0x3F, 0x40, 0x38, 0x40, 0x3F, 
-	0x63, 0x14, 0x08, 0x14, 0x63, 
-	0x03, 0x04, 0x78, 0x04, 0x03, 
-	0x61, 0x59, 0x49, 0x4D, 0x43, 
-	0x00, 0x7F, 0x41, 0x41, 0x41, 
-	0x02, 0x04, 0x08, 0x10, 0x20, 
-	0x00, 0x41, 0x41, 0x41, 0x7F, 
-	0x04, 0x02, 0x01, 0x02, 0x04, 
-	0x40, 0x40, 0x40, 0x40, 0x40, 
-	0x00, 0x03, 0x07, 0x08, 0x00, 
-	0x20, 0x54, 0x54, 0x78, 0x40, 
-	0x7F, 0x28, 0x44, 0x44, 0x38, 
-	0x38, 0x44, 0x44, 0x44, 0x28, 
-	0x38, 0x44, 0x44, 0x28, 0x7F, 
-	0x38, 0x54, 0x54, 0x54, 0x18, 
-	0x00, 0x08, 0x7E, 0x09, 0x02, 
-	0x18, 0xA4, 0xA4, 0x9C, 0x78, 
-	0x7F, 0x08, 0x04, 0x04, 0x78, 
-	0x00, 0x44, 0x7D, 0x40, 0x00, 
-	0x20, 0x40, 0x40, 0x3D, 0x00, 
-	0x7F, 0x10, 0x28, 0x44, 0x00, 
-	0x00, 0x41, 0x7F, 0x40, 0x00, 
-	0x7C, 0x04, 0x78, 0x04, 0x78, 
-	0x7C, 0x08, 0x04, 0x04, 0x78, 
-	0x38, 0x44, 0x44, 0x44, 0x38, 
-	0xFC, 0x18, 0x24, 0x24, 0x18, 
-	0x18, 0x24, 0x24, 0x18, 0xFC, 
-	0x7C, 0x08, 0x04, 0x04, 0x08, 
-	0x48, 0x54, 0x54, 0x54, 0x24, 
-	0x04, 0x04, 0x3F, 0x44, 0x24, 
-	0x3C, 0x40, 0x40, 0x20, 0x7C, 
-	0x1C, 0x20, 0x40, 0x20, 0x1C, 
-	0x3C, 0x40, 0x30, 0x40, 0x3C, 
-	0x44, 0x28, 0x10, 0x28, 0x44, 
-	0x4C, 0x90, 0x90, 0x90, 0x7C, 
-	0x44, 0x64, 0x54, 0x4C, 0x44, 
-	0x00, 0x08, 0x36, 0x41, 0x00, 
-	0x00, 0x00, 0x77, 0x00, 0x00, 
-	0x00, 0x41, 0x36, 0x08, 0x00, 
-	0x02, 0x01, 0x02, 0x04, 0x02, 
-	0x3C, 0x26, 0x23, 0x26, 0x3C, 
-	0x1E, 0xA1, 0xA1, 0x61, 0x12, 
-	0x3A, 0x40, 0x40, 0x20, 0x7A, 
-	0x38, 0x54, 0x54, 0x55, 0x59, 
-	0x21, 0x55, 0x55, 0x79, 0x41, 
-	0x21, 0x54, 0x54, 0x78, 0x41, 
-	0x21, 0x55, 0x54, 0x78, 0x40, 
-	0x20, 0x54, 0x55, 0x79, 0x40, 
-	0x0C, 0x1E, 0x52, 0x72, 0x12, 
-	0x39, 0x55, 0x55, 0x55, 0x59, 
-	0x39, 0x54, 0x54, 0x54, 0x59, 
-	0x39, 0x55, 0x54, 0x54, 0x58, 
-	0x00, 0x00, 0x45, 0x7C, 0x41, 
-	0x00, 0x02, 0x45, 0x7D, 0x42, 
-	0x00, 0x01, 0x45, 0x7C, 0x40, 
-	0xF0, 0x29, 0x24, 0x29, 0xF0, 
-	0xF0, 0x28, 0x25, 0x28, 0xF0, 
-	0x7C, 0x54, 0x55, 0x45, 0x00, 
-	0x20, 0x54, 0x54, 0x7C, 0x54, 
-	0x7C, 0x0A, 0x09, 0x7F, 0x49, 
-	0x32, 0x49, 0x49, 0x49, 0x32, 
-	0x32, 0x48, 0x48, 0x48, 0x32, 
-	0x32, 0x4A, 0x48, 0x48, 0x30, 
-	0x3A, 0x41, 0x41, 0x21, 0x7A, 
-	0x3A, 0x42, 0x40, 0x20, 0x78, 
-	0x00, 0x9D, 0xA0, 0xA0, 0x7D, 
-	0x39, 0x44, 0x44, 0x44, 0x39, 
-	0x3D, 0x40, 0x40, 0x40, 0x3D, 
-	0x3C, 0x24, 0xFF, 0x24, 0x24, 
-	0x48, 0x7E, 0x49, 0x43, 0x66, 
-	0x2B, 0x2F, 0xFC, 0x2F, 0x2B, 
-	0xFF, 0x09, 0x29, 0xF6, 0x20, 
-	0xC0, 0x88, 0x7E, 0x09, 0x03, 
-	0x20, 0x54, 0x54, 0x79, 0x41, 
-	0x00, 0x00, 0x44, 0x7D, 0x41, 
-	0x30, 0x48, 0x48, 0x4A, 0x32, 
-	0x38, 0x40, 0x40, 0x22, 0x7A, 
-	0x00, 0x7A, 0x0A, 0x0A, 0x72, 
-	0x7D, 0x0D, 0x19, 0x31, 0x7D, 
-	0x26, 0x29, 0x29, 0x2F, 0x28, 
-	0x26, 0x29, 0x29, 0x29, 0x26, 
-	0x30, 0x48, 0x4D, 0x40, 0x20, 
-	0x38, 0x08, 0x08, 0x08, 0x08, 
-	0x08, 0x08, 0x08, 0x08, 0x38, 
-	0x2F, 0x10, 0xC8, 0xAC, 0xBA, 
-	0x2F, 0x10, 0x28, 0x34, 0xFA, 
-	0x00, 0x00, 0x7B, 0x00, 0x00, 
-	0x08, 0x14, 0x2A, 0x14, 0x22, 
-	0x22, 0x14, 0x2A, 0x14, 0x08, 
-	0xAA, 0x00, 0x55, 0x00, 0xAA, 
-	0xAA, 0x55, 0xAA, 0x55, 0xAA, 
-	0x00, 0x00, 0x00, 0xFF, 0x00, 
-	0x10, 0x10, 0x10, 0xFF, 0x00, 
-	0x14, 0x14, 0x14, 0xFF, 0x00, 
-	0x10, 0x10, 0xFF, 0x00, 0xFF, 
-	0x10, 0x10, 0xF0, 0x10, 0xF0, 
-	0x14, 0x14, 0x14, 0xFC, 0x00, 
-	0x14, 0x14, 0xF7, 0x00, 0xFF, 
-	0x00, 0x00, 0xFF, 0x00, 0xFF, 
-	0x14, 0x14, 0xF4, 0x04, 0xFC, 
-	0x14, 0x14, 0x17, 0x10, 0x1F, 
-	0x10, 0x10, 0x1F, 0x10, 0x1F, 
-	0x14, 0x14, 0x14, 0x1F, 0x00, 
-	0x10, 0x10, 0x10, 0xF0, 0x00, 
-	0x00, 0x00, 0x00, 0x1F, 0x10, 
-	0x10, 0x10, 0x10, 0x1F, 0x10, 
-	0x10, 0x10, 0x10, 0xF0, 0x10, 
-	0x00, 0x00, 0x00, 0xFF, 0x10, 
-	0x10, 0x10, 0x10, 0x10, 0x10, 
-	0x10, 0x10, 0x10, 0xFF, 0x10, 
-	0x00, 0x00, 0x00, 0xFF, 0x14, 
-	0x00, 0x00, 0xFF, 0x00, 0xFF, 
-	0x00, 0x00, 0x1F, 0x10, 0x17, 
-	0x00, 0x00, 0xFC, 0x04, 0xF4, 
-	0x14, 0x14, 0x17, 0x10, 0x17, 
-	0x14, 0x14, 0xF4, 0x04, 0xF4, 
-	0x00, 0x00, 0xFF, 0x00, 0xF7, 
-	0x14, 0x14, 0x14, 0x14, 0x14, 
-	0x14, 0x14, 0xF7, 0x00, 0xF7, 
-	0x14, 0x14, 0x14, 0x17, 0x14, 
-	0x10, 0x10, 0x1F, 0x10, 0x1F, 
-	0x14, 0x14, 0x14, 0xF4, 0x14, 
-	0x10, 0x10, 0xF0, 0x10, 0xF0, 
-	0x00, 0x00, 0x1F, 0x10, 0x1F, 
-	0x00, 0x00, 0x00, 0x1F, 0x14, 
-	0x00, 0x00, 0x00, 0xFC, 0x14, 
-	0x00, 0x00, 0xF0, 0x10, 0xF0, 
-	0x10, 0x10, 0xFF, 0x10, 0xFF, 
-	0x14, 0x14, 0x14, 0xFF, 0x14, 
-	0x10, 0x10, 0x10, 0x1F, 0x00, 
-	0x00, 0x00, 0x00, 0xF0, 0x10, 
-	0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 
-	0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 
-	0xFF, 0xFF, 0xFF, 0x00, 0x00, 
-	0x00, 0x00, 0x00, 0xFF, 0xFF, 
-	0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 
-	0x38, 0x44, 0x44, 0x38, 0x44, 
-	0x7C, 0x2A, 0x2A, 0x3E, 0x14, 
-	0x7E, 0x02, 0x02, 0x06, 0x06, 
-	0x02, 0x7E, 0x02, 0x7E, 0x02, 
-	0x63, 0x55, 0x49, 0x41, 0x63, 
-	0x38, 0x44, 0x44, 0x3C, 0x04, 
-	0x40, 0x7E, 0x20, 0x1E, 0x20, 
-	0x06, 0x02, 0x7E, 0x02, 0x02, 
-	0x99, 0xA5, 0xE7, 0xA5, 0x99, 
-	0x1C, 0x2A, 0x49, 0x2A, 0x1C, 
-	0x4C, 0x72, 0x01, 0x72, 0x4C, 
-	0x30, 0x4A, 0x4D, 0x4D, 0x30, 
-	0x30, 0x48, 0x78, 0x48, 0x30, 
-	0xBC, 0x62, 0x5A, 0x46, 0x3D, 
-	0x3E, 0x49, 0x49, 0x49, 0x00, 
-	0x7E, 0x01, 0x01, 0x01, 0x7E, 
-	0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 
-	0x44, 0x44, 0x5F, 0x44, 0x44, 
-	0x40, 0x51, 0x4A, 0x44, 0x40, 
-	0x40, 0x44, 0x4A, 0x51, 0x40, 
-	0x00, 0x00, 0xFF, 0x01, 0x03, 
-	0xE0, 0x80, 0xFF, 0x00, 0x00, 
-	0x08, 0x08, 0x6B, 0x6B, 0x08,
-	0x36, 0x12, 0x36, 0x24, 0x36, 
-	0x06, 0x0F, 0x09, 0x0F, 0x06, 
-	0x00, 0x00, 0x18, 0x18, 0x00, 
-	0x00, 0x00, 0x10, 0x10, 0x00, 
-	0x30, 0x40, 0xFF, 0x01, 0x01, 
-	0x00, 0x1F, 0x01, 0x01, 0x1E, 
-	0x00, 0x19, 0x1D, 0x17, 0x12, 
-	0x00, 0x3C, 0x3C, 0x3C, 0x3C, 
-	0x00, 0x00, 0x00, 0x00, 0x00, 
-};
-#endif
diff --git a/libraries/Robot_Control/helper.cpp b/libraries/Robot_Control/helper.cpp
deleted file mode 100644
index a7a956a..0000000
--- a/libraries/Robot_Control/helper.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-#include "ArduinoRobot.h"
-
-void RobotControl::drawBase(){
-	Arduino_LCD::drawCircle(64,80,50,foreGround);
-	Arduino_LCD::drawLine(64,30,64,20,foreGround);
-}
-void RobotControl::drawDire(int16_t dire){
-	static uint8_t x_old;
-	static uint8_t y_old;
-	static uint8_t x_t_old;
-	static uint8_t y_t_old;
-
-	uint8_t x=60*sin(dire/360.0*6.28)+64;
-	uint8_t x_t=40*sin(dire/360.0*6.28)+64;
-	uint8_t y=60*cos(dire/360.0*6.28)+80;
-	uint8_t y_t=40*cos(dire/360.0*6.28)+80;
-
-	Arduino_LCD::drawLine(x_t_old,y_t_old,x_old,y_old,backGround);
-	Arduino_LCD::drawLine(x_t,y_t,x,y,RED);
-
-	x_old=x;
-	y_old=y;
-	x_t_old=x_t;
-	y_t_old=y_t;
-}
-
-void RobotControl::drawCompass(uint16_t value){
-	drawBase();
-	drawDire(value);
-	debugPrint(value,57,76);
-}
-
-//display logos 
-void RobotControl::displayLogos(){
-	_drawBMP("lg0.bmp",0,0);
-	delay(2000);
-	_drawBMP("lg1.bmp",0,0);
-	delay(2000);
-	clearScreen();
-}
-
-//wait for a button to be pressed
-void RobotControl::waitContinue(uint8_t key){
-  while(!(Robot.keyboardRead()==key));
-}
diff --git a/libraries/Robot_Control/information.cpp b/libraries/Robot_Control/information.cpp
deleted file mode 100644
index c36e9ce..0000000
--- a/libraries/Robot_Control/information.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-/*#include <ArduinoRobot.h>
-//0 - 319: pic array, 
-
-//320 - 337 username, 
-#define ADDRESS_USERNAME 320
-//338 - 355 robotname, 
-#define ADDRESS_ROBOTNAME 338
-//356 - 373 cityname, 
-#define ADDRESS_CITYNAME 356
- //374- 391 countryname, 
-#define ADDRESS_COUNTRYNAME 374
-//508-511 robot info
-#define ADDRESS_ROBOTINFO 508
-
-
-void RobotControl::getMyName(char* container){
-	EEPROM_I2C::readBuffer(ADDRESS_USERNAME,(uint8_t*)container,18);
-}
-void RobotControl::getRobotName(char* container){
-	EEPROM_I2C::readBuffer(ADDRESS_ROBOTNAME,(uint8_t*)container,18);
-}
-void RobotControl::getMyCity(char* container){
-	EEPROM_I2C::readBuffer(ADDRESS_CITYNAME,(uint8_t*)container,18);
-}
-void RobotControl::getMyCountry(char* container){
-	EEPROM_I2C::readBuffer(ADDRESS_COUNTRYNAME,(uint8_t*)container,18);
-}
-
-void RobotControl::setMyName(char* text){
-	EEPROM_I2C::writePage(ADDRESS_USERNAME,(uint8_t*)text,18);
-}
-void RobotControl::setRobotName(char* text){
-	EEPROM_I2C::writePage(ADDRESS_ROBOTNAME,(uint8_t*)text,18);
-}
-void RobotControl::setMyCity(char* text){
-	EEPROM_I2C::writePage(ADDRESS_CITYNAME,(uint8_t*)text,18);
-}
-void RobotControl::setMyCountry(char* text){
-	EEPROM_I2C::writePage(ADDRESS_COUNTRYNAME,(uint8_t*)text,18);
-}
-*/
\ No newline at end of file
diff --git a/libraries/Robot_Control/keyboard.cpp b/libraries/Robot_Control/keyboard.cpp
deleted file mode 100644
index 7e647bb..0000000
--- a/libraries/Robot_Control/keyboard.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-#include "ArduinoRobot.h"
-
-#if ARDUINO >= 100
-#include "Arduino.h"
-#else
-#include "WProgram.h"
-#endif
-int pul_min[]={0,133,319,494,732};
-int pul_max[]={10,153,339,514,752};
-/*int pul_min[]={0,123,295,471,714};
-int pul_max[]={0,143,315,491,734};*/
-/*
-int pul_min[]={0,133,319,494,732};
-int pul_max[]={10,153,339,514,752};
-*/
-void sort(int* v);
-
-void RobotControl::keyboardCalibrate(int *vals){
-	for(int i=0;i<5;i++){
-		pul_min[i]=vals[i]-10;
-		pul_max[i]=vals[i]+10;
-	}
-}
-int8_t RobotControl::keyboardRead(void)
-{
-
-  int lectura_pul;
-  int8_t conta_pul=0;
-  static int anterior=0;
-
-  lectura_pul = this->averageAnalogInput(KEY);
-
-  while ((conta_pul < NUMBER_BUTTONS) && !(lectura_pul >= pul_min[conta_pul] && lectura_pul <= pul_max[conta_pul]))
-    conta_pul++;
-
-  if (conta_pul >= NUMBER_BUTTONS)
-    conta_pul = -1;
-  else
-    delay(100);
-
-  return conta_pul;
-}
-
-int RobotControl::averageAnalogInput(int pinNum)
-{
-  int vals[5];
-  for(int i=0;i<5;i++){
-	for(int j=i;j<5;j++){
-	  vals[j]=::analogRead(pinNum);
-	}
-	sort(vals);
-  }
-  return vals[0];
-}
-void sort(int* v){
-  int tmp;
-  for(int i=0;i<4;i++)
-    for(int j=i+1;j<5;j++)
-      if(v[j]<v[i]){
-        tmp=v[j];
-        v[j]=v[i];
-        v[i]=tmp;
-      }
-  v[0]=v[3];
-}
\ No newline at end of file
diff --git a/libraries/Robot_Control/lcd.cpp b/libraries/Robot_Control/lcd.cpp
deleted file mode 100644
index 1f9f2ce..0000000
--- a/libraries/Robot_Control/lcd.cpp
+++ /dev/null
@@ -1,279 +0,0 @@
-#include "ArduinoRobot.h"
-#include "Wire.h"
-
-#define BUFFPIXEL 20
-
-bool cmp(char* str1, char* str2, uint8_t len);
-uint16_t read16(Fat16& f);
-uint32_t read32(Fat16& f);
-//uint16_t color565(uint8_t r, uint8_t g, uint8_t b);
-
-void RobotControl::beginTFT(uint16_t foreGround, uint16_t backGround){
-	//TFT initialization
-	Arduino_LCD::initB();
-	Arduino_LCD::fillScreen(backGround);
-	Arduino_LCD::setTextColor(foreGround);
-	Arduino_LCD::setTextSize(1);
-	this->foreGround=foreGround;
-	this->backGround=backGround;
-}
-void RobotControl::_enableLCD(){
-	DDRB = DDRB & 0xEF; //pinMode(CS_SD,INPUT);
-	DDRB = DDRB | 0x20; //pinMode(CS_LCD,OUTPUT);
-}
-/*void RobotControl::_setErase(uint8_t posX, uint8_t posY){
-	Arduino_LCD::setCursor(posX,posY);
-	Arduino_LCD::setTextColor(backGround);
-	Arduino_LCD::setTextSize(1);
-}
-void RobotControl::_setWrite(uint8_t posX, uint8_t posY){
-	Arduino_LCD::setCursor(posX,posY);
-	Arduino_LCD::setTextColor(foreGround);
-	Arduino_LCD::setTextSize(1);
-}*/
-/*
-void RobotControl::text(int value, uint8_t posX, uint8_t posY, bool EW){
-	if(EW)
-		_setWrite(posX,posY);
-	else 
-		_setErase(posX,posY);
-	Arduino_LCD::print(value);
-}
-void RobotControl::text(long value, uint8_t posX, uint8_t posY, bool EW){
-	if(EW)
-		_setWrite(posX,posY);
-	else 
-		_setErase(posX,posY);
-	Arduino_LCD::print(value);
-}
-void RobotControl::text(char* value, uint8_t posX, uint8_t posY, bool EW){
-	if(EW)
-		_setWrite(posX,posY);
-	else 
-		_setErase(posX,posY);
-	Arduino_LCD::print(value);
-}
-void RobotControl::text(char value, uint8_t posX, uint8_t posY, bool EW){
-	if(EW)
-		_setWrite(posX,posY);
-	else 
-		_setErase(posX,posY);
-	Arduino_LCD::print(value);
-}
-*/
-
-void RobotControl::debugPrint(long value, uint8_t x, uint8_t y){
-	static long oldVal=0;
-	Arduino_LCD::stroke(backGround);
-	text(oldVal,x,y);
-	Arduino_LCD::stroke(foreGround);
-	text(value,x,y);
-	oldVal=value;
-}
-
-void RobotControl::clearScreen(){
-	Arduino_LCD::fillScreen(backGround);
-}
-
-void RobotControl::drawBMP(char* filename, uint8_t x, uint8_t y){
-	/*for(int j=0;j<NUM_EEPROM_BMP;j++){
-		Serial.println(_eeprom_bmp[j].name);
-		Serial.print(" ");
-		Serial.print(_eeprom_bmp[j].address);
-		Serial.print(" ");
-		Serial.print(_eeprom_bmp[j].width);
-		Serial.print(" ");
-		Serial.println(_eeprom_bmp[j].height);
-	}
-	Serial.println();*/
-	if(_isEEPROM_BMP_Allocated){
-		for(int i=0;i<NUM_EEPROM_BMP;i++){
-			if(cmp(_eeprom_bmp[i].name,filename,7)){
-				/*Serial.println(_eeprom_bmp[i].name);
-				Serial.print(" ");
-				Serial.print(_eeprom_bmp[i].address);
-				Serial.print(" ");
-				Serial.print(_eeprom_bmp[i].width);
-				Serial.print(" ");
-				Serial.println(_eeprom_bmp[i].height);*/
-				_drawBMP(_eeprom_bmp[i].address,x,y,_eeprom_bmp[i].width,_eeprom_bmp[i].height);
-				return;
-			}
-		}
-	}else{
-		_drawBMP(filename,x,y);//goes to SD
-	}
-}
-bool cmp(char* str1, char* str2, uint8_t len){
-  for(uint8_t i=0;i<len;i++){
-	if(str1[i]==' ')break;
-    if(str1[i]!=str2[i])return false;
-  }
-  return true;
-}
-
-void RobotControl::_drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height){
-	uint8_t screenWidth=Arduino_LCD::width();
-	uint8_t screenHeight=Arduino_LCD::height();
-	if((x >= screenWidth) || (y >= screenHeight)) return;
-
-	// Crop area to be loaded
-	if((x+width-1) >= screenWidth)  width = screenWidth  - x;
-	if((y+height-1) >= screenHeight) height = screenHeight - y;
-
-	// Set TFT address window to clipped image bounds
-	Arduino_LCD::setAddrWindow(x, y, x+width-1, y+height-1);
-
-	// launch the reading command
-	_drawBMP_EEPROM(iconOffset, width, height);
-}
-
-//  Draw BMP from SD card through the filename
-void RobotControl::_drawBMP(char* filename, uint8_t posX, uint8_t posY){
-	uint8_t  bmpWidth, bmpHeight;   // W+H in pixels
-	uint8_t  bmpDepth;              // Bit depth (currently must be 24)
-	uint32_t bmpImageoffset;        // Start of image data in file
-	uint32_t rowSize;               // Not always = bmpWidth; may have padding
-	uint8_t  sdbuffer[3*BUFFPIXEL]; // pixel buffer (R+G+B per pixel)
-	uint8_t  buffidx = sizeof(sdbuffer); // Current position in sdbuffer
-	bool  goodBmp = false;       // Set to true on valid header parse
-	bool  flip    = true;        // BMP is stored bottom-to-top
-	uint8_t  w, h, row, col;
-	uint8_t  r, g, b;
-	uint32_t pos = 0;
-
-	// Open requested file on SD card
-	if ((file.open(filename,O_READ)) == NULL) {
-		return;
-	}
-
-	// Parse BMP header
-	if(read16(file) == 0x4D42) { // BMP signature
-		read32(file);//uint32_t aux = read32(file);
-		(void)read32(file); // Read & ignore creator bytes
-		bmpImageoffset = read32(file); // Start of image data
-		
-		// Read DIB header
-		(void)read32(file);//aux = read32(file);
-		bmpWidth  = read32(file);
-		bmpHeight = read32(file);
-		
-		if(read16(file) == 1) { // # planes -- must be '1'
-			bmpDepth = read16(file); // bits per pixel
-			if((bmpDepth == 24) && (read32(file) == 0)) { // 0 = uncompressed
-				goodBmp = true; // Supported BMP format -- proceed!
-
-				// BMP rows are padded (if needed) to 4-byte boundary
-				rowSize = (bmpWidth * 3 + 3) & ~3;
-
-				// If bmpHeight is negative, image is in top-down order.
-				// This is not canon but has been observed in the wild.
-				if(bmpHeight < 0) {
-					bmpHeight = -bmpHeight;
-					flip      = false;
-				}
-
-				// Crop area to be loaded
-				w = bmpWidth;
-				h = bmpHeight;
-
-				//  Start drawing
-				//_enableLCD();
-				Arduino_LCD::setAddrWindow(posX, posY, posX+bmpWidth-1, posY+bmpHeight-1);  
-
-				for (row=0; row<h; row++) { // For each scanline...
-					if(flip) // Bitmap is stored bottom-to-top order (normal BMP)
-						pos = bmpImageoffset + (bmpHeight - 1 - row) * rowSize;
-					else     // Bitmap is stored top-to-bottom
-						pos = bmpImageoffset + row * rowSize;
-						
-					if(file.curPosition() != pos) { // Need seek?
-						//_enableSD();
-						file.seekSet(pos);
-						buffidx = sizeof(sdbuffer); // Force buffer reload
-						//_enableLCD();
-					}
-					for (col=0; col<w; col++) { // For each pixel...
-						// Time to read more pixel data?
-						if (buffidx >= sizeof(sdbuffer)) { // Indeed
-							//_enableSD();
-							file.read(sdbuffer, sizeof(sdbuffer));
-							buffidx = 0; // Set index to beginning
-							//_enableLCD();
-						}
-						// Convert pixel from BMP to TFT format, push to display
-						b = sdbuffer[buffidx++];
-						g = sdbuffer[buffidx++];
-						r = sdbuffer[buffidx++];
-
-						int  color = Arduino_LCD::Color565(r,g,b);
-						
-						Arduino_LCD::pushColor(color);
-					} // end pixel
-				} // end scanline
-				//_enableSD();
-			} // end goodBmp*/
-		}
-	}
-	file.close();
-	//_enableLCD();
-}
-uint16_t read16(Fat16& f) {
-  uint16_t result;
-  f.read(&result,sizeof(result));
-  return result;
-}
-uint32_t read32(Fat16& f) {
-  uint32_t result;
-  f.read(&result,sizeof(result));
-  return result;
-}
-/*
-uint16_t color565(uint8_t r, uint8_t g, uint8_t b) {
-  return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3);
-}*/
-
-
-void RobotControl::_drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height){
-	uint16_t u16retVal = 0;
-	EEPROM_I2C::_beginTransmission(address);
-	EEPROM_I2C::_endTransmission();
-	/*Wire.beginTransmission(DEVICEADDRESS);
-	Wire.write( (address >> 8) & 0xFF );
-	Wire.write( (address >> 0) & 0xFF );
-	Wire.endTransmission();*/
-
-	long s = width * height ;
-	for(long j = 0; j < (long) s >> 4; j++) { // divided by 32, times 2
-		Wire.requestFrom(DEVICEADDRESS, 32);
-		for(int i = 0; i < 32; i+=2) {
-			u16retVal = Wire.read();
-			u16retVal = (u16retVal << 8) + Wire.read();
-			Arduino_LCD::pushColor(u16retVal);
-		}
-	}
-
-}
-void RobotControl::beginBMPFromEEPROM(){
-	_eeprom_bmp=(EEPROM_BMP*)malloc(NUM_EEPROM_BMP*sizeof(EEPROM_BMP));
-	EEPROM_I2C::_beginTransmission(0);
-	EEPROM_I2C::_endTransmission();
-	
-	for(uint8_t j=0;j<NUM_EEPROM_BMP;j++){
-		Wire.requestFrom(DEVICEADDRESS, sizeof(EEPROM_BMP));
-		for(uint8_t i=0;i<8;i++){
-			_eeprom_bmp[j].name[i]=Wire.read();//name
-		}
-		_eeprom_bmp[j].width=Wire.read();//width
-		_eeprom_bmp[j].height=Wire.read();//height
-		
-		_eeprom_bmp[j].address=Wire.read();
-		_eeprom_bmp[j].address=_eeprom_bmp[j].address + (Wire.read() << 8);//address
-	}
-	_isEEPROM_BMP_Allocated=true;
-	
-}
-void RobotControl::endBMPFromEEPROM(){
-	free(_eeprom_bmp);
-	_isEEPROM_BMP_Allocated=false;
-}
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
-