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

10 files changed, 0 insertions, 915 deletions

diff --git a/libraries/Robot_Motor/ArduinoRobotMotorBoard.cpp b/libraries/Robot_Motor/ArduinoRobotMotorBoard.cpp
deleted file mode 100644
index 7740a06..0000000
--- a/libraries/Robot_Motor/ArduinoRobotMotorBoard.cpp
+++ /dev/null
@@ -1,265 +0,0 @@
-#include "ArduinoRobotMotorBoard.h"
-#include "EasyTransfer2.h"
-#include "Multiplexer.h"
-#include "LineFollow.h"
-
-RobotMotorBoard::RobotMotorBoard(){
-	//LineFollow::LineFollow();
-}
-/*void RobotMotorBoard::beginIRReceiver(){
-	IRrecv::enableIRIn();
-}*/
-void RobotMotorBoard::begin(){
-	//initialze communication
-	Serial1.begin(9600);
-	messageIn.begin(&Serial1);
-	messageOut.begin(&Serial1);
-
-	//init MUX
-	uint8_t MuxPins[]={MUXA,MUXB,MUXC};
-	this->IRs.begin(MuxPins,MUX_IN,3);
-	pinMode(MUXI,INPUT);
-	digitalWrite(MUXI,LOW);
-	
-	isPaused=false;
-}
-
-void RobotMotorBoard::process(){
-	if(isPaused)return;//skip process if the mode is paused
-	
-	if(mode==MODE_SIMPLE){
-		//Serial.println("s");
-		//do nothing? Simple mode is just about getting commands
-	}else if(mode==MODE_LINE_FOLLOW){
-		//do line following stuff here.
-		LineFollow::runLineFollow();
-	}else if(mode==MODE_ADJUST_MOTOR){
-		//Serial.println('a');
-		//motorAdjustment=analogRead(POT);
-		//setSpeed(255,255);
-		//delay(100);
-	}
-}
-void RobotMotorBoard::pauseMode(bool onOff){
-	if(onOff){
-		isPaused=true;
-	}else{
-		isPaused=false;
-	}
-	stopCurrentActions();
-
-}
-void RobotMotorBoard::parseCommand(){
-	uint8_t modeName;
-	uint8_t codename;
-	int value;
-	int speedL;
-	int speedR;
-	if(this->messageIn.receiveData()){
-		//Serial.println("data received");
-		uint8_t command=messageIn.readByte();
-		//Serial.println(command);
-		switch(command){
-			case COMMAND_SWITCH_MODE:
-				modeName=messageIn.readByte();
-				setMode(modeName);
-				break;
-			case COMMAND_RUN:
-				if(mode==MODE_LINE_FOLLOW)break;//in follow line mode, the motor does not follow commands
-				speedL=messageIn.readInt();
-				speedR=messageIn.readInt();
-				motorsWrite(speedL,speedR);
-				break;
-			case COMMAND_MOTORS_STOP:
-				motorsStop();
-				break;
-			case COMMAND_ANALOG_WRITE:
-				codename=messageIn.readByte();
-				value=messageIn.readInt();
-				_analogWrite(codename,value);
-				break;
-			case COMMAND_DIGITAL_WRITE:
-				codename=messageIn.readByte();
-				value=messageIn.readByte();
-				_digitalWrite(codename,value);
-				break;
-			case COMMAND_ANALOG_READ:
-				codename=messageIn.readByte();
-				_analogRead(codename);
-				break;
-			case COMMAND_DIGITAL_READ:
-				codename=messageIn.readByte();
-				_digitalRead(codename);
-				break;
-			case COMMAND_READ_IR:
-				_readIR();
-				break;
-			case COMMAND_READ_TRIM:
-				_readTrim();
-				break;
-			case COMMAND_PAUSE_MODE:
-				pauseMode(messageIn.readByte());//onOff state
-				break;
-			case COMMAND_LINE_FOLLOW_CONFIG:
-				LineFollow::config(
-					messageIn.readByte(),	//KP
-					messageIn.readByte(),	//KD
-					messageIn.readByte(),	//robotSpeed
-					messageIn.readByte()	//IntegrationTime
-				);
-				break;
-		}
-	}
-	//delay(5);
-}
-uint8_t RobotMotorBoard::parseCodename(uint8_t codename){
-	switch(codename){
-		case B_TK1:
-			return TK1;
-		case B_TK2:
-			return TK2;
-		case B_TK3:
-			return TK3;
-		case B_TK4:
-			return TK4;
-	}
-}
-uint8_t RobotMotorBoard::codenameToAPin(uint8_t codename){
-	switch(codename){
-		case B_TK1:
-			return A0;
-		case B_TK2:
-			return A1;
-		case B_TK3:
-			return A6;
-		case B_TK4:
-			return A11;
-	}
-}
-
-void RobotMotorBoard::setMode(uint8_t mode){
-	if(mode==MODE_LINE_FOLLOW){
-		LineFollow::calibIRs();
-	}
-	/*if(mode==SET_MOTOR_ADJUSTMENT){
-			save_motor_adjustment_to_EEPROM();
-		}
-	*/
-	/*if(mode==MODE_IR_CONTROL){
-		beginIRReceiver();
-	}*/
-	this->mode=mode;
-	//stopCurrentActions();//If line following, this should stop the motors
-}
-
-void RobotMotorBoard::stopCurrentActions(){
-	motorsStop();
-	//motorsWrite(0,0);
-}
-
-void RobotMotorBoard::motorsWrite(int speedL, int speedR){
-	/*Serial.print(speedL);
-	Serial.print(" ");
-	Serial.println(speedR);*/
-	//motor adjustment, using percentage
-	_refreshMotorAdjustment();
-	
-	if(motorAdjustment<0){
-		speedR*=(1+motorAdjustment);
-	}else{
-		speedL*=(1-motorAdjustment);
-	}
-	
-	if(speedL>0){
-		analogWrite(IN_A1,speedL);
-		analogWrite(IN_A2,0);
-	}else{
-		analogWrite(IN_A1,0);
-		analogWrite(IN_A2,-speedL);
-	}
-	
-	if(speedR>0){
-		analogWrite(IN_B1,speedR);
-		analogWrite(IN_B2,0);
-	}else{
-		analogWrite(IN_B1,0);
-		analogWrite(IN_B2,-speedR);
-	}
-}
-void RobotMotorBoard::motorsWritePct(int speedLpct, int speedRpct){
-	//speedLpct, speedRpct ranges from -100 to 100
-	motorsWrite(speedLpct*2.55,speedRpct*2.55);
-}
-void RobotMotorBoard::motorsStop(){
-	analogWrite(IN_A1,255);
-	analogWrite(IN_A2,255);
-
-	analogWrite(IN_B1,255);
-	analogWrite(IN_B2,255);
-}
-
-
-/*
-*
-*
-*	Input and Output ports
-*
-*
-*/
-void RobotMotorBoard::_digitalWrite(uint8_t codename,bool value){
-	uint8_t pin=parseCodename(codename);
-	digitalWrite(pin,value);
-}
-void RobotMotorBoard::_analogWrite(uint8_t codename,int value){
-	//There's no PWM available on motor board
-}
-void RobotMotorBoard::_digitalRead(uint8_t codename){
-	uint8_t pin=parseCodename(codename);
-	bool value=digitalRead(pin);
-	messageOut.writeByte(COMMAND_DIGITAL_READ_RE);
-	messageOut.writeByte(codename);
-	messageOut.writeByte(value);
-	messageOut.sendData();
-}
-void RobotMotorBoard::_analogRead(uint8_t codename){
-	uint8_t pin=codenameToAPin(codename);
-	int value=analogRead(pin);
-	messageOut.writeByte(COMMAND_ANALOG_READ_RE);
-	messageOut.writeByte(codename);
-	messageOut.writeInt(value);
-	messageOut.sendData();
-}
-int RobotMotorBoard::IRread(uint8_t num){
-	IRs.selectPin(num-1); //To make consistant with the pins labeled on the board
-	return IRs.getAnalogValue();
-}
-
-void RobotMotorBoard::_readIR(){
-	//Serial.println("readIR");
-	int value;
-	messageOut.writeByte(COMMAND_READ_IR_RE);
-	for(int i=1;i<6;i++){
-		value=IRread(i);
-		messageOut.writeInt(value);
-	}
-	messageOut.sendData();
-}
-
-void RobotMotorBoard::_readTrim(){
-	int value=analogRead(TRIM);
-	messageOut.writeByte(COMMAND_READ_TRIM_RE);
-	messageOut.writeInt(value);
-	messageOut.sendData();	
-}
-
-void RobotMotorBoard::_refreshMotorAdjustment(){
-	motorAdjustment=map(analogRead(TRIM),0,1023,-30,30)/100.0;
-}
-
-void RobotMotorBoard::reportActionDone(){
-	setMode(MODE_SIMPLE);
-	messageOut.writeByte(COMMAND_ACTION_DONE);
-	messageOut.sendData();
-}
-
-RobotMotorBoard RobotMotor=RobotMotorBoard();
\ No newline at end of file
diff --git a/libraries/Robot_Motor/ArduinoRobotMotorBoard.h b/libraries/Robot_Motor/ArduinoRobotMotorBoard.h
deleted file mode 100644
index c1004c4..0000000
--- a/libraries/Robot_Motor/ArduinoRobotMotorBoard.h
+++ /dev/null
@@ -1,125 +0,0 @@
-#ifndef ArduinoRobot_h
-#define ArduinoRobot_h
-
-#include "EasyTransfer2.h"
-#include "Multiplexer.h"
-#include "LineFollow.h"
-//#include "IRremote.h"
-
-#if ARDUINO >= 100
-#include "Arduino.h"
-#else
-#include "WProgram.h"
-#endif
-
-//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
-
-//bottom TKs, just for communication purpose
-#define B_TK1 201
-#define B_TK2 202
-#define B_TK3 203
-#define B_TK4 204
-
-/*
-A message structure will be:
-switch mode (2):
-	byte COMMAND_SWITCH_MODE, byte mode
-run (5):
-	byte COMMAND_RUN, int speedL, int speedR
-analogWrite (3):
-	byte COMMAND_ANALOG_WRITE, byte codename, byte value;
-digitalWrite (3):
-	byte COMMAND_DIGITAL_WRITE, byte codename, byte value;
-analogRead (2):
-	byte COMMAND_ANALOG_READ, byte codename;
-analogRead _return_ (4):
-	byte COMMAND_ANALOG_READ_RE, byte codename, int value;
-digitalRead (2):
-	byte COMMAND_DIGITAL_READ, byte codename;
-digitalRead _return_ (4):
-	byte COMMAND_DIGITAL_READ_RE, byte codename, int value;
-read IR (1):
-	byte COMMAND_READ_IR;
-read IR _return_ (9):
-	byte COMMAND_READ_IR_RE, int valueA, int valueB, int valueC, int valueD;
-
-
-*/
-
-class RobotMotorBoard:public LineFollow{
-	public:
-		RobotMotorBoard();
-		void begin();
-		
-		void process();
-		
-		void parseCommand();
-		
-		int IRread(uint8_t num);
-		
-		void setMode(uint8_t mode);
-		void pauseMode(bool onOff);
-		
-		void motorsWrite(int speedL, int speedR);
-		void motorsWritePct(int speedLpct, int speedRpct);//write motor values in percentage
-		void motorsStop();		
-	private:
-		float motorAdjustment;//-1.0 ~ 1.0, whether left is lowered or right is lowered
-		
-		//convert codename to actual pins
-		uint8_t parseCodename(uint8_t codename);
-		uint8_t codenameToAPin(uint8_t codename);
-		
-		void stopCurrentActions();
-		//void sendCommand(byte command,byte codename,int value);
-		
-		void _analogWrite(uint8_t codename, int value);
-		void _digitalWrite(uint8_t codename, bool value);
-		void _analogRead(uint8_t codename);
-		void _digitalRead(uint8_t codename);
-		void _readIR();
-		void _readTrim();
-		
-		void _refreshMotorAdjustment();
-		
-		Multiplexer IRs;
-		uint8_t mode;
-		uint8_t isPaused;
-		EasyTransfer2 messageIn;
-		EasyTransfer2 messageOut;
-		
-		//Line Following 
-		void reportActionDone();
-};
-
-extern RobotMotorBoard RobotMotor;
-
-#endif
\ No newline at end of file
diff --git a/libraries/Robot_Motor/EasyTransfer2.cpp b/libraries/Robot_Motor/EasyTransfer2.cpp
deleted file mode 100644
index 24427cc..0000000
--- a/libraries/Robot_Motor/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_Motor/EasyTransfer2.h b/libraries/Robot_Motor/EasyTransfer2.h
deleted file mode 100644
index 3369a51..0000000
--- a/libraries/Robot_Motor/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_Motor/LineFollow.h b/libraries/Robot_Motor/LineFollow.h
deleted file mode 100644
index 608d573..0000000
--- a/libraries/Robot_Motor/LineFollow.h
+++ /dev/null
@@ -1,40 +0,0 @@
-#ifndef LINE_FOLLOW_H
-#define LINE_FOLLOW_H
-
-#if ARDUINO >= 100
-	#include "Arduino.h"
-#else
-	#include "WProgram.h"
-#endif
-
-class LineFollow{
-	public:
-		LineFollow();
-
-		void calibIRs();
-		void runLineFollow();
-		void config(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);
-		
-		//These are all pure virtual functions, pure VF needs pure specifier "=0"
-		//virtual void motorsWrite(int speedL, int speedR)=0;
-		virtual void motorsWritePct(int speedLpct, int speedRpct)=0;
-		virtual void motorsStop()=0;
-		virtual int IRread(uint8_t num)=0;
-	protected:
-		virtual	void reportActionDone()=0;
-		
-	private:
-		void doCalibration(int speedPct, int time);
-		void ajusta_niveles();
-		
-		uint8_t KP;
-		uint8_t KD;
-		uint8_t robotSpeed; //percentage
-		uint8_t intergrationTime;
-		
-		int lectura_sensor[5], last_error, acu;
-		int sensor_blanco[5];
-		int sensor_negro[5];
-};
-
-#endif
\ No newline at end of file
diff --git a/libraries/Robot_Motor/Multiplexer.cpp b/libraries/Robot_Motor/Multiplexer.cpp
deleted file mode 100644
index c0fdd86..0000000
--- a/libraries/Robot_Motor/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();
-}
\ No newline at end of file
diff --git a/libraries/Robot_Motor/Multiplexer.h b/libraries/Robot_Motor/Multiplexer.h
deleted file mode 100644
index a0c4c5c..0000000
--- a/libraries/Robot_Motor/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_Motor/examples/Robot_IR_Array_Test/Robot_IR_Array_Test.ino b/libraries/Robot_Motor/examples/Robot_IR_Array_Test/Robot_IR_Array_Test.ino
deleted file mode 100644
index e201fd9..0000000
--- a/libraries/Robot_Motor/examples/Robot_IR_Array_Test/Robot_IR_Array_Test.ino
+++ /dev/null
@@ -1,26 +0,0 @@
-/* Motor Board IR Array Test
-   
-   This example of the Arduno robot's motor board returns the 
-   values read fron the 5 infrared sendors on the bottom of 
-   the robot.
-
-*/
-// include the motor board header 
-#include <ArduinoRobotMotorBoard.h>
-
-String bar; // string for storing the informaton
-
-void setup(){
-  // start serial communication
-  Serial.begin(9600);
-  // initialize the library
-  RobotMotor.begin();
-}
-void loop(){
-  bar=String(""); // empty the string
-  // read the sensors and add them to the string
-  bar=bar+RobotMotor.readIR(0)+' '+RobotMotor.readIR(1)+' '+RobotMotor.readIR(2)+' '+RobotMotor.readIR(3)+' '+RobotMotor.readIR(4);
-  // print out the values
-  Serial.println(bar);
-  delay(100);
-}
diff --git a/libraries/Robot_Motor/examples/Robot_Motor_Core/Robot_Motor_Core.ino b/libraries/Robot_Motor/examples/Robot_Motor_Core/Robot_Motor_Core.ino
deleted file mode 100644
index f74f30a..0000000
--- a/libraries/Robot_Motor/examples/Robot_Motor_Core/Robot_Motor_Core.ino
+++ /dev/null
@@ -1,18 +0,0 @@
-/* Motor Core
-
-  This code for the Arduino Robot's motor board
-  is the stock firmware. program the motor board with 
-  this sketch whenever you want to return the motor
-  board to its default state.
-  
-*/
-
-#include <ArduinoRobotMotorBoard.h>
-
-void setup(){
-  RobotMotor.begin();
-}
-void loop(){
-  RobotMotor.parseCommand();
-  RobotMotor.process();
-}
diff --git a/libraries/Robot_Motor/lineFollow.cpp b/libraries/Robot_Motor/lineFollow.cpp
deleted file mode 100644
index d6ebed8..0000000
--- a/libraries/Robot_Motor/lineFollow.cpp
+++ /dev/null
@@ -1,152 +0,0 @@
-//#include <ArduinoRobotMotorBoard.h>
-#include "LineFollow.h"
-
-//#define KP 19 //0.1 units
-//#define KD 14
-//#define ROBOT_SPEED 100 //percentage
-
-//#define KP 11
-//#define KD 5
-//#define ROBOT_SPEED 50
-
-//#define INTEGRATION_TIME 10 //En ms
-
-/*uint8_t KP=11;
-uint8_t KD=5;
-uint8_t robotSpeed=50; //percentage
-uint8_t intergrationTime=10;*/
-
-#define NIVEL_PARA_LINEA 50 
-
-/*int lectura_sensor[5], last_error=0, acu=0;
-
-//Estos son los arrays que hay que rellenar con los valores de los sensores
-//de suelo sobre blanco y negro. 
-int sensor_blanco[]={
-  0,0,0,0,0};
-int sensor_negro[]={
-  1023,1023,1023,1023,1023};
-*/
-//unsigned long time;
-
-//void mueve_robot(int vel_izq, int vel_der);
-//void para_robot();
-//void doCalibration(int speedPct, int time);
-//void ajusta_niveles();	//calibrate values
-
-LineFollow::LineFollow(){
-	/*KP=11;
-	KD=5;
-	robotSpeed=50; //percentage
-	intergrationTime=10;*/
-	config(11,5,50,10);
-		
-	for(int i=0;i<5;i++){
-		sensor_blanco[i]=0;
-		sensor_negro[i]=1023;
-	}
-}
-
-void LineFollow::config(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
-	this->KP=KP;
-	this->KD=KD;
-	this->robotSpeed=robotSpeed;
-	this->intergrationTime=intergrationTime;
-	/*Serial.print("LFC: ");
-	Serial.print(KP);
-	Serial.print(' ');
-	Serial.print(KD);
-	Serial.print(' ');
-	Serial.print(robotSpeed);
-	Serial.print(' ');
-	Serial.println(intergrationTime);*/
-	
-}
-void LineFollow::calibIRs(){
-	static bool isInited=false;//So only init once
-	if(isInited)return ;
-	
-	delay(1000);
-	
-	doCalibration(30,500);
-	doCalibration(-30,800);
-	doCalibration(30,500);
-	
-	delay(1000);
-	isInited=true;
-}
-
-void LineFollow::runLineFollow(){
-  for(int count=0; count<5; count++)
-  {
-    lectura_sensor[count]=map(IRread(count),sensor_negro[count],sensor_blanco[count],0,127);
-    acu+=lectura_sensor[count];
-  }
-
-  //Serial.println(millis());
-  if (acu > NIVEL_PARA_LINEA)
-  {
-    acu/=5;
-
-    int error = ((lectura_sensor[0]<<6)+(lectura_sensor[1]<<5)-(lectura_sensor[3]<<5)-(lectura_sensor[4]<<6))/acu;
-
-    error = constrain(error,-100,100);
-
-    //Calculamos la correcion de velocidad mediante un filtro PD
-    int vel = (error * KP)/10 + (error-last_error)*KD;
-
-    last_error = error;
-
-    //Corregimos la velocidad de avance con el error de salida del filtro PD
-    int motor_left = constrain((robotSpeed + vel),-100,100);
-    int motor_right =constrain((robotSpeed - vel),-100,100);
-
-    //Movemos el robot
-    //motorsWritePct(motor_left,motor_right);
-    motorsWritePct(motor_left,motor_right);
-
-    //Esperamos un poquito a que el robot reaccione
-    delay(intergrationTime);
-  }
-  else
-  {
-    //Hemos encontrado una linea negra
-    //perpendicular a nuestro camino
-    //paramos el robot
-    motorsStop();
-
-    //y detenemos la ejecución del programa
-    //while(true);
-	reportActionDone();
-	//setMode(MODE_SIMPLE);
-  }
-}  
-
-
-void LineFollow::doCalibration(int speedPct, int time){
-	motorsWritePct(speedPct, -speedPct);
-	unsigned long beginTime = millis();
-	while((millis()-beginTime)<time)
-		ajusta_niveles();
-	motorsStop();
-}
-void LineFollow::ajusta_niveles()
-{
-	int lectura=0;
-
-	for(int count=0; count<5; count++){
-		lectura=IRread(count);
-
-		if (lectura > sensor_blanco[count])
-			sensor_blanco[count]=lectura;
-
-		if (lectura < sensor_negro[count])
-			sensor_negro[count]=lectura;
-	} 
-}
-
-
-
-
-
-