1 files changed, 0 insertions, 152 deletions

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