Index: branches/diagnosticStation/lib/bin/libdragonfly.a
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Index: branches/diagnosticStation/lib/bin/libdragonfly.a
===================================================================
--- branches/diagnosticStation/lib/bin/libdragonfly.a	(revision 1056)
+++ branches/diagnosticStation/lib/bin/libdragonfly.a	(nonexistent)

Property changes on: branches/diagnosticStation/lib/bin/libdragonfly.a
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Index: branches/diagnosticStation/lib/bin/libwireless.a
===================================================================
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Index: branches/diagnosticStation/lib/bin/libwireless.a
===================================================================
--- branches/diagnosticStation/lib/bin/libwireless.a	(revision 1056)
+++ branches/diagnosticStation/lib/bin/libwireless.a	(nonexistent)

Property changes on: branches/diagnosticStation/lib/bin/libwireless.a
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Index: branches/diagnosticStation/lib/include/libdragonfly/eeprom.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/eeprom.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/eeprom.h	(nonexistent)
@@ -1,51 +0,0 @@
-/**
- * @file eeprom.h
- * @brief handles eeprom storage for persistent data
- *
- * Contains functions and definitions for reading and writing to eeprom
- *
- * @author Colony Project, Brad Neuman
- */
- 
- #ifndef _EEPROM_H_
- #define _EEPROM_H_
- 
- #include <bom.h>
- 
- #define EEPROM_ROBOT_ID_ADDR 0x10
- #define EEPROM_BOM_TYPE_ADDR 0x14
- 
- /** @brief store a byte to eeproem
-  *  @return 0 if success, nonzero on failure
-  */
- int eeprom_put_byte(unsigned int addr, unsigned char byte);
- 
- /** @brief reads a byte from eeprom
-  *
-  *  Pass it thge address and a pointer to a byte where the byte at the
-  *  address will be stored
-  *
-  *  @return 0 if successful (byte is set to the eeprom value at addr), 
-  *  nonzero if there was a problem
-   */
- int eeprom_get_byte(unsigned int addr, unsigned char *byte);
- 
- /** @brief get stored robot ID
-  *
-  *  checks that EEPROM has been programed with an ID and returns it
-  *
-  *  @return the robot id, if it is stored. If it returns 0xFF it is probably invalid
-  */
- unsigned char get_robotid(void);
-  
-   /** @brief get stored robot ID
-  *
-  * checks that EEPROM has been programed with an BOM type and returns it
-  *
-  *  @return the robot bom type as defined in bom.h, if it is stored. If it returns 0xFF it is probably invalid
-  */
- unsigned char get_bom_type(void);
- 
- #endif
- 
- 
\ No newline at end of file
Index: branches/diagnosticStation/lib/include/libdragonfly/ring_buffer.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/ring_buffer.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/ring_buffer.h	(nonexistent)
@@ -1,142 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/** @file ring_buffer.h
- * @brief Ring Buffer
- *
- * Include macros to create a ring buffer. Originally written for 15-410.
- * Modified for use in ATMega128 serial driver
- *
- * @author Cornell Wright (cgwright)
- * @author Jason P. Winters (jpwinter)
- *
- **/
-
-#ifndef _RING_BUFFER_H
-#define _RING_BUFFER_H
-
-/** @brief Creates the struct for a new ring buffer. This just expands to a
- *	structure definition and thus should be invoked in the global context.
- *
- *	@param struct_name Name of the ring buffer struct.
- *
- *	@param size The size of the buffer to create.
- *
- *	@param type The type of object that the queue is to hold.
- *
- *	@param ... Name or names of the instance or instances of the ring buffer(s)
- *	to be created.
- */
-#define RING_BUFFER_NEW(struct_name, size, type, ...)	\
-	struct struct_name {	\
-		type queue[size];	\
-		uint8_t start;			\
-		uint8_t end;			\
-		uint8_t buffer_size;			\
-	} __VA_ARGS__
-
-
-/** @brief Initializes the ring buffer, setting its size to the correct value
- *
- *	@param buf The ring buffer to initialize.
- *
- *  @param size The size of the ring buffer (in array elements)
- */
-#define RING_BUFFER_INIT(buf, size) 			\
-	do {										\
-		(buf).buffer_size = size;				\
-	} while(0)
-
-
-/** @brief Sets the specified ring buffer to be empty.
- *
- *	@param buf The ring buffer to make empty.
- */
-#define RING_BUFFER_CLEAR(buf)	\
-	do {						\
-		(buf).start = 0;		\
-		(buf).end = 0;			\
-	} while (0)
-
-/** @brief Returns true if the ring buffer specified is empty.
- *
- *	@param buf The buffer to check emptiness of.
- */
-#define RING_BUFFER_EMPTY(buf) ((buf).start == (buf).end)
-
-
-/** @brief Returns true if the ring buffer specified is full.
- *
- *	@param buf The buffer to check fullness of.
- */
-#define RING_BUFFER_FULL(buf)	\
-		(((buf).end + 1) % (buf).buffer_size == (buf).start)
-
-
-/** @brief Adds val to ring buffer buf. Note that val must be of the type
- *	used in creating the ring buffer to prevent the compiler from spewing
- *	confusing errors. Also, this assumes that the ring buffer is not full.
- *
- *	@param buf The ring buffer to add to.
- *	@param val The value to add.
- */
-#define RING_BUFFER_ADD(buf, val)		\
-	do {								\
-		(buf).queue[(buf).end] = val;	\
-		(buf).end = ((buf).end + 1) % (buf).buffer_size;	\
-	} while (0)
-
-
-/** @brief Removes the value at the head of the ring buffer and puts it in
- *	val_ret. Note that val_ret must be the same type used in creating the ring
- *	buffer to prevent the compiler from spewing confusing errors. Also, this
- *	assumes that the ring buffer is not empty.
- *
- *	@param buf The ring buffer to remove from.
- *	@param val_ret Where to put the value removed from the head of the ring
- *	buffer.
- */
-#define RING_BUFFER_REMOVE(buf, val_ret)	\
-	do {	\
-		(val_ret) = (buf).queue[(buf).start];	\
-		(buf).start = ((buf).start + 1) % (buf).buffer_size;	\
-	} while (0)
-
-/** @brief Checks the value at the head of the ring buffer without removing it
- *  and puts it into val_ret. Note that val_ret must be the same type used in
- *  creating the ring buffer to prevent the compiler from spewing confusing
- *  errors. Also, this assumes that the ring buffer is not empty.
- *
- *  @param buf The ring buffer to check from
- *  @param val_ret where to put the value checked from the head of the ring
- */
- #define RING_BUFFER_PEEK(buf, val_ret)  \
-  do { \
-    (val_ret) = (buf).queue[(buf).start]; \
-  } while(0)
-
-#endif /* _RING_BUFFER_H */
-
Index: branches/diagnosticStation/lib/include/libdragonfly/lights.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/lights.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/lights.h	(nonexistent)
@@ -1,99 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file lights.h
- * @brief Contains declarations for managing the orbs.
- *
- * Contains declarations for using the orbs and PWM.
- *
- * @author Colony Project, CMU Robotics Club
- * Based on Firefly Library, by Tom Lauwers and Steven Shamlian
- **/
-
-#ifndef _LIGHTS_H_
-#define _LIGHTS_H_
-
-
-/**
- * @addtogroup orbs
- * @{
- **/
-
-//ORB Colors
-/** @brief Red **/
-#define RED       0xE0
-/** @brief Orange **/
-#define ORANGE    0xE4
-/** @brief Yellow **/
-#define YELLOW    0xE8
-/** @brief Lime **/
-#define LIME      0x68
-/** @brief Green **/
-#define GREEN     0x1C
-/** @brief Cyan **/
-#define CYAN      0x1F
-/** @brief Blue **/
-#define BLUE      0x03
-/** @brief Pink **/
-#define PINK      0xA6 
-/** @brief Purple **/
-#define PURPLE    0x41
-/** @brief Magenta **/
-#define MAGENTA   0xE3
-/** @brief White **/
-#define WHITE     0xFE
-/** @brief Turn the orb off (White) **/
-#define ORB_OFF   0xFE      //ORB_OFF->WHITE
-
-/** @brief Enables the orbs **/
-void orb_init(void);
-/** @brief Set both orbs to a specified color **/
-void orb_set(unsigned char red_led, unsigned char green_led,
-	     unsigned char blue_led);
-/** @brief Set orb1 to a specified color **/
-void orb1_set(unsigned char red_led, unsigned char green_led,
-	      unsigned char blue_led); 
-/** @brief Set orb2 to a specified color **/
-void orb2_set(unsigned char red_led, unsigned char green_led,
-	      unsigned char blue_led);
-
-/** @brief Set both orbs to a specified color **/
-void orb_set_color(int col);
-/** @brief Set orb1 to a specified color **/
-void orb1_set_color(int col);
-/** @brief Set orb2 to a specified color **/
-void orb2_set_color(int col);
-
-/** @brief Disable the orbs **/
-void orb_disable(void);
-/** @brief Enable the orbs **/
-void orb_enable(void);
-
-/** @} **/ //end addtogroup
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/spi.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/spi.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/spi.h	(nonexistent)
@@ -1,46 +0,0 @@
-/**
- * @file spi.h
- * @brief Definitions for SPI
- * @author Colony Project, CMU Robotics Club
- **/
-
-/**
- * @addtogroup spi
- * @{
- **/
-
-#ifndef __SPI_H__
-#define __SPI_H__
-
-#define DOUBLE_SCK 1
-#define SPR0_BIT 1
-
-#define MASTER 1
-#define SLAVE 0
-
-#define MOSI _BV(PB2)
-#define MISO _BV(PB3)
-#define SS   _BV(PB0)
-#define SCLK _BV(PB1)
-
-typedef void (*spi_fun_recv_t)(char);
-typedef void (*spi_fun_recv_complete_t)(void);
-
-/** 
-* @brief Initialize SPI
-* 
-* @param spi_fun_recv_t The function that handles SPI data, byte for byte.
-* @param spi_fun_recv_complete_t  Called on a completed transmission - typically for cleaning up.
-*/
-void spi_init (spi_fun_recv_t, spi_fun_recv_complete_t);
-
-/** 
-* @brief Initialize SPI transfer.
-* 
-* @param char The number of bytes to transfer.
-*/
-void spi_transfer (char);
-
-/**@}**/ //end group
-
-#endif
Index: branches/diagnosticStation/lib/include/libdragonfly/time.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/time.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/time.h	(nonexistent)
@@ -1,75 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file time.h
- * @brief Contains time-related functions and definitions
- *
- * Contains functions and definitions for dealing with time,
- * namely delay_ms and the realtime clock.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _TIME_H_
-#define _TIME_H_
-
-/*	Predefined times for prescale_opt in time.c.
-	To make you own, know that a pulse is 1/16th of a second. You cannot get less than this. To get more, you need
-	to know how many 16ths of a second are in the time you want. (Time_desired * 16 = prescaler_opt)
-*/
-/**
- * @addtogroup time
- * @{
- **/
-/** @brief A sixteenth of a second **/
-#define SIXTEENTH_SECOND 1
-/** @brief An eighth of a second **/
-#define EIGTH_SECOND 2
-/** @brief A quarter of a second **/
-#define QUARTER_SECOND 4
-/** @brief Half of a second **/
-#define HALF_SECOND	8
-/** @brief One second **/
-#define SECOND 16
-/** @brief Two seconds **/
-#define TWO_SECOND 32
-/** @brief Four seconds **/
-#define FOUR_SECOND 64
-
-/** @brief Delay execution for the specified time **/
-void delay_ms(int ms) ;
-/** @brief Enable the realtime clock **/
-void rtc_init(int prescale_opt, void (*rtc_func)(void));
-/** @brief Reset the counter of the realtime clock **/
-void rtc_reset(void);
-/** @brief Get the value of the realtime clock. **/
-int rtc_get(void);
-
-/** @} **/
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/motor.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/motor.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/motor.h	(nonexistent)
@@ -1,64 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file motor.h
- * @brief Contains definitions for controlling the motors
- *
- * Contains definitions and functions for controlling
- * the motors.
- *
- * @author Colony Project, CMU Robotics Club
- * Based on Tom Lauwer's Firefly Library
- **/
-
-#ifndef _MOTOR_H
-#define _MOTOR_H
-
-#include <avr/io.h>
-/**
- * @addtogroup motors
- * @{
- **/
-
-/** @brief make the motors go forwards **/
-#define FORWARD 1
-/** @brief make the motors go backwards **/
-#define BACKWARD 0
-
-/** @brief Initialize the motors **/
-void motors_init(void);
-/** @brief Set speed and direction of motor1 **/
-void motor1_set(int direction, int speed);
-/** @brief Set speed and direction of motor2 **/
-void motor2_set(int direction, int speed);
-/** @brief Turn the motors off **/
-void motors_off(void);
-
-/**@}**/ // end addtogroup
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/analog.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/analog.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/analog.h	(nonexistent)
@@ -1,128 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * 
- * @file analog.h
- * @brief Contains functions and definitions for using the ADC
- * 
- * Contains definitions and function prototypes for using the
- * ADC to detect analog signals on pins AN0 - AN7.
- * AN6 and AN7 are used for the wheel and battery.
-	
- * The pins labeled E6 and E7 are external interrupt pins and are not related 
- * to analog.
-	
- * @author Colony Project, CMU Robotics Club, based on firefly
- * code by Tom Lauwers
- */
-
-#ifndef _ANALOG_H
-#define _ANALOG_H
-
-#include <inttypes.h>
-
-/**
- * @addtogroup analog
- * @{
- **/
-
-/** @brief Analog port 0 **/
-#define AN0 0x00
-/** @brief Analog port 1 **/
-#define AN1 0x01
-/** @brief Analog port 2 **/
-#define AN2 0x02
-/** @brief Analog port 3 **/
-#define AN3 0x03
-/** @brief Analog port 4 **/
-#define AN4 0x04
-/** @brief Analog port 5 **/
-#define AN5 0x05
-/** @brief Analog port 6 **/
-#define AN6 0x06
-/** @brief Analog port 7 **/
-#define AN7 0x07
-/** @brief Analog port 8 **/
-#define AN8 0x08
-/** @brief Analog port 9 **/
-#define AN9 0x09
-/** @brief Analog port 10 **/
-#define AN10 0x0A
-/** @brief Analog port 11 **/
-#define AN11 0x0B
-/** @brief Analog port 12 **/
-#define AN12 0x0C
-/** @brief Analog port 13 **/
-#define AN13 0x0D
-/** @brief Analog port 14 **/
-#define AN14 0x0E
-/** @brief Analog port 15 **/
-#define AN15 0x0F
-
-/** @brief BOM_PORT analog port for BOM **/
-#define BOM_PORT AN0
-/** @brief EXT_MUX analog port **/
-#define EXT_MUX AN7
-/** @brief Analog port for the wheel **/
-#define WHEEL_PORT AN10
-/** @brief Analog port for the battery voltage detector **/
-#define BATT_PORT  AN11
-
-#define ADC_START 1
-#define ADC_STOP 0
-
-#define ADMUX_OPT 0x60
-
-/** @brief Struct to hold the value of a particular analog port **/
-typedef struct {
-  uint8_t adc8;
-  uint16_t adc10;
-} adc_t;
-
-
-/** @brief Initialize analog ports. Will start running a loop
-    if start_conversion is ADC_START.**/
-void analog_init(int start_conversion);
-/** @brief starts the analog loop. Doesn't do anything if the loop is already running. **/
-void analog_start_loop(void);
-/** @brief Stops the analog loop. Doesn't do anything if the loop is already stopped. **/
-void analog_stop_loop(void);
-/** @brief Returns an 8-bit analog value from the look up table. Use this instead of analog_get8. **/
-unsigned int analog8(int which);
-/** @brief Returns an 10-bit analog value from the look up table. Use this instead of analog_get10. **/
-unsigned int analog10(int which);
-/** @brief Read the position of the wheel. **/
-int wheel(void);
-/** @brief Read an 8-bit number from an analog port. Loop must be stopped for this to work. **/
-unsigned int analog_get8(int which);
-/** @brief Read a 10-bit number from an analog port. Loop must be stopped for this to work. **/
-unsigned int analog_get10(int which);
-
-
-/**@}**/ //end group
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/encoders.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/encoders.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/encoders.h	(nonexistent)
@@ -1,73 +0,0 @@
-/**
- * 
- * @file encoders.h
- * @brief Contains functions for reading encoder values.
- *
- * Contains high and low level functions for reading encoders
- * including reading out total distance covered, and 
- * eventually velocity.
- *	
- * @author Colony Project, CMU Robotics Club
-*/
-
-/**
- * @addtogroup encoders
- * @{
- **/
-
-#ifndef __ENCODERS_H__
-#define __ENCODERS_H__
-
-
-#ifndef LEFT
-	#define LEFT 0
-#endif
-#ifndef RIGHT
-	#define RIGHT 1
-#endif
-
-/** @brief Magnet misaligned - likely distance from encoder problem. **/
-#define ENCODER_MAGNET_FAILURE 1025
-/** @brief Encoder misaligned - likely on XY plane. **/
-#define ENCODER_MISALIGNED 1027
-/** @brief Not enough time has passed - encoders not initialized in hardware. **/
-#define ENCODER_DATA_NOT_READY 1026
-
-//delay_ms argument after a full read is complete
-#define ENCODER_DELAY 20
-
-#define MIN_V (-100)
-#define MAX_V 100
-
-//Data invalid flags (hardware failure):
-#define OCF _BV(4)
-#define COF _BV(3)
-
-//Data invalid alarm (May be invalid):
-#define LIN _BV(2)
-
-#define MagINCn _BV(1)
-#define MagDECn _BV(0)
-
-#define BUFFER_SIZE 23
-
-/** @brief Initialize encoders. **/
-void encoders_init(void);
-/** @brief Read instantaneous encoder value. **/
-int encoder_read(char encoder);
-
-/** @brief Get total distance traveled. **/
-int encoder_get_dx(char encoder);
-/** @brief Reset distance counter. **/
-void encoder_rst_dx(char encoder);
-/** @brief Get time count: The number of encoder reads that have occurred. **/
-int encoder_get_tc(void);
-/** @brief Reset the time count. **/
-void encoder_rst_tc(void);
-
-/** @brief Waits for the next n encoder reading, then returns. **/
-void encoder_wait( int nReadings );
-
-/**@}**/ //end group
-
-#endif
Index: branches/diagnosticStation/lib/include/libdragonfly/lcd.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/lcd.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/lcd.h	(nonexistent)
@@ -1,61 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file lcd.h
- * @brief Contains definitions for dealing with the LCD screen.
- * 
- * Contains definitions and functions for dealing with the 
- * LCD screen.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _LCD_H_
-#define _LCD_H_
-
-/**
- * @addtogroup lcd
- * @{
- **/
-
-/** @brief Initialize the LCD screen **/
-void lcd_init(void);
-/** @brief Clear the LCD screen **/
-void lcd_clear_screen( void );
-/** @brief Print a char to the LCD screen **/
-void lcd_putc(char c);
-/** @brief Print a string to the LCD screen **/
-void lcd_puts(char *s);
-/** @brief Print an int to the LCD screen **/
-void lcd_puti(int value);
-/** @brief Set the current cursor position **/
-void lcd_gotoxy(int x, int y);
-
-/** @} **/
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/odometry.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/odometry.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/odometry.h	(nonexistent)
@@ -1,44 +0,0 @@
-
-/**
- * @file odometry.h
- * @brief Code for estimating the robots pose.
- * 
- * Offers simple position and orientation information.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef __ODOMETRY_C__
-#define __ODOMETRY_C__
-
-//Odometry resolution, *64 microseconds.
-//= approx. 100 ms
-#define ODOMETRY_CLK 255u 
-
-//Wheel = 2.613 in.  
-//Circumference = 208.508133 mm
-//Distance per encoder click (circumference / 1024)  = 203.621224 um.
-//Robot width = 5.3745 in. = 136.5123 mm
-
-#define ROBOT_WIDTH_UM 137000  //um
-#define CLICK_DISTANCE_UM 204 //um
-
-#define DISTANCE_SCALE 2.10526316
-#define ANGLE_SCALE 1.12823207
-
-//Standard measures will be mm and us
-
-/** @brief Retrieve the robots estimated x position*/
-long odometry_dx(void);
-/** @brief Retrieve the robots estimated y position*/
-long odometry_dy(void);
-/** @brief Retrieve the robots estimated orientation*/
-double odometry_angle(void);
-/** @brief Initialize odometry. MUST be called before 
- * the other functions work.**/
-void odometry_init(void);
-/** @brief Reset position and orientation to the origin facing
- * the x axis.*/
-void odometry_reset(void);
-
-#endif
Index: branches/diagnosticStation/lib/include/libdragonfly/move.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/move.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/move.h	(nonexistent)
@@ -1,75 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file move.h
- * @brief Contains definitions for controlling robot motion
- * 
- * This file offers higher-level functions for robot motion.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _MOVE_H_
-#define _MOVE_H_
-
-/**
- * @addtogroup move
- * @{
- **/
-
-/** @brief Move forwards **/
-#define FWD 0
-/** @brief Move backwards **/
-#define BCK 1
-
-/** @brief A slow speed **/
-#define SLOW_SPD 96
-/** @brief Half of the full speed **/
-#define HALF_SPD 128
-/** @brief A normal speed **/
-#define NRML_SPD 160
-/** @brief A fast speed **/
-#define FAST_SPD 192
-/** @brief The maximum speed **/
-#define FULL_SPD 255
-
-/** @brief A slow turning speed **/
-#define SLOW_TURN 64
-/** @brief A medium turning speed **/
-#define NRML_TURN 96
-/** @brief A high turning speed **/
-#define FAST_TURN 128
-
-/** @brief Move the robot at the specified velocity **/
-void move(int velocity, int omega);
-/** @brief Move the robot while avoiding obstacles **/
-void move_avoid(int velocity, int omega, int strength);
-
-/** @} **/
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/battery.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/battery.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/battery.h	(nonexistent)
@@ -1,64 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file battery.h
- * @brief Definitions for checking battery voltage.
- * 
- * Contains definitions for checking the voltage of the 
- * battery.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _BATTERY_H_
-#define _BATTERY_H_
-
-/**
- * @addtogroup battery
- * @{
- **/
-
-/** @brief Normal battery voltage. (6 V) **/
-#define BATTERY_NORMALV 154
-/** @brief Charging battery voltage. (7 V) **/
-#define BATTERY_CHARINGV 179
-/** @brief Low battery voltage. ( < 6 V) **/
-#define BATTERY_LOWV 152
-
-/** @brief Read the battery voltage. **/
-int battery8(void);
-/** @brief Read the battery voltage in deciVolts. **/
-int battery(void);
-/** @brief Check if the battery is low. **/
-char battery_low(void);
-/** @brief Get an average battery voltage reading. **/
-int battery8_avg(int n_samples);
-
-/** @} **/ //end addtogroup
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/dio.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/dio.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/dio.h	(nonexistent)
@@ -1,348 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file dio.h
- * @brief Definitions for digital input / output
- *
- * This file contains definitions and functions for dealing
- * with digital input and output.
- *
- * @author Colony Project, CMU Robotics Club
- * Based on Tom Lauwer's Firefly Library
- **/
-
-#ifndef _DIO_H
-#define _DIO_H
-
-/*
-  these are ALL the pins
-  don't use unless you know what you're doing
-*/
-
-/*
-  DIO pins on new dragonfly boards are shown below:
-  -----------------------------------------------
-  | _PIN_E6 | _PIN_E7 | _PIN_D2 | _PIN_D3 | VCC |
-  -----------------------------------------------
-  | _PIN_E2 | _PIN_E3 | _PIN_E4 | _PIN_E5 | GND |
-  -----------------------------------------------
-*/
-
-/** @brief Port A **/
-#define _PORT_A 1
-/** @brief Port B **/
-#define _PORT_B 2
-/** @brief Port C **/
-#define _PORT_C 3
-/** @brief Port D **/
-#define _PORT_D 4
-/** @brief Port E **/
-#define _PORT_E 5
-/** @brief Port F **/
-#define _PORT_F 6
-/** @brief Port G **/
-#define _PORT_G 7
-
-/** @brief Pin A0 **/
-#define _PIN_A0 8
-/** @brief Pin A1 **/
-#define _PIN_A1 9
-/** @brief Pin A2 **/
-#define _PIN_A2 10
-/** @brief Pin A3 **/
-#define _PIN_A3 11
-/** @brief Pin A4 **/
-#define _PIN_A4 12
-/** @brief Pin A5 **/
-#define _PIN_A5 13
-/** @brief Pin A6 **/
-#define _PIN_A6 14 
-/** @brief Pin A7 **/
-#define _PIN_A7 15
-
-/** @brief Pin B0 **/
-#define _PIN_B0 16
-/** @brief Pin B1 **/
-#define _PIN_B1 17
-/** @brief Pin B2 **/
-#define _PIN_B2 18
-/** @brief Pin B3 **/
-#define _PIN_B3 19
-/** @brief Pin B4 **/
-#define _PIN_B4 20
-/** @brief Pin B5 **/
-#define _PIN_B5 21
-/** @brief Pin B6 **/
-#define _PIN_B6 22
-/** @brief Pin B7 **/
-#define _PIN_B7 23
-
-/** @brief Pin C0 **/
-#define _PIN_C0 24
-/** @brief Pin C1 **/
-#define _PIN_C1 25
-/** @brief Pin C2 **/
-#define _PIN_C2 26
-/** @brief Pin C3 **/
-#define _PIN_C3 27
-/** @brief Pin C4 **/
-#define _PIN_C4 28
-/** @brief Pin C5 **/
-#define _PIN_C5 29
-/** @brief Pin C6 **/
-#define _PIN_C6 30
-/** @brief Pin C7 **/
-#define _PIN_C7 31
-
-/** @brief Pin D0 **/
-#define _PIN_D0 32  // pin DIO6 on new dragonfly boards
-/** @brief Pin D1 **/
-#define _PIN_D1 33  // pin DIO7
-/** @brief Pin D2 **/
-#define _PIN_D2 34
-/** @brief Pin D3 **/
-#define _PIN_D3 35
-/** @brief Pin D4 **/
-#define _PIN_D4 36
-/** @brief Pin D5 **/
-#define _PIN_D5 37
-/** @brief Pin D6 **/
-#define _PIN_D6 38
-/** @brief Pin D7 **/
-#define _PIN_D7 39
-
-/** @brief Pin E0 **/
-#define _PIN_E0 40
-/** @brief Pin E1 **/
-#define _PIN_E1 41
-/** @brief Pin E2 **/
-#define _PIN_E2 42  // pin DIO0
-/** @brief Pin E3 **/
-#define _PIN_E3 43  // pin DIO1
-/** @brief Pin E4 **/
-#define _PIN_E4 44  // pin DIO2
-/** @brief Pin E5 **/
-#define _PIN_E5 45  // pin DIO3
-/** @brief Pin E6 **/
-#define _PIN_E6 46  // pin DIO4
-/** @brief Pin E7 **/
-#define _PIN_E7 47  // pin DIO5
-
-/** @brief Pin F0 **/
-#define _PIN_F0 48
-/** @brief Pin F1 **/
-#define _PIN_F1 49
-/** @brief Pin F2 **/
-#define _PIN_F2 50
-/** @brief Pin F3 **/
-#define _PIN_F3 51
-/** @brief Pin F4 **/
-#define _PIN_F4 52
-/** @brief Pin F5 **/
-#define _PIN_F5 53
-/** @brief Pin F6 **/
-#define _PIN_F6 54
-/** @brief Pin F7 **/
-#define _PIN_F7 55
-
-/** @brief Pin G0 **/
-#define _PIN_G0 56
-/** @brief Pin WR **/
-#define _PIN_WR 56
-/** @brief Pin G1 **/
-#define _PIN_G1 57
-/** @brief Pin RD **/
-#define _PIN_RD 57
-/** @brief Pin G2 **/
-#define _PIN_G2 58
-/** @brief Pin ALE **/
-#define _PIN_ALE 58
-/** @brief Pin G3 **/
-#define _PIN_G3 59
-/** @brief Pin TOSC2 **/
-#define _PIN_TOSC2 59
-/** @brief Pin G4 **/
-#define _PIN_G4 60
-/** @brief Pin TOSC1 **/
-#define _PIN_TOSC1 60
-//#define _PIN_G5 61
-//#define _PIN_G6 62
-//#define _PIN_G7 63
-
-/*
-  These are the header pins (the ones you can connect things to)
-  Feel free to use these
-*/
-
-/**
- * @addtogroup dio
- * @{
- **/
-/** @brief Pin A0 **/
-#define PIN_A0 8
-/** @brief Pin A1 **/
-#define PIN_A1 9
-/** @brief Pin A2 **/
-#define PIN_A2 10
-/** @brief Pin A3 **/
-#define PIN_A3 11
-/** @brief Pin A4 **/
-#define PIN_A4 12
-/** @brief Pin A5 **/
-#define PIN_A5 13
-/** @brief Pin A6 **/
-#define PIN_A6 14 
-/** @brief Pin A7 **/
-#define PIN_A7 15
-
-/** @brief Pin SS **/
-#define PIN_SS 16
-/** @brief Pin SCK **/
-#define PIN_SCK 17
-/** @brief Pin MOSI **/
-#define PIN_MOSI 18
-/** @brief Pin MISO **/
-#define PIN_MISO 19
-/** @brief LCD Command Pin **/
-#define PIN_LCD_COMMAND 20
-
-/** @brief Pin C0 **/
-#define PIN_C0 24
-/** @brief Pin C1 **/
-#define PIN_C1 25
-/** @brief Pin C2 **/
-#define PIN_C2 26
-/** @brief Pin C3 **/
-#define PIN_C3 27
-/** @brief Pin C4 **/
-#define PIN_C4 28
-/** @brief Pin C5 **/
-#define PIN_C5 29
-/** @brief Pin C6 **/
-#define PIN_C6 30
-/** @brief Pin C7 **/
-#define PIN_C7 31
-
-/** @brief Pin SCL **/
-#define PIN_SCL 32
-/** @brief Pin SDA **/
-#define PIN_SDA 33
-
-/** @brief Pin RX0 **/
-#define PIN_RX0 40
-/** @brief Pin TX0 **/
-#define PIN_TX0 41
-/** @brief LCD Reset Pin **/
-#define PIN_LCD_RESET 42
-/** @brief Pin E6 **/
-#define PIN_E6 46
-/** @brief Pin EXT_DIO1 **/
-#define PIN_EXT_DIO1 46
-/** @brief Pin E7 **/
-#define PIN_E7 47
-/** @brief Pin EXT_DIO2 **/
-#define PIN_EXT_DIO2 48
-
-/** @brief Pin AN0 **/
-#define PIN_AN0 48
-/** @brief Pin ADC0 **/
-#define PIN_ADC0 48
-/** @brief Pin AN1 **/
-#define PIN_AN1 49
-/** @brief Pin ADC1 **/
-#define PIN_ADC1 49
-/** @brief Pin AN2 **/
-#define PIN_AN2 50
-/** @brief Pin ADC2 **/
-#define PIN_ADC2 50
-/** @brief Pin AN3 **/
-#define PIN_AN3 51
-/** @brief Pin ADC3 **/
-#define PIN_ADC3 51
-/** @brief Pin AN4 **/
-#define PIN_AN4 52
-/** @brief Pin ADC4 **/
-#define PIN_ADC4 52
-/** @brief Pin AN5 **/
-#define PIN_AN5 53
-/** @brief Pin ADC5 **/
-#define PIN_ADC5 53
-/** @brief Pin AN6 **/
-#define PIN_AN6 54
-/** @brief Pin ADC6 **/
-#define PIN_ADC6 54
-/** @brief Pin AN7 **/
-#define PIN_AN7 55
-/** @brief Pin ADC7 **/
-#define PIN_ADC7 55
-
-/** @brief Wheel Pin **/
-#define PIN_WHEEL 54
-/** @brief Battery Voltage Monitor Pin **/
-#define PIN_BATT 55
-
-/** @brief button1 Pin **/
-#define PIN_BTN1 56
-/** @brief button2 Pin **/
-#define PIN_BTN2 57
-
-/** @brief LED1 Pin **/
-#define PIN_LED1 58
-
-/* Buttons */
-/** @brief Button Pin **/
-#define PIN_BTN PING
-/** @brief button2 Pin **/
-#define BTN2 PING1
-/** @brief button1 Pin **/
-#define BTN1 PING0
-
-/** @brief Read a portpin. **/
-int digital_input(int);
-/** @brief Output to a portpin. **/
-void digital_output(int bit, int val);
-/** @brief Pullup a portpin. **/
-void digital_pull_up(int);
-
-/** @brief Check if button1 is pressed. **/
-int button1_read( void );
-/** @brief Check if button1 is clicked. **/
-int button1_click( void );
-/** @brief Wait until button1 is pressed. **/
-void button1_wait( void );
-
-/** @brief Check if button2 is pressed. **/
-int button2_read( void );
-/** @brief Check if button2 is clicked. **/
-int button2_click( void );
-/** @brief Wait until button2 is pressed. **/
-void button2_wait( void );
-
-/** @} **/ // end addtogroup
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/dragonfly_lib.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/dragonfly_lib.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/dragonfly_lib.h	(nonexistent)
@@ -1,99 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file dragonfly_lib.h
- * @brief Contains other include files
- * 
- * Include this file for all the functionality of libdragonfly.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _DRAGONFLY_LIB_H_
-#define _DRAGONFLY_LIB_H_
-
-/**
- * @addtogroup dragonfly
- * @{
- **/
-
-// Configuration definitions
-/** @brief Initialize analog **/
-#define ANALOG 0x01
-/** @brief Initialize serial communications **/
-#define SERIAL 0x02
-/** @brief Initialize USB communications **/
-#define USB    0x02
-/** @brief Initialize communications **/
-#define COMM   0x02
-/** @brief Initialize the orb **/
-#define ORB    0x04
-/** @brief Initialize the motors **/
-#define MOTORS 0x08
-/** @brief Initialize I2C **/
-#define I2C    0x20
-/** @brief Initialize the buzzer **/
-#define BUZZER 0x40
-/** @brief Initialize the LCD screen **/
-#define LCD    0x80
-/** @brief Initialize the rangefinders **/
-#define RANGE  0x0100
-/** @brief Initialize the BOM **/
-#define BOM  0x0200
-/** @brief Initialize everything  **/
-#define ALL_ON 0x03FF
-
-/** @brief Initialize the board **/
-void dragonfly_init(int config);
-
-/** @} **/ //end addtogroup
-
-#include <inttypes.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <util/delay.h>
-#include <util/twi.h>
-
-#include <analog.h>
-#include <dio.h>
-#include <time.h>
-#include <lcd.h>
-#include <lights.h>
-#include <motor.h>
-#include <serial.h>
-#include <buzzer.h>
-#include <rangefinder.h>
-#include <bom.h>
-#include <move.h>
-#include <reset.h>
-#include <math.h>
-#include <eeprom.h>
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/i2c.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/i2c.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/i2c.h	(nonexistent)
@@ -1,57 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/** @file i2c.h
- *  @brief Header file for I2C
- *
- *  Contains functions for I2C.
- *
- *  @author Kevin Woo and Suresh Nidhiry, Colony Project, CMU Robotics Club
- **/
-
-
-#ifndef _I2C_H_
-#define _I2C_H_
-
-#include <stddef.h>
-
-/** @brief Address of slave receive handler function **/
-typedef void (*fun_srecv_t)(char);
-
-/** @brief Address of master receive handler function**/
-typedef int (*fun_mrecv_t)(char);
-
-/** @brief Address of slave send handler function**/
-typedef char (*fun_send_t)(void);
-
-int i2c_init(char addr, fun_mrecv_t master_recv, fun_srecv_t slave_recv, fun_send_t slave_send);
-int i2c_send(char dest, char* data, size_t bytes);
-int i2c_request(char dest);
-
-void i2c_packet_rec (char i2c_byte);
-void i2c_packet_sniff(char data);
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/bom.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/bom.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/bom.h	(nonexistent)
@@ -1,86 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file bom.h
- * @brief Definitions for using the BOM
- * 
- * This file contains definitions for using the Bearing and 
- * Orientation Module (BOM).
- *
- * @author Colony Project, CMU Robotics Club
- *
- **/
-
-#ifndef _BOM_H
-#define _BOM_H
-
-/**
- * @addtogroup bom
- * @{
- **/
- 
-/** @brief Include all elements in the 16-bit bitfield **/
-#define BOM_ALL 0xFFFF
-
-/** @brief Original BOM - No Range, No Individual LED control **/
-#define BOM10     0
-
-/** @brief BOM 1.5 - No Range, Individual LED control **/
-#define BOM15   1
-
-/** @brief RBOM - Range, Individual LED control **/
-#define RBOM    2
-
-
-/** @brief Initialize the bom according to bom type **/
-void bom_init(char type);
-
-/** @brief Refresh bom_val[] with new values from analog8.  analog_init and bom_init must be called for this to work. **/
-void bom_refresh(int bit_field);
-
-/** @brief Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values. **/
-int bom_get(int which);
-
-/** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/
-int bom_get_max(void);
-
-/** @brief Enables the selected bom leds on a BOM1.5 **/
-void bom_set_leds(int bit_field);
-
-/** @brief (DEPRECATED) Gets and compares all bom values.  Returns the index to the highest value element. **/
-int get_max_bom(void);
-
-/** @brief Turns on all BOM leds, or turns on enabled leds on a BOM1.5. **/
-void bom_on(void);
-
-/** @brief Turns off all bom leds. **/
-void bom_off(void);
-
-/** @} **/
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/serial.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/serial.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/serial.h	(nonexistent)
@@ -1,130 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file serial.h
- * @brief Contains declarations for serial input and output
- *
- * Contains definitions for serial input and output.
- *
- * @author Colony Project, CMU Robotics Club
- * Based on Tom Lauwer's Firefly Library
- *
- **/
-
-/*
-  serial.h - Contains definitions and function prototypes for the RS232 serial port
-  author(s): pkv
-  
-  Directions:
-  Call the initialization function for the serial port you wish to use.  Then, use
-  either the provided functions or the stdio functions (fprintf, etc) to read and
-  write characters to the serial ports.
-  
-  UART Mapping:
-  usb_*() -> UART0
-  xbee_*() -> UART1
-  
-  Options: (Add the following defines to your code to configure this library)
-  #define USB_BAUD { 115200 | 9600 } <= pick ONE value from in here
-  #define XBEE_BAUD { 115200 | 9600 } <= pick ONE value from in here
-  #define USE_STDIO
-  
-  Note: If you enable USE_STDIO, the first init function that is called will 
-  automatically be linked to stdin, stdout, and stderr.  To use the baud rate 
-  commands, add something like the following to your code:
-  
-  #define FOO_BAUD 9600
-  
-  **UNLESS YOU KNOW WHAT YOU ARE DOING, PLEASE DO NOT CHANGE THIS FILE**
-  Many, many other people use this file in their code.  If you change it, you will
-  probably break all of their nice code.  You should not need to change anything in
-  here, except to accomodate new hardware.
-*/
-
-#ifndef _SERIAL_H
-#define _SERIAL_H
-
-/**
- * @defgroup usb USB Input / Output
- * @brief Functions for USB input / output
- *
- * Low level functions for USB input and output.
- *
- * @{
- **/
-
-// if no baud rate is defined for usb, default is set here
-#ifndef USB_BAUD
-/** @brief the USB baud rate **/
-#define USB_BAUD 115200
-#endif
-
-/** @brief Initialize the USB **/
-void usb_init(void);
-/** @brief Print a character to USB **/
-int usb_putc(char c);
-/** @brief Read a character from USB **/
-int usb_getc(void);
-/** @brief Read a character from USB without blocking **/
-int usb_getc_nb(char *c);
-/** @brief Print a string to USB **/
-int usb_puts(char *s);
-/** @brief Print an integer to USB **/
-int usb_puti(int value);
-
-/** @} **/ //end addtogroup
-
-/**
- * @defgroup xbee XBee Input / Output
- * @brief Functions for XBee input / output
- *
- * Low level functions for XBee input and output.
- *
- * @{
- **/
-
-// if no baud rate is defined for usb, default is set here
-
-// if no baud rate is defined for xbee, default is set here
-#ifndef XBEE_BAUD
-/** @brief the XBee baud rate **/
-#define XBEE_BAUD 9600
-#endif
-
-/** @brief Initialize the XBee **/
-void xbee_init(void);
-/** @brief Print a character to the XBee **/
-int xbee_putc(char c);
-/** @brief Read a character from the XBee **/
-int xbee_getc(void);
-/** @brief Read a character from the XBee without blocking **/
-int xbee_getc_nb(char *c);
-
-/** @} **/ //end addtogroup
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/buzzer.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/buzzer.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/buzzer.h	(nonexistent)
@@ -1,88 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file buzzer.h
- * @brief Contains definitions for using the buzzer.
- *
- * Contains definitions for using the buzzer built into
- * the colony robots.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _BUZZER_H_
-#define _BUZZER_H_
-
-/**
- * @addtogroup buzzer
- * @{
- **/
-
-//Musical note definitions
-//Source: http://www.answers.com/topic/piano-key-frequencies
-/** @brief Middle C **/
-#define	C4	260 //Middle C
-/** @brief C# **/
-#define	C4s	277 //C sharp
-/** @brief D **/
-#define	D4	294
-/** @brief D# **/
-#define	D4s	311
-/** @brief E **/
-#define	E4	330
-/** @brief F **/
-#define	F4	349
-/** @brief F# **/
-#define	F4s	370
-/** @brief G **/
-#define	G4	392
-/** @brief G# **/
-#define	G4s	415
-/** @brief A **/
-#define	A4	440
-/** @brief A# **/
-#define	A4s	466
-/** @brief B **/
-#define	B4	494
-/** @brief C **/
-#define	C5	523
-
-/** @brief Initialize the buzzer. **/
-void buzzer_init(void);
-/** @brief Set the value the buzzer plays. **/
-void buzzer_set_val(unsigned int buzz_value);
-/** @brief Set the frequency the buzzer plays. **/
-void buzzer_set_freq(unsigned int buzz_freq);
-/** @brief Play a frequency for a specified time. **/
-void buzzer_chirp(unsigned int ms, unsigned int buzz_freq);
-/** @brief Turn the buzzer off. **/
-void buzzer_off(void); 
-
-/** @} **/ //end addtogroup
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/reset.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/reset.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/reset.h	(nonexistent)
@@ -1,49 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * 
- * @file reset.h
- * @brief Contains function(s) for resetting the robots
- * 
- * @author Colony Project, CMU Robotics Club, James Kong
- */
-
-#ifndef _RESET_H_
-#define _RESET_H_
-
-/**
- * @addtogroup reset
- * @{
- **/
- 
-/** @brief Reset the robot **/
-void reset(void);
-
-/**@}**/ //end group
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libdragonfly/rangefinder.h
===================================================================
--- branches/diagnosticStation/lib/include/libdragonfly/rangefinder.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libdragonfly/rangefinder.h	(nonexistent)
@@ -1,64 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file rangefinder.h
- * @brief Contains rangefinder declarations and functions
- * 
- * Contains functions and definitions for the use of
- * IR rangefinders.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _RANGEFINDER_H_
-#define _RANGEFINDER_H_
-
-/**
- * @addtogroup rangefinder
- * @{
- **/
-
-/** @brief IR Rangefinder 1 **/
-#define IR1 6
-/** @brief IR Rangefinder 2 **/
-#define IR2 5
-/** @brief IR Rangefinder 3 **/
-#define IR3 4
-/** @brief IR Rangefinder 4 **/
-#define IR4 3
-/** @brief IR Rangefinder 5 **/
-#define IR5 2
-
-/** @brief Initialize the rangefinders **/
-void range_init(void);
-/** @brief Read the distance from a rangefinder **/
-int range_read_distance(int range_id);
-
-/** @} **/ //end addtogroup
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libwireless/sensor_matrix.h
===================================================================
--- branches/diagnosticStation/lib/include/libwireless/sensor_matrix.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libwireless/sensor_matrix.h	(nonexistent)
@@ -1,97 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- *
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file sensor_matrix.h
- * @brief Definitions for sensor matrices
- *
- * Contains functions and declarations for using sensor matrices.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef SENSOR_MATRIX_H
-#define SENSOR_MATRIX_H
-
-
-/**
- * @defgroup sensormatrix Sensor Matrix
- * @brief the robot sensor matrix
- *
- * These functions and structures are used for localization
- * to determine the relative directions of robots.
- *
- * @{
- **/
-
-#define MAXIMUM_XBEE_ID		0x10
-#define READING_UNKNOWN		0xFF
-
-/**
- * @struct SensorMatrix
- *
- * A sensor matrix.
- **/
-//TODO: the order of member variables in this struct should be changed in case the compile packs the struct
-// In order to achieve the best packing, the variables should be listed in order of decreasing memory size.
-// Thus, pointers should be first, followed by int, followed by char.
-typedef struct
-{
-	/**
-	 * The number of robots in the token ring.
-	 **/
-	int numJoined;
-	/**
-	 * The matrix. Each row represents the readings of one
-	 * robot.
-	 **/
-	unsigned char matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID];
-	/**
-	 * The element representing a robot is true if that robot
-	 * is in the token ring and false otherwise.
-	 **/
-	unsigned char joined[MAXIMUM_XBEE_ID];
-} SensorMatrix;
-
-/**@brief Create a sensor matrix **/
-void sensor_matrix_create(void);
-/**@brief Set a reading in a sensor matrix **/
-void sensor_matrix_set_reading(int observer, int robot, int reading);
-/**@brief Get a reading in a sensor matrix **/
-int sensor_matrix_get_reading(int observer, int robot);
-/**@brief Set whether the robot is in the token ring **/
-void sensor_matrix_set_in_ring(int robot, int in);
-/**@brief Get whether the robot is in the sensor ring **/
-int sensor_matrix_get_in_ring(int robot);
-/**@brief Get the number of robots which have joined the token ring **/
-int sensor_matrix_get_joined(void);
-/**@brief Get the maximum size of the sensor matrix **/
-int sensor_matrix_get_size(void);
-
-/** @} **/ //end defgroup
-
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libwireless/wireless.h
===================================================================
--- branches/diagnosticStation/lib/include/libwireless/wireless.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libwireless/wireless.h	(nonexistent)
@@ -1,164 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- *
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file wireless.h
- * @brief Contains definitions for the wireless library.
- *
- * Contains functions for the wireless library.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef WIRELESS_H
-#define WIRELESS_H
-
-//Note: If this is raised above 16, we will need to do
-//something about frame numbers for TX Status packets.
-/**
- * The maximum number of packet groups.
- **/
-//TODO: a PacketGroupHandler is at least 10 bytes (I don't know if function pointers are 2 bytes
-// or 4 bytes).  That means that in the c file, your array of packet groups is at least 160 bytes.
-// Normally that might be fine (the robot's avr chips have 4k SRAM), but austin's chip only has
-// 1k SRAM, so if this number can be reduced or if the size of the struct could be reduced, that would be a plus.
-#define WL_MAX_PACKET_GROUPS 16
-
-/**
- * @defgroup wireless Wireless
- * @brief Wireless definitions.
- *
- * Contains functions and definitions for dealing with wireless functionality.<br><br>
- *
- * The wireless library provides a modular method for dealing with
- * wireless packets, by allowing packet groups to be registered.
- * A packet group is a collection of packets which share a packet
- * group code. Each packet in the group also has a type. A packet
- * group code and type are sent with each packet. When a packet
- * with a group code registered in the wireless library is
- * received, the corresponding event handler is called. The
- * event handler uses the packet type and other information
- * stored in the packet to respond.<br><br>
- *
- * This architecture allows different wireless functionality to be
- * defined and handled separately, making it simpler and more
- * efficient to take advantage of the XBee's wireless functionality.
- *
- * @{
- **/
-
-/**
- * @struct PacketGroupHandler
- * A PacketGroupHandler represents a packet group, and is used to
- * register a packet group with the wireless library. It contains
- * handlers for various events which can occur related to a packet
- * group.
- **/
-//TODO: the order of member variables in this struct should be changed in case the compile packs the struct
-// In order to achieve the best packing, the variables should be listed in order of decreasing memory size.
-// Thus, pointers should be first, followed by int, followed by char.
-typedef struct
-{
-	/**
-	 * The group code for this packet group. This number
-	 * must be unique. The maximum number of packet groups
-	 * is defined by WL_MAX_PACKET_GROUPS.
-	 **/
-  //TODO: if this number must be less than or equal to WL_MAX_PACKET_GROUPS, don't you only need
-  // one byte for it and it can be made an unsigned char?
-	unsigned int groupCode;
-
-	/**
-	 * Called every half second (not in interrupt,
-	 * but in wl_do).
-	 **/
-	void (*timeout_handler) (void);
-
-	/**
-	 * Called when a transmit status packet is received
-	 * from the XBee where the first four bits of the frame
-	 * are  the group code.
-	 *
-	 * @param frame the last four bits of the frame
-	 * @param received is true if we received an ack, 0 if
-	 * we did not.
-	 **/
-	void (*handle_response) (int frame, int received);
-
-	/**
-	 * Called when we receive a packet from this group.
-	 *
-	 * @param type the packet type
-	 * @param source the 16-bit address of the XBee this
-	 * packet was sent from
-	 * @param packet the packet received
-	 * @param length the length of the packet
-	 **/
-	void (*handle_receive) (char type, int source, unsigned char* packet, int length);
-
-	/**
-	 * Called for any cleanup when the network is turned off.
-	 **/
-	void (*unregister) (void);
-
-} PacketGroupHandler;
-
-/**@brief Initialize the wireless library **/
-int wl_init(void);
-/**@brief Uninitialize the wireless library **/
-void wl_terminate(void);
-/**@brief Perform wireless library functionality **/
-void wl_do(void);
-/**@brief Register a packet group with the wireless library **/
-void wl_register_packet_group(PacketGroupHandler* h);
-/**@brief Unregister a packet group with the wireless library **/
-void wl_unregister_packet_group(PacketGroupHandler* h);
-
-/**@brief Send a packet to a specific robot in any PAN **/
-int wl_send_robot_to_robot_global_packet(char group, char type, char* data, int len, int dest, char frame);
-/**@brief Send a packet to a specific robot in our PAN **/
-int wl_send_robot_to_robot_packet(char group, char type, char* data, int len, int dest, char frame);
-/**@brief Send a packet to all robots **/
-int wl_send_global_packet(char group, char type, char* data, int len, char frame);
-/**@brief Send a packet to all robots in our PAN **/
-void wl_send_pan_packet(char group, char type, char* data, int len, char frame);
-
-/**@brief Set the PAN we are using **/
-int wl_set_pan(int pan);
-/**@brief Get the PAN we are using **/
-int wl_get_pan(void);
-/**@brief Set the channel we are using **/
-int wl_set_channel(int channel);
-/**@brief Get the channel we are using **/
-int wl_get_channel(void);
-/**@brief Get the 16-bit address of the XBee module **/
-int wl_get_xbee_id(void);
-/**@brief Set the com port on a computer, undefined on the robot.**/
-void wl_set_com_port(char* port);
-
-/** @} **/ // end defgroup
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libwireless/wl_token_ring.h
===================================================================
--- branches/diagnosticStation/lib/include/libwireless/wl_token_ring.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libwireless/wl_token_ring.h	(nonexistent)
@@ -1,85 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file wl_token_ring.h
- * @brief Declarations for the token ring packet group
- * 
- * Contains declarations for the token ring packet group.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef WL_TOKEN_RING_H
-#define WL_TOKEN_RING_H
-
-/**
- * @defgroup tokenring Token Ring
- * @brief Wireless library token ring implementation
- *
- * This packet group is used to form a token ring, which
- * keeps track of the relative directions of the robots
- * from one another.
- *
- * @{
- **/
-
-/**@brief Register the token ring group with the wireless library.**/
-int wl_token_ring_register(void);
-/**@brief Unregister the token ring group with the wirelss library.**/
-void wl_token_ring_unregister(void);
-/**@brief Set the functions called to turn the bom on and off.**/
-void wl_token_ring_set_bom_functions(void (*on_function) (void), void (*off_function) (void),
-  int (*max_bom_function) (void));
-
-/**@brief Join the token ring **/
-int wl_token_ring_join(void);
-/**@brief Leave the token ring **/
-void wl_token_ring_leave(void);
-
-/**@brief Return the number of robots in the token ring **/
-int wl_token_get_robots_in_ring(void);
-/**@brief Return whether a given robot is in the token ring **/
-int wl_token_is_robot_in_ring(int robot);
-
-/**@brief Begin iterating through robots in the token ring **/
-void wl_token_iterator_begin(void);
-/**@brief Returns whether there are more robots to iterate through **/
-int wl_token_iterator_has_next(void);
-/**@brief Returns the ID of the next robot in the token ring **/
-int wl_token_iterator_next(void);
-
-/**@brief Return the latest BOM reading between two robots **/
-int wl_token_get_sensor_reading(int source, int dest);
-/**@brief Return the latest BOM reading between us and another robot **/
-int wl_token_get_my_sensor_reading(int dest);
-/**@brief Return the number of robots in the sensor matrix.*/
-int wl_token_get_num_robots(void);
-/**@brief Return the number of non-null elements in the sensor matrix*/
-int wl_token_get_matrix_size(void);
-
-/** @} **/ //end token ring group
-
-#endif
Index: branches/diagnosticStation/lib/include/libwireless/xbee.h
===================================================================
--- branches/diagnosticStation/lib/include/libwireless/xbee.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libwireless/xbee.h	(nonexistent)
@@ -1,99 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file xbee.h
- * @brief Contains definitions for using the XBee
- *
- * Contains definitions for interfacing with the 
- * XBee module, from either a robot or a computer.
- * To use a robot, define ROBOT in wl_defs.h, and
- * to use a computer, don't define ROBOT.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef XBEE_H
-#define XBEE_H
-
-/**
- * The port to use the XBee from on the computer.
- * Also, a backup port if the other is used.
- **/
-#ifndef ROBOT
-#define XBEE_PORT_DEFAULT "/dev/ttyUSB1"
-#endif
-
-/**
- * @defgroup xbee XBee
- * @brief Interface with the XBee module
- *
- * Interface with the XBee module.
- *
- * @{
- **/
-
-/*Definitions*/
-/**@brief Unset PAN, uses XBee default **/
-#define XBEE_PAN_DEFAULT 0xFFFF
-/**@brief Unset channel, uses XBee default **/
-#define XBEE_CHANNEL_DEFAULT 0
-/**@brief Broadcast to all robots in the PAN **/
-#define XBEE_BROADCAST 0xFFFF
-/**@brief No special options **/
-#define XBEE_OPTIONS_NONE 0x00
-/**@brief Do not receive a TX_STATUS message from this packet **/
-#define XBEE_OPTIONS_DISABLE_RESPONSE 0x01
-/**@brief Send the packet to all PANS **/
-#define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04
-/**@brief A transmit status packet **/
-#define XBEE_TX_STATUS 0x89
-/**@brief A packet received from another XBee **/
-#define XBEE_RX 0x81
-
-/**@brief Initialize the XBee library **/
-int xbee_lib_init(void);
-/**@brief Uninitialize the XBee library **/
-void xbee_terminate(void);
-/**@brief Get a packet from the XBee **/
-int xbee_get_packet(unsigned char* packet);
-/**@brief Send a packet to the XBee **/
-int xbee_send_packet(char* packet, int len, int dest, char options, char frame);
-/**@brief Set the PAN ID for the XBee **/
-int xbee_set_pan_id(int id);
-/**@brief Get the XBee's PAN ID **/
-unsigned int xbee_get_pan_id(void);
-/**@brief Set the channel the XBee is currently using **/
-int xbee_set_channel(int channel);
-/**@brief Get the channel the XBee is currently using **/
-int xbee_get_channel(void);
-/**@brief Get the XBee's 16-bit address **/
-unsigned int xbee_get_address(void);
-/**@brief Set the com port on a computer, undefined on the robot**/
-void xbee_set_com_port(char* port);
-
-/**@}**/ //end defgroup
-
-#endif
Index: branches/diagnosticStation/lib/include/libwireless/wl_defs.h
===================================================================
--- branches/diagnosticStation/lib/include/libwireless/wl_defs.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libwireless/wl_defs.h	(nonexistent)
@@ -1,97 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file wl_defs.h
- * @brief Definitions for Wireless
- *
- * Contains definitions for wireless packet groups, packet types,
- * debugging information, etc.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef WL_DEFS_H
-#define WL_DEFS_H
-
-//comment out this line if using a computer hooked up to an xbee
-//#define ROBOT
-
-//uncomment this line for debug information
-//#define WL_DEBUG
-
-// Packet Groups and Types
-
-// Error group
-#define WL_ERROR_GROUP 1
-
-#define WL_ERROR_STRING_TYPE 1
-
-// Token Ring group
-#define WL_TOKEN_RING_GROUP 2
-
-#define WL_TOKEN_PASS 1
-#define WL_TOKEN_SENSOR_MATRIX 2
-#define WL_TOKEN_BOM_ON 3
-#define WL_TOKEN_JOIN 4
-#define WL_TOKEN_JOIN_ACCEPT 5
-
-// timing constants
-#ifndef FIREFLY
-#define BOM_DELAY 100
-#else
-#define BOM_DELAY 200
-#endif
-
-#define DEATH_DELAY 4
-#define JOIN_DELAY 8
-
-#ifdef WL_DEBUG
-
-#ifdef ROBOT
-#include <serial.h>
-#endif
-
-#ifdef ROBOT
-#define WL_DEBUG_PRINT( s ) usb_puts( s )
-#else
-#define WL_DEBUG_PRINT( s ) printf( s )
-#endif
-
-#ifdef ROBOT
-#define WL_DEBUG_PRINT_INT( i ) usb_puti(i)
-#else
-#define WL_DEBUG_PRINT_INT( i ) printf("%i", i)
-#endif
-
-#else
-
-#define WL_DEBUG_PRINT( s )
-#define WL_DEBUG_PRINT_INT( i )
-
-#endif
-
-#endif
-
Index: branches/diagnosticStation/lib/include/libwireless/queue.h
===================================================================
--- branches/diagnosticStation/lib/include/libwireless/queue.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libwireless/queue.h	(nonexistent)
@@ -1,95 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file queue.h
- * @brief A queue implementation
- * 
- * Implements a queue, a first in, first out data structure.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef WIRELESS_QUEUE_H
-#define WIRELESS_QUEUE_H
-
-#ifndef ROBOT
-#include <pthread.h>
-#endif
-
-struct node_def;
-
-/**
- * @defgroup queue Queue
- * @brief A queue implementation
- * 
- * A queue implementation.
- *
- * @{
- **/
-
-/**
- * @struct Queue
- * Represents a queue, a first in, first out data structure.
- **/
-typedef struct
-{
-	/**
-	 * The head of the queue, the next item to be removed.
-	 **/
-	struct node_def* head;
-	/**
-	 * The tail of the queue, the last item added.
-	 **/
-	struct node_def* tail;
-	/**
-	 * The number of elements in the queue.
-	 **/
-	int size;
-	
-#ifndef ROBOT
-	pthread_mutex_t lock;
-#endif
-} Queue;
-
-/** @brief Create a new queue **/
-Queue* queue_create(void);
-/** @brief Destroy a queue **/
-void queue_destroy(Queue* q);
-/** @brief Add an element to a queue **/
-int queue_add(Queue* q, void* item);
-/** @brief Remove an element from a queue **/
-void* queue_remove(Queue* q);
-/** @brief Remove all instances of a given element from a queue **/
-void queue_remove_all(Queue* q, void* item);
-/** @brief Get the size of a queue **/
-int queue_size(Queue* q);
-/** @brief Check if the queue is empty **/
-int queue_is_empty(Queue* q);
-
-/** @} **/
-
-
-#endif
Index: branches/diagnosticStation/lib/include/libwireless/wl_error_group.h
===================================================================
--- branches/diagnosticStation/lib/include/libwireless/wl_error_group.h	(revision 1056)
+++ branches/diagnosticStation/lib/include/libwireless/wl_error_group.h	(nonexistent)
@@ -1,66 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file wl_error_group.h
- * @brief Error Packets
- *
- * A packet group for sending error packets.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef WL_ERROR_GROUP_H
-#define WL_ERROR_GROUP_H
-
-/**
- * @file wl_error_group.h
- * @brief A packet group for error messages.
- *
- * A packet group for sending and receiving error
- * messages.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-/**
- * @defgroup wlerror Error Packets
- * @brief Functions for sending and receiving error packets
- * 
- * Functions for sending and receiving error packets.
- * 
- * @{
- **/
-
-/**@brief Register this packet group with the wireless library **/
-void wl_error_register(void);
-/**@brief Unregister this packet group with the wireless library **/
-void wl_error_unregister(void);
-/**@brief Send a string in an error packet **/
-void wl_error_send_string(char* str);
-
-/** @} **/ // end defgroup
-
-#endif
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-application/octet-stream
\ No newline at end of property
Index: branches/diagnosticStation/CAD/Hitec Servo.sldprt
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Index: branches/diagnosticStation/CAD/Hitec Servo.sldprt
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--- branches/diagnosticStation/CAD/Hitec Servo.sldprt	(revision 1056)
+++ branches/diagnosticStation/CAD/Hitec Servo.sldprt	(nonexistent)

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Index: branches/diagnosticStation/CAD/wall2.SLDPRT
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Index: branches/diagnosticStation/CAD/wall2.SLDPRT
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--- branches/diagnosticStation/CAD/wall2.SLDPRT	(revision 1056)
+++ branches/diagnosticStation/CAD/wall2.SLDPRT	(nonexistent)

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Index: branches/diagnosticStation/CAD/floor.SLDPRT
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Index: branches/diagnosticStation/CAD/floor.SLDPRT
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--- branches/diagnosticStation/CAD/floor.SLDPRT	(revision 1056)
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Index: branches/diagnosticStation/CAD/wall_standoff.SLDPRT
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Index: branches/diagnosticStation/CAD/wall_standoff.SLDPRT
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--- branches/diagnosticStation/CAD/wall_standoff.SLDPRT	(revision 1056)
+++ branches/diagnosticStation/CAD/wall_standoff.SLDPRT	(nonexistent)

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Index: branches/diagnosticStation/CAD/swivel_hinge.SLDPRT
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Index: branches/diagnosticStation/CAD/swivel_hinge.SLDPRT
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--- branches/diagnosticStation/CAD/swivel_hinge.SLDPRT	(revision 1056)
+++ branches/diagnosticStation/CAD/swivel_hinge.SLDPRT	(nonexistent)

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Index: branches/diagnosticStation/CAD/turntable_standoff.SLDPRT
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Index: branches/diagnosticStation/CAD/turntable_standoff.SLDPRT
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--- branches/diagnosticStation/CAD/turntable_standoff.SLDPRT	(revision 1056)
+++ branches/diagnosticStation/CAD/turntable_standoff.SLDPRT	(nonexistent)

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-application/octet-stream
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Index: branches/diagnosticStation/CAD/dyno.SLDASM
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Index: branches/diagnosticStation/CAD/dyno.SLDASM
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--- branches/diagnosticStation/CAD/dyno.SLDASM	(revision 1056)
+++ branches/diagnosticStation/CAD/dyno.SLDASM	(nonexistent)

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-application/octet-stream
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Index: branches/diagnosticStation/CAD/Servo Horn.sldprt
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Index: branches/diagnosticStation/CAD/Servo Horn.sldprt
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--- branches/diagnosticStation/CAD/Servo Horn.sldprt	(revision 1056)
+++ branches/diagnosticStation/CAD/Servo Horn.sldprt	(nonexistent)

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-application/octet-stream
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Index: branches/diagnosticStation/CAD/Hitec Servo.SLDASM
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Index: branches/diagnosticStation/CAD/Hitec Servo.SLDASM
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--- branches/diagnosticStation/CAD/Hitec Servo.SLDASM	(revision 1056)
+++ branches/diagnosticStation/CAD/Hitec Servo.SLDASM	(nonexistent)

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-application/octet-stream
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Index: branches/diagnosticStation/CAD/swivel_mount.SLDPRT
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Index: branches/diagnosticStation/CAD/swivel_mount.SLDPRT
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--- branches/diagnosticStation/CAD/swivel_mount.SLDPRT	(revision 1056)
+++ branches/diagnosticStation/CAD/swivel_mount.SLDPRT	(nonexistent)

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Index: branches/diagnosticStation/CAD/electronics_board.SLDASM
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Index: branches/diagnosticStation/CAD/electronics_board.SLDASM
===================================================================
--- branches/diagnosticStation/CAD/electronics_board.SLDASM	(revision 1056)
+++ branches/diagnosticStation/CAD/electronics_board.SLDASM	(nonexistent)

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Index: branches/diagnosticStation/CAD/dyno_base.SLDPRT
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Index: branches/diagnosticStation/CAD/dyno_base.SLDPRT
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--- branches/diagnosticStation/CAD/dyno_base.SLDPRT	(revision 1056)
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Index: branches/diagnosticStation/CAD/hinge_bushing.SLDPRT
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Index: branches/diagnosticStation/CAD/hinge_bushing.SLDPRT
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--- branches/diagnosticStation/CAD/hinge_bushing.SLDPRT	(revision 1056)
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Index: branches/diagnosticStation/CAD/board_standoff.SLDPRT
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Index: branches/diagnosticStation/CAD/board_standoff.SLDPRT
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--- branches/diagnosticStation/CAD/board_standoff.SLDPRT	(revision 1056)
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Index: branches/diagnosticStation/CAD/servolink.SLDPRT
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Index: branches/diagnosticStation/CAD/servolink.SLDPRT
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Index: branches/diagnosticStation/CAD/full_station.SLDASM
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--- branches/diagnosticStation/CAD/full_station.SLDASM	(revision 1056)
+++ branches/diagnosticStation/CAD/full_station.SLDASM	(nonexistent)

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Index: branches/diagnosticStation/CAD/hinge_shaft.SLDPRT
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Index: branches/diagnosticStation/CAD/hinge_shaft.SLDPRT
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--- branches/diagnosticStation/CAD/hinge_shaft.SLDPRT	(revision 1056)
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Index: branches/diagnosticStation/CAD/encoder.SLDPRT
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Index: branches/diagnosticStation/CAD/wall1.SLDPRT
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Index: branches/diagnosticStation/CAD/wall1.SLDPRT
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Index: branches/diagnosticStation/CAD/dyno_block.SLDPRT
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Index: branches/diagnosticStation/CAD/dyno_block.SLDPRT
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--- branches/diagnosticStation/CAD/dyno_block.SLDPRT	(revision 1056)
+++ branches/diagnosticStation/CAD/dyno_block.SLDPRT	(nonexistent)

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___________________________________________________________________
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## -1 +0,0 ##
-application/octet-stream
\ No newline at end of property
Index: branches/diagnosticStation/stationCode/v1/main.c
===================================================================
--- branches/diagnosticStation/stationCode/v1/main.c	(revision 1056)
+++ branches/diagnosticStation/stationCode/v1/main.c	(nonexistent)
@@ -1,13 +0,0 @@
-#include <dragonfly_lib.h>
-#include <encoders.h>
-
-int main(void)
-{
-	/* initialize components */
-	dragonfly_init(ALL_ON);
-	orb_enable();
-
-	orb1_set_color(ORANGE);
-
-	return 0;
-}
Index: branches/diagnosticStation/stationCode/v1/Makefile
===================================================================
--- branches/diagnosticStation/stationCode/v1/Makefile	(revision 1056)
+++ branches/diagnosticStation/stationCode/v1/Makefile	(nonexistent)
@@ -1,520 +0,0 @@
-########Update This Section########
-#
-#
-
-# Relative path to the root directory (containing lib directory)
-ifndef COLONYROOT
-COLONYROOT = ../..
-endif
-
-# Target file name (without extension).
-TARGET = main
-
-# Uncomment this to use the wireless library
-USE_WIRELESS = 1
-
-# com1 = serial port. Use lpt1 to connect to parallel port.
-AVRDUDE_PORT = /dev/ttyUSB0
-#
-#
-###################################
-
-# Hey Emacs, this is a -*- makefile -*-
-#----------------------------------------------------------------------------
-# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al.
-#
-# Released to the Public Domain
-#
-# Additional material for this makefile was written by:
-# Peter Fleury
-# Tim Henigan
-# Colin O'Flynn
-# Reiner Patommel
-# Markus Pfaff
-# Sander Pool
-# Frederik Rouleau
-#
-#----------------------------------------------------------------------------
-# On command line:
-#
-# make all = Make software.
-#
-# make clean = Clean out built project files.
-#
-# make coff = Convert ELF to AVR COFF.
-#
-# make extcoff = Convert ELF to AVR Extended COFF.
-#
-# make program = Download the hex file to the device, using avrdude.
-#                Please customize the avrdude settings below first!
-#
-# make debug = Start either simulavr or avarice as specified for debugging,
-#              with avr-gdb or avr-insight as the front end for debugging.
-#
-# make filename.s = Just compile filename.c into the assembler code only.
-#
-# make filename.i = Create a preprocessed source file for use in submitting
-#                   bug reports to the GCC project.
-#
-# To rebuild project do "make clean" then "make all".
-#----------------------------------------------------------------------------
-
-#if you want your code to work on the Firefly++ and not Firefly+
-#then add the -DFFPP line to CDEFS
-CDEFS =
-#-DFFPP
-
-# MCU name
-MCU = atmega128
-
-# Processor frequency.
-#     This will define a symbol, F_CPU, in all source code files equal to the
-#     processor frequency. You can then use this symbol in your source code to
-#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
-#     automatically to create a 32-bit value in your source code.
-F_CPU = 8000000
-
-# Output format. (can be srec, ihex, binary)
-FORMAT = ihex
-
-# List C source files here. (C dependencies are automatically generated.)
-SRC = $(wildcard *.c)
-
-# List Assembler source files here.
-#     Make them always end in a capital .S.  Files ending in a lowercase .s
-#     will not be considered source files but generated files (assembler
-#     output from the compiler), and will be deleted upon "make clean"!
-#     Even though the DOS/Win* filesystem matches both .s and .S the same,
-#     it will preserve the spelling of the filenames, and gcc itself does
-#     care about how the name is spelled on its command-line.
-ASRC =
-
-# Optimization level, can be [0, 1, 2, 3, s].
-#     0 = turn off optimization. s = optimize for size.
-#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
-OPT = s
-
-# Debugging format.
-#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
-#     AVR Studio 4.10 requires dwarf-2.
-#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
-DEBUG =
-
-# Compiler flag to set the C Standard level.
-#     c89   = "ANSI" C
-#     gnu89 = c89 plus GCC extensions
-#     c99   = ISO C99 standard (not yet fully implemented)
-#     gnu99 = c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-
-# Place -D or -U options here
-CDEFS += -DF_CPU=$(F_CPU)UL
-CDEFS += -DFFP
-# for wireless library
-ifdef USE_WIRELESS
-	CDEFS += -DROBOT
-endif
-
-# Place -I, -L options here
-CINCS = -I$(COLONYROOT)/lib/include/libdragonfly
-CINCS += -L$(COLONYROOT)/lib/bin
-ifdef USE_WIRELESS
-	CINCS += -I$(COLONYROOT)/lib/include/libwireless
-endif
-
-#---------------- Compiler Options ----------------
-#  -g*:          generate debugging information
-#  -O*:          optimization level
-#  -f...:        tuning, see GCC manual and avr-libc documentation
-#  -Wall...:     warning level
-#  -Wa,...:      tell GCC to pass this to the assembler.
-#    -adhlns...: create assembler listing
-CFLAGS =
-# CFLAGS = -g$(DEBUG)
-CFLAGS += $(CDEFS) $(CINCS)
-CFLAGS += -O$(OPT)
-CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-CFLAGS += -Wall -Wstrict-prototypes
-CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
-CFLAGS += $(CSTANDARD)
-
-#---------------- Assembler Options ----------------
-#  -Wa,...:   tell GCC to pass this to the assembler.
-#  -ahlms:    create listing
-#  -gstabs:   have the assembler create line number information; note that
-#             for use in COFF files, additional information about filenames
-#             and function names needs to be present in the assembler source
-#             files -- see avr-libc docs [FIXME: not yet described there]
-ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
-
-
-#---------------- Library Options ----------------
-# Minimalistic printf version
-PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
-
-# Floating point printf version (requires MATH_LIB = -lm below)
-PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
-
-# If this is left blank, then it will use the Standard printf version.
-#PRINTF_LIB =
-#PRINTF_LIB = $(PRINTF_LIB_MIN)
-PRINTF_LIB = $(PRINTF_LIB_FLOAT)
-
-
-# Minimalistic scanf version
-SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
-
-# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
-SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
-
-# If this is left blank, then it will use the Standard scanf version.
-SCANF_LIB =
-#SCANF_LIB = $(SCANF_LIB_MIN)
-#SCANF_LIB = $(SCANF_LIB_FLOAT)
-
-MATH_LIB = -lm
-
-#---------------- External Memory Options ----------------
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# used for variables (.data/.bss) and heap (malloc()).
-#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# only used for heap (malloc()).
-#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
-
-EXTMEMOPTS =
-
-#---------------- Linker Options ----------------
-#  -Wl,...:     tell GCC to pass this to linker.
-#    -Map:      create map file
-#    --cref:    add cross reference to  map file
-LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
-LDFLAGS += $(EXTMEMOPTS)
-LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
-ifdef USE_WIRELESS
-	LDFLAGS += -lwireless
-endif
-LDFLAGS += -ldragonfly
-
-
-
-#---------------- Programming Options (avrdude) ----------------
-
-# Programming hardware: alf avr910 avrisp bascom bsd
-# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
-#
-# Type: avrdude -c ?
-# to get a full listing.
-#
-AVRDUDE_PROGRAMMER = avrisp
-
-# programmer connected to serial device
-
-AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
-#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
-
-
-# Uncomment the following if you want avrdude's erase cycle counter.
-# Note that this counter needs to be initialized first using -Yn,
-# see avrdude manual.
-#AVRDUDE_ERASE_COUNTER = -y
-
-# Uncomment the following if you do /not/ wish a verification to be
-# performed after programming the device.
-#AVRDUDE_NO_VERIFY = -V
-
-# Increase verbosity level.  Please use this when submitting bug
-# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
-# to submit bug reports.
-#AVRDUDE_VERBOSE = -v -v
-
-AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
-AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
-AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
-AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
-
-#don't check for device signature
-AVRDUDE_FLAGS += -F
-
-
-
-#---------------- Debugging Options ----------------
-
-# For simulavr only - target MCU frequency.
-DEBUG_MFREQ = $(F_CPU)
-
-# Set the DEBUG_UI to either gdb or insight.
-# DEBUG_UI = gdb
-DEBUG_UI = insight
-
-# Set the debugging back-end to either avarice, simulavr.
-DEBUG_BACKEND = avarice
-#DEBUG_BACKEND = simulavr
-
-# GDB Init Filename.
-GDBINIT_FILE = __avr_gdbinit
-
-# When using avarice settings for the JTAG
-JTAG_DEV = /dev/com1
-
-# Debugging port used to communicate between GDB / avarice / simulavr.
-DEBUG_PORT = 4242
-
-# Debugging host used to communicate between GDB / avarice / simulavr, normally
-#     just set to localhost unless doing some sort of crazy debugging when
-#     avarice is running on a different computer.
-DEBUG_HOST = localhost
-
-
-
-#============================================================================
-
-
-# Define programs and commands.
-SHELL = sh
-CC = avr-gcc
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-NM = avr-nm
-AVRDUDE = avrdude
-REMOVE = rm -f
-REMOVEDIR = rm -rf
-COPY = cp
-WINSHELL = cmd
-
-
-# Define Messages
-# English
-MSG_ERRORS_NONE = Errors: none
-MSG_BEGIN = -------- begin --------
-MSG_END = --------  end  --------
-MSG_SIZE_BEFORE = Size before:
-MSG_SIZE_AFTER = Size after:
-MSG_COFF = Converting to AVR COFF:
-MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
-MSG_FLASH = Creating load file for Flash:
-MSG_EEPROM = Creating load file for EEPROM:
-MSG_EXTENDED_LISTING = Creating Extended Listing:
-MSG_SYMBOL_TABLE = Creating Symbol Table:
-MSG_LINKING = Linking:
-MSG_COMPILING = Compiling:
-MSG_ASSEMBLING = Assembling:
-MSG_CLEANING = Cleaning project:
-
-
-
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
-
-
-# Compiler flags to generate dependency files.
-GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
-
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-
-
-
-# Default target.
-all: begin gccversion sizebefore build sizeafter end
-
-build: elf hex eep lss sym
-
-elf: $(TARGET).elf
-hex: $(TARGET).hex
-eep: $(TARGET).eep
-lss: $(TARGET).lss
-sym: $(TARGET).sym
-
-
-
-# Eye candy.
-# AVR Studio 3.x does not check make's exit code but relies on
-# the following magic strings to be generated by the compile job.
-begin:
-	@echo
-	@echo $(MSG_BEGIN)
-
-end:
-	@echo $(MSG_END)
-	@echo
-
-
-# Display size of file.
-HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
-ELFSIZE = $(SIZE) -A $(TARGET).elf
-AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
-
-sizebefore:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
-	$(AVRMEM) 2>/dev/null; echo; fi
-
-sizeafter:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
-	$(AVRMEM) 2>/dev/null; echo; fi
-
-
-
-# Display compiler version information.
-gccversion :
-	@$(CC) --version
-
-
-
-# Program the device.
-program: $(TARGET).hex $(TARGET).eep
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
-
-
-# Generate avr-gdb config/init file which does the following:
-#     define the reset signal, load the target file, connect to target, and set
-#     a breakpoint at main().
-gdb-config:
-	@$(REMOVE) $(GDBINIT_FILE)
-	@echo define reset >> $(GDBINIT_FILE)
-	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
-	@echo end >> $(GDBINIT_FILE)
-	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
-	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
-ifeq ($(DEBUG_BACKEND),simulavr)
-	@echo load  >> $(GDBINIT_FILE)
-endif
-	@echo break main >> $(GDBINIT_FILE)
-
-debug: gdb-config $(TARGET).elf
-ifeq ($(DEBUG_BACKEND), avarice)
-	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
-	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
-	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
-	@$(WINSHELL) /c pause
-
-else
-	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
-	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
-endif
-	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
-
-
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000
-
-
-coff: $(TARGET).elf
-	@echo
-	@echo $(MSG_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
-
-
-extcoff: $(TARGET).elf
-	@echo
-	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
-
-
-
-# Create final output files (.hex, .eep) from ELF output file.
-%.hex: %.elf
-	@echo
-	@echo $(MSG_FLASH) $@
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-%.eep: %.elf
-	@echo
-	@echo $(MSG_EEPROM) $@
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-%.lss: %.elf
-	@echo
-	@echo $(MSG_EXTENDED_LISTING) $@
-	$(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-	@echo
-	@echo $(MSG_SYMBOL_TABLE) $@
-	$(NM) -n $< > $@
-
-
-
-# Link: create ELF output file from object files.
-.SECONDARY : $(TARGET).elf
-.PRECIOUS : $(OBJ)
-%.elf: $(OBJ)
-	@echo
-	@echo $(MSG_LINKING) $@
-	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
-
-
-# Compile: create object files from C source files.
-%.o : %.c
-	@echo
-	@echo $(MSG_COMPILING) $<
-	$(CC) -c $(ALL_CFLAGS) $< -o $@
-
-
-# Compile: create assembler files from C source files.
-%.s : %.c
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-%.o : %.S
-	@echo
-	@echo $(MSG_ASSEMBLING) $<
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-# Create preprocessed source for use in sending a bug report.
-%.i : %.c
-	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
-
-
-# Target: clean project.
-clean: begin clean_list end
-
-clean_list :
-	@echo
-	@echo $(MSG_CLEANING)
-	$(REMOVE) $(TARGET).hex
-	$(REMOVE) $(TARGET).eep
-	$(REMOVE) $(TARGET).cof
-	$(REMOVE) $(TARGET).elf
-	$(REMOVE) $(TARGET).map
-	$(REMOVE) $(TARGET).sym
-	$(REMOVE) $(TARGET).lss
-	$(REMOVE) $(OBJ)
-	$(REMOVE) $(LST)
-	$(REMOVE) $(SRC:.c=.s)
-	$(REMOVE) $(SRC:.c=.d)
-	$(REMOVEDIR) .dep
-
-
-
-# Include the dependency files.
--include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
-
-
-# Listing of phony targets.
-.PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex eep lss sym coff extcoff \
-clean clean_list program debug gdb-config
-
