+++ Additional Codework

12 files changed, 0 insertions, 1097 deletions

diff --git a/source/Concept/Framework/display.h b/source/Concept/Framework/display.h
deleted file mode 100644
index df18e62..0000000
--- a/source/Concept/Framework/display.h
+++ /dev/null
@@ -1,185 +0,0 @@
-#ifndef _DISPLAY_H

-#define _DISPLAY_H

-

-#include "stdafx.h"

-

-class Display : public IO_Module

-{

-public:

-	Display()

-	{

-		this->parent = NULL;

-		this->moduleId = 0;

-		this->cursorVisible = false;

-		this->illuminationEnabled = true;

-		this->commandClear = 0;

-		this->commandReturnCursor = 0;

-		this->commandNewLine = 0;

-		this->commandSetting = 0;

-		this->settingCursorVisible = 0;

-		this->settingIllumination = 0;

-		this->settingCursorPosition = 0;

-	}

-

-	Display(uint32 displayId)

-	{

-		this->parent = NULL;

-		this->moduleId = displayId;

-		this->cursorVisible = false;

-		this->illuminationEnabled = true;

-		

-		switch(displayId)

-		{

-			case IO_DISPLAY_MAIN:

-				this->commandClear = 12;

-				this->commandReturnCursor = 13;

-				this->commandNewLine = 10;

-				this->commandSetting = 27;

-				this->settingCursorVisible = 67;

-				this->settingIllumination = 76;

-				this->settingCursorPosition = 79;

-				msleep(500);

-				uart1_init(103);//9600 BAUD at 16MHz Atmel

-				sleep(2);

-				break;

-			default:

-				this->commandClear = 0;

-				this->commandReturnCursor = 0;

-				this->commandNewLine = 0;

-				this->commandSetting = 0;

-				this->settingCursorVisible = 0;

-				this->settingIllumination = 0;

-				this->settingCursorPosition = 0;

-				break;

-		}

-	}

-

-protected:

-	bool cursorVisible;

-	bool illuminationEnabled;

-	//Commands

-	uint8 commandClear;

-	uint8 commandReturnCursor;

-	uint8 commandNewLine;

-	uint8 commandSetting;

-	//Settings

-	uint8 settingCursorVisible;

-	uint8 settingIllumination;

-	uint8 settingCursorPosition;

-

-	void SendCommand(uint8 newCommand)

-	{

-		switch(moduleId)

-		{

-			case IO_DISPLAY_MAIN:

-				uart1_putc(newCommand);

-				break;

-			default:

-				break;

-		}

-	}

-

-public:

-	void Print(char* newString)

-	{

-		switch(moduleId)

-		{

-			case IO_DISPLAY_MAIN:

-				uart1_puts(newString);

-				break;

-			default:

-				break;

-		}

-	}

-

-	void Print(int32 newInteger)

-	{

-		char buffer[12];

-		ltoa(newInteger, buffer, 10);

-		Print(buffer);

-	}

-

-	void Print(char* newString, uint8 xPos, uint8 yPos)

-	{

-		SetCursorPosition(xPos, yPos);

-		Print(newString);

-	}

-

-	void Print(int32 newInteger, uint8 xPos, uint8 yPos)

-	{

-		SetCursorPosition(xPos, yPos);

-		Print(newInteger);

-	}

-

-	void Clear()

-	{

-		SendCommand(commandClear);

-	}

-

-	void ReturnCursor()

-	{

-		SendCommand(commandReturnCursor);

-	}

-

-	void NewLine()

-	{

-		SendCommand(commandNewLine);

-	}

-

-	bool GetCursorVisible()

-	{

-		return cursorVisible;

-	}

-

-	void SetCursorVisible(bool newStatus)

-	{

-		cursorVisible = newStatus;

-

-		SendCommand(commandSetting);

-		SendCommand(settingCursorVisible);

-

-		if(cursorVisible)

-		{

-			SendCommand(1);

-		}

-		else

-		{

-			SendCommand(0);

-		}

-	}

-

-	bool GetLightingEnabled()

-	{

-		return illuminationEnabled;

-	}

-

-	void SetLightingEnabled(bool newStatus)

-	{

-		illuminationEnabled = newStatus;

-

-		SendCommand(commandSetting);

-		SendCommand(settingIllumination);

-

-		if(illuminationEnabled)

-		{

-			SendCommand(1);

-		}

-		else

-		{

-			SendCommand(0);

-		}

-	}

-

-	void SetCursorPosition(uint8 newX, uint8 newY)

-	{

-		if(!newX || newX > 20) return;

-		if(!newY || newY > 4) return;

-

-		SendCommand(commandSetting);

-		SendCommand(settingCursorPosition);

-		SendCommand(newX);

-		SendCommand(newY);

-	}

-};

-

-#endif
diff --git a/source/Concept/Framework/distance_sensor.h b/source/Concept/Framework/distance_sensor.h
deleted file mode 100644
index 832e556..0000000
--- a/source/Concept/Framework/distance_sensor.h
+++ /dev/null
@@ -1,71 +0,0 @@
-#ifndef _DISTANCE_SENSOR_H

-#define _DISTANCE_SENSOR_H

-

-#include "stdafx.h"

-#include "sensor.h"

-

-class Distance_Sensor : public Sensor

-{

-public:

-	Distance_Sensor()

-	{

-		this->parent = NULL;

-		this->moduleId = 0;

-		this->hardwarePort = NULL;

-		this->hardwareDDR = NULL;

-		this->hardwarePin = NULL;

-		this->pin = 0;

-	}

-

-	Distance_Sensor(uint32 sensorId)

-	{

-		this->parent = NULL;

-		this->moduleId = sensorId;

-

-		switch(sensorId)

-		{

-			case IO_SENSOR_DISTANCE_0_DEG:

-				this->hardwarePort = &PORTC;

-				this->hardwareDDR = &DDRC;

-				this->hardwarePin = &PINC;

-				this->pin = (1 << 0);

-				break;

-			case IO_SENSOR_DISTANCE_90_DEG:

-				this->hardwarePort = &PORTC;

-				this->hardwareDDR = &DDRC;

-				this->hardwarePin = &PINC;

-				this->pin = (1 << 1);

-				break;

-			case IO_SENSOR_DISTANCE_180_DEG:

-				this->hardwarePort = &PORTC;

-				this->hardwareDDR = &DDRC;

-				this->hardwarePin = &PINC;

-				this->pin = (1 << 2);

-				break;

-			case IO_SENSOR_DISTANCE_270_DEG:

-				this->hardwarePort = &PORTC;

-				this->hardwareDDR = &DDRC;

-				this->hardwarePin = &PINC;

-				this->pin = (1 << 3);

-				break;

-			default:

-				this->hardwarePort = NULL;

-				this->hardwareDDR = NULL;

-				this->hardwarePin = NULL;

-				this->pin = 0;

-				break;

-		}

-	}

-

-protected:

-	//Hardware

-	volatile uint8* hardwarePort;

-	volatile uint8* hardwareDDR;

-	volatile uint8* hardwarePin;

-	uint8 pin;

-

-public:

-	float GetDistance();

-};

-

-#endif
diff --git a/source/Concept/Framework/dribbler.h b/source/Concept/Framework/dribbler.h
deleted file mode 100644
index 64c045a..0000000
--- a/source/Concept/Framework/dribbler.h
+++ /dev/null
@@ -1,118 +0,0 @@
-#ifndef _DRIBBLER_H

-#define _DRIBBLER_H

-

-#include "stdafx.h"

-

-class Dribbler : public IO_Module

-{

-public:

-	Dribbler()

-	{

-		this->enabled = false;

-		this->curSpeed = 0;

-		this->parent = NULL;

-		this->moduleId = 0;

-		this->hardwarePort = NULL;

-		this->portPower = NULL;

-		this->pinForward = 0;

-		this->pinReverse = 0;

-		this->pinPower = 0;

-	}

-

-	Dribbler(uint32 dribblerId)

-	{

-		this->enabled = false;

-		this->curSpeed = 1.0f;

-		this->parent = NULL;

-		this->moduleId = dribblerId;

-		

-		switch(dribblerId)

-		{

-			case IO_DRIBBLER_MAIN:

-				this->hardwarePort = &PORTD;

-				this->portPower = &PORTA;

-				this->pinForward = (1 << 6);

-				this->pinReverse = (1 << 7);

-				this->pinPower = (1 << 5);

-				break;

-			default:

-				this->hardwarePort = NULL;

-				this->portPower = NULL;

-				this->pinForward = 0;

-				this->pinReverse = 0;

-				this->pinPower = 0;

-				break;

-		}

-

-		UpdateDirection();

-	}

-

-protected:

-	bool enabled;

-	float curSpeed;

-

-	//Hardware

-	volatile uint8* hardwarePort;

-	volatile uint8* portPower;

-	uint8 pinForward;

-	uint8 pinReverse;

-	uint8 pinPower;

-

-	void UpdateDirection()

-	{

-		if(enabled)

-		{

-			if(curSpeed > 0)

-			{

-				*hardwarePort |= pinForward;

-				*hardwarePort &= ~pinReverse;

-			}

-			else if(curSpeed < 0)

-			{

-				*hardwarePort |= pinReverse;

-				*hardwarePort &= ~pinForward;

-			}

-			else

-			{

-				*hardwarePort |= pinForward;

-				*hardwarePort |= pinReverse;

-			}

-

-			*portPower |= pinPower;

-		}

-		else

-		{

-			*hardwarePort &= ~pinForward;

-			*hardwarePort &= ~pinReverse;

-

-			*portPower &= ~pinPower;

-		}

-	}

-

-public:

-	float GetSpeed()

-	{

-		return curSpeed;

-	}

-

-	void SetSpeed(float newSpeed)

-	{

-		curSpeed = newSpeed;

-

-		UpdateDirection();

-	}

-

-	bool GetEnabled()

-	{

-		return enabled;

-	}

-

-	void SetEnabled(bool newStatus)

-	{

-		enabled = newStatus;

-

-		UpdateDirection();

-	}

-};

-

-#endif
diff --git a/source/Concept/Framework/engine.h b/source/Concept/Framework/engine.h
deleted file mode 100644
index 8dd284e..0000000
--- a/source/Concept/Framework/engine.h
+++ /dev/null
@@ -1,124 +0,0 @@
-#ifndef _ENGINE_H

-#define _ENGINE_H

-

-#include "stdafx.h"

-

-class Engine : public IO_Module

-{

-public:

-	Engine()

-	{

-		this->enabled = false;

-		this->curSpeed = 0;

-		this->parent = NULL;

-		this->moduleId = 0;

-		this->hardwarePort = NULL;

-		this->pwmSpeed = NULL;

-		this->pinForward = 0;

-		this->pinReverse = 0;

-	}

-

-	Engine(uint32 engineId)

-	{

-		this->enabled = false;

-		this->curSpeed = 0;

-		this->parent = NULL;

-		this->moduleId = engineId;

-		

-		switch(engineId)

-		{

-			case IO_ENGINE_DRIVE_LEFT:

-				this->hardwarePort = &PORTB;

-				this->pwmSpeed = &OCR1A;

-				this->pinForward = (1 << 0);

-				this->pinReverse = (1 << 1);

-				break;

-			case IO_ENGINE_DRIVE_BACK:

-				this->hardwarePort = &PORTB;

-				this->pwmSpeed = &OCR1B;

-				this->pinForward = (1 << 2);

-				this->pinReverse = (1 << 3);

-				break;

-			case IO_ENGINE_DRIVE_RIGHT:

-				this->hardwarePort = &PORTD;

-				this->pwmSpeed = &OCR3A;

-				this->pinForward = (1 << 5);

-				this->pinReverse = (1 << 4);

-				break;

-			default:

-				this->hardwarePort = NULL;

-				this->pwmSpeed = NULL;

-				this->pinForward = 0;

-				this->pinReverse = 0;

-				break;

-		}

-

-		*this->pwmSpeed = 0;

-	}

-

-protected:

-	bool enabled;

-	float curSpeed;

-

-	//Hardware

-	volatile uint8* hardwarePort;

-	volatile uint16* pwmSpeed;

-	uint8 pinForward;

-	uint8 pinReverse;

-

-	void UpdateDirection()

-	{

-		if(enabled)

-		{

-			if(curSpeed > 0)

-			{

-				*hardwarePort |= pinForward;

-				*hardwarePort &= ~pinReverse;

-			}

-			else if(curSpeed < 0)

-			{

-				*hardwarePort |= pinReverse;

-				*hardwarePort &= ~pinForward;

-			}

-			else

-			{

-				*hardwarePort |= pinForward;

-				*hardwarePort |= pinReverse;

-			}

-		}

-		else

-		{

-			*hardwarePort &= ~pinForward;

-			*hardwarePort &= ~pinReverse;

-		}

-	}

-

-public:

-	float GetSpeed()

-	{

-		return curSpeed;

-	}

-

-	void SetSpeed(float newSpeed)

-	{

-		curSpeed = newSpeed;

-

-		*pwmSpeed = (abs((int16)(newSpeed / SPEED_PER_PWM)));

-

-		UpdateDirection();

-	}

-

-	bool GetEnabled()

-	{

-		return enabled;

-	}

-

-	void SetEnabled(bool newStatus)

-	{

-		enabled = newStatus;

-

-		UpdateDirection();

-	}

-};

-

-#endif
diff --git a/source/Concept/Framework/io_module.h b/source/Concept/Framework/io_module.h
deleted file mode 100644
index f1fecd3..0000000
--- a/source/Concept/Framework/io_module.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#ifndef _MODULE_H

-#define _MODULE_H

-

-#include "defines.h"

-

-class Robot;

-

-class IO_Module

-{

-public:

-	IO_Module()

-	{

-		this->parent = NULL; 

-		this->moduleId = 0;

-	}

-

-	IO_Module(uint32 moduleId)

-	{

-		this->parent = NULL;

-		this->moduleId = moduleId;

-	}

-

-protected:

-	Robot* parent;

-	uint32 moduleId;

-

-public:

-	Robot* GetParent()

-	{

-		return parent;

-	}

-

-	void SetParent(Robot* newParent)

-	{

-		parent = newParent;

-	}

-

-	uint32 GetId()

-	{

-		return moduleId;

-	}

-};

-

-#endif
diff --git a/source/Concept/Framework/ir_sensor.h b/source/Concept/Framework/ir_sensor.h
deleted file mode 100644
index f267644..0000000
--- a/source/Concept/Framework/ir_sensor.h
+++ /dev/null
@@ -1,62 +0,0 @@
-#ifndef _IR_SENSOR_H

-#define _IR_SENSOR_H

-

-#include "defines.h"

-#include "robot.h"

-#include "sensor.h"

-

-class IR_Sensor : public Sensor

-{

-public:

-	IR_Sensor()

-	{

-		this->parent = NULL;

-		this->moduleId = 0;

-	}

-

-	IR_Sensor(uint32 sensorId)

-	{

-		this->parent = NULL;

-		this->moduleId = sensorId;

-

-		switch(sensorId)

-		{

-			case IO_SENSOR_IR_0_DEG:

-				this->channel = 0;

-				break;

-			case IO_SENSOR_IR_30_DEG:

-				this->channel = 1;

-				break;

-			case IO_SENSOR_IR_60_DEG:

-				this->channel = 2;

-				break;

-			case IO_SENSOR_IR_100_DEG:

-				this->channel = 3;

-				break;

-			case IO_SENSOR_IR_180_DEG:

-				this->channel = 4;

-				break;

-			case IO_SENSOR_IR_260_DEG:

-				this->channel = 5;

-				break;

-			case IO_SENSOR_IR_300_DEG:

-				this->channel = 6;

-				break;

-			case IO_SENSOR_IR_330_DEG:

-				this->channel = 7;

-				break;

-			default:

-				this->channel = 8;

-				break;

-		}

-	}

-

-protected:

-	//Hardware

-	uint8 channel;

-

-public:

-	uint16 GetIRIntensity();

-};

-

-#endif
diff --git a/source/Concept/Framework/keyboard.h b/source/Concept/Framework/keyboard.h
deleted file mode 100644
index d984586..0000000
--- a/source/Concept/Framework/keyboard.h
+++ /dev/null
@@ -1,87 +0,0 @@
-#ifndef _KEYBOARD_H

-#define _KEYBOARD_H

-

-#include "stdafx.h"

-

-class Keyboard : public IO_Module

-{

-public:

-	Keyboard()

-	{

-		this->parent = NULL;

-		this->moduleId = 0;

-		this->commandSetting = 0;

-		this->settingClearBuffer = 0;

-	}

-

-	Keyboard(uint32 keyboardId)

-	{

-		this->parent = NULL;

-		this->moduleId = keyboardId;

-		

-		switch(keyboardId)

-		{

-			case IO_KEYBOARD_MAIN:

-				this->commandSetting = 27;

-				this->settingClearBuffer = 123;

-				break;

-			default:

-				this->commandSetting = 0;

-				this->settingClearBuffer = 0;

-				break;

-		}

-	}

-

-protected:

-	//Commands

-	uint8 commandSetting;

-	//Settings

-	uint8 settingClearBuffer;

-

-	void SendCommand(uint8 newCommand)

-	{

-		switch(moduleId)

-		{

-			case IO_KEYBOARD_MAIN:

-				uart1_putc(newCommand);

-				break;

-			default:

-				break;

-		}

-	}

-

-public:

-	uint8 GetInput()

-	{

-		uint16 input = uart1_getc();

-

-		if(input == 0x100)//no data

-		{

-			return 0xEE;//empty

-		}

-		else if(input >= '0' && input <= '9')

-		{

-			return (uint8)(input - '0');

-		}

-		else if(input == '*')

-		{

-			return 10;

-		}

-		else if(input == '#')

-		{

-			return 11;

-		}

-		else

-		{

-			return 0xFF;//unknown

-		}

-	}

-

-	void ClearKeyBuffer()

-	{

-		SendCommand(commandSetting);

-		SendCommand(settingClearBuffer);

-	}

-};

-

-#endif
diff --git a/source/Concept/Framework/kicker.h b/source/Concept/Framework/kicker.h
deleted file mode 100644
index fa9718e..0000000
--- a/source/Concept/Framework/kicker.h
+++ /dev/null
@@ -1,84 +0,0 @@
-#ifndef _KICKER_H

-#define _KICKER_H

-

-#include "stdafx.h"

-

-class Kicker : public IO_Module

-{

-public:

-	Kicker()

-	{

-		this->enabled = false;

-		this->parent = NULL;

-		this->moduleId = 0;

-		this->portPower = NULL;

-		this->portForward = NULL;

-		this->portReverse = NULL;

-		this->pinPower = 0;

-		this->pinForward = 0;

-		this->pinReverse = 0;

-	}

-

-	Kicker(uint32 kickerId)

-	{

-		this->enabled = false;

-		this->parent = NULL;

-		this->moduleId = kickerId;

-

-		switch(kickerId)

-		{

-			case IO_KICKER_MAIN:

-				this->portPower = &PORTG;

-				this->portForward = &PORTA;

-				this->portReverse = &PORTE;

-				this->pinPower = (1 << 3);

-				this->pinForward = (1 << 2);

-				this->pinReverse = (1 << 6);

-				break;

-			default:

-				this->portPower = NULL;

-				this->portForward = NULL;

-				this->portReverse = NULL;

-				this->pinPower = 0;

-				this->pinForward = 0;

-				this->pinReverse = 0;

-				break;

-		}

-

-		*this->portForward |= this->pinForward;

-		*this->portReverse &= ~this->pinReverse;

-	}

-

-protected:

-	bool enabled;

-

-	//Hardware

-	volatile uint8* portPower;

-	volatile uint8* portForward;

-	volatile uint8* portReverse;

-	uint8 pinPower;

-	uint8 pinForward;

-	uint8 pinReverse;

-

-public:

-	bool GetEnabled()

-	{

-		return enabled;

-	}

-

-	void SetEnabled(bool newStatus)

-	{

-		enabled = newStatus;

-

-		if(enabled)

-		{

-			*portPower |= pinPower;

-		}

-		else

-		{

-			*portPower &= ~pinPower;

-		}

-	}

-};

-

-#endif
diff --git a/source/Concept/Framework/led.h b/source/Concept/Framework/led.h
deleted file mode 100644
index f0f3982..0000000
--- a/source/Concept/Framework/led.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#ifndef _LED_H

-#define _LED_H

-

-#include "stdafx.h"

-

-class Led : public IO_Module

-{

-public:

-	Led()

-	{

-		this->enabled = false;

-		this->parent = NULL;

-		this->moduleId = 0;

-		this->hardwarePort = NULL;

-		this->pinPower = 0;

-	}

-

-	Led(uint32 ledId)

-	{

-		this->enabled = false;

-		this->parent = NULL;

-		this->moduleId = ledId;

-

-		switch(ledId)

-		{

-			case IO_LED_MAIN:

-				this->hardwarePort = &PORTB;

-				this->pinPower = (1 << 1);

-				break;

-			default:

-				this->hardwarePort = NULL;

-				this->pinPower = 0;

-				break;

-		}

-	}

-

-protected:

-	bool enabled;

-

-	//Hardware

-	volatile uint8* hardwarePort;

-	uint8 pinPower;

-

-public:

-	bool GetEnabled()

-	{

-		return enabled;

-	}

-

-	void SetEnabled(bool newStatus)

-	{

-		enabled = newStatus;

-

-		if(enabled)

-		{

-			*hardwarePort &= ~pinPower;

-		}

-		else

-		{

-			*hardwarePort |= pinPower;

-		}

-	}

-};

-

-#endif
diff --git a/source/Concept/Framework/mouse_sensor.h b/source/Concept/Framework/mouse_sensor.h
deleted file mode 100644
index 8247693..0000000
--- a/source/Concept/Framework/mouse_sensor.h
+++ /dev/null
@@ -1,203 +0,0 @@
-#ifndef _MOUSE_SENSOR_H

-#define _MOUSE_SENSOR_H

-

-#include "stdafx.h"

-#include "sensor.h"

-

-class Mouse_Sensor : public Sensor

-{

-public:

-	Mouse_Sensor()

-	{

-		this->parent = NULL;

-		this->moduleId = 0;

-		this->hardwarePort = NULL;

-		this->hardwareDDR = NULL;

-		this->hardwarePin = NULL;

-		this->pinSDA = 0;

-		this->pinSCK = 0;

-		this->registerConfig = 0;

-		this->registerPixelData = 0;

-		this->registerSqual = 0;

-		this->registerDeltaX = 0;

-		this->registerDeltaY = 0;

-		this->configReset = 0;

-		this->configAwake = 0;

-		this->newImage = false;

-	}

-

-	Mouse_Sensor(uint32 sensorId)

-	{

-		this->parent = NULL;

-		this->moduleId = sensorId;

-		this->newImage = false;

-

-		switch(sensorId)

-		{

-			case IO_SENSOR_MOUSE_LEFT:

-				this->hardwarePort = &PORTC;

-				this->hardwareDDR = &DDRC;

-				this->hardwarePin = &PINC;

-				this->pinSDA = (1 << 4);

-				this->pinSCK = (1 << 6);

-				this->registerConfig = 0x00;

-				this->registerPixelData = 0x08;

-				this->registerSqual = 0x4;

-				this->registerDeltaX = 0x3;

-				this->registerDeltaY = 0x2;

-				this->configReset = 0x80;

-				this->configAwake = 0x01;

-				break;

-			case IO_SENSOR_MOUSE_RIGHT:

-				this->hardwarePort = &PORTC;

-				this->hardwareDDR = &DDRC;

-				this->hardwarePin = &PINC;

-				this->pinSDA = (1 << 5);

-				this->pinSCK = (1 << 7);

-				this->registerConfig = 0x00;

-				this->registerPixelData = 0x08;

-				this->registerSqual = 0x4;

-				this->registerDeltaX = 0x3;

-				this->registerDeltaY = 0x2;

-				this->configReset = 0x80;

-				this->configAwake = 0x01;

-				break;

-			default:

-				this->hardwarePort = NULL;

-				this->hardwareDDR = NULL;

-				this->hardwarePin = NULL;

-				this->pinSDA = 0;

-				this->pinSCK = 0;

-				this->registerConfig = 0;

-				this->registerPixelData = 0;

-				this->registerSqual = 0;

-				this->registerDeltaX = 0;

-				this->registerDeltaY = 0;

-				this->configReset = 0;

-				this->configAwake = 0;

-				break;

-		}

-

-		msleep(100);

-

-		*hardwareDDR  |= pinSCK;

-		*hardwarePort &= ~pinSCK;

-	

-		msleep(10);

-	

-		Write(registerConfig, configReset);

-		Write(registerConfig, configAwake);

-	}

-

-protected:

-	//Hardware

-	volatile uint8* hardwarePort;

-	volatile uint8* hardwareDDR;

-	volatile uint8* hardwarePin;

-	uint8 pinSDA;

-	uint8 pinSCK;

-	bool newImage;

-	//Registers and Settings

-	uint8 registerConfig;

-	uint8 registerPixelData;

-	uint8 registerSqual;

-	uint8 registerDeltaX;

-	uint8 registerDeltaY;

-	uint8 configReset;

-	uint8 configAwake;

-

-public:

-	void WriteByte(uint8 newByte)

-	{

-		*hardwareDDR |= pinSDA;//Set SDA output

-	

-		for(uint8 i = 0; i < 8; i++)

-		{

-			*hardwarePort &= ~pinSCK;//prepare SCK

-		

-			//write data

-			*hardwarePort = (*hardwarePort & (~(*hardwarePin))) | 

-				((newByte >> 7) * pinSDA);

-

-			newByte = newByte << 1;//prepare next byte

-			asm volatile("nop");

-		

-			*hardwarePort |= pinSCK;

-		}

-	}

-

-	void Write(int8 adr, uint8 data)

-	{	

-		WriteByte(adr | 0x80);

-		WriteByte(data);

-		usleep(100);

-	}

-

-	uint8 ReadByte()

-	{

-		uint8 data=0;

-

-		*hardwareDDR  &= ~pinSDA;//Set SDA input

-

-		for(uint8 i = 0; i < 8; i++)

-		{

-			*hardwarePort &= ~pinSCK;//Prepare data

-			data = data << 1;

-

-			asm volatile("nop");

-			*hardwarePort |= pinSCK;//Prepare for reading

-

-			data |= (*hardwarePin & pinSDA) / pinSDA;

-		}

-

-		return data;

-	}

-

-	uint8 Read(uint8 adr)

-	{

-		WriteByte(adr);

-		usleep(100);

-	

-		return ReadByte();

-	}

-

-	void ImagePrepare()

-	{

-		Write(registerConfig, configAwake);

-		Write(registerPixelData, 0x00);

-

-		newImage = true;

-	}

-

-	uint8 ImageRead()

-	{

-		uint8 pixel = Read(registerPixelData);

-		if(newImage)

-		{

-			while (!(pixel & 0x80))//0x80 indicates first pixel

-			{

-				pixel=Read(registerPixelData);

-			}

-			newImage = false;

-		}

-	

-		return pixel;

-	}

-

-	uint8 GetSqual()

-	{

-		return Read(registerSqual);

-	}

-

-	int8 GetXMovement()

-	{

-		return (int8)(Read(registerDeltaX));

-	}

-

-	int8 GetYMovement()

-	{

-		return (int8)(Read(registerDeltaY));

-	}

-};

-

-#endif
diff --git a/source/Concept/Framework/position_tracker.h b/source/Concept/Framework/position_tracker.h
deleted file mode 100644
index 49c5d40..0000000
--- a/source/Concept/Framework/position_tracker.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef _POSITION_TRACKER_H

-#define _POSITION_TRACKER_H

-

-#include "stdafx.h"

-

-class Position_Tracker : public IO_Module

-{

-public:

-	Position_Tracker()

-	{

-		this->parent = NULL;

-		this->moduleId = 0;

-	}

-

-	Position_Tracker(uint32 trackerId)

-	{

-		this->parent = NULL;

-		this->moduleId = trackerId;

-	}

-

-protected:

-

-public:

-	void Update();

-};

-

-#endif
diff --git a/source/Concept/Framework/sensor.h b/source/Concept/Framework/sensor.h
deleted file mode 100644
index 62f2165..0000000
--- a/source/Concept/Framework/sensor.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef _SENSOR_H

-#define _SENSOR_H

-

-#include "defines.h"

-#include "io_module.h"

-

-class Sensor : public IO_Module

-{

-public:

-	Sensor()

-	{

-		this->parent = NULL;

-		this->moduleId = 0;

-	}

-

-	Sensor(uint32 sensorId)

-	{

-		this->parent = NULL;

-		this->moduleId = sensorId;

-	}

-

-protected:

-

-public:

-};

-

-#endif