unnecessary files removed

2 files changed, 0 insertions, 1808 deletions

diff --git a/Firmware/pidmata3.ino b/Firmware/pidmata3.ino
deleted file mode 100644
index 01a4710..0000000
--- a/Firmware/pidmata3.ino
+++ /dev/null
@@ -1,904 +0,0 @@
-/*
-  Firmata is a generic protocol for communicating with microcontrollers
-  from software on a host computer. It is intended to work with
-  any host computer software package.
-
-  To download a host software package, please click on the following link
-  to open the list of Firmata client libraries in your default browser.
-
-  https://github.com/firmata/arduino#firmata-client-libraries
-
-  Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
-  Copyright (C) 2010-2011 Paul Stoffregen.  All rights reserved.
-  Copyright (C) 2009 Shigeru Kobayashi.  All rights reserved.
-  Copyright (C) 2009-2016 Jeff Hoefs.  All rights reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  See file LICENSE.txt for further informations on licensing terms.
-
-  Last updated August 17th, 2017
-*/
-
-#include <Servo.h>
-#include <Wire.h>
-#include <Firmata.h>
-#include <AutoPID.h>
-
-//Comment the line below, "#define PID", if you are not using PID else uncomment it and follow further instructions.
-#define PID
-
-//------------PID values----------------
-// Pin 6  - setPoint  (input value)
-// Pin 5  - feedback (input value)
-// Pin 15 - control (output value)
-
-//If you use real analog pin for input for PID just uncomment next line with #define REAL_INPUT, if use virtual sources comment this line
-//If you use both real will be prefered
-//#define REAL_INPUT
-// This line define analog pin for read values from real sources
-#define AREAD_PIN A1
-
-
-#define PID_OUTPUT_MIN -512.0
-#define PID_OUTPUT_MAX 512.0
-#define PID_KP 15
-#define PID_KI 10
-#define PID_KD 10
-#define PID_BANG_BANG 40
-#define PID_INTERVAL  100
-
-
-
-
-#define I2C_WRITE                   B00000000
-#define I2C_READ                    B00001000
-#define I2C_READ_CONTINUOUSLY       B00010000
-#define I2C_STOP_READING            B00011000
-#define I2C_READ_WRITE_MODE_MASK    B00011000
-#define I2C_10BIT_ADDRESS_MODE_MASK B00100000
-#define I2C_END_TX_MASK             B01000000
-#define I2C_STOP_TX                 1
-#define I2C_RESTART_TX              0
-#define I2C_MAX_QUERIES             8
-#define I2C_REGISTER_NOT_SPECIFIED  -1
-
-// the minimum interval for sampling analog input
-#define MINIMUM_SAMPLING_INTERVAL   1
-
-
-/*==============================================================================
- * GLOBAL VARIABLES
- *============================================================================*/
-
-#ifdef FIRMATA_SERIAL_FEATURE
-SerialFirmata serialFeature;
-#endif
-
-/* analog inputs */
-int analogInputsToReport = 0; // bitwise array to store pin reporting
-
-/* digital input ports */
-byte reportPINs[TOTAL_PORTS];       // 1 = report this port, 0 = silence
-byte previousPINs[TOTAL_PORTS];     // previous 8 bits sent
-
-/* pins configuration */
-byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
-
-/* timer variables */
-unsigned long currentMillis;        // store the current value from millis()
-unsigned long previousMillis;       // for comparison with currentMillis
-unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
-
-/* i2c data */
-struct i2c_device_info {
-  byte addr;
-  int reg;
-  byte bytes;
-  byte stopTX;
-};
-
-
-double currentPoint=0.0, setPoint=0.0, control_value=0.0;
-
-#ifdef PID
-  AutoPID myPID(&currentPoint, &setPoint, &control_value, PID_OUTPUT_MIN, PID_OUTPUT_MAX, PID_KP, PID_KI, PID_KD);
-#endif
-
-
-/* for i2c read continuous more */
-i2c_device_info query[I2C_MAX_QUERIES];
-
-byte i2cRxData[64];
-boolean isI2CEnabled = false;
-signed char queryIndex = -1;
-// default delay time between i2c read request and Wire.requestFrom()
-unsigned int i2cReadDelayTime = 0;
-
-Servo servos[MAX_SERVOS];
-byte servoPinMap[TOTAL_PINS];
-byte detachedServos[MAX_SERVOS];
-byte detachedServoCount = 0;
-byte servoCount = 0;
-
-boolean isResetting = false;
-
-// Forward declare a few functions to avoid compiler errors with older versions
-// of the Arduino IDE.
-void setPinModeCallback(byte, int);
-void reportAnalogCallback(byte analogPin, int value);
-void sysexCallback(byte, byte, byte*);
-
-/* utility functions */
-void wireWrite(byte data)
-{
-#if ARDUINO >= 100
-  Wire.write((byte)data);
-#else
-  Wire.send(data);
-#endif
-}
-
-byte wireRead(void)
-{
-#if ARDUINO >= 100
-  return Wire.read();
-#else
-  return Wire.receive();
-#endif
-}
-
- /*==============================================================================
- * PID
- *==============================================================================*/
-
-void update_setPoint(int value)
-{
-  
-   #ifdef REAL_INPUT
-     setPoint=(double)analogRead(AREAD_PIN);
-   #else
-     setPoint=(double)(value-512);
-    #endif
- }
-
-void update_currentPoint(int value)
-{
-  currentPoint=(double)(value-512); 
-}
-  
-/*==============================================================================
- * FUNCTIONS
- *============================================================================*/
-
-void attachServo(byte pin, int minPulse, int maxPulse)
-{
-  if (servoCount < MAX_SERVOS) {
-    // reuse indexes of detached servos until all have been reallocated
-    if (detachedServoCount > 0) {
-      servoPinMap[pin] = detachedServos[detachedServoCount - 1];
-      if (detachedServoCount > 0) detachedServoCount--;
-    } else {
-      servoPinMap[pin] = servoCount;
-      servoCount++;
-    }
-    if (minPulse > 0 && maxPulse > 0) {
-      servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
-    } else {
-      servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
-    }
-  } else {
-    Firmata.sendString("Max servos attached");
-  }
-}
-
-void detachServo(byte pin)
-{
-  servos[servoPinMap[pin]].detach();
-  // if we're detaching the last servo, decrement the count
-  // otherwise store the index of the detached servo
-  if (servoPinMap[pin] == servoCount && servoCount > 0) {
-    servoCount--;
-  } else if (servoCount > 0) {
-    // keep track of detached servos because we want to reuse their indexes
-    // before incrementing the count of attached servos
-    detachedServoCount++;
-    detachedServos[detachedServoCount - 1] = servoPinMap[pin];
-  }
-
-  servoPinMap[pin] = 255;
-}
-
-void enableI2CPins()
-{
-  byte i;
-  // is there a faster way to do this? would probaby require importing
-  // Arduino.h to get SCL and SDA pins
-  for (i = 0; i < TOTAL_PINS; i++) {
-    if (IS_PIN_I2C(i)) {
-      // mark pins as i2c so they are ignore in non i2c data requests
-      setPinModeCallback(i, PIN_MODE_I2C);
-    }
-  }
-
-  isI2CEnabled = true;
-
-  Wire.begin();
-}
-
-/* disable the i2c pins so they can be used for other functions */
-void disableI2CPins() {
-  isI2CEnabled = false;
-  // disable read continuous mode for all devices
-  queryIndex = -1;
-}
-
-void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
-  // allow I2C requests that don't require a register read
-  // for example, some devices using an interrupt pin to signify new data available
-  // do not always require the register read so upon interrupt you call Wire.requestFrom()
-  if (theRegister != I2C_REGISTER_NOT_SPECIFIED) {
-    Wire.beginTransmission(address);
-    wireWrite((byte)theRegister);
-    Wire.endTransmission(stopTX); // default = true
-    // do not set a value of 0
-    if (i2cReadDelayTime > 0) {
-      // delay is necessary for some devices such as WiiNunchuck
-      delayMicroseconds(i2cReadDelayTime);
-    }
-  } else {
-    theRegister = 0;  // fill the register with a dummy value
-  }
-
-  Wire.requestFrom(address, numBytes);  // all bytes are returned in requestFrom
-
-  // check to be sure correct number of bytes were returned by slave
-  if (numBytes < Wire.available()) {
-    Firmata.sendString("I2C: Too many bytes received");
-  } else if (numBytes > Wire.available()) {
-    Firmata.sendString("I2C: Too few bytes received");
-  }
-
-  i2cRxData[0] = address;
-  i2cRxData[1] = theRegister;
-
-  for (int i = 0; i < numBytes && Wire.available(); i++) {
-    i2cRxData[2 + i] = wireRead();
-  }
-
-  // send slave address, register and received bytes
-  Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
-}
-
-void outputPort(byte portNumber, byte portValue, byte forceSend)
-{
-  // pins not configured as INPUT are cleared to zeros
-  portValue = portValue & portConfigInputs[portNumber];
-  // only send if the value is different than previously sent
-  if (forceSend || previousPINs[portNumber] != portValue) {
-    Firmata.sendDigitalPort(portNumber, portValue);
-    previousPINs[portNumber] = portValue;
-  }
-}
-
-/* -----------------------------------------------------------------------------
- * check all the active digital inputs for change of state, then add any events
- * to the Serial output queue using Serial.print() */
-void checkDigitalInputs(void)
-{
-  /* Using non-looping code allows constants to be given to readPort().
-   * The compiler will apply substantial optimizations if the inputs
-   * to readPort() are compile-time constants. */
-  if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
-  if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
-  if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
-  if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
-  if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
-  if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
-  if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
-  if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
-  if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
-  if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
-  if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
-  if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
-  if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
-  if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
-  if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
-  if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
-}
-
-// -----------------------------------------------------------------------------
-/* sets the pin mode to the correct state and sets the relevant bits in the
- * two bit-arrays that track Digital I/O and PWM status
- */
-void setPinModeCallback(byte pin, int mode)
-{
-  if (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
-    return;
-
-  if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_MODE_I2C) {
-    // disable i2c so pins can be used for other functions
-    // the following if statements should reconfigure the pins properly
-    disableI2CPins();
-  }
-  if (IS_PIN_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
-    if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
-      detachServo(pin);
-    }
-  }
-  if (IS_PIN_ANALOG(pin)) {
-    reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
-  }
-  if (IS_PIN_DIGITAL(pin)) {
-    if (mode == INPUT || mode == PIN_MODE_PULLUP) {
-      portConfigInputs[pin / 8] |= (1 << (pin & 7));
-    } else {
-      portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
-    }
-  }
-  Firmata.setPinState(pin, 0);
-  switch (mode) {
-    case PIN_MODE_ANALOG:
-      if (IS_PIN_ANALOG(pin)) {
-        if (IS_PIN_DIGITAL(pin)) {
-          pinMode(PIN_TO_DIGITAL(pin), INPUT);    // disable output driver
-#if ARDUINO <= 100
-          // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
-          digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
-#endif
-        }
-        Firmata.setPinMode(pin, PIN_MODE_ANALOG);
-      }
-      break;
-    case INPUT:
-      if (IS_PIN_DIGITAL(pin)) {
-        pinMode(PIN_TO_DIGITAL(pin), INPUT);    // disable output driver
-#if ARDUINO <= 100
-        // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
-        digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
-#endif
-        Firmata.setPinMode(pin, INPUT);
-      }
-      break;
-    case PIN_MODE_PULLUP:
-      if (IS_PIN_DIGITAL(pin)) {
-        pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
-        Firmata.setPinMode(pin, PIN_MODE_PULLUP);
-        Firmata.setPinState(pin, 1);
-      }
-      break;
-    case OUTPUT:
-      if (IS_PIN_DIGITAL(pin)) {
-        if (Firmata.getPinMode(pin) == PIN_MODE_PWM) {
-          // Disable PWM if pin mode was previously set to PWM.
-          digitalWrite(PIN_TO_DIGITAL(pin), LOW);
-        }
-        pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
-        Firmata.setPinMode(pin, OUTPUT);
-      }
-      break;
-    case PIN_MODE_PWM:
-      if (IS_PIN_PWM(pin)) {
-        pinMode(PIN_TO_PWM(pin), OUTPUT);
-        analogWrite(PIN_TO_PWM(pin), 0);
-        Firmata.setPinMode(pin, PIN_MODE_PWM);
-      }
-      break;
-    case PIN_MODE_SERVO:
-      if (IS_PIN_DIGITAL(pin)) {
-        Firmata.setPinMode(pin, PIN_MODE_SERVO);
-        if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
-          // pass -1 for min and max pulse values to use default values set
-          // by Servo library
-          attachServo(pin, -1, -1);
-        }
-      }
-      break;
-    case PIN_MODE_I2C:
-      if (IS_PIN_I2C(pin)) {
-        // mark the pin as i2c
-        // the user must call I2C_CONFIG to enable I2C for a device
-        Firmata.setPinMode(pin, PIN_MODE_I2C);
-      }
-      break;
-    case PIN_MODE_SERIAL:
-#ifdef FIRMATA_SERIAL_FEATURE
-      serialFeature.handlePinMode(pin, PIN_MODE_SERIAL);
-#endif
-      break;
-    default:
-      Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
-  }
-  // TODO: save status to EEPROM here, if changed
-}
-
-/*
- * Sets the value of an individual pin. Useful if you want to set a pin value but
- * are not tracking the digital port state.
- * Can only be used on pins configured as OUTPUT.
- * Cannot be used to enable pull-ups on Digital INPUT pins.
- */
-void setPinValueCallback(byte pin, int value)
-{
-  if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
-    if (Firmata.getPinMode(pin) == OUTPUT) {
-      Firmata.setPinState(pin, value);
-      digitalWrite(PIN_TO_DIGITAL(pin), value);
-    }
-  }
-}
-
-void analogWriteCallback(byte pin, int value)
-{
-  if (pin < TOTAL_PINS) {
-    switch (Firmata.getPinMode(pin)) {
-      case PIN_MODE_SERVO:
-        if (IS_PIN_DIGITAL(pin))
-          servos[servoPinMap[pin]].write(value);
-        Firmata.setPinState(pin, value);
-        break;
-      case PIN_MODE_PWM:
-        if (IS_PIN_PWM(pin))
-          //analogWrite(PIN_TO_PWM(pin), value);
-          switch(pin)
-          {
-            case 5:
-            update_currentPoint(value);
-            break;
-            case 6:
-            update_setPoint(value);
-            }
-          
-        Firmata.setPinState(pin, value);
-        break;
-    }
-  }
-}
-
-void digitalWriteCallback(byte port, int value)
-{
-  byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0;
-
-  if (port < TOTAL_PORTS) {
-    // create a mask of the pins on this port that are writable.
-    lastPin = port * 8 + 8;
-    if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
-    for (pin = port * 8; pin < lastPin; pin++) {
-      // do not disturb non-digital pins (eg, Rx & Tx)
-      if (IS_PIN_DIGITAL(pin)) {
-        // do not touch pins in PWM, ANALOG, SERVO or other modes
-        if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) {
-          pinValue = ((byte)value & mask) ? 1 : 0;
-          if (Firmata.getPinMode(pin) == OUTPUT) {
-            pinWriteMask |= mask;
-          } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
-            // only handle INPUT here for backwards compatibility
-#if ARDUINO > 100
-            pinMode(pin, INPUT_PULLUP);
-#else
-            // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
-            pinWriteMask |= mask;
-#endif
-          }
-          Firmata.setPinState(pin, pinValue);
-        }
-      }
-      mask = mask << 1;
-    }
-    writePort(port, (byte)value, pinWriteMask);
-  }
-}
-
-
-// -----------------------------------------------------------------------------
-/* sets bits in a bit array (int) to toggle the reporting of the analogIns
- */
-//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
-//}
-void reportAnalogCallback(byte analogPin, int value)
-{
-  if (analogPin < TOTAL_ANALOG_PINS) {
-    if (value == 0) {
-      analogInputsToReport = analogInputsToReport & ~ (1 << analogPin);
-    } else {
-      analogInputsToReport = analogInputsToReport | (1 << analogPin);
-      // prevent during system reset or all analog pin values will be reported
-      // which may report noise for unconnected analog pins
-      if (!isResetting) {
-        // Send pin value immediately. This is helpful when connected via
-        // ethernet, wi-fi or bluetooth so pin states can be known upon
-        // reconnecting.
-        Firmata.sendAnalog(analogPin, analogRead(analogPin));
-      }
-    }
-  }
-  // TODO: save status to EEPROM here, if changed
-}
-
-void reportDigitalCallback(byte port, int value)
-{
-  if (port < TOTAL_PORTS) {
-    reportPINs[port] = (byte)value;
-    // Send port value immediately. This is helpful when connected via
-    // ethernet, wi-fi or bluetooth so pin states can be known upon
-    // reconnecting.
-    if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
-  }
-  // do not disable analog reporting on these 8 pins, to allow some
-  // pins used for digital, others analog.  Instead, allow both types
-  // of reporting to be enabled, but check if the pin is configured
-  // as analog when sampling the analog inputs.  Likewise, while
-  // scanning digital pins, portConfigInputs will mask off values from any
-  // pins configured as analog
-}
-
-/*==============================================================================
- * SYSEX-BASED commands
- *============================================================================*/
-
-void sysexCallback(byte command, byte argc, byte *argv)
-{
-  byte mode;
-  byte stopTX;
-  byte slaveAddress;
-  byte data;
-  int slaveRegister;
-  unsigned int delayTime;
-
-  switch (command) {
-    case I2C_REQUEST:
-      mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
-      if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
-        Firmata.sendString("10-bit addressing not supported");
-        return;
-      }
-      else {
-        slaveAddress = argv[0];
-      }
-
-      // need to invert the logic here since 0 will be default for client
-      // libraries that have not updated to add support for restart tx
-      if (argv[1] & I2C_END_TX_MASK) {
-        stopTX = I2C_RESTART_TX;
-      }
-      else {
-        stopTX = I2C_STOP_TX; // default
-      }
-
-      switch (mode) {
-        case I2C_WRITE:
-          Wire.beginTransmission(slaveAddress);
-          for (byte i = 2; i < argc; i += 2) {
-            data = argv[i] + (argv[i + 1] << 7);
-            wireWrite(data);
-          }
-          Wire.endTransmission();
-          delayMicroseconds(70);
-          break;
-        case I2C_READ:
-          if (argc == 6) {
-            // a slave register is specified
-            slaveRegister = argv[2] + (argv[3] << 7);
-            data = argv[4] + (argv[5] << 7);  // bytes to read
-          }
-          else {
-            // a slave register is NOT specified
-            slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
-            data = argv[2] + (argv[3] << 7);  // bytes to read
-          }
-          readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX);
-          break;
-        case I2C_READ_CONTINUOUSLY:
-          if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
-            // too many queries, just ignore
-            Firmata.sendString("too many queries");
-            break;
-          }
-          if (argc == 6) {
-            // a slave register is specified
-            slaveRegister = argv[2] + (argv[3] << 7);
-            data = argv[4] + (argv[5] << 7);  // bytes to read
-          }
-          else {
-            // a slave register is NOT specified
-            slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
-            data = argv[2] + (argv[3] << 7);  // bytes to read
-          }
-          queryIndex++;
-          query[queryIndex].addr = slaveAddress;
-          query[queryIndex].reg = slaveRegister;
-          query[queryIndex].bytes = data;
-          query[queryIndex].stopTX = stopTX;
-          break;
-        case I2C_STOP_READING:
-          byte queryIndexToSkip;
-          // if read continuous mode is enabled for only 1 i2c device, disable
-          // read continuous reporting for that device
-          if (queryIndex <= 0) {
-            queryIndex = -1;
-          } else {
-            queryIndexToSkip = 0;
-            // if read continuous mode is enabled for multiple devices,
-            // determine which device to stop reading and remove it's data from
-            // the array, shifiting other array data to fill the space
-            for (byte i = 0; i < queryIndex + 1; i++) {
-              if (query[i].addr == slaveAddress) {
-                queryIndexToSkip = i;
-                break;
-              }
-            }
-
-            for (byte i = queryIndexToSkip; i < queryIndex + 1; i++) {
-              if (i < I2C_MAX_QUERIES) {
-                query[i].addr = query[i + 1].addr;
-                query[i].reg = query[i + 1].reg;
-                query[i].bytes = query[i + 1].bytes;
-                query[i].stopTX = query[i + 1].stopTX;
-              }
-            }
-            queryIndex--;
-          }
-          break;
-        default:
-          break;
-      }
-      break;
-    case I2C_CONFIG:
-      delayTime = (argv[0] + (argv[1] << 7));
-
-      if (argc > 1 && delayTime > 0) {
-        i2cReadDelayTime = delayTime;
-      }
-
-      if (!isI2CEnabled) {
-        enableI2CPins();
-      }
-
-      break;
-    case SERVO_CONFIG:
-      if (argc > 4) {
-        // these vars are here for clarity, they'll optimized away by the compiler
-        byte pin = argv[0];
-        int minPulse = argv[1] + (argv[2] << 7);
-        int maxPulse = argv[3] + (argv[4] << 7);
-
-        if (IS_PIN_DIGITAL(pin)) {
-          if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
-            detachServo(pin);
-          }
-          attachServo(pin, minPulse, maxPulse);
-          setPinModeCallback(pin, PIN_MODE_SERVO);
-        }
-      }
-      break;
-    case SAMPLING_INTERVAL:
-      if (argc > 1) {
-        samplingInterval = argv[0] + (argv[1] << 7);
-        if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
-          samplingInterval = MINIMUM_SAMPLING_INTERVAL;
-        }
-      } else {
-        //Firmata.sendString("Not enough data");
-      }
-      break;
-    case EXTENDED_ANALOG:
-      if (argc > 1) {
-        int val = argv[1];
-        if (argc > 2) val |= (argv[2] << 7);
-        if (argc > 3) val |= (argv[3] << 14);
-        analogWriteCallback(argv[0], val);
-      }
-      break;
-    case CAPABILITY_QUERY:
-      Firmata.write(START_SYSEX);
-      Firmata.write(CAPABILITY_RESPONSE);
-      for (byte pin = 0; pin < TOTAL_PINS; pin++) {
-        if (IS_PIN_DIGITAL(pin)) {
-          Firmata.write((byte)INPUT);
-          Firmata.write(1);
-          Firmata.write((byte)PIN_MODE_PULLUP);
-          Firmata.write(1);
-          Firmata.write((byte)OUTPUT);
-          Firmata.write(1);
-        }
-        if (IS_PIN_ANALOG(pin)) {
-          Firmata.write(PIN_MODE_ANALOG);
-          Firmata.write(10); // 10 = 10-bit resolution
-        }
-        if (IS_PIN_PWM(pin)) {
-          Firmata.write(PIN_MODE_PWM);
-          Firmata.write(DEFAULT_PWM_RESOLUTION);
-        }
-        if (IS_PIN_DIGITAL(pin)) {
-          Firmata.write(PIN_MODE_SERVO);
-          Firmata.write(14);
-        }
-        if (IS_PIN_I2C(pin)) {
-          Firmata.write(PIN_MODE_I2C);
-          Firmata.write(1);  // TODO: could assign a number to map to SCL or SDA
-        }
-#ifdef FIRMATA_SERIAL_FEATURE
-        serialFeature.handleCapability(pin);
-#endif
-        Firmata.write(127);
-      }
-      Firmata.write(END_SYSEX);
-      break;
-    case PIN_STATE_QUERY:
-      if (argc > 0) {
-        byte pin = argv[0];
-        Firmata.write(START_SYSEX);
-        Firmata.write(PIN_STATE_RESPONSE);
-        Firmata.write(pin);
-        if (pin < TOTAL_PINS) {
-          Firmata.write(Firmata.getPinMode(pin));
-          Firmata.write((byte)Firmata.getPinState(pin) & 0x7F);
-          if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F);
-          if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F);
-        }
-        Firmata.write(END_SYSEX);
-      }
-      break;
-    case ANALOG_MAPPING_QUERY:
-      Firmata.write(START_SYSEX);
-      Firmata.write(ANALOG_MAPPING_RESPONSE);
-      for (byte pin = 0; pin < TOTAL_PINS; pin++) {
-        Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
-      }
-      Firmata.write(END_SYSEX);
-      break;
-
-    case SERIAL_MESSAGE:
-#ifdef FIRMATA_SERIAL_FEATURE
-      serialFeature.handleSysex(command, argc, argv);
-#endif
-      break;
-  }
-}
-
-/*==============================================================================
- * SETUP()
- *============================================================================*/
-
-void systemResetCallback()
-{
-  isResetting = true;
-
-  // initialize a defalt state
-  // TODO: option to load config from EEPROM instead of default
-
-#ifdef FIRMATA_SERIAL_FEATURE
-  serialFeature.reset();
-#endif
-
-  if (isI2CEnabled) {
-    disableI2CPins();
-  }
-
-  for (byte i = 0; i < TOTAL_PORTS; i++) {
-    reportPINs[i] = false;    // by default, reporting off
-    portConfigInputs[i] = 0;  // until activated
-    previousPINs[i] = 0;
-  }
-
-  for (byte i = 0; i < TOTAL_PINS; i++) {
-    // pins with analog capability default to analog input
-    // otherwise, pins default to digital output
-    if (IS_PIN_ANALOG(i)) {
-      // turns off pullup, configures everything
-      setPinModeCallback(i, PIN_MODE_ANALOG);
-    } else if (IS_PIN_DIGITAL(i)) {
-      // sets the output to 0, configures portConfigInputs
-      setPinModeCallback(i, OUTPUT);
-    }
-
-    servoPinMap[i] = 255;
-  }
-  // by default, do not report any analog inputs
-  analogInputsToReport = 0;
-
-  detachedServoCount = 0;
-  servoCount = 0;
-
-  /* send digital inputs to set the initial state on the host computer,
-   * since once in the loop(), this firmware will only send on change */
-  /*
-  TODO: this can never execute, since no pins default to digital input
-        but it will be needed when/if we support EEPROM stored config
-  for (byte i=0; i < TOTAL_PORTS; i++) {
-    outputPort(i, readPort(i, portConfigInputs[i]), true);
-  }
-  */
-  isResetting = false;
-}
-
-void setup()
-{
-  Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
-
-  Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
-  Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
-  Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
-  Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
-  Firmata.attach(SET_PIN_MODE, setPinModeCallback);
-  Firmata.attach(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
-  Firmata.attach(START_SYSEX, sysexCallback);
-  Firmata.attach(SYSTEM_RESET, systemResetCallback);
-
-  // to use a port other than Serial, such as Serial1 on an Arduino Leonardo or Mega,
-  // Call begin(baud) on the alternate serial port and pass it to Firmata to begin like this:
-  // Serial1.begin(57600);
-  // Firmata.begin(Serial1);
-  // However do not do this if you are using SERIAL_MESSAGE
-
-  Firmata.begin(57600);
-  while (!Serial) {
-    ; // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101
-  }
-
-  systemResetCallback();  // reset to default config
-   
-  #ifdef PID
-   //if temperature is more than 4  below or above setpoint, OUTPUT will be set to min or max respectively
-    myPID.setBangBang(PID_BANG_BANG);
-    //set PID update interval to 
-    myPID.setTimeStep(PID_INTERVAL);
-  #endif
-}
-
-/*==============================================================================
- * LOOP()
- *============================================================================*/
-void loop()
-{
-  byte pin, analogPin;
-
-  /* DIGITALREAD - as fast as possible, check for changes and output them to the
-   * FTDI buffer using Serial.print()  */
-  checkDigitalInputs();
-
-  /* STREAMREAD - processing incoming messagse as soon as possible, while still
-   * checking digital inputs.  */
-  while (Firmata.available())
-    Firmata.processInput();
-
-    #ifdef PID
-       #ifdef REAL_INPUT
-         update_setPoint(1);
-       #endif    
-       myPID.run(); //call every loop, updates automatically at certain time interval
-    #endif
-  
-  // TODO - ensure that Stream buffer doesn't go over 60 bytes
-
-  currentMillis = millis();
-  if (currentMillis - previousMillis > samplingInterval) {
-    previousMillis += samplingInterval;
-    /* ANALOGREAD - do all analogReads() at the configured sampling interval */
-    for (pin = 0; pin < TOTAL_PINS; pin++) {
-      if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_ANALOG) {
-        analogPin = PIN_TO_ANALOG(pin);
-        if (analogInputsToReport & (1 << analogPin)) {
-          #ifdef PID
-            Firmata.sendAnalog(analogPin, (int)(control_value+512.0));
-          #else
-            Firmata.sendAnalog(analogPin, analogRead(analogPin));
-          #endif
-        }
-      }
-    }
-    // report i2c data for all device with read continuous mode enabled
-    if (queryIndex > -1) {
-      for (byte i = 0; i < queryIndex + 1; i++) {
-        readAndReportData(query[i].addr, query[i].reg, query[i].bytes, query[i].stopTX);
-      }
-    }
-  }
-
-#ifdef FIRMATA_SERIAL_FEATURE
-  serialFeature.update();
-#endif
-}
diff --git a/Firmware/pidmata3/pidmata3.ino b/Firmware/pidmata3/pidmata3.ino
deleted file mode 100644
index 01a4710..0000000
--- a/Firmware/pidmata3/pidmata3.ino
+++ /dev/null
@@ -1,904 +0,0 @@
-/*
-  Firmata is a generic protocol for communicating with microcontrollers
-  from software on a host computer. It is intended to work with
-  any host computer software package.
-
-  To download a host software package, please click on the following link
-  to open the list of Firmata client libraries in your default browser.
-
-  https://github.com/firmata/arduino#firmata-client-libraries
-
-  Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
-  Copyright (C) 2010-2011 Paul Stoffregen.  All rights reserved.
-  Copyright (C) 2009 Shigeru Kobayashi.  All rights reserved.
-  Copyright (C) 2009-2016 Jeff Hoefs.  All rights reserved.
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  See file LICENSE.txt for further informations on licensing terms.
-
-  Last updated August 17th, 2017
-*/
-
-#include <Servo.h>
-#include <Wire.h>
-#include <Firmata.h>
-#include <AutoPID.h>
-
-//Comment the line below, "#define PID", if you are not using PID else uncomment it and follow further instructions.
-#define PID
-
-//------------PID values----------------
-// Pin 6  - setPoint  (input value)
-// Pin 5  - feedback (input value)
-// Pin 15 - control (output value)
-
-//If you use real analog pin for input for PID just uncomment next line with #define REAL_INPUT, if use virtual sources comment this line
-//If you use both real will be prefered
-//#define REAL_INPUT
-// This line define analog pin for read values from real sources
-#define AREAD_PIN A1
-
-
-#define PID_OUTPUT_MIN -512.0
-#define PID_OUTPUT_MAX 512.0
-#define PID_KP 15
-#define PID_KI 10
-#define PID_KD 10
-#define PID_BANG_BANG 40
-#define PID_INTERVAL  100
-
-
-
-
-#define I2C_WRITE                   B00000000
-#define I2C_READ                    B00001000
-#define I2C_READ_CONTINUOUSLY       B00010000
-#define I2C_STOP_READING            B00011000
-#define I2C_READ_WRITE_MODE_MASK    B00011000
-#define I2C_10BIT_ADDRESS_MODE_MASK B00100000
-#define I2C_END_TX_MASK             B01000000
-#define I2C_STOP_TX                 1
-#define I2C_RESTART_TX              0
-#define I2C_MAX_QUERIES             8
-#define I2C_REGISTER_NOT_SPECIFIED  -1
-
-// the minimum interval for sampling analog input
-#define MINIMUM_SAMPLING_INTERVAL   1
-
-
-/*==============================================================================
- * GLOBAL VARIABLES
- *============================================================================*/
-
-#ifdef FIRMATA_SERIAL_FEATURE
-SerialFirmata serialFeature;
-#endif
-
-/* analog inputs */
-int analogInputsToReport = 0; // bitwise array to store pin reporting
-
-/* digital input ports */
-byte reportPINs[TOTAL_PORTS];       // 1 = report this port, 0 = silence
-byte previousPINs[TOTAL_PORTS];     // previous 8 bits sent
-
-/* pins configuration */
-byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
-
-/* timer variables */
-unsigned long currentMillis;        // store the current value from millis()
-unsigned long previousMillis;       // for comparison with currentMillis
-unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
-
-/* i2c data */
-struct i2c_device_info {
-  byte addr;
-  int reg;
-  byte bytes;
-  byte stopTX;
-};
-
-
-double currentPoint=0.0, setPoint=0.0, control_value=0.0;
-
-#ifdef PID
-  AutoPID myPID(&currentPoint, &setPoint, &control_value, PID_OUTPUT_MIN, PID_OUTPUT_MAX, PID_KP, PID_KI, PID_KD);
-#endif
-
-
-/* for i2c read continuous more */
-i2c_device_info query[I2C_MAX_QUERIES];
-
-byte i2cRxData[64];
-boolean isI2CEnabled = false;
-signed char queryIndex = -1;
-// default delay time between i2c read request and Wire.requestFrom()
-unsigned int i2cReadDelayTime = 0;
-
-Servo servos[MAX_SERVOS];
-byte servoPinMap[TOTAL_PINS];
-byte detachedServos[MAX_SERVOS];
-byte detachedServoCount = 0;
-byte servoCount = 0;
-
-boolean isResetting = false;
-
-// Forward declare a few functions to avoid compiler errors with older versions
-// of the Arduino IDE.
-void setPinModeCallback(byte, int);
-void reportAnalogCallback(byte analogPin, int value);
-void sysexCallback(byte, byte, byte*);
-
-/* utility functions */
-void wireWrite(byte data)
-{
-#if ARDUINO >= 100
-  Wire.write((byte)data);
-#else
-  Wire.send(data);
-#endif
-}
-
-byte wireRead(void)
-{
-#if ARDUINO >= 100
-  return Wire.read();
-#else
-  return Wire.receive();
-#endif
-}
-
- /*==============================================================================
- * PID
- *==============================================================================*/
-
-void update_setPoint(int value)
-{
-  
-   #ifdef REAL_INPUT
-     setPoint=(double)analogRead(AREAD_PIN);
-   #else
-     setPoint=(double)(value-512);
-    #endif
- }
-
-void update_currentPoint(int value)
-{
-  currentPoint=(double)(value-512); 
-}
-  
-/*==============================================================================
- * FUNCTIONS
- *============================================================================*/
-
-void attachServo(byte pin, int minPulse, int maxPulse)
-{
-  if (servoCount < MAX_SERVOS) {
-    // reuse indexes of detached servos until all have been reallocated
-    if (detachedServoCount > 0) {
-      servoPinMap[pin] = detachedServos[detachedServoCount - 1];
-      if (detachedServoCount > 0) detachedServoCount--;
-    } else {
-      servoPinMap[pin] = servoCount;
-      servoCount++;
-    }
-    if (minPulse > 0 && maxPulse > 0) {
-      servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
-    } else {
-      servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
-    }
-  } else {
-    Firmata.sendString("Max servos attached");
-  }
-}
-
-void detachServo(byte pin)
-{
-  servos[servoPinMap[pin]].detach();
-  // if we're detaching the last servo, decrement the count
-  // otherwise store the index of the detached servo
-  if (servoPinMap[pin] == servoCount && servoCount > 0) {
-    servoCount--;
-  } else if (servoCount > 0) {
-    // keep track of detached servos because we want to reuse their indexes
-    // before incrementing the count of attached servos
-    detachedServoCount++;
-    detachedServos[detachedServoCount - 1] = servoPinMap[pin];
-  }
-
-  servoPinMap[pin] = 255;
-}
-
-void enableI2CPins()
-{
-  byte i;
-  // is there a faster way to do this? would probaby require importing
-  // Arduino.h to get SCL and SDA pins
-  for (i = 0; i < TOTAL_PINS; i++) {
-    if (IS_PIN_I2C(i)) {
-      // mark pins as i2c so they are ignore in non i2c data requests
-      setPinModeCallback(i, PIN_MODE_I2C);
-    }
-  }
-
-  isI2CEnabled = true;
-
-  Wire.begin();
-}
-
-/* disable the i2c pins so they can be used for other functions */
-void disableI2CPins() {
-  isI2CEnabled = false;
-  // disable read continuous mode for all devices
-  queryIndex = -1;
-}
-
-void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
-  // allow I2C requests that don't require a register read
-  // for example, some devices using an interrupt pin to signify new data available
-  // do not always require the register read so upon interrupt you call Wire.requestFrom()
-  if (theRegister != I2C_REGISTER_NOT_SPECIFIED) {
-    Wire.beginTransmission(address);
-    wireWrite((byte)theRegister);
-    Wire.endTransmission(stopTX); // default = true
-    // do not set a value of 0
-    if (i2cReadDelayTime > 0) {
-      // delay is necessary for some devices such as WiiNunchuck
-      delayMicroseconds(i2cReadDelayTime);
-    }
-  } else {
-    theRegister = 0;  // fill the register with a dummy value
-  }
-
-  Wire.requestFrom(address, numBytes);  // all bytes are returned in requestFrom
-
-  // check to be sure correct number of bytes were returned by slave
-  if (numBytes < Wire.available()) {
-    Firmata.sendString("I2C: Too many bytes received");
-  } else if (numBytes > Wire.available()) {
-    Firmata.sendString("I2C: Too few bytes received");
-  }
-
-  i2cRxData[0] = address;
-  i2cRxData[1] = theRegister;
-
-  for (int i = 0; i < numBytes && Wire.available(); i++) {
-    i2cRxData[2 + i] = wireRead();
-  }
-
-  // send slave address, register and received bytes
-  Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
-}
-
-void outputPort(byte portNumber, byte portValue, byte forceSend)
-{
-  // pins not configured as INPUT are cleared to zeros
-  portValue = portValue & portConfigInputs[portNumber];
-  // only send if the value is different than previously sent
-  if (forceSend || previousPINs[portNumber] != portValue) {
-    Firmata.sendDigitalPort(portNumber, portValue);
-    previousPINs[portNumber] = portValue;
-  }
-}
-
-/* -----------------------------------------------------------------------------
- * check all the active digital inputs for change of state, then add any events
- * to the Serial output queue using Serial.print() */
-void checkDigitalInputs(void)
-{
-  /* Using non-looping code allows constants to be given to readPort().
-   * The compiler will apply substantial optimizations if the inputs
-   * to readPort() are compile-time constants. */
-  if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
-  if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
-  if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
-  if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
-  if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
-  if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
-  if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
-  if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
-  if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
-  if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
-  if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
-  if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
-  if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
-  if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
-  if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
-  if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
-}
-
-// -----------------------------------------------------------------------------
-/* sets the pin mode to the correct state and sets the relevant bits in the
- * two bit-arrays that track Digital I/O and PWM status
- */
-void setPinModeCallback(byte pin, int mode)
-{
-  if (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
-    return;
-
-  if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_MODE_I2C) {
-    // disable i2c so pins can be used for other functions
-    // the following if statements should reconfigure the pins properly
-    disableI2CPins();
-  }
-  if (IS_PIN_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
-    if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
-      detachServo(pin);
-    }
-  }
-  if (IS_PIN_ANALOG(pin)) {
-    reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
-  }
-  if (IS_PIN_DIGITAL(pin)) {
-    if (mode == INPUT || mode == PIN_MODE_PULLUP) {
-      portConfigInputs[pin / 8] |= (1 << (pin & 7));
-    } else {
-      portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
-    }
-  }
-  Firmata.setPinState(pin, 0);
-  switch (mode) {
-    case PIN_MODE_ANALOG:
-      if (IS_PIN_ANALOG(pin)) {
-        if (IS_PIN_DIGITAL(pin)) {
-          pinMode(PIN_TO_DIGITAL(pin), INPUT);    // disable output driver
-#if ARDUINO <= 100
-          // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
-          digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
-#endif
-        }
-        Firmata.setPinMode(pin, PIN_MODE_ANALOG);
-      }
-      break;
-    case INPUT:
-      if (IS_PIN_DIGITAL(pin)) {
-        pinMode(PIN_TO_DIGITAL(pin), INPUT);    // disable output driver
-#if ARDUINO <= 100
-        // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
-        digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
-#endif
-        Firmata.setPinMode(pin, INPUT);
-      }
-      break;
-    case PIN_MODE_PULLUP:
-      if (IS_PIN_DIGITAL(pin)) {
-        pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
-        Firmata.setPinMode(pin, PIN_MODE_PULLUP);
-        Firmata.setPinState(pin, 1);
-      }
-      break;
-    case OUTPUT:
-      if (IS_PIN_DIGITAL(pin)) {
-        if (Firmata.getPinMode(pin) == PIN_MODE_PWM) {
-          // Disable PWM if pin mode was previously set to PWM.
-          digitalWrite(PIN_TO_DIGITAL(pin), LOW);
-        }
-        pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
-        Firmata.setPinMode(pin, OUTPUT);
-      }
-      break;
-    case PIN_MODE_PWM:
-      if (IS_PIN_PWM(pin)) {
-        pinMode(PIN_TO_PWM(pin), OUTPUT);
-        analogWrite(PIN_TO_PWM(pin), 0);
-        Firmata.setPinMode(pin, PIN_MODE_PWM);
-      }
-      break;
-    case PIN_MODE_SERVO:
-      if (IS_PIN_DIGITAL(pin)) {
-        Firmata.setPinMode(pin, PIN_MODE_SERVO);
-        if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
-          // pass -1 for min and max pulse values to use default values set
-          // by Servo library
-          attachServo(pin, -1, -1);
-        }
-      }
-      break;
-    case PIN_MODE_I2C:
-      if (IS_PIN_I2C(pin)) {
-        // mark the pin as i2c
-        // the user must call I2C_CONFIG to enable I2C for a device
-        Firmata.setPinMode(pin, PIN_MODE_I2C);
-      }
-      break;
-    case PIN_MODE_SERIAL:
-#ifdef FIRMATA_SERIAL_FEATURE
-      serialFeature.handlePinMode(pin, PIN_MODE_SERIAL);
-#endif
-      break;
-    default:
-      Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
-  }
-  // TODO: save status to EEPROM here, if changed
-}
-
-/*
- * Sets the value of an individual pin. Useful if you want to set a pin value but
- * are not tracking the digital port state.
- * Can only be used on pins configured as OUTPUT.
- * Cannot be used to enable pull-ups on Digital INPUT pins.
- */
-void setPinValueCallback(byte pin, int value)
-{
-  if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
-    if (Firmata.getPinMode(pin) == OUTPUT) {
-      Firmata.setPinState(pin, value);
-      digitalWrite(PIN_TO_DIGITAL(pin), value);
-    }
-  }
-}
-
-void analogWriteCallback(byte pin, int value)
-{
-  if (pin < TOTAL_PINS) {
-    switch (Firmata.getPinMode(pin)) {
-      case PIN_MODE_SERVO:
-        if (IS_PIN_DIGITAL(pin))
-          servos[servoPinMap[pin]].write(value);
-        Firmata.setPinState(pin, value);
-        break;
-      case PIN_MODE_PWM:
-        if (IS_PIN_PWM(pin))
-          //analogWrite(PIN_TO_PWM(pin), value);
-          switch(pin)
-          {
-            case 5:
-            update_currentPoint(value);
-            break;
-            case 6:
-            update_setPoint(value);
-            }
-          
-        Firmata.setPinState(pin, value);
-        break;
-    }
-  }
-}
-
-void digitalWriteCallback(byte port, int value)
-{
-  byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0;
-
-  if (port < TOTAL_PORTS) {
-    // create a mask of the pins on this port that are writable.
-    lastPin = port * 8 + 8;
-    if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
-    for (pin = port * 8; pin < lastPin; pin++) {
-      // do not disturb non-digital pins (eg, Rx & Tx)
-      if (IS_PIN_DIGITAL(pin)) {
-        // do not touch pins in PWM, ANALOG, SERVO or other modes
-        if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) {
-          pinValue = ((byte)value & mask) ? 1 : 0;
-          if (Firmata.getPinMode(pin) == OUTPUT) {
-            pinWriteMask |= mask;
-          } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
-            // only handle INPUT here for backwards compatibility
-#if ARDUINO > 100
-            pinMode(pin, INPUT_PULLUP);
-#else
-            // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
-            pinWriteMask |= mask;
-#endif
-          }
-          Firmata.setPinState(pin, pinValue);
-        }
-      }
-      mask = mask << 1;
-    }
-    writePort(port, (byte)value, pinWriteMask);
-  }
-}
-
-
-// -----------------------------------------------------------------------------
-/* sets bits in a bit array (int) to toggle the reporting of the analogIns
- */
-//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
-//}
-void reportAnalogCallback(byte analogPin, int value)
-{
-  if (analogPin < TOTAL_ANALOG_PINS) {
-    if (value == 0) {
-      analogInputsToReport = analogInputsToReport & ~ (1 << analogPin);
-    } else {
-      analogInputsToReport = analogInputsToReport | (1 << analogPin);
-      // prevent during system reset or all analog pin values will be reported
-      // which may report noise for unconnected analog pins
-      if (!isResetting) {
-        // Send pin value immediately. This is helpful when connected via
-        // ethernet, wi-fi or bluetooth so pin states can be known upon
-        // reconnecting.
-        Firmata.sendAnalog(analogPin, analogRead(analogPin));
-      }
-    }
-  }
-  // TODO: save status to EEPROM here, if changed
-}
-
-void reportDigitalCallback(byte port, int value)
-{
-  if (port < TOTAL_PORTS) {
-    reportPINs[port] = (byte)value;
-    // Send port value immediately. This is helpful when connected via
-    // ethernet, wi-fi or bluetooth so pin states can be known upon
-    // reconnecting.
-    if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
-  }
-  // do not disable analog reporting on these 8 pins, to allow some
-  // pins used for digital, others analog.  Instead, allow both types
-  // of reporting to be enabled, but check if the pin is configured
-  // as analog when sampling the analog inputs.  Likewise, while
-  // scanning digital pins, portConfigInputs will mask off values from any
-  // pins configured as analog
-}
-
-/*==============================================================================
- * SYSEX-BASED commands
- *============================================================================*/
-
-void sysexCallback(byte command, byte argc, byte *argv)
-{
-  byte mode;
-  byte stopTX;
-  byte slaveAddress;
-  byte data;
-  int slaveRegister;
-  unsigned int delayTime;
-
-  switch (command) {
-    case I2C_REQUEST:
-      mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
-      if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
-        Firmata.sendString("10-bit addressing not supported");
-        return;
-      }
-      else {
-        slaveAddress = argv[0];
-      }
-
-      // need to invert the logic here since 0 will be default for client
-      // libraries that have not updated to add support for restart tx
-      if (argv[1] & I2C_END_TX_MASK) {
-        stopTX = I2C_RESTART_TX;
-      }
-      else {
-        stopTX = I2C_STOP_TX; // default
-      }
-
-      switch (mode) {
-        case I2C_WRITE:
-          Wire.beginTransmission(slaveAddress);
-          for (byte i = 2; i < argc; i += 2) {
-            data = argv[i] + (argv[i + 1] << 7);
-            wireWrite(data);
-          }
-          Wire.endTransmission();
-          delayMicroseconds(70);
-          break;
-        case I2C_READ:
-          if (argc == 6) {
-            // a slave register is specified
-            slaveRegister = argv[2] + (argv[3] << 7);
-            data = argv[4] + (argv[5] << 7);  // bytes to read
-          }
-          else {
-            // a slave register is NOT specified
-            slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
-            data = argv[2] + (argv[3] << 7);  // bytes to read
-          }
-          readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX);
-          break;
-        case I2C_READ_CONTINUOUSLY:
-          if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
-            // too many queries, just ignore
-            Firmata.sendString("too many queries");
-            break;
-          }
-          if (argc == 6) {
-            // a slave register is specified
-            slaveRegister = argv[2] + (argv[3] << 7);
-            data = argv[4] + (argv[5] << 7);  // bytes to read
-          }
-          else {
-            // a slave register is NOT specified
-            slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
-            data = argv[2] + (argv[3] << 7);  // bytes to read
-          }
-          queryIndex++;
-          query[queryIndex].addr = slaveAddress;
-          query[queryIndex].reg = slaveRegister;
-          query[queryIndex].bytes = data;
-          query[queryIndex].stopTX = stopTX;
-          break;
-        case I2C_STOP_READING:
-          byte queryIndexToSkip;
-          // if read continuous mode is enabled for only 1 i2c device, disable
-          // read continuous reporting for that device
-          if (queryIndex <= 0) {
-            queryIndex = -1;
-          } else {
-            queryIndexToSkip = 0;
-            // if read continuous mode is enabled for multiple devices,
-            // determine which device to stop reading and remove it's data from
-            // the array, shifiting other array data to fill the space
-            for (byte i = 0; i < queryIndex + 1; i++) {
-              if (query[i].addr == slaveAddress) {
-                queryIndexToSkip = i;
-                break;
-              }
-            }
-
-            for (byte i = queryIndexToSkip; i < queryIndex + 1; i++) {
-              if (i < I2C_MAX_QUERIES) {
-                query[i].addr = query[i + 1].addr;
-                query[i].reg = query[i + 1].reg;
-                query[i].bytes = query[i + 1].bytes;
-                query[i].stopTX = query[i + 1].stopTX;
-              }
-            }
-            queryIndex--;
-          }
-          break;
-        default:
-          break;
-      }
-      break;
-    case I2C_CONFIG:
-      delayTime = (argv[0] + (argv[1] << 7));
-
-      if (argc > 1 && delayTime > 0) {
-        i2cReadDelayTime = delayTime;
-      }
-
-      if (!isI2CEnabled) {
-        enableI2CPins();
-      }
-
-      break;
-    case SERVO_CONFIG:
-      if (argc > 4) {
-        // these vars are here for clarity, they'll optimized away by the compiler
-        byte pin = argv[0];
-        int minPulse = argv[1] + (argv[2] << 7);
-        int maxPulse = argv[3] + (argv[4] << 7);
-
-        if (IS_PIN_DIGITAL(pin)) {
-          if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
-            detachServo(pin);
-          }
-          attachServo(pin, minPulse, maxPulse);
-          setPinModeCallback(pin, PIN_MODE_SERVO);
-        }
-      }
-      break;
-    case SAMPLING_INTERVAL:
-      if (argc > 1) {
-        samplingInterval = argv[0] + (argv[1] << 7);
-        if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
-          samplingInterval = MINIMUM_SAMPLING_INTERVAL;
-        }
-      } else {
-        //Firmata.sendString("Not enough data");
-      }
-      break;
-    case EXTENDED_ANALOG:
-      if (argc > 1) {
-        int val = argv[1];
-        if (argc > 2) val |= (argv[2] << 7);
-        if (argc > 3) val |= (argv[3] << 14);
-        analogWriteCallback(argv[0], val);
-      }
-      break;
-    case CAPABILITY_QUERY:
-      Firmata.write(START_SYSEX);
-      Firmata.write(CAPABILITY_RESPONSE);
-      for (byte pin = 0; pin < TOTAL_PINS; pin++) {
-        if (IS_PIN_DIGITAL(pin)) {
-          Firmata.write((byte)INPUT);
-          Firmata.write(1);
-          Firmata.write((byte)PIN_MODE_PULLUP);
-          Firmata.write(1);
-          Firmata.write((byte)OUTPUT);
-          Firmata.write(1);
-        }
-        if (IS_PIN_ANALOG(pin)) {
-          Firmata.write(PIN_MODE_ANALOG);
-          Firmata.write(10); // 10 = 10-bit resolution
-        }
-        if (IS_PIN_PWM(pin)) {
-          Firmata.write(PIN_MODE_PWM);
-          Firmata.write(DEFAULT_PWM_RESOLUTION);
-        }
-        if (IS_PIN_DIGITAL(pin)) {
-          Firmata.write(PIN_MODE_SERVO);
-          Firmata.write(14);
-        }
-        if (IS_PIN_I2C(pin)) {
-          Firmata.write(PIN_MODE_I2C);
-          Firmata.write(1);  // TODO: could assign a number to map to SCL or SDA
-        }
-#ifdef FIRMATA_SERIAL_FEATURE
-        serialFeature.handleCapability(pin);
-#endif
-        Firmata.write(127);
-      }
-      Firmata.write(END_SYSEX);
-      break;
-    case PIN_STATE_QUERY:
-      if (argc > 0) {
-        byte pin = argv[0];
-        Firmata.write(START_SYSEX);
-        Firmata.write(PIN_STATE_RESPONSE);
-        Firmata.write(pin);
-        if (pin < TOTAL_PINS) {
-          Firmata.write(Firmata.getPinMode(pin));
-          Firmata.write((byte)Firmata.getPinState(pin) & 0x7F);
-          if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F);
-          if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F);
-        }
-        Firmata.write(END_SYSEX);
-      }
-      break;
-    case ANALOG_MAPPING_QUERY:
-      Firmata.write(START_SYSEX);
-      Firmata.write(ANALOG_MAPPING_RESPONSE);
-      for (byte pin = 0; pin < TOTAL_PINS; pin++) {
-        Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
-      }
-      Firmata.write(END_SYSEX);
-      break;
-
-    case SERIAL_MESSAGE:
-#ifdef FIRMATA_SERIAL_FEATURE
-      serialFeature.handleSysex(command, argc, argv);
-#endif
-      break;
-  }
-}
-
-/*==============================================================================
- * SETUP()
- *============================================================================*/
-
-void systemResetCallback()
-{
-  isResetting = true;
-
-  // initialize a defalt state
-  // TODO: option to load config from EEPROM instead of default
-
-#ifdef FIRMATA_SERIAL_FEATURE
-  serialFeature.reset();
-#endif
-
-  if (isI2CEnabled) {
-    disableI2CPins();
-  }
-
-  for (byte i = 0; i < TOTAL_PORTS; i++) {
-    reportPINs[i] = false;    // by default, reporting off
-    portConfigInputs[i] = 0;  // until activated
-    previousPINs[i] = 0;
-  }
-
-  for (byte i = 0; i < TOTAL_PINS; i++) {
-    // pins with analog capability default to analog input
-    // otherwise, pins default to digital output
-    if (IS_PIN_ANALOG(i)) {
-      // turns off pullup, configures everything
-      setPinModeCallback(i, PIN_MODE_ANALOG);
-    } else if (IS_PIN_DIGITAL(i)) {
-      // sets the output to 0, configures portConfigInputs
-      setPinModeCallback(i, OUTPUT);
-    }
-
-    servoPinMap[i] = 255;
-  }
-  // by default, do not report any analog inputs
-  analogInputsToReport = 0;
-
-  detachedServoCount = 0;
-  servoCount = 0;
-
-  /* send digital inputs to set the initial state on the host computer,
-   * since once in the loop(), this firmware will only send on change */
-  /*
-  TODO: this can never execute, since no pins default to digital input
-        but it will be needed when/if we support EEPROM stored config
-  for (byte i=0; i < TOTAL_PORTS; i++) {
-    outputPort(i, readPort(i, portConfigInputs[i]), true);
-  }
-  */
-  isResetting = false;
-}
-
-void setup()
-{
-  Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
-
-  Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
-  Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
-  Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
-  Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
-  Firmata.attach(SET_PIN_MODE, setPinModeCallback);
-  Firmata.attach(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
-  Firmata.attach(START_SYSEX, sysexCallback);
-  Firmata.attach(SYSTEM_RESET, systemResetCallback);
-
-  // to use a port other than Serial, such as Serial1 on an Arduino Leonardo or Mega,
-  // Call begin(baud) on the alternate serial port and pass it to Firmata to begin like this:
-  // Serial1.begin(57600);
-  // Firmata.begin(Serial1);
-  // However do not do this if you are using SERIAL_MESSAGE
-
-  Firmata.begin(57600);
-  while (!Serial) {
-    ; // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101
-  }
-
-  systemResetCallback();  // reset to default config
-   
-  #ifdef PID
-   //if temperature is more than 4  below or above setpoint, OUTPUT will be set to min or max respectively
-    myPID.setBangBang(PID_BANG_BANG);
-    //set PID update interval to 
-    myPID.setTimeStep(PID_INTERVAL);
-  #endif
-}
-
-/*==============================================================================
- * LOOP()
- *============================================================================*/
-void loop()
-{
-  byte pin, analogPin;
-
-  /* DIGITALREAD - as fast as possible, check for changes and output them to the
-   * FTDI buffer using Serial.print()  */
-  checkDigitalInputs();
-
-  /* STREAMREAD - processing incoming messagse as soon as possible, while still
-   * checking digital inputs.  */
-  while (Firmata.available())
-    Firmata.processInput();
-
-    #ifdef PID
-       #ifdef REAL_INPUT
-         update_setPoint(1);
-       #endif    
-       myPID.run(); //call every loop, updates automatically at certain time interval
-    #endif
-  
-  // TODO - ensure that Stream buffer doesn't go over 60 bytes
-
-  currentMillis = millis();
-  if (currentMillis - previousMillis > samplingInterval) {
-    previousMillis += samplingInterval;
-    /* ANALOGREAD - do all analogReads() at the configured sampling interval */
-    for (pin = 0; pin < TOTAL_PINS; pin++) {
-      if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_ANALOG) {
-        analogPin = PIN_TO_ANALOG(pin);
-        if (analogInputsToReport & (1 << analogPin)) {
-          #ifdef PID
-            Firmata.sendAnalog(analogPin, (int)(control_value+512.0));
-          #else
-            Firmata.sendAnalog(analogPin, analogRead(analogPin));
-          #endif
-        }
-      }
-    }
-    // report i2c data for all device with read continuous mode enabled
-    if (queryIndex > -1) {
-      for (byte i = 0; i < queryIndex + 1; i++) {
-        readAndReportData(query[i].addr, query[i].reg, query[i].bytes, query[i].stopTX);
-      }
-    }
-  }
-
-#ifdef FIRMATA_SERIAL_FEATURE
-  serialFeature.update();
-#endif
-}