Updating the Darwin 5D G code firmware.

git-svn-id: https://reprap.svn.sourceforge.net/svnroot/reprap@3328 cb376a5e-1013-0410-a455-b6b1f9ac8223
author: adrian-bowyer <adrian-bowyer@cb376a5e-1013-0410-a455-b6b1f9ac8223> 2009-10-27 15:34:16 +0000
committer: adrian-bowyer <adrian-bowyer@cb376a5e-1013-0410-a455-b6b1f9ac8223> 2009-10-27 15:34:16 +0000
commit: bc9d4b965f993f00a2c1cf8882ee7fc833c905f7 (patch)
tree: 1b45f2b96c1c7ae2e8df316ac3de6fedf21a8a55
parent: 864d9365b7dd73ae25a4de570c78a73f05815f46 (diff)
download: reprap-backup-bc9d4b965f993f00a2c1cf8882ee7fc833c905f7.tar.gz
reprap-backup-bc9d4b965f993f00a2c1cf8882ee7fc833c905f7.zip
42 files changed, 0 insertions, 9373 deletions
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/FiveD_GCode_Extruder.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/FiveD_GCode_Extruder.pde
deleted file mode 100644
index 3e7bc487..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/FiveD_GCode_Extruder.pde
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * 5D GCode Interpreter
- * Arduino code to load into the extruder controller
- * 
-  * Adrian Bowyer 3 July 2009
- */
- 
- /*
- ***NOTE***
- This program changes the frequency of Timer 0 so that PWM on pins H1E and H2E goes at
- a very high frequency (64kHz see: 
- http://tzechienchu.typepad.com/tc_chus_point/2009/05/changing-pwm-frequency-on-the-arduino-diecimila.html)
-This will mess up timings in the delay() and similar functions; they will no longer work in
- milliseconds, but 64 times faster.
- */
-  
-#ifndef __AVR_ATmega168__
-#error Oops!  Make sure you have 'Arduino Diecimila' selected from the boards menu.
-#endif
-
-#include <ctype.h>
-#include <HardwareSerial.h>
-#include "WProgram.h"
-#include "configuration.h"
-#include "extruder.h"
-#include "intercom.h"
-
-intercom talker;
-extruder ex;
-
-void setup() 
-{ 
-  // All done in the class constructors
-} 
-
-void loop() 
-{ 
-  // What should I do?
-  
-  talker.getAndProcessCommand();
-  
-  // Keep me at the right temp etc.
-  
-  ex.manage();
-} 
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/configuration.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/configuration.h
deleted file mode 100644
index 4039110a..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/configuration.h
+++ /dev/null
@@ -1,32 +0,0 @@
-
-
-#ifndef CONFIGURATION_H
-#define CONFIGURATION_H
-
-#define MY_NAME "TP"           // Two byte string representing the name of this device
-
-// Communication speed
-
-#define RS485_BAUD 38400
-
-//******************************************************************************************************
-
-// Pin defintion section.  This is for the RepRap Extruder Controler V2.2
-
-//our RS485 pins
-
-#define RX_ENABLE_PIN 4
-#define TX_ENABLE_PIN 16
-
-// Control pins for the A3949 chips
-
-#define H1D 7
-#define H1E 5
-#define H2D 8
-#define H2E 6
-
-// Analogue read of this pin gets the potentiometer setting
-
-#define POT 0
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/extruder.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/extruder.h
deleted file mode 100644
index 6c04efdb..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/extruder.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#ifndef EXTRUDER_H
-#define EXTRUDER_H
-
-#define WAIT_T 'W'        // wait_for_temperature();
-#define VALVE 'V'          // valve_set(bool open, int dTime);
-#define DIRECTION 'D'   // set_direction(bool direction);
-#define COOL 'C'           // set_cooler(byte e_speed);
-#define SET_T 'T'           // set_temperature(int temp);
-#define GET_T 't'           // get_temperature();
-#define STEP 'S'             // step();
-#define ENABLE 'E'       // enableStep();
-#define DISABLE 'e'       // disableStep();
-#define PING 'P'            // Just acknowledge
-
-class extruder
-{
-private:
-//********************************************************************************
-// Stepper motor section
-
-// We will half-step;  coilPosition will take values between 0 and 7 inclusive
-
-  byte coilPosition;
-
-// This variable stores the value (0..255) of the on-board potentiometer.  This is used 
-// to vary the PWM mark-space values in analogWrites() to the enable pins, hence 
-// controlling the effective motor current.
-
-  byte potValue;
-  bool h1Enable;
-  bool h2Enable;
-  bool forward;
-
- 
-public:
-   extruder();
-   void wait_for_temperature();
-   void valve_set(bool open);
-   void set_direction(bool direction);
-   void set_cooler(byte e_speed);
-   void set_temperature(int temp);
-   int get_temperature();
-   void manage();
-   void step();
-   void enableStep();
-   void disableStep();
-   void processCommand(char command[]);
-   
-};
-
-#endif
-
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/extruder.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/extruder.pde
deleted file mode 100644
index c0b68b3a..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/extruder.pde
+++ /dev/null
@@ -1,229 +0,0 @@
-#include "extruder.h"
-
-extruder::extruder()
-{
-  pinMode(H1D, OUTPUT);
-  pinMode(H1E, OUTPUT);  
-  pinMode(H2D, OUTPUT);
-  pinMode(H2E, OUTPUT);
-  pinMode(POT, INPUT);
-  
-  // Change the frequency of Timer 0 so that PWM on pins H1E and H2E goes at
-  // a very high frequency (64kHz see: 
-  // http://tzechienchu.typepad.com/tc_chus_point/2009/05/changing-pwm-frequency-on-the-arduino-diecimila.html)
-  
-  TCCR0B &= ~(0x07); 
-  TCCR0B |= 1; 
-  
-  coilPosition = 0;  
-  forward = true;
-  
-}
-
-void extruder::wait_for_temperature()
-{
-  
-}
-
-void extruder::valve_set(bool open)
-{
-
-}
-
-void extruder::set_direction(bool direction)
-{
-  forward = direction;  
-}
-
-void extruder::set_cooler(byte e_speed)
-{
-  
-}
-
-void extruder::set_temperature(int temp)
-{
-  
-}
-
-int extruder::get_temperature()
-{
-  return 1;  
-}
-
-void extruder::manage()
-{
-  
-}
-
-void extruder::step()
-{
-// This increments or decrements coilPosition then writes the appropriate pattern to the output pins.
-
-  if(forward)
-    coilPosition++;
-  else
-    coilPosition--;
-  coilPosition &= 7;
-  
-  // Disable the coils
-  
-  digitalWrite(H1E, 0);
-  digitalWrite(H2E, 0);
-  
-  // Which of the 8 possible patterns do we want?
-  // The commented out setPower(...) lines could
-  // be used to run the coils at constant power (with
-  // half-stepping not each step is equal).  Just
-  // use the value of the argument to setPower(...) to
-  // scale the PWM values.
-  
-  switch(coilPosition) 
-  {
-  case 7:
-    //setPower((stepPower >> 1) + (stepPower >> 3));
-    digitalWrite(H1D, 1);    
-    digitalWrite(H2D, 1);
-    h1Enable = true;
-    h2Enable = true;    
-    break;
-    
-  case 6:
-    //setPower(stepPower);
-    digitalWrite(H1D, 1);    
-    digitalWrite(H2D, 1);
-    h1Enable = true;
-    h2Enable = false;   
-    break; 
-    
-  case 5:
-    //setPower((stepPower >> 1) + (stepPower >> 3));
-    digitalWrite(H1D, 1);
-    digitalWrite(H2D, 0);
-    h1Enable = true;
-    h2Enable = true; 
-    break;
-    
-  case 4:
-    //setPower(stepPower);
-    digitalWrite(H1D, 1);
-    digitalWrite(H2D, 0);
-    h1Enable = false;
-    h2Enable = true; 
-    break;
-    
-  case 3:
-    //setPower((stepPower >> 1) + (stepPower >> 3));
-    digitalWrite(H1D, 0);
-    digitalWrite(H2D, 0);
-    h1Enable = true;
-    h2Enable = true; 
-    break; 
-    
-  case 2:
-    //setPower(stepPower);
-    digitalWrite(H1D, 0);
-    digitalWrite(H2D, 0);
-    h1Enable = true;
-    h2Enable = false; 
-    break;
-    
-  case 1:
-    //setPower((stepPower >> 1) + (stepPower >> 3));
-    digitalWrite(H1D, 0);
-    digitalWrite(H2D, 1);
-    h1Enable = true;
-    h2Enable = true; 
-    break;
-    
-  case 0:
-    //setPower(stepPower);
-    digitalWrite(H1D, 0);
-    digitalWrite(H2D, 1);
-    h1Enable = false;
-    h2Enable = true; 
-    break; 
-    
-  }
-  
-  // How much is the pot turned up?
-  // Divide it by 4 to spread the valid readings out a bit.
-  // This is about right for a 1A 3-ohm/coil stepper.
-  
-  potValue = analogRead(POT)>>2;
-  
-  // Send the appropriate PWM values
-  
-  if(h1Enable)
-    analogWrite(H1E, potValue);
-  else
-    analogWrite(H1E, 0);
-    
-  if(h2Enable)
-    analogWrite(H2E, potValue);
-  else
-    analogWrite(H2E, 0);
-}
- 
-
-void extruder::enableStep()
-{
-// Nothing to do here - step() automatically enables the stepper drivers appropriately.  
-}
-
-void extruder::disableStep()
-{
-    analogWrite(H1E, 0);
-    analogWrite(H2E, 0);  
-}
-
-void extruder::processCommand(char command[])
-{
-  switch(command[0])
-  {
-    case WAIT_T:
-      wait_for_temperature();
-      break;
-      
-    case VALVE:
-      valve_set(command[1] == '1');
-      break;
-      
-    case DIRECTION:
-      set_direction(command[1] == '1');
-      break;
-      
-     case COOL:
-       set_cooler(atoi(&command[1]));
-       break;
-       
-     case SET_T:
-       set_temperature(atoi(&command[1]));
-       break;
-       
-      case GET_T:
-        itoa(get_temperature(), &(talker.getReply())[1], 10);
-        break;
-        
-      case STEP:
-        step();
-        break;
-        
-      case ENABLE:
-        enableStep();
-        break;
-        
-      case DISABLE:
-        disableStep();
-        break;
-        
-      case PING:
-        break;
-        
-      default:
-        // Dud command, so it doesn't matter if we corrupt it -
-        // pick out just the first char:
-        command[1] = 0;
-        talker.setReply(" !Dud command: ");
-        talker.addReply(command);
-    }  
-}
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/intercom.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/intercom.h
deleted file mode 100644
index 40aa1edb..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/intercom.h
+++ /dev/null
@@ -1,87 +0,0 @@
-/*
- * Class to handle internal communications in the machine via RS485
- *
- * Adrian Bowyer 3 July 2009
- *
- */
- 
- /* 
- 
-   A data packet looks like this:
- 
-     T T F F d a t a '\n'
-     
-   All these are printable characters.  TT is the two-char name of the destination, FF is the two-char name
-   of the source, data is a char string containing the message, which is terminated by a '\n' character.
-   If users wish they can include checksum and length information in the data, as long as it is all printable.
-   The total length of a packet with all of that should not exceed BUF_LEN (defined in configuration.h) 
-   characters.  When a packet is received the '\n' character is replaced by 0, thus forming a standard C string.
- 
- */
- 
-#ifndef INTERCOM_H
-#define INTERCOM_H
-
-// Our RS485 driver
-
-#define serialInterface Serial
-
-// compare two names
-#define sameName(a, b) ((a)[0] == (b)[0] && (a)[1] == (b)[1])
-
-// The acknowledge character
-#define ACK 'A'                       
-
-// Size of the transmit and receive buffers
-#define BUF_LEN 30
-
-class intercom
-{
-  private:
-  
-  // The input buffer for incoming packets
-    char buffer[BUF_LEN];
-    int buf_pointer;
-
-/*
- Any short message can be returned with the next acknowledgement in this string.
- This includes things like temperatures and so on.
- 
- Assign to it like this: 
- 
-    setReply(" My message");
-    
- with a blank first character.  This will be overwritten with the ACK
- character.  
- 
- Errors should be flagged with '!': 
- 
-    setReply(" !Horrible error.");
-    
- You can append extra information on the end with
- 
-    addReply("additional info");
-    
- Don't exceed BUF_LEN - 4
- 
-*/
-    char reply[BUF_LEN];
-    bool ok;
-    void getPacket(char* string, int len);
-    void sendPacket(char* to, char* string);
-    void sendPacketWithReply(char* to, char* string, char* resp, int len);
-    void reset();
-    void acknowledgeAndReset(char* to);
-    
-  public:
-    intercom();
-    void getAndProcessCommand();
-    void setReply(char* string);
-    void addReply(char* string);
-    char* getReply();
-};
-
-extern intercom talker;
-
-#endif
-
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/intercom.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/intercom.pde
deleted file mode 100644
index 8c775a94..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Extruder/intercom.pde
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
- * Class to handle internal communications in the machine via RS485
- *
- * Adrian Bowyer 3 July 2009
- *
- */
-
-#include "intercom.h"
-
-intercom::intercom()
-{
-  reset();
-  pinMode(RX_ENABLE_PIN, OUTPUT);
-  pinMode(TX_ENABLE_PIN, OUTPUT);
-  digitalWrite(RX_ENABLE_PIN, 0); //always listen.
-  serialInterface.begin(RS485_BAUD);  
-}
-
-void intercom::sendPacket(char* to, char* string)
-{
-  digitalWrite(TX_ENABLE_PIN, 1);
-  serialInterface.print(to[0]); // Make sure we send exactly two bytes
-  serialInterface.print(to[1]);
-  serialInterface.print(MY_NAME); // This should be two bytes
-  serialInterface.println(string);
-  digitalWrite(TX_ENABLE_PIN, 0);
-}
-
-void intercom::sendPacketWithReply(char* to, char* string, char* resp, int len)
-{
-  sendPacket(to, string);
-  getPacket(resp, len);  
-}
-
-void intercom::getPacket(char* string, int len)
-{
-  int i = -1;
-  ok = true;
-  do
-  {
-    while(!serialInterface.available());
-    i++;
-    // Stop runaway buffer overflow
-    if(i >= len)
-    {
-      ok = false; 
-      i--;
-    } else
-      string[i] = serialInterface.read();
-  } while(string[i] != '\n' && ok);
-  string[i] = 0;
-}
-
-void intercom::reset()
-{
-   buf_pointer = 0;
-   reply[0] = 0;   
-}
-
-void intercom::acknowledgeAndReset(char* to)
-{
-  if(!reply[0])
-    reply[1] = 0;
-  reply[0] = ACK;
-  talker.sendPacket(to, reply);
-  reset();
-}
-  
-void intercom::getAndProcessCommand()
-{
-  if(!serialInterface.available())
-    return;
-  buffer[buf_pointer] = serialInterface.read();
-  if(buffer[buf_pointer] == '\n')
-  {
-      buffer[buf_pointer] = 0;
-      if(!sameName(buffer, MY_NAME)) // For me?
-      {
-        reset(); // No
-        return;
-      }
-      ex.processCommand(&buffer[4]);
-      acknowledgeAndReset(&buffer[2]);
-  }else
-      buf_pointer++;
-  if(buf_pointer >= BUF_LEN)
-  {
-     reset();
-     setReply(" !Buffer overrun");
-  }
-}
-
-void intercom::setReply(char* string)
-{
-  strcpy(reply, string);
-}
-
-void intercom::addReply(char* string)
-{
-  strcat(reply, string);  
-}
-
-char* intercom::getReply()
-{
-  return reply;  
-}
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/FiveD_GCode_Interpreter.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/FiveD_GCode_Interpreter.pde
deleted file mode 100644
index 15b5311d..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/FiveD_GCode_Interpreter.pde
+++ /dev/null
@@ -1,353 +0,0 @@
-// Yep, this is actually -*- c++ -*-
-
-// Sanguino G-code Interpreter
-// Arduino v1.0 by Mike Ellery - initial software (mellery@gmail.com)
-// v1.1 by Zach Hoeken - cleaned up and did lots of tweaks (hoeken@gmail.com)
-// v1.2 by Chris Meighan - cleanup / G2&G3 support (cmeighan@gmail.com)
-// v1.3 by Zach Hoeken - added thermocouple support and multi-sample temp readings. (hoeken@gmail.com)
-// Sanguino v1.4 by Adrian Bowyer - added the Sanguino; extensive mods... (a.bowyer@bath.ac.uk)
-// Sanguino v1.5 by Adrian Bowyer - implemented 4D Bressenham XYZ+ stepper control... (a.bowyer@bath.ac.uk)
-// Sanguino v1.6 by Adrian Bowyer - implemented RS485 extruders
-
-#ifndef __AVR_ATmega644P__
-#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
-#endif
-
-#include <ctype.h>
-#include <HardwareSerial.h>
-#include "WProgram.h"
-#include "vectors.h"
-#include "parameters.h"
-#include "intercom.h"
-#include "pins.h"
-#include "extruder.h"
-#include "cartesian_dda.h"
-
-// Maintain a list of extruders...
-
-extruder* ex[EXTRUDER_COUNT];
-byte extruder_in_use = 0;
-
-// Text placed in this (terminated with 0) will be transmitted back to the host
-// along with the next G Code acknowledgement.
-char debugstring[10];
-
-#if MOTHERBOARD < 2
-
-// TODO: For some reason, if you declare the following two in the order ex0 ex1 then
-// ex0 won't drive its stepper.  They seem fine this way round though.  But that's got
-// to be a bug.
-
-#if EXTRUDER_COUNT == 2            
-static extruder ex1(EXTRUDER_1_MOTOR_DIR_PIN, EXTRUDER_1_MOTOR_SPEED_PIN , EXTRUDER_1_HEATER_PIN,
-              EXTRUDER_1_FAN_PIN,  EXTRUDER_1_TEMPERATURE_PIN, EXTRUDER_1_VALVE_DIR_PIN,
-              EXTRUDER_1_VALVE_ENABLE_PIN, EXTRUDER_1_STEP_ENABLE_PIN);            
-#endif
-
-static extruder ex0(EXTRUDER_0_MOTOR_DIR_PIN, EXTRUDER_0_MOTOR_SPEED_PIN , EXTRUDER_0_HEATER_PIN,
-            EXTRUDER_0_FAN_PIN,  EXTRUDER_0_TEMPERATURE_PIN, EXTRUDER_0_VALVE_DIR_PIN,
-            EXTRUDER_0_VALVE_ENABLE_PIN, EXTRUDER_0_STEP_ENABLE_PIN);
-            
-            
-#else
-
-#if EXTRUDER_COUNT == 2    
-static extruder ex1(2);            
-#endif
-
-static extruder ex0(1);
-
-intercom talker;
-
-#endif
-
-// Each entry in the buffer is an instance of cartesian_dda.
-
-cartesian_dda* cdda[BUFFER_SIZE];
-
-static cartesian_dda cdda0;
-static cartesian_dda cdda1;
-static cartesian_dda cdda2;
-static cartesian_dda cdda3;
-
-volatile byte head;
-volatile byte tail;
-
-// Where the machine is from the point of view of the command stream
-
-FloatPoint where_i_am;
-
-// Make sure each DDA knows which extruder to use
-
-//inline void setExtruder()
-//{
-//   for(byte i = 0; i < BUFFER_SIZE; i++)
-//    cdda[i]->set_extruder(ex[extruder_in_use]);
-//}
-
-
-// Our interrupt function
-
-SIGNAL(SIG_OUTPUT_COMPARE1A)
-{
-  disableTimerInterrupt();
-  
-  if(cdda[tail]->active())
-    cdda[tail]->dda_step();
-  else
-    dQMove();
-    
-  enableTimerInterrupt();
-}
-
-void setup()
-{
-  disableTimerInterrupt();
-  setupTimerInterrupt();
-  debugstring[0] = 0;
-  
-  ex[0] = &ex0;
-#if EXTRUDER_COUNT == 2  
-  ex[1] = &ex1;
-#endif  
-  extruder_in_use = 0; 
-  
-  head = 0;
-  tail = 0;
-  
-  cdda[0] = &cdda0;
-  cdda[1] = &cdda1;  
-  cdda[2] = &cdda2;  
-  cdda[3] = &cdda3;
-  
-  //setExtruder();
-  
-  init_process_string();
-  
-  where_i_am.x = 0.0;
-  where_i_am.y = 0.0;
-  where_i_am.z = 0.0;
-  where_i_am.e = 0.0;
-  where_i_am.f = SLOW_XY_FEEDRATE;
-  
-  Serial.begin(19200);
-  Serial.println("start");
-  
-  setTimer(DEFAULT_TICK);
-  enableTimerInterrupt();
-}
-
-void loop()
-{
-	manage_all_extruders();
-        get_and_do_command();        
-}
-
-//******************************************************************************************
-
-// The move buffer
-
-inline bool qFull()
-{
-  if(tail == 0)
-    return head == (BUFFER_SIZE - 1);
-  else
-    return head == (tail - 1);
-}
-
-inline bool qEmpty()
-{
-   return tail == head && !cdda[tail]->active();
-}
-
-inline void qMove(const FloatPoint& p)
-{
-  while(qFull()) delay(WAITING_DELAY);
-  byte h = head; 
-  h++;
-  if(h >= BUFFER_SIZE)
-    h = 0;
-  cdda[h]->set_target(p);
-  head = h;
-}
-
-inline void dQMove()
-{
-  if(qEmpty())
-    return;
-  byte t = tail;  
-  t++;
-  if(t >= BUFFER_SIZE)
-    t = 0;
-  cdda[t]->dda_start();
-  tail = t; 
-}
-
-inline void setUnits(bool u)
-{
-   for(byte i = 0; i < BUFFER_SIZE; i++)
-     cdda[i]->set_units(u); 
-}
-
-
-inline void setPosition(const FloatPoint& p)
-{
-  where_i_am = p;  
-}
-
-
-//******************************************************************************************
-
-// Interrupt functions
-
-void setupTimerInterrupt()
-{
-	//clear the registers
-	TCCR1A = 0;
-	TCCR1B = 0;
-	TCCR1C = 0;
-	TIMSK1 = 0;
-	
-	//waveform generation = 0100 = CTC
-	TCCR1B &= ~(1<<WGM13);
-	TCCR1B |=  (1<<WGM12);
-	TCCR1A &= ~(1<<WGM11); 
-	TCCR1A &= ~(1<<WGM10);
-
-	//output mode = 00 (disconnected)
-	TCCR1A &= ~(1<<COM1A1); 
-	TCCR1A &= ~(1<<COM1A0);
-	TCCR1A &= ~(1<<COM1B1); 
-	TCCR1A &= ~(1<<COM1B0);
-
-	//start off with a slow frequency.
-	setTimerResolution(4);
-	setTimerCeiling(65535);
-}
-
-void setTimerResolution(byte r)
-{
-	//here's how you figure out the tick size:
-	// 1000000 / ((16000000 / prescaler))
-	// 1000000 = microseconds in 1 second
-	// 16000000 = cycles in 1 second
-	// prescaler = your prescaler
-
-	// no prescaler == 0.0625 usec tick
-	if (r == 0)
-	{
-		// 001 = clk/1
-		TCCR1B &= ~(1<<CS12);
-		TCCR1B &= ~(1<<CS11);
-		TCCR1B |=  (1<<CS10);
-	}	
-	// prescale of /8 == 0.5 usec tick
-	else if (r == 1)
-	{
-		// 010 = clk/8
-		TCCR1B &= ~(1<<CS12);
-		TCCR1B |=  (1<<CS11);
-		TCCR1B &= ~(1<<CS10);
-	}
-	// prescale of /64 == 4 usec tick
-	else if (r == 2)
-	{
-		// 011 = clk/64
-		TCCR1B &= ~(1<<CS12);
-		TCCR1B |=  (1<<CS11);
-		TCCR1B |=  (1<<CS10);
-	}
-	// prescale of /256 == 16 usec tick
-	else if (r == 3)
-	{
-		// 100 = clk/256
-		TCCR1B |=  (1<<CS12);
-		TCCR1B &= ~(1<<CS11);
-		TCCR1B &= ~(1<<CS10);
-	}
-	// prescale of /1024 == 64 usec tick
-	else
-	{
-		// 101 = clk/1024
-		TCCR1B |=  (1<<CS12);
-		TCCR1B &= ~(1<<CS11);
-		TCCR1B |=  (1<<CS10);
-	}
-}
-
-unsigned int getTimerCeiling(const long& delay)
-{
-	// our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs)
-	if (delay <= 65535L)
-		return (delay & 0xffff);
-	// our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs)
-	else if (delay <= 524280L)
-		return ((delay / 8) & 0xffff);
-	// our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs)
-	else if (delay <= 4194240L)
-		return ((delay / 64) & 0xffff);
-	// our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs)
-	else if (delay <= 16776960L)
-		return ((delay / 256) & 0xffff);
-	// our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs)
-	else if (delay <= 67107840L)
-		return ((delay / 1024) & 0xffff);
-	//its really slow... hopefully we can just get by with super slow.
-	else
-		return 65535;
-}
-
-byte getTimerResolution(const long& delay)
-{
-	// these also represent frequency: 1000000 / delay / 2 = frequency in hz.
-	
-	// our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs (4 millisecond max))
-	// range: 8Mhz max - 122hz min
-	if (delay <= 65535L)
-		return 0;
-	// our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs (32 millisecond max))
-	// range:1Mhz max - 15.26hz min
-	else if (delay <= 524280L)
-		return 1;
-	// our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs (0.26 seconds max))
-	// range: 125Khz max - 1.9hz min
-	else if (delay <= 4194240L)
-		return 2;
-	// our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs (1.04 seconds max))
-	// range: 31.25Khz max - 0.475hz min
-	else if (delay <= 16776960L)
-		return 3;
-	// our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs (4.19 seconds max))
-	// range: 7.812Khz max - 0.119hz min
-	else if (delay <= 67107840L)
-		return 4;
-	//its really slow... hopefully we can just get by with super slow.
-	else
-		return 4;
-}
-
-
-// Depending on how much work the interrupt function has to do, this is
-// pretty accurate between 10 us and 0.1 s.  At fast speeds, the time
-// taken in the interrupt function becomes significant, of course.
-
-// Note - it is up to the user to call enableTimerInterrupt() after a call
-// to this function.
-
-inline void setTimer(long delay)
-{
-	// delay is the delay between steps in microsecond ticks.
-	//
-	// we break it into 5 different resolutions based on the delay. 
-	// then we set the resolution based on the size of the delay.
-	// we also then calculate the timer ceiling required. (ie what the counter counts to)
-	// the result is the timer counts up to the appropriate time and then fires an interrupt.
-
-        // Actual ticks are 0.0625 us, so multiply delay by 16
-        
-        delay <<= 4;
-        
-	setTimerCeiling(getTimerCeiling(delay));
-	setTimerResolution(getTimerResolution(delay));
-}
-
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/ThermistorTable.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/ThermistorTable.h
deleted file mode 100644
index c55b9c91..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/ThermistorTable.h
+++ /dev/null
@@ -1,54 +0,0 @@
-#ifndef THERMISTORTABLE_H_
-#define THERMISTORTABLE_H_
-
-#if MOTHERBOARD < 2
-
-// Uncomment the next line if you are using a thermistor; leave it if you have a thermocouple
-//#define USE_THERMISTOR
-
-// How many temperature samples to take for an average.  each sample takes about 100 usecs.
-#define TEMPERATURE_SAMPLES 3
-
-// How accurately do we maintain the temperature?
-#define HALF_DEAD_ZONE 5
-
-// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts)
-// See this page:  
-// http://dev.www.reprap.org/bin/view/Main/Thermistor
-// for details of what goes in this table.
-// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py)
-// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023
-// r0: 100000
-// t0: 25
-// r1: 0
-// r2: 4700
-// beta: 4066
-// max adc: 1023
-#ifdef USE_THERMISTOR
-#define NUMTEMPS 20
-short temptable[NUMTEMPS][2] = {
-   {1, 841},
-   {54, 255},
-   {107, 209},
-   {160, 184},
-   {213, 166},
-   {266, 153},
-   {319, 142},
-   {372, 132},
-   {425, 124},
-   {478, 116},
-   {531, 108},
-   {584, 101},
-   {637, 93},
-   {690, 86},
-   {743, 78},
-   {796, 70},
-   {849, 61},
-   {902, 50},
-   {955, 34},
-   {1008, 3}
-};
-
-#endif
-#endif
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.cpp b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.cpp
deleted file mode 100644
index 41616e19..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.cpp
+++ /dev/null
@@ -1,1747 +0,0 @@
-// Yep, this is actually -*- c++ -*-
-
-// Sanguino G-code Interpreter
-// Arduino v1.0 by Mike Ellery - initial software (mellery@gmail.com)
-// v1.1 by Zach Hoeken - cleaned up and did lots of tweaks (hoeken@gmail.com)
-// v1.2 by Chris Meighan - cleanup / G2&G3 support (cmeighan@gmail.com)
-// v1.3 by Zach Hoeken - added thermocouple support and multi-sample temp readings. (hoeken@gmail.com)
-// Sanguino v1.4 by Adrian Bowyer - added the Sanguino; extensive mods... (a.bowyer@bath.ac.uk)
-// Sanguino v1.5 by Adrian Bowyer - implemented 4D Bressenham XYZ+ stepper control... (a.bowyer@bath.ac.uk)
-// Sanguino v1.6 by Adrian Bowyer - implemented RS485 extruders
-
-#ifndef __AVR_ATmega644P__
-#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
-#endif
-
-#include <ctype.h>
-#include <HardwareSerial.h>
-#include "WProgram.h"
-#include "vectors.h"
-#include "parameters.h"
-#include "intercom.h"
-#include "pins.h"
-#include "extruder.h"
-#include "cartesian_dda.h"
-
-// Maintain a list of extruders...
-
-#include "WProgram.h"
-void setup();
-void loop();
-inline bool qFull();
-inline bool qEmpty();
-inline void dQMove();
-inline void setUnits(bool u);
-void setupTimerInterrupt();
-void setTimerResolution(byte r);
-inline void setTimer(long delay);
-void manage_all_extruders();
-void new_extruder(byte e);
-inline void init_process_string();
-void get_and_do_command();
-int parse_string(struct GcodeParser * gc, char instruction[ ], int size);
-void process_string(char instruction[], int size);
-int scan_float(char *str, float *valp, unsigned int *seen, unsigned int flag);
-int scan_int(char *str, int *valp, unsigned int *seen, unsigned int flag);
-extruder* ex[EXTRUDER_COUNT];
-byte extruder_in_use = 0;
-
-// Text placed in this (terminated with 0) will be transmitted back to the host
-// along with the next G Code acknowledgement.
-char debugstring[10];
-
-#if MOTHERBOARD < 2
-
-// TODO: For some reason, if you declare the following two in the order ex0 ex1 then
-// ex0 won't drive its stepper.  They seem fine this way round though.  But that's got
-// to be a bug.
-
-#if EXTRUDER_COUNT == 2            
-static extruder ex1(EXTRUDER_1_MOTOR_DIR_PIN, EXTRUDER_1_MOTOR_SPEED_PIN , EXTRUDER_1_HEATER_PIN,
-              EXTRUDER_1_FAN_PIN,  EXTRUDER_1_TEMPERATURE_PIN, EXTRUDER_1_VALVE_DIR_PIN,
-              EXTRUDER_1_VALVE_ENABLE_PIN, EXTRUDER_1_STEP_ENABLE_PIN);            
-#endif
-
-static extruder ex0(EXTRUDER_0_MOTOR_DIR_PIN, EXTRUDER_0_MOTOR_SPEED_PIN , EXTRUDER_0_HEATER_PIN,
-            EXTRUDER_0_FAN_PIN,  EXTRUDER_0_TEMPERATURE_PIN, EXTRUDER_0_VALVE_DIR_PIN,
-            EXTRUDER_0_VALVE_ENABLE_PIN, EXTRUDER_0_STEP_ENABLE_PIN);
-            
-            
-#else
-
-#if EXTRUDER_COUNT == 2    
-static extruder ex1(2);            
-#endif
-
-static extruder ex0(1);
-
-intercom talker;
-
-#endif
-
-// Each entry in the buffer is an instance of cartesian_dda.
-
-cartesian_dda* cdda[BUFFER_SIZE];
-
-static cartesian_dda cdda0;
-static cartesian_dda cdda1;
-static cartesian_dda cdda2;
-static cartesian_dda cdda3;
-
-volatile byte head;
-volatile byte tail;
-
-// Where the machine is from the point of view of the command stream
-
-FloatPoint where_i_am;
-
-// Make sure each DDA knows which extruder to use
-
-//inline void setExtruder()
-//{
-//   for(byte i = 0; i < BUFFER_SIZE; i++)
-//    cdda[i]->set_extruder(ex[extruder_in_use]);
-//}
-
-
-// Our interrupt function
-
-SIGNAL(SIG_OUTPUT_COMPARE1A)
-{
-  disableTimerInterrupt();
-  
-  if(cdda[tail]->active())
-    cdda[tail]->dda_step();
-  else
-    dQMove();
-    
-  enableTimerInterrupt();
-}
-
-void setup()
-{
-  disableTimerInterrupt();
-  setupTimerInterrupt();
-  debugstring[0] = 0;
-  
-  ex[0] = &ex0;
-#if EXTRUDER_COUNT == 2  
-  ex[1] = &ex1;
-#endif  
-  extruder_in_use = 0; 
-  
-  head = 0;
-  tail = 0;
-  
-  cdda[0] = &cdda0;
-  cdda[1] = &cdda1;  
-  cdda[2] = &cdda2;  
-  cdda[3] = &cdda3;
-  
-  //setExtruder();
-  
-  init_process_string();
-  
-  where_i_am.x = 0.0;
-  where_i_am.y = 0.0;
-  where_i_am.z = 0.0;
-  where_i_am.e = 0.0;
-  where_i_am.f = SLOW_XY_FEEDRATE;
-  
-  Serial.begin(19200);
-  Serial.println("start");
-  
-  setTimer(DEFAULT_TICK);
-  enableTimerInterrupt();
-}
-
-void loop()
-{
-	manage_all_extruders();
-        get_and_do_command();        
-}
-
-//******************************************************************************************
-
-// The move buffer
-
-inline bool qFull()
-{
-  if(tail == 0)
-    return head == (BUFFER_SIZE - 1);
-  else
-    return head == (tail - 1);
-}
-
-inline bool qEmpty()
-{
-   return tail == head && !cdda[tail]->active();
-}
-
-inline void qMove(const FloatPoint& p)
-{
-  while(qFull()) delay(WAITING_DELAY);
-  byte h = head; 
-  h++;
-  if(h >= BUFFER_SIZE)
-    h = 0;
-  cdda[h]->set_target(p);
-  head = h;
-}
-
-inline void dQMove()
-{
-  if(qEmpty())
-    return;
-  byte t = tail;  
-  t++;
-  if(t >= BUFFER_SIZE)
-    t = 0;
-  cdda[t]->dda_start();
-  tail = t; 
-}
-
-inline void setUnits(bool u)
-{
-   for(byte i = 0; i < BUFFER_SIZE; i++)
-     cdda[i]->set_units(u); 
-}
-
-
-inline void setPosition(const FloatPoint& p)
-{
-  where_i_am = p;  
-}
-
-
-//******************************************************************************************
-
-// Interrupt functions
-
-void setupTimerInterrupt()
-{
-	//clear the registers
-	TCCR1A = 0;
-	TCCR1B = 0;
-	TCCR1C = 0;
-	TIMSK1 = 0;
-	
-	//waveform generation = 0100 = CTC
-	TCCR1B &= ~(1<<WGM13);
-	TCCR1B |=  (1<<WGM12);
-	TCCR1A &= ~(1<<WGM11); 
-	TCCR1A &= ~(1<<WGM10);
-
-	//output mode = 00 (disconnected)
-	TCCR1A &= ~(1<<COM1A1); 
-	TCCR1A &= ~(1<<COM1A0);
-	TCCR1A &= ~(1<<COM1B1); 
-	TCCR1A &= ~(1<<COM1B0);
-
-	//start off with a slow frequency.
-	setTimerResolution(4);
-	setTimerCeiling(65535);
-}
-
-void setTimerResolution(byte r)
-{
-	//here's how you figure out the tick size:
-	// 1000000 / ((16000000 / prescaler))
-	// 1000000 = microseconds in 1 second
-	// 16000000 = cycles in 1 second
-	// prescaler = your prescaler
-
-	// no prescaler == 0.0625 usec tick
-	if (r == 0)
-	{
-		// 001 = clk/1
-		TCCR1B &= ~(1<<CS12);
-		TCCR1B &= ~(1<<CS11);
-		TCCR1B |=  (1<<CS10);
-	}	
-	// prescale of /8 == 0.5 usec tick
-	else if (r == 1)
-	{
-		// 010 = clk/8
-		TCCR1B &= ~(1<<CS12);
-		TCCR1B |=  (1<<CS11);
-		TCCR1B &= ~(1<<CS10);
-	}
-	// prescale of /64 == 4 usec tick
-	else if (r == 2)
-	{
-		// 011 = clk/64
-		TCCR1B &= ~(1<<CS12);
-		TCCR1B |=  (1<<CS11);
-		TCCR1B |=  (1<<CS10);
-	}
-	// prescale of /256 == 16 usec tick
-	else if (r == 3)
-	{
-		// 100 = clk/256
-		TCCR1B |=  (1<<CS12);
-		TCCR1B &= ~(1<<CS11);
-		TCCR1B &= ~(1<<CS10);
-	}
-	// prescale of /1024 == 64 usec tick
-	else
-	{
-		// 101 = clk/1024
-		TCCR1B |=  (1<<CS12);
-		TCCR1B &= ~(1<<CS11);
-		TCCR1B |=  (1<<CS10);
-	}
-}
-
-unsigned int getTimerCeiling(const long& delay)
-{
-	// our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs)
-	if (delay <= 65535L)
-		return (delay & 0xffff);
-	// our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs)
-	else if (delay <= 524280L)
-		return ((delay / 8) & 0xffff);
-	// our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs)
-	else if (delay <= 4194240L)
-		return ((delay / 64) & 0xffff);
-	// our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs)
-	else if (delay <= 16776960L)
-		return ((delay / 256) & 0xffff);
-	// our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs)
-	else if (delay <= 67107840L)
-		return ((delay / 1024) & 0xffff);
-	//its really slow... hopefully we can just get by with super slow.
-	else
-		return 65535;
-}
-
-byte getTimerResolution(const long& delay)
-{
-	// these also represent frequency: 1000000 / delay / 2 = frequency in hz.
-	
-	// our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs (4 millisecond max))
-	// range: 8Mhz max - 122hz min
-	if (delay <= 65535L)
-		return 0;
-	// our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs (32 millisecond max))
-	// range:1Mhz max - 15.26hz min
-	else if (delay <= 524280L)
-		return 1;
-	// our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs (0.26 seconds max))
-	// range: 125Khz max - 1.9hz min
-	else if (delay <= 4194240L)
-		return 2;
-	// our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs (1.04 seconds max))
-	// range: 31.25Khz max - 0.475hz min
-	else if (delay <= 16776960L)
-		return 3;
-	// our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs (4.19 seconds max))
-	// range: 7.812Khz max - 0.119hz min
-	else if (delay <= 67107840L)
-		return 4;
-	//its really slow... hopefully we can just get by with super slow.
-	else
-		return 4;
-}
-
-
-// Depending on how much work the interrupt function has to do, this is
-// pretty accurate between 10 us and 0.1 s.  At fast speeds, the time
-// taken in the interrupt function becomes significant, of course.
-
-// Note - it is up to the user to call enableTimerInterrupt() after a call
-// to this function.
-
-inline void setTimer(long delay)
-{
-	// delay is the delay between steps in microsecond ticks.
-	//
-	// we break it into 5 different resolutions based on the delay. 
-	// then we set the resolution based on the size of the delay.
-	// we also then calculate the timer ceiling required. (ie what the counter counts to)
-	// the result is the timer counts up to the appropriate time and then fires an interrupt.
-
-        // Actual ticks are 0.0625 us, so multiply delay by 16
-        
-        delay <<= 4;
-        
-	setTimerCeiling(getTimerCeiling(delay));
-	setTimerResolution(getTimerResolution(delay));
-}
-
-
-#include <stdio.h>
-#include "parameters.h"
-#include "pins.h"
-#include "extruder.h"
-#include "vectors.h"
-#include "cartesian_dda.h"
-
-
-// Initialise X, Y and Z.  The extruder is initialized
-// separately.
-
-cartesian_dda::cartesian_dda()
-{
-        live = false;
-        nullmove = false;
-        
-  // Default is going forward
-  
-        x_direction = 1;
-        y_direction = 1;
-        z_direction = 1;
-        e_direction = 1;
-        f_direction = 1;
-        
-  // Default to the origin and not going anywhere
-  
-	target_position.x = 0.0;
-	target_position.y = 0.0;
-	target_position.z = 0.0;
-	target_position.e = 0.0;
-        target_position.f = SLOW_XY_FEEDRATE;
-
-  // Set up the pin directions
-  
-	pinMode(X_STEP_PIN, OUTPUT);
-	pinMode(X_DIR_PIN, OUTPUT);
-
-	pinMode(Y_STEP_PIN, OUTPUT);
-	pinMode(Y_DIR_PIN, OUTPUT);
-
-	pinMode(Z_STEP_PIN, OUTPUT);
-	pinMode(Z_DIR_PIN, OUTPUT);
-
-#if MOTHERBOARD > 0
-	pinMode(X_ENABLE_PIN, OUTPUT);
-	pinMode(Y_ENABLE_PIN, OUTPUT);
-	pinMode(Z_ENABLE_PIN, OUTPUT);
-#endif
-
-  //turn the motors off at the start.
-
-	disable_steppers();
-
-#if ENDSTOPS_MIN_ENABLED == 1
-	pinMode(X_MIN_PIN, INPUT);
-	pinMode(Y_MIN_PIN, INPUT);
-	pinMode(Z_MIN_PIN, INPUT);
-#endif
-
-#if ENDSTOPS_MAX_ENABLED == 1
-	pinMode(X_MAX_PIN, INPUT);
-	pinMode(Y_MAX_PIN, INPUT);
-	pinMode(Z_MAX_PIN, INPUT);
-#endif
-	
-        // Default units are mm
-        
-        set_units(true);
-}
-
-// Switch between mm and inches
-
-void cartesian_dda::set_units(bool using_mm)
-{
-    if(using_mm)
-    {
-      units.x = X_STEPS_PER_MM;
-      units.y = Y_STEPS_PER_MM;
-      units.z = Z_STEPS_PER_MM;
-      units.e = E_STEPS_PER_MM;
-      units.f = 1.0;
-    } else
-    {
-      units.x = X_STEPS_PER_INCH;
-      units.y = Y_STEPS_PER_INCH;
-      units.z = Z_STEPS_PER_INCH;
-      units.e = E_STEPS_PER_INCH;
-      units.f = 1.0;  
-    }
-}
-
-
-void cartesian_dda::set_target(const FloatPoint& p)
-{
-        target_position = p;
-        nullmove = false;
-        
-	//figure our deltas.
-
-        delta_position = fabsv(target_position - where_i_am);
-        
-        // The feedrate values refer to distance in (X, Y, Z) space, so ignore e and f
-        // values unless they're the only thing there.
-
-        FloatPoint squares = delta_position*delta_position;
-        distance = squares.x + squares.y + squares.z;
-        // If we are 0, only thing changing is e
-        if(distance <= 0.0)
-          distance = squares.e;
-        // If we are still 0, only thing changing is f
-        if(distance <= 0.0)
-          distance = squares.f;
-        distance = sqrt(distance);          
-                                                                                   			
-	//set our steps current, target, and delta
-
-        current_steps = to_steps(units, where_i_am);
-	target_steps = to_steps(units, target_position);
-	delta_steps = absv(target_steps - current_steps);
-
-	// find the dominant axis.
-        // NB we ignore the f values here, as it takes no time to take a step in time :-)
-
-        total_steps = max(delta_steps.x, delta_steps.y);
-        total_steps = max(total_steps, delta_steps.z);
-        total_steps = max(total_steps, delta_steps.e);
-  
-        // If we're not going anywhere, flag the fact
-        
-        if(total_steps == 0)
-        {
-          nullmove = true;
-          where_i_am = p;
-          return;
-        }    
-
-#ifndef ACCELERATION_ON
-        current_steps.f = round(target_position.f);
-#endif
-
-        delta_steps.f = abs(target_steps.f - current_steps.f);
-        
-        // Rescale the feedrate so it doesn't take lots of steps to do
-        
-        t_scale = 1;
-        if(delta_steps.f > total_steps)
-        {
-            t_scale = delta_steps.f/total_steps;
-            if(t_scale >= 3)
-            {
-              target_steps.f = target_steps.f/t_scale;
-              current_steps.f = current_steps.f/t_scale;
-              delta_steps.f = abs(target_steps.f - current_steps.f);
-              if(delta_steps.f > total_steps)
-                total_steps =  delta_steps.f;
-            } else
-            {
-              t_scale = 1;
-              total_steps =  delta_steps.f;
-            }
-        } 
-        	
-	//what is our direction?
-
-	x_direction = (target_position.x >= where_i_am.x);
-	y_direction = (target_position.y >= where_i_am.y);
-	z_direction = (target_position.z >= where_i_am.z);
-	e_direction = (target_position.e >= where_i_am.e);
-	f_direction = (target_position.f >= where_i_am.f);
-
-	dda_counter.x = -total_steps/2;
-	dda_counter.y = dda_counter.x;
-	dda_counter.z = dda_counter.x;
-        dda_counter.e = dda_counter.x;
-        dda_counter.f = dda_counter.x;
-  
-        where_i_am = p;
-        
-        return;        
-}
-
-
-
-void cartesian_dda::dda_step()
-{  
-  if(!live)
-   return;
-   
-  do
-  {
-		x_can_step = can_step(X_MIN_PIN, X_MAX_PIN, current_steps.x, target_steps.x, x_direction);
-		y_can_step = can_step(Y_MIN_PIN, Y_MAX_PIN, current_steps.y, target_steps.y, y_direction);
-		z_can_step = can_step(Z_MIN_PIN, Z_MAX_PIN, current_steps.z, target_steps.z, z_direction);
-                e_can_step = can_step(-1, -1, current_steps.e, target_steps.e, e_direction);
-                f_can_step = can_step(-1, -1, current_steps.f, target_steps.f, f_direction);
-                
-                real_move = false;
-                
-		if (x_can_step)
-		{
-			dda_counter.x += delta_steps.x;
-			
-			if (dda_counter.x > 0)
-			{
-				do_x_step();
-                                real_move = true;
-				dda_counter.x -= total_steps;
-				
-				if (x_direction)
-					current_steps.x++;
-				else
-					current_steps.x--;
-			}
-		}
-
-		if (y_can_step)
-		{
-			dda_counter.y += delta_steps.y;
-			
-			if (dda_counter.y > 0)
-			{
-				do_y_step();
-                                real_move = true;
-				dda_counter.y -= total_steps;
-
-				if (y_direction)
-					current_steps.y++;
-				else
-					current_steps.y--;
-			}
-		}
-		
-		if (z_can_step)
-		{
-			dda_counter.z += delta_steps.z;
-			
-			if (dda_counter.z > 0)
-			{
-				do_z_step();
-                                real_move = true;
-				dda_counter.z -= total_steps;
-				
-				if (z_direction)
-					current_steps.z++;
-				else
-					current_steps.z--;
-			}
-		}
-
-		if (e_can_step)
-		{
-			dda_counter.e += delta_steps.e;
-			
-			if (dda_counter.e > 0)
-			{
-				do_e_step();
-                                real_move = true;
-				dda_counter.e -= total_steps;
-				
-				if (e_direction)
-					current_steps.e++;
-				else
-					current_steps.e--;
-			}
-		}
-		
-		if (f_can_step)
-		{
-			dda_counter.f += delta_steps.f;
-			
-			if (dda_counter.f > 0)
-			{
-				dda_counter.f -= total_steps;
-				if (f_direction)
-					current_steps.f++;
-				else
-					current_steps.f--;
-			}
-		}
-
-				
-      // wait for next step.
-      // Use milli- or micro-seconds, as appropriate
-      // If the only thing that changed was f keep looping
-  
-                if(real_move)
-                {
-                  if(t_scale > 1)
-                    timestep = t_scale*current_steps.f;
-                  else
-                    timestep = current_steps.f;
-                  timestep = calculate_feedrate_delay((float) timestep);
-                  setTimer(timestep);
-                }
-  } while (!real_move && f_can_step);
-
-  live = (x_can_step || y_can_step || z_can_step  || e_can_step || f_can_step);
-
-// Wrap up at the end of a line
-
-  if(!live)
-  {
-      disable_steppers();
-      setTimer(DEFAULT_TICK);
-  }    
-  
-}
-
-
-// Run the DDA
-
-void cartesian_dda::dda_start()
-{    
-  // Set up the DDA
-  //sprintf(debugstring, "%d %d", x_direction, nullmove);
-  
-  if(nullmove)
-    return;
-    
-  	//set our direction pins as well
-#if INVERT_X_DIR == 1
-	digitalWrite(X_DIR_PIN, !x_direction);
-#else
-	digitalWrite(X_DIR_PIN, x_direction);
-#endif
-
-#if INVERT_Y_DIR == 1
-	digitalWrite(Y_DIR_PIN, !y_direction);
-#else
-	digitalWrite(Y_DIR_PIN, y_direction);
-#endif
-
-#if INVERT_Z_DIR == 1
-	digitalWrite(Z_DIR_PIN, !z_direction);
-#else
-	digitalWrite(Z_DIR_PIN, z_direction);
-#endif
-        if(e_direction)
-          ex[extruder_in_use]->set_direction(1);
-        else
-          ex[extruder_in_use]->set_direction(0);
-  
-    //turn on steppers to start moving =)
-    
-	enable_steppers();
-        
-       // extcount = 0;
-
-        setTimer(DEFAULT_TICK);
-	live = true;
-}
-
-
-bool cartesian_dda::can_step(byte min_pin, byte max_pin, long current, long target, byte dir)
-{
-
-  //stop us if we're on target
-
-	if (target == current)
-		return false;
-
-#if ENDSTOPS_MIN_ENABLED == 1
-
-  //stop us if we're home and still going
-  
-	else if(min_pin >= 0)
-        {
-          if (read_switch(min_pin) && !dir)
-		return false;
-        }
-#endif
-
-#if ENDSTOPS_MAX_ENABLED == 1
-
-  //stop us if we're at max and still going
-  
-	else if(max_pin >= 0)
-        {
- 	    if (read_switch(max_pin) && dir)
- 		return false;
-        }
-#endif
-
-  // All OK - we can step
-  
-	return true;
-}
-
-
-void cartesian_dda::enable_steppers()
-{
-#if MOTHERBOARD > 0
- if(delta_steps.x)
-    digitalWrite(X_ENABLE_PIN, ENABLE_ON);
-  if(delta_steps.y)    
-    digitalWrite(Y_ENABLE_PIN, ENABLE_ON);
-  if(delta_steps.z)
-    digitalWrite(Z_ENABLE_PIN, ENABLE_ON);
-  if(delta_steps.e)
-    ex[extruder_in_use]->enableStep();
-#endif  
-}
-
-
-
-void cartesian_dda::disable_steppers()
-{
-#if MOTHERBOARD > 0
-	//disable our steppers
-	digitalWrite(X_ENABLE_PIN, !ENABLE_ON);
-	digitalWrite(Y_ENABLE_PIN, !ENABLE_ON);
-	//digitalWrite(Z_ENABLE_PIN, !ENABLE_ON);
-
-        // Disabling the extrude stepper causes the backpressure to
-        // turn the motor the wrong way.  Leave it on.
-        
-        //ex[extruder_in_use]->->disableStep();       
-#endif
-}
-
-/*
-
-void cartesian_dda::delayMicrosecondsInterruptible(unsigned int us)
-{
-
-#if F_CPU >= 16000000L
-    // for the 16 MHz clock on most Arduino boards
-
-	// for a one-microsecond delay, simply return.  the overhead
-	// of the function call yields a delay of approximately 1 1/8 us.
-	if (--us == 0)
-		return;
-
-	// the following loop takes a quarter of a microsecond (4 cycles)
-	// per iteration, so execute it four times for each microsecond of
-	// delay requested.
-	us <<= 2;
-
-	// account for the time taken in the preceeding commands.
-	us -= 2;
-#else
-    // for the 8 MHz internal clock on the ATmega168
-
-    // for a one- or two-microsecond delay, simply return.  the overhead of
-    // the function calls takes more than two microseconds.  can't just
-    // subtract two, since us is unsigned; we'd overflow.
-	if (--us == 0)
-		return;
-	if (--us == 0)
-		return;
-
-	// the following loop takes half of a microsecond (4 cycles)
-	// per iteration, so execute it twice for each microsecond of
-	// delay requested.
-	us <<= 1;
-    
-    // partially compensate for the time taken by the preceeding commands.
-    // we can't subtract any more than this or we'd overflow w/ small delays.
-    us--;
-#endif
-
-	// busy wait
-	__asm__ __volatile__ (
-		"1: sbiw %0,1" "\n\t" // 2 cycles
-		"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
-	);
-}
-*/
-
-
-#include "parameters.h"
-#include "pins.h"
-#include "ThermistorTable.h"
-#include "extruder.h" 
-
-// Keep all extruders up to temperature etc.
-
-void manage_all_extruders()
-{
-    for(byte i = 0; i < EXTRUDER_COUNT; i++)
-       ex[i]->manage();
-}
-
-// Select a new extruder
-
-void new_extruder(byte e)
-{
-  if(e < 0)
-    e = 0;
-  if(e >= EXTRUDER_COUNT)
-    e = EXTRUDER_COUNT - 1;
-  
-  if(e != extruder_in_use)
-  {  
-    extruder_in_use = e;
-    //setExtruder();
-  }
-}
-
-/***************************************************************************************************************************
-
-If we have a new motherboard (V 1.x, x >= 1), the extruder is entirely controlled via the RS485, and all  the functions to do
-it are simple inlines in extruder.h
-
-Otherwise, we have to do the work ourselves...
-*/
-
-#if MOTHERBOARD < 2   
-extruder::extruder(byte md_pin, byte ms_pin, byte h_pin, byte f_pin, byte t_pin, byte vd_pin, byte ve_pin, byte se_pin)
-{
-         motor_dir_pin = md_pin;
-         motor_speed_pin = ms_pin;
-         heater_pin = h_pin;
-         fan_pin = f_pin;
-         temp_pin = t_pin;
-         valve_dir_pin = vd_pin;
-         valve_en_pin = ve_pin;
-         step_en_pin = se_pin;
-         
-	//setup our pins
-	pinMode(motor_dir_pin, OUTPUT);
-	pinMode(motor_speed_pin, OUTPUT);
-	pinMode(heater_pin, OUTPUT);
-
-	pinMode(temp_pin, INPUT);
-	pinMode(valve_dir_pin, OUTPUT); 
-        pinMode(valve_en_pin, OUTPUT);
-
-	//initialize values
-	digitalWrite(motor_dir_pin, EXTRUDER_FORWARD);
-	
-	analogWrite(heater_pin, 0);
-	analogWrite(motor_speed_pin, 0);
-	digitalWrite(valve_dir_pin, false);
-	digitalWrite(valve_en_pin, 0);
-
-// The step enable pin and the fan pin are the same...
-// We can have one, or the other, but not both
-
-        if(step_en_pin >= 0)
-        {
-          pinMode(step_en_pin, OUTPUT);
-	  disableStep();
-        } else
-        {
-	  pinMode(fan_pin, OUTPUT);
-          analogWrite(fan_pin, 0);
-        }
-
-        //these our the default values for the extruder.
-        e_speed = 0;
-        target_celsius = 0;
-        max_celsius = 0;
-        heater_low = 64;
-        heater_high = 255;
-        heater_current = 0;
-        valve_open = false;
-        
-//this is for doing encoder based extruder control
-//        rpm = 0;
-//        e_delay = 0;
-//        error = 0;
-//        last_extruder_error = 0;
-//        error_delta = 0;
-        e_direction = EXTRUDER_FORWARD;
-        
-        //default to cool
-        set_temperature(target_celsius);
-}
-
-
-byte extruder::wait_till_hot()
-{  
-  count = 0;
-  oldT = get_temperature();
-  while (get_temperature() < target_celsius - HALF_DEAD_ZONE)
-  {
-	manage_all_extruders();
-        count++;
-        if(count > 20)
-        {
-            newT = get_temperature();
-            if(newT > oldT)
-               oldT = newT;
-            else
-                return 1;
-            count = 0;
-        }
-	delay(1000);
-  }
-  return 0;
-}
-
-/*
-byte extruder::wait_till_cool()
-{  
-  count = 0;
-  oldT = get_temperature();
-  while (get_temperature() > target_celsius + HALF_DEAD_ZONE)
-  {
-	manage_all_extruders();
-        count++;
-        if(count > 20)
-        {
-            newT = get_temperature();
-            if(newT < oldT)
-               oldT = newT;
-            else
-                return 1;
-            count = 0;
-        }
-	delay(1000);
-  }
-  return 0;
-}
-*/
-
-
-
-void extruder::valve_set(bool open, int dTime)
-{
-        wait_for_temperature();
-	valve_open = open;
-	digitalWrite(valve_dir_pin, open);
-        digitalWrite(valve_en_pin, 1);
-        delay(dTime);
-        digitalWrite(valve_en_pin, 0);
-}
-
-
-void extruder::set_temperature(int temp)
-{
-	target_celsius = temp;
-	max_celsius = (temp*11)/10;
-
-        // If we've turned the heat off, we might as well disable the extrude stepper
-       // if(target_celsius < 1)
-        //  disableStep(); 
-}
-
-/**
-*  Samples the temperature and converts it to degrees celsius.
-*  Returns degrees celsius.
-*/
-int extruder::get_temperature()
-{
-#ifdef USE_THERMISTOR
-	int raw = sample_temperature(temp_pin);
-
-	int celsius = 0;
-	byte i;
-
-	for (i=1; i<NUMTEMPS; i++)
-	{
-		if (temptable[i][0] > raw)
-		{
-			celsius  = temptable[i-1][1] + 
-				(raw - temptable[i-1][0]) * 
-				(temptable[i][1] - temptable[i-1][1]) /
-				(temptable[i][0] - temptable[i-1][0]);
-
-			break;
-		}
-	}
-
-        // Overflow: Set to last value in the table
-        if (i == NUMTEMPS) celsius = temptable[i-1][1];
-        // Clamp to byte
-        if (celsius > 255) celsius = 255; 
-        else if (celsius < 0) celsius = 0; 
-
-	return celsius;
-#else
-  return ( 5.0 * sample_temperature() * 100.0) / 1024.0;
-#endif
-}
-
-
-
-/*
-* This function gives us an averaged sample of the analog temperature pin.
-*/
-int extruder::sample_temperature()
-{
-	int raw = 0;
-	
-	//read in a certain number of samples
-	for (byte i=0; i<TEMPERATURE_SAMPLES; i++)
-		raw += analogRead(temp_pin);
-		
-	//average the samples
-	raw = raw/TEMPERATURE_SAMPLES;
-
-	//send it back.
-	return raw;
-}
-
-/*!
-  Manages extruder functions to keep temps, speeds etc
-  at the set levels.  Should be called only by manage_all_extruders(),
-  which should be called in all non-trivial loops.
-  o If temp is too low, don't start the motor
-  o Adjust the heater power to keep the temperature at the target
- */
-void extruder::manage()
-{
-	//make sure we know what our temp is.
-	int current_celsius = get_temperature();
-        byte newheat = 0;
-  
-        //put the heater into high mode if we're not at our target.
-        if (current_celsius < target_celsius)
-                newheat = heater_high;
-        //put the heater on low if we're at our target.
-        else if (current_celsius < max_celsius)
-                newheat = heater_low;
-        
-        // Only update heat if it changed
-        if (heater_current != newheat) {
-                heater_current = newheat;
-                analogWrite(heater_pin, heater_current);
-        }
-}
-
-
-#if 0
-void extruder::set_speed(float sp)
-{
-  // DC motor?
-    if(step_en_pin < 0)
-    {
-      e_speed = (byte)sp;
-      if(e_speed > 0)
-          wait_for_temperature();
-      analogWrite(motor_speed_pin, e_speed);
-      return;
-    }
-      
-    // No - stepper
-  disableTimerInterrupt();
-  
-  if(sp <= 1.0e-4)
-  {
-    disableStep();
-    e_speed = 0; // Just use this as a flag
-    return;
-  } else
-  {
-    wait_for_temperature();
-    enableStep();
-    e_speed = 1;
-  }
-    
-  extrude_step_count = 0;
-  
-  float milliseconds_per_step = 60000.0/(E_STEPS_PER_MM*sp);
-  long thousand_ticks_per_step = 4*(long)(milliseconds_per_step);
-  setupTimerInterrupt();
-  setTimer(thousand_ticks_per_step);
-  enableTimerInterrupt();
-}
-
-void extruder::interrupt()
-{
-    if(!e_speed)
-      return;
-    extrude_step_count++;
-    if(extrude_step_count > 1000)
-    {
-      step();
-      extrude_step_count = 0;
-    }
-}
-
-#endif
-#endif
-
-
-/*
- * Class to handle internal communications in the machine via RS485
- *
- * Adrian Bowyer 3 July 2009
- *
- */
-  
-#if MOTHERBOARD > 1
-
-#include "intercom.h"
-
-intercom::intercom()
-{
-  pinMode(RX_ENABLE_PIN, OUTPUT);
-  pinMode(TX_ENABLE_PIN, OUTPUT);
-  digitalWrite(RX_ENABLE_PIN, 0); //always listen.
-  Serial1.begin(38400);  
-}
-
-void intercom::sendPacket(byte address, char* string)
-{
-  digitalWrite(TX_ENABLE_PIN, 1);
-  Serial1.print(address, HEX);
-  Serial1.print(MASTER_ADDRESS);
-  Serial1.println(string);
-  digitalWrite(TX_ENABLE_PIN, 0);
-  getPacket(myBuffer, IC_BUFFER);
-  if(myBuffer[0] != MASTER_ADDRESS[0] ||  myBuffer[1] != MASTER_ADDRESS[1])
-  {
-     // Horrible error - what to do?
-  } 
-}
-
-void intercom::sendPacketWithReply(byte address, char* string, char* reply)
-{
-  
-}
-
-void intercom::getPacket(char* string, int len)
-{
-  int i = -1;
-  ok = true;
-  do
-  {
-    while(!Serial1.available()) delay(1);
-    i++;
-    
-    // Stop runaway buffer overflow
-    
-    if(i >= len)
-      ok = false;
-    else  
-      string[i] = Serial1.read();
-  } while(string[i] != '\n' && ok);
-  string[i] = 0;
-}
-
-#endif
-
-
-#include "parameters.h"
-#include "pins.h"
-#include "extruder.h"
-#include "vectors.h"
-#include "cartesian_dda.h"
-
-/* bit-flags for commands and parameters */
-#define GCODE_G	(1<<0)
-#define GCODE_M	(1<<1)
-#define GCODE_P	(1<<2)
-#define GCODE_X	(1<<3)
-#define GCODE_Y	(1<<4)
-#define GCODE_Z	(1<<5)
-#define GCODE_I	(1<<6)
-#define GCODE_J	(1<<7)
-#define GCODE_K	(1<<8)
-#define GCODE_F	(1<<9)
-#define GCODE_S	(1<<10)
-#define GCODE_Q	(1<<11)
-#define GCODE_R	(1<<12)
-#define GCODE_E	(1<<13)
-#define GCODE_T	(1<<14)
-
-
-#define PARSE_INT(ch, str, len, val, seen, flag) \
-	case ch: \
-		len = scan_int(str, &val, &seen, flag); \
-		break;
-
-#define PARSE_FLOAT(ch, str, len, val, seen, flag) \
-	case ch: \
-		len = scan_float(str, &val, &seen, flag); \
-		break;
-
-/* gcode line parse results */
-struct GcodeParser
-{
-    unsigned int seen;
-    int G;
-    int M;
-    int T;
-    float P;
-    float X;
-    float Y;
-    float Z;
-    float E;
-    float I;
-    float J;
-    float F;
-    float S;
-    float R;
-    float Q;
-};
-
-
-//our command string
-char cmdbuffer[COMMAND_SIZE];
-char c = '?';
-byte serial_count = 0;
-boolean comment = false;
-FloatPoint fp;
-FloatPoint sp;
-        
-// The following three inline functions are used for things like return to 0
-
-inline void specialMoveX(const float& x, const float& feed)
-{
-  sp = where_i_am;
-  sp.x = x;
-  sp.f = feed;
-  qMove(sp);
-}
-
-inline void specialMoveY(const float& y, const float& feed)
-{
-  sp = where_i_am;
-  sp.y = y;
-  sp.f = feed;
-  qMove(sp);
-}
-
-inline void specialMoveZ(const float& z, const float& feed)
-{
-  sp = where_i_am;
-  sp.z = z; 
-  sp.f = feed;
-  qMove(sp);
-}
-
-//our feedrate variables.
-//float feedrate = SLOW_XY_FEEDRATE;
-
-/* keep track of the last G code - this is the command mode to use
- * if there is no command in the current string 
- */
-int last_gcode_g = -1;
-
-boolean abs_mode = true; //0 = incremental; 1 = absolute
-
-float extruder_speed = 0;
-
-int scan_int(char *str, int *valp);
-int scan_float(char *str, float *valp);
-
-GcodeParser gc;	/* string parse result */
-
-
-//init our string processing
-inline void init_process_string()
-{
-	serial_count = 0;
-        comment = false;
-}
-
-// Get a command and process it
-
-void get_and_do_command()
-{
-	//read in characters if we got them.
-	if (Serial.available())
-	{
-		c = Serial.read();
-                if(c == '\r')
-                  c = '\n';
-                // Throw away control chars except \n
-                if(c >= ' ' || c == '\n')
-                {
-
-		  //newlines are ends of commands.
-		  if (c != '\n')
-		  {
-			// Start of comment - ignore any bytes received from now on
-			if (c == ';')
-				comment = true;
-				
-			// If we're not in comment mode, add it to our array.
-			if (!comment)
-				cmdbuffer[serial_count++] = c;
-		  }
-
-                }
-	}
-
-        // Data runaway?
-        if(serial_count >= COMMAND_SIZE)
-          init_process_string();
-
-	//if we've got a real command, do it
-	if (serial_count && c == '\n')
-	{
-                // Terminate string
-                cmdbuffer[serial_count] = 0;
-                
-		//process our command!
-		process_string(cmdbuffer, serial_count);
-
-		//clear command.
-		init_process_string();
-
-                // Say we're ready for the next one
-                
-                if(debugstring[0] != 0)
-                {
-                  Serial.print("ok ");
-                  Serial.println(debugstring);
-                  debugstring[0] = 0;
-                } else
-                  Serial.println("ok");
-	}
-}
-
-
-
-int parse_string(struct GcodeParser * gc, char instruction[ ], int size)
-{
-	int ind;
-	int len;	/* length of parameter argument */
-
-	gc->seen = 0;
-
-	len=0;
-	/* scan the string for commands and parameters, recording the arguments for each,
-	 * and setting the seen flag for each that is seen
-	 */
-	for (ind=0; ind<size; ind += (1+len))
-	{
-		len = 0;
-		switch (instruction[ind])
-		{
-			  PARSE_INT('G', &instruction[ind+1], len, gc->G, gc->seen, GCODE_G);
-			  PARSE_INT('M', &instruction[ind+1], len, gc->M, gc->seen, GCODE_M);
-			  PARSE_INT('T', &instruction[ind+1], len, gc->T, gc->seen, GCODE_T);
-			PARSE_FLOAT('S', &instruction[ind+1], len, gc->S, gc->seen, GCODE_S);
-			PARSE_FLOAT('P', &instruction[ind+1], len, gc->P, gc->seen, GCODE_P);
-			PARSE_FLOAT('X', &instruction[ind+1], len, gc->X, gc->seen, GCODE_X);
-			PARSE_FLOAT('Y', &instruction[ind+1], len, gc->Y, gc->seen, GCODE_Y);
-			PARSE_FLOAT('Z', &instruction[ind+1], len, gc->Z, gc->seen, GCODE_Z);
-			PARSE_FLOAT('I', &instruction[ind+1], len, gc->I, gc->seen, GCODE_I);
-			PARSE_FLOAT('J', &instruction[ind+1], len, gc->J, gc->seen, GCODE_J);
-			PARSE_FLOAT('F', &instruction[ind+1], len, gc->F, gc->seen, GCODE_F);
-			PARSE_FLOAT('R', &instruction[ind+1], len, gc->R, gc->seen, GCODE_R);
-			PARSE_FLOAT('Q', &instruction[ind+1], len, gc->Q, gc->seen, GCODE_Q);
-			PARSE_FLOAT('E', &instruction[ind+1], len, gc->E, gc->seen, GCODE_E);
-                        default:
-			  break;
-		}
-	}
-}
-
-
-//Read the string and execute instructions
-void process_string(char instruction[], int size)
-{
-	//the character / means delete block... used for comments and stuff.
-	if (instruction[0] == '/')	
-		return;
-
-        float fr;
-        
-	fp.x = 0.0;
-	fp.y = 0.0;
-	fp.z = 0.0;
-        fp.e = 0.0;
-        fp.f = 0.0;
-
-	//get all our parameters!
-	parse_string(&gc, instruction, size);
-	/* if no command was seen, but parameters were, then use the last G code as 
-	 * the current command
-	 */
-	if ((!(gc.seen & (GCODE_G | GCODE_M | GCODE_T))) && 
-	    ((gc.seen != 0) &&
-		(last_gcode_g >= 0))
-	)
-	{
-		/* yes - so use the previous command with the new parameters */
-		gc.G = last_gcode_g;
-		gc.seen |= GCODE_G;
-	}
-	//did we get a gcode?
-	if (gc.seen & GCODE_G)
-	{
-		last_gcode_g = gc.G;	/* remember this for future instructions */
-		fp = where_i_am;
-		if (abs_mode)
-		{
-			if (gc.seen & GCODE_X)
-				fp.x = gc.X;
-			if (gc.seen & GCODE_Y)
-				fp.y = gc.Y;
-			if (gc.seen & GCODE_Z)
-				fp.z = gc.Z;
-			if (gc.seen & GCODE_E)
-				fp.e = gc.E;
-		}
-		else
-		{
-			if (gc.seen & GCODE_X)
-				fp.x += gc.X;
-			if (gc.seen & GCODE_Y)
-				fp.y += gc.Y;
-			if (gc.seen & GCODE_Z)
-				fp.z += gc.Z;
-			if (gc.seen & GCODE_E)
-				fp.e += gc.E;
-		}
-
-		// Get feedrate if supplied - feedrates are always absolute???
-		if ( gc.seen & GCODE_F )
-			fp.f = gc.F;
-               
-                // Process the buffered move commands first
-                // If we get one, return immediately
-
-		switch (gc.G)
-                {
-			//Rapid move
-			case 0:
-                                fr = fp.f;
-                                fp.f = FAST_XY_FEEDRATE;
-                                qMove(fp);
-                                fp.f = fr;
-                                return;
-                                
-                        // Controlled move
-			case 1:
-                                qMove(fp);
-                                return;
-                                
-                        //go home.
-			case 28:
-                                where_i_am.f = SLOW_XY_FEEDRATE;
-                                specialMoveX(where_i_am.x - 5, FAST_XY_FEEDRATE);
-                                specialMoveX(where_i_am.x - 250, FAST_XY_FEEDRATE);
-                                where_i_am.x = 0;
-                                where_i_am.f = SLOW_XY_FEEDRATE;
-                                specialMoveX(where_i_am.x + 1, SLOW_XY_FEEDRATE);
-                                specialMoveX(where_i_am.x - 10, SLOW_XY_FEEDRATE);                                
-                                where_i_am.x = 0;
-                                
-                                specialMoveY(where_i_am.y - 5, FAST_XY_FEEDRATE);
-                                specialMoveY(where_i_am.y - 250, FAST_XY_FEEDRATE);
-                                where_i_am.y = 0;
-                                where_i_am.f = SLOW_XY_FEEDRATE;
-                                specialMoveY(where_i_am.y + 1, SLOW_XY_FEEDRATE);
-                                specialMoveY(where_i_am.y - 10, SLOW_XY_FEEDRATE);                                
-                                where_i_am.y = 0; 
- 
-                                where_i_am.f = SLOW_Z_FEEDRATE;
-                                specialMoveZ(where_i_am.z - 0.5, FAST_Z_FEEDRATE);
-                                specialMoveZ(where_i_am.z - 250, FAST_Z_FEEDRATE);
-                                where_i_am.z = 0;
-                                where_i_am.f = SLOW_Z_FEEDRATE;
-                                specialMoveZ(where_i_am.z + 1, SLOW_Z_FEEDRATE);
-                                specialMoveZ(where_i_am.z - 2, SLOW_Z_FEEDRATE);                                
-                                where_i_am.z = 0;
-                                where_i_am.f = SLOW_XY_FEEDRATE;     // Most sensible feedrate to leave it in                    
-
-				return;
-
-
-                  default:
-                                break;
-                }
-                
-		// Non-buffered G commands
-                // Wait till the buffer q is empty first
-                    
-                  while(!qEmpty()) delay(WAITING_DELAY);
-		  switch (gc.G)
-		  {
-
-  			 //Dwell
-			case 4:
-				delay((int)(gc.P + 0.5));  
-				break;
-
-			//Inches for Units
-			case 20:
-                                setUnits(false);
-				break;
-
-			//mm for Units
-			case 21:
-                                setUnits(true);
-				break;
-
-			//Absolute Positioning
-			case 90: 
-				abs_mode = true;
-				break;
-
-			//Incremental Positioning
-			case 91: 
-				abs_mode = false;
-				break;
-
-			//Set position as fp
-			case 92: 
-                                setPosition(fp);
-				break;
-
-			default:
-				Serial.print("huh? G");
-				Serial.println(gc.G, DEC);
-		  }
-	}
-
-
-
-        
-	//find us an m code.
-	if (gc.seen & GCODE_M)
-	{
-            // Wait till the q is empty first
-            while(!qEmpty()) delay(WAITING_DELAY);
-            
-		switch (gc.M)
-		{
-			//TODO: this is a bug because search_string returns 0.  gotta fix that.
-			case 0:
-				break;
-				/*
-				 case 0:
-				 //todo: stop program
-				 break;
-
-				 case 1:
-				 //todo: optional stop
-				 break;
-
-				 case 2:
-				 //todo: program end
-				 break;
-				 */
-
-// Now, with E codes, there is no longer any idea of turning the extruder on or off.
-// (But see valve on/off below.)
-
-/*
-			//turn extruder on, forward
-			case 101:
-				ex[extruder_in_use]->set_direction(1);
-				ex[extruder_in_use]->set_speed(extruder_speed);
-				break;
-
-			//turn extruder on, reverse
-			case 102:
-				ex[extruder_in_use]->set_direction(0);
-				ex[extruder_in_use]->set_speed(extruder_speed);
-				break;
-
-			//turn extruder off
-			case 103:
-				ex[extruder_in_use]->set_speed(0);
-				break;
-*/
-			//custom code for temperature control
-			case 104:
-				if (gc.seen & GCODE_S)
-				{
-					ex[extruder_in_use]->set_temperature((int)gc.S);
-				}
-				break;
-
-			//custom code for temperature reading
-			case 105:
-				Serial.print("T:");
-				Serial.println(ex[extruder_in_use]->get_temperature());
-				break;
-
-			//turn fan on
-			case 106:
-				ex[extruder_in_use]->set_cooler(255);
-				break;
-
-			//turn fan off
-			case 107:
-				ex[extruder_in_use]->set_cooler(0);
-				break;
-/*
-// Extruder speed is now entirely controlled by E codes
-			//set max extruder speed, 0-255 PWM
-			case 108:
-				if (gc.seen & GCODE_S)
-					extruder_speed = gc.S;
-				break;
-*/
-
-// The valve (real, or virtual...) is now the way to control any extruder (such as
-// a pressurised paste extruder) that cannot move using E codes.
-
-                        // Open the valve
-                        case 126:
-                                ex[extruder_in_use]->valve_set(true, (int)(gc.P + 0.5));
-                                break;
-                                
-                        // Close the valve
-                        case 127:
-                                ex[extruder_in_use]->valve_set(false, (int)(gc.P + 0.5));
-                                break;
-                                                                
-
-			default:
-				Serial.print("Huh? M");
-				Serial.println(gc.M, DEC);
-		}
-
-                
-
-	}
-
-// Tool (i.e. extruder) change?
-                
-        if (gc.seen & GCODE_T)
-        {
-            while(!qEmpty()) delay(WAITING_DELAY);
-            new_extruder(gc.T);
-        }
-}
-
-int scan_float(char *str, float *valp, unsigned int *seen, unsigned int flag)
-{
-	float res;
-	int len;
-	char *end;
-     
-	res = (float)strtod(str, &end);
-      
-	len = end - str;
-
-	if (len > 0)
-	{
-		*valp = res;
-		*seen |= flag;
-	}
-	else
-		*valp = 0;
-          
-	return len;	/* length of number */
-}
-
-int scan_int(char *str, int *valp, unsigned int *seen, unsigned int flag)
-{
-	int res;
-	int len;
-	char *end;
-
-	res = (int)strtol(str, &end, 10);
-	len = end - str;
-
-	if (len > 0)
-	{
-		*valp = res;
-		*seen |= flag;
-	}
-	else
-		*valp = 0;
-          
-	return len;	/* length of number */
-}
-
-
-
-
-int main(void)
-{
-	init();
-
-	setup();
-    
-	for (;;)
-		loop();
-        
-	return 0;
-}
-
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.eep b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.eep
deleted file mode 100644
index 1996e8fd..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.eep
+++ /dev/null
@@ -1 +0,0 @@
-:00000001FF
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.elf b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.elf
deleted file mode 100755
index ee582b94..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.elf
+++ /dev/null
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.hex b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.hex
deleted file mode 100644
index feef6048..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.hex
+++ /dev/null
@@ -1,1107 +0,0 @@
-:100000000C9495000C94BD000C94BD000C94BD00A4
-:100010000C94BD000C94BD000C94BD000C94BD006C
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diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.pde
deleted file mode 100644
index 15b5311d..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/FiveD_GCode_Interpreter.pde
+++ /dev/null
@@ -1,353 +0,0 @@
-// Yep, this is actually -*- c++ -*-
-
-// Sanguino G-code Interpreter
-// Arduino v1.0 by Mike Ellery - initial software (mellery@gmail.com)
-// v1.1 by Zach Hoeken - cleaned up and did lots of tweaks (hoeken@gmail.com)
-// v1.2 by Chris Meighan - cleanup / G2&G3 support (cmeighan@gmail.com)
-// v1.3 by Zach Hoeken - added thermocouple support and multi-sample temp readings. (hoeken@gmail.com)
-// Sanguino v1.4 by Adrian Bowyer - added the Sanguino; extensive mods... (a.bowyer@bath.ac.uk)
-// Sanguino v1.5 by Adrian Bowyer - implemented 4D Bressenham XYZ+ stepper control... (a.bowyer@bath.ac.uk)
-// Sanguino v1.6 by Adrian Bowyer - implemented RS485 extruders
-
-#ifndef __AVR_ATmega644P__
-#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
-#endif
-
-#include <ctype.h>
-#include <HardwareSerial.h>
-#include "WProgram.h"
-#include "vectors.h"
-#include "parameters.h"
-#include "intercom.h"
-#include "pins.h"
-#include "extruder.h"
-#include "cartesian_dda.h"
-
-// Maintain a list of extruders...
-
-extruder* ex[EXTRUDER_COUNT];
-byte extruder_in_use = 0;
-
-// Text placed in this (terminated with 0) will be transmitted back to the host
-// along with the next G Code acknowledgement.
-char debugstring[10];
-
-#if MOTHERBOARD < 2
-
-// TODO: For some reason, if you declare the following two in the order ex0 ex1 then
-// ex0 won't drive its stepper.  They seem fine this way round though.  But that's got
-// to be a bug.
-
-#if EXTRUDER_COUNT == 2            
-static extruder ex1(EXTRUDER_1_MOTOR_DIR_PIN, EXTRUDER_1_MOTOR_SPEED_PIN , EXTRUDER_1_HEATER_PIN,
-              EXTRUDER_1_FAN_PIN,  EXTRUDER_1_TEMPERATURE_PIN, EXTRUDER_1_VALVE_DIR_PIN,
-              EXTRUDER_1_VALVE_ENABLE_PIN, EXTRUDER_1_STEP_ENABLE_PIN);            
-#endif
-
-static extruder ex0(EXTRUDER_0_MOTOR_DIR_PIN, EXTRUDER_0_MOTOR_SPEED_PIN , EXTRUDER_0_HEATER_PIN,
-            EXTRUDER_0_FAN_PIN,  EXTRUDER_0_TEMPERATURE_PIN, EXTRUDER_0_VALVE_DIR_PIN,
-            EXTRUDER_0_VALVE_ENABLE_PIN, EXTRUDER_0_STEP_ENABLE_PIN);
-            
-            
-#else
-
-#if EXTRUDER_COUNT == 2    
-static extruder ex1(2);            
-#endif
-
-static extruder ex0(1);
-
-intercom talker;
-
-#endif
-
-// Each entry in the buffer is an instance of cartesian_dda.
-
-cartesian_dda* cdda[BUFFER_SIZE];
-
-static cartesian_dda cdda0;
-static cartesian_dda cdda1;
-static cartesian_dda cdda2;
-static cartesian_dda cdda3;
-
-volatile byte head;
-volatile byte tail;
-
-// Where the machine is from the point of view of the command stream
-
-FloatPoint where_i_am;
-
-// Make sure each DDA knows which extruder to use
-
-//inline void setExtruder()
-//{
-//   for(byte i = 0; i < BUFFER_SIZE; i++)
-//    cdda[i]->set_extruder(ex[extruder_in_use]);
-//}
-
-
-// Our interrupt function
-
-SIGNAL(SIG_OUTPUT_COMPARE1A)
-{
-  disableTimerInterrupt();
-  
-  if(cdda[tail]->active())
-    cdda[tail]->dda_step();
-  else
-    dQMove();
-    
-  enableTimerInterrupt();
-}
-
-void setup()
-{
-  disableTimerInterrupt();
-  setupTimerInterrupt();
-  debugstring[0] = 0;
-  
-  ex[0] = &ex0;
-#if EXTRUDER_COUNT == 2  
-  ex[1] = &ex1;
-#endif  
-  extruder_in_use = 0; 
-  
-  head = 0;
-  tail = 0;
-  
-  cdda[0] = &cdda0;
-  cdda[1] = &cdda1;  
-  cdda[2] = &cdda2;  
-  cdda[3] = &cdda3;
-  
-  //setExtruder();
-  
-  init_process_string();
-  
-  where_i_am.x = 0.0;
-  where_i_am.y = 0.0;
-  where_i_am.z = 0.0;
-  where_i_am.e = 0.0;
-  where_i_am.f = SLOW_XY_FEEDRATE;
-  
-  Serial.begin(19200);
-  Serial.println("start");
-  
-  setTimer(DEFAULT_TICK);
-  enableTimerInterrupt();
-}
-
-void loop()
-{
-	manage_all_extruders();
-        get_and_do_command();        
-}
-
-//******************************************************************************************
-
-// The move buffer
-
-inline bool qFull()
-{
-  if(tail == 0)
-    return head == (BUFFER_SIZE - 1);
-  else
-    return head == (tail - 1);
-}
-
-inline bool qEmpty()
-{
-   return tail == head && !cdda[tail]->active();
-}
-
-inline void qMove(const FloatPoint& p)
-{
-  while(qFull()) delay(WAITING_DELAY);
-  byte h = head; 
-  h++;
-  if(h >= BUFFER_SIZE)
-    h = 0;
-  cdda[h]->set_target(p);
-  head = h;
-}
-
-inline void dQMove()
-{
-  if(qEmpty())
-    return;
-  byte t = tail;  
-  t++;
-  if(t >= BUFFER_SIZE)
-    t = 0;
-  cdda[t]->dda_start();
-  tail = t; 
-}
-
-inline void setUnits(bool u)
-{
-   for(byte i = 0; i < BUFFER_SIZE; i++)
-     cdda[i]->set_units(u); 
-}
-
-
-inline void setPosition(const FloatPoint& p)
-{
-  where_i_am = p;  
-}
-
-
-//******************************************************************************************
-
-// Interrupt functions
-
-void setupTimerInterrupt()
-{
-	//clear the registers
-	TCCR1A = 0;
-	TCCR1B = 0;
-	TCCR1C = 0;
-	TIMSK1 = 0;
-	
-	//waveform generation = 0100 = CTC
-	TCCR1B &= ~(1<<WGM13);
-	TCCR1B |=  (1<<WGM12);
-	TCCR1A &= ~(1<<WGM11); 
-	TCCR1A &= ~(1<<WGM10);
-
-	//output mode = 00 (disconnected)
-	TCCR1A &= ~(1<<COM1A1); 
-	TCCR1A &= ~(1<<COM1A0);
-	TCCR1A &= ~(1<<COM1B1); 
-	TCCR1A &= ~(1<<COM1B0);
-
-	//start off with a slow frequency.
-	setTimerResolution(4);
-	setTimerCeiling(65535);
-}
-
-void setTimerResolution(byte r)
-{
-	//here's how you figure out the tick size:
-	// 1000000 / ((16000000 / prescaler))
-	// 1000000 = microseconds in 1 second
-	// 16000000 = cycles in 1 second
-	// prescaler = your prescaler
-
-	// no prescaler == 0.0625 usec tick
-	if (r == 0)
-	{
-		// 001 = clk/1
-		TCCR1B &= ~(1<<CS12);
-		TCCR1B &= ~(1<<CS11);
-		TCCR1B |=  (1<<CS10);
-	}	
-	// prescale of /8 == 0.5 usec tick
-	else if (r == 1)
-	{
-		// 010 = clk/8
-		TCCR1B &= ~(1<<CS12);
-		TCCR1B |=  (1<<CS11);
-		TCCR1B &= ~(1<<CS10);
-	}
-	// prescale of /64 == 4 usec tick
-	else if (r == 2)
-	{
-		// 011 = clk/64
-		TCCR1B &= ~(1<<CS12);
-		TCCR1B |=  (1<<CS11);
-		TCCR1B |=  (1<<CS10);
-	}
-	// prescale of /256 == 16 usec tick
-	else if (r == 3)
-	{
-		// 100 = clk/256
-		TCCR1B |=  (1<<CS12);
-		TCCR1B &= ~(1<<CS11);
-		TCCR1B &= ~(1<<CS10);
-	}
-	// prescale of /1024 == 64 usec tick
-	else
-	{
-		// 101 = clk/1024
-		TCCR1B |=  (1<<CS12);
-		TCCR1B &= ~(1<<CS11);
-		TCCR1B |=  (1<<CS10);
-	}
-}
-
-unsigned int getTimerCeiling(const long& delay)
-{
-	// our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs)
-	if (delay <= 65535L)
-		return (delay & 0xffff);
-	// our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs)
-	else if (delay <= 524280L)
-		return ((delay / 8) & 0xffff);
-	// our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs)
-	else if (delay <= 4194240L)
-		return ((delay / 64) & 0xffff);
-	// our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs)
-	else if (delay <= 16776960L)
-		return ((delay / 256) & 0xffff);
-	// our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs)
-	else if (delay <= 67107840L)
-		return ((delay / 1024) & 0xffff);
-	//its really slow... hopefully we can just get by with super slow.
-	else
-		return 65535;
-}
-
-byte getTimerResolution(const long& delay)
-{
-	// these also represent frequency: 1000000 / delay / 2 = frequency in hz.
-	
-	// our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs (4 millisecond max))
-	// range: 8Mhz max - 122hz min
-	if (delay <= 65535L)
-		return 0;
-	// our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs (32 millisecond max))
-	// range:1Mhz max - 15.26hz min
-	else if (delay <= 524280L)
-		return 1;
-	// our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs (0.26 seconds max))
-	// range: 125Khz max - 1.9hz min
-	else if (delay <= 4194240L)
-		return 2;
-	// our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs (1.04 seconds max))
-	// range: 31.25Khz max - 0.475hz min
-	else if (delay <= 16776960L)
-		return 3;
-	// our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs (4.19 seconds max))
-	// range: 7.812Khz max - 0.119hz min
-	else if (delay <= 67107840L)
-		return 4;
-	//its really slow... hopefully we can just get by with super slow.
-	else
-		return 4;
-}
-
-
-// Depending on how much work the interrupt function has to do, this is
-// pretty accurate between 10 us and 0.1 s.  At fast speeds, the time
-// taken in the interrupt function becomes significant, of course.
-
-// Note - it is up to the user to call enableTimerInterrupt() after a call
-// to this function.
-
-inline void setTimer(long delay)
-{
-	// delay is the delay between steps in microsecond ticks.
-	//
-	// we break it into 5 different resolutions based on the delay. 
-	// then we set the resolution based on the size of the delay.
-	// we also then calculate the timer ceiling required. (ie what the counter counts to)
-	// the result is the timer counts up to the appropriate time and then fires an interrupt.
-
-        // Actual ticks are 0.0625 us, so multiply delay by 16
-        
-        delay <<= 4;
-        
-	setTimerCeiling(getTimerCeiling(delay));
-	setTimerResolution(getTimerResolution(delay));
-}
-
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/ThermistorTable.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/ThermistorTable.h
deleted file mode 100644
index c55b9c91..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/ThermistorTable.h
+++ /dev/null
@@ -1,54 +0,0 @@
-#ifndef THERMISTORTABLE_H_
-#define THERMISTORTABLE_H_
-
-#if MOTHERBOARD < 2
-
-// Uncomment the next line if you are using a thermistor; leave it if you have a thermocouple
-//#define USE_THERMISTOR
-
-// How many temperature samples to take for an average.  each sample takes about 100 usecs.
-#define TEMPERATURE_SAMPLES 3
-
-// How accurately do we maintain the temperature?
-#define HALF_DEAD_ZONE 5
-
-// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts)
-// See this page:  
-// http://dev.www.reprap.org/bin/view/Main/Thermistor
-// for details of what goes in this table.
-// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py)
-// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023
-// r0: 100000
-// t0: 25
-// r1: 0
-// r2: 4700
-// beta: 4066
-// max adc: 1023
-#ifdef USE_THERMISTOR
-#define NUMTEMPS 20
-short temptable[NUMTEMPS][2] = {
-   {1, 841},
-   {54, 255},
-   {107, 209},
-   {160, 184},
-   {213, 166},
-   {266, 153},
-   {319, 142},
-   {372, 132},
-   {425, 124},
-   {478, 116},
-   {531, 108},
-   {584, 101},
-   {637, 93},
-   {690, 86},
-   {743, 78},
-   {796, 70},
-   {849, 61},
-   {902, 50},
-   {955, 34},
-   {1008, 3}
-};
-
-#endif
-#endif
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/cartesian_dda.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/cartesian_dda.h
deleted file mode 100644
index bf6e9217..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/cartesian_dda.h
+++ /dev/null
@@ -1,174 +0,0 @@
-/*
- * This class controls the movement of the RepRap machine.
- * It implements a DDA in four dimensions, so the length of extruded 
- * filament is treated as a variable, just like X, Y, and Z.
- *
- * Adrian Bowyer 9 May 2009
- */
-
-#ifndef CARTESIAN_DDA_H
-#define CARTESIAN_DDA_H
-
-// Main class for moving the RepRap machine about
-
-class cartesian_dda
-{
-private:
-
-  //extruder* ext;               // The extruder I'm currently using - keep this up to date...
-
-  FloatPoint units;            // Factors for converting either mm or inches to steps
-
-  FloatPoint target_position;  // Where it's going
-  FloatPoint delta_position;   // The difference between the two
-  float distance;              // How long the path is
-  
-  LongPoint current_steps;     // Similar information as above in steps rather than units
-  LongPoint target_steps;
-  LongPoint delta_steps;
-  LongPoint dda_counter;       // DDA error-accumulation variables
-  long t_scale;                // When doing lots of t steps, scale them so the DDA doesn't spend for ever on them
-  
-  byte x_direction;            // Am I going in the + or - direction?
-  byte y_direction;
-  byte z_direction;
-  byte e_direction;
-  byte f_direction;
-
-  bool x_can_step;             // Am I not at an endstop?  Have I not reached the target? etc.
-  bool y_can_step;
-  bool z_can_step;
-  bool e_can_step;
-  bool f_can_step;
-
-// Variables for acceleration calculations
-
-  long total_steps;            // The number of steps to take along the longest movement axis
-  
-  long timestep;               // microseconds
-  bool nullmove;               // this move is zero length
-  bool real_move;              // Flag to know if we've changed something physical
-  volatile bool live;                   // Flag for when we're plotting a line
-
-// Internal functions that need not concern the user
-
-  // Take a single step
-
-  void do_x_step();               
-  void do_y_step();
-  void do_z_step();
-  void do_e_step();
-  
-  // Can this axis step?
-  
-  bool can_step(byte min_pin, byte max_pin, long current, long target, byte dir);
-  
-  // Read a limit switch
-  
-  bool read_switch(byte pin);
-  
-  // Work out the number of microseconds between steps
-  
-  long calculate_feedrate_delay(const float& feedrate);
-  
-  // Switch the steppers on and off
-  
-  void enable_steppers();
-  void disable_steppers();
-  
-  // Custom short delay function (microseconds)
-  
-  //void delayMicrosecondsInterruptible(unsigned int us);
-  
-  
-public:
-
-  cartesian_dda();
-  
-  // Set where I'm going
-  
-  void set_target(const FloatPoint& p);
-  
-  // Start the DDA
-  
-  void dda_start();
-  
-  // Do one step of the DDA
-  
-  void dda_step();
-  
-  // Are we running at the moment?
-  
-  bool active();
-  
-  // True for mm; false for inches
-  
-  void set_units(bool using_mm);
-  
-  // Record the selection of a new extruder
-  
-  //void set_extruder(extruder* ex);
-};
-
-// Short functions inline to save memory; particularly useful in the Arduino
-
-
-//inline void cartesian_dda::set_extruder(extruder* ex)
-//{
-//  ext = ex;
-//}
-
-inline bool cartesian_dda::active()
-{
-  return live;
-}
-
-inline void cartesian_dda::do_x_step()
-{
-	digitalWrite(X_STEP_PIN, HIGH);
-	delayMicroseconds(5);
-	digitalWrite(X_STEP_PIN, LOW);
-}
-
-inline void cartesian_dda::do_y_step()
-{
-	digitalWrite(Y_STEP_PIN, HIGH);
-	delayMicroseconds(5);
-	digitalWrite(Y_STEP_PIN, LOW);
-}
-
-inline void cartesian_dda::do_z_step()
-{
-	digitalWrite(Z_STEP_PIN, HIGH);
-	delayMicroseconds(5);
-	digitalWrite(Z_STEP_PIN, LOW);
-}
-
-inline void cartesian_dda::do_e_step()
-{
-        ex[extruder_in_use]->step();
-}
-
-inline long cartesian_dda::calculate_feedrate_delay(const float& feedrate)
-{  
-        
-	// Calculate delay between steps in microseconds.  Here it is in English:
-        // (feedrate is in mm/minute, distance is in mm)
-	// 60000000.0*distance/feedrate  = move duration in microseconds
-	// move duration/total_steps = time between steps for master axis.
-
-	return round( (distance*60000000.0) / (feedrate*(float)total_steps) );	
-}
-
-inline bool cartesian_dda::read_switch(byte pin)
-{
-	//dual read as crude debounce
-
-	#if ENDSTOPS_INVERTING == 1
-		return !digitalRead(pin) && !digitalRead(pin);
-	#else
-		return digitalRead(pin) && digitalRead(pin);
-	#endif
-}
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/cartesian_dda.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/cartesian_dda.pde
deleted file mode 100644
index 9f03047e..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/cartesian_dda.pde
+++ /dev/null
@@ -1,468 +0,0 @@
-#include <stdio.h>
-#include "parameters.h"
-#include "pins.h"
-#include "extruder.h"
-#include "vectors.h"
-#include "cartesian_dda.h"
-
-
-// Initialise X, Y and Z.  The extruder is initialized
-// separately.
-
-cartesian_dda::cartesian_dda()
-{
-        live = false;
-        nullmove = false;
-        
-  // Default is going forward
-  
-        x_direction = 1;
-        y_direction = 1;
-        z_direction = 1;
-        e_direction = 1;
-        f_direction = 1;
-        
-  // Default to the origin and not going anywhere
-  
-	target_position.x = 0.0;
-	target_position.y = 0.0;
-	target_position.z = 0.0;
-	target_position.e = 0.0;
-        target_position.f = SLOW_XY_FEEDRATE;
-
-  // Set up the pin directions
-  
-	pinMode(X_STEP_PIN, OUTPUT);
-	pinMode(X_DIR_PIN, OUTPUT);
-
-	pinMode(Y_STEP_PIN, OUTPUT);
-	pinMode(Y_DIR_PIN, OUTPUT);
-
-	pinMode(Z_STEP_PIN, OUTPUT);
-	pinMode(Z_DIR_PIN, OUTPUT);
-
-#if MOTHERBOARD > 0
-	pinMode(X_ENABLE_PIN, OUTPUT);
-	pinMode(Y_ENABLE_PIN, OUTPUT);
-	pinMode(Z_ENABLE_PIN, OUTPUT);
-#endif
-
-  //turn the motors off at the start.
-
-	disable_steppers();
-
-#if ENDSTOPS_MIN_ENABLED == 1
-	pinMode(X_MIN_PIN, INPUT);
-	pinMode(Y_MIN_PIN, INPUT);
-	pinMode(Z_MIN_PIN, INPUT);
-#endif
-
-#if ENDSTOPS_MAX_ENABLED == 1
-	pinMode(X_MAX_PIN, INPUT);
-	pinMode(Y_MAX_PIN, INPUT);
-	pinMode(Z_MAX_PIN, INPUT);
-#endif
-	
-        // Default units are mm
-        
-        set_units(true);
-}
-
-// Switch between mm and inches
-
-void cartesian_dda::set_units(bool using_mm)
-{
-    if(using_mm)
-    {
-      units.x = X_STEPS_PER_MM;
-      units.y = Y_STEPS_PER_MM;
-      units.z = Z_STEPS_PER_MM;
-      units.e = E_STEPS_PER_MM;
-      units.f = 1.0;
-    } else
-    {
-      units.x = X_STEPS_PER_INCH;
-      units.y = Y_STEPS_PER_INCH;
-      units.z = Z_STEPS_PER_INCH;
-      units.e = E_STEPS_PER_INCH;
-      units.f = 1.0;  
-    }
-}
-
-
-void cartesian_dda::set_target(const FloatPoint& p)
-{
-        target_position = p;
-        nullmove = false;
-        
-	//figure our deltas.
-
-        delta_position = fabsv(target_position - where_i_am);
-        
-        // The feedrate values refer to distance in (X, Y, Z) space, so ignore e and f
-        // values unless they're the only thing there.
-
-        FloatPoint squares = delta_position*delta_position;
-        distance = squares.x + squares.y + squares.z;
-        // If we are 0, only thing changing is e
-        if(distance <= 0.0)
-          distance = squares.e;
-        // If we are still 0, only thing changing is f
-        if(distance <= 0.0)
-          distance = squares.f;
-        distance = sqrt(distance);          
-                                                                                   			
-	//set our steps current, target, and delta
-
-        current_steps = to_steps(units, where_i_am);
-	target_steps = to_steps(units, target_position);
-	delta_steps = absv(target_steps - current_steps);
-
-	// find the dominant axis.
-        // NB we ignore the f values here, as it takes no time to take a step in time :-)
-
-        total_steps = max(delta_steps.x, delta_steps.y);
-        total_steps = max(total_steps, delta_steps.z);
-        total_steps = max(total_steps, delta_steps.e);
-  
-        // If we're not going anywhere, flag the fact
-        
-        if(total_steps == 0)
-        {
-          nullmove = true;
-          where_i_am = p;
-          return;
-        }    
-
-#ifndef ACCELERATION_ON
-        current_steps.f = round(target_position.f);
-#endif
-
-        delta_steps.f = abs(target_steps.f - current_steps.f);
-        
-        // Rescale the feedrate so it doesn't take lots of steps to do
-        
-        t_scale = 1;
-        if(delta_steps.f > total_steps)
-        {
-            t_scale = delta_steps.f/total_steps;
-            if(t_scale >= 3)
-            {
-              target_steps.f = target_steps.f/t_scale;
-              current_steps.f = current_steps.f/t_scale;
-              delta_steps.f = abs(target_steps.f - current_steps.f);
-              if(delta_steps.f > total_steps)
-                total_steps =  delta_steps.f;
-            } else
-            {
-              t_scale = 1;
-              total_steps =  delta_steps.f;
-            }
-        } 
-        	
-	//what is our direction?
-
-	x_direction = (target_position.x >= where_i_am.x);
-	y_direction = (target_position.y >= where_i_am.y);
-	z_direction = (target_position.z >= where_i_am.z);
-	e_direction = (target_position.e >= where_i_am.e);
-	f_direction = (target_position.f >= where_i_am.f);
-
-	dda_counter.x = -total_steps/2;
-	dda_counter.y = dda_counter.x;
-	dda_counter.z = dda_counter.x;
-        dda_counter.e = dda_counter.x;
-        dda_counter.f = dda_counter.x;
-  
-        where_i_am = p;
-        
-        return;        
-}
-
-
-
-void cartesian_dda::dda_step()
-{  
-  if(!live)
-   return;
-   
-  do
-  {
-		x_can_step = can_step(X_MIN_PIN, X_MAX_PIN, current_steps.x, target_steps.x, x_direction);
-		y_can_step = can_step(Y_MIN_PIN, Y_MAX_PIN, current_steps.y, target_steps.y, y_direction);
-		z_can_step = can_step(Z_MIN_PIN, Z_MAX_PIN, current_steps.z, target_steps.z, z_direction);
-                e_can_step = can_step(-1, -1, current_steps.e, target_steps.e, e_direction);
-                f_can_step = can_step(-1, -1, current_steps.f, target_steps.f, f_direction);
-                
-                real_move = false;
-                
-		if (x_can_step)
-		{
-			dda_counter.x += delta_steps.x;
-			
-			if (dda_counter.x > 0)
-			{
-				do_x_step();
-                                real_move = true;
-				dda_counter.x -= total_steps;
-				
-				if (x_direction)
-					current_steps.x++;
-				else
-					current_steps.x--;
-			}
-		}
-
-		if (y_can_step)
-		{
-			dda_counter.y += delta_steps.y;
-			
-			if (dda_counter.y > 0)
-			{
-				do_y_step();
-                                real_move = true;
-				dda_counter.y -= total_steps;
-
-				if (y_direction)
-					current_steps.y++;
-				else
-					current_steps.y--;
-			}
-		}
-		
-		if (z_can_step)
-		{
-			dda_counter.z += delta_steps.z;
-			
-			if (dda_counter.z > 0)
-			{
-				do_z_step();
-                                real_move = true;
-				dda_counter.z -= total_steps;
-				
-				if (z_direction)
-					current_steps.z++;
-				else
-					current_steps.z--;
-			}
-		}
-
-		if (e_can_step)
-		{
-			dda_counter.e += delta_steps.e;
-			
-			if (dda_counter.e > 0)
-			{
-				do_e_step();
-                                real_move = true;
-				dda_counter.e -= total_steps;
-				
-				if (e_direction)
-					current_steps.e++;
-				else
-					current_steps.e--;
-			}
-		}
-		
-		if (f_can_step)
-		{
-			dda_counter.f += delta_steps.f;
-			
-			if (dda_counter.f > 0)
-			{
-				dda_counter.f -= total_steps;
-				if (f_direction)
-					current_steps.f++;
-				else
-					current_steps.f--;
-			}
-		}
-
-				
-      // wait for next step.
-      // Use milli- or micro-seconds, as appropriate
-      // If the only thing that changed was f keep looping
-  
-                if(real_move)
-                {
-                  if(t_scale > 1)
-                    timestep = t_scale*current_steps.f;
-                  else
-                    timestep = current_steps.f;
-                  timestep = calculate_feedrate_delay((float) timestep);
-                  setTimer(timestep);
-                }
-  } while (!real_move && f_can_step);
-
-  live = (x_can_step || y_can_step || z_can_step  || e_can_step || f_can_step);
-
-// Wrap up at the end of a line
-
-  if(!live)
-  {
-      disable_steppers();
-      setTimer(DEFAULT_TICK);
-  }    
-  
-}
-
-
-// Run the DDA
-
-void cartesian_dda::dda_start()
-{    
-  // Set up the DDA
-  //sprintf(debugstring, "%d %d", x_direction, nullmove);
-  
-  if(nullmove)
-    return;
-    
-  	//set our direction pins as well
-#if INVERT_X_DIR == 1
-	digitalWrite(X_DIR_PIN, !x_direction);
-#else
-	digitalWrite(X_DIR_PIN, x_direction);
-#endif
-
-#if INVERT_Y_DIR == 1
-	digitalWrite(Y_DIR_PIN, !y_direction);
-#else
-	digitalWrite(Y_DIR_PIN, y_direction);
-#endif
-
-#if INVERT_Z_DIR == 1
-	digitalWrite(Z_DIR_PIN, !z_direction);
-#else
-	digitalWrite(Z_DIR_PIN, z_direction);
-#endif
-        if(e_direction)
-          ex[extruder_in_use]->set_direction(1);
-        else
-          ex[extruder_in_use]->set_direction(0);
-  
-    //turn on steppers to start moving =)
-    
-	enable_steppers();
-        
-       // extcount = 0;
-
-        setTimer(DEFAULT_TICK);
-	live = true;
-}
-
-
-bool cartesian_dda::can_step(byte min_pin, byte max_pin, long current, long target, byte dir)
-{
-
-  //stop us if we're on target
-
-	if (target == current)
-		return false;
-
-#if ENDSTOPS_MIN_ENABLED == 1
-
-  //stop us if we're home and still going
-  
-	else if(min_pin >= 0)
-        {
-          if (read_switch(min_pin) && !dir)
-		return false;
-        }
-#endif
-
-#if ENDSTOPS_MAX_ENABLED == 1
-
-  //stop us if we're at max and still going
-  
-	else if(max_pin >= 0)
-        {
- 	    if (read_switch(max_pin) && dir)
- 		return false;
-        }
-#endif
-
-  // All OK - we can step
-  
-	return true;
-}
-
-
-void cartesian_dda::enable_steppers()
-{
-#if MOTHERBOARD > 0
- if(delta_steps.x)
-    digitalWrite(X_ENABLE_PIN, ENABLE_ON);
-  if(delta_steps.y)    
-    digitalWrite(Y_ENABLE_PIN, ENABLE_ON);
-  if(delta_steps.z)
-    digitalWrite(Z_ENABLE_PIN, ENABLE_ON);
-  if(delta_steps.e)
-    ex[extruder_in_use]->enableStep();
-#endif  
-}
-
-
-
-void cartesian_dda::disable_steppers()
-{
-#if MOTHERBOARD > 0
-	//disable our steppers
-	digitalWrite(X_ENABLE_PIN, !ENABLE_ON);
-	digitalWrite(Y_ENABLE_PIN, !ENABLE_ON);
-	//digitalWrite(Z_ENABLE_PIN, !ENABLE_ON);
-
-        // Disabling the extrude stepper causes the backpressure to
-        // turn the motor the wrong way.  Leave it on.
-        
-        //ex[extruder_in_use]->->disableStep();       
-#endif
-}
-
-/*
-
-void cartesian_dda::delayMicrosecondsInterruptible(unsigned int us)
-{
-
-#if F_CPU >= 16000000L
-    // for the 16 MHz clock on most Arduino boards
-
-	// for a one-microsecond delay, simply return.  the overhead
-	// of the function call yields a delay of approximately 1 1/8 us.
-	if (--us == 0)
-		return;
-
-	// the following loop takes a quarter of a microsecond (4 cycles)
-	// per iteration, so execute it four times for each microsecond of
-	// delay requested.
-	us <<= 2;
-
-	// account for the time taken in the preceeding commands.
-	us -= 2;
-#else
-    // for the 8 MHz internal clock on the ATmega168
-
-    // for a one- or two-microsecond delay, simply return.  the overhead of
-    // the function calls takes more than two microseconds.  can't just
-    // subtract two, since us is unsigned; we'd overflow.
-	if (--us == 0)
-		return;
-	if (--us == 0)
-		return;
-
-	// the following loop takes half of a microsecond (4 cycles)
-	// per iteration, so execute it twice for each microsecond of
-	// delay requested.
-	us <<= 1;
-    
-    // partially compensate for the time taken by the preceeding commands.
-    // we can't subtract any more than this or we'd overflow w/ small delays.
-    us--;
-#endif
-
-	// busy wait
-	__asm__ __volatile__ (
-		"1: sbiw %0,1" "\n\t" // 2 cycles
-		"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
-	);
-}
-*/
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/core.a b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/core.a
deleted file mode 100644
index 2026e003..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/core.a
+++ /dev/null
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/extruder.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/extruder.h
deleted file mode 100644
index 2ab8a8cc..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/extruder.h
+++ /dev/null
@@ -1,230 +0,0 @@
-
-// Class for controlling each extruder
-//
-// Adrian Bowyer 14 May 2009
-
-#ifndef EXTRUDER_H
-#define EXTRUDER_H
-
-#define EXTRUDER_COUNT 2
-
-void manage_all_extruders();
-
-void new_extruder(byte e);
-
-/**********************************************************************************************
-
-* Sanguino/RepRap Motherboard v 1.0
-
-*/
-
-#if MOTHERBOARD < 2
-
-#define EXTRUDER_FORWARD true
-#define EXTRUDER_REVERSE false
-
-class extruder
-{
-private:
-
-//these our the default values for the extruder.
-    byte e_speed;
-    int target_celsius;
-    int max_celsius;
-    byte heater_low;
-    byte heater_high;
-    byte heater_current;
-    int extrude_step_count;
-
-// These are used for temperature control    
-    byte count ;
-    int oldT, newT;
-    
-//this is for doing encoder based extruder control
-//    int rpm;
-//    long e_delay;
-//    int error;
-//    int last_extruder_error;
-//    int error_delta;
-    bool e_direction;
-    bool valve_open;
-
-// The pins we control
-    byte motor_dir_pin, motor_speed_pin, heater_pin, fan_pin, temp_pin, valve_dir_pin, valve_en_pin, step_en_pin;
-    
-     byte wait_till_hot();
-     //byte wait_till_cool();
-     void temperature_error(); 
-     int sample_temperature();
-     
-public:
-
-   extruder(byte md_pin, byte ms_pin, byte h_pin, byte f_pin, byte t_pin, byte vd_pin, byte ve_pin, byte se_pin);
-   void wait_for_temperature();
-   void valve_set(bool open, int dTime);
-   void set_direction(bool direction);
-//   void set_speed(float es);
-   void set_cooler(byte e_speed);
-   void set_temperature(int temp);
-   int get_temperature();
-   void manage();
-// Interrupt setup and handling functions for stepper-driven extruders
-   
-//   void interrupt();
-   void step();
-
-   void enableStep();
-   void disableStep();
-   
-};
-
-inline void extruder::enableStep()
-{
-  if(step_en_pin < 0)
-    return;
-  digitalWrite(step_en_pin, ENABLE_ON); 
-}
-
-inline void extruder::disableStep()
-{
-  if(step_en_pin < 0)
-    return;
-  digitalWrite(step_en_pin, !ENABLE_ON);
-}
-
-inline void extruder::step()
-{
-   digitalWrite(motor_speed_pin, HIGH);
-   delayMicroseconds(5);
-   digitalWrite(motor_speed_pin, LOW);
-}
-
-inline void extruder::temperature_error()
-{
-      Serial.print("E: ");
-      Serial.println(get_temperature());  
-}
-
-//warmup if we're too cold; cool down if we're too hot
-inline void extruder::wait_for_temperature()
-{
-/*
-  if(wait_till_cool())
-   {
-      temperature_error();
-      return;
-   }
-*/
-   if(wait_till_hot())
-     temperature_error();
-}
-
-inline void extruder::set_direction(bool dir)
-{
-	e_direction = dir;
-	digitalWrite(motor_dir_pin, e_direction);
-}
-
-inline void extruder::set_cooler(byte sp)
-{
-  if(step_en_pin >= 0) // Step enable conflicts with the fan
-    return;
-  analogWrite(fan_pin, sp);
-}
-
-/**********************************************************************************************
-
-* RepRap Motherboard v 1.x (x >= 1)
-* Extruder is now on RS485
-
-*/
-
-#else
-
-class extruder
-{
-private:
-
-  byte address;
- 
-public:
-   extruder(byte a);
-   void wait_for_temperature();
-   void valve_set(bool open, int dTime);
-   void set_direction(bool direction);
-   void set_cooler(byte e_speed);
-   void set_temperature(int temp);
-   int get_temperature();
-   void manage();
-   void step();
-
-   void enableStep();
-   void disableStep();
-   
-};
-
-inline extruder::extruder(byte a)
-{
-  address = a;
-}
-
-inline  void extruder::wait_for_temperature()
-{
-  
-}
-
-inline  void extruder::valve_set(bool open, int dTime)
-{
-   if(open)
-     talker.sendPacket(address, "V1");
-   else
-     talker.sendPacket(address, "V0");
-   delay(dTime);
-}
-
-inline void extruder::set_direction(bool direction)
-{
-  
-}
-
-inline  void extruder::set_cooler(byte e_speed)
-{
-  
-}
-
-inline  void extruder::set_temperature(int temp)
-{
-  
-}
-
-inline  int extruder::get_temperature()
-{
-  return 1;  
-}
-
-inline  void extruder::manage()
-{
-  
-}
-
-inline  void extruder::step()
-{
-  
-}
-
-inline  void extruder::enableStep()
-{
-  
-}
-
-inline  void extruder::disableStep()
-{
-  
-}
-
-#endif
-
-extern extruder* ex[];
-extern byte extruder_in_use;
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/extruder.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/extruder.pde
deleted file mode 100644
index ce4593fd..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/extruder.pde
+++ /dev/null
@@ -1,308 +0,0 @@
-
-#include "parameters.h"
-#include "pins.h"
-#include "ThermistorTable.h"
-#include "extruder.h" 
-
-// Keep all extruders up to temperature etc.
-
-void manage_all_extruders()
-{
-    for(byte i = 0; i < EXTRUDER_COUNT; i++)
-       ex[i]->manage();
-}
-
-// Select a new extruder
-
-void new_extruder(byte e)
-{
-  if(e < 0)
-    e = 0;
-  if(e >= EXTRUDER_COUNT)
-    e = EXTRUDER_COUNT - 1;
-  
-  if(e != extruder_in_use)
-  {  
-    extruder_in_use = e;
-    //setExtruder();
-  }
-}
-
-/***************************************************************************************************************************
-
-If we have a new motherboard (V 1.x, x >= 1), the extruder is entirely controlled via the RS485, and all  the functions to do
-it are simple inlines in extruder.h
-
-Otherwise, we have to do the work ourselves...
-*/
-
-#if MOTHERBOARD < 2   
-extruder::extruder(byte md_pin, byte ms_pin, byte h_pin, byte f_pin, byte t_pin, byte vd_pin, byte ve_pin, byte se_pin)
-{
-         motor_dir_pin = md_pin;
-         motor_speed_pin = ms_pin;
-         heater_pin = h_pin;
-         fan_pin = f_pin;
-         temp_pin = t_pin;
-         valve_dir_pin = vd_pin;
-         valve_en_pin = ve_pin;
-         step_en_pin = se_pin;
-         
-	//setup our pins
-	pinMode(motor_dir_pin, OUTPUT);
-	pinMode(motor_speed_pin, OUTPUT);
-	pinMode(heater_pin, OUTPUT);
-
-	pinMode(temp_pin, INPUT);
-	pinMode(valve_dir_pin, OUTPUT); 
-        pinMode(valve_en_pin, OUTPUT);
-
-	//initialize values
-	digitalWrite(motor_dir_pin, EXTRUDER_FORWARD);
-	
-	analogWrite(heater_pin, 0);
-	analogWrite(motor_speed_pin, 0);
-	digitalWrite(valve_dir_pin, false);
-	digitalWrite(valve_en_pin, 0);
-
-// The step enable pin and the fan pin are the same...
-// We can have one, or the other, but not both
-
-        if(step_en_pin >= 0)
-        {
-          pinMode(step_en_pin, OUTPUT);
-	  disableStep();
-        } else
-        {
-	  pinMode(fan_pin, OUTPUT);
-          analogWrite(fan_pin, 0);
-        }
-
-        //these our the default values for the extruder.
-        e_speed = 0;
-        target_celsius = 0;
-        max_celsius = 0;
-        heater_low = 64;
-        heater_high = 255;
-        heater_current = 0;
-        valve_open = false;
-        
-//this is for doing encoder based extruder control
-//        rpm = 0;
-//        e_delay = 0;
-//        error = 0;
-//        last_extruder_error = 0;
-//        error_delta = 0;
-        e_direction = EXTRUDER_FORWARD;
-        
-        //default to cool
-        set_temperature(target_celsius);
-}
-
-
-byte extruder::wait_till_hot()
-{  
-  count = 0;
-  oldT = get_temperature();
-  while (get_temperature() < target_celsius - HALF_DEAD_ZONE)
-  {
-	manage_all_extruders();
-        count++;
-        if(count > 20)
-        {
-            newT = get_temperature();
-            if(newT > oldT)
-               oldT = newT;
-            else
-                return 1;
-            count = 0;
-        }
-	delay(1000);
-  }
-  return 0;
-}
-
-/*
-byte extruder::wait_till_cool()
-{  
-  count = 0;
-  oldT = get_temperature();
-  while (get_temperature() > target_celsius + HALF_DEAD_ZONE)
-  {
-	manage_all_extruders();
-        count++;
-        if(count > 20)
-        {
-            newT = get_temperature();
-            if(newT < oldT)
-               oldT = newT;
-            else
-                return 1;
-            count = 0;
-        }
-	delay(1000);
-  }
-  return 0;
-}
-*/
-
-
-
-void extruder::valve_set(bool open, int dTime)
-{
-        wait_for_temperature();
-	valve_open = open;
-	digitalWrite(valve_dir_pin, open);
-        digitalWrite(valve_en_pin, 1);
-        delay(dTime);
-        digitalWrite(valve_en_pin, 0);
-}
-
-
-void extruder::set_temperature(int temp)
-{
-	target_celsius = temp;
-	max_celsius = (temp*11)/10;
-
-        // If we've turned the heat off, we might as well disable the extrude stepper
-       // if(target_celsius < 1)
-        //  disableStep(); 
-}
-
-/**
-*  Samples the temperature and converts it to degrees celsius.
-*  Returns degrees celsius.
-*/
-int extruder::get_temperature()
-{
-#ifdef USE_THERMISTOR
-	int raw = sample_temperature(temp_pin);
-
-	int celsius = 0;
-	byte i;
-
-	for (i=1; i<NUMTEMPS; i++)
-	{
-		if (temptable[i][0] > raw)
-		{
-			celsius  = temptable[i-1][1] + 
-				(raw - temptable[i-1][0]) * 
-				(temptable[i][1] - temptable[i-1][1]) /
-				(temptable[i][0] - temptable[i-1][0]);
-
-			break;
-		}
-	}
-
-        // Overflow: Set to last value in the table
-        if (i == NUMTEMPS) celsius = temptable[i-1][1];
-        // Clamp to byte
-        if (celsius > 255) celsius = 255; 
-        else if (celsius < 0) celsius = 0; 
-
-	return celsius;
-#else
-  return ( 5.0 * sample_temperature() * 100.0) / 1024.0;
-#endif
-}
-
-
-
-/*
-* This function gives us an averaged sample of the analog temperature pin.
-*/
-int extruder::sample_temperature()
-{
-	int raw = 0;
-	
-	//read in a certain number of samples
-	for (byte i=0; i<TEMPERATURE_SAMPLES; i++)
-		raw += analogRead(temp_pin);
-		
-	//average the samples
-	raw = raw/TEMPERATURE_SAMPLES;
-
-	//send it back.
-	return raw;
-}
-
-/*!
-  Manages extruder functions to keep temps, speeds etc
-  at the set levels.  Should be called only by manage_all_extruders(),
-  which should be called in all non-trivial loops.
-  o If temp is too low, don't start the motor
-  o Adjust the heater power to keep the temperature at the target
- */
-void extruder::manage()
-{
-	//make sure we know what our temp is.
-	int current_celsius = get_temperature();
-        byte newheat = 0;
-  
-        //put the heater into high mode if we're not at our target.
-        if (current_celsius < target_celsius)
-                newheat = heater_high;
-        //put the heater on low if we're at our target.
-        else if (current_celsius < max_celsius)
-                newheat = heater_low;
-        
-        // Only update heat if it changed
-        if (heater_current != newheat) {
-                heater_current = newheat;
-                analogWrite(heater_pin, heater_current);
-        }
-}
-
-
-#if 0
-void extruder::set_speed(float sp)
-{
-  // DC motor?
-    if(step_en_pin < 0)
-    {
-      e_speed = (byte)sp;
-      if(e_speed > 0)
-          wait_for_temperature();
-      analogWrite(motor_speed_pin, e_speed);
-      return;
-    }
-      
-    // No - stepper
-  disableTimerInterrupt();
-  
-  if(sp <= 1.0e-4)
-  {
-    disableStep();
-    e_speed = 0; // Just use this as a flag
-    return;
-  } else
-  {
-    wait_for_temperature();
-    enableStep();
-    e_speed = 1;
-  }
-    
-  extrude_step_count = 0;
-  
-  float milliseconds_per_step = 60000.0/(E_STEPS_PER_MM*sp);
-  long thousand_ticks_per_step = 4*(long)(milliseconds_per_step);
-  setupTimerInterrupt();
-  setTimer(thousand_ticks_per_step);
-  enableTimerInterrupt();
-}
-
-void extruder::interrupt()
-{
-    if(!e_speed)
-      return;
-    extrude_step_count++;
-    if(extrude_step_count > 1000)
-    {
-      step();
-      extrude_step_count = 0;
-    }
-}
-
-#endif
-#endif
-
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/intercom.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/intercom.h
deleted file mode 100644
index fbfd83d2..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/intercom.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * Class to handle internal communications in the machine via RS485
- *
- * Adrian Bowyer 3 July 2009
- *
- */
- 
-#ifndef INTERCOM_H
-#define INTERCOM_H
-
-#if MOTHERBOARD > 1
-
-#define IC_BUFFER 10
-#define MASTER_ADDRESS "00"
-
-//our RS485 pins
-#define RX_ENABLE_PIN	13
-#define TX_ENABLE_PIN	12
-
- 
-class intercom
-{
-  private:
-    char myBuffer[IC_BUFFER];
-    bool ok;
-    void getPacket(char* string, int len);
-    
-  public:
-    intercom();
-    void sendPacket(byte address, char* string);
-    void sendPacketWithReply(byte address, char* string, char* reply);
-
-};
-
-extern intercom talker;
-
-#endif
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/intercom.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/intercom.pde
deleted file mode 100644
index 5832ae5c..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/intercom.pde
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
- * Class to handle internal communications in the machine via RS485
- *
- * Adrian Bowyer 3 July 2009
- *
- */
-  
-#if MOTHERBOARD > 1
-
-#include "intercom.h"
-
-intercom::intercom()
-{
-  pinMode(RX_ENABLE_PIN, OUTPUT);
-  pinMode(TX_ENABLE_PIN, OUTPUT);
-  digitalWrite(RX_ENABLE_PIN, 0); //always listen.
-  Serial1.begin(38400);  
-}
-
-void intercom::sendPacket(byte address, char* string)
-{
-  digitalWrite(TX_ENABLE_PIN, 1);
-  Serial1.print(address, HEX);
-  Serial1.print(MASTER_ADDRESS);
-  Serial1.println(string);
-  digitalWrite(TX_ENABLE_PIN, 0);
-  getPacket(myBuffer, IC_BUFFER);
-  if(myBuffer[0] != MASTER_ADDRESS[0] ||  myBuffer[1] != MASTER_ADDRESS[1])
-  {
-     // Horrible error - what to do?
-  } 
-}
-
-void intercom::sendPacketWithReply(byte address, char* string, char* reply)
-{
-  
-}
-
-void intercom::getPacket(char* string, int len)
-{
-  int i = -1;
-  ok = true;
-  do
-  {
-    while(!Serial1.available()) delay(1);
-    i++;
-    
-    // Stop runaway buffer overflow
-    
-    if(i >= len)
-      ok = false;
-    else  
-      string[i] = Serial1.read();
-  } while(string[i] != '\n' && ok);
-  string[i] = 0;
-}
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/parameters.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/parameters.h
deleted file mode 100644
index 1ffba5be..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/parameters.h
+++ /dev/null
@@ -1,106 +0,0 @@
-#ifndef PARAMETERS_H
-#define PARAMETERS_H
-
-// Here are the moterboard codes; set MOTHERBOARD to the right one
-// (Arduino: 0 - no longer in use)
-// Sanguino or RepRap Motherboard with direct drive extruders: 1
-// RepRap Motherboard with RS485 extruders: 2
-// Arduino Mega: 3
-
-#define MOTHERBOARD 1
-
-// Set 1s where you have endstops; 0s where you don't
-#define ENDSTOPS_MIN_ENABLED 1
-#define ENDSTOPS_MAX_ENABLED 0
-
-//our command string length
-#define COMMAND_SIZE 128
-
-// The size of the movement buffer
-
-#define BUFFER_SIZE 4
-
-// Number of microseconds between timer interrupts when no movement
-// is happening
-
-#define DEFAULT_TICK (long)1000
-
-// What delay() value to use when waiting for things to free up in milliseconds
-
-#define WAITING_DELAY 1
-
-#define INCHES_TO_MM 25.4
-
-// define the parameters of our machine.
-#define X_STEPS_PER_MM   7.99735
-#define X_STEPS_PER_INCH (X_STEPS_PER_MM*INCHES_TO_MM)
-#define X_MOTOR_STEPS    400
-#define INVERT_X_DIR 0
-
-#define Y_STEPS_PER_MM   7.99735
-#define Y_STEPS_PER_INCH (Y_STEPS_PER_MM*INCHES_TO_MM)
-#define Y_MOTOR_STEPS    400
-#define INVERT_Y_DIR 0
-
-#define Z_STEPS_PER_MM   320
-#define Z_STEPS_PER_INCH (Z_STEPS_PER_MM*INCHES_TO_MM)
-#define Z_MOTOR_STEPS    400
-#define INVERT_Z_DIR 0
-
-// For when we have a stepper-driven extruder
-// E_STEPS_PER_MM is the number of steps needed to 
-// extrude 1mm out of the nozzle.
-
-#define E_STEPS_PER_MM   0.706   // 5mm diameter drive - NEMA17 pinch extruder
-//#define E_STEPS_PER_MM   2.206     // 8mm geared drive - NEMA14 pinch extruder
-#define E_STEPS_PER_INCH (E_STEPS_PER_MM*INCHES_TO_MM)
-#define E_MOTOR_STEPS    400
-
-//our maximum feedrates
-#define FAST_XY_FEEDRATE 3000.0
-#define FAST_Z_FEEDRATE  50.0
-
-// Data for acceleration calculations
-// Comment out the next line to turn accelerations off
-#define ACCELERATION_ON
-#define SLOW_XY_FEEDRATE 1000.0 // Speed from which to start accelerating
-#define SLOW_Z_FEEDRATE 20
-
-// Set to 1 if enable pins are inverting
-// For RepRap stepper boards version 1.x the enable pins are *not* inverting.
-// For RepRap stepper boards version 2.x and above the enable pins are inverting.
-#define INVERT_ENABLE_PINS 1
-
-#if INVERT_ENABLE_PINS == 1
-#define ENABLE_ON LOW
-#else
-#define ENABLE_ON HIGH
-#endif
-
-// Set to one if sensor outputs inverting (ie: 1 means open, 0 means closed)
-// RepRap opto endstops are *not* inverting.
-#define ENDSTOPS_INVERTING 0
-
-// Inline interrupt control functions
-
-inline void enableTimerInterrupt() 
-{
-   TIMSK1 |= (1<<OCIE1A);
-}
-	
-inline void disableTimerInterrupt() 
-{
-     TIMSK1 &= ~(1<<OCIE1A);
-}
-        
-inline void setTimerCeiling(unsigned int c) 
-{
-    OCR1A = c;
-}
-
-inline void resetTimer()
-{
-  TCNT2 = 0;
-}
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/pins.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/pins.h
deleted file mode 100644
index dd48064a..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/pins.h
+++ /dev/null
@@ -1,142 +0,0 @@
-#ifndef PINS_H
-#define PINS_H
-
-#if MOTHERBOARD == 0
-
-#error The Arduino cannot run the 5D GCode interpreter
-
-/****************************************************************************************
-* Arduino pin assignment - left here as they might be useful
-*
-****************************************************************************************/
-
-#define X_STEP_PIN (byte)2
-#define X_DIR_PIN (byte)3
-#define X_MIN_PIN (byte)4
-#define X_MAX_PIN (byte)9
-
-#define Y_STEP_PIN (byte)10
-#define Y_DIR_PIN (byte)7
-#define Y_MIN_PIN (byte)8
-#define Y_MAX_PIN (byte)13
-
-#define Z_STEP_PIN (byte)19
-#define Z_DIR_PIN (byte)18
-#define Z_MIN_PIN (byte)17
-#define Z_MAX_PIN (byte)16
-
-
-//extruder pins
-#define EXTRUDER_0_MOTOR_SPEED_PIN  (byte)11
-#define EXTRUDER_0_MOTOR_DIR_PIN    (byte)12
-#define EXTRUDER_0_HEATER_PIN       (byte)6
-#define EXTRUDER_0_FAN_PIN          (byte)5
-#define EXTRUDER_0_TEMPERATURE_PIN  (byte)0  // Analogue input
-#define EXTRUDER_0_VALVE_DIR_PIN             (byte)16       //NB: Conflicts with Max Z!!!!
-#define EXTRUDER_0_VALVE_ENABLE_PIN          (byte)15 
-#define EXTRUDER_0_STEP_ENABLE_PIN  5 // 5 - NB conflicts with the fan; set -ve if no stepper
-
-
-/****************************************************************************************
-* Sanguino/RepRap Motherboard with direct-drive extruders
-*
-****************************************************************************************/
-#elif MOTHERBOARD == 1
-
-#define X_STEP_PIN (byte)15
-#define X_DIR_PIN (byte)18
-#define X_MIN_PIN (byte)20
-#define X_MAX_PIN (byte)21
-#define X_ENABLE_PIN (byte)19
-
-#define Y_STEP_PIN (byte)23
-#define Y_DIR_PIN (byte)22
-#define Y_MIN_PIN (byte)25
-#define Y_MAX_PIN (byte)26
-#define Y_ENABLE_PIN (byte)19
-
-#define Z_STEP_PIN (byte)29
-#define Z_DIR_PIN (byte)30
-#define Z_MIN_PIN (byte)2
-#define Z_MAX_PIN (byte)1
-#define Z_ENABLE_PIN (byte)31
-
-//extruder pins
-#define EXTRUDER_0_MOTOR_SPEED_PIN   (byte)12
-#define EXTRUDER_0_MOTOR_DIR_PIN     (byte)16
-#define EXTRUDER_0_HEATER_PIN        (byte)14
-#define EXTRUDER_0_FAN_PIN           (byte)3
-#define EXTRUDER_0_TEMPERATURE_PIN  (byte)4    // Analogue input
-#define EXTRUDER_0_VALVE_DIR_PIN     (byte)17
-#define EXTRUDER_0_VALVE_ENABLE_PIN  (byte)13  // Valve needs to be redesigned not to need this
-#define EXTRUDER_0_STEP_ENABLE_PIN  (byte)3  // 3 - Conflicts with the fan; set -ve if no stepper
-
-#define EXTRUDER_1_MOTOR_SPEED_PIN   (byte)4
-#define EXTRUDER_1_MOTOR_DIR_PIN    (byte)0
-#define EXTRUDER_1_HEATER_PIN        (byte)24
-#define EXTRUDER_1_FAN_PIN           (byte)7
-#define EXTRUDER_1_TEMPERATURE_PIN  (byte)3  // Analogue input
-#define EXTRUDER_1_VALVE_DIR_PIN    (byte) 6
-#define EXTRUDER_1_VALVE_ENABLE_PIN (byte)5   // Valve needs to be redesigned not to need this 
-#define EXTRUDER_1_STEP_ENABLE_PIN  (byte)-1  // 7 - Conflicts with the fan; set -ve if no stepper
-
-
-/****************************************************************************************
-* RepRap Motherboard with RS485 extruders
-*
-****************************************************************************************/
-
-#elif MOTHERBOARD == 2
-
-//x axis pins
-#define X_STEP_PIN      15
-#define X_DIR_PIN       18
-#define X_ENABLE_PIN    19
-#define X_MIN_PIN       20
-#define X_MAX_PIN       21
-
-//y axis pins
-#define Y_STEP_PIN      23
-#define Y_DIR_PIN       22
-#define Y_ENABLE_PIN    24
-#define Y_MIN_PIN       25
-#define Y_MAX_PIN       26
-
-//z axis pins
-#define Z_STEP_PIN      27
-#define Z_DIR_PIN       28
-#define Z_ENABLE_PIN    29
-#define Z_MIN_PIN       30
-#define Z_MAX_PIN       31
-
-//our pin for debugging.
-#define DEBUG_PIN        0
-
-//our SD card pins
-#define SD_CARD_WRITE    2
-#define SD_CARD_DETECT   3
-#define SD_CARD_SELECT   4
-
-//our RS485 pins
-#define TX_ENABLE_PIN	12
-#define RX_ENABLE_PIN	13
-
-//pin for controlling the PSU.
-#define PS_ON_PIN       14
-
-/****************************************************************************************
-* Arduino Mega pin assignment
-*
-****************************************************************************************/
-
-#elif MOTHERBOARD == 3
-
-#error The Arduino Mega is not yet implemented for the 5D GCode interpreter
-
-#else
-
-#error Unknown MOTHERBOARD value in parameters.h
-
-#endif
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/process_g_code.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/process_g_code.pde
deleted file mode 100644
index 941c180a..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/process_g_code.pde
+++ /dev/null
@@ -1,525 +0,0 @@
-
-#include "parameters.h"
-#include "pins.h"
-#include "extruder.h"
-#include "vectors.h"
-#include "cartesian_dda.h"
-
-/* bit-flags for commands and parameters */
-#define GCODE_G	(1<<0)
-#define GCODE_M	(1<<1)
-#define GCODE_P	(1<<2)
-#define GCODE_X	(1<<3)
-#define GCODE_Y	(1<<4)
-#define GCODE_Z	(1<<5)
-#define GCODE_I	(1<<6)
-#define GCODE_J	(1<<7)
-#define GCODE_K	(1<<8)
-#define GCODE_F	(1<<9)
-#define GCODE_S	(1<<10)
-#define GCODE_Q	(1<<11)
-#define GCODE_R	(1<<12)
-#define GCODE_E	(1<<13)
-#define GCODE_T	(1<<14)
-
-
-#define PARSE_INT(ch, str, len, val, seen, flag) \
-	case ch: \
-		len = scan_int(str, &val, &seen, flag); \
-		break;
-
-#define PARSE_FLOAT(ch, str, len, val, seen, flag) \
-	case ch: \
-		len = scan_float(str, &val, &seen, flag); \
-		break;
-
-/* gcode line parse results */
-struct GcodeParser
-{
-    unsigned int seen;
-    int G;
-    int M;
-    int T;
-    float P;
-    float X;
-    float Y;
-    float Z;
-    float E;
-    float I;
-    float J;
-    float F;
-    float S;
-    float R;
-    float Q;
-};
-
-
-//our command string
-char cmdbuffer[COMMAND_SIZE];
-char c = '?';
-byte serial_count = 0;
-boolean comment = false;
-FloatPoint fp;
-FloatPoint sp;
-        
-// The following three inline functions are used for things like return to 0
-
-inline void specialMoveX(const float& x, const float& feed)
-{
-  sp = where_i_am;
-  sp.x = x;
-  sp.f = feed;
-  qMove(sp);
-}
-
-inline void specialMoveY(const float& y, const float& feed)
-{
-  sp = where_i_am;
-  sp.y = y;
-  sp.f = feed;
-  qMove(sp);
-}
-
-inline void specialMoveZ(const float& z, const float& feed)
-{
-  sp = where_i_am;
-  sp.z = z; 
-  sp.f = feed;
-  qMove(sp);
-}
-
-//our feedrate variables.
-//float feedrate = SLOW_XY_FEEDRATE;
-
-/* keep track of the last G code - this is the command mode to use
- * if there is no command in the current string 
- */
-int last_gcode_g = -1;
-
-boolean abs_mode = true; //0 = incremental; 1 = absolute
-
-float extruder_speed = 0;
-
-int scan_int(char *str, int *valp);
-int scan_float(char *str, float *valp);
-
-GcodeParser gc;	/* string parse result */
-
-
-//init our string processing
-inline void init_process_string()
-{
-	serial_count = 0;
-        comment = false;
-}
-
-// Get a command and process it
-
-void get_and_do_command()
-{
-	//read in characters if we got them.
-	if (Serial.available())
-	{
-		c = Serial.read();
-                if(c == '\r')
-                  c = '\n';
-                // Throw away control chars except \n
-                if(c >= ' ' || c == '\n')
-                {
-
-		  //newlines are ends of commands.
-		  if (c != '\n')
-		  {
-			// Start of comment - ignore any bytes received from now on
-			if (c == ';')
-				comment = true;
-				
-			// If we're not in comment mode, add it to our array.
-			if (!comment)
-				cmdbuffer[serial_count++] = c;
-		  }
-
-                }
-	}
-
-        // Data runaway?
-        if(serial_count >= COMMAND_SIZE)
-          init_process_string();
-
-	//if we've got a real command, do it
-	if (serial_count && c == '\n')
-	{
-                // Terminate string
-                cmdbuffer[serial_count] = 0;
-                
-		//process our command!
-		process_string(cmdbuffer, serial_count);
-
-		//clear command.
-		init_process_string();
-
-                // Say we're ready for the next one
-                
-                if(debugstring[0] != 0)
-                {
-                  Serial.print("ok ");
-                  Serial.println(debugstring);
-                  debugstring[0] = 0;
-                } else
-                  Serial.println("ok");
-	}
-}
-
-
-
-int parse_string(struct GcodeParser * gc, char instruction[ ], int size)
-{
-	int ind;
-	int len;	/* length of parameter argument */
-
-	gc->seen = 0;
-
-	len=0;
-	/* scan the string for commands and parameters, recording the arguments for each,
-	 * and setting the seen flag for each that is seen
-	 */
-	for (ind=0; ind<size; ind += (1+len))
-	{
-		len = 0;
-		switch (instruction[ind])
-		{
-			  PARSE_INT('G', &instruction[ind+1], len, gc->G, gc->seen, GCODE_G);
-			  PARSE_INT('M', &instruction[ind+1], len, gc->M, gc->seen, GCODE_M);
-			  PARSE_INT('T', &instruction[ind+1], len, gc->T, gc->seen, GCODE_T);
-			PARSE_FLOAT('S', &instruction[ind+1], len, gc->S, gc->seen, GCODE_S);
-			PARSE_FLOAT('P', &instruction[ind+1], len, gc->P, gc->seen, GCODE_P);
-			PARSE_FLOAT('X', &instruction[ind+1], len, gc->X, gc->seen, GCODE_X);
-			PARSE_FLOAT('Y', &instruction[ind+1], len, gc->Y, gc->seen, GCODE_Y);
-			PARSE_FLOAT('Z', &instruction[ind+1], len, gc->Z, gc->seen, GCODE_Z);
-			PARSE_FLOAT('I', &instruction[ind+1], len, gc->I, gc->seen, GCODE_I);
-			PARSE_FLOAT('J', &instruction[ind+1], len, gc->J, gc->seen, GCODE_J);
-			PARSE_FLOAT('F', &instruction[ind+1], len, gc->F, gc->seen, GCODE_F);
-			PARSE_FLOAT('R', &instruction[ind+1], len, gc->R, gc->seen, GCODE_R);
-			PARSE_FLOAT('Q', &instruction[ind+1], len, gc->Q, gc->seen, GCODE_Q);
-			PARSE_FLOAT('E', &instruction[ind+1], len, gc->E, gc->seen, GCODE_E);
-                        default:
-			  break;
-		}
-	}
-}
-
-
-//Read the string and execute instructions
-void process_string(char instruction[], int size)
-{
-	//the character / means delete block... used for comments and stuff.
-	if (instruction[0] == '/')	
-		return;
-
-        float fr;
-        
-	fp.x = 0.0;
-	fp.y = 0.0;
-	fp.z = 0.0;
-        fp.e = 0.0;
-        fp.f = 0.0;
-
-	//get all our parameters!
-	parse_string(&gc, instruction, size);
-	/* if no command was seen, but parameters were, then use the last G code as 
-	 * the current command
-	 */
-	if ((!(gc.seen & (GCODE_G | GCODE_M | GCODE_T))) && 
-	    ((gc.seen != 0) &&
-		(last_gcode_g >= 0))
-	)
-	{
-		/* yes - so use the previous command with the new parameters */
-		gc.G = last_gcode_g;
-		gc.seen |= GCODE_G;
-	}
-	//did we get a gcode?
-	if (gc.seen & GCODE_G)
-	{
-		last_gcode_g = gc.G;	/* remember this for future instructions */
-		fp = where_i_am;
-		if (abs_mode)
-		{
-			if (gc.seen & GCODE_X)
-				fp.x = gc.X;
-			if (gc.seen & GCODE_Y)
-				fp.y = gc.Y;
-			if (gc.seen & GCODE_Z)
-				fp.z = gc.Z;
-			if (gc.seen & GCODE_E)
-				fp.e = gc.E;
-		}
-		else
-		{
-			if (gc.seen & GCODE_X)
-				fp.x += gc.X;
-			if (gc.seen & GCODE_Y)
-				fp.y += gc.Y;
-			if (gc.seen & GCODE_Z)
-				fp.z += gc.Z;
-			if (gc.seen & GCODE_E)
-				fp.e += gc.E;
-		}
-
-		// Get feedrate if supplied - feedrates are always absolute???
-		if ( gc.seen & GCODE_F )
-			fp.f = gc.F;
-               
-                // Process the buffered move commands first
-                // If we get one, return immediately
-
-		switch (gc.G)
-                {
-			//Rapid move
-			case 0:
-                                fr = fp.f;
-                                fp.f = FAST_XY_FEEDRATE;
-                                qMove(fp);
-                                fp.f = fr;
-                                return;
-                                
-                        // Controlled move
-			case 1:
-                                qMove(fp);
-                                return;
-                                
-                        //go home.
-			case 28:
-                                where_i_am.f = SLOW_XY_FEEDRATE;
-                                specialMoveX(where_i_am.x - 5, FAST_XY_FEEDRATE);
-                                specialMoveX(where_i_am.x - 250, FAST_XY_FEEDRATE);
-                                where_i_am.x = 0;
-                                where_i_am.f = SLOW_XY_FEEDRATE;
-                                specialMoveX(where_i_am.x + 1, SLOW_XY_FEEDRATE);
-                                specialMoveX(where_i_am.x - 10, SLOW_XY_FEEDRATE);                                
-                                where_i_am.x = 0;
-                                
-                                specialMoveY(where_i_am.y - 5, FAST_XY_FEEDRATE);
-                                specialMoveY(where_i_am.y - 250, FAST_XY_FEEDRATE);
-                                where_i_am.y = 0;
-                                where_i_am.f = SLOW_XY_FEEDRATE;
-                                specialMoveY(where_i_am.y + 1, SLOW_XY_FEEDRATE);
-                                specialMoveY(where_i_am.y - 10, SLOW_XY_FEEDRATE);                                
-                                where_i_am.y = 0; 
- 
-                                where_i_am.f = SLOW_Z_FEEDRATE;
-                                specialMoveZ(where_i_am.z - 0.5, FAST_Z_FEEDRATE);
-                                specialMoveZ(where_i_am.z - 250, FAST_Z_FEEDRATE);
-                                where_i_am.z = 0;
-                                where_i_am.f = SLOW_Z_FEEDRATE;
-                                specialMoveZ(where_i_am.z + 1, SLOW_Z_FEEDRATE);
-                                specialMoveZ(where_i_am.z - 2, SLOW_Z_FEEDRATE);                                
-                                where_i_am.z = 0;
-                                where_i_am.f = SLOW_XY_FEEDRATE;     // Most sensible feedrate to leave it in                    
-
-				return;
-
-
-                  default:
-                                break;
-                }
-                
-		// Non-buffered G commands
-                // Wait till the buffer q is empty first
-                    
-                  while(!qEmpty()) delay(WAITING_DELAY);
-		  switch (gc.G)
-		  {
-
-  			 //Dwell
-			case 4:
-				delay((int)(gc.P + 0.5));  
-				break;
-
-			//Inches for Units
-			case 20:
-                                setUnits(false);
-				break;
-
-			//mm for Units
-			case 21:
-                                setUnits(true);
-				break;
-
-			//Absolute Positioning
-			case 90: 
-				abs_mode = true;
-				break;
-
-			//Incremental Positioning
-			case 91: 
-				abs_mode = false;
-				break;
-
-			//Set position as fp
-			case 92: 
-                                setPosition(fp);
-				break;
-
-			default:
-				Serial.print("huh? G");
-				Serial.println(gc.G, DEC);
-		  }
-	}
-
-
-
-        
-	//find us an m code.
-	if (gc.seen & GCODE_M)
-	{
-            // Wait till the q is empty first
-            while(!qEmpty()) delay(WAITING_DELAY);
-            
-		switch (gc.M)
-		{
-			//TODO: this is a bug because search_string returns 0.  gotta fix that.
-			case 0:
-				break;
-				/*
-				 case 0:
-				 //todo: stop program
-				 break;
-
-				 case 1:
-				 //todo: optional stop
-				 break;
-
-				 case 2:
-				 //todo: program end
-				 break;
-				 */
-
-// Now, with E codes, there is no longer any idea of turning the extruder on or off.
-// (But see valve on/off below.)
-
-/*
-			//turn extruder on, forward
-			case 101:
-				ex[extruder_in_use]->set_direction(1);
-				ex[extruder_in_use]->set_speed(extruder_speed);
-				break;
-
-			//turn extruder on, reverse
-			case 102:
-				ex[extruder_in_use]->set_direction(0);
-				ex[extruder_in_use]->set_speed(extruder_speed);
-				break;
-
-			//turn extruder off
-			case 103:
-				ex[extruder_in_use]->set_speed(0);
-				break;
-*/
-			//custom code for temperature control
-			case 104:
-				if (gc.seen & GCODE_S)
-				{
-					ex[extruder_in_use]->set_temperature((int)gc.S);
-				}
-				break;
-
-			//custom code for temperature reading
-			case 105:
-				Serial.print("T:");
-				Serial.println(ex[extruder_in_use]->get_temperature());
-				break;
-
-			//turn fan on
-			case 106:
-				ex[extruder_in_use]->set_cooler(255);
-				break;
-
-			//turn fan off
-			case 107:
-				ex[extruder_in_use]->set_cooler(0);
-				break;
-/*
-// Extruder speed is now entirely controlled by E codes
-			//set max extruder speed, 0-255 PWM
-			case 108:
-				if (gc.seen & GCODE_S)
-					extruder_speed = gc.S;
-				break;
-*/
-
-// The valve (real, or virtual...) is now the way to control any extruder (such as
-// a pressurised paste extruder) that cannot move using E codes.
-
-                        // Open the valve
-                        case 126:
-                                ex[extruder_in_use]->valve_set(true, (int)(gc.P + 0.5));
-                                break;
-                                
-                        // Close the valve
-                        case 127:
-                                ex[extruder_in_use]->valve_set(false, (int)(gc.P + 0.5));
-                                break;
-                                                                
-
-			default:
-				Serial.print("Huh? M");
-				Serial.println(gc.M, DEC);
-		}
-
-                
-
-	}
-
-// Tool (i.e. extruder) change?
-                
-        if (gc.seen & GCODE_T)
-        {
-            while(!qEmpty()) delay(WAITING_DELAY);
-            new_extruder(gc.T);
-        }
-}
-
-int scan_float(char *str, float *valp, unsigned int *seen, unsigned int flag)
-{
-	float res;
-	int len;
-	char *end;
-     
-	res = (float)strtod(str, &end);
-      
-	len = end - str;
-
-	if (len > 0)
-	{
-		*valp = res;
-		*seen |= flag;
-	}
-	else
-		*valp = 0;
-          
-	return len;	/* length of number */
-}
-
-int scan_int(char *str, int *valp, unsigned int *seen, unsigned int flag)
-{
-	int res;
-	int len;
-	char *end;
-
-	res = (int)strtol(str, &end, 10);
-	len = end - str;
-
-	if (len > 0)
-	{
-		*valp = res;
-		*seen |= flag;
-	}
-	else
-		*valp = 0;
-          
-	return len;	/* length of number */
-}
-
-
-
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/vectors.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/vectors.h
deleted file mode 100644
index 938cfe0c..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/applet/vectors.h
+++ /dev/null
@@ -1,130 +0,0 @@
-// Structs to hold points in 5D space.
-
-
-#ifndef VECTORS_H
-#define VECTORS_H
-
-#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
-
-// Real-world units
-struct FloatPoint
-{
-	float x;   // Coordinate axes
-	float y;
-	float z;
-        float e;   // Extrude length
-        float f;   // Feedrate
-};
-
-inline FloatPoint operator+(const FloatPoint& a, const FloatPoint& b)
-{
-  FloatPoint result;
-  result.x = a.x + b.x;
-  result.y = a.y + b.y;
-  result.z = a.z + b.z;
-  result.e = a.e + b.e;
-  result.f = a.f + b.f;
-  return result;
-}  
-
-inline FloatPoint operator-(const FloatPoint& a, const FloatPoint& b)
-{
-  FloatPoint result;
-  result.x = a.x - b.x;
-  result.y = a.y - b.y;
-  result.z = a.z - b.z;
-  result.e = a.e - b.e;
-  result.f = a.f - b.f;
-  return result;
-} 
-
-
-// NB - the next gives neither the scalar nor the vector product
-
-inline FloatPoint operator*(const FloatPoint& a, const FloatPoint& b)
-{
-  FloatPoint result;
-  result.x = a.x * b.x;
-  result.y = a.y * b.y;
-  result.z = a.z * b.z;
-  result.e = a.e * b.e;
-  result.f = a.f * b.f;
-  return result;
-} 
-
-// Can't use fabs for this as it's defined somewhere in a #define
-
-inline FloatPoint fabsv(const FloatPoint& a)
-{
-  FloatPoint result;
-  result.x = fabs(a.x);
-  result.y = fabs(a.y);
-  result.z = fabs(a.z);
-  result.e = fabs(a.e);
-  result.f = fabs(a.f);
-  return result;
-} 
-
-
-// Integer numbers of steps
-struct LongPoint
-{
-	long x;   // Coordinates
-	long y;
-	long z;
-        long e;   // Extrusion
-        long f;   // Feedrate
-};
-
-inline LongPoint operator+(const LongPoint& a, const LongPoint& b)
-{
-  LongPoint result;
-  result.x = a.x + b.x;
-  result.y = a.y + b.y;
-  result.z = a.z + b.z;
-  result.e = a.e + b.e;
-  result.f = a.f + b.f;
-  return result;
-}  
-
-inline LongPoint operator-(const LongPoint& a, const LongPoint& b)
-{
-  LongPoint result;
-  result.x = a.x - b.x;
-  result.y = a.y - b.y;
-  result.z = a.z - b.z;
-  result.e = a.e - b.e;
-  result.f = a.f - b.f;
-  return result;
-} 
-
-
-inline LongPoint absv(const LongPoint& a)
-{
-  LongPoint result;
-  result.x = abs(a.x);
-  result.y = abs(a.y);
-  result.z = abs(a.z);
-  result.e = abs(a.e);
-  result.f = abs(a.f);
-  return result;
-} 
-
-
-inline LongPoint roundv(const FloatPoint& a)
-{
-  LongPoint result;
-  result.x = round(a.x);
-  result.y = round(a.y);
-  result.z = round(a.z);
-  result.e = round(a.e);
-  result.f = round(a.f);
-  return result;
-} 
-
-inline LongPoint to_steps(const FloatPoint& units, const FloatPoint& position)
-{
-        return roundv(units*position);
-}
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.h
deleted file mode 100644
index bf6e9217..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.h
+++ /dev/null
@@ -1,174 +0,0 @@
-/*
- * This class controls the movement of the RepRap machine.
- * It implements a DDA in four dimensions, so the length of extruded 
- * filament is treated as a variable, just like X, Y, and Z.
- *
- * Adrian Bowyer 9 May 2009
- */
-
-#ifndef CARTESIAN_DDA_H
-#define CARTESIAN_DDA_H
-
-// Main class for moving the RepRap machine about
-
-class cartesian_dda
-{
-private:
-
-  //extruder* ext;               // The extruder I'm currently using - keep this up to date...
-
-  FloatPoint units;            // Factors for converting either mm or inches to steps
-
-  FloatPoint target_position;  // Where it's going
-  FloatPoint delta_position;   // The difference between the two
-  float distance;              // How long the path is
-  
-  LongPoint current_steps;     // Similar information as above in steps rather than units
-  LongPoint target_steps;
-  LongPoint delta_steps;
-  LongPoint dda_counter;       // DDA error-accumulation variables
-  long t_scale;                // When doing lots of t steps, scale them so the DDA doesn't spend for ever on them
-  
-  byte x_direction;            // Am I going in the + or - direction?
-  byte y_direction;
-  byte z_direction;
-  byte e_direction;
-  byte f_direction;
-
-  bool x_can_step;             // Am I not at an endstop?  Have I not reached the target? etc.
-  bool y_can_step;
-  bool z_can_step;
-  bool e_can_step;
-  bool f_can_step;
-
-// Variables for acceleration calculations
-
-  long total_steps;            // The number of steps to take along the longest movement axis
-  
-  long timestep;               // microseconds
-  bool nullmove;               // this move is zero length
-  bool real_move;              // Flag to know if we've changed something physical
-  volatile bool live;                   // Flag for when we're plotting a line
-
-// Internal functions that need not concern the user
-
-  // Take a single step
-
-  void do_x_step();               
-  void do_y_step();
-  void do_z_step();
-  void do_e_step();
-  
-  // Can this axis step?
-  
-  bool can_step(byte min_pin, byte max_pin, long current, long target, byte dir);
-  
-  // Read a limit switch
-  
-  bool read_switch(byte pin);
-  
-  // Work out the number of microseconds between steps
-  
-  long calculate_feedrate_delay(const float& feedrate);
-  
-  // Switch the steppers on and off
-  
-  void enable_steppers();
-  void disable_steppers();
-  
-  // Custom short delay function (microseconds)
-  
-  //void delayMicrosecondsInterruptible(unsigned int us);
-  
-  
-public:
-
-  cartesian_dda();
-  
-  // Set where I'm going
-  
-  void set_target(const FloatPoint& p);
-  
-  // Start the DDA
-  
-  void dda_start();
-  
-  // Do one step of the DDA
-  
-  void dda_step();
-  
-  // Are we running at the moment?
-  
-  bool active();
-  
-  // True for mm; false for inches
-  
-  void set_units(bool using_mm);
-  
-  // Record the selection of a new extruder
-  
-  //void set_extruder(extruder* ex);
-};
-
-// Short functions inline to save memory; particularly useful in the Arduino
-
-
-//inline void cartesian_dda::set_extruder(extruder* ex)
-//{
-//  ext = ex;
-//}
-
-inline bool cartesian_dda::active()
-{
-  return live;
-}
-
-inline void cartesian_dda::do_x_step()
-{
-	digitalWrite(X_STEP_PIN, HIGH);
-	delayMicroseconds(5);
-	digitalWrite(X_STEP_PIN, LOW);
-}
-
-inline void cartesian_dda::do_y_step()
-{
-	digitalWrite(Y_STEP_PIN, HIGH);
-	delayMicroseconds(5);
-	digitalWrite(Y_STEP_PIN, LOW);
-}
-
-inline void cartesian_dda::do_z_step()
-{
-	digitalWrite(Z_STEP_PIN, HIGH);
-	delayMicroseconds(5);
-	digitalWrite(Z_STEP_PIN, LOW);
-}
-
-inline void cartesian_dda::do_e_step()
-{
-        ex[extruder_in_use]->step();
-}
-
-inline long cartesian_dda::calculate_feedrate_delay(const float& feedrate)
-{  
-        
-	// Calculate delay between steps in microseconds.  Here it is in English:
-        // (feedrate is in mm/minute, distance is in mm)
-	// 60000000.0*distance/feedrate  = move duration in microseconds
-	// move duration/total_steps = time between steps for master axis.
-
-	return round( (distance*60000000.0) / (feedrate*(float)total_steps) );	
-}
-
-inline bool cartesian_dda::read_switch(byte pin)
-{
-	//dual read as crude debounce
-
-	#if ENDSTOPS_INVERTING == 1
-		return !digitalRead(pin) && !digitalRead(pin);
-	#else
-		return digitalRead(pin) && digitalRead(pin);
-	#endif
-}
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.h.dist b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.h.dist
deleted file mode 100644
index bf6e9217..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.h.dist
+++ /dev/null
@@ -1,174 +0,0 @@
-/*
- * This class controls the movement of the RepRap machine.
- * It implements a DDA in four dimensions, so the length of extruded 
- * filament is treated as a variable, just like X, Y, and Z.
- *
- * Adrian Bowyer 9 May 2009
- */
-
-#ifndef CARTESIAN_DDA_H
-#define CARTESIAN_DDA_H
-
-// Main class for moving the RepRap machine about
-
-class cartesian_dda
-{
-private:
-
-  //extruder* ext;               // The extruder I'm currently using - keep this up to date...
-
-  FloatPoint units;            // Factors for converting either mm or inches to steps
-
-  FloatPoint target_position;  // Where it's going
-  FloatPoint delta_position;   // The difference between the two
-  float distance;              // How long the path is
-  
-  LongPoint current_steps;     // Similar information as above in steps rather than units
-  LongPoint target_steps;
-  LongPoint delta_steps;
-  LongPoint dda_counter;       // DDA error-accumulation variables
-  long t_scale;                // When doing lots of t steps, scale them so the DDA doesn't spend for ever on them
-  
-  byte x_direction;            // Am I going in the + or - direction?
-  byte y_direction;
-  byte z_direction;
-  byte e_direction;
-  byte f_direction;
-
-  bool x_can_step;             // Am I not at an endstop?  Have I not reached the target? etc.
-  bool y_can_step;
-  bool z_can_step;
-  bool e_can_step;
-  bool f_can_step;
-
-// Variables for acceleration calculations
-
-  long total_steps;            // The number of steps to take along the longest movement axis
-  
-  long timestep;               // microseconds
-  bool nullmove;               // this move is zero length
-  bool real_move;              // Flag to know if we've changed something physical
-  volatile bool live;                   // Flag for when we're plotting a line
-
-// Internal functions that need not concern the user
-
-  // Take a single step
-
-  void do_x_step();               
-  void do_y_step();
-  void do_z_step();
-  void do_e_step();
-  
-  // Can this axis step?
-  
-  bool can_step(byte min_pin, byte max_pin, long current, long target, byte dir);
-  
-  // Read a limit switch
-  
-  bool read_switch(byte pin);
-  
-  // Work out the number of microseconds between steps
-  
-  long calculate_feedrate_delay(const float& feedrate);
-  
-  // Switch the steppers on and off
-  
-  void enable_steppers();
-  void disable_steppers();
-  
-  // Custom short delay function (microseconds)
-  
-  //void delayMicrosecondsInterruptible(unsigned int us);
-  
-  
-public:
-
-  cartesian_dda();
-  
-  // Set where I'm going
-  
-  void set_target(const FloatPoint& p);
-  
-  // Start the DDA
-  
-  void dda_start();
-  
-  // Do one step of the DDA
-  
-  void dda_step();
-  
-  // Are we running at the moment?
-  
-  bool active();
-  
-  // True for mm; false for inches
-  
-  void set_units(bool using_mm);
-  
-  // Record the selection of a new extruder
-  
-  //void set_extruder(extruder* ex);
-};
-
-// Short functions inline to save memory; particularly useful in the Arduino
-
-
-//inline void cartesian_dda::set_extruder(extruder* ex)
-//{
-//  ext = ex;
-//}
-
-inline bool cartesian_dda::active()
-{
-  return live;
-}
-
-inline void cartesian_dda::do_x_step()
-{
-	digitalWrite(X_STEP_PIN, HIGH);
-	delayMicroseconds(5);
-	digitalWrite(X_STEP_PIN, LOW);
-}
-
-inline void cartesian_dda::do_y_step()
-{
-	digitalWrite(Y_STEP_PIN, HIGH);
-	delayMicroseconds(5);
-	digitalWrite(Y_STEP_PIN, LOW);
-}
-
-inline void cartesian_dda::do_z_step()
-{
-	digitalWrite(Z_STEP_PIN, HIGH);
-	delayMicroseconds(5);
-	digitalWrite(Z_STEP_PIN, LOW);
-}
-
-inline void cartesian_dda::do_e_step()
-{
-        ex[extruder_in_use]->step();
-}
-
-inline long cartesian_dda::calculate_feedrate_delay(const float& feedrate)
-{  
-        
-	// Calculate delay between steps in microseconds.  Here it is in English:
-        // (feedrate is in mm/minute, distance is in mm)
-	// 60000000.0*distance/feedrate  = move duration in microseconds
-	// move duration/total_steps = time between steps for master axis.
-
-	return round( (distance*60000000.0) / (feedrate*(float)total_steps) );	
-}
-
-inline bool cartesian_dda::read_switch(byte pin)
-{
-	//dual read as crude debounce
-
-	#if ENDSTOPS_INVERTING == 1
-		return !digitalRead(pin) && !digitalRead(pin);
-	#else
-		return digitalRead(pin) && digitalRead(pin);
-	#endif
-}
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.pde
deleted file mode 100644
index 09698334..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.pde
+++ /dev/null
@@ -1,468 +0,0 @@
-#include <stdio.h>
-#include "parameters.h"
-#include "pins.h"
-#include "extruder.h"
-#include "vectors.h"
-#include "cartesian_dda.h"
-
-
-// Initialise X, Y and Z.  The extruder is initialized
-// separately.
-
-cartesian_dda::cartesian_dda()
-{
-        live = false;
-        nullmove = false;
-        
-  // Default is going forward
-  
-        x_direction = 1;
-        y_direction = 1;
-        z_direction = 1;
-        e_direction = 1;
-        f_direction = 1;
-        
-  // Default to the origin and not going anywhere
-  
-	target_position.x = 0.0;
-	target_position.y = 0.0;
-	target_position.z = 0.0;
-	target_position.e = 0.0;
-        target_position.f = SLOW_XY_FEEDRATE;
-
-  // Set up the pin directions
-  
-	pinMode(X_STEP_PIN, OUTPUT);
-	pinMode(X_DIR_PIN, OUTPUT);
-
-	pinMode(Y_STEP_PIN, OUTPUT);
-	pinMode(Y_DIR_PIN, OUTPUT);
-
-	pinMode(Z_STEP_PIN, OUTPUT);
-	pinMode(Z_DIR_PIN, OUTPUT);
-
-#if MOTHERBOARD > 0
-	pinMode(X_ENABLE_PIN, OUTPUT);
-	pinMode(Y_ENABLE_PIN, OUTPUT);
-	pinMode(Z_ENABLE_PIN, OUTPUT);
-#endif
-
-  //turn the motors off at the start.
-
-	disable_steppers();
-
-#if ENDSTOPS_MIN_ENABLED == 1
-	pinMode(X_MIN_PIN, INPUT);
-	pinMode(Y_MIN_PIN, INPUT);
-	pinMode(Z_MIN_PIN, INPUT);
-#endif
-
-#if ENDSTOPS_MAX_ENABLED == 1
-	pinMode(X_MAX_PIN, INPUT);
-	pinMode(Y_MAX_PIN, INPUT);
-	pinMode(Z_MAX_PIN, INPUT);
-#endif
-	
-        // Default units are mm
-        
-        set_units(true);
-}
-
-// Switch between mm and inches
-
-void cartesian_dda::set_units(bool using_mm)
-{
-    if(using_mm)
-    {
-      units.x = X_STEPS_PER_MM;
-      units.y = Y_STEPS_PER_MM;
-      units.z = Z_STEPS_PER_MM;
-      units.e = E_STEPS_PER_MM;
-      units.f = 1.0;
-    } else
-    {
-      units.x = X_STEPS_PER_INCH;
-      units.y = Y_STEPS_PER_INCH;
-      units.z = Z_STEPS_PER_INCH;
-      units.e = E_STEPS_PER_INCH;
-      units.f = 1.0;  
-    }
-}
-
-
-void cartesian_dda::set_target(const FloatPoint& p)
-{
-        target_position = p;
-        nullmove = false;
-        
-	//figure our deltas.
-
-        delta_position = fabsv(target_position - where_i_am);
-        
-        // The feedrate values refer to distance in (X, Y, Z) space, so ignore e and f
-        // values unless they're the only thing there.
-
-        FloatPoint squares = delta_position*delta_position;
-        distance = squares.x + squares.y + squares.z;
-        // If we are 0, only thing changing is e
-        if(distance <= 0.0)
-          distance = squares.e;
-        // If we are still 0, only thing changing is f
-        if(distance <= 0.0)
-          distance = squares.f;
-        distance = sqrt(distance);          
-                                                                                   			
-	//set our steps current, target, and delta
-
-        current_steps = to_steps(units, where_i_am);
-	target_steps = to_steps(units, target_position);
-	delta_steps = absv(target_steps - current_steps);
-
-	// find the dominant axis.
-        // NB we ignore the f values here, as it takes no time to take a step in time :-)
-
-        total_steps = max(delta_steps.x, delta_steps.y);
-        total_steps = max(total_steps, delta_steps.z);
-        total_steps = max(total_steps, delta_steps.e);
-  
-        // If we're not going anywhere, flag the fact
-        
-        if(total_steps == 0)
-        {
-          nullmove = true;
-          where_i_am = p;
-          return;
-        }    
-
-#ifndef ACCELERATION_ON
-        current_steps.f = round(target_position.f);
-#endif
-
-        delta_steps.f = abs(target_steps.f - current_steps.f);
-        
-        // Rescale the feedrate so it doesn't take lots of steps to do
-        
-        t_scale = 1;
-        if(delta_steps.f > total_steps)
-        {
-            t_scale = delta_steps.f/total_steps;
-            if(t_scale >= 3)
-            {
-              target_steps.f = target_steps.f/t_scale;
-              current_steps.f = current_steps.f/t_scale;
-              delta_steps.f = abs(target_steps.f - current_steps.f);
-              if(delta_steps.f > total_steps)
-                total_steps =  delta_steps.f;
-            } else
-            {
-              t_scale = 1;
-              total_steps =  delta_steps.f;
-            }
-        } 
-        	
-	//what is our direction?
-
-	x_direction = (target_position.x >= where_i_am.x);
-	y_direction = (target_position.y >= where_i_am.y);
-	z_direction = (target_position.z >= where_i_am.z);
-	e_direction = (target_position.e >= where_i_am.e);
-	f_direction = (target_position.f >= where_i_am.f);
-
-	dda_counter.x = -total_steps/2;
-	dda_counter.y = dda_counter.x;
-	dda_counter.z = dda_counter.x;
-        dda_counter.e = dda_counter.x;
-        dda_counter.f = dda_counter.x;
-  
-        where_i_am = p;
-        
-        return;        
-}
-
-
-
-void cartesian_dda::dda_step()
-{  
-  if(!live)
-   return;
-   
-  do
-  {
-		x_can_step = can_step(X_MIN_PIN, X_MAX_PIN, current_steps.x, target_steps.x, x_direction);
-		y_can_step = can_step(Y_MIN_PIN, Y_MAX_PIN, current_steps.y, target_steps.y, y_direction);
-		z_can_step = can_step(Z_MIN_PIN, Z_MAX_PIN, current_steps.z, target_steps.z, z_direction);
-                e_can_step = can_step(-1, -1, current_steps.e, target_steps.e, e_direction);
-                f_can_step = can_step(-1, -1, current_steps.f, target_steps.f, f_direction);
-                
-                real_move = false;
-                
-		if (x_can_step)
-		{
-			dda_counter.x += delta_steps.x;
-			
-			if (dda_counter.x > 0)
-			{
-				do_x_step();
-                                real_move = true;
-				dda_counter.x -= total_steps;
-				
-				if (x_direction)
-					current_steps.x++;
-				else
-					current_steps.x--;
-			}
-		}
-
-		if (y_can_step)
-		{
-			dda_counter.y += delta_steps.y;
-			
-			if (dda_counter.y > 0)
-			{
-				do_y_step();
-                                real_move = true;
-				dda_counter.y -= total_steps;
-
-				if (y_direction)
-					current_steps.y++;
-				else
-					current_steps.y--;
-			}
-		}
-		
-		if (z_can_step)
-		{
-			dda_counter.z += delta_steps.z;
-			
-			if (dda_counter.z > 0)
-			{
-				do_z_step();
-                                real_move = true;
-				dda_counter.z -= total_steps;
-				
-				if (z_direction)
-					current_steps.z++;
-				else
-					current_steps.z--;
-			}
-		}
-
-		if (e_can_step)
-		{
-			dda_counter.e += delta_steps.e;
-			
-			if (dda_counter.e > 0)
-			{
-				do_e_step();
-                                real_move = true;
-				dda_counter.e -= total_steps;
-				
-				if (e_direction)
-					current_steps.e++;
-				else
-					current_steps.e--;
-			}
-		}
-		
-		if (f_can_step)
-		{
-			dda_counter.f += delta_steps.f;
-			
-			if (dda_counter.f > 0)
-			{
-				dda_counter.f -= total_steps;
-				if (f_direction)
-					current_steps.f++;
-				else
-					current_steps.f--;
-			}
-		}
-
-				
-      // wait for next step.
-      // Use milli- or micro-seconds, as appropriate
-      // If the only thing that changed was f keep looping
-  
-                if(real_move)
-                {
-                  if(t_scale > 1)
-                    timestep = t_scale*current_steps.f;
-                  else
-                    timestep = current_steps.f;
-                  timestep = calculate_feedrate_delay((float) timestep);
-                  setTimer(timestep);
-                }
-  } while (!real_move && f_can_step);
-
-  live = (x_can_step || y_can_step || z_can_step  || e_can_step || f_can_step);
-
-// Wrap up at the end of a line
-
-  if(!live)
-  {
-      disable_steppers();
-      setTimer(DEFAULT_TICK);
-  }    
-  
-}
-
-
-// Run the DDA
-
-void cartesian_dda::dda_start()
-{    
-  // Set up the DDA
-  //sprintf(debugstring, "%d %d", x_direction, nullmove);
-  
-  if(nullmove)
-    return;
-    
-  	//set our direction pins as well
-#if INVERT_X_DIR == 1
-	digitalWrite(X_DIR_PIN, !x_direction);
-#else
-	digitalWrite(X_DIR_PIN, x_direction);
-#endif
-
-#if INVERT_Y_DIR == 1
-	digitalWrite(Y_DIR_PIN, !y_direction);
-#else
-	digitalWrite(Y_DIR_PIN, y_direction);
-#endif
-
-#if INVERT_Z_DIR == 1
-	digitalWrite(Z_DIR_PIN, !z_direction);
-#else
-	digitalWrite(Z_DIR_PIN, z_direction);
-#endif
-        if(e_direction)
-          ex[extruder_in_use]->set_direction(1);
-        else
-          ex[extruder_in_use]->set_direction(0);
-  
-    //turn on steppers to start moving =)
-    
-	enable_steppers();
-        
-       // extcount = 0;
-
-        setTimer(DEFAULT_TICK);
-	live = true;
-}
-
-
-bool cartesian_dda::can_step(byte min_pin, byte max_pin, long current, long target, byte dir)
-{
-
-  //stop us if we're on target
-
-	if (target == current)
-		return false;
-
-#if ENDSTOPS_MIN_ENABLED == 1
-
-  //stop us if we're home and still going
-  
-	else if(min_pin >= 0)
-        {
-          if (read_switch(min_pin) && !dir)
-		return false;
-        }
-#endif
-
-#if ENDSTOPS_MAX_ENABLED == 1
-
-  //stop us if we're at max and still going
-  
-	else if(max_pin >= 0)
-        {
- 	    if (read_switch(max_pin) && dir)
- 		return false;
-        }
-#endif
-
-  // All OK - we can step
-  
-	return true;
-}
-
-
-void cartesian_dda::enable_steppers()
-{
-#if MOTHERBOARD > 0
- if(delta_steps.x)
-    digitalWrite(X_ENABLE_PIN, ENABLE_ON);
-  if(delta_steps.y)    
-    digitalWrite(Y_ENABLE_PIN, ENABLE_ON);
-  if(delta_steps.z)
-    digitalWrite(Z_ENABLE_PIN, ENABLE_ON);
-  if(delta_steps.e)
-    ex[extruder_in_use]->enableStep();
-#endif  
-}
-
-
-
-void cartesian_dda::disable_steppers()
-{
-#if MOTHERBOARD > 0
-	//disable our steppers
-	digitalWrite(X_ENABLE_PIN, !ENABLE_ON);
-	digitalWrite(Y_ENABLE_PIN, !ENABLE_ON);
-	digitalWrite(Z_ENABLE_PIN, !ENABLE_ON);
-
-        // Disabling the extrude stepper causes the backpressure to
-        // turn the motor the wrong way.  Leave it on.
-        
-        //ex[extruder_in_use]->->disableStep();       
-#endif
-}
-
-/*
-
-void cartesian_dda::delayMicrosecondsInterruptible(unsigned int us)
-{
-
-#if F_CPU >= 16000000L
-    // for the 16 MHz clock on most Arduino boards
-
-	// for a one-microsecond delay, simply return.  the overhead
-	// of the function call yields a delay of approximately 1 1/8 us.
-	if (--us == 0)
-		return;
-
-	// the following loop takes a quarter of a microsecond (4 cycles)
-	// per iteration, so execute it four times for each microsecond of
-	// delay requested.
-	us <<= 2;
-
-	// account for the time taken in the preceeding commands.
-	us -= 2;
-#else
-    // for the 8 MHz internal clock on the ATmega168
-
-    // for a one- or two-microsecond delay, simply return.  the overhead of
-    // the function calls takes more than two microseconds.  can't just
-    // subtract two, since us is unsigned; we'd overflow.
-	if (--us == 0)
-		return;
-	if (--us == 0)
-		return;
-
-	// the following loop takes half of a microsecond (4 cycles)
-	// per iteration, so execute it twice for each microsecond of
-	// delay requested.
-	us <<= 1;
-    
-    // partially compensate for the time taken by the preceeding commands.
-    // we can't subtract any more than this or we'd overflow w/ small delays.
-    us--;
-#endif
-
-	// busy wait
-	__asm__ __volatile__ (
-		"1: sbiw %0,1" "\n\t" // 2 cycles
-		"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
-	);
-}
-*/
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/download-copy b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/download-copy
deleted file mode 100755
index c3a47867..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/download-copy
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/sh
-cp cartesian_dda.h.dist cartesian_dda.h
-cp extruder.h.dist extruder.h
-cp parameters.h.dist parameters.h
-cp pins.h.dist pins.h
-cp vectors.h.dist vectors.h
-
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/extruder.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/extruder.h
deleted file mode 100644
index 2ab8a8cc..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/extruder.h
+++ /dev/null
@@ -1,230 +0,0 @@
-
-// Class for controlling each extruder
-//
-// Adrian Bowyer 14 May 2009
-
-#ifndef EXTRUDER_H
-#define EXTRUDER_H
-
-#define EXTRUDER_COUNT 2
-
-void manage_all_extruders();
-
-void new_extruder(byte e);
-
-/**********************************************************************************************
-
-* Sanguino/RepRap Motherboard v 1.0
-
-*/
-
-#if MOTHERBOARD < 2
-
-#define EXTRUDER_FORWARD true
-#define EXTRUDER_REVERSE false
-
-class extruder
-{
-private:
-
-//these our the default values for the extruder.
-    byte e_speed;
-    int target_celsius;
-    int max_celsius;
-    byte heater_low;
-    byte heater_high;
-    byte heater_current;
-    int extrude_step_count;
-
-// These are used for temperature control    
-    byte count ;
-    int oldT, newT;
-    
-//this is for doing encoder based extruder control
-//    int rpm;
-//    long e_delay;
-//    int error;
-//    int last_extruder_error;
-//    int error_delta;
-    bool e_direction;
-    bool valve_open;
-
-// The pins we control
-    byte motor_dir_pin, motor_speed_pin, heater_pin, fan_pin, temp_pin, valve_dir_pin, valve_en_pin, step_en_pin;
-    
-     byte wait_till_hot();
-     //byte wait_till_cool();
-     void temperature_error(); 
-     int sample_temperature();
-     
-public:
-
-   extruder(byte md_pin, byte ms_pin, byte h_pin, byte f_pin, byte t_pin, byte vd_pin, byte ve_pin, byte se_pin);
-   void wait_for_temperature();
-   void valve_set(bool open, int dTime);
-   void set_direction(bool direction);
-//   void set_speed(float es);
-   void set_cooler(byte e_speed);
-   void set_temperature(int temp);
-   int get_temperature();
-   void manage();
-// Interrupt setup and handling functions for stepper-driven extruders
-   
-//   void interrupt();
-   void step();
-
-   void enableStep();
-   void disableStep();
-   
-};
-
-inline void extruder::enableStep()
-{
-  if(step_en_pin < 0)
-    return;
-  digitalWrite(step_en_pin, ENABLE_ON); 
-}
-
-inline void extruder::disableStep()
-{
-  if(step_en_pin < 0)
-    return;
-  digitalWrite(step_en_pin, !ENABLE_ON);
-}
-
-inline void extruder::step()
-{
-   digitalWrite(motor_speed_pin, HIGH);
-   delayMicroseconds(5);
-   digitalWrite(motor_speed_pin, LOW);
-}
-
-inline void extruder::temperature_error()
-{
-      Serial.print("E: ");
-      Serial.println(get_temperature());  
-}
-
-//warmup if we're too cold; cool down if we're too hot
-inline void extruder::wait_for_temperature()
-{
-/*
-  if(wait_till_cool())
-   {
-      temperature_error();
-      return;
-   }
-*/
-   if(wait_till_hot())
-     temperature_error();
-}
-
-inline void extruder::set_direction(bool dir)
-{
-	e_direction = dir;
-	digitalWrite(motor_dir_pin, e_direction);
-}
-
-inline void extruder::set_cooler(byte sp)
-{
-  if(step_en_pin >= 0) // Step enable conflicts with the fan
-    return;
-  analogWrite(fan_pin, sp);
-}
-
-/**********************************************************************************************
-
-* RepRap Motherboard v 1.x (x >= 1)
-* Extruder is now on RS485
-
-*/
-
-#else
-
-class extruder
-{
-private:
-
-  byte address;
- 
-public:
-   extruder(byte a);
-   void wait_for_temperature();
-   void valve_set(bool open, int dTime);
-   void set_direction(bool direction);
-   void set_cooler(byte e_speed);
-   void set_temperature(int temp);
-   int get_temperature();
-   void manage();
-   void step();
-
-   void enableStep();
-   void disableStep();
-   
-};
-
-inline extruder::extruder(byte a)
-{
-  address = a;
-}
-
-inline  void extruder::wait_for_temperature()
-{
-  
-}
-
-inline  void extruder::valve_set(bool open, int dTime)
-{
-   if(open)
-     talker.sendPacket(address, "V1");
-   else
-     talker.sendPacket(address, "V0");
-   delay(dTime);
-}
-
-inline void extruder::set_direction(bool direction)
-{
-  
-}
-
-inline  void extruder::set_cooler(byte e_speed)
-{
-  
-}
-
-inline  void extruder::set_temperature(int temp)
-{
-  
-}
-
-inline  int extruder::get_temperature()
-{
-  return 1;  
-}
-
-inline  void extruder::manage()
-{
-  
-}
-
-inline  void extruder::step()
-{
-  
-}
-
-inline  void extruder::enableStep()
-{
-  
-}
-
-inline  void extruder::disableStep()
-{
-  
-}
-
-#endif
-
-extern extruder* ex[];
-extern byte extruder_in_use;
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/extruder.h.dist b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/extruder.h.dist
deleted file mode 100644
index 2ab8a8cc..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/extruder.h.dist
+++ /dev/null
@@ -1,230 +0,0 @@
-
-// Class for controlling each extruder
-//
-// Adrian Bowyer 14 May 2009
-
-#ifndef EXTRUDER_H
-#define EXTRUDER_H
-
-#define EXTRUDER_COUNT 2
-
-void manage_all_extruders();
-
-void new_extruder(byte e);
-
-/**********************************************************************************************
-
-* Sanguino/RepRap Motherboard v 1.0
-
-*/
-
-#if MOTHERBOARD < 2
-
-#define EXTRUDER_FORWARD true
-#define EXTRUDER_REVERSE false
-
-class extruder
-{
-private:
-
-//these our the default values for the extruder.
-    byte e_speed;
-    int target_celsius;
-    int max_celsius;
-    byte heater_low;
-    byte heater_high;
-    byte heater_current;
-    int extrude_step_count;
-
-// These are used for temperature control    
-    byte count ;
-    int oldT, newT;
-    
-//this is for doing encoder based extruder control
-//    int rpm;
-//    long e_delay;
-//    int error;
-//    int last_extruder_error;
-//    int error_delta;
-    bool e_direction;
-    bool valve_open;
-
-// The pins we control
-    byte motor_dir_pin, motor_speed_pin, heater_pin, fan_pin, temp_pin, valve_dir_pin, valve_en_pin, step_en_pin;
-    
-     byte wait_till_hot();
-     //byte wait_till_cool();
-     void temperature_error(); 
-     int sample_temperature();
-     
-public:
-
-   extruder(byte md_pin, byte ms_pin, byte h_pin, byte f_pin, byte t_pin, byte vd_pin, byte ve_pin, byte se_pin);
-   void wait_for_temperature();
-   void valve_set(bool open, int dTime);
-   void set_direction(bool direction);
-//   void set_speed(float es);
-   void set_cooler(byte e_speed);
-   void set_temperature(int temp);
-   int get_temperature();
-   void manage();
-// Interrupt setup and handling functions for stepper-driven extruders
-   
-//   void interrupt();
-   void step();
-
-   void enableStep();
-   void disableStep();
-   
-};
-
-inline void extruder::enableStep()
-{
-  if(step_en_pin < 0)
-    return;
-  digitalWrite(step_en_pin, ENABLE_ON); 
-}
-
-inline void extruder::disableStep()
-{
-  if(step_en_pin < 0)
-    return;
-  digitalWrite(step_en_pin, !ENABLE_ON);
-}
-
-inline void extruder::step()
-{
-   digitalWrite(motor_speed_pin, HIGH);
-   delayMicroseconds(5);
-   digitalWrite(motor_speed_pin, LOW);
-}
-
-inline void extruder::temperature_error()
-{
-      Serial.print("E: ");
-      Serial.println(get_temperature());  
-}
-
-//warmup if we're too cold; cool down if we're too hot
-inline void extruder::wait_for_temperature()
-{
-/*
-  if(wait_till_cool())
-   {
-      temperature_error();
-      return;
-   }
-*/
-   if(wait_till_hot())
-     temperature_error();
-}
-
-inline void extruder::set_direction(bool dir)
-{
-	e_direction = dir;
-	digitalWrite(motor_dir_pin, e_direction);
-}
-
-inline void extruder::set_cooler(byte sp)
-{
-  if(step_en_pin >= 0) // Step enable conflicts with the fan
-    return;
-  analogWrite(fan_pin, sp);
-}
-
-/**********************************************************************************************
-
-* RepRap Motherboard v 1.x (x >= 1)
-* Extruder is now on RS485
-
-*/
-
-#else
-
-class extruder
-{
-private:
-
-  byte address;
- 
-public:
-   extruder(byte a);
-   void wait_for_temperature();
-   void valve_set(bool open, int dTime);
-   void set_direction(bool direction);
-   void set_cooler(byte e_speed);
-   void set_temperature(int temp);
-   int get_temperature();
-   void manage();
-   void step();
-
-   void enableStep();
-   void disableStep();
-   
-};
-
-inline extruder::extruder(byte a)
-{
-  address = a;
-}
-
-inline  void extruder::wait_for_temperature()
-{
-  
-}
-
-inline  void extruder::valve_set(bool open, int dTime)
-{
-   if(open)
-     talker.sendPacket(address, "V1");
-   else
-     talker.sendPacket(address, "V0");
-   delay(dTime);
-}
-
-inline void extruder::set_direction(bool direction)
-{
-  
-}
-
-inline  void extruder::set_cooler(byte e_speed)
-{
-  
-}
-
-inline  void extruder::set_temperature(int temp)
-{
-  
-}
-
-inline  int extruder::get_temperature()
-{
-  return 1;  
-}
-
-inline  void extruder::manage()
-{
-  
-}
-
-inline  void extruder::step()
-{
-  
-}
-
-inline  void extruder::enableStep()
-{
-  
-}
-
-inline  void extruder::disableStep()
-{
-  
-}
-
-#endif
-
-extern extruder* ex[];
-extern byte extruder_in_use;
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/extruder.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/extruder.pde
deleted file mode 100644
index ce4593fd..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/extruder.pde
+++ /dev/null
@@ -1,308 +0,0 @@
-
-#include "parameters.h"
-#include "pins.h"
-#include "ThermistorTable.h"
-#include "extruder.h" 
-
-// Keep all extruders up to temperature etc.
-
-void manage_all_extruders()
-{
-    for(byte i = 0; i < EXTRUDER_COUNT; i++)
-       ex[i]->manage();
-}
-
-// Select a new extruder
-
-void new_extruder(byte e)
-{
-  if(e < 0)
-    e = 0;
-  if(e >= EXTRUDER_COUNT)
-    e = EXTRUDER_COUNT - 1;
-  
-  if(e != extruder_in_use)
-  {  
-    extruder_in_use = e;
-    //setExtruder();
-  }
-}
-
-/***************************************************************************************************************************
-
-If we have a new motherboard (V 1.x, x >= 1), the extruder is entirely controlled via the RS485, and all  the functions to do
-it are simple inlines in extruder.h
-
-Otherwise, we have to do the work ourselves...
-*/
-
-#if MOTHERBOARD < 2   
-extruder::extruder(byte md_pin, byte ms_pin, byte h_pin, byte f_pin, byte t_pin, byte vd_pin, byte ve_pin, byte se_pin)
-{
-         motor_dir_pin = md_pin;
-         motor_speed_pin = ms_pin;
-         heater_pin = h_pin;
-         fan_pin = f_pin;
-         temp_pin = t_pin;
-         valve_dir_pin = vd_pin;
-         valve_en_pin = ve_pin;
-         step_en_pin = se_pin;
-         
-	//setup our pins
-	pinMode(motor_dir_pin, OUTPUT);
-	pinMode(motor_speed_pin, OUTPUT);
-	pinMode(heater_pin, OUTPUT);
-
-	pinMode(temp_pin, INPUT);
-	pinMode(valve_dir_pin, OUTPUT); 
-        pinMode(valve_en_pin, OUTPUT);
-
-	//initialize values
-	digitalWrite(motor_dir_pin, EXTRUDER_FORWARD);
-	
-	analogWrite(heater_pin, 0);
-	analogWrite(motor_speed_pin, 0);
-	digitalWrite(valve_dir_pin, false);
-	digitalWrite(valve_en_pin, 0);
-
-// The step enable pin and the fan pin are the same...
-// We can have one, or the other, but not both
-
-        if(step_en_pin >= 0)
-        {
-          pinMode(step_en_pin, OUTPUT);
-	  disableStep();
-        } else
-        {
-	  pinMode(fan_pin, OUTPUT);
-          analogWrite(fan_pin, 0);
-        }
-
-        //these our the default values for the extruder.
-        e_speed = 0;
-        target_celsius = 0;
-        max_celsius = 0;
-        heater_low = 64;
-        heater_high = 255;
-        heater_current = 0;
-        valve_open = false;
-        
-//this is for doing encoder based extruder control
-//        rpm = 0;
-//        e_delay = 0;
-//        error = 0;
-//        last_extruder_error = 0;
-//        error_delta = 0;
-        e_direction = EXTRUDER_FORWARD;
-        
-        //default to cool
-        set_temperature(target_celsius);
-}
-
-
-byte extruder::wait_till_hot()
-{  
-  count = 0;
-  oldT = get_temperature();
-  while (get_temperature() < target_celsius - HALF_DEAD_ZONE)
-  {
-	manage_all_extruders();
-        count++;
-        if(count > 20)
-        {
-            newT = get_temperature();
-            if(newT > oldT)
-               oldT = newT;
-            else
-                return 1;
-            count = 0;
-        }
-	delay(1000);
-  }
-  return 0;
-}
-
-/*
-byte extruder::wait_till_cool()
-{  
-  count = 0;
-  oldT = get_temperature();
-  while (get_temperature() > target_celsius + HALF_DEAD_ZONE)
-  {
-	manage_all_extruders();
-        count++;
-        if(count > 20)
-        {
-            newT = get_temperature();
-            if(newT < oldT)
-               oldT = newT;
-            else
-                return 1;
-            count = 0;
-        }
-	delay(1000);
-  }
-  return 0;
-}
-*/
-
-
-
-void extruder::valve_set(bool open, int dTime)
-{
-        wait_for_temperature();
-	valve_open = open;
-	digitalWrite(valve_dir_pin, open);
-        digitalWrite(valve_en_pin, 1);
-        delay(dTime);
-        digitalWrite(valve_en_pin, 0);
-}
-
-
-void extruder::set_temperature(int temp)
-{
-	target_celsius = temp;
-	max_celsius = (temp*11)/10;
-
-        // If we've turned the heat off, we might as well disable the extrude stepper
-       // if(target_celsius < 1)
-        //  disableStep(); 
-}
-
-/**
-*  Samples the temperature and converts it to degrees celsius.
-*  Returns degrees celsius.
-*/
-int extruder::get_temperature()
-{
-#ifdef USE_THERMISTOR
-	int raw = sample_temperature(temp_pin);
-
-	int celsius = 0;
-	byte i;
-
-	for (i=1; i<NUMTEMPS; i++)
-	{
-		if (temptable[i][0] > raw)
-		{
-			celsius  = temptable[i-1][1] + 
-				(raw - temptable[i-1][0]) * 
-				(temptable[i][1] - temptable[i-1][1]) /
-				(temptable[i][0] - temptable[i-1][0]);
-
-			break;
-		}
-	}
-
-        // Overflow: Set to last value in the table
-        if (i == NUMTEMPS) celsius = temptable[i-1][1];
-        // Clamp to byte
-        if (celsius > 255) celsius = 255; 
-        else if (celsius < 0) celsius = 0; 
-
-	return celsius;
-#else
-  return ( 5.0 * sample_temperature() * 100.0) / 1024.0;
-#endif
-}
-
-
-
-/*
-* This function gives us an averaged sample of the analog temperature pin.
-*/
-int extruder::sample_temperature()
-{
-	int raw = 0;
-	
-	//read in a certain number of samples
-	for (byte i=0; i<TEMPERATURE_SAMPLES; i++)
-		raw += analogRead(temp_pin);
-		
-	//average the samples
-	raw = raw/TEMPERATURE_SAMPLES;
-
-	//send it back.
-	return raw;
-}
-
-/*!
-  Manages extruder functions to keep temps, speeds etc
-  at the set levels.  Should be called only by manage_all_extruders(),
-  which should be called in all non-trivial loops.
-  o If temp is too low, don't start the motor
-  o Adjust the heater power to keep the temperature at the target
- */
-void extruder::manage()
-{
-	//make sure we know what our temp is.
-	int current_celsius = get_temperature();
-        byte newheat = 0;
-  
-        //put the heater into high mode if we're not at our target.
-        if (current_celsius < target_celsius)
-                newheat = heater_high;
-        //put the heater on low if we're at our target.
-        else if (current_celsius < max_celsius)
-                newheat = heater_low;
-        
-        // Only update heat if it changed
-        if (heater_current != newheat) {
-                heater_current = newheat;
-                analogWrite(heater_pin, heater_current);
-        }
-}
-
-
-#if 0
-void extruder::set_speed(float sp)
-{
-  // DC motor?
-    if(step_en_pin < 0)
-    {
-      e_speed = (byte)sp;
-      if(e_speed > 0)
-          wait_for_temperature();
-      analogWrite(motor_speed_pin, e_speed);
-      return;
-    }
-      
-    // No - stepper
-  disableTimerInterrupt();
-  
-  if(sp <= 1.0e-4)
-  {
-    disableStep();
-    e_speed = 0; // Just use this as a flag
-    return;
-  } else
-  {
-    wait_for_temperature();
-    enableStep();
-    e_speed = 1;
-  }
-    
-  extrude_step_count = 0;
-  
-  float milliseconds_per_step = 60000.0/(E_STEPS_PER_MM*sp);
-  long thousand_ticks_per_step = 4*(long)(milliseconds_per_step);
-  setupTimerInterrupt();
-  setTimer(thousand_ticks_per_step);
-  enableTimerInterrupt();
-}
-
-void extruder::interrupt()
-{
-    if(!e_speed)
-      return;
-    extrude_step_count++;
-    if(extrude_step_count > 1000)
-    {
-      step();
-      extrude_step_count = 0;
-    }
-}
-
-#endif
-#endif
-
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/intercom.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/intercom.h
deleted file mode 100644
index fbfd83d2..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/intercom.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * Class to handle internal communications in the machine via RS485
- *
- * Adrian Bowyer 3 July 2009
- *
- */
- 
-#ifndef INTERCOM_H
-#define INTERCOM_H
-
-#if MOTHERBOARD > 1
-
-#define IC_BUFFER 10
-#define MASTER_ADDRESS "00"
-
-//our RS485 pins
-#define RX_ENABLE_PIN	13
-#define TX_ENABLE_PIN	12
-
- 
-class intercom
-{
-  private:
-    char myBuffer[IC_BUFFER];
-    bool ok;
-    void getPacket(char* string, int len);
-    
-  public:
-    intercom();
-    void sendPacket(byte address, char* string);
-    void sendPacketWithReply(byte address, char* string, char* reply);
-
-};
-
-extern intercom talker;
-
-#endif
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/intercom.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/intercom.pde
deleted file mode 100644
index 5832ae5c..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/intercom.pde
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
- * Class to handle internal communications in the machine via RS485
- *
- * Adrian Bowyer 3 July 2009
- *
- */
-  
-#if MOTHERBOARD > 1
-
-#include "intercom.h"
-
-intercom::intercom()
-{
-  pinMode(RX_ENABLE_PIN, OUTPUT);
-  pinMode(TX_ENABLE_PIN, OUTPUT);
-  digitalWrite(RX_ENABLE_PIN, 0); //always listen.
-  Serial1.begin(38400);  
-}
-
-void intercom::sendPacket(byte address, char* string)
-{
-  digitalWrite(TX_ENABLE_PIN, 1);
-  Serial1.print(address, HEX);
-  Serial1.print(MASTER_ADDRESS);
-  Serial1.println(string);
-  digitalWrite(TX_ENABLE_PIN, 0);
-  getPacket(myBuffer, IC_BUFFER);
-  if(myBuffer[0] != MASTER_ADDRESS[0] ||  myBuffer[1] != MASTER_ADDRESS[1])
-  {
-     // Horrible error - what to do?
-  } 
-}
-
-void intercom::sendPacketWithReply(byte address, char* string, char* reply)
-{
-  
-}
-
-void intercom::getPacket(char* string, int len)
-{
-  int i = -1;
-  ok = true;
-  do
-  {
-    while(!Serial1.available()) delay(1);
-    i++;
-    
-    // Stop runaway buffer overflow
-    
-    if(i >= len)
-      ok = false;
-    else  
-      string[i] = Serial1.read();
-  } while(string[i] != '\n' && ok);
-  string[i] = 0;
-}
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/parameters.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/parameters.h
deleted file mode 100644
index 1ffba5be..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/parameters.h
+++ /dev/null
@@ -1,106 +0,0 @@
-#ifndef PARAMETERS_H
-#define PARAMETERS_H
-
-// Here are the moterboard codes; set MOTHERBOARD to the right one
-// (Arduino: 0 - no longer in use)
-// Sanguino or RepRap Motherboard with direct drive extruders: 1
-// RepRap Motherboard with RS485 extruders: 2
-// Arduino Mega: 3
-
-#define MOTHERBOARD 1
-
-// Set 1s where you have endstops; 0s where you don't
-#define ENDSTOPS_MIN_ENABLED 1
-#define ENDSTOPS_MAX_ENABLED 0
-
-//our command string length
-#define COMMAND_SIZE 128
-
-// The size of the movement buffer
-
-#define BUFFER_SIZE 4
-
-// Number of microseconds between timer interrupts when no movement
-// is happening
-
-#define DEFAULT_TICK (long)1000
-
-// What delay() value to use when waiting for things to free up in milliseconds
-
-#define WAITING_DELAY 1
-
-#define INCHES_TO_MM 25.4
-
-// define the parameters of our machine.
-#define X_STEPS_PER_MM   7.99735
-#define X_STEPS_PER_INCH (X_STEPS_PER_MM*INCHES_TO_MM)
-#define X_MOTOR_STEPS    400
-#define INVERT_X_DIR 0
-
-#define Y_STEPS_PER_MM   7.99735
-#define Y_STEPS_PER_INCH (Y_STEPS_PER_MM*INCHES_TO_MM)
-#define Y_MOTOR_STEPS    400
-#define INVERT_Y_DIR 0
-
-#define Z_STEPS_PER_MM   320
-#define Z_STEPS_PER_INCH (Z_STEPS_PER_MM*INCHES_TO_MM)
-#define Z_MOTOR_STEPS    400
-#define INVERT_Z_DIR 0
-
-// For when we have a stepper-driven extruder
-// E_STEPS_PER_MM is the number of steps needed to 
-// extrude 1mm out of the nozzle.
-
-#define E_STEPS_PER_MM   0.706   // 5mm diameter drive - NEMA17 pinch extruder
-//#define E_STEPS_PER_MM   2.206     // 8mm geared drive - NEMA14 pinch extruder
-#define E_STEPS_PER_INCH (E_STEPS_PER_MM*INCHES_TO_MM)
-#define E_MOTOR_STEPS    400
-
-//our maximum feedrates
-#define FAST_XY_FEEDRATE 3000.0
-#define FAST_Z_FEEDRATE  50.0
-
-// Data for acceleration calculations
-// Comment out the next line to turn accelerations off
-#define ACCELERATION_ON
-#define SLOW_XY_FEEDRATE 1000.0 // Speed from which to start accelerating
-#define SLOW_Z_FEEDRATE 20
-
-// Set to 1 if enable pins are inverting
-// For RepRap stepper boards version 1.x the enable pins are *not* inverting.
-// For RepRap stepper boards version 2.x and above the enable pins are inverting.
-#define INVERT_ENABLE_PINS 1
-
-#if INVERT_ENABLE_PINS == 1
-#define ENABLE_ON LOW
-#else
-#define ENABLE_ON HIGH
-#endif
-
-// Set to one if sensor outputs inverting (ie: 1 means open, 0 means closed)
-// RepRap opto endstops are *not* inverting.
-#define ENDSTOPS_INVERTING 0
-
-// Inline interrupt control functions
-
-inline void enableTimerInterrupt() 
-{
-   TIMSK1 |= (1<<OCIE1A);
-}
-	
-inline void disableTimerInterrupt() 
-{
-     TIMSK1 &= ~(1<<OCIE1A);
-}
-        
-inline void setTimerCeiling(unsigned int c) 
-{
-    OCR1A = c;
-}
-
-inline void resetTimer()
-{
-  TCNT2 = 0;
-}
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/parameters.h.dist b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/parameters.h.dist
deleted file mode 100644
index 5a3a43e3..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/parameters.h.dist
+++ /dev/null
@@ -1,105 +0,0 @@
-#ifndef PARAMETERS_H
-#define PARAMETERS_H
-
-// Here are the moterboard codes; set MOTHERBOARD to the right one
-// (Arduino: 0 - no longer in use)
-// Sanguino or RepRap Motherboard with direct drive extruders: 1
-// RepRap Motherboard with RS485 extruders: 2
-// Arduino Mega: 3
-
-#define MOTHERBOARD 1
-
-// Set 1s where you have endstops; 0s where you don't
-#define ENDSTOPS_MIN_ENABLED 1
-#define ENDSTOPS_MAX_ENABLED 0
-
-//our command string length
-#define COMMAND_SIZE 128
-
-// The size of the movement buffer
-
-#define BUFFER_SIZE 4
-
-// Number of microseconds between timer interrupts when no movement
-// is happening
-
-#define DEFAULT_TICK (long)1000
-
-// What delay() value to use when waiting for things to free up in milliseconds
-
-#define WAITING_DELAY 1
-
-#define INCHES_TO_MM 25.4
-
-// define the parameters of our machine.
-#define X_STEPS_PER_MM   7.99735
-#define X_STEPS_PER_INCH (X_STEPS_PER_MM*INCHES_TO_MM)
-#define X_MOTOR_STEPS    400
-#define INVERT_X_DIR 0
-
-#define Y_STEPS_PER_MM   7.99735
-#define Y_STEPS_PER_INCH (Y_STEPS_PER_MM*INCHES_TO_MM)
-#define Y_MOTOR_STEPS    400
-#define INVERT_Y_DIR 0
-
-#define Z_STEPS_PER_MM   320
-#define Z_STEPS_PER_INCH (Z_STEPS_PER_MM*INCHES_TO_MM)
-#define Z_MOTOR_STEPS    400
-#define INVERT_Z_DIR 0
-
-// For when we have a stepper-driven extruder
-// E_STEPS_PER_MM is the number of steps needed to 
-// extrude 1mm out of the nozzle.
-
-#define E_STEPS_PER_MM   0.706   // 5mm diameter drive - empirically adjusted
-#define E_STEPS_PER_INCH (E_STEPS_PER_MM*INCHES_TO_MM)
-#define E_MOTOR_STEPS    400
-
-//our maximum feedrates
-#define FAST_XY_FEEDRATE 3000.0
-#define FAST_Z_FEEDRATE  50.0
-
-// Data for acceleration calculations
-// Comment out the next line to turn accelerations off
-#define ACCELERATION_ON
-#define SLOW_XY_FEEDRATE 1000.0 // Speed from which to start accelerating
-#define SLOW_Z_FEEDRATE 20
-
-// Set to 1 if enable pins are inverting
-// For RepRap stepper boards version 1.x the enable pins are *not* inverting.
-// For RepRap stepper boards version 2.x and above the enable pins are inverting.
-#define INVERT_ENABLE_PINS 1
-
-#if INVERT_ENABLE_PINS == 1
-#define ENABLE_ON LOW
-#else
-#define ENABLE_ON HIGH
-#endif
-
-// Set to one if sensor outputs inverting (ie: 1 means open, 0 means closed)
-// RepRap opto endstops are *not* inverting.
-#define ENDSTOPS_INVERTING 0
-
-// Inline interrupt control functions
-
-inline void enableTimerInterrupt() 
-{
-   TIMSK1 |= (1<<OCIE1A);
-}
-	
-inline void disableTimerInterrupt() 
-{
-     TIMSK1 &= ~(1<<OCIE1A);
-}
-        
-inline void setTimerCeiling(unsigned int c) 
-{
-    OCR1A = c;
-}
-
-inline void resetTimer()
-{
-  TCNT2 = 0;
-}
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/pins.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/pins.h
deleted file mode 100644
index dd48064a..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/pins.h
+++ /dev/null
@@ -1,142 +0,0 @@
-#ifndef PINS_H
-#define PINS_H
-
-#if MOTHERBOARD == 0
-
-#error The Arduino cannot run the 5D GCode interpreter
-
-/****************************************************************************************
-* Arduino pin assignment - left here as they might be useful
-*
-****************************************************************************************/
-
-#define X_STEP_PIN (byte)2
-#define X_DIR_PIN (byte)3
-#define X_MIN_PIN (byte)4
-#define X_MAX_PIN (byte)9
-
-#define Y_STEP_PIN (byte)10
-#define Y_DIR_PIN (byte)7
-#define Y_MIN_PIN (byte)8
-#define Y_MAX_PIN (byte)13
-
-#define Z_STEP_PIN (byte)19
-#define Z_DIR_PIN (byte)18
-#define Z_MIN_PIN (byte)17
-#define Z_MAX_PIN (byte)16
-
-
-//extruder pins
-#define EXTRUDER_0_MOTOR_SPEED_PIN  (byte)11
-#define EXTRUDER_0_MOTOR_DIR_PIN    (byte)12
-#define EXTRUDER_0_HEATER_PIN       (byte)6
-#define EXTRUDER_0_FAN_PIN          (byte)5
-#define EXTRUDER_0_TEMPERATURE_PIN  (byte)0  // Analogue input
-#define EXTRUDER_0_VALVE_DIR_PIN             (byte)16       //NB: Conflicts with Max Z!!!!
-#define EXTRUDER_0_VALVE_ENABLE_PIN          (byte)15 
-#define EXTRUDER_0_STEP_ENABLE_PIN  5 // 5 - NB conflicts with the fan; set -ve if no stepper
-
-
-/****************************************************************************************
-* Sanguino/RepRap Motherboard with direct-drive extruders
-*
-****************************************************************************************/
-#elif MOTHERBOARD == 1
-
-#define X_STEP_PIN (byte)15
-#define X_DIR_PIN (byte)18
-#define X_MIN_PIN (byte)20
-#define X_MAX_PIN (byte)21
-#define X_ENABLE_PIN (byte)19
-
-#define Y_STEP_PIN (byte)23
-#define Y_DIR_PIN (byte)22
-#define Y_MIN_PIN (byte)25
-#define Y_MAX_PIN (byte)26
-#define Y_ENABLE_PIN (byte)19
-
-#define Z_STEP_PIN (byte)29
-#define Z_DIR_PIN (byte)30
-#define Z_MIN_PIN (byte)2
-#define Z_MAX_PIN (byte)1
-#define Z_ENABLE_PIN (byte)31
-
-//extruder pins
-#define EXTRUDER_0_MOTOR_SPEED_PIN   (byte)12
-#define EXTRUDER_0_MOTOR_DIR_PIN     (byte)16
-#define EXTRUDER_0_HEATER_PIN        (byte)14
-#define EXTRUDER_0_FAN_PIN           (byte)3
-#define EXTRUDER_0_TEMPERATURE_PIN  (byte)4    // Analogue input
-#define EXTRUDER_0_VALVE_DIR_PIN     (byte)17
-#define EXTRUDER_0_VALVE_ENABLE_PIN  (byte)13  // Valve needs to be redesigned not to need this
-#define EXTRUDER_0_STEP_ENABLE_PIN  (byte)3  // 3 - Conflicts with the fan; set -ve if no stepper
-
-#define EXTRUDER_1_MOTOR_SPEED_PIN   (byte)4
-#define EXTRUDER_1_MOTOR_DIR_PIN    (byte)0
-#define EXTRUDER_1_HEATER_PIN        (byte)24
-#define EXTRUDER_1_FAN_PIN           (byte)7
-#define EXTRUDER_1_TEMPERATURE_PIN  (byte)3  // Analogue input
-#define EXTRUDER_1_VALVE_DIR_PIN    (byte) 6
-#define EXTRUDER_1_VALVE_ENABLE_PIN (byte)5   // Valve needs to be redesigned not to need this 
-#define EXTRUDER_1_STEP_ENABLE_PIN  (byte)-1  // 7 - Conflicts with the fan; set -ve if no stepper
-
-
-/****************************************************************************************
-* RepRap Motherboard with RS485 extruders
-*
-****************************************************************************************/
-
-#elif MOTHERBOARD == 2
-
-//x axis pins
-#define X_STEP_PIN      15
-#define X_DIR_PIN       18
-#define X_ENABLE_PIN    19
-#define X_MIN_PIN       20
-#define X_MAX_PIN       21
-
-//y axis pins
-#define Y_STEP_PIN      23
-#define Y_DIR_PIN       22
-#define Y_ENABLE_PIN    24
-#define Y_MIN_PIN       25
-#define Y_MAX_PIN       26
-
-//z axis pins
-#define Z_STEP_PIN      27
-#define Z_DIR_PIN       28
-#define Z_ENABLE_PIN    29
-#define Z_MIN_PIN       30
-#define Z_MAX_PIN       31
-
-//our pin for debugging.
-#define DEBUG_PIN        0
-
-//our SD card pins
-#define SD_CARD_WRITE    2
-#define SD_CARD_DETECT   3
-#define SD_CARD_SELECT   4
-
-//our RS485 pins
-#define TX_ENABLE_PIN	12
-#define RX_ENABLE_PIN	13
-
-//pin for controlling the PSU.
-#define PS_ON_PIN       14
-
-/****************************************************************************************
-* Arduino Mega pin assignment
-*
-****************************************************************************************/
-
-#elif MOTHERBOARD == 3
-
-#error The Arduino Mega is not yet implemented for the 5D GCode interpreter
-
-#else
-
-#error Unknown MOTHERBOARD value in parameters.h
-
-#endif
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/pins.h.dist b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/pins.h.dist
deleted file mode 100644
index f8720bd1..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/pins.h.dist
+++ /dev/null
@@ -1,142 +0,0 @@
-#ifndef PINS_H
-#define PINS_H
-
-#if MOTHERBOARD == 0
-
-#error The Arduino cannot run the 5D GCode interpreter
-
-/****************************************************************************************
-* Arduino pin assignment - left here as they might be useful
-*
-****************************************************************************************/
-
-#define X_STEP_PIN (byte)2
-#define X_DIR_PIN (byte)3
-#define X_MIN_PIN (byte)4
-#define X_MAX_PIN (byte)9
-
-#define Y_STEP_PIN (byte)10
-#define Y_DIR_PIN (byte)7
-#define Y_MIN_PIN (byte)8
-#define Y_MAX_PIN (byte)13
-
-#define Z_STEP_PIN (byte)19
-#define Z_DIR_PIN (byte)18
-#define Z_MIN_PIN (byte)17
-#define Z_MAX_PIN (byte)16
-
-
-//extruder pins
-#define EXTRUDER_0_MOTOR_SPEED_PIN  (byte)11
-#define EXTRUDER_0_MOTOR_DIR_PIN    (byte)12
-#define EXTRUDER_0_HEATER_PIN       (byte)6
-#define EXTRUDER_0_FAN_PIN          (byte)5
-#define EXTRUDER_0_TEMPERATURE_PIN  (byte)0  // Analogue input
-#define EXTRUDER_0_VALVE_DIR_PIN             (byte)16       //NB: Conflicts with Max Z!!!!
-#define EXTRUDER_0_VALVE_ENABLE_PIN          (byte)15 
-#define EXTRUDER_0_STEP_ENABLE_PIN  5 // 5 - NB conflicts with the fan; set -ve if no stepper
-
-
-/****************************************************************************************
-* Sanguino/RepRap Motherboard with direct-drive extruders
-*
-****************************************************************************************/
-#elif MOTHERBOARD == 1
-
-#define X_STEP_PIN (byte)15
-#define X_DIR_PIN (byte)18
-#define X_MIN_PIN (byte)20
-#define X_MAX_PIN (byte)21
-#define X_ENABLE_PIN (byte)19
-
-#define Y_STEP_PIN (byte)23
-#define Y_DIR_PIN (byte)22
-#define Y_MIN_PIN (byte)25
-#define Y_MAX_PIN (byte)26
-#define Y_ENABLE_PIN (byte)19
-
-#define Z_STEP_PIN (byte)29
-#define Z_DIR_PIN (byte)30
-#define Z_MIN_PIN (byte)1
-#define Z_MAX_PIN (byte)2
-#define Z_ENABLE_PIN (byte)31
-
-//extruder pins
-#define EXTRUDER_0_MOTOR_SPEED_PIN   (byte)12
-#define EXTRUDER_0_MOTOR_DIR_PIN     (byte)16
-#define EXTRUDER_0_HEATER_PIN        (byte)14
-#define EXTRUDER_0_FAN_PIN           (byte)3
-#define EXTRUDER_0_TEMPERATURE_PIN  (byte)4    // Analogue input
-#define EXTRUDER_0_VALVE_DIR_PIN     (byte)17
-#define EXTRUDER_0_VALVE_ENABLE_PIN  (byte)13  // Valve needs to be redesigned not to need this
-#define EXTRUDER_0_STEP_ENABLE_PIN  (byte)3  // 3 - Conflicts with the fan; set -ve if no stepper
-
-#define EXTRUDER_1_MOTOR_SPEED_PIN   (byte)4
-#define EXTRUDER_1_MOTOR_DIR_PIN    (byte)0
-#define EXTRUDER_1_HEATER_PIN        (byte)24
-#define EXTRUDER_1_FAN_PIN           (byte)7
-#define EXTRUDER_1_TEMPERATURE_PIN  (byte)3  // Analogue input
-#define EXTRUDER_1_VALVE_DIR_PIN    (byte) 6
-#define EXTRUDER_1_VALVE_ENABLE_PIN (byte)5   // Valve needs to be redesigned not to need this 
-#define EXTRUDER_1_STEP_ENABLE_PIN  (byte)-1  // 7 - Conflicts with the fan; set -ve if no stepper
-
-
-/****************************************************************************************
-* RepRap Motherboard with RS485 extruders
-*
-****************************************************************************************/
-
-#elif MOTHERBOARD == 2
-
-//x axis pins
-#define X_STEP_PIN      15
-#define X_DIR_PIN       18
-#define X_ENABLE_PIN    19
-#define X_MIN_PIN       20
-#define X_MAX_PIN       21
-
-//y axis pins
-#define Y_STEP_PIN      23
-#define Y_DIR_PIN       22
-#define Y_ENABLE_PIN    24
-#define Y_MIN_PIN       25
-#define Y_MAX_PIN       26
-
-//z axis pins
-#define Z_STEP_PIN      27
-#define Z_DIR_PIN       28
-#define Z_ENABLE_PIN    29
-#define Z_MIN_PIN       30
-#define Z_MAX_PIN       31
-
-//our pin for debugging.
-#define DEBUG_PIN        0
-
-//our SD card pins
-#define SD_CARD_WRITE    2
-#define SD_CARD_DETECT   3
-#define SD_CARD_SELECT   4
-
-//our RS485 pins
-#define TX_ENABLE_PIN	12
-#define RX_ENABLE_PIN	13
-
-//pin for controlling the PSU.
-#define PS_ON_PIN       14
-
-/****************************************************************************************
-* Arduino Mega pin assignment
-*
-****************************************************************************************/
-
-#elif MOTHERBOARD == 3
-
-#error The Arduino Mega is not yet implemented for the 5D GCode interpreter
-
-#else
-
-#error Unknown MOTHERBOARD value in parameters.h
-
-#endif
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/process_g_code.pde b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/process_g_code.pde
deleted file mode 100644
index 941c180a..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/process_g_code.pde
+++ /dev/null
@@ -1,525 +0,0 @@
-
-#include "parameters.h"
-#include "pins.h"
-#include "extruder.h"
-#include "vectors.h"
-#include "cartesian_dda.h"
-
-/* bit-flags for commands and parameters */
-#define GCODE_G	(1<<0)
-#define GCODE_M	(1<<1)
-#define GCODE_P	(1<<2)
-#define GCODE_X	(1<<3)
-#define GCODE_Y	(1<<4)
-#define GCODE_Z	(1<<5)
-#define GCODE_I	(1<<6)
-#define GCODE_J	(1<<7)
-#define GCODE_K	(1<<8)
-#define GCODE_F	(1<<9)
-#define GCODE_S	(1<<10)
-#define GCODE_Q	(1<<11)
-#define GCODE_R	(1<<12)
-#define GCODE_E	(1<<13)
-#define GCODE_T	(1<<14)
-
-
-#define PARSE_INT(ch, str, len, val, seen, flag) \
-	case ch: \
-		len = scan_int(str, &val, &seen, flag); \
-		break;
-
-#define PARSE_FLOAT(ch, str, len, val, seen, flag) \
-	case ch: \
-		len = scan_float(str, &val, &seen, flag); \
-		break;
-
-/* gcode line parse results */
-struct GcodeParser
-{
-    unsigned int seen;
-    int G;
-    int M;
-    int T;
-    float P;
-    float X;
-    float Y;
-    float Z;
-    float E;
-    float I;
-    float J;
-    float F;
-    float S;
-    float R;
-    float Q;
-};
-
-
-//our command string
-char cmdbuffer[COMMAND_SIZE];
-char c = '?';
-byte serial_count = 0;
-boolean comment = false;
-FloatPoint fp;
-FloatPoint sp;
-        
-// The following three inline functions are used for things like return to 0
-
-inline void specialMoveX(const float& x, const float& feed)
-{
-  sp = where_i_am;
-  sp.x = x;
-  sp.f = feed;
-  qMove(sp);
-}
-
-inline void specialMoveY(const float& y, const float& feed)
-{
-  sp = where_i_am;
-  sp.y = y;
-  sp.f = feed;
-  qMove(sp);
-}
-
-inline void specialMoveZ(const float& z, const float& feed)
-{
-  sp = where_i_am;
-  sp.z = z; 
-  sp.f = feed;
-  qMove(sp);
-}
-
-//our feedrate variables.
-//float feedrate = SLOW_XY_FEEDRATE;
-
-/* keep track of the last G code - this is the command mode to use
- * if there is no command in the current string 
- */
-int last_gcode_g = -1;
-
-boolean abs_mode = true; //0 = incremental; 1 = absolute
-
-float extruder_speed = 0;
-
-int scan_int(char *str, int *valp);
-int scan_float(char *str, float *valp);
-
-GcodeParser gc;	/* string parse result */
-
-
-//init our string processing
-inline void init_process_string()
-{
-	serial_count = 0;
-        comment = false;
-}
-
-// Get a command and process it
-
-void get_and_do_command()
-{
-	//read in characters if we got them.
-	if (Serial.available())
-	{
-		c = Serial.read();
-                if(c == '\r')
-                  c = '\n';
-                // Throw away control chars except \n
-                if(c >= ' ' || c == '\n')
-                {
-
-		  //newlines are ends of commands.
-		  if (c != '\n')
-		  {
-			// Start of comment - ignore any bytes received from now on
-			if (c == ';')
-				comment = true;
-				
-			// If we're not in comment mode, add it to our array.
-			if (!comment)
-				cmdbuffer[serial_count++] = c;
-		  }
-
-                }
-	}
-
-        // Data runaway?
-        if(serial_count >= COMMAND_SIZE)
-          init_process_string();
-
-	//if we've got a real command, do it
-	if (serial_count && c == '\n')
-	{
-                // Terminate string
-                cmdbuffer[serial_count] = 0;
-                
-		//process our command!
-		process_string(cmdbuffer, serial_count);
-
-		//clear command.
-		init_process_string();
-
-                // Say we're ready for the next one
-                
-                if(debugstring[0] != 0)
-                {
-                  Serial.print("ok ");
-                  Serial.println(debugstring);
-                  debugstring[0] = 0;
-                } else
-                  Serial.println("ok");
-	}
-}
-
-
-
-int parse_string(struct GcodeParser * gc, char instruction[ ], int size)
-{
-	int ind;
-	int len;	/* length of parameter argument */
-
-	gc->seen = 0;
-
-	len=0;
-	/* scan the string for commands and parameters, recording the arguments for each,
-	 * and setting the seen flag for each that is seen
-	 */
-	for (ind=0; ind<size; ind += (1+len))
-	{
-		len = 0;
-		switch (instruction[ind])
-		{
-			  PARSE_INT('G', &instruction[ind+1], len, gc->G, gc->seen, GCODE_G);
-			  PARSE_INT('M', &instruction[ind+1], len, gc->M, gc->seen, GCODE_M);
-			  PARSE_INT('T', &instruction[ind+1], len, gc->T, gc->seen, GCODE_T);
-			PARSE_FLOAT('S', &instruction[ind+1], len, gc->S, gc->seen, GCODE_S);
-			PARSE_FLOAT('P', &instruction[ind+1], len, gc->P, gc->seen, GCODE_P);
-			PARSE_FLOAT('X', &instruction[ind+1], len, gc->X, gc->seen, GCODE_X);
-			PARSE_FLOAT('Y', &instruction[ind+1], len, gc->Y, gc->seen, GCODE_Y);
-			PARSE_FLOAT('Z', &instruction[ind+1], len, gc->Z, gc->seen, GCODE_Z);
-			PARSE_FLOAT('I', &instruction[ind+1], len, gc->I, gc->seen, GCODE_I);
-			PARSE_FLOAT('J', &instruction[ind+1], len, gc->J, gc->seen, GCODE_J);
-			PARSE_FLOAT('F', &instruction[ind+1], len, gc->F, gc->seen, GCODE_F);
-			PARSE_FLOAT('R', &instruction[ind+1], len, gc->R, gc->seen, GCODE_R);
-			PARSE_FLOAT('Q', &instruction[ind+1], len, gc->Q, gc->seen, GCODE_Q);
-			PARSE_FLOAT('E', &instruction[ind+1], len, gc->E, gc->seen, GCODE_E);
-                        default:
-			  break;
-		}
-	}
-}
-
-
-//Read the string and execute instructions
-void process_string(char instruction[], int size)
-{
-	//the character / means delete block... used for comments and stuff.
-	if (instruction[0] == '/')	
-		return;
-
-        float fr;
-        
-	fp.x = 0.0;
-	fp.y = 0.0;
-	fp.z = 0.0;
-        fp.e = 0.0;
-        fp.f = 0.0;
-
-	//get all our parameters!
-	parse_string(&gc, instruction, size);
-	/* if no command was seen, but parameters were, then use the last G code as 
-	 * the current command
-	 */
-	if ((!(gc.seen & (GCODE_G | GCODE_M | GCODE_T))) && 
-	    ((gc.seen != 0) &&
-		(last_gcode_g >= 0))
-	)
-	{
-		/* yes - so use the previous command with the new parameters */
-		gc.G = last_gcode_g;
-		gc.seen |= GCODE_G;
-	}
-	//did we get a gcode?
-	if (gc.seen & GCODE_G)
-	{
-		last_gcode_g = gc.G;	/* remember this for future instructions */
-		fp = where_i_am;
-		if (abs_mode)
-		{
-			if (gc.seen & GCODE_X)
-				fp.x = gc.X;
-			if (gc.seen & GCODE_Y)
-				fp.y = gc.Y;
-			if (gc.seen & GCODE_Z)
-				fp.z = gc.Z;
-			if (gc.seen & GCODE_E)
-				fp.e = gc.E;
-		}
-		else
-		{
-			if (gc.seen & GCODE_X)
-				fp.x += gc.X;
-			if (gc.seen & GCODE_Y)
-				fp.y += gc.Y;
-			if (gc.seen & GCODE_Z)
-				fp.z += gc.Z;
-			if (gc.seen & GCODE_E)
-				fp.e += gc.E;
-		}
-
-		// Get feedrate if supplied - feedrates are always absolute???
-		if ( gc.seen & GCODE_F )
-			fp.f = gc.F;
-               
-                // Process the buffered move commands first
-                // If we get one, return immediately
-
-		switch (gc.G)
-                {
-			//Rapid move
-			case 0:
-                                fr = fp.f;
-                                fp.f = FAST_XY_FEEDRATE;
-                                qMove(fp);
-                                fp.f = fr;
-                                return;
-                                
-                        // Controlled move
-			case 1:
-                                qMove(fp);
-                                return;
-                                
-                        //go home.
-			case 28:
-                                where_i_am.f = SLOW_XY_FEEDRATE;
-                                specialMoveX(where_i_am.x - 5, FAST_XY_FEEDRATE);
-                                specialMoveX(where_i_am.x - 250, FAST_XY_FEEDRATE);
-                                where_i_am.x = 0;
-                                where_i_am.f = SLOW_XY_FEEDRATE;
-                                specialMoveX(where_i_am.x + 1, SLOW_XY_FEEDRATE);
-                                specialMoveX(where_i_am.x - 10, SLOW_XY_FEEDRATE);                                
-                                where_i_am.x = 0;
-                                
-                                specialMoveY(where_i_am.y - 5, FAST_XY_FEEDRATE);
-                                specialMoveY(where_i_am.y - 250, FAST_XY_FEEDRATE);
-                                where_i_am.y = 0;
-                                where_i_am.f = SLOW_XY_FEEDRATE;
-                                specialMoveY(where_i_am.y + 1, SLOW_XY_FEEDRATE);
-                                specialMoveY(where_i_am.y - 10, SLOW_XY_FEEDRATE);                                
-                                where_i_am.y = 0; 
- 
-                                where_i_am.f = SLOW_Z_FEEDRATE;
-                                specialMoveZ(where_i_am.z - 0.5, FAST_Z_FEEDRATE);
-                                specialMoveZ(where_i_am.z - 250, FAST_Z_FEEDRATE);
-                                where_i_am.z = 0;
-                                where_i_am.f = SLOW_Z_FEEDRATE;
-                                specialMoveZ(where_i_am.z + 1, SLOW_Z_FEEDRATE);
-                                specialMoveZ(where_i_am.z - 2, SLOW_Z_FEEDRATE);                                
-                                where_i_am.z = 0;
-                                where_i_am.f = SLOW_XY_FEEDRATE;     // Most sensible feedrate to leave it in                    
-
-				return;
-
-
-                  default:
-                                break;
-                }
-                
-		// Non-buffered G commands
-                // Wait till the buffer q is empty first
-                    
-                  while(!qEmpty()) delay(WAITING_DELAY);
-		  switch (gc.G)
-		  {
-
-  			 //Dwell
-			case 4:
-				delay((int)(gc.P + 0.5));  
-				break;
-
-			//Inches for Units
-			case 20:
-                                setUnits(false);
-				break;
-
-			//mm for Units
-			case 21:
-                                setUnits(true);
-				break;
-
-			//Absolute Positioning
-			case 90: 
-				abs_mode = true;
-				break;
-
-			//Incremental Positioning
-			case 91: 
-				abs_mode = false;
-				break;
-
-			//Set position as fp
-			case 92: 
-                                setPosition(fp);
-				break;
-
-			default:
-				Serial.print("huh? G");
-				Serial.println(gc.G, DEC);
-		  }
-	}
-
-
-
-        
-	//find us an m code.
-	if (gc.seen & GCODE_M)
-	{
-            // Wait till the q is empty first
-            while(!qEmpty()) delay(WAITING_DELAY);
-            
-		switch (gc.M)
-		{
-			//TODO: this is a bug because search_string returns 0.  gotta fix that.
-			case 0:
-				break;
-				/*
-				 case 0:
-				 //todo: stop program
-				 break;
-
-				 case 1:
-				 //todo: optional stop
-				 break;
-
-				 case 2:
-				 //todo: program end
-				 break;
-				 */
-
-// Now, with E codes, there is no longer any idea of turning the extruder on or off.
-// (But see valve on/off below.)
-
-/*
-			//turn extruder on, forward
-			case 101:
-				ex[extruder_in_use]->set_direction(1);
-				ex[extruder_in_use]->set_speed(extruder_speed);
-				break;
-
-			//turn extruder on, reverse
-			case 102:
-				ex[extruder_in_use]->set_direction(0);
-				ex[extruder_in_use]->set_speed(extruder_speed);
-				break;
-
-			//turn extruder off
-			case 103:
-				ex[extruder_in_use]->set_speed(0);
-				break;
-*/
-			//custom code for temperature control
-			case 104:
-				if (gc.seen & GCODE_S)
-				{
-					ex[extruder_in_use]->set_temperature((int)gc.S);
-				}
-				break;
-
-			//custom code for temperature reading
-			case 105:
-				Serial.print("T:");
-				Serial.println(ex[extruder_in_use]->get_temperature());
-				break;
-
-			//turn fan on
-			case 106:
-				ex[extruder_in_use]->set_cooler(255);
-				break;
-
-			//turn fan off
-			case 107:
-				ex[extruder_in_use]->set_cooler(0);
-				break;
-/*
-// Extruder speed is now entirely controlled by E codes
-			//set max extruder speed, 0-255 PWM
-			case 108:
-				if (gc.seen & GCODE_S)
-					extruder_speed = gc.S;
-				break;
-*/
-
-// The valve (real, or virtual...) is now the way to control any extruder (such as
-// a pressurised paste extruder) that cannot move using E codes.
-
-                        // Open the valve
-                        case 126:
-                                ex[extruder_in_use]->valve_set(true, (int)(gc.P + 0.5));
-                                break;
-                                
-                        // Close the valve
-                        case 127:
-                                ex[extruder_in_use]->valve_set(false, (int)(gc.P + 0.5));
-                                break;
-                                                                
-
-			default:
-				Serial.print("Huh? M");
-				Serial.println(gc.M, DEC);
-		}
-
-                
-
-	}
-
-// Tool (i.e. extruder) change?
-                
-        if (gc.seen & GCODE_T)
-        {
-            while(!qEmpty()) delay(WAITING_DELAY);
-            new_extruder(gc.T);
-        }
-}
-
-int scan_float(char *str, float *valp, unsigned int *seen, unsigned int flag)
-{
-	float res;
-	int len;
-	char *end;
-     
-	res = (float)strtod(str, &end);
-      
-	len = end - str;
-
-	if (len > 0)
-	{
-		*valp = res;
-		*seen |= flag;
-	}
-	else
-		*valp = 0;
-          
-	return len;	/* length of number */
-}
-
-int scan_int(char *str, int *valp, unsigned int *seen, unsigned int flag)
-{
-	int res;
-	int len;
-	char *end;
-
-	res = (int)strtol(str, &end, 10);
-	len = end - str;
-
-	if (len > 0)
-	{
-		*valp = res;
-		*seen |= flag;
-	}
-	else
-		*valp = 0;
-          
-	return len;	/* length of number */
-}
-
-
-
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/upload-copy b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/upload-copy
deleted file mode 100755
index 7383a7a1..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/upload-copy
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/sh
-cp cartesian_dda.h cartesian_dda.h.dist
-cp extruder.h extruder.h.dist
-cp parameters.h parameters.h.dist
-cp pins.h pins.h.dist
-cp vectors.h vectors.h.dist
-
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/vectors.h b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/vectors.h
deleted file mode 100644
index 938cfe0c..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/vectors.h
+++ /dev/null
@@ -1,130 +0,0 @@
-// Structs to hold points in 5D space.
-
-
-#ifndef VECTORS_H
-#define VECTORS_H
-
-#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
-
-// Real-world units
-struct FloatPoint
-{
-	float x;   // Coordinate axes
-	float y;
-	float z;
-        float e;   // Extrude length
-        float f;   // Feedrate
-};
-
-inline FloatPoint operator+(const FloatPoint& a, const FloatPoint& b)
-{
-  FloatPoint result;
-  result.x = a.x + b.x;
-  result.y = a.y + b.y;
-  result.z = a.z + b.z;
-  result.e = a.e + b.e;
-  result.f = a.f + b.f;
-  return result;
-}  
-
-inline FloatPoint operator-(const FloatPoint& a, const FloatPoint& b)
-{
-  FloatPoint result;
-  result.x = a.x - b.x;
-  result.y = a.y - b.y;
-  result.z = a.z - b.z;
-  result.e = a.e - b.e;
-  result.f = a.f - b.f;
-  return result;
-} 
-
-
-// NB - the next gives neither the scalar nor the vector product
-
-inline FloatPoint operator*(const FloatPoint& a, const FloatPoint& b)
-{
-  FloatPoint result;
-  result.x = a.x * b.x;
-  result.y = a.y * b.y;
-  result.z = a.z * b.z;
-  result.e = a.e * b.e;
-  result.f = a.f * b.f;
-  return result;
-} 
-
-// Can't use fabs for this as it's defined somewhere in a #define
-
-inline FloatPoint fabsv(const FloatPoint& a)
-{
-  FloatPoint result;
-  result.x = fabs(a.x);
-  result.y = fabs(a.y);
-  result.z = fabs(a.z);
-  result.e = fabs(a.e);
-  result.f = fabs(a.f);
-  return result;
-} 
-
-
-// Integer numbers of steps
-struct LongPoint
-{
-	long x;   // Coordinates
-	long y;
-	long z;
-        long e;   // Extrusion
-        long f;   // Feedrate
-};
-
-inline LongPoint operator+(const LongPoint& a, const LongPoint& b)
-{
-  LongPoint result;
-  result.x = a.x + b.x;
-  result.y = a.y + b.y;
-  result.z = a.z + b.z;
-  result.e = a.e + b.e;
-  result.f = a.f + b.f;
-  return result;
-}  
-
-inline LongPoint operator-(const LongPoint& a, const LongPoint& b)
-{
-  LongPoint result;
-  result.x = a.x - b.x;
-  result.y = a.y - b.y;
-  result.z = a.z - b.z;
-  result.e = a.e - b.e;
-  result.f = a.f - b.f;
-  return result;
-} 
-
-
-inline LongPoint absv(const LongPoint& a)
-{
-  LongPoint result;
-  result.x = abs(a.x);
-  result.y = abs(a.y);
-  result.z = abs(a.z);
-  result.e = abs(a.e);
-  result.f = abs(a.f);
-  return result;
-} 
-
-
-inline LongPoint roundv(const FloatPoint& a)
-{
-  LongPoint result;
-  result.x = round(a.x);
-  result.y = round(a.y);
-  result.z = round(a.z);
-  result.e = round(a.e);
-  result.f = round(a.f);
-  return result;
-} 
-
-inline LongPoint to_steps(const FloatPoint& units, const FloatPoint& position)
-{
-        return roundv(units*position);
-}
-
-#endif
diff --git a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/vectors.h.dist b/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/vectors.h.dist
deleted file mode 100644
index 938cfe0c..00000000
--- a/trunk/darwin/firmware/FiveD_GCode/FiveD_GCode_Interpreter/vectors.h.dist
+++ /dev/null
@@ -1,130 +0,0 @@
-// Structs to hold points in 5D space.
-
-
-#ifndef VECTORS_H
-#define VECTORS_H
-
-#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
-
-// Real-world units
-struct FloatPoint
-{
-	float x;   // Coordinate axes
-	float y;
-	float z;
-        float e;   // Extrude length
-        float f;   // Feedrate
-};
-
-inline FloatPoint operator+(const FloatPoint& a, const FloatPoint& b)
-{
-  FloatPoint result;
-  result.x = a.x + b.x;
-  result.y = a.y + b.y;
-  result.z = a.z + b.z;
-  result.e = a.e + b.e;
-  result.f = a.f + b.f;
-  return result;
-}  
-
-inline FloatPoint operator-(const FloatPoint& a, const FloatPoint& b)
-{
-  FloatPoint result;
-  result.x = a.x - b.x;
-  result.y = a.y - b.y;
-  result.z = a.z - b.z;
-  result.e = a.e - b.e;
-  result.f = a.f - b.f;
-  return result;
-} 
-
-
-// NB - the next gives neither the scalar nor the vector product
-
-inline FloatPoint operator*(const FloatPoint& a, const FloatPoint& b)
-{
-  FloatPoint result;
-  result.x = a.x * b.x;
-  result.y = a.y * b.y;
-  result.z = a.z * b.z;
-  result.e = a.e * b.e;
-  result.f = a.f * b.f;
-  return result;
-} 
-
-// Can't use fabs for this as it's defined somewhere in a #define
-
-inline FloatPoint fabsv(const FloatPoint& a)
-{
-  FloatPoint result;
-  result.x = fabs(a.x);
-  result.y = fabs(a.y);
-  result.z = fabs(a.z);
-  result.e = fabs(a.e);
-  result.f = fabs(a.f);
-  return result;
-} 
-
-
-// Integer numbers of steps
-struct LongPoint
-{
-	long x;   // Coordinates
-	long y;
-	long z;
-        long e;   // Extrusion
-        long f;   // Feedrate
-};
-
-inline LongPoint operator+(const LongPoint& a, const LongPoint& b)
-{
-  LongPoint result;
-  result.x = a.x + b.x;
-  result.y = a.y + b.y;
-  result.z = a.z + b.z;
-  result.e = a.e + b.e;
-  result.f = a.f + b.f;
-  return result;
-}  
-
-inline LongPoint operator-(const LongPoint& a, const LongPoint& b)
-{
-  LongPoint result;
-  result.x = a.x - b.x;
-  result.y = a.y - b.y;
-  result.z = a.z - b.z;
-  result.e = a.e - b.e;
-  result.f = a.f - b.f;
-  return result;
-} 
-
-
-inline LongPoint absv(const LongPoint& a)
-{
-  LongPoint result;
-  result.x = abs(a.x);
-  result.y = abs(a.y);
-  result.z = abs(a.z);
-  result.e = abs(a.e);
-  result.f = abs(a.f);
-  return result;
-} 
-
-
-inline LongPoint roundv(const FloatPoint& a)
-{
-  LongPoint result;
-  result.x = round(a.x);
-  result.y = round(a.y);
-  result.z = round(a.z);
-  result.e = round(a.e);
-  result.f = round(a.f);
-  return result;
-} 
-
-inline LongPoint to_steps(const FloatPoint& units, const FloatPoint& position)
-{
-        return roundv(units*position);
-}
-
-#endif
author	adrian-bowyer <adrian-bowyer@cb376a5e-1013-0410-a455-b6b1f9ac8223>	2009-10-27 15:34:16 +0000
committer	adrian-bowyer <adrian-bowyer@cb376a5e-1013-0410-a455-b6b1f9ac8223>	2009-10-27 15:34:16 +0000
commit	bc9d4b965f993f00a2c1cf8882ee7fc833c905f7 (patch)
tree	1b45f2b96c1c7ae2e8df316ac3de6fedf21a8a55
parent	864d9365b7dd73ae25a4de570c78a73f05815f46 (diff)
download	reprap-backup-bc9d4b965f993f00a2c1cf8882ee7fc833c905f7.tar.gz reprap-backup-bc9d4b965f993f00a2c1cf8882ee7fc833c905f7.zip