From 630cbd1bf7c7ef9660aa2fe8163f4ae9edb4a8a3 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Fri, 12 Jun 2015 16:12:15 -0500
Subject: [PATCH 01/43] Create hi.js

---
 software/src/demo/hi.js | 70 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 70 insertions(+)
 create mode 100644 software/src/demo/hi.js

diff --git a/software/src/demo/hi.js b/software/src/demo/hi.js
new file mode 100644
index 0000000..768f5bd
--- /dev/null
+++ b/software/src/demo/hi.js
@@ -0,0 +1,70 @@
+five = require("johnny-five");
+bot = require("bot");
+board = new five.Board({
+  debug: false
+});
+
+board.on("ready", function() {
+    // Setup
+    servo1 = five.Servo({
+        pin: 9,
+        range: [0,90]
+    });
+    servo2 = five.Servo({
+        pin: 10,
+        range: [0,90]
+    });
+    servo3 = five.Servo({
+        pin: 11,
+        range: [0, 90]
+    });
+
+    servo1.on("error", function() {
+      console.log(arguments);
+    })
+    servo2.on("error", function() {
+      console.log(arguments);
+    })
+    servo3.on("error", function() {
+      console.log(arguments);
+    })
+
+    board.repl.inject({
+      servo1: servo1,
+      s1: servo1,
+      servo2: servo2,
+      s2: servo2,
+      servo3: servo3,
+      s3: servo3,
+    });
+
+    bot.go(0, 0, -140);
+  });
+
+hi = function() {  
+  setTimeout(function() { go(-20, 20, -150) }, 0);
+  setTimeout(function() { go(-20, -20, -150) }, 250);
+  setTimeout(function() { go(-20, 0, -150) }, 500);
+  setTimeout(function() { go(-10, 0, -150) }, 750)  
+  setTimeout(function() { go(-10, 20, -150) }, 1000);
+  setTimeout(function() { go(-10, -20, -150) }, 1250);
+
+  setTimeout(function() { go(-10, -20, -140) }, 1500);
+  setTimeout(function() { go(-5, -20, -140) }, 1750)
+  setTimeout(function() { go(-5, -20, -150) }, 2000);
+  setTimeout(function() { go(-5, 0, -150) }, 2250);
+  setTimeout(function() { go(-5, 0, -140) }, 2500);
+  setTimeout(function() { go(-5, 10, -140) }, 2750);
+  setTimeout(function() { go(-5, 10, -150) }, 3000);
+  setTimeout(function() { go(-5, 15, -150) }, 3250);
+
+  setTimeout(function() { go(-5, 20, -140) }, 3500);
+  setTimeout(function() { go(5, 20, -140) }, 3750);
+  setTimeout(function() { go(5, 20, -150) }, 4000);
+  setTimeout(function() { go(5, -10, -150) }, 4250);
+  setTimeout(function() { go(5, -10, -140) }, 4500);
+  setTimeout(function() { go(5, -15, -140) }, 4750);
+  setTimeout(function() { go(5, -15, -150) }, 5000);
+  setTimeout(function() { go(5, -20, -150) }, 5250);
+  setTimeout(function() { go(5, 0, -140) }, 5500);
+ }

From 5e4b41e172b7d2ddea8bd51d6b6dabb0bb9d27d5 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Fri, 12 Jun 2015 16:16:28 -0500
Subject: [PATCH 02/43] Added test functions

---
 software/src/bot.js | 72 ++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 71 insertions(+), 1 deletion(-)

diff --git a/software/src/bot.js b/software/src/bot.js
index f313d6a..c88d703 100755
--- a/software/src/bot.js
+++ b/software/src/bot.js
@@ -66,7 +66,7 @@ board.on("ready", function() {
     }
 
     board.repl.inject({
-      dance: start_dance,
+      dance: start_dance, 
       chill: stop_dance
     });
 
@@ -120,3 +120,73 @@ position = function() {
   return ik.forward(servo1.last.degrees, servo2.last.degrees, servo3.last.degrees);
 }
 
+//Draws a square in order to ensure that everything is working properly
+testSquare = function() {
+  setTimeout(function() { go(-20, 20, -150); }, 0); //Top left 
+  setTimeout(function() { go(20, 20, -150); }, 1000); //Top right
+  setTimeout(function() { go(20, -20, -150); }, 2000); //Bottom right
+  setTimeout(function() { go(-20, -20, -150); }, 3000); //Bottom left
+  setTimeout(function() { go(-20, 20, -150); }, 4000); //Return to start position
+}
+
+//Draws a star to test that the Tapster bot is working properly
+testStar = function() {
+  setTimeout(function() { go(-20, -20, -140); }, 0); //Bottom left
+  setTimeout(function() { go(0, 20, -140); }, 1000); //Top
+  setTimeout(function() { go(20, -20, -140); }, 2000); //Bottom right
+  setTimeout(function() { go(-20, 10, -140); }, 3000); //Left
+  setTimeout(function() { go(20, 10, -140); }, 4000); //Right
+  setTimeout(function() { go(-20, -20, -140); }, 5000); //Starting position
+}
+
+testCircle = function() {
+  var centerX=0;
+  var centerY=0;
+  var radius=20;
+ ;
+  // an array to save your points
+  var points=[];
+   
+  // populate array with points along a circle
+  for (var degree=0; degree<360; degree++){
+      var radians = degree * Math.PI/180;
+      var x = centerX + radius * Math.cos(radians);
+      var y = centerY + radius * Math.sin(radians);
+      points.push({x:x,y:y});
+  }
+   
+  circle = function() {
+    for (var i=0; i<360; i+=1) {
+      setTimeout( function(point) { go(point.x, point.y, -141) }, i*2, points[i]);
+    }
+  }
+   
+  circle();
+  }
+
+//Draws an arbitrary amount of spirals to test that the Tapster bot is working properly
+testSpiral = function(spirals) {
+  var centerX = 0;
+  var centerY = 0;
+  var radius = 30;
+  var x1 = 0;
+  var y1 = 0;
+  var points = [];
+  for (var degree = 0; degree < spirals * 360; degree++)
+  {
+    x1 = x1 + 30/(spirals * 360);
+    y1 = y1 + 30/(spirals * 360);
+    var radians = degree * Math.PI/180;
+    var x = centerX + x1 * Math.cos(radians);
+    var y = centerY + y1 * Math.sin(radians);
+    points.push({x:x, y:y});
+  }
+
+  spiral = function() {
+    for (var z = 0; z < spirals*360; z++)
+    {
+      setTimeout( function(point) { go(point.x, point.y, -140) }, z*2, points[z]);
+    }
+  }
+    spiral();
+}

From 70c07dc5a3b4a16025f8b3dd9bc42d7f3179d9aa Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 16 Jun 2015 17:52:30 -0500
Subject: [PATCH 03/43] Draw.js, for testing Tapsterbot

---
 software/src/draw.js | 149 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 149 insertions(+)
 create mode 100644 software/src/draw.js

diff --git a/software/src/draw.js b/software/src/draw.js
new file mode 100644
index 0000000..91aeb71
--- /dev/null
+++ b/software/src/draw.js
@@ -0,0 +1,149 @@
+//Draws lines and shapes.
+//> To test:
+//> draw.drawSquare()
+//> draw.drawStar()
+//> draw.drawCircle()
+//> draw.drawFromCoordinates()
+
+var fs = require('fs');
+
+//Maps point from canvas to the Tapster coordinate plane
+//The conversion is based on the canvas size and the size of the Tapster base
+//These can be changed as needed
+mapPoints = function(x, y) {
+  var newX = x;
+  var newY = y;
+
+  newX = (newX - halfway.x) / widthRatio;
+  newY = (halfway.y - newY) / heightRatio;
+  return {x:newX, y:newY};
+};
+
+//Adds delays while the Tapster is writing
+//The specific delay can be changed if the bot has to go slower or faster
+//for a particular segment
+doSetTimeout = function(i, z, delay)
+{
+  setTimeout(function() { go(i.x, i.y, z) }, timer);
+  timer = timer + delay; 
+};
+
+var jFile = fs.readFileSync('./data.json', 'utf8'); //Reads data from a JSON file of coordinates
+var objArr = JSON.parse(jFile); //Creates an array out of the data
+
+//Specific dimensions of the canvas and Tapster. Change as needed.
+//Uses a modified version of the canvas program to make it easier to map from canvas to Tapster.
+var canvasHeight = 500;
+var canvasWidth = 300;
+var phoneHeight = 100;
+var phoneWidth = 60;
+
+//The ratio between the sizes of the canvas and robot.
+var heightRatio = canvasHeight / phoneHeight;
+var widthRatio = canvasWidth / phoneWidth;
+
+//The center of the canvas
+var halfway = {x:canvasWidth / 2, y:canvasHeight / 2};
+
+//A timer variable for use with doSetTimeout()
+var timer = 0;
+
+//Loops through the JSON array
+exports.drawFromCoordinates = function() {
+for (var i = 0; i < objArr.length; i++)
+{
+  var x = 0;
+  if (objArr[i].length > 0) //If there are multiple lines
+  {
+  var point = objArr[i][x];
+  var transMap = mapPoints(point.x, point.y);
+  doSetTimeout(transMap, -130, 200); //Moves the arm vertically so that it does not draw a line between the last point of one line and the first point of another
+
+  for (x = 0; x < objArr[i].length; x++)
+  {
+    point = objArr[i][x];
+    var mapped = mapPoints(point.x, point.y); 
+    doSetTimeout(mapped, -140, 100);
+  }
+  transMap = mapPoints(point.x, point.y);
+  doSetTimeout(transMap, -130, 200); 
+  }
+  else //Only one line to be drawn
+  { 
+  point = objArr[i];
+  var mapped = mapPoints(point.x, point.y);
+  doSetTimeout(mapped, -140, 100);
+}
+}
+};
+
+//Draws a square in order to ensure that everything is working properly
+exports.drawSquare = function() {
+  setTimeout(function() { go(-20, 20, -150); }, 0); //Top left 
+  setTimeout(function() { go(20, 20, -150); }, 1000); //Top right
+  setTimeout(function() { go(20, -20, -150); }, 2000); //Bottom right
+  setTimeout(function() { go(-20, -20, -150); }, 3000); //Bottom left
+  setTimeout(function() { go(-20, 20, -150); }, 4000); //Return to start position
+};
+
+//Draws a star to test that the Tapster bot is working properly
+exports.drawStar = function() {
+  setTimeout(function() { go(-20, -20, -140); }, 0); //Bottom left
+  setTimeout(function() { go(0, 20, -140); }, 1000); //Top
+  setTimeout(function() { go(20, -20, -140); }, 2000); //Bottom right
+  setTimeout(function() { go(-20, 10, -140); }, 3000); //Left
+  setTimeout(function() { go(20, 10, -140); }, 4000); //Right
+  setTimeout(function() { go(-20, -20, -140); }, 5000); //Starting position
+};
+
+exports.drawCircle = function() {
+  var centerX=0;
+  var centerY=0;
+  var radius=20;
+ ;
+  // an array to save your points
+  var points=[];
+   
+  // populate array with points along a circle
+  for (var degree=0; degree<360; degree++){
+      var radians = degree * Math.PI/180;
+      var x = centerX + radius * Math.cos(radians);
+      var y = centerY + radius * Math.sin(radians);
+      points.push({x:x,y:y});
+  }
+   
+  circle = function() {
+    for (var i=0; i<360; i+=1) {
+      setTimeout( function(point) { go(point.x, point.y, -141) }, i*2, points[i]);
+    }
+  }
+   
+  circle();
+  };
+
+//Draws an arbitrary amount of spirals to test that the Tapster bot is working properly
+exports.drawSpiral= function(spirals) {
+  var centerX = 0;
+  var centerY = 0;
+  var radius = 30;
+  var x1 = 0;
+  var y1 = 0;
+  var points = [];
+  for (var degree = 0; degree < spirals * 360; degree++)
+  {
+    x1 = x1 + 30/(spirals * 360);
+    y1 = y1 + 30/(spirals * 360);
+    var radians = degree * Math.PI/180;
+    var x = centerX + x1 * Math.cos(radians);
+    var y = centerY + y1 * Math.sin(radians);
+    points.push({x:x, y:y});
+  }
+
+  spiral = function() {
+    for (var z = 0; z < spirals*360; z++)
+    {
+      setTimeout( function(point) { go(point.x, point.y, -140) }, z*2, points[z]);
+    }
+  }
+    spiral();
+};

From d35e21178fba8c43e7c37b7e643c7d846170c719 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 16 Jun 2015 17:53:43 -0500
Subject: [PATCH 04/43] Adds access to the Draw.js methods

---
 software/src/bot.js | 73 ++-------------------------------------------
 1 file changed, 2 insertions(+), 71 deletions(-)

diff --git a/software/src/bot.js b/software/src/bot.js
index c88d703..329baa9 100755
--- a/software/src/bot.js
+++ b/software/src/bot.js
@@ -1,5 +1,7 @@
 five = require("johnny-five");
 ik = require("./ik");
+draw = require("./draw");
+
 board = new five.Board({
   debug: false
 });
@@ -119,74 +121,3 @@ go = function(x, y, z) {
 position = function() {
   return ik.forward(servo1.last.degrees, servo2.last.degrees, servo3.last.degrees);
 }
-
-//Draws a square in order to ensure that everything is working properly
-testSquare = function() {
-  setTimeout(function() { go(-20, 20, -150); }, 0); //Top left 
-  setTimeout(function() { go(20, 20, -150); }, 1000); //Top right
-  setTimeout(function() { go(20, -20, -150); }, 2000); //Bottom right
-  setTimeout(function() { go(-20, -20, -150); }, 3000); //Bottom left
-  setTimeout(function() { go(-20, 20, -150); }, 4000); //Return to start position
-}
-
-//Draws a star to test that the Tapster bot is working properly
-testStar = function() {
-  setTimeout(function() { go(-20, -20, -140); }, 0); //Bottom left
-  setTimeout(function() { go(0, 20, -140); }, 1000); //Top
-  setTimeout(function() { go(20, -20, -140); }, 2000); //Bottom right
-  setTimeout(function() { go(-20, 10, -140); }, 3000); //Left
-  setTimeout(function() { go(20, 10, -140); }, 4000); //Right
-  setTimeout(function() { go(-20, -20, -140); }, 5000); //Starting position
-}
-
-testCircle = function() {
-  var centerX=0;
-  var centerY=0;
-  var radius=20;
- ;
-  // an array to save your points
-  var points=[];
-   
-  // populate array with points along a circle
-  for (var degree=0; degree<360; degree++){
-      var radians = degree * Math.PI/180;
-      var x = centerX + radius * Math.cos(radians);
-      var y = centerY + radius * Math.sin(radians);
-      points.push({x:x,y:y});
-  }
-   
-  circle = function() {
-    for (var i=0; i<360; i+=1) {
-      setTimeout( function(point) { go(point.x, point.y, -141) }, i*2, points[i]);
-    }
-  }
-   
-  circle();
-  }
-
-//Draws an arbitrary amount of spirals to test that the Tapster bot is working properly
-testSpiral = function(spirals) {
-  var centerX = 0;
-  var centerY = 0;
-  var radius = 30;
-  var x1 = 0;
-  var y1 = 0;
-  var points = [];
-  for (var degree = 0; degree < spirals * 360; degree++)
-  {
-    x1 = x1 + 30/(spirals * 360);
-    y1 = y1 + 30/(spirals * 360);
-    var radians = degree * Math.PI/180;
-    var x = centerX + x1 * Math.cos(radians);
-    var y = centerY + y1 * Math.sin(radians);
-    points.push({x:x, y:y});
-  }
-
-  spiral = function() {
-    for (var z = 0; z < spirals*360; z++)
-    {
-      setTimeout( function(point) { go(point.x, point.y, -140) }, z*2, points[z]);
-    }
-  }
-    spiral();
-}

From b421e7d8374158af5fa330c194e2c13fd14e33bb Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 16 Jun 2015 17:56:23 -0500
Subject: [PATCH 05/43] Webpage for canvas

---
 software/recorder/index.html | 167 +++++++++++++++++++++++++++++++++++
 1 file changed, 167 insertions(+)
 create mode 100644 software/recorder/index.html

diff --git a/software/recorder/index.html b/software/recorder/index.html
new file mode 100644
index 0000000..4602082
--- /dev/null
+++ b/software/recorder/index.html
@@ -0,0 +1,167 @@
+
+<!doctype html>
+<html lang="en">
+<head lang=en>
+<meta charset="utf-8">
+<title>Tracing a line with d3.js</title>
+<style>
+
+svg {
+  background: #ddd;
+  font: 10px sans-serif;
+  cursor: crosshair;
+}
+
+.line {
+  cursor: crosshair;
+  fill: none;
+  stroke: #000;
+  stroke-width: 2px;
+  stroke-linejoin: round;
+}
+
+#output {
+  position: relative;
+  top: -2em;
+  left: 0.67em;
+  font: 12px/1.4 monospace;
+}
+
+
+</style>
+</head>
+
+<body>
+<div id="sketch"></div>
+<div id="output"></div>
+<script src="http://d3js.org/d3.v3.min.js"></script>
+<script src="simplify.js"></script>
+
+<script>
+// based on http://bl.ocks.org/cloudshapes/5661984 by cloudshapes
+
+var margin = {top: 0, right: 0, bottom: 0, left: 0},
+    width = 300 - margin.left - margin.right,
+    height = 500 - margin.top - margin.bottom;
+
+
+// var npoints = 100;
+var ptdata = [];
+var session = [];
+var path;
+var drawing = false;
+
+var output = d3.select('#output');
+
+var line = d3.svg.line()
+    .interpolate("bundle") // basis, see http://bl.ocks.org/mbostock/4342190
+    .tension(1)
+    .x(function(d, i) { return d.x; })
+    .y(function(d, i) { return d.y; });
+
+var svg = d3.select("#sketch").append("svg")
+    .attr("width", width + margin.left + margin.right)
+    .attr("height", height + margin.top + margin.bottom)
+
+svg.append("g")
+    .attr("transform", "translate(" + margin.left + "," + margin.top + ")");
+
+svg
+  .on("mousedown", listen)
+  .on("touchstart", listen)
+  .on("touchend", ignore)
+  .on("touchleave", ignore)
+  .on("mouseup", ignore)
+  .on("mouseleave", ignore);
+
+
+// ignore default touch behavior
+var touchEvents = ['touchstart', 'touchmove', 'touchend'];
+touchEvents.forEach(function (eventName) {
+  document.body.addEventListener(eventName, function(e){
+    e.preventDefault();
+  });  
+});
+
+
+function listen () {
+  drawing = true;
+  output.text('event: ' + d3.event.type);
+  ptdata = []; // reset point data
+  path = svg.append("path") // start a new line
+    .data([ptdata])
+    .attr("class", "line")
+    .attr("d", line);
+
+  if (d3.event.type === 'mousedown') {
+    svg.on("mousemove", onmove);
+  } else {
+    svg.on("touchmove", onmove);
+  }
+}
+
+function ignore () {
+  var before, after;
+  output.text('event: ' + d3.event.type);
+  svg.on("mousemove", null);
+  svg.on("touchmove", null);
+
+  // skip out if we're not drawing
+  if (!drawing) return;
+  drawing = false;
+
+  before = ptdata.length;
+  console.group('Line Simplification');
+  console.log("Before simplification:", before)
+  
+  // simplify
+  ptdata = simplify(ptdata);
+  after = ptdata.length;
+
+  console.log("After simplification:", ptdata.length)
+  console.groupEnd();
+
+  var percentage = parseInt(100 - (after/before)*100, 10);
+  output.html('Points: ' + before + ' => ' + after + '. <b>' + percentage + '% simplification.</b>');
+
+  // add newly created line to the drawing session
+  session.push(ptdata);
+  
+  // redraw the line after simplification
+  tick();
+}
+
+
+function onmove (e) {
+  var type = d3.event.type;
+  var point;
+
+  if (type === 'mousemove') {
+    point = d3.mouse(this);
+    output.text('event: ' + type + ': ' + d3.mouse(this));
+  } else {
+    // only deal with a single touch input
+    point = d3.touches(this)[0];
+    output.text('event: ' + type + ': ' + d3.touches(this)[0]);
+  }
+
+  // push a new data point onto the back
+  ptdata.push({ x: point[0], y: point[1] });
+  tick();
+}
+
+function tick() {
+  path.attr("d", function(d) { return line(d); }) // Redraw the path:
+}
+
+function exportData() {
+  for (var i = 0; i < session.length; i++)
+    console.log(JSON.stringify(session[i], null, '\t'));
+}
+</script>
+</body>
+</html>
+
+
+
+

From 178a809e06bc253953d97bc763704e8cf8534a1d Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 16 Jun 2015 17:56:58 -0500
Subject: [PATCH 06/43] Methods for simplifying drawing

---
 software/recorder/simplify.js | 133 ++++++++++++++++++++++++++++++++++
 1 file changed, 133 insertions(+)
 create mode 100644 software/recorder/simplify.js

diff --git a/software/recorder/simplify.js b/software/recorder/simplify.js
new file mode 100644
index 0000000..fa86746
--- /dev/null
+++ b/software/recorder/simplify.js
@@ -0,0 +1,133 @@
+/*
+ (c) 2013, Vladimir Agafonkin
+ Simplify.js, a high-performance JS polyline simplification library
+ mourner.github.io/simplify-js
+*/
+
+(function () { 'use strict';
+
+// to suit your point format, run search/replace for '.x' and '.y';
+// for 3D version, see 3d branch (configurability would draw significant performance overhead)
+
+// square distance between 2 points
+function getSqDist(p1, p2) {
+
+    var dx = p1.x - p2.x,
+        dy = p1.y - p2.y;
+
+    return dx * dx + dy * dy;
+}
+
+// square distance from a point to a segment
+function getSqSegDist(p, p1, p2) {
+
+    var x = p1.x,
+        y = p1.y,
+        dx = p2.x - x,
+        dy = p2.y - y;
+
+    if (dx !== 0 || dy !== 0) {
+
+        var t = ((p.x - x) * dx + (p.y - y) * dy) / (dx * dx + dy * dy);
+
+        if (t > 1) {
+            x = p2.x;
+            y = p2.y;
+
+        } else if (t > 0) {
+            x += dx * t;
+            y += dy * t;
+        }
+    }
+
+    dx = p.x - x;
+    dy = p.y - y;
+
+    return dx * dx + dy * dy;
+}
+// rest of the code doesn't care about point format
+
+// basic distance-based simplification
+function simplifyRadialDist(points, sqTolerance) {
+
+    var prevPoint = points[0],
+        newPoints = [prevPoint],
+        point;
+
+    for (var i = 1, len = points.length; i < len; i++) {
+        point = points[i];
+
+        if (getSqDist(point, prevPoint) > sqTolerance) {
+            newPoints.push(point);
+            prevPoint = point;
+        }
+    }
+
+    if (prevPoint !== point) newPoints.push(point);
+
+    return newPoints;
+}
+
+// simplification using optimized Douglas-Peucker algorithm with recursion elimination
+function simplifyDouglasPeucker(points, sqTolerance) {
+
+    var len = points.length,
+        MarkerArray = typeof Uint8Array !== 'undefined' ? Uint8Array : Array,
+        markers = new MarkerArray(len),
+        first = 0,
+        last = len - 1,
+        stack = [],
+        newPoints = [],
+        i, maxSqDist, sqDist, index;
+
+    markers[first] = markers[last] = 1;
+
+    while (last) {
+
+        maxSqDist = 0;
+
+        for (i = first + 1; i < last; i++) {
+            sqDist = getSqSegDist(points[i], points[first], points[last]);
+
+            if (sqDist > maxSqDist) {
+                index = i;
+                maxSqDist = sqDist;
+            }
+        }
+
+        if (maxSqDist > sqTolerance) {
+            markers[index] = 1;
+            stack.push(first, index, index, last);
+        }
+
+        last = stack.pop();
+        first = stack.pop();
+    }
+
+    for (i = 0; i < len; i++) {
+        if (markers[i]) newPoints.push(points[i]);
+    }
+
+    return newPoints;
+}
+
+// both algorithms combined for awesome performance
+function simplify(points, tolerance, highestQuality) {
+
+    if (points.length <= 1) return points;
+
+    var sqTolerance = tolerance !== undefined ? tolerance * tolerance : 1;
+
+    points = highestQuality ? points : simplifyRadialDist(points, sqTolerance);
+    points = simplifyDouglasPeucker(points, sqTolerance);
+
+    return points;
+}
+
+// export as AMD module / Node module / browser or worker variable
+if (typeof define === 'function' && define.amd) define(function() { return simplify; });
+else if (typeof module !== 'undefined') module.exports = simplify;
+else if (typeof self !== 'undefined') self.simplify = simplify;
+else window.simplify = simplify;
+
+})();

From 3ad0f6e72a072591fae40a16c6a2f05b969fb02a Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 23 Jun 2015 11:34:30 -0500
Subject: [PATCH 07/43] Configuration file for Tapster

---
 software/config.js | 27 +++++++++++++++++++++++++++
 1 file changed, 27 insertions(+)
 create mode 100644 software/config.js

diff --git a/software/config.js b/software/config.js
new file mode 100644
index 0000000..3f295f0
--- /dev/null
+++ b/software/config.js
@@ -0,0 +1,27 @@
+var config = {}
+
+//Side of end effector
+config.e = 34.64101615137754;  // Math.sqrt(3) * 10 * 2
+
+//Side of top triangle
+config.f = 110.85125168440814; // Math.sqrt(3) * 32 * 2
+
+//Length of parallelogram joint
+config.re = 153.5;             // 145 + 8.5
+
+//Length of upper joint
+config.rf = 52.690131903421914; // Math.sqrt(52**2 + 8.5**2)
+
+//Calibrated servo values
+config.servo1 = {in_min: 0, in_max: 90, out_min: 11, out_max: 92};
+config.servo2 = {in_min: 0, in_max: 90, out_min: 9, out_max: 88};
+config.servo3 = {in_min: 0, in_max: 90, out_min: 10, out_max: 90.5};
+
+//Dimensions of the base plate
+config.baseHeight = 95;
+config.baseWidth = 80;
+
+//Default Z-level of the pen
+config.penHeight = -140;
+
+module.exports = config;

From 8c0a4263501f748485b28ceaf6ec18ef58aaa81b Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 23 Jun 2015 11:36:19 -0500
Subject: [PATCH 08/43] Script for parsing SVG path data

---
 software/src/SVGReader.js | 506 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 506 insertions(+)
 create mode 100644 software/src/SVGReader.js

diff --git a/software/src/SVGReader.js b/software/src/SVGReader.js
new file mode 100644
index 0000000..fcfdd4b
--- /dev/null
+++ b/software/src/SVGReader.js
@@ -0,0 +1,506 @@
+//Draws stuff from SVG files
+//Built with InkScape in mind, but should support:
+//http://svg-edit.googlecode.com/svn/branches/stable/editor/svg-editor.html
+
+//> To test:
+//> svg.draw("filename.svg")
+
+var parse = require('svg-path-parser');
+var fs = require('fs');
+var config = require('../config.js');
+var parseString = require('xml2js').parseString;
+
+//filename must be a string. ".svg" is optional
+//Right now, the file is assumed to be in the software folder
+//To-do: Add support for arbitrary file locations
+exports.draw = function(filename) {
+	var parsed;
+
+	if (filename.search(".svg") == -1) //Ensures that filename is valid and points to an .svg
+		filename += ".svg";
+
+	//Create a JSON string out of the SVG image data
+	//parseString strips away the XML data
+
+	try {
+	parseString(fs.readFileSync("../" + filename, "utf8"), function(err, result) {
+		parsed = JSON.stringify(result, null, 1);
+	});
+	} catch (e) {
+		if (e.code === "ENOENT")
+			console.log("File not found.");
+		else
+			throw e;
+
+		return;
+	}
+
+	//Parse the JSON string into an array
+	objArr = JSON.parse(parsed);
+
+	var svgDimensions = dimensionConversion(objArr.svg.$.width, objArr.svg.$.height);
+	width = svgDimensions.width;
+	height = svgDimensions.height; 
+
+	transformX = 0;
+	transformY = 0;
+
+	//Check for translation and account for it
+	//To-do: Do this more elegantly
+	if (objArr.svg.g[0].$ && objArr.svg.g[0].$.transform) { //Done in multiple checks to avoid errors being thrown
+		var transString = objArr.svg.g[0].$.transform;
+		var subX = transString.indexOf("(");
+		transformX = parseInt(transString.substring(subX + 1));
+		var subY = transString.indexOf(",");
+		transformY = parseInt(transString.substring(subY + 1));
+	}
+
+	var phoneWidth = config.baseWidth;
+	var phoneHeight = config.baseHeight;
+	penHeight = config.penHeight;
+
+	widthRatio = width / phoneWidth;
+	heightRatio = height / phoneHeight;
+
+	halfway = {x:width / 2, y:height / 2};
+	currentPoint = {x:halfway.x, y:halfway.y}; //Start at the center of the canvas, which corresponds to (0,0) on the Tapster
+
+	timer = 0;
+
+	if (objArr.svg.g[0].g) {  //If there are multiple groups
+		for (var i = 0; i < objArr.svg.g[0].g.length; i++) {
+			pathArray = objArr.svg.g[0].g[i].path;
+			drawSVG();
+		}
+	}
+
+	else if (objArr.svg.g[0].path) {
+		pathArray = objArr.svg.g[0].path;
+		drawSVG();
+	}
+}
+
+drawSVG = function() {
+	var d = "";
+	for (var i = 0; i < pathArray.length; i++) { //When drawing multiple lines, there are multiple paths
+		firstPoint = "";
+		d = pathArray[i].$.d; 
+		var commands = parse(d);
+		interpretCommands(commands); 
+		if (i < (pathArray.length - 1)) { //Smooth transition to the next path			
+			doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, 150); //Moves the pen up and over so no line is drawn between the two
+			doSetTimeout(mapX(parse(pathArray[i+1].$.d)[0].x), mapY(parse(pathArray[i+1].$.d)[0].y), penHeight + 10, 300);
+			doSetTimeout(mapX(parse(pathArray[i+1].$.d)[0].x), mapY(parse(pathArray[i+1].$.d)[0].y), penHeight, 450);
+		} 
+	}
+}
+
+//Move from one point to (x, y)
+move = function(x, y) {
+	doSetTimeout(mapX(x), mapY(y), penHeight, 150);
+	currentPoint = {x:x, y:y}; //Update the current point (done every time an SVG command is called)
+	if (!firstPoint) { //Keeps track of the first point, for use with the Z/z command
+		firstPoint = {x:currentPoint.x, y:currentPoint.y}; //Since the first command of a path is always to Move, this check only occurs here
+	}
+}
+
+//Move from one point to that that point + x, y
+relMove = function(x, y) {
+	x = currentPoint.x + x;
+	y = currentPoint.y + y;
+
+	move(x, y);	
+}
+
+//Draw a line from one point to (x, y)
+line = function(x, y) {
+	doSetTimeout(mapX(x), mapY(y), penHeight, 150);
+	currentPoint = {x:x, y:y};
+}
+
+//Draw a line from one point to that point + x, y
+relLine = function(x, y) {
+	x = currentPoint.x + x;
+	y = currentPoint.y + y;
+
+	line(x, y);
+}
+
+//Draws a cubic Bezier curve.
+//(x1,y1) is the first control point
+//(x2, y2) is the second
+//(x, y) is the end point
+cubicCurve = function(x1, y1, x2, y2, x, y) {
+
+	//Function for calculating the coordinates of points on the curve
+	//Calculates t+1 points
+	b = function(x1, y1, x2, y2, x, y, t) {
+		var ptArray = new Array();
+		for (var i = 0; i <= t; i++) {
+			var newI = i/t; //Converts i to a decimal, to satisfy 0 <= i <= 1
+			var ptX = (Math.pow((1-newI), 3) * currentPoint.x) + (3 * Math.pow((1-newI), 2) * newI * x1) //Formula from Wikipedia page for Bezier curves
+					  + (3 * (1-newI) * Math.pow(newI, 2) * x2) + (Math.pow(newI, 3) * x);
+			var ptY = (Math.pow((1-newI), 3) * currentPoint.y) + (3 * Math.pow((1-newI), 2) * newI * y1)
+					  + (3 * (1-newI) * Math.pow(newI, 2) * y2) + (Math.pow(newI, 3) * y);
+			var newPt = {x:ptX, y:ptY};
+			ptArray.push(newPt); //Populates the array with points
+		}
+		currentPoint = {x:ptArray[t].x, y:ptArray[t].y};
+		return ptArray;
+	}
+	
+	var curvePts = new Array();
+	curvePts = b(x1, y1, x2, y2, x, y, 5); //5 is an arbitrarily-chosen value. It creates a smooth-looking curve without calculating too many points
+	for (var i = 0;i < curvePts.length; i++) 
+		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, 2);
+}
+
+//Draws a relative cubic Bezier curve
+relCubicCurve = function(x1, y1, x2, y2, x, y)
+{
+	var tempX = currentPoint.x;
+	var tempY = currentPoint.y;
+	cubicCurve(tempX + x1, tempY + y1, tempX + x2, tempY + y2, tempX + x, tempY + y);	
+}
+
+//Draws a quadratic Bezier curve
+//(x1, y1) is the control point
+//(x, y) is the end point
+quadraticCurve = function(x1, y1, x, y) {
+
+	//Helper function for generating the points
+	q = function(x1, y1, x, y, t) {
+		var ptArray = new Array();
+		for (var i = 0; i <= t; i++) {
+			var newI = i/t; //Converts i to a decimal, to satisfy 0 <= i <= 1
+			var ptX = Math.pow((1-newI), 2)*currentPoint.x + (2 * (1-newI) * newI * x1) + (Math.pow(newI, 2) * x); //From Wikipedia page for Bezier curves
+			var ptY = Math.pow((1-newI), 2)*currentPoint.y + (2 * (1-newI) * newI * y1) + (Math.pow(newI, 2) * y);
+			var newPt = {x:ptX, y:ptY};
+			ptArray.push(newPt);
+		}
+		currentPoint = {x:ptArray[t].x, y:ptArray[t].y};
+		return ptArray;
+	}
+
+	var curvePts = new Array();
+	curvePts = q(x1, y1, x, y, 5);
+	for (var i = 0; i < curvePts.length; i++) 
+		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, 2);
+}
+
+//Draws a relative quadratic Bezier curve
+relQuadraticCurve = function(x1, y1, x, y) {
+	var tempX = currentPoint.x;
+	var tempY = currentPoint.y;
+	quadraticCurve(tempX + x1, tempY + y1, tempX + x, tempY + y);
+}
+
+//Draws an elliptical arc
+//rx and ry are the radii
+//rotation is the angle (in degrees) between the rotated x-axis and the original x-axis
+//largeArc is a flag that determines if the arc is greater than or less than or equal to 180 degrees
+//sweep is a flag that determines if the arc is drawn in a positive direction or a negative direction
+//(x, y) is the final point of the arc
+//From: http://www.w3.org/TR/SVG/implnote.html#ArcImplementationNotes
+arc = function(rx, ry, rotation, largeArc, sweep, x, y) {
+
+	//Helper function for calculating the points
+	a = function(rx, ry, largeArc, sweep, x, y, t) {
+		var ptArray = new Array();
+
+		for (var i = 0; i <= t; i++) {
+			var newI = i / t;
+			var angle = startAngle + sweepAngle * newI;
+			var newPt = {x: cx + rx * cos(angle), y: cy + ry * sin(angle)};
+			ptArray.push(newPt);
+		}
+
+		currentPoint = {x: ptArray[t].x, y: ptArray[t].y};
+		return ptArray;
+	}
+
+	//Helper function for calculating the angle between two vectors
+	angleBetween = function(v1, v2) {
+		var p = v1.x*v2.x + v1.y*v2.y;
+		var n = Math.sqrt((Math.pow(v1.x, 2)+Math.pow(v1.y, 2)) * (Math.pow(v2.x, 2)+Math.pow(v2.y, 2)));
+		var sign = v1.x*v2.y - v1.y*v2.x < 0 ? -1 : 1;
+		var angle = sign*Math.acos(p/n) * 180 / Math.PI;
+		
+		return angle;
+	}
+
+	tempX = currentPoint.x;
+	tempY = currentPoint.y;
+
+	var xPrime = (cos(rotation) * ((tempX - x) / 2)) + (sin(rotation) * ((tempY - y) / 2));
+	var yPrime = (-sin(rotation) * ((tempX - x) / 2)) + (cos(rotation) * ((tempY - y) / 2));
+
+	//Checks to ensure radii are as they should be
+	rx = Math.abs(rx); //Ensures they are non-zero and positive
+	ry = Math.abs(ry); 
+
+	var lambda = (Math.pow(xPrime, 2) / Math.pow(rx, 2)) + (Math.pow(yPrime, 2) / Math.pow(ry, 2)); 
+
+	if (lambda > 1) { //Ensures they are large enough
+		rx = Math.sqrt(lambda) * rx;
+		ry = Math.sqrt(lambda) * ry;
+	}		
+
+	var sign = 1;
+
+	if (largeArc == sweep) //If they are equal, cPrime is negative
+		sign = -1;
+
+	//For some reason this would occasionally result in NaN
+	//Implemented this check at the suggestion of:
+	//http://users.ecs.soton.ac.uk/rfp07r/interactive-svg-examples/arc.html
+	var cPrimeNumerator = ((Math.pow(rx, 2) * Math.pow(ry, 2)) - (Math.pow(rx, 2) * Math.pow(yPrime, 2)) - (Math.pow(ry, 2) * Math.pow(xPrime, 2)));
+	var cPrimeDenom = ((Math.pow(rx, 2) * Math.pow(yPrime, 2)) + (Math.pow(ry, 2) * Math.pow(xPrime, 2)));
+
+	if ((cPrimeNumerator / cPrimeDenom) < 1e-7) 
+			cPrime = 0;
+	else
+		cPrime = Math.sqrt(cPrimeNumerator / cPrimeDenom);
+
+	//Calculates the transformed center
+	var cxPrime = sign * cPrime * ((rx * yPrime) / ry);
+	var cyPrime = sign * cPrime * (-(ry * xPrime) / rx);
+
+	//Calculates the original center
+	var cx = ((cos(rotation) * cxPrime) + (-sin(rotation) * cyPrime)) + ((tempX + x) / 2);
+	var cy = ((sin(rotation) * cxPrime) + (cos(rotation) * cyPrime)) + ((tempY + y) / 2);
+
+	//Calculates the start angle of the arc and the total change in the angle
+	var startVector = {x: (xPrime - cxPrime) / rx, y: (yPrime - cyPrime) / ry};
+	var startAngle = angleBetween({x:1, y:0}, startVector);
+	var endVector = {x: (-xPrime - cxPrime) / rx, y: (-yPrime - cyPrime) / ry};
+	var sweepAngle = angleBetween(startVector, endVector);
+
+	if (!sweep && sweepAngle > 0) {
+		sweepAngle -= 360;
+	}
+
+	else if (sweep && sweepAngle < 0) {
+		sweepAngle += 360;
+	}
+
+	sweepAngle %= 360;
+
+	var ptArray = a(rx, ry, largeArc, sweep, x, y, 7);
+
+	for (var i = 0; i < ptArray.length; i++) {
+		doSetTimeout(mapX(ptArray[i].x), mapY(ptArray[i].y), penHeight, 75);
+	}
+}
+
+//Function for drawing a relative elliptical arc
+relArc = function(rx, ry, rotation, largeArc, sweep, x, y) {
+	x = currentPoint.x + x;
+	y = currentPoint.y + y;
+
+	arc(rx, ry, rotation, largeArc, sweep, x, y);
+}
+
+//A separate setTimeout method so that delays work properly
+doSetTimeout = function(x, y, z, delay) {
+ 	setTimeout(function() { go(x, y, z) }, timer);
+ 	timer = timer + delay; 
+};
+
+//Reflects the point (x,y) across the point (x1, y1)
+//For use with smooth curves
+reflect = function(x, y, x1, y1) {
+	var tempX = x;
+	var tempY = y;
+
+	tempX = x1 - (tempX - x1);
+	tempY = y1 - (tempY - y1);
+
+	var point = {x:tempX, y:tempY};
+
+	return point;
+}
+
+//Convert points pixel coordinates to Tapster coordinates
+//Done in two methods for ease of use
+mapX = function(x) {
+	var newX = x + transformX;
+	newX = (newX - halfway.x) / widthRatio; //The center of the canvas corresponds to (0, 0) on the Tapster
+  	return newX;
+};
+
+mapY = function(y) {
+	var newY = y + transformY	;
+	newY = (halfway.y - newY) / heightRatio;
+	return newY;
+}
+
+// A sine function for working with degrees, not radians
+sin = function(degree) {
+    return Math.sin(Math.PI * (degree/180));
+}
+
+// A cosine function for working with degrees, not radians
+cos = function(degree) {
+    return Math.cos(Math.PI * (degree/180));
+}
+
+//Function for converting Inkscape dimensions into Tapster-friendly pixels
+dimensionConversion = function(width, height) {
+	width = String(width);
+	if (width.search("mm") != -1) {
+		var dimension = {width: parseInt(width) * 3.779527559, height: parseInt(height) * 3.779527559}; //The px:mm ratio is ~ 3.8:1
+	}
+	else if (width.search("in") != -1) {
+		var dimension = {width: parseInt(width) * 96, height: parseInt(height) * 96}; //The px:in ratio is 96:1
+	}
+	else if (width.search("ft") != -1) {
+		var dimension = {width: parseInt(width) * 96 * 12, height: parseInt(height) * 96 * 12}; //The px:ft ratio is 96*12:1
+	}
+	else if (width.search("m") != -1) {
+		var dimension = {width: parseInt(width) * 3.779527559 * 1000, height: parseInt(height) * 3.779527559 * 1000}; //The px:m ratio is ~3.8*1000:1
+	}
+	else if (width.search("cm") != -1) {
+		var dimension = {width: parseInt(width) * 3.779527559 * 100, height: parseInt(height) * 3.779527559 * 100}; //The px:cm ratio is ~3.8*100:1
+	}
+	else if (width.search("pt") != -1) {
+		var dimension = {width: parseInt(width) * 1.3333, height: parseInt(height) * 1.3333}; //The px:pt ratio is ~1.3:1
+	}
+	else if (width.search("pc") != -1) {
+		var dimension = {width: parseInt(width) * 16, height: parseInt(height) * 16}; //The px:pc ratio is 16:1
+	}
+	else //No unit specified == pixels
+		var dimension = {width: width, height: height};
+
+	return dimension;
+}
+
+//Goes through the list of commands an generated by the SVG-Path-Parser and calls the corresponding functions
+interpretCommands = function(commands) {
+	for (var i = 0; i < commands.length; i++) {
+		var cmdCode = commands[i].code;
+		if (cmdCode == 'M') {	
+			move(commands[i].x, commands[i].y);
+		}
+
+		else if (cmdCode == 'm') {
+			relMove(commands[i].x, commands[i].y);
+		}
+
+		else if (cmdCode == 'L') {
+			line(commands[i].x, commands[i].y);
+		}
+
+		else if (cmdCode == 'l') {
+			relLine(commands[i].x, commands[i].y);
+		}
+
+		else if (cmdCode == 'V') {
+			line(currentPoint.x, commands[i].y);
+		}
+
+		else if (cmdCode == 'v') {
+			relLine(currentPoint.x, commands[i].y);
+		}
+
+		else if (cmdCode == 'H') {
+			line(commands[i].x, currentPoint.y);
+		}
+
+		else if (cmdCode == 'h') {
+			relLine(commands[i].x, currentPoint.y);
+		}
+
+		else if (cmdCode == 'C') {
+			cubicCurve(commands[i].x1, commands[i].y1, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
+		}
+
+		else if (cmdCode == 'c') {
+			relCubicCurve(commands[i].x1, commands[i].y1, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
+		}
+
+		//Smooth cubic curve
+		else if (cmdCode == 'S') {
+			if (i > 1 && (commands[i-1].code == 's' || commands[i-1].code == 'c' || commands[i-1].code == 'C' || commands[i-1].code == 'S')) {
+				var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
+				var ctrl = {x:reflected.x, y:reflected.y};
+			}
+			else
+				var ctrl = {x:currentPoint.x, y:currentPoint.y};
+
+			cubicCurve(ctrl.x, ctrl.y, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
+		}
+
+		//Smooth relative cubic curve
+		else if (cmdCode == 's') {
+			if (i > 1 && (commands[i-1].code == 's' || commands[i-1].code == 'c' || commands[i-1].code == 'C' || commands[i-1].code == 'S')) {
+				var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
+				var ctrl = {x:reflect(commands[i-1].x2).x, y:reflect(commands[i-1].y2).y};
+			}
+			else
+				var ctrl = {x:currentPoint.x, y:currentPoint.y};
+
+			relCubicCurve(ctrl.x, ctrl.y, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
+		}
+
+		else if (cmdCode == 'Q') {
+			quadraticCurve(commands[i].x1, commands[i].y1, commands[i].x, commands[i].y);
+		}
+
+		else if (cmdCode == 'q') {
+			relQuadraticCurve(commands[i].x1, commands[i].y1, commands[i].x, commands[i].y);
+		}
+
+		//Smooth quadratic curve
+		else if (cmdCode == 'T') {
+			if (i > 1 && (commands[i-1].code == 't' || commands[i-1].code == 'q' || commands[i-1].code == 'Q' || commands[i-1].code == 'T')) {
+				var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
+				var ctrl = {x:reflect(commands[i-1].x1).x, y:reflect(commands[i-1].y1).y};
+			}
+			else
+				var ctrl = {x:currentPoint.x, y:currentPoint.y};
+
+			quadraticCurve(ctrl.x, ctrl.y, commands[i].x, commands[i].y);
+		}
+
+		//Smooth relative quadratic curve
+		else if (cmdCode == 't') {
+			if (i > 1 && (commands[i-1].code == 't' || commands[i-1].code == 'q' || commands[i-1].code == 'Q' || commands[i-1].code == 'T')) {
+				var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
+				var ctrl = {x:reflect(commands[i-1].x1).x, y:reflect(commands[i-1].y1).y};
+			}
+			else
+				var ctrl = {x:currentPoint.x, y:currentPoint.y};
+
+			relQuadraticCurve(ctrl.x, ctrl.y, commands[i].x, commands[i].y);
+		}
+
+		else if (cmdCode == 'A')
+			arc(commands[i].rx, commands[i].ry, commands[i].xAxisRotation, commands[i].largeArc, commands[i].sweep, commands[i].x, commands[i].y);
+
+		else if (cmdCode == 'a')
+			relArc(commands[i].rx, commands[i].ry, commands[i].xAxisRotation, commands[i].largeArc, commands[i].sweep, commands[i].x, commands[i].y);
+		
+		else if (cmdCode == 'Z' || cmdCode == 'z') {
+			line(firstPoint.x, firstPoint.y);
+		}
+	}
+}
+
+//Timer variable for use with the doSetTimeout method
+var timer = 0;
+
+//Saves the coordinates of the first point drawn
+var firstPoint;
+
+var objArr;
+var pathArray;
+
+var widthRatio;
+var heightRatio;
+var halfway;
+var currentPoint;
+var penHeight;
+
+var transformX;
+var transformY;

From 7de33694744cb6de54b2a6d470c4be2b59d36ec7 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 23 Jun 2015 11:38:29 -0500
Subject: [PATCH 09/43] Pulls values from a config

---
 software/src/bot.js | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/software/src/bot.js b/software/src/bot.js
index 329baa9..2c1cdb7 100755
--- a/software/src/bot.js
+++ b/software/src/bot.js
@@ -1,6 +1,7 @@
 five = require("johnny-five");
 ik = require("./ik");
 draw = require("./draw");
+svg = require("./SVGReader");
 
 board = new five.Board({
   debug: false
@@ -112,9 +113,9 @@ go = function(x, y, z) {
   rotated = rotate(reflected[0],reflected[1]);
   
   angles = ik.inverse(rotated[0], rotated[1], z);
-  servo1.to((angles[1]).map( 0 , 90 , 8 , 90 ));
-  servo2.to((angles[2]).map( 0 , 90 , 8 , 90 ));
-  servo3.to((angles[3]).map( 0 , 90 , 8 , 90 ));
+  servo1.to((angles[1]).map(config.servo1.in_min, config.servo1.in_max, config.servo1.out_min, config.servo1.out_max));
+  servo2.to((angles[2]).map(config.servo2.in_min, config.servo2.in_max, config.servo2.out_min, config.servo2.out_max));
+  servo3.to((angles[3]).map(config.servo3.in_min, config.servo3.in_max, config.servo3.out_min, config.servo3.out_max));
   console.log(angles);
 }
 

From 58b0097b0e0957965076a86539816ccfd65570dc Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 23 Jun 2015 11:40:11 -0500
Subject: [PATCH 10/43] Pulls values from a config

---
 software/src/ik.js | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/software/src/ik.js b/software/src/ik.js
index e129746..7b184b7 100755
--- a/software/src/ik.js
+++ b/software/src/ik.js
@@ -1,13 +1,15 @@
 // Original code from
 // http://forums.trossenrobotics.com/tutorials/introduction-129/delta-robot-kinematics-3276/
 
+var config = require("../config.js");
+
 (function(exports) {
 
   // Specific geometry for Tapster:
-  var e = 34.64101615137754;  // Math.sqrt(3) * 10 * 2
-  var f = 110.85125168440814; // Math.sqrt(3) * 32 * 2
-  var re = 153.5;             // 145 + 8.5
-  var rf = 52.690131903421914; // Math.sqrt(52**2 + 8.5**2)
+  var e = config.e;   // Math.sqrt(3) * 10 * 2
+  var f = config.f;   // Math.sqrt(3) * 32 * 2
+  var re = config.re;              // 145 + 8.5
+  var rf = config.rf;  // Math.sqrt(52**2 + 8.5**2)
 
   exports.updateSize = function(parameters) {
     e = parameters[0];

From 8ba6fe7d7ed82d07a313f49e4891ad9b0a42b704 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 23 Jun 2015 11:41:27 -0500
Subject: [PATCH 11/43] Update bot.js

---
 software/src/bot.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/software/src/bot.js b/software/src/bot.js
index 2c1cdb7..478a22b 100755
--- a/software/src/bot.js
+++ b/software/src/bot.js
@@ -2,6 +2,7 @@ five = require("johnny-five");
 ik = require("./ik");
 draw = require("./draw");
 svg = require("./SVGReader");
+config = require("../config");
 
 board = new five.Board({
   debug: false

From d028c249a4a0c97d84578893468ca86efc08f474 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 30 Jun 2015 11:02:04 -0500
Subject: [PATCH 12/43] data.json for draw.js

---
 software/src/data.json | 240 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 240 insertions(+)
 create mode 100644 software/src/data.json

diff --git a/software/src/data.json b/software/src/data.json
new file mode 100644
index 0000000..d77a6af
--- /dev/null
+++ b/software/src/data.json
@@ -0,0 +1,240 @@
+[[
+  {
+    "x": 2.013888359069824,
+    "y": -0.9861116409301758
+  },
+  {
+    "x": 0.013888359069824219,
+    "y": -0.9861116409301758
+  },
+  {
+    "x": 0.013888359069824219,
+    "y": 4.013888359069824
+  },
+  {
+    "x": 9.013888359069824,
+    "y": 23.01388931274414
+  },
+  {
+    "x": 24.01388931274414,
+    "y": 36.01388931274414
+  },
+  {
+    "x": 35.01388931274414,
+    "y": 48.01388931274414
+  },
+  {
+    "x": 44.01388931274414,
+    "y": 65.01388549804688
+  },
+  {
+    "x": 47.01388931274414,
+    "y": 76.01388549804688
+  },
+  {
+    "x": 55.01388931274414,
+    "y": 93.01388549804688
+  },
+  {
+    "x": 67.01388549804688,
+    "y": 104.01388549804688
+  },
+  {
+    "x": 85.01388549804688,
+    "y": 117.01388549804688
+  },
+  {
+    "x": 106.01388549804688,
+    "y": 149.01388549804688
+  },
+  {
+    "x": 107.01388549804688,
+    "y": 154.01388549804688
+  },
+  {
+    "x": 114.01388549804688,
+    "y": 165.01388549804688
+  },
+  {
+    "x": 123.01388549804688,
+    "y": 173.01388549804688
+  },
+  {
+    "x": 132.01388549804688,
+    "y": 178.01388549804688
+  },
+  {
+    "x": 163.01388549804688,
+    "y": 214.01388549804688
+  },
+  {
+    "x": 187.01388549804688,
+    "y": 233.01388549804688
+  },
+  {
+    "x": 226.01388549804688,
+    "y": 276.0138854980469
+  },
+  {
+    "x": 252.01388549804688,
+    "y": 290.0138854980469
+  },
+  {
+    "x": 255.01388549804688,
+    "y": 294.0138854980469
+  },
+  {
+    "x": 260.0138854980469,
+    "y": 312.0138854980469
+  },
+  {
+    "x": 262.0138854980469,
+    "y": 313.0138854980469
+  },
+  {
+    "x": 266.0138854980469,
+    "y": 323.0138854980469
+  },
+  {
+    "x": 270.0138854980469,
+    "y": 326.0138854980469
+  },
+  {
+    "x": 279.0138854980469,
+    "y": 329.0138854980469
+  },
+  {
+    "x": 287.0138854980469,
+    "y": 337.0138854980469
+  }
+]
+, [
+  {
+    "x": 294.0138854980469,
+    "y": 6.013888359069824
+  },
+  {
+    "x": 255.01388549804688,
+    "y": 49.01388931274414
+  },
+  {
+    "x": 253.01388549804688,
+    "y": 53.01388931274414
+  },
+  {
+    "x": 245.01388549804688,
+    "y": 59.01388931274414
+  },
+  {
+    "x": 242.01388549804688,
+    "y": 68.01388549804688
+  },
+  {
+    "x": 239.01388549804688,
+    "y": 70.01388549804688
+  },
+  {
+    "x": 235.01388549804688,
+    "y": 82.01388549804688
+  },
+  {
+    "x": 225.01388549804688,
+    "y": 92.01388549804688
+  },
+  {
+    "x": 216.01388549804688,
+    "y": 97.01388549804688
+  },
+  {
+    "x": 209.01388549804688,
+    "y": 106.01388549804688
+  },
+  {
+    "x": 203.01388549804688,
+    "y": 123.01388549804688
+  },
+  {
+    "x": 195.01388549804688,
+    "y": 134.01388549804688
+  },
+  {
+    "x": 178.01388549804688,
+    "y": 145.01388549804688
+  },
+  {
+    "x": 169.01388549804688,
+    "y": 154.01388549804688
+  },
+  {
+    "x": 156.01388549804688,
+    "y": 176.01388549804688
+  },
+  {
+    "x": 153.01388549804688,
+    "y": 185.01388549804688
+  },
+  {
+    "x": 126.01388549804688,
+    "y": 229.01388549804688
+  },
+  {
+    "x": 115.01388549804688,
+    "y": 244.01388549804688
+  },
+  {
+    "x": 102.01388549804688,
+    "y": 258.0138854980469
+  },
+  {
+    "x": 88.01388549804688,
+    "y": 269.0138854980469
+  },
+  {
+    "x": 87.01388549804688,
+    "y": 272.0138854980469
+  },
+  {
+    "x": 68.01388549804688,
+    "y": 282.0138854980469
+  },
+  {
+    "x": 54.01388931274414,
+    "y": 287.0138854980469
+  },
+  {
+    "x": 50.01388931274414,
+    "y": 292.0138854980469
+  },
+  {
+    "x": 47.01388931274414,
+    "y": 305.0138854980469
+  },
+  {
+    "x": 43.01388931274414,
+    "y": 310.0138854980469
+  },
+  {
+    "x": 35.01388931274414,
+    "y": 315.0138854980469
+  },
+  {
+    "x": 30.01388931274414,
+    "y": 315.0138854980469
+  },
+  {
+    "x": 20.01388931274414,
+    "y": 320.0138854980469
+  },
+  {
+    "x": 20.01388931274414,
+    "y": 322.0138854980469
+  },
+  {
+    "x": 16.01388931274414,
+    "y": 326.0138854980469
+  },
+  {
+    "x": 13.013888359069824,
+    "y": 337.0138854980469
+  }
+]]

From aee29045a10c5252279efdf5abf41ee34c0d2e70 Mon Sep 17 00:00:00 2001
From: Jason Huggins <jason@jrandolph.com>
Date: Tue, 30 Jun 2015 11:54:47 -0500
Subject: [PATCH 13/43] Kinematics is now configurable.

---
 software/package.json      |   6 +-
 software/src/bot.js        |  13 +++-
 software/src/kinematics.js | 135 +++++++++++++++++++++++++++++++++++++
 3 files changed, 149 insertions(+), 5 deletions(-)
 create mode 100644 software/src/kinematics.js

diff --git a/software/package.json b/software/package.json
index 0463414..d5b7665 100755
--- a/software/package.json
+++ b/software/package.json
@@ -16,7 +16,9 @@
    "engines":{
       "node":"0.x.x"
    },
-   "dependencies":{
-      "johnny-five":"0.7.x"
+   "dependencies": {
+     "johnny-five": "0.8.x",
+     "svg-path-parser": "^1.0.1",
+     "xml2js": "^0.4.9"
    }
 }
diff --git a/software/src/bot.js b/software/src/bot.js
index 478a22b..97cbc04 100755
--- a/software/src/bot.js
+++ b/software/src/bot.js
@@ -1,5 +1,5 @@
 five = require("johnny-five");
-ik = require("./ik");
+kinematics = require("./kinematics");
 draw = require("./draw");
 svg = require("./SVGReader");
 config = require("../config");
@@ -8,6 +8,13 @@ board = new five.Board({
   debug: false
 });
 
+k = new kinematics.Kinematics({
+  e: config.e,
+  f: config.f,
+  re: config.re,
+  rf: config.rf
+});
+
 board.on("ready", function() {
     // Setup
     servo1 = five.Servo({
@@ -113,7 +120,7 @@ go = function(x, y, z) {
   reflected = reflect(x,y);
   rotated = rotate(reflected[0],reflected[1]);
   
-  angles = ik.inverse(rotated[0], rotated[1], z);
+  angles = k.inverse(rotated[0], rotated[1], z);
   servo1.to((angles[1]).map(config.servo1.in_min, config.servo1.in_max, config.servo1.out_min, config.servo1.out_max));
   servo2.to((angles[2]).map(config.servo2.in_min, config.servo2.in_max, config.servo2.out_min, config.servo2.out_max));
   servo3.to((angles[3]).map(config.servo3.in_min, config.servo3.in_max, config.servo3.out_min, config.servo3.out_max));
@@ -121,5 +128,5 @@ go = function(x, y, z) {
 }
 
 position = function() {
-  return ik.forward(servo1.last.degrees, servo2.last.degrees, servo3.last.degrees);
+  return k.forward(servo1.last.degrees, servo2.last.degrees, servo3.last.degrees);
 }
diff --git a/software/src/kinematics.js b/software/src/kinematics.js
new file mode 100644
index 0000000..b4d6476
--- /dev/null
+++ b/software/src/kinematics.js
@@ -0,0 +1,135 @@
+// Trigonometric constants
+var s = 165 * 2;
+var sqrt3 = Math.sqrt(3.0);
+var pi = 3.141592653;
+var sin120 = sqrt3 / 2.0;
+var cos120 = -0.5;
+var tan60 = sqrt3;
+var sin30 = 0.5;
+var tan30 = 1.0 / sqrt3;
+
+function Kinematics(args) {
+  //Side of end effector
+  this.e = 0;
+  
+  //Side of top triangle  
+  this.f = 0;  
+  
+  //Length of parallelogram joint
+  this.re = 0;  
+
+  //Length of upper joint
+  this.rf = 0;
+    
+  if (args) {
+    var keys = Object.keys(args)
+    keys.forEach(function(key){
+      this[key] = args[key]
+    }, this)
+  }
+}
+
+// Forward kinematics: (theta1, theta2, theta3) -> (x0, y0, z0)
+//   Returned {error code,theta1,theta2,theta3}
+Kinematics.prototype.forward = function(theta1, theta2, theta3) {
+  var x0 = 0.0;
+  var y0 = 0.0;
+  var z0 = 0.0;
+
+  var t = (this.f - this.e) * tan30 / 2.0;
+  var dtr = pi / 180.0;
+
+  theta1 *= dtr;
+  theta2 *= dtr;
+  theta3 *= dtr;
+
+  var y1 = -(t + this.rf * Math.cos(theta1));
+  var z1 = -this.rf * Math.sin(theta1);
+
+  var y2 = (t + this.rf * Math.cos(theta2)) * sin30;
+  var x2 = y2 * tan60;
+  var z2 = -this.rf * Math.sin(theta2);
+
+  var y3 = (t + this.rf * Math.cos(theta3)) * sin30;
+  var x3 = -y3 * tan60;
+  var z3 = -this.rf * Math.sin(theta3);
+
+  var dnm = (y2 - y1) * x3 - (y3 - y1) * x2;
+
+  var w1 = y1 * y1 + z1 * z1;
+  var w2 = x2 * x2 + y2 * y2 + z2 * z2;
+  var w3 = x3 * x3 + y3 * y3 + z3 * z3;
+
+  // x = (a1*z + b1)/dnm
+  var a1 = (z2 - z1) * (y3 - y1) - (z3 - z1) * (y2 - y1);
+  var b1 = -((w2 - w1) * (y3 - y1) - (w3 - w1) * (y2 - y1)) / 2.0;
+
+  // y = (a2*z + b2)/dnm;
+  var a2 = -(z2 - z1) * x3 + (z3 - z1) * x2;
+  var b2 = ((w2 - w1) * x3 - (w3 - w1) * x2) / 2.0;
+
+  // a*z^2 + b*z + c = 0
+  var a = a1 * a1 + a2 * a2 + dnm * dnm;
+  var b = 2.0 * (a1 * b1 + a2 * (b2 - y1 * dnm) - z1 * dnm * dnm);
+  var c = (b2 - y1 * dnm) * (b2 - y1 * dnm) + b1 * b1 + dnm * dnm * (z1 * z1 - this.re * this.re);
+
+  // discriminant
+  var d = b * b - 4.0 * a * c;
+  if (d < 0.0) {
+    return new Array(1, 0, 0, 0); // non-existing povar. return error,x,y,z
+  }
+
+  z0 = -0.5 * (b + Math.sqrt(d)) / a;
+  x0 = (a1 * z0 + b1) / dnm;
+  y0 = (a2 * z0 + b2) / dnm;
+
+  return new Array(0, x0, y0, z0);
+};
+
+
+
+
+// Inverse kinematics
+
+// Helper functions, calculates angle theta1 (for YZ-pane)
+Kinematics.prototype.delta_calcAngleYZ = function(x0, y0, z0) {
+  var y1 = -0.5 * 0.57735 * this.f; // f/2 * tg 30
+  y0 -= 0.5 * 0.57735 * this.e; // shift center to edge
+  // z = a + b*y
+  var a = (x0 * x0 + y0 * y0 + z0 * z0 + this.rf * this.rf - this.re * this.re - y1 * y1) / (2.0 * z0);
+  var b = (y1 - y0) / z0;
+
+  // discriminant
+  var d = -(a + b * y1) * (a + b * y1) + this.rf * (b * b * this.rf + this.rf);
+  if (d < 0) {
+    return new Array(1, 0); // non-existing povar.  return error, theta
+  }
+
+  var yj = (y1 - a * b - Math.sqrt(d)) / (b * b + 1); // choosing outer povar
+  var zj = a + b * yj;
+  var theta = Math.atan(-zj / (y1 - yj)) * 180.0 / pi + ((yj > y1) ? 180.0 : 0.0);
+
+  return new Array(0, theta); // return error, theta
+  };
+
+
+Kinematics.prototype.inverse = function(x0, y0, z0) {
+  var theta1 = 0;
+  var theta2 = 0;
+  var theta3 = 0;
+  var status = this.delta_calcAngleYZ(x0, y0, z0);
+
+  if (status[0] === 0) {
+    theta1 = status[1];
+    status = this.delta_calcAngleYZ(x0 * cos120 + y0 * sin120, y0 * cos120 - x0 * sin120, z0, theta2);
+  }
+  if (status[0] === 0) {
+    theta2 = status[1];
+    status = this.delta_calcAngleYZ(x0 * cos120 - y0 * sin120, y0 * cos120 + x0 * sin120, z0, theta3);
+  }
+  theta3 = status[1];
+
+  return new Array(status[0], theta1, theta2, theta3);
+};
+
+module.exports.Kinematics = Kinematics;
\ No newline at end of file

From 8adbe0575b5d43c356e306e907abfd545ff245a6 Mon Sep 17 00:00:00 2001
From: Jason Huggins <jason@jrandolph.com>
Date: Tue, 30 Jun 2015 12:09:22 -0500
Subject: [PATCH 14/43] ik.js is now kinematics.js

---
 software/src/ik.js | 136 ---------------------------------------------
 1 file changed, 136 deletions(-)
 delete mode 100755 software/src/ik.js

diff --git a/software/src/ik.js b/software/src/ik.js
deleted file mode 100755
index 7b184b7..0000000
--- a/software/src/ik.js
+++ /dev/null
@@ -1,136 +0,0 @@
-// Original code from
-// http://forums.trossenrobotics.com/tutorials/introduction-129/delta-robot-kinematics-3276/
-
-var config = require("../config.js");
-
-(function(exports) {
-
-  // Specific geometry for Tapster:
-  var e = config.e;   // Math.sqrt(3) * 10 * 2
-  var f = config.f;   // Math.sqrt(3) * 32 * 2
-  var re = config.re;              // 145 + 8.5
-  var rf = config.rf;  // Math.sqrt(52**2 + 8.5**2)
-
-  exports.updateSize = function(parameters) {
-    e = parameters[0];
-    f = parameters[1];
-    re = parameters[2];
-    rf = parameters[3];
-    exports.e = e;
-    exports.f = f;
-    exports.re = re;
-    exports.rf = rf;
-  };
-
-  exports.getSize = function() {
-    return new Array(e, f, re, rf);
-  };
-
-  // Trigonometric constants
-  var s = 165 * 2;
-  var sqrt3 = Math.sqrt(3.0);
-  var pi = 3.141592653;
-  var sin120 = sqrt3 / 2.0;
-  var cos120 = -0.5;
-  var tan60 = sqrt3;
-  var sin30 = 0.5;
-  var tan30 = 1.0 / sqrt3;
-
-  // Forward kinematics: (theta1, theta2, theta3) -> (x0, y0, z0)
-  //   Returned {error code,theta1,theta2,theta3}
-  exports.forward = function(theta1, theta2, theta3) {
-    var x0 = 0.0;
-    var y0 = 0.0;
-    var z0 = 0.0;
-
-    var t = (f - e) * tan30 / 2.0;
-    var dtr = pi / 180.0;
-
-    theta1 *= dtr;
-    theta2 *= dtr;
-    theta3 *= dtr;
-
-    var y1 = -(t + rf * Math.cos(theta1));
-    var z1 = -rf * Math.sin(theta1);
-
-    var y2 = (t + rf * Math.cos(theta2)) * sin30;
-    var x2 = y2 * tan60;
-    var z2 = -rf * Math.sin(theta2);
-
-    var y3 = (t + rf * Math.cos(theta3)) * sin30;
-    var x3 = -y3 * tan60;
-    var z3 = -rf * Math.sin(theta3);
-
-    var dnm = (y2 - y1) * x3 - (y3 - y1) * x2;
-
-    var w1 = y1 * y1 + z1 * z1;
-    var w2 = x2 * x2 + y2 * y2 + z2 * z2;
-    var w3 = x3 * x3 + y3 * y3 + z3 * z3;
-
-    // x = (a1*z + b1)/dnm
-    var a1 = (z2 - z1) * (y3 - y1) - (z3 - z1) * (y2 - y1);
-    var b1 = -((w2 - w1) * (y3 - y1) - (w3 - w1) * (y2 - y1)) / 2.0;
-
-    // y = (a2*z + b2)/dnm;
-    var a2 = -(z2 - z1) * x3 + (z3 - z1) * x2;
-    var b2 = ((w2 - w1) * x3 - (w3 - w1) * x2) / 2.0;
-
-    // a*z^2 + b*z + c = 0
-    var a = a1 * a1 + a2 * a2 + dnm * dnm;
-    var b = 2.0 * (a1 * b1 + a2 * (b2 - y1 * dnm) - z1 * dnm * dnm);
-    var c = (b2 - y1 * dnm) * (b2 - y1 * dnm) + b1 * b1 + dnm * dnm * (z1 * z1 - re * re);
-
-    // discriminant
-    var d = b * b - 4.0 * a * c;
-    if (d < 0.0) {
-      return new Array(1, 0, 0, 0); // non-existing povar. return error,x,y,z
-    }
-
-    z0 = -0.5 * (b + Math.sqrt(d)) / a;
-    x0 = (a1 * z0 + b1) / dnm;
-    y0 = (a2 * z0 + b2) / dnm;
-
-    return new Array(0, x0, y0, z0);
-  };
-
-  // Inverse kinematics
-  // Helper functions, calculates angle theta1 (for YZ-pane)
-  var delta_calcAngleYZ = function(x0, y0, z0) {
-    var y1 = -0.5 * 0.57735 * f; // f/2 * tg 30
-    y0 -= 0.5 * 0.57735 * e; // shift center to edge
-    // z = a + b*y
-    var a = (x0 * x0 + y0 * y0 + z0 * z0 + rf * rf - re * re - y1 * y1) / (2.0 * z0);
-    var b = (y1 - y0) / z0;
-
-    // discriminant
-    var d = -(a + b * y1) * (a + b * y1) + rf * (b * b * rf + rf);
-    if (d < 0) {
-      return new Array(1, 0); // non-existing povar.  return error, theta
-    }
-
-    var yj = (y1 - a * b - Math.sqrt(d)) / (b * b + 1); // choosing outer povar
-    var zj = a + b * yj;
-    var theta = Math.atan(-zj / (y1 - yj)) * 180.0 / pi + ((yj > y1) ? 180.0 : 0.0);
-
-    return new Array(0, theta); // return error, theta
-  };
-
-  exports.inverse = function(x0, y0, z0) {
-    var theta1 = 0;
-    var theta2 = 0;
-    var theta3 = 0;
-    var status = delta_calcAngleYZ(x0, y0, z0);
-
-    if (status[0] === 0) {
-      theta1 = status[1];
-      status = delta_calcAngleYZ(x0 * cos120 + y0 * sin120, y0 * cos120 - x0 * sin120, z0, theta2);
-    }
-    if (status[0] === 0) {
-      theta2 = status[1];
-      status = delta_calcAngleYZ(x0 * cos120 - y0 * sin120, y0 * cos120 + x0 * sin120, z0, theta3);
-    }
-    theta3 = status[1];
-
-    return new Array(status[0], theta1, theta2, theta3);
-  };
-}(typeof exports === 'undefined' ? this.ik = {} : exports));

From 3c195bb8c47f774e3a9789c365b80485d9776700 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 30 Jun 2015 14:15:27 -0500
Subject: [PATCH 15/43] Created an SVGReader object

---
 software/src/SVGReader.js | 49 +++++++++++++++++++++++----------------
 1 file changed, 29 insertions(+), 20 deletions(-)

diff --git a/software/src/SVGReader.js b/software/src/SVGReader.js
index fcfdd4b..214a9b0 100644
--- a/software/src/SVGReader.js
+++ b/software/src/SVGReader.js
@@ -1,29 +1,35 @@
 //Draws stuff from SVG files
 //Built with InkScape in mind, but should support:
 //http://svg-edit.googlecode.com/svn/branches/stable/editor/svg-editor.html
-
 //> To test:
-//> svg.draw("filename.svg")
+//> svgRead.drawSVG(filepath)
 
 var parse = require('svg-path-parser');
 var fs = require('fs');
-var config = require('../config.js');
 var parseString = require('xml2js').parseString;
 
-//filename must be a string. ".svg" is optional
-//Right now, the file is assumed to be in the software folder
-//To-do: Add support for arbitrary file locations
-exports.draw = function(filename) {
-	var parsed;
+function SVGReader(args) {
+	this.baseWidth = 0;
+	this.baseHeight = 0;
 
-	if (filename.search(".svg") == -1) //Ensures that filename is valid and points to an .svg
-		filename += ".svg";
+	if (args) {
+    var keys = Object.keys(args)
+    keys.forEach(function(key){
+      this[key] = args[key]
+    }, this)
+  }
+}
+
+//Draws from an SVG image specified by filepath
+//> Usage:
+//> drawSVG("C:/Projects/Tapsterbot/software/src/drawing.svg");
+SVGReader.prototype.drawSVG = function(filePath) {
+	var parsed;
 
 	//Create a JSON string out of the SVG image data
 	//parseString strips away the XML data
-
 	try {
-	parseString(fs.readFileSync("../" + filename, "utf8"), function(err, result) {
+	parseString(fs.readFileSync(filePath, "utf8"), function(err, result) {
 		parsed = JSON.stringify(result, null, 1);
 	});
 	} catch (e) {
@@ -32,12 +38,13 @@ exports.draw = function(filename) {
 		else
 			throw e;
 
-		return;
+		return; //If the file is not found stop execution
 	}
 
 	//Parse the JSON string into an array
 	objArr = JSON.parse(parsed);
 
+	//Extract width and height data from the drawing
 	var svgDimensions = dimensionConversion(objArr.svg.$.width, objArr.svg.$.height);
 	width = svgDimensions.width;
 	height = svgDimensions.height; 
@@ -55,9 +62,9 @@ exports.draw = function(filename) {
 		transformY = parseInt(transString.substring(subY + 1));
 	}
 
-	var phoneWidth = config.baseWidth;
-	var phoneHeight = config.baseHeight;
-	penHeight = config.penHeight;
+	var phoneWidth = this.baseWidth;
+	var phoneHeight = this.baseHeight;
+	penHeight = -140
 
 	widthRatio = width / phoneWidth;
 	heightRatio = height / phoneHeight;
@@ -70,17 +77,17 @@ exports.draw = function(filename) {
 	if (objArr.svg.g[0].g) {  //If there are multiple groups
 		for (var i = 0; i < objArr.svg.g[0].g.length; i++) {
 			pathArray = objArr.svg.g[0].g[i].path;
-			drawSVG();
-		}
+			drawImage();
+		} 
 	}
 
 	else if (objArr.svg.g[0].path) {
 		pathArray = objArr.svg.g[0].path;
-		drawSVG();
+		drawImage();
 	}
 }
 
-drawSVG = function() {
+drawImage = function() {
 	var d = "";
 	for (var i = 0; i < pathArray.length; i++) { //When drawing multiple lines, there are multiple paths
 		firstPoint = "";
@@ -504,3 +511,5 @@ var penHeight;
 
 var transformX;
 var transformY;
+
+module.exports.SVGReader = SVGReader;

From f32fda4f38b50f8ffb224f47899c3fb85dd73cd0 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 30 Jun 2015 14:17:00 -0500
Subject: [PATCH 16/43] Instantiation and config location specification

---
 software/src/bot.js | 57 +++++++++++++++++++++++++++++++++++++++++----
 1 file changed, 52 insertions(+), 5 deletions(-)

diff --git a/software/src/bot.js b/software/src/bot.js
index 97cbc04..6858f18 100755
--- a/software/src/bot.js
+++ b/software/src/bot.js
@@ -1,12 +1,45 @@
 five = require("johnny-five");
 kinematics = require("./kinematics");
-draw = require("./draw");
 svg = require("./SVGReader");
-config = require("../config");
+drawing = require("./draw");
+
+//If a filepath is specified, load that config
+//Otherwise, resort to the default config
+//> Usage: 
+//> node bot.js "C:\Projects\Tapsterbot\software\config.js"
+if (process.argv[2]) {
+  try {
+    var config = require(process.argv[2]);
+    console.log("Config found and loaded.");
+  } catch (e) {
+    console.log("Config not found. Loading default.");
+    var config = require("../config.js");
+  }
+}
+else {
+  console.log("Config not specified. Loading default.");
+  var config = require("../config.js");
+}
 
-board = new five.Board({
-  debug: false
-});
+//Alternate config loading code
+//If a Tapster version is specified, load that config
+//Otherwise resort to the default config
+//> Usage:
+//> node bot.js "Tapster-2-plus"
+
+/*if (process.argv[2]) {
+  try {
+    var config = require("../" + process.argv[2] + ".js");
+    console.log("Config found and loaded.");
+  } catch (e) {
+    console.log("Config not found. Loading default.");
+    var config = require("../config.js");
+  }
+} 
+else {
+  console.log("Config not specified. Loading default.");
+  var config = require("../config.js");
+} */
 
 k = new kinematics.Kinematics({
   e: config.e,
@@ -15,6 +48,20 @@ k = new kinematics.Kinematics({
   rf: config.rf
 });
 
+svgRead = new svg.SVGReader({
+  baseWidth: config.baseWidth,
+  baseHeight: config.baseHeight
+});
+
+draw = new drawing.Draw({
+  baseWidth: config.baseWidth,
+  baseHeight: config.baseHeight
+});
+
+board = new five.Board({
+  debug: false
+});
+
 board.on("ready", function() {
     // Setup
     servo1 = five.Servo({

From 9beafd5c4d544d2727eafd6c55dd87e446569c55 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 30 Jun 2015 14:17:33 -0500
Subject: [PATCH 17/43] Created a Draw object

---
 software/src/draw.js | 189 +++++++++++++++++++++++++++----------------
 1 file changed, 118 insertions(+), 71 deletions(-)

diff --git a/software/src/draw.js b/software/src/draw.js
index 91aeb71..79151bc 100644
--- a/software/src/draw.js
+++ b/software/src/draw.js
@@ -1,12 +1,24 @@
 //Draws lines and shapes.
 //> To test:
 //> draw.drawSquare()
-//> draw.drawStar()
+//> draw.drawStar(sideLength, n)
 //> draw.drawCircle()
-//> draw.drawFromCoordinates()
+//> draw.drawFromCoordinates()  
 
 var fs = require('fs');
 
+function Draw(args) {
+  this.baseWidth = 0;
+  this.baseHeight = 0;
+
+  if (args) {
+    var keys = Object.keys(args);
+    keys.forEach(function(key){
+      this[key] = args[key];
+    }, this)
+  }
+}
+
 //Maps point from canvas to the Tapster coordinate plane
 //The conversion is based on the canvas size and the size of the Tapster base
 //These can be changed as needed
@@ -22,90 +34,125 @@ mapPoints = function(x, y) {
 //Adds delays while the Tapster is writing
 //The specific delay can be changed if the bot has to go slower or faster
 //for a particular segment
-doSetTimeout = function(i, z, delay)
-{
-  setTimeout(function() { go(i.x, i.y, z) }, timer);
+doSetTimeout = function(x, y, z, delay) {
+  setTimeout(function() { go(x, y, z) }, timer);
   timer = timer + delay; 
 };
 
-var jFile = fs.readFileSync('./data.json', 'utf8'); //Reads data from a JSON file of coordinates
-var objArr = JSON.parse(jFile); //Creates an array out of the data
-
-//Specific dimensions of the canvas and Tapster. Change as needed.
-//Uses a modified version of the canvas program to make it easier to map from canvas to Tapster.
-var canvasHeight = 500;
-var canvasWidth = 300;
-var phoneHeight = 100;
-var phoneWidth = 60;
-
-//The ratio between the sizes of the canvas and robot.
-var heightRatio = canvasHeight / phoneHeight;
-var widthRatio = canvasWidth / phoneWidth;
-
-//The center of the canvas
-var halfway = {x:canvasWidth / 2, y:canvasHeight / 2};
+//Initialized out here so that they are accessible from the mapPoints function
+var baseHeight, baseWidth, canvasHeight, canvasWidth, penHeight, heightRatio, widthRatio, halfway;
 
 //A timer variable for use with doSetTimeout()
 var timer = 0;
 
+//Set the penHeight from the command line
+Draw.prototype.setPenHeight = function(height) {
+  penHeight = height;
+  console.log("The pen is now set at: " + height);
+}
+
 //Loops through the JSON array
-exports.drawFromCoordinates = function() {
-for (var i = 0; i < objArr.length; i++)
-{
-  var x = 0;
-  if (objArr[i].length > 0) //If there are multiple lines
-  {
-  var point = objArr[i][x];
-  var transMap = mapPoints(point.x, point.y);
-  doSetTimeout(transMap, -130, 200); //Moves the arm vertically so that it does not draw a line between the last point of one line and the first point of another
-
-  for (x = 0; x < objArr[i].length; x++)
-  {
-    point = objArr[i][x];
-    var mapped = mapPoints(point.x, point.y); 
-    doSetTimeout(mapped, -140, 100);
-  }
-  transMap = mapPoints(point.x, point.y);
-  doSetTimeout(transMap, -130, 200); 
+Draw.prototype.drawFromCoordinates = function() {
+
+  baseHeight = this.baseHeight;
+  baseWidth = this.baseWidth;
+  canvasHeight = baseHeight * 3.779527559; //Set ratio of ~1:3.8 mm:px
+  canvasWidth = baseWidth * 3.779527559;
+
+  //The Z coordinate of the pen, for drawing
+  penHeight = -140;
+
+  //The ratio between the sizes of the canvas and robot.
+  //It will always be 3.779527559 because the canvas size is set
+  //according to that ratio
+  heightRatio = 3.779527559;
+  widthRatio = 3.779527559;
+
+  //The center of the canvas
+  halfway = {x:canvasWidth / 2, y:canvasHeight / 2};
+
+
+  var jFile = fs.readFileSync('.//data.json', 'utf8'); //Reads data from a JSON file of coordinates
+  var objArr = JSON.parse(jFile); //Creates an array out of the data
+
+  for (var i = 0; i < objArr.length; i++) {
+    var x = 0;
+    if (objArr[i].length > 0) { //If there are multiple lines
+      var point = objArr[i][x];
+      var transMap = mapPoints(point.x, point.y);
+      doSetTimeout(transMap.x, transMap.y, penHeight + 20, 200); //Moves the arm vertically so that it does not draw a line between the last point of one line and the first point of another
+
+      for (x = 0; x < objArr[i].length; x++) {
+        point = objArr[i][x];
+        var mapped = mapPoints(point.x, point.y); 
+        doSetTimeout(mapped.x, mapped.y, penHeight, 100);
+      }
+      transMap = mapPoints(point.x, point.y);
+      doSetTimeout(transMap.x, transMap.y, penHeight + 20, 200); 
+    }
+    
+    else { //Only one line to be drawn
+      point = objArr[i];
+      var mapped = mapPoints(point.x, point.y);
+      doSetTimeout(mapped.x, mapped.y, penHeight, 100);
+    }
   }
-  else //Only one line to be drawn
-  { 
-  point = objArr[i];
-  var mapped = mapPoints(point.x, point.y);
-  doSetTimeout(mapped, -140, 100);
-}
-}
 };
 
 //Draws a square in order to ensure that everything is working properly
-exports.drawSquare = function() {
-  setTimeout(function() { go(-20, 20, -150); }, 0); //Top left 
-  setTimeout(function() { go(20, 20, -150); }, 1000); //Top right
-  setTimeout(function() { go(20, -20, -150); }, 2000); //Bottom right
-  setTimeout(function() { go(-20, -20, -150); }, 3000); //Bottom left
-  setTimeout(function() { go(-20, 20, -150); }, 4000); //Return to start position
+//sideLength is the length of the sides
+//Draws every nth point
+Draw.prototype.drawSquare = function(sideLength, n) {
+
+  timer = 0; //Reset the timer so that there isn't unnecessary delay when calling the function multiple times
+
+  var halfSide = sideLength / 2;
+  var points = sideLength / n;
+
+  doSetTimeout(-halfSide, halfSide, penHeight + 10, 0)
+  doSetTimeout(-halfSide, halfSide, penHeight, 500); //Top left corner
+
+  for (var i = 0; i < points; i++) { //To bottom left
+    doSetTimeout(-halfSide, halfSide - (n * i), penHeight, i * 5);
+  }
+
+  for (var i = 0; i < points; i++) { //To bottom right
+    doSetTimeout(-halfSide + (n * i), -halfSide, penHeight, i * 5);
+  }
+
+  for (var i = 0; i < points; i++) { //To top right
+    doSetTimeout(halfSide, -halfSide + (n * i), penHeight, i * 5);
+  }
+
+  for (var i = 0; i < points; i++) { //To top left
+    doSetTimeout(halfSide - (n * i), halfSide, penHeight, i * 5);
+  }
+
+  doSetTimeout(0, 0, -140, timer + 100);
+
 };
 
 //Draws a star to test that the Tapster bot is working properly
-exports.drawStar = function() {
-  setTimeout(function() { go(-20, -20, -140); }, 0); //Bottom left
-  setTimeout(function() { go(0, 20, -140); }, 1000); //Top
-  setTimeout(function() { go(20, -20, -140); }, 2000); //Bottom right
-  setTimeout(function() { go(-20, 10, -140); }, 3000); //Left
-  setTimeout(function() { go(20, 10, -140); }, 4000); //Right
-  setTimeout(function() { go(-20, -20, -140); }, 5000); //Starting position
+Draw.prototype.drawStar = function() {
+  setTimeout(function() { go(-20, -20, penHeight); }, 0); //Bottom left
+  setTimeout(function() { go(0, 20, penHeight); }, 1000); //Top
+  setTimeout(function() { go(20, -20, penHeight); }, 2000); //Bottom right
+  setTimeout(function() { go(-20, 10, penHeight); }, 3000); //Left
+  setTimeout(function() { go(20, 10, penHeight); }, 4000); //Right
+  setTimeout(function() { go(-20, -20, penHeight); }, 5000); //Starting position
 };
 
-exports.drawCircle = function() {
+Draw.prototype.drawCircle = function() {
   var centerX=0;
   var centerY=0;
   var radius=20;
- ;
+
   // an array to save your points
   var points=[];
    
   // populate array with points along a circle
-  for (var degree=0; degree<360; degree++){
+  //Goes to 390 degrees so that the circle is actually completed
+  for (var degree=0; degree<390; degree++) {
       var radians = degree * Math.PI/180;
       var x = centerX + radius * Math.cos(radians);
       var y = centerY + radius * Math.sin(radians);
@@ -113,8 +160,8 @@ exports.drawCircle = function() {
   }
    
   circle = function() {
-    for (var i=0; i<360; i+=1) {
-      setTimeout( function(point) { go(point.x, point.y, -141) }, i*2, points[i]);
+    for (var i=0; i<390; i+=1) {
+      setTimeout( function(point) { go(point.x, point.y, penHeight) }, i*2, points[i]);
     }
   }
    
@@ -122,15 +169,14 @@ exports.drawCircle = function() {
   };
 
 //Draws an arbitrary amount of spirals to test that the Tapster bot is working properly
-exports.drawSpiral= function(spirals) {
+Draw.prototype.drawSpiral= function(spirals) {
   var centerX = 0;
   var centerY = 0;
   var radius = 30;
   var x1 = 0;
   var y1 = 0;
   var points = [];
-  for (var degree = 0; degree < spirals * 360; degree++)
-  {
+  for (var degree = 0; degree < spirals * 360; degree++) {
     x1 = x1 + 30/(spirals * 360);
     y1 = y1 + 30/(spirals * 360);
     var radians = degree * Math.PI/180;
@@ -140,10 +186,11 @@ exports.drawSpiral= function(spirals) {
   }
 
   spiral = function() {
-    for (var z = 0; z < spirals*360; z++)
-    {
-      setTimeout( function(point) { go(point.x, point.y, -140) }, z*2, points[z]);
+    for (var z = 0; z < spirals*360; z++) {
+      setTimeout( function(point) { go(point.x, point.y, penHeight) }, z*2, points[z]);
     }
   }
     spiral();
-};
+}; 
+
+module.exports.Draw = Draw;

From c21e37912afe00c316639639fcef7fa39a3be7a6 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 30 Jun 2015 14:24:43 -0500
Subject: [PATCH 18/43] Fixed an issue with penHeight

---
 software/src/draw.js | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/software/src/draw.js b/software/src/draw.js
index 79151bc..b31ccbf 100644
--- a/software/src/draw.js
+++ b/software/src/draw.js
@@ -40,7 +40,9 @@ doSetTimeout = function(x, y, z, delay) {
 };
 
 //Initialized out here so that they are accessible from the mapPoints function
-var baseHeight, baseWidth, canvasHeight, canvasWidth, penHeight, heightRatio, widthRatio, halfway;
+var baseHeight, baseWidth, canvasHeight, canvasWidth, heightRatio, widthRatio, halfway;
+
+var penHeight = -140;
 
 //A timer variable for use with doSetTimeout()
 var timer = 0;
@@ -59,9 +61,6 @@ Draw.prototype.drawFromCoordinates = function() {
   canvasHeight = baseHeight * 3.779527559; //Set ratio of ~1:3.8 mm:px
   canvasWidth = baseWidth * 3.779527559;
 
-  //The Z coordinate of the pen, for drawing
-  penHeight = -140;
-
   //The ratio between the sizes of the canvas and robot.
   //It will always be 3.779527559 because the canvas size is set
   //according to that ratio
@@ -90,7 +89,7 @@ Draw.prototype.drawFromCoordinates = function() {
       transMap = mapPoints(point.x, point.y);
       doSetTimeout(transMap.x, transMap.y, penHeight + 20, 200); 
     }
-    
+
     else { //Only one line to be drawn
       point = objArr[i];
       var mapped = mapPoints(point.x, point.y);

From 8fd2264b3b8cfe1313e75da8494ac00facf325a6 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Wed, 1 Jul 2015 16:42:20 -0500
Subject: [PATCH 19/43] Added erase functionality

---
 software/src/draw.js | 130 ++++++++++++++++++++++++++++++++++++++-----
 1 file changed, 116 insertions(+), 14 deletions(-)

diff --git a/software/src/draw.js b/software/src/draw.js
index b31ccbf..58362d7 100644
--- a/software/src/draw.js
+++ b/software/src/draw.js
@@ -1,9 +1,10 @@
 //Draws lines and shapes.
 //> To test:
-//> draw.drawSquare()
-//> draw.drawStar(sideLength, n)
+//> draw.drawSquare(sideLength, n)
+//> draw.drawStar()
 //> draw.drawCircle()
 //> draw.drawFromCoordinates()  
+//> draw.erase()
 
 var fs = require('fs');
 
@@ -32,16 +33,42 @@ mapPoints = function(x, y) {
 };
 
 //Adds delays while the Tapster is writing
-//The specific delay can be changed if the bot has to go slower or faster
-//for a particular segment
+//The specific delay can be changed if the bot has to go slower or faster for a particular segment
 doSetTimeout = function(x, y, z, delay) {
   setTimeout(function() { go(x, y, z) }, timer);
+  currentPoint = {x: x, y: y, z: z};
   timer = timer + delay; 
 };
 
-//Initialized out here so that they are accessible from the mapPoints function
+//A go method that iterates over points rather than jumping from a to b
+//Assumes that z stays the same
+//Draws points + 1 points
+//Delay is the total amount of time that it takes
+//Each point takes delay / points time to draw
+itGo = function(x, y, z, points, delay) {
+  var x1 = currentPoint.x;
+  var y1 = currentPoint.y;
+  var deltaX = x - x1;
+  var deltaY = y - y1;
+  var slope = ((y - y1) / (x - x1));
+  var pointArray = new Array();
+
+  for (var i = 0; i <= points; i++) {
+    var newX = x1 + deltaX / points * i; 
+    var newY = y1 + deltaY / points * i;
+    var point = {x: newX, y: newY};
+    pointArray.push(point);
+  }
+
+  for (var i = 0; i < pointArray.length; i++) {
+    doSetTimeout(pointArray[i].x, pointArray[i].y, z, delay / points);
+  }
+}
+
+//Initialized here so that they are accessible from the mapPoints function
 var baseHeight, baseWidth, canvasHeight, canvasWidth, heightRatio, widthRatio, halfway;
 
+var currentPoint = {x: 0, y: 0, z: -140};
 var penHeight = -140;
 
 //A timer variable for use with doSetTimeout()
@@ -53,7 +80,7 @@ Draw.prototype.setPenHeight = function(height) {
   console.log("The pen is now set at: " + height);
 }
 
-//Loops through the JSON array
+//Draws an image from a JSON file of coordinates
 Draw.prototype.drawFromCoordinates = function() {
 
   baseHeight = this.baseHeight;
@@ -74,12 +101,14 @@ Draw.prototype.drawFromCoordinates = function() {
   var jFile = fs.readFileSync('.//data.json', 'utf8'); //Reads data from a JSON file of coordinates
   var objArr = JSON.parse(jFile); //Creates an array out of the data
 
+  //Loops through the JSON array
   for (var i = 0; i < objArr.length; i++) {
     var x = 0;
     if (objArr[i].length > 0) { //If there are multiple lines
       var point = objArr[i][x];
       var transMap = mapPoints(point.x, point.y);
-      doSetTimeout(transMap.x, transMap.y, penHeight + 20, 200); //Moves the arm vertically so that it does not draw a line between the last point of one line and the first point of another
+      doSetTimeout(transMap.x, transMap.y, penHeight + 20, 200); //Moves the arm vertically so that it does not draw a line between the last point of one line 
+                                                                 //and the first point of another
 
       for (x = 0; x < objArr[i].length; x++) {
         point = objArr[i][x];
@@ -133,15 +162,25 @@ Draw.prototype.drawSquare = function(sideLength, n) {
 
 //Draws a star to test that the Tapster bot is working properly
 Draw.prototype.drawStar = function() {
-  setTimeout(function() { go(-20, -20, penHeight); }, 0); //Bottom left
+  timer = 0;
+  doSetTimeout(-20, -20, penHeight, 1000);
+  doSetTimeout(0, 20, penHeight, 1000);
+  doSetTimeout(20, -20, penHeight, 1000);
+  doSetTimeout(-20, 10, penHeight, 1000);
+  doSetTimeout(20, 10, penHeight, 1000);
+  doSetTimeout(-20, -20, penHeight, 1000);
+
+  /*setTimeout(function() { go(-20, -20, penHeight); }, 0); //Bottom left
   setTimeout(function() { go(0, 20, penHeight); }, 1000); //Top
   setTimeout(function() { go(20, -20, penHeight); }, 2000); //Bottom right
   setTimeout(function() { go(-20, 10, penHeight); }, 3000); //Left
   setTimeout(function() { go(20, 10, penHeight); }, 4000); //Right
   setTimeout(function() { go(-20, -20, penHeight); }, 5000); //Starting position
+  */
 };
 
 Draw.prototype.drawCircle = function() {
+  timer = 0;
   var centerX=0;
   var centerY=0;
   var radius=20;
@@ -160,7 +199,8 @@ Draw.prototype.drawCircle = function() {
    
   circle = function() {
     for (var i=0; i<390; i+=1) {
-      setTimeout( function(point) { go(point.x, point.y, penHeight) }, i*2, points[i]);
+      point = points[i];
+      doSetTimeout(point.x, point.y, penHeight, 2);
     }
   }
    
@@ -168,16 +208,25 @@ Draw.prototype.drawCircle = function() {
   };
 
 //Draws an arbitrary amount of spirals to test that the Tapster bot is working properly
-Draw.prototype.drawSpiral= function(spirals) {
+//Spirals is the amount of spirals to draw
+//Radius is the diameter(?) of the largest spiral
+//zLevel is optional -- it is the penHeight to draw the spiral at (mainly used for the erase function)
+Draw.prototype.drawSpiral= function(spirals, radius, zLevel) {
+  timer = 0;
   var centerX = 0;
   var centerY = 0;
-  var radius = 30;
   var x1 = 0;
   var y1 = 0;
   var points = [];
+
+  if (zLevel) //If a zLevel is specified set the penHeight at that level
+    penHeight = zLevel;
+
+  go(centerX, centerY, penHeight);
+
   for (var degree = 0; degree < spirals * 360; degree++) {
-    x1 = x1 + 30/(spirals * 360);
-    y1 = y1 + 30/(spirals * 360);
+    x1 = x1 + radius/(spirals * 360);
+    y1 = y1 + radius/(spirals * 360);
     var radians = degree * Math.PI/180;
     var x = centerX + x1 * Math.cos(radians);
     var y = centerY + y1 * Math.sin(radians);
@@ -186,10 +235,63 @@ Draw.prototype.drawSpiral= function(spirals) {
 
   spiral = function() {
     for (var z = 0; z < spirals*360; z++) {
-      setTimeout( function(point) { go(point.x, point.y, penHeight) }, z*2, points[z]);
+      point = points[z];
+      doSetTimeout(point.x, point.y, penHeight, 5);
     }
   }
     spiral();
 }; 
 
+Draw.prototype.pickUpEraser = function() {
+  timer = 0;
+  doSetTimeout(currentPoint.x, currentPoint.y, -130, 500);
+  doSetTimeout(65, 25, -130, 500);
+  doSetTimeout(55, 20, -148, 1000);
+  var x = currentPoint.x;
+  var y = currentPoint.y;
+  while (x > 0 || y > 0) {
+    if (x / 10 > 1)
+      x -= 10;
+    else if (y / 10 > 1)
+      y -= 10;
+    else {
+      x = 0;
+      y = 0;
+    }
+
+    doSetTimeout(x, y, -148, 100);
+  }
+}
+
+Draw.prototype.eraseBoard = function() {
+  this.drawSpiral(5, 60, -148); //Draws a spiral to erase most of the board
+
+  //Erases the edges of the board
+  doSetTimeout(70, 10, -148, 7500);
+
+  itGo(40, 60, -149, 5, 500);
+  itGo(10, 55, -149, 5, 500);
+  itGo(-40, 55, -149, 5, 500);
+  itGo(-50, 27.5, -149, 5, 500);
+  itGo(-60, 0, -149, 5, 500);
+  itGo(-40, -40, -149, 5, 500);
+  itGo(-30, -60, -149, 5, 500);
+  itGo(0, -60, -149, 5, 500);
+  itGo(30, -60, -149, 5, 500);
+  itGo(50, -20, -149, 5, 500);
+}
+
+Draw.prototype.dropOffEraser = function() {
+  doSetTimeout(55, 20, -148, 500);
+  doSetTimeout(63, 25, -130, 500);
+  doSetTimeout(0, 0, -130, 500);
+}
+
+Draw.prototype.erase = function() {
+  var objRef = this;
+  setTimeout(function() { objRef.pickUpEraser() }, 0);
+  setTimeout(function() { objRef.eraseBoard() }, 5000);
+  setTimeout(function() { objRef.dropOffEraser() }, 5001);
+}
+
 module.exports.Draw = Draw;

From 75eaa39fa3a7e3d29e16dfad9917c3506a8a87df Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Mon, 6 Jul 2015 10:12:35 -0500
Subject: [PATCH 20/43] Changed the erase function to support clock

---
 software/src/draw.js | 34 ++++++++++++++++++++++++----------
 1 file changed, 24 insertions(+), 10 deletions(-)

diff --git a/software/src/draw.js b/software/src/draw.js
index 58362d7..30c1c87 100644
--- a/software/src/draw.js
+++ b/software/src/draw.js
@@ -224,7 +224,7 @@ Draw.prototype.drawSpiral= function(spirals, radius, zLevel) {
 
   go(centerX, centerY, penHeight);
 
-  for (var degree = 0; degree < spirals * 360; degree++) {
+  for (var degree = 0; degree < spirals * 360 + 94; degree++) {
     x1 = x1 + radius/(spirals * 360);
     y1 = y1 + radius/(spirals * 360);
     var radians = degree * Math.PI/180;
@@ -234,7 +234,7 @@ Draw.prototype.drawSpiral= function(spirals, radius, zLevel) {
   }
 
   spiral = function() {
-    for (var z = 0; z < spirals*360; z++) {
+    for (var z = 0; z < spirals*360 + 94; z++) {
       point = points[z];
       doSetTimeout(point.x, point.y, penHeight, 5);
     }
@@ -243,6 +243,12 @@ Draw.prototype.drawSpiral= function(spirals, radius, zLevel) {
 }; 
 
 Draw.prototype.pickUpEraser = function() {
+  doSetTimeout(currentPoint.x, currentPoint.y, -130, 500);
+  doSetTimeout(0, 50, -130, 500);
+  doSetTimeout(0, 50, -148, 500);
+  doSetTimeout(0, 0, -148, 500);
+
+  /*
   timer = 0;
   doSetTimeout(currentPoint.x, currentPoint.y, -130, 500);
   doSetTimeout(65, 25, -130, 500);
@@ -260,15 +266,16 @@ Draw.prototype.pickUpEraser = function() {
     }
 
     doSetTimeout(x, y, -148, 100);
-  }
+  } */
 }
 
 Draw.prototype.eraseBoard = function() {
-  this.drawSpiral(5, 60, -148); //Draws a spiral to erase most of the board
+  this.drawSpiral(5, 55, -148); //Draws a spiral to erase most of the board
 
-  //Erases the edges of the board
+  //WIP code for erasing the very edges of the board
+  //Commented by default because it's not reliable
+  /*
   doSetTimeout(70, 10, -148, 7500);
-
   itGo(40, 60, -149, 5, 500);
   itGo(10, 55, -149, 5, 500);
   itGo(-40, 55, -149, 5, 500);
@@ -279,19 +286,26 @@ Draw.prototype.eraseBoard = function() {
   itGo(0, -60, -149, 5, 500);
   itGo(30, -60, -149, 5, 500);
   itGo(50, -20, -149, 5, 500);
+  */
+
 }
 
 Draw.prototype.dropOffEraser = function() {
-  doSetTimeout(55, 20, -148, 500);
+ // doSetTimeout(0, 50, -148, 500);
+ doSetTimeout(-1, 50, -130, 500);
+ doSetTimeout(0, 0, -130, 500);
+
+  /* doSetTimeout(55, 20, -148, 500);
   doSetTimeout(63, 25, -130, 500);
-  doSetTimeout(0, 0, -130, 500);
+  doSetTimeout(0, 0, -130, 500); */
 }
 
 Draw.prototype.erase = function() {
   var objRef = this;
   setTimeout(function() { objRef.pickUpEraser() }, 0);
-  setTimeout(function() { objRef.eraseBoard() }, 5000);
-  setTimeout(function() { objRef.dropOffEraser() }, 5001);
+  setTimeout(function() { objRef.eraseBoard() }, 3000);
+  setTimeout(function() { objRef.dropOffEraser() }, 10000);
+  console.log(timer);
 }
 
 module.exports.Draw = Draw;

From a20844bd5404f54313bc1e04dde0455aca6fb4f7 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Mon, 6 Jul 2015 10:12:59 -0500
Subject: [PATCH 21/43] Created functioning clock

---
 software/src/SVGReader.js | 172 +++++++++++++++++++++++++++++++++-----
 1 file changed, 153 insertions(+), 19 deletions(-)

diff --git a/software/src/SVGReader.js b/software/src/SVGReader.js
index 214a9b0..cfb2fa7 100644
--- a/software/src/SVGReader.js
+++ b/software/src/SVGReader.js
@@ -6,6 +6,7 @@
 
 var parse = require('svg-path-parser');
 var fs = require('fs');
+var draw = require("./draw");
 var parseString = require('xml2js').parseString;
 
 function SVGReader(args) {
@@ -24,8 +25,11 @@ function SVGReader(args) {
 //> Usage:
 //> drawSVG("C:/Projects/Tapsterbot/software/src/drawing.svg");
 SVGReader.prototype.drawSVG = function(filePath) {
+	timer = 0;
 	var parsed;
 
+	objRef = this;
+
 	//Create a JSON string out of the SVG image data
 	//parseString strips away the XML data
 	try {
@@ -64,7 +68,7 @@ SVGReader.prototype.drawSVG = function(filePath) {
 
 	var phoneWidth = this.baseWidth;
 	var phoneHeight = this.baseHeight;
-	penHeight = -140
+	penHeight = -152.5;
 
 	widthRatio = width / phoneWidth;
 	heightRatio = height / phoneHeight;
@@ -72,43 +76,45 @@ SVGReader.prototype.drawSVG = function(filePath) {
 	halfway = {x:width / 2, y:height / 2};
 	currentPoint = {x:halfway.x, y:halfway.y}; //Start at the center of the canvas, which corresponds to (0,0) on the Tapster
 
-	timer = 0;
-
-	if (objArr.svg.g[0].g) {  //If there are multiple groups
+	if (objArr.svg.g[0].g && objArr.svg.g[0].g[0].path) {  //If there are multiple groups. Additional check to make sure that there is actually path data
 		for (var i = 0; i < objArr.svg.g[0].g.length; i++) {
 			pathArray = objArr.svg.g[0].g[i].path;
-			drawImage();
+			drawImage(pathArray);
 		} 
 	}
 
 	else if (objArr.svg.g[0].path) {
 		pathArray = objArr.svg.g[0].path;
-		drawImage();
+		drawImage(pathArray);
 	}
 }
 
-drawImage = function() {
+drawImage = function(pathArray) {
 	var d = "";
+	console.log(pathArray);
 	for (var i = 0; i < pathArray.length; i++) { //When drawing multiple lines, there are multiple paths
-		firstPoint = "";
+		firstPoint = null;
 		d = pathArray[i].$.d; 
 		var commands = parse(d);
-		interpretCommands(commands); 
-		if (i < (pathArray.length - 1)) { //Smooth transition to the next path			
-			doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, 150); //Moves the pen up and over so no line is drawn between the two
+		objRef.interpretCommands(commands); 
+		/* if (i < (pathArray.length - 1)) { //Smooth transition to the next path			
+			doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, 300); //Moves the pen up and over so no line is drawn between the two
 			doSetTimeout(mapX(parse(pathArray[i+1].$.d)[0].x), mapY(parse(pathArray[i+1].$.d)[0].y), penHeight + 10, 300);
-			doSetTimeout(mapX(parse(pathArray[i+1].$.d)[0].x), mapY(parse(pathArray[i+1].$.d)[0].y), penHeight, 450);
-		} 
+			doSetTimeout(mapX(parse(pathArray[i+1].$.d)[0].x), mapY(parse(pathArray[i+1].$.d)[0].y), penHeight, 300);
+		}  */
 	}
+	doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, 300);
 }
 
 //Move from one point to (x, y)
 move = function(x, y) {
+	doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, 150);
+	doSetTimeout(mapX(x), mapY(y), penHeight + 10, 150);
 	doSetTimeout(mapX(x), mapY(y), penHeight, 150);
 	currentPoint = {x:x, y:y}; //Update the current point (done every time an SVG command is called)
-	if (!firstPoint) { //Keeps track of the first point, for use with the Z/z command
+
+	if (!firstPoint) //Keeps track of the first point, for use with the Z/z command
 		firstPoint = {x:currentPoint.x, y:currentPoint.y}; //Since the first command of a path is always to Move, this check only occurs here
-	}
 }
 
 //Move from one point to that that point + x, y
@@ -314,6 +320,10 @@ doSetTimeout = function(x, y, z, delay) {
  	timer = timer + delay; 
 };
 
+setPenHeight = function(penHeight) {
+	penHeight = penHeight;
+}
+
 //Reflects the point (x,y) across the point (x1, y1)
 //For use with smooth curves
 reflect = function(x, y, x1, y1) {
@@ -331,13 +341,19 @@ reflect = function(x, y, x1, y1) {
 //Convert points pixel coordinates to Tapster coordinates
 //Done in two methods for ease of use
 mapX = function(x) {
-	var newX = x + transformX;
+	if (transformX) 
+		var newX = x + transformX;
+	else 
+		var newX = x;
 	newX = (newX - halfway.x) / widthRatio; //The center of the canvas corresponds to (0, 0) on the Tapster
   	return newX;
 };
 
 mapY = function(y) {
-	var newY = y + transformY	;
+	if (transformY)
+		var newY = y + transformY;
+	else
+		var newY = y;
 	newY = (halfway.y - newY) / heightRatio;
 	return newY;
 }
@@ -383,7 +399,7 @@ dimensionConversion = function(width, height) {
 }
 
 //Goes through the list of commands an generated by the SVG-Path-Parser and calls the corresponding functions
-interpretCommands = function(commands) {
+SVGReader.prototype.interpretCommands = function(commands) {
 	for (var i = 0; i < commands.length; i++) {
 		var cmdCode = commands[i].code;
 		if (cmdCode == 'M') {	
@@ -489,11 +505,128 @@ interpretCommands = function(commands) {
 			relArc(commands[i].rx, commands[i].ry, commands[i].xAxisRotation, commands[i].largeArc, commands[i].sweep, commands[i].x, commands[i].y);
 		
 		else if (cmdCode == 'Z' || cmdCode == 'z') {
-			line(firstPoint.x, firstPoint.y);
+			(firstPoint.x, firstPoint.y);
+			firstPoint = null;
 		}
 	}
 }
 
+SVGReader.prototype.clock = function() {
+	var dimensions = dimensionConversion("80mm", "95mm");
+	width = dimensions.width;
+	height = dimensions.height;
+
+	timer = 0;
+
+	var drawing = new draw.Draw({
+		baseWidth: this.baseWidth,
+		baseHeight: this.baseHeight
+	});
+
+	var phoneWidth = this.baseWidth;
+	var phoneHeight = this.baseHeight;
+
+	widthRatio = width / phoneWidth;
+	heightRatio = height / phoneHeight;
+
+	penHeight = -152.5;
+	halfway = {x:width / 2, y:height / 2};
+	currentPoint = {x:halfway.x, y:halfway.y}; //Start at the center of the canvas, which corresponds to (0,0) on the Tapster
+
+	var zero = "M 40.890286,241.44557 30.687127,245.57254 23.885021,257.95342 20.483968,278.58823 20.483968,290.96912 23.885021,311.60393 30.687127,323.98482 40.890286,328.11178 47.692392,328.11178 57.895551,323.98482 64.697657,311.60393 68.09871,290.96912 68.09871,278.58823 64.697657,257.95342 57.895551,245.57254 47.692392,241.44557 40.890286,241.44557";
+	var one = "M 50.289453,243.07635 50.289453,329.52761";
+	var two = "M 27.618803,262.08031 27.618803,257.95271 30.945521,249.69749 34.27224,245.56989 40.925676,241.44228 54.23255,241.44228 60.885986,245.56989 64.212704,249.69749 67.539423,257.95271 67.539423,266.20792 64.212704,274.46313 57.559268,286.84595 24.292085,328.12202 70.866141,328.12202";
+	var three = "M 27.042715,241.44643 64.666988,241.44643 44.144657,274.4608 54.405822,274.4608 61.2466,278.58759 64.666988,282.71439 68.087377,295.09478 68.087377,303.34837 64.666988,315.72875 57.826211,323.98234 47.565046,328.10914 37.30388,328.10914 27.042715,323.98234 23.622326,319.85555 20.201938,311.60196";
+	var four = "M 54.845427,241.51709 22.803997,300.19076 70.866142,300.19076 M 54.845427,241.51709 54.845427,329.5276";
+	var five = "M 61.700462,246.77512 26.654546,246.77512 23.149954,281.56734 26.654546,277.70154 37.168321,273.83574 47.682096,273.83574 58.19587,277.70154 65.205054,285.43315 68.709645,297.03055 68.709645,304.76216 65.205054,316.35956 58.19587,324.09117 47.682096,327.95697 37.168321,327.95697 26.654546,324.09117 23.149954,320.22537 19.645363,312.49376";
+	var six = "M 64.294901,253.7887 60.65789,245.53396 49.746856,241.40659 42.472833,241.40659 31.561799,245.53396 24.287776,257.91607 20.650765,278.55291 20.650765,299.18976 24.287776,315.69923 31.561799,323.95397 42.472833,328.08134 46.109844,328.08134 57.020878,323.95397 64.294901,315.69923 67.931912,303.31713 67.931912,299.18976 64.294901,286.80765 57.020878,278.55291 46.109844,274.42554 42.472833,274.42554 31.561799,278.55291 24.287776,286.80765 20.650765,299.18976";
+	var seven = "M 68.262659,241.73033 32.158284,328.90301 M 17.716535,241.73033 68.262659,241.73033";
+	var eight = "M 37.489233,241.44557 27.286074,245.57254 23.885021,253.82646 23.885021,262.08039 27.286074,270.33431 34.08818,274.46127 47.692392,278.58823 57.895551,282.7152 64.697657,290.96912 68.09871,299.22304 68.09871,311.60393 64.697657,319.85785 61.296604,323.98482 51.093445,328.11178 37.489233,328.11178 27.286074,323.98482 23.885021,319.85785 20.483968,311.60393 20.483968,299.22304 23.885021,290.96912 30.687127,282.7152 40.890286,278.58823 54.494498,274.46127 61.296604,270.33431 64.697657,262.08039 64.697657,253.82646 61.296604,245.57254 51.093445,241.44557 37.489233,241.44557";
+	var nine = "M 67.931912,270.29818 64.2949,282.68028 57.020878,290.93502 46.109844,295.06239 42.472833,295.06239 31.561799,290.93502 24.287776,282.68028 20.650765,270.29818 20.650765,266.17081 24.287776,253.7887 31.561799,245.53396 42.472833,241.40659 46.109844,241.40659 57.020878,245.53396 64.2949,253.7887 67.931912,270.29818 67.931912,290.93502 64.2949,311.57186 57.020878,323.95397 46.109844,328.08134 38.835821,328.08134 27.924787,323.95397 24.287776,315.69923";
+
+	pathData = [zero, one, two, three, four, five, six, seven, eight, nine];
+
+	var colon = "M 175.73227,307.21546 175.81889,307.21546 175.81889,307.21262 175.73227,307.21262 175.73227,307.21546 Z M 175.73227,253.34648 175.81889,253.34648 175.81889,270.34364 175.73227,270.34364 175.73227,253.34648 Z";
+
+	objRef = this;
+
+	toPixels = function(mm) {
+		return mm * 3.779527559;
+	}
+
+	drawTime = function(arrayOfPaths) {
+		for (var i = 0; i < arrayOfPaths.length; i++) {
+			objRef.interpretCommands(arrayOfPaths[i]);
+
+			if (i == 1)
+				objRef.interpretCommands(parse(colon));
+		}
+		doSetTimeout(0, 0, -140, 250);
+	}
+
+	getTheTime = function() {
+		var currentTime = new Date()
+		var hours = String(currentTime.getHours());
+		var minutes = String(currentTime.getMinutes());
+
+		if (hours < 10)
+			hours = "0" + hours;
+		1
+		if (minutes < 10)
+			minutes = "0" + minutes;
+
+		var timeArray = new Array();
+		for (var i = 0; i < hours.length; i++) {
+			timeArray.push(hours.charAt(i));
+		}
+
+		for (var i = 0; i < minutes.length; i++) {
+			timeArray.push(minutes.charAt(i));
+		}
+
+		return timeArray;
+	}
+
+	convertToPath = function(timeArray) {
+	var pathArray = new Array();
+	var offset = toPixels(5);
+	var commandArray = new Array();
+	for (var i = 0; i < timeArray.length; i++) {
+		var data = pathData[timeArray[i]];
+		var commands = parse(data);
+
+		for (var x = 0; x < commands.length; x++) {
+			if (commands[x].code != 'Z' || commands[x].code != 'z') {
+				commands[x].x += offset;
+				if (commands[x].x1)
+					commands[x].x1 += offset;
+				if (commands[x].x2)
+					commands[x].x2 += offset;
+			}
+		}
+
+		commandArray.push(commands);
+
+		offset += toPixels(18);
+		if (i == 1)
+			offset += toPixels(4);
+		}
+	return commandArray;
+	}
+
+	tellTime = function() {
+		timer = 0;
+		setTimeout(function() { drawing.erase() }, 0);
+		setTimeout(function() { drawTime(convertToPath(getTheTime())) }, 12500);
+		//drawTime(convertToPath([1, 7, 1, 7]));
+	}
+
+	tellTime();
+	setInterval(function() { tellTime() }, 60000);	
+}
+
+
+
 //Timer variable for use with the doSetTimeout method
 var timer = 0;
 
@@ -511,5 +644,6 @@ var penHeight;
 
 var transformX;
 var transformY;
+var objRef;
 
 module.exports.SVGReader = SVGReader;

From f7e4d79cc4ce00e612671de5ba3d92dbcc16e662 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 7 Jul 2015 16:48:01 -0500
Subject: [PATCH 22/43] Updated clock-related functions

---
 software/src/SVGReader.js | 228 ++++++++++++++++++++++++++++++--------
 1 file changed, 182 insertions(+), 46 deletions(-)

diff --git a/software/src/SVGReader.js b/software/src/SVGReader.js
index cfb2fa7..f3b12f3 100644
--- a/software/src/SVGReader.js
+++ b/software/src/SVGReader.js
@@ -14,9 +14,9 @@ function SVGReader(args) {
 	this.baseHeight = 0;
 
 	if (args) {
-    var keys = Object.keys(args)
-    keys.forEach(function(key){
-      this[key] = args[key]
+    	var keys = Object.keys(args)
+    	keys.forEach(function(key){
+      	this[key] = args[key]
     }, this)
   }
 }
@@ -24,10 +24,17 @@ function SVGReader(args) {
 //Draws from an SVG image specified by filepath
 //> Usage:
 //> drawSVG("C:/Projects/Tapsterbot/software/src/drawing.svg");
-SVGReader.prototype.drawSVG = function(filePath) {
+//connect is a special flag that indicates that each path should be drawn connected to each other
+//It is really only used for drawing in cursive and does not need to be specified otherwise
+SVGReader.prototype.drawSVG = function(filePath, connect) {
 	timer = 0;
 	var parsed;
 
+	if (connect)
+		connected = connect;
+	else
+		connected = null;
+
 	objRef = this;
 
 	//Create a JSON string out of the SVG image data
@@ -68,7 +75,7 @@ SVGReader.prototype.drawSVG = function(filePath) {
 
 	var phoneWidth = this.baseWidth;
 	var phoneHeight = this.baseHeight;
-	penHeight = -152.5;
+	penHeight = this.drawHeight;
 
 	widthRatio = width / phoneWidth;
 	heightRatio = height / phoneHeight;
@@ -83,15 +90,24 @@ SVGReader.prototype.drawSVG = function(filePath) {
 		} 
 	}
 
-	else if (objArr.svg.g[0].path) {
+	else if (objArr.svg.g.length > 0) { //Depending on how the paths are grouped, it is possible that this value can be greater than zero
+		for (var i = 0; i < objArr.svg.g.length; i++) { //If this is the case, loop through the array to get the path data
+			pathArray = objArr.svg.g[i].path;
+			drawImage(pathArray);
+		}
+	}
+
+	else if (objArr.svg.g[0].path) { //If there is only one group
 		pathArray = objArr.svg.g[0].path;
 		drawImage(pathArray);
 	}
+
+	//svg.drawSVG("C:/Projects/Tapsterbot/software/src/drawing.svg", true)
 }
 
 drawImage = function(pathArray) {
 	var d = "";
-	console.log(pathArray);
+	firstMove = null; //After a group is done being drawn, firstMove is reset as there has not yet been a first move made in the next group
 	for (var i = 0; i < pathArray.length; i++) { //When drawing multiple lines, there are multiple paths
 		firstPoint = null;
 		d = pathArray[i].$.d; 
@@ -108,11 +124,24 @@ drawImage = function(pathArray) {
 
 //Move from one point to (x, y)
 move = function(x, y) {
-	doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, 150);
-	doSetTimeout(mapX(x), mapY(y), penHeight + 10, 150);
-	doSetTimeout(mapX(x), mapY(y), penHeight, 150);
+	if (!connected) { //If the paths should not be connected, lift up the pen and move over so that a line is not drawn
+		doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, 150);
+		doSetTimeout(mapX(x), mapY(y), penHeight + 10, 150);
+		doSetTimeout(mapX(x), mapY(y), penHeight, 150);
+	}
+	else if (connected && !firstMove) { //If the paths should be connected and a move has not been made, lift up the pen and move to the first point
+		doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, 150);
+		doSetTimeout(mapX(x), mapY(y), penHeight + 10, 150);
+		doSetTimeout(mapX(x), mapY(y), penHeight, 150);
+	}
+	else //If the paths should be connected and a move has been made, just draw a line between the two paths
+		doSetTimeout(mapX(x), mapY(y), penHeight, 150);
+
 	currentPoint = {x:x, y:y}; //Update the current point (done every time an SVG command is called)
 
+	if (!firstMove) //Keeps track of if a move has been made or not.
+		firstMove = true;
+
 	if (!firstPoint) //Keeps track of the first point, for use with the Z/z command
 		firstPoint = {x:currentPoint.x, y:currentPoint.y}; //Since the first command of a path is always to Move, this check only occurs here
 }
@@ -165,7 +194,7 @@ cubicCurve = function(x1, y1, x2, y2, x, y) {
 	var curvePts = new Array();
 	curvePts = b(x1, y1, x2, y2, x, y, 5); //5 is an arbitrarily-chosen value. It creates a smooth-looking curve without calculating too many points
 	for (var i = 0;i < curvePts.length; i++) 
-		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, 2);
+		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, 15);
 }
 
 //Draws a relative cubic Bezier curve
@@ -320,6 +349,7 @@ doSetTimeout = function(x, y, z, delay) {
  	timer = timer + delay; 
 };
 
+//A function for setting the penHeight from the command line
 setPenHeight = function(penHeight) {
 	penHeight = penHeight;
 }
@@ -505,22 +535,26 @@ SVGReader.prototype.interpretCommands = function(commands) {
 			relArc(commands[i].rx, commands[i].ry, commands[i].xAxisRotation, commands[i].largeArc, commands[i].sweep, commands[i].x, commands[i].y);
 		
 		else if (cmdCode == 'Z' || cmdCode == 'z') {
-			(firstPoint.x, firstPoint.y);
+			line(firstPoint.x, firstPoint.y);
 			firstPoint = null;
 		}
 	}
 }
 
+//Creates a working clock
+//To-do: Add support for user-specified fonts
 SVGReader.prototype.clock = function() {
-	var dimensions = dimensionConversion("80mm", "95mm");
+	var dimensions = dimensionConversion("80mm", "95mm"); //Since no dimensions are specified, assume the default
+														  //To-do: Pul this from a config file
 	width = dimensions.width;
 	height = dimensions.height;
 
 	timer = 0;
 
-	var drawing = new draw.Draw({
+	var drawing = new draw.Draw({ //draw is used for the erase function
 		baseWidth: this.baseWidth,
-		baseHeight: this.baseHeight
+		baseHeight: this.baseHeight,
+		drawHeight: this.drawHeight
 	});
 
 	var phoneWidth = this.baseWidth;
@@ -529,10 +563,12 @@ SVGReader.prototype.clock = function() {
 	widthRatio = width / phoneWidth;
 	heightRatio = height / phoneHeight;
 
-	penHeight = -152.5;
+	penHeight = this.drawHeight;
 	halfway = {x:width / 2, y:height / 2};
 	currentPoint = {x:halfway.x, y:halfway.y}; //Start at the center of the canvas, which corresponds to (0,0) on the Tapster
 
+	//Currently hardcoded path data
+	//To-do: Allow users to specify fonts
 	var zero = "M 40.890286,241.44557 30.687127,245.57254 23.885021,257.95342 20.483968,278.58823 20.483968,290.96912 23.885021,311.60393 30.687127,323.98482 40.890286,328.11178 47.692392,328.11178 57.895551,323.98482 64.697657,311.60393 68.09871,290.96912 68.09871,278.58823 64.697657,257.95342 57.895551,245.57254 47.692392,241.44557 40.890286,241.44557";
 	var one = "M 50.289453,243.07635 50.289453,329.52761";
 	var two = "M 27.618803,262.08031 27.618803,257.95271 30.945521,249.69749 34.27224,245.56989 40.925676,241.44228 54.23255,241.44228 60.885986,245.56989 64.212704,249.69749 67.539423,257.95271 67.539423,266.20792 64.212704,274.46313 57.559268,286.84595 24.292085,328.12202 70.866141,328.12202";
@@ -546,32 +582,53 @@ SVGReader.prototype.clock = function() {
 
 	pathData = [zero, one, two, three, four, five, six, seven, eight, nine];
 
-	var colon = "M 175.73227,307.21546 175.81889,307.21546 175.81889,307.21262 175.73227,307.21262 175.73227,307.21546 Z M 175.73227,253.34648 175.81889,253.34648 175.81889,270.34364 175.73227,270.34364 175.73227,253.34648 Z";
+	var colon = "M 165.73227,300.21546 Z M 165.73227,253.34648 Z";
+	var arrayTime = new Array();
 
 	objRef = this;
 
+	//Simple function for converting units in millimeters to units in pixels
+	//Based on the fixed ratio between mm and px
 	toPixels = function(mm) {
 		return mm * 3.779527559;
 	}
 
-	drawTime = function(arrayOfPaths) {
+	//Draws the time
+	//Takes an array of path data and a callback function
+	drawTime = function(arrayOfPaths, callback) {
 		for (var i = 0; i < arrayOfPaths.length; i++) {
-			objRef.interpretCommands(arrayOfPaths[i]);
+			objRef.interpretCommands(arrayOfPaths[i]); //Interprets the path data and draws the number
 
-			if (i == 1)
+			firstPoint = null;
+
+			if (i == 1) //Inserts the colon between the second and third number
 				objRef.interpretCommands(parse(colon));
 		}
 		doSetTimeout(0, 0, -140, 250);
+		setTimeout(function() { endTime = new Date().getTime() }, timer + 1); //Gets the time after drawTime finishes executing
+		//Because of the way doSetTimeout works, timer + 1 occurs (is meant to occur) a millisecond after the doSetTimeout call
+		setTimeout(function() { difference = endTime - startTime }, timer + 3);
+		setTimeout(function() { callback() }, timer + 4);
 	}
 
+	//Gets the curent time and converts it into an array of four digits
+	//The first two digits are the hours, the last two are the minutes
 	getTheTime = function() {
 		var currentTime = new Date()
 		var hours = String(currentTime.getHours());
 		var minutes = String(currentTime.getMinutes());
 
+		//Converts from 24 hour time to 12 hour time
+		if (hours > 12)
+			hours -= 12;
+		else if (hours === 0)
+			hours = 12;
+
+		//Adds a placeholder zero to ensure that there are four digits in the time
+		//The zero is not actually drawn
 		if (hours < 10)
 			hours = "0" + hours;
-		1
+		
 		if (minutes < 10)
 			minutes = "0" + minutes;
 
@@ -583,46 +640,119 @@ SVGReader.prototype.clock = function() {
 		for (var i = 0; i < minutes.length; i++) {
 			timeArray.push(minutes.charAt(i));
 		}
-
+		arrayTime = timeArray; //Stores the array in another variable so it can be accessed elsewhere without calling the function again
 		return timeArray;
 	}
 
+	//Converts the digits in the timeArray into path data
 	convertToPath = function(timeArray) {
-	var pathArray = new Array();
-	var offset = toPixels(5);
-	var commandArray = new Array();
-	for (var i = 0; i < timeArray.length; i++) {
-		var data = pathData[timeArray[i]];
-		var commands = parse(data);
-
-		for (var x = 0; x < commands.length; x++) {
-			if (commands[x].code != 'Z' || commands[x].code != 'z') {
-				commands[x].x += offset;
-				if (commands[x].x1)
-					commands[x].x1 += offset;
-				if (commands[x].x2)
-					commands[x].x2 += offset;
+		var pathArray = new Array();
+		var offset = toPixels(3); //The first digit is drawn three mm from the left side
+		var commandArray = new Array();
+		//Loops through the digits in timeArray
+		for (var i = 0; i < timeArray.length; i++) {
+			if (i == 0 && timeArray[i] == 0) { //If the first digit is 0 (if the hours < 10) AND the loop is on the first digit
+				offset += toPixels(5); //Changes the offset so that the three digits that will be drawn will be centered
+				commandArray.push(["Z"]); //The Z command, without a firstPoint value, will not draw anything, but can still be interpreted without errors
+				colon = "M 118.73227,307.21546 Z M 118.73227,253.34648 Z"; //Changes the path data of the colon so that it will still be in the correct location
+			}
+			else {
+				var data = pathData[timeArray[i]]; 
+				var commands = parse(data);
+
+				//Loops through the commands in the array and adds the offset to each x value
+				for (var x = 0; x < commands.length; x++) {
+					if (commands[x].code != 'Z' || commands[x].code != 'z') { //Every command but the close path commands have an x value
+						commands[x].x += offset;
+						if (commands[x].x1) //Some commands (curves and arcs) have an x1 value
+							commands[x].x1 += offset;
+						if (commands[x].x2) //Some commands (cubic curves) have an x2 value
+							commands[x].x2 += offset;
+					}
+				}
+
+				commandArray.push(commands);
+
+				if (timeArray[0] != 0) 
+					colon = "M 165.73227,300.21546 Z M 165.73227,253.34648 Z"; //Ensures that the colon has the correct path data
+				//Withotu this check, once the time changes from hours < 10 to hours >= 10, the colon would be in the incorrect place
+
+				offset += toPixels(18); //Adds an offset to each digit
+				//Each digit should be 15mm wide, with 3mm space between each digit
+				if (i == 1)
+					offset += toPixels(4); //Adds an extra 4mm of space to account for the colon
 			}
 		}
 
-		commandArray.push(commands);
+		return commandArray;
+	}
 
-		offset += toPixels(18);
-		if (i == 1)
-			offset += toPixels(4);
-		}
-	return commandArray;
+	//Draws a circle to indicate the amount of time left in the minute
+	timeCircle = function() {
+		timer = 0;
+
+		//Draws a circle, given an array of points and the amount of delay in between each point
+	  	circle = function(array, delay) { 
+		    for (var i=0; i<array.length; i+=1) {
+		      	point = array[i];
+	      		doSetTimeout(point.x, point.y, -140, delay);
+	    	}
+	  	}
+
+	  	//Calculates the amount of time left in the minute, based on the difference between the time the erase function was called and the time the drawTime function ended
+	  	calcTimeLeft = function() {
+	  		difference += 500; //Add half a second of padding just to be safe
+	  		return 60000 - difference; //Everything is in milliseconds to keep calculations simple
+	  	}
+
+	  	//Calculates the amount of delay between each point based on the amount of time left and the amount of points to draw
+	  	calcDelay = function(timeLeft, points) {
+	  		msPerPt = timeLeft / points;
+	  		return msPerPt;
+	  	}
+
+	  	var radius = 54;
+	  	var centerX = 0;
+	  	var centerY = -5;
+	  	var points = new Array();
+
+	  	//Populates the array with points
+	  	//Draws more than 360 points because it needs to go slightly over to align with the eraser hole
+	  	//To-do: Figure out why it eventually fails
+	  	for (var degree = 360; degree > -2; degree--) { 
+	  		var radians = (degree + 90) * Math.PI/180; //Add 90 to degree so that the circle starts at the top, not at the right
+			var x = centerX + radius * Math.cos(radians);
+		    var y = centerY + radius * Math.sin(radians);
+		    points.push({x:x,y:y});
+	  	}
+
+	  	setTimeout(function() { circle(points, calcDelay(calcTimeLeft(), points.length)) }, 0);
 	}
 
+	//Tells the time
 	tellTime = function() {
 		timer = 0;
-		setTimeout(function() { drawing.erase() }, 0);
-		setTimeout(function() { drawTime(convertToPath(getTheTime())) }, 12500);
-		//drawTime(convertToPath([1, 7, 1, 7]));
+
+		startTime = new Date().getTime();
+
+		drawing.erase(function() {
+			drawTime(convertToPath(getTheTime()), function() {
+				timeCircle();
+			});
+		});
+		//setTimeout(function() { drawTime(convertToPath(getTheTime())) }, 12500);
+		//setTimeout(function() { drawTime(convertToPath([0, 8, 5, 8]))}, 12500);
+		//setTimeout(function() { timeCircle() }, 12501);
 	}
 
 	tellTime();
-	setInterval(function() { tellTime() }, 60000);	
+	clockTimer = setInterval(function() { tellTime() }, 60000); //Repeat every 60 seconds
+}
+
+//A function to stop the clock
+//The clock will finish erasing, drawing, and moving the arms in a circle, but it will not Repeat
+SVGReader.prototype.clearClock = function() {
+	clearInterval(clockTimer);
 }
 
 
@@ -645,5 +775,11 @@ var penHeight;
 var transformX;
 var transformY;
 var objRef;
+var connected;
+var startTime;
+var endTime;
+var difference;
+var clockTimer;
+var firstMove;
 
 module.exports.SVGReader = SVGReader;

From c3d003dc42e69455f3427ee2b80696b08bc86a72 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Tue, 7 Jul 2015 16:48:22 -0500
Subject: [PATCH 23/43] Updated erase functions

---
 software/src/draw.js | 44 +++++++++++++++++++++++++-------------------
 1 file changed, 25 insertions(+), 19 deletions(-)

diff --git a/software/src/draw.js b/software/src/draw.js
index 30c1c87..ddefe4b 100644
--- a/software/src/draw.js
+++ b/software/src/draw.js
@@ -45,7 +45,7 @@ doSetTimeout = function(x, y, z, delay) {
 //Draws points + 1 points
 //Delay is the total amount of time that it takes
 //Each point takes delay / points time to draw
-itGo = function(x, y, z, points, delay) {
+Draw.prototype.itGo = function(x, y, z, points, delay) {
   var x1 = currentPoint.x;
   var y1 = currentPoint.y;
   var deltaX = x - x1;
@@ -69,7 +69,7 @@ itGo = function(x, y, z, points, delay) {
 var baseHeight, baseWidth, canvasHeight, canvasWidth, heightRatio, widthRatio, halfway;
 
 var currentPoint = {x: 0, y: 0, z: -140};
-var penHeight = -140;
+var penHeight = this.drawHeight;
 
 //A timer variable for use with doSetTimeout()
 var timer = 0;
@@ -179,26 +179,26 @@ Draw.prototype.drawStar = function() {
   */
 };
 
-Draw.prototype.drawCircle = function() {
+Draw.prototype.drawCircle = function(radius) {
   timer = 0;
   var centerX=0;
   var centerY=0;
-  var radius=20;
+  var radius=radius;
 
   // an array to save your points
   var points=[];
    
   // populate array with points along a circle
   //Goes to 390 degrees so that the circle is actually completed
-  for (var degree=0; degree<390; degree++) {
-      var radians = degree * Math.PI/180;
+  for (var degree=0; degree < 365; degree++) {
+      var radians = (degree + 90) * Math.PI/180;
       var x = centerX + radius * Math.cos(radians);
       var y = centerY + radius * Math.sin(radians);
       points.push({x:x,y:y});
   }
    
   circle = function() {
-    for (var i=0; i<390; i+=1) {
+    for (var i=0; i<points.length; i+=1) {
       point = points[i];
       doSetTimeout(point.x, point.y, penHeight, 2);
     }
@@ -224,7 +224,9 @@ Draw.prototype.drawSpiral= function(spirals, radius, zLevel) {
 
   go(centerX, centerY, penHeight);
 
-  for (var degree = 0; degree < spirals * 360 + 94; degree++) {
+  //Draws additional points, mainly for use with the erase function
+  //The extra points allow the eraser to end up in its resting position
+  for (var degree = 0; degree < spirals * 360 + 97; degree++) {
     x1 = x1 + radius/(spirals * 360);
     y1 = y1 + radius/(spirals * 360);
     var radians = degree * Math.PI/180;
@@ -234,7 +236,7 @@ Draw.prototype.drawSpiral= function(spirals, radius, zLevel) {
   }
 
   spiral = function() {
-    for (var z = 0; z < spirals*360 + 94; z++) {
+    for (var z = 0; z < points.length; z++) {
       point = points[z];
       doSetTimeout(point.x, point.y, penHeight, 5);
     }
@@ -243,10 +245,11 @@ Draw.prototype.drawSpiral= function(spirals, radius, zLevel) {
 }; 
 
 Draw.prototype.pickUpEraser = function() {
-  doSetTimeout(currentPoint.x, currentPoint.y, -130, 500);
-  doSetTimeout(0, 50, -130, 500);
-  doSetTimeout(0, 50, -148, 500);
-  doSetTimeout(0, 0, -148, 500);
+  eraseHeight = this.drawHeight + 5.25;
+  //doSetTimeout(currentPoint.x, currentPoint.y, -130, 500);
+  doSetTimeout(0, 50, -140, 500);
+  doSetTimeout(0, 50, eraseHeight, 500);
+  doSetTimeout(0, 0, eraseHeight, 500);
 
   /*
   timer = 0;
@@ -270,7 +273,8 @@ Draw.prototype.pickUpEraser = function() {
 }
 
 Draw.prototype.eraseBoard = function() {
-  this.drawSpiral(5, 55, -148); //Draws a spiral to erase most of the board
+  eraseHeight = this.drawHeight + 5.25;
+  this.drawSpiral(4, 55, eraseHeight); //Draws a spiral to erase most of the board
 
   //WIP code for erasing the very edges of the board
   //Commented by default because it's not reliable
@@ -291,21 +295,23 @@ Draw.prototype.eraseBoard = function() {
 }
 
 Draw.prototype.dropOffEraser = function() {
- // doSetTimeout(0, 50, -148, 500);
- doSetTimeout(-1, 50, -130, 500);
- doSetTimeout(0, 0, -130, 500);
+  eraseHeight = this.drawHeight + 5.25;
+  doSetTimeout(0, 50, eraseHeight, 500);
+  doSetTimeout(-2, 50, -130, 500);
+  doSetTimeout(0, 0, -130, 500);
 
   /* doSetTimeout(55, 20, -148, 500);
   doSetTimeout(63, 25, -130, 500);
   doSetTimeout(0, 0, -130, 500); */
 }
 
-Draw.prototype.erase = function() {
+Draw.prototype.erase = function(callback) {
   var objRef = this;
   setTimeout(function() { objRef.pickUpEraser() }, 0);
   setTimeout(function() { objRef.eraseBoard() }, 3000);
   setTimeout(function() { objRef.dropOffEraser() }, 10000);
-  console.log(timer);
+  if (callback)
+    setTimeout(function() {callback() }, 12500);
 }
 
 module.exports.Draw = Draw;

From 28b240aefb581ddc59fcf4e7696049ab4cfad862 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Thu, 9 Jul 2015 16:38:03 -0500
Subject: [PATCH 24/43] Updated test function

---
 software/src/draw.js | 151 ++++++++++++++++++++++---------------------
 1 file changed, 76 insertions(+), 75 deletions(-)

diff --git a/software/src/draw.js b/software/src/draw.js
index ddefe4b..397bd7a 100644
--- a/software/src/draw.js
+++ b/software/src/draw.js
@@ -7,6 +7,8 @@
 //> draw.erase()
 
 var fs = require('fs');
+var objRef;
+var calculated, spiralPts;
 
 function Draw(args) {
   this.baseWidth = 0;
@@ -18,6 +20,8 @@ function Draw(args) {
       this[key] = args[key];
     }, this)
   }
+  penHeight = this.drawHeight;
+  objRef = this;
 }
 
 //Maps point from canvas to the Tapster coordinate plane
@@ -161,41 +165,44 @@ Draw.prototype.drawSquare = function(sideLength, n) {
 };
 
 //Draws a star to test that the Tapster bot is working properly
-Draw.prototype.drawStar = function() {
-  timer = 0;
-  doSetTimeout(-20, -20, penHeight, 1000);
-  doSetTimeout(0, 20, penHeight, 1000);
-  doSetTimeout(20, -20, penHeight, 1000);
-  doSetTimeout(-20, 10, penHeight, 1000);
-  doSetTimeout(20, 10, penHeight, 1000);
-  doSetTimeout(-20, -20, penHeight, 1000);
-
-  /*setTimeout(function() { go(-20, -20, penHeight); }, 0); //Bottom left
-  setTimeout(function() { go(0, 20, penHeight); }, 1000); //Top
-  setTimeout(function() { go(20, -20, penHeight); }, 2000); //Bottom right
-  setTimeout(function() { go(-20, 10, penHeight); }, 3000); //Left
-  setTimeout(function() { go(20, 10, penHeight); }, 4000); //Right
-  setTimeout(function() { go(-20, -20, penHeight); }, 5000); //Starting position
-  */
+Draw.prototype.drawStar = function(x, y, x1, y1, x2, y2) {
+  doSetTimeout(x, y, penHeight, 1000);
+  doSetTimeout(x1, y1, penHeight, 1000);
+  doSetTimeout(x2, y2, penHeight, 1000);
+  doSetTimeout(x, y1 * 3 / 4, penHeight, 1000);
+  doSetTimeout(x2, y1 * 3 / 4, penHeight, 1000);
+  doSetTimeout(x, y, penHeight, 1000);
 };
 
-Draw.prototype.drawCircle = function(radius) {
+
+Draw.prototype.drawTriangle = function(x, y, x1, y1, x2, y2) {
+  timer = 0;
+  doSetTimeout(x, y, penHeight, 1000);
+  doSetTimeout(x1, y1, penHeight, 1000);
+  doSetTimeout(x2, y2, penHeight, 1000);
+  doSetTimeout(x, y, penHeight, 1000);
+}
+
+Draw.prototype.drawCircle = function(radius, x, y) {
   timer = 0;
-  var centerX=0;
-  var centerY=0;
+  var centerX=x;
+  var centerY=y;
   var radius=radius;
 
   // an array to save your points
   var points=[];
    
   // populate array with points along a circle
-  //Goes to 390 degrees so that the circle is actually completed
+  //Goes slightly over so that the circle is actually completed
   for (var degree=0; degree < 365; degree++) {
       var radians = (degree + 90) * Math.PI/180;
       var x = centerX + radius * Math.cos(radians);
       var y = centerY + radius * Math.sin(radians);
       points.push({x:x,y:y});
   }
+
+  doSetTimeout(points[0].x, points[0].y, penHeight + 10, 20);
+  doSetTimeout(points[0].x, points[0].y, penHeight, 20);
    
   circle = function() {
     for (var i=0; i<points.length; i+=1) {
@@ -211,7 +218,7 @@ Draw.prototype.drawCircle = function(radius) {
 //Spirals is the amount of spirals to draw
 //Radius is the diameter(?) of the largest spiral
 //zLevel is optional -- it is the penHeight to draw the spiral at (mainly used for the erase function)
-Draw.prototype.drawSpiral= function(spirals, radius, zLevel) {
+Draw.prototype.drawSpiral = function(spirals, radius, zLevel, ptArray) {
   timer = 0;
   var centerX = 0;
   var centerY = 0;
@@ -222,17 +229,23 @@ Draw.prototype.drawSpiral= function(spirals, radius, zLevel) {
   if (zLevel) //If a zLevel is specified set the penHeight at that level
     penHeight = zLevel;
 
-  go(centerX, centerY, penHeight);
+  //go(centerX, centerY, penHeight);
+
+  if (ptArray) {
+    points = ptArray;
+  }
 
   //Draws additional points, mainly for use with the erase function
-  //The extra points allow the eraser to end up in its resting position
-  for (var degree = 0; degree < spirals * 360 + 97; degree++) {
-    x1 = x1 + radius/(spirals * 360);
-    y1 = y1 + radius/(spirals * 360);
-    var radians = degree * Math.PI/180;
-    var x = centerX + x1 * Math.cos(radians);
-    var y = centerY + y1 * Math.sin(radians);
-    points.push({x:x, y:y});
+  //The extra points allow the eraser to end up in its resting positio
+  else {
+    for (var degree = 0; degree < spirals * 360 + 95; degree++) {
+      x1 = x1 + radius/(spirals * 360);
+      y1 = y1 + radius/(spirals * 360);
+      var radians = degree * Math.PI/180;
+      var x = centerX + x1 * Math.cos(radians);
+      var y = centerY + y1 * Math.sin(radians);
+      points.push({x:x, y:y});
+    }
   }
 
   spiral = function() {
@@ -241,68 +254,55 @@ Draw.prototype.drawSpiral= function(spirals, radius, zLevel) {
       doSetTimeout(point.x, point.y, penHeight, 5);
     }
   }
-    spiral();
+  spiral();
+  return points;
 }; 
 
+Draw.prototype.test = function() {
+  var objRef = this;
+  setTimeout(function() { go(35, 24, penHeight + 20) }, 500);
+  setTimeout(function() { objRef.drawCircle(15, 20, 23.75) }, 1000);
+  setTimeout(function() { go(-30, 10, penHeight + 20) }, 6500);
+  setTimeout(function() { objRef.drawStar(-30, 10, -20, 30, -10, 10) }, 7000);
+  setTimeout(function() { go(-10, -10, penHeight + 20) }, 14000);
+  setTimeout(function() { square(-10, -10, -30, -10, -30, -30, -10, -30) }, 16000);
+  setTimeout(function() { go(10, -30, penHeight + 20) }, 21000);
+  setTimeout(function() { objRef.drawTriangle(10, -30, 20, -10, 30, -30) }, 22000);
+
+  square = function(x, y, x1, y1, x2, y2, x3, y3) {
+    doSetTimeout(x, y, penHeight, 1000);
+    doSetTimeout(x1, y1, penHeight, 1000);
+    doSetTimeout(x2, y2, penHeight, 1000);
+    doSetTimeout(x3, y3, penHeight, 1000);
+    doSetTimeout(x, y, penHeight, 1000);
+  }
+}
+
 Draw.prototype.pickUpEraser = function() {
   eraseHeight = this.drawHeight + 5.25;
   //doSetTimeout(currentPoint.x, currentPoint.y, -130, 500);
-  doSetTimeout(0, 50, -140, 500);
-  doSetTimeout(0, 50, eraseHeight, 500);
+  doSetTimeout(0, 49, -140, 500);
+  doSetTimeout(0, 49, eraseHeight, 500);
   doSetTimeout(0, 0, eraseHeight, 500);
-
-  /*
-  timer = 0;
-  doSetTimeout(currentPoint.x, currentPoint.y, -130, 500);
-  doSetTimeout(65, 25, -130, 500);
-  doSetTimeout(55, 20, -148, 1000);
-  var x = currentPoint.x;
-  var y = currentPoint.y;
-  while (x > 0 || y > 0) {
-    if (x / 10 > 1)
-      x -= 10;
-    else if (y / 10 > 1)
-      y -= 10;
-    else {
-      x = 0;
-      y = 0;
-    }
-
-    doSetTimeout(x, y, -148, 100);
-  } */
 }
 
 Draw.prototype.eraseBoard = function() {
   eraseHeight = this.drawHeight + 5.25;
-  this.drawSpiral(4, 55, eraseHeight); //Draws a spiral to erase most of the board
-
-  //WIP code for erasing the very edges of the board
-  //Commented by default because it's not reliable
-  /*
-  doSetTimeout(70, 10, -148, 7500);
-  itGo(40, 60, -149, 5, 500);
-  itGo(10, 55, -149, 5, 500);
-  itGo(-40, 55, -149, 5, 500);
-  itGo(-50, 27.5, -149, 5, 500);
-  itGo(-60, 0, -149, 5, 500);
-  itGo(-40, -40, -149, 5, 500);
-  itGo(-30, -60, -149, 5, 500);
-  itGo(0, -60, -149, 5, 500);
-  itGo(30, -60, -149, 5, 500);
-  itGo(50, -20, -149, 5, 500);
-  */
 
+  if (!calculated) {
+    spiralPts = this.drawSpiral(4, 55, eraseHeight);
+    calculated = true;
+  }
+  else {
+    this.drawSpiral(4, 55, eraseHeight, spiralPts);
+  }
 }
 
 Draw.prototype.dropOffEraser = function() {
   eraseHeight = this.drawHeight + 5.25;
   doSetTimeout(0, 50, eraseHeight, 500);
-  doSetTimeout(-2, 50, -130, 500);
+  doSetTimeout(-4, 50, -130, 500);
   doSetTimeout(0, 0, -130, 500);
-
-  /* doSetTimeout(55, 20, -148, 500);
-  doSetTimeout(63, 25, -130, 500);
-  doSetTimeout(0, 0, -130, 500); */
 }
 
 Draw.prototype.erase = function(callback) {
@@ -310,6 +310,7 @@ Draw.prototype.erase = function(callback) {
   setTimeout(function() { objRef.pickUpEraser() }, 0);
   setTimeout(function() { objRef.eraseBoard() }, 3000);
   setTimeout(function() { objRef.dropOffEraser() }, 10000);
+
   if (callback)
     setTimeout(function() {callback() }, 12500);
 }

From f68b1b4dd6482bad319159f96a972ce4e60b9926 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Thu, 9 Jul 2015 16:40:25 -0500
Subject: [PATCH 25/43] Updated hello functions

---
 software/src/SVGReader.js | 175 +++++++++++++++++++++++++++++---------
 1 file changed, 135 insertions(+), 40 deletions(-)

diff --git a/software/src/SVGReader.js b/software/src/SVGReader.js
index f3b12f3..e47be74 100644
--- a/software/src/SVGReader.js
+++ b/software/src/SVGReader.js
@@ -12,15 +12,22 @@ var parseString = require('xml2js').parseString;
 function SVGReader(args) {
 	this.baseWidth = 0;
 	this.baseHeight = 0;
+	this.drawHeight = 0;
 
 	if (args) {
     	var keys = Object.keys(args)
     	keys.forEach(function(key){
-      	this[key] = args[key]
-    }, this)
-  }
+      		this[key] = args[key]
+    	}, this)
+  	}
+	objRef = this;
 }
 
+//The time, in milliseconds, for each command to execute
+//Note: Some commands, such as Move, can take more than this amount of time to execute
+//To-do: Pull this from a config file?
+var delay = 150;
+
 //Draws from an SVG image specified by filepath
 //> Usage:
 //> drawSVG("C:/Projects/Tapsterbot/software/src/drawing.svg");
@@ -40,7 +47,7 @@ SVGReader.prototype.drawSVG = function(filePath, connect) {
 	//Create a JSON string out of the SVG image data
 	//parseString strips away the XML data
 	try {
-	parseString(fs.readFileSync(filePath, "utf8"), function(err, result) {
+		parseString(fs.readFileSync(filePath, "utf8"), function(err, result) {
 		parsed = JSON.stringify(result, null, 1);
 	});
 	} catch (e) {
@@ -64,7 +71,6 @@ SVGReader.prototype.drawSVG = function(filePath, connect) {
 	transformY = 0;
 
 	//Check for translation and account for it
-	//To-do: Do this more elegantly
 	if (objArr.svg.g[0].$ && objArr.svg.g[0].$.transform) { //Done in multiple checks to avoid errors being thrown
 		var transString = objArr.svg.g[0].$.transform;
 		var subX = transString.indexOf("(");
@@ -102,7 +108,8 @@ SVGReader.prototype.drawSVG = function(filePath, connect) {
 		drawImage(pathArray);
 	}
 
-	//svg.drawSVG("C:/Projects/Tapsterbot/software/src/drawing.svg", true)
+	doSetTimeout(0, 49, -130, delay);
+	setTimeout(function() { timer = 0 }, timer + 5);
 }
 
 drawImage = function(pathArray) {
@@ -119,23 +126,23 @@ drawImage = function(pathArray) {
 			doSetTimeout(mapX(parse(pathArray[i+1].$.d)[0].x), mapY(parse(pathArray[i+1].$.d)[0].y), penHeight, 300);
 		}  */
 	}
-	doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, 300);
+	doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, delay);
 }
 
 //Move from one point to (x, y)
 move = function(x, y) {
 	if (!connected) { //If the paths should not be connected, lift up the pen and move over so that a line is not drawn
-		doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, 150);
-		doSetTimeout(mapX(x), mapY(y), penHeight + 10, 150);
-		doSetTimeout(mapX(x), mapY(y), penHeight, 150);
+		doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, delay);
+		doSetTimeout(mapX(x), mapY(y), penHeight + 10, delay);
+		doSetTimeout(mapX(x), mapY(y), penHeight, delay);
 	}
 	else if (connected && !firstMove) { //If the paths should be connected and a move has not been made, lift up the pen and move to the first point
-		doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, 150);
-		doSetTimeout(mapX(x), mapY(y), penHeight + 10, 150);
-		doSetTimeout(mapX(x), mapY(y), penHeight, 150);
+		doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, delay);
+		doSetTimeout(mapX(x), mapY(y), penHeight + 10, delay);
+		doSetTimeout(mapX(x), mapY(y), penHeight, delay);
 	}
 	else //If the paths should be connected and a move has been made, just draw a line between the two paths
-		doSetTimeout(mapX(x), mapY(y), penHeight, 150);
+		doSetTimeout(mapX(x), mapY(y), penHeight, delay);
 
 	currentPoint = {x:x, y:y}; //Update the current point (done every time an SVG command is called)
 
@@ -156,7 +163,7 @@ relMove = function(x, y) {
 
 //Draw a line from one point to (x, y)
 line = function(x, y) {
-	doSetTimeout(mapX(x), mapY(y), penHeight, 150);
+	doSetTimeout(mapX(x), mapY(y), penHeight, delay);
 	currentPoint = {x:x, y:y};
 }
 
@@ -194,7 +201,7 @@ cubicCurve = function(x1, y1, x2, y2, x, y) {
 	var curvePts = new Array();
 	curvePts = b(x1, y1, x2, y2, x, y, 5); //5 is an arbitrarily-chosen value. It creates a smooth-looking curve without calculating too many points
 	for (var i = 0;i < curvePts.length; i++) 
-		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, 15);
+		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, delay / curvePts.length);
 }
 
 //Draws a relative cubic Bezier curve
@@ -227,7 +234,7 @@ quadraticCurve = function(x1, y1, x, y) {
 	var curvePts = new Array();
 	curvePts = q(x1, y1, x, y, 5);
 	for (var i = 0; i < curvePts.length; i++) 
-		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, 2);
+		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, delay / curvePts.length);
 }
 
 //Draws a relative quadratic Bezier curve
@@ -331,7 +338,7 @@ arc = function(rx, ry, rotation, largeArc, sweep, x, y) {
 	var ptArray = a(rx, ry, largeArc, sweep, x, y, 7);
 
 	for (var i = 0; i < ptArray.length; i++) {
-		doSetTimeout(mapX(ptArray[i].x), mapY(ptArray[i].y), penHeight, 75);
+		doSetTimeout(mapX(ptArray[i].x), mapY(ptArray[i].y), penHeight, delay / ptArray.length);
 	}
 }
 
@@ -344,9 +351,9 @@ relArc = function(rx, ry, rotation, largeArc, sweep, x, y) {
 }
 
 //A separate setTimeout method so that delays work properly
-doSetTimeout = function(x, y, z, delay) {
+doSetTimeout = function(x, y, z, timeDelay) {
  	setTimeout(function() { go(x, y, z) }, timer);
- 	timer = timer + delay; 
+ 	timer = timer + timeDelay; 
 };
 
 //A function for setting the penHeight from the command line
@@ -545,16 +552,20 @@ SVGReader.prototype.interpretCommands = function(commands) {
 //To-do: Add support for user-specified fonts
 SVGReader.prototype.clock = function() {
 	var dimensions = dimensionConversion("80mm", "95mm"); //Since no dimensions are specified, assume the default
-														  //To-do: Pul this from a config file
+														  //To-do: Pull this from a config file
 	width = dimensions.width;
 	height = dimensions.height;
 
+	objRef = this;
+
 	timer = 0;
+	connected = false;
 
-	var drawing = new draw.Draw({ //draw is used for the erase function
-		baseWidth: this.baseWidth,
-		baseHeight: this.baseHeight,
-		drawHeight: this.drawHeight
+	//Used to access the erase functions
+	var drawing = new draw.Draw({ 
+		baseWidth: objRef.baseWidth,
+		baseHeight: objRef.baseHeight,
+		drawHeight: objRef.drawHeight
 	});
 
 	var phoneWidth = this.baseWidth;
@@ -604,7 +615,7 @@ SVGReader.prototype.clock = function() {
 			if (i == 1) //Inserts the colon between the second and third number
 				objRef.interpretCommands(parse(colon));
 		}
-		doSetTimeout(0, 0, -140, 250);
+		doSetTimeout(0, 0, -140, delay);
 		setTimeout(function() { endTime = new Date().getTime() }, timer + 1); //Gets the time after drawTime finishes executing
 		//Because of the way doSetTimeout works, timer + 1 occurs (is meant to occur) a millisecond after the doSetTimeout call
 		setTimeout(function() { difference = endTime - startTime }, timer + 3);
@@ -675,7 +686,7 @@ SVGReader.prototype.clock = function() {
 
 				if (timeArray[0] != 0) 
 					colon = "M 165.73227,300.21546 Z M 165.73227,253.34648 Z"; //Ensures that the colon has the correct path data
-				//Withotu this check, once the time changes from hours < 10 to hours >= 10, the colon would be in the incorrect place
+				//Without this check, once the hours changed from single to double digits, the colon would be in the incorrect place
 
 				offset += toPixels(18); //Adds an offset to each digit
 				//Each digit should be 15mm wide, with 3mm space between each digit
@@ -692,10 +703,10 @@ SVGReader.prototype.clock = function() {
 		timer = 0;
 
 		//Draws a circle, given an array of points and the amount of delay in between each point
-	  	circle = function(array, delay) { 
+	  	circle = function(array, timeDelay) { 
 		    for (var i=0; i<array.length; i+=1) {
 		      	point = array[i];
-	      		doSetTimeout(point.x, point.y, -140, delay);
+	      		doSetTimeout(point.x, point.y, -140, timeDelay);
 	    	}
 	  	}
 
@@ -718,7 +729,6 @@ SVGReader.prototype.clock = function() {
 
 	  	//Populates the array with points
 	  	//Draws more than 360 points because it needs to go slightly over to align with the eraser hole
-	  	//To-do: Figure out why it eventually fails
 	  	for (var degree = 360; degree > -2; degree--) { 
 	  		var radians = (degree + 90) * Math.PI/180; //Add 90 to degree so that the circle starts at the top, not at the right
 			var x = centerX + radius * Math.cos(radians);
@@ -750,9 +760,102 @@ SVGReader.prototype.clock = function() {
 }
 
 //A function to stop the clock
-//The clock will finish erasing, drawing, and moving the arms in a circle, but it will not Repeat
+//The clock will finish erasing, drawing, and moving the arms in a circle, but it will not repeat
 SVGReader.prototype.clearClock = function() {
 	clearInterval(clockTimer);
+	console.log("Stopping clock.");
+}
+
+//Says 'hello' in multiple languages
+SVGReader.prototype.hello = function() {
+	timer = 0;
+	var fileArray = fs.readdirSync("./hello");
+	var fileNum;
+	objRef = this;
+
+	//Used to access the erase functions
+	var drawing = new draw.Draw({ 
+		baseWidth: objRef.baseWidth,
+		baseHeight: objRef.baseHeight,
+		drawHeight: objRef.drawHeight
+	});
+
+	//Picks a file at random from a folder of 'hello's
+	pickFile = function() {
+		do {
+			fileNum = Math.floor(Math.random() * fileArray.length);
+		}
+		while (fileNum == lastNum1 || fileNum == lastNum2); //Generates numbers until a number that has not been used in the past two calls is picked
+		//A language can only be used every third time
+
+		lastNum2 = lastNum1; //Adjusts the last two numbers used
+		lastNum1 = fileNum;
+
+		//Checks to see if the characters should be drawn connected or not
+		//Specified in file name
+		if (fileArray[fileNum].charAt(7) === 'T')
+			connect = true;
+		else
+			connect = false;
+
+		return "./hello/" + fileArray[fileNum];
+	}
+
+	//Says hello.
+	sayHello = function() {
+		var fileChoice = pickFile();
+		drawing.erase(function() {
+			setTimeout(function() { objRef.drawSVG(fileChoice, connect) }, 10000);
+		});
+	}
+
+	sayHello();
+	helloTimer = setInterval(function() { sayHello() }, 60000); //Repeat every minute
+}
+
+//A function to cancel saying hello
+//The robot will finish writing/erasing if it has already started but after that it will stop
+SVGReader.prototype.sayGoodbye = function() {
+	clearInterval(helloTimer);
+	console.log("Goodbye!"); 
+}
+
+//Cycles through all the languages rather than picking one at random
+SVGReader.prototype.helloCycle = function() {
+	timer = 0;
+	var fileArray = fs.readdirSync("./hello");	
+	objRef = this;
+	var fileNum = 0;
+
+	//Used to access the erase functions
+	var drawing = new draw.Draw({ 
+		baseWidth: objRef.baseWidth,
+		baseHeight: objRef.baseHeight,
+		drawHeight: objRef.drawHeight
+	});
+
+	//Function to actually write hello
+	sayHello = function() {
+		var fileChoice = "./hello/" + fileArray[fileNum]; 
+
+		if (fileChoice.charAt(15) === 'T')
+			connect = true;
+		else
+			connect = false;
+
+		drawing.erase(function() { 
+			setTimeout(function() { objRef.drawSVG(fileChoice, connect) }, 10000);
+		});
+
+		fileNum++;
+
+		if (fileNum >= fileArray.length) //Once the end of the list is reached, stop writing
+			clearInterval(helloTimer);
+	}
+
+	sayHello();
+	helloTimer = setInterval(function() { sayHello() }, 60000);
+
 }
 
 
@@ -772,14 +875,6 @@ var halfway;
 var currentPoint;
 var penHeight;
 
-var transformX;
-var transformY;
-var objRef;
-var connected;
-var startTime;
-var endTime;
-var difference;
-var clockTimer;
-var firstMove;
+var transformX, transformY, objRef, connected, startTime, endTime, difference, clockTimer, firstMove, lastNum1, lastNum2, connect, baseWidth, baseHeight;
 
 module.exports.SVGReader = SVGReader;

From 603f32becb5d67e9c97215da3244ae1cf612ad20 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Thu, 9 Jul 2015 16:41:19 -0500
Subject: [PATCH 26/43] Create helloEnT.svg

---
 software/src/hello/helloEnT.svg | 86 +++++++++++++++++++++++++++++++++
 1 file changed, 86 insertions(+)
 create mode 100644 software/src/hello/helloEnT.svg

diff --git a/software/src/hello/helloEnT.svg b/software/src/hello/helloEnT.svg
new file mode 100644
index 0000000..c5fa472
--- /dev/null
+++ b/software/src/hello/helloEnT.svg
@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="80mm"
+   height="95mm"
+   viewBox="0 0 283.46456 336.61417"
+   id="svg3379"
+   version="1.1"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="helloEnT.svg">
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.88"
+     inkscape:cx="335.22851"
+     inkscape:cy="167.30709"
+     inkscape:document-units="px"
+     inkscape:current-layer="svg3379"
+     showgrid="true"
+     inkscape:window-width="1308"
+     inkscape:window-height="749"
+     inkscape:window-x="-4"
+     inkscape:window-y="-4"
+     inkscape:window-maximized="1"
+     units="mm"
+     showguides="true">
+    <inkscape:grid
+       id="grid5092"
+       type="xygrid" />
+  </sodipodi:namedview>
+  <defs
+     id="defs3381" />
+  <metadata
+     id="metadata3384">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     id="g3356">
+    <path
+       inkscape:connector-curvature="0"
+       style="fill:none;stroke:#000000;stroke-width:5.43300867"
+       d="M 7.3732638,266.95503 17.528712,249.51558 32.761884,220.44982 37.839608,208.82352 42.917332,191.38407 42.917332,179.75776 37.839608,173.94461 27.684159,179.75776 22.606435,191.38407 17.528712,214.63667 12.450987,249.51558 7.3732638,296.02078 M 7.3732638,296.02078 12.450987,278.58133 17.528712,266.95503 27.684159,249.51558 37.839608,243.70243 47.995056,243.70243 53.07278,249.51558 53.07278,261.14188 47.995056,278.58133 47.995056,290.20764 53.07278,296.02078 58.150505,296.02078 68.305954,290.20764 73.383678,284.39449 83.539126,266.95503"
+       id="path6418" />
+    <path
+       inkscape:connector-curvature="0"
+       style="fill:none;stroke:#000000;stroke-width:5.43300867"
+       d="M 88.61685,284.39449 98.7723,278.58133 103.85002,272.76818 108.92775,261.14188 108.92775,249.51558 103.85002,243.70243 98.7723,243.70243 88.61685,249.51558 83.539126,261.14188 83.539126,278.58133 88.61685,290.20764 98.7723,296.02078 108.92775,296.02078 119.0832,290.20764 124.16093,284.39449 134.31636,266.95503"
+       id="path6420" />
+    <path
+       inkscape:connector-curvature="0"
+       style="fill:none;stroke:#000000;stroke-width:5.43300867"
+       d="M 134.31636,266.95503 144.47181,249.51558 159.70499,220.44982 164.7827,208.82352 169.86043,191.38407 169.86043,179.75776 164.7827,173.94461 154.62727,179.75776 149.54954,191.38407 144.47181,214.63667 139.39409,255.32873 139.39409,290.20764 144.47181,296.02078 149.54954,296.02078 159.70499,290.20764 164.7827,284.39449 174.93816,266.95503"
+       id="path6422" />
+    <path
+       inkscape:connector-curvature="0"
+       style="fill:none;stroke:#000000;stroke-width:5.43300867"
+       d="M 174.93816,266.95503 185.09361,249.51558 200.32677,220.44982 205.4045,208.82352 210.48224,191.38407 210.48224,179.75776 205.4045,173.94461 195.24906,179.75776 190.17133,191.38407 185.09361,214.63667 180.01589,255.32873 180.01589,290.20764 185.09361,296.02078 190.17133,296.02078 200.32677,290.20764 205.4045,284.39449 215.55996,266.95503"
+       id="path6424" />
+    <path
+       inkscape:connector-curvature="0"
+       style="fill:none;stroke:#000000;stroke-width:5.43300867"
+       d="M 246.02631,243.70243 235.87086,243.70243 225.71539,249.51558 220.63768,255.32873 215.55996,266.95503 215.55996,278.58133 220.63768,290.20764 230.79313,296.02078 240.94857,296.02078 251.10403,290.20764 256.18175,284.39449 261.25946,272.76818 261.25946,261.14188 256.18175,249.51558 246.02631,243.70243 244.43793,250.17515 C 242.15164,251.34859 243.31092,252.73004 246.64324,253.83989 249.97556,254.94974 255.48093,255.78799 261.88683,255.87504 268.29273,255.96209 275.59917,255.29795 282.53363,253.403 289.46809,251.50805 281.13696,255.82911 286.05495,250.99295"
+       id="path6426"
+       sodipodi:nodetypes="ccccccccccccccccsssc" />
+  </g>
+</svg>

From 7eb1a71f6bfbc5b9b5baa4804f7f1478dfe4881a Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Thu, 9 Jul 2015 16:41:55 -0500
Subject: [PATCH 27/43] Create helloChF.svg

---
 software/src/hello/helloChF.svg | 149 ++++++++++++++++++++++++++++++++
 1 file changed, 149 insertions(+)
 create mode 100644 software/src/hello/helloChF.svg

diff --git a/software/src/hello/helloChF.svg b/software/src/hello/helloChF.svg
new file mode 100644
index 0000000..56c4a7b
--- /dev/null
+++ b/software/src/hello/helloChF.svg
@@ -0,0 +1,149 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="80mm"
+   height="95mm"
+   viewBox="0 0 283.46457 336.61417"
+   id="svg3658"
+   version="1.1"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="helloCh.svg">
+  <defs
+     id="defs3660" />
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="10.590999"
+     inkscape:cx="214.5492"
+     inkscape:cy="82.751014"
+     inkscape:document-units="mm"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     inkscape:window-width="1308"
+     inkscape:window-height="749"
+     inkscape:window-x="-4"
+     inkscape:window-y="-4"
+     inkscape:window-maximized="1" />
+  <metadata
+     id="metadata3663">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(0,-715.74803)">
+    <g
+       id="g4195">
+      <path
+         inkscape:connector-curvature="0"
+         id="path3824"
+         d="M 57.575749,894.18528 55.494415,900.25946 C 55.494415,900.66439 55.604112,901.09013 55.494415,901.47429 55.249129,902.3333 54.699036,903.04494 54.453749,903.90396 54.344053,904.28812 54.563445,904.73462 54.453749,905.11879 54.208462,905.97781 53.658369,906.68944 53.413082,907.54844 52.0256,911.64655 46.566093,938.51001 43.006412,937.91928 42.761125,938.20562 43.161546,938.77192 43.006412,939.13411 40.258723,943.43926 41.001104,939.5639 35.721744,946.42311 L 34.681078,947.63795 C 34.334188,948.0429 33.859801,948.34056 33.640409,948.85278 33.485277,949.21497 33.795543,949.70542 33.640409,950.06761 33.421017,950.57983 32.819135,950.77024 32.599742,951.28244 32.444609,951.64465 32.754876,952.13508 32.599742,952.49729 32.38035,953.00949 31.778468,953.1999 31.559076,953.71212 31.403943,954.07432 31.804363,954.64062 31.559076,954.92696 31.313789,955.2133 30.763696,954.64062 30.518409,954.92696 30.273122,955.2133 30.518409,955.73684 30.518409,956.14179 L 30.518409,957.35662"
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1.85719121px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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+         inkscape:connector-curvature="0"
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+         sodipodi:nodetypes="ccc" />
+      <path
+         inkscape:connector-curvature="0"
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+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1.85719121px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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+    </g>
+  </g>
+</svg>

From a57f7bf6ee65228a3a21cb34cfc6a633e04ed82f Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Thu, 9 Jul 2015 16:42:14 -0500
Subject: [PATCH 28/43] Create helloFrF.svg

---
 software/src/hello/helloFrF.svg | 101 ++++++++++++++++++++++++++++++++
 1 file changed, 101 insertions(+)
 create mode 100644 software/src/hello/helloFrF.svg

diff --git a/software/src/hello/helloFrF.svg b/software/src/hello/helloFrF.svg
new file mode 100644
index 0000000..e6997af
--- /dev/null
+++ b/software/src/hello/helloFrF.svg
@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="80mm"
+   height="95mm"
+   viewBox="0 0 283.46457 336.61417"
+   id="svg3515"
+   version="1.1"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="helloFrF.svg">
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.6421381"
+     inkscape:cx="35.163898"
+     inkscape:cy="168.30709"
+     inkscape:document-units="px"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     inkscape:window-width="1308"
+     inkscape:window-height="749"
+     inkscape:window-x="-4"
+     inkscape:window-y="-4"
+     inkscape:window-maximized="1" />
+  <defs
+     id="defs3517" />
+  <metadata
+     id="metadata3520">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     id="layer1"
+     inkscape:groupmode="layer"
+     inkscape:label="Layer 1">
+    <g
+       id="g4379">
+      <path
+         sodipodi:nodetypes="cccccccccccccccccccccc"
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+         inkscape:connector-curvature="0" />
+      <path
+         sodipodi:nodetypes="cccccccccccccccccc"
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+         style="fill:none;stroke:#000000;stroke-width:4.00088358"
+         inkscape:connector-curvature="0" />
+      <path
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+         inkscape:connector-curvature="0" />
+      <path
+         sodipodi:nodetypes="ccccccccccccccccc"
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+         style="fill:none;stroke:#000000;stroke-width:4.00088358"
+         inkscape:connector-curvature="0" />
+      <path
+         sodipodi:nodetypes="cccccccccccccc"
+         id="path3542"
+         d="M 267.03697,242.3066 273.3077,226.99064 276.44306,216.77999 276.44306,226.99064 285.84917,226.99064 288.98455,232.09595 288.98455,242.3066 285.84917,257.6226 285.84917,262.7279 288.98455,267.83323 292.11992,267.83323 298.39063,262.7279 301.52601,257.6226 307.79674,242.3066"
+         style="fill:none;stroke:#000000;stroke-width:4.00088358"
+         inkscape:connector-curvature="0" />
+    </g>
+  </g>
+</svg>

From d3f18f1cc97054123ca9e839e46e93913b0d8f12 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Thu, 9 Jul 2015 16:42:32 -0500
Subject: [PATCH 29/43] Create helloItF.svg

---
 software/src/hello/helloItF.svg | 83 +++++++++++++++++++++++++++++++++
 1 file changed, 83 insertions(+)
 create mode 100644 software/src/hello/helloItF.svg

diff --git a/software/src/hello/helloItF.svg b/software/src/hello/helloItF.svg
new file mode 100644
index 0000000..c4c939a
--- /dev/null
+++ b/software/src/hello/helloItF.svg
@@ -0,0 +1,83 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="80mm"
+   height="95mm"
+   viewBox="0 0 283.46457 336.61417"
+   id="svg4274"
+   version="1.1"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="helloItF.svg">
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.6517427"
+     inkscape:cx="141.73228"
+     inkscape:cy="168.30709"
+     inkscape:document-units="mm"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     inkscape:window-width="1308"
+     inkscape:window-height="749"
+     inkscape:window-x="-4"
+     inkscape:window-y="-4"
+     inkscape:window-maximized="1" />
+  <defs
+     id="defs4276" />
+  <metadata
+     id="metadata4279">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     transform="translate(0,-715.74803)"
+     id="layer1"
+     inkscape:groupmode="layer"
+     inkscape:label="Layer 1">
+    <g
+       id="g4345">
+      <path
+         id="path4289"
+         d="M 53.864542,952.45 53.864542,943.5379 48.216602,934.6258 36.920723,934.6258 25.624845,943.5379 19.976905,952.45 14.328966,970.27419 14.328966,988.09839 19.976905,1005.9226 31.272784,1014.8347 48.216602,1014.8347 65.160421,997.01049 76.4563,970.27419"
+         style="fill:none;stroke:#000000;stroke-width:7.0947156"
+         inkscape:connector-curvature="0" />
+      <path
+         id="path4291"
+         d="M 93.400118,890.06531 93.400118,898.97741 99.048058,898.97741 99.048058,890.06531 93.400118,890.06531 M 76.4563,970.27419 87.752179,934.6258 C 82.025016,959.52249 76.4563,980.67989 76.4563,1005.9226 L 82.10424,1014.8347 87.752179,1014.8347 99.048058,1005.9226 104.696,997.01049 115.99188,970.27419"
+         style="fill:none;stroke:#000000;stroke-width:7.0947156"
+         inkscape:connector-curvature="0"
+         sodipodi:nodetypes="ccccccccccccc" />
+      <path
+         id="path4293"
+         d="M 166.82333,961.36209 161.17539,943.5379 149.87951,934.6258 C 137.29254,933.58883 136.9548,935.9109 127.28775,943.5379 L 121.63981,952.45 115.99187,970.27419 115.99187,988.09839 C 120.86009,1005.6877 119.65611,1004.3575 132.93569,1014.8347 L 144.23157,1014.8347 C 158.0795,1005.2493 156.14181,1003.9837 161.17539,988.09839 L 172.47127,934.6258 166.82333,979.18629 166.82333,1005.9226 172.47127,1014.8347 178.11921,1014.8347 189.41509,1005.9226 195.06303,997.01049 206.3589,970.27419"
+         style="fill:none;stroke:#000000;stroke-width:7.0947156"
+         inkscape:connector-curvature="0"
+         sodipodi:nodetypes="cccccccccccccccccc" />
+      <path
+         id="path4295"
+         d="M 240.24655,934.6258 228.95067,934.6258 217.65479,943.5379 212.00685,952.45 206.35891,970.27419 206.35891,988.09839 212.00685,1005.9226 223.30273,1014.8347 234.59861,1014.8347 245.89449,1005.9226 251.54243,997.01049 257.19037,979.18629 257.19037,961.36209 251.54243,943.5379 240.24655,934.6258 234.59861,955.0409 C 250.5291,940.06104 268.46506,966.27973 283.01636,949.95685"
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+         inkscape:connector-curvature="0"
+         sodipodi:nodetypes="ccccccccccccccccc" />
+    </g>
+  </g>
+</svg>

From c2c886b175e2130d8fa86a9b16d06ec34aa068b9 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Thu, 9 Jul 2015 16:42:49 -0500
Subject: [PATCH 30/43] Create helloJpF.svg

---
 software/src/hello/helloJpF.svg | 97 +++++++++++++++++++++++++++++++++
 1 file changed, 97 insertions(+)
 create mode 100644 software/src/hello/helloJpF.svg

diff --git a/software/src/hello/helloJpF.svg b/software/src/hello/helloJpF.svg
new file mode 100644
index 0000000..bf9232e
--- /dev/null
+++ b/software/src/hello/helloJpF.svg
@@ -0,0 +1,97 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="80mm"
+   height="95mm"
+   viewBox="0 0 283.46457 336.61417"
+   id="svg2"
+   version="1.1"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="helloJp.svg">
+  <defs
+     id="defs4" />
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
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From cd633b6af57dcdf10f4930269b26a0223625294b Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Thu, 9 Jul 2015 16:43:11 -0500
Subject: [PATCH 31/43] Create helloSpT.svg

---
 software/src/hello/helloSpT.svg | 80 +++++++++++++++++++++++++++++++++
 1 file changed, 80 insertions(+)
 create mode 100644 software/src/hello/helloSpT.svg

diff --git a/software/src/hello/helloSpT.svg b/software/src/hello/helloSpT.svg
new file mode 100644
index 0000000..2ab141a
--- /dev/null
+++ b/software/src/hello/helloSpT.svg
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="80mm"
+   height="95mm"
+   viewBox="0 0 283.46457 336.61417"
+   id="svg3474"
+   version="1.1"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="helloSp.svg">
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.6517427"
+     inkscape:cx="141.73228"
+     inkscape:cy="168.30709"
+     inkscape:document-units="mm"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     inkscape:window-width="1308"
+     inkscape:window-height="749"
+     inkscape:window-x="-4"
+     inkscape:window-y="-4"
+     inkscape:window-maximized="1" />
+  <defs
+     id="defs3476" />
+  <metadata
+     id="metadata3479">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     transform="translate(0,-715.74803)"
+     id="layer1"
+     inkscape:groupmode="layer"
+     inkscape:label="Layer 1">
+    <g
+       id="g3509">
+      <path
+         id="path3489"
+         d="M 8.574663,981.81817 18.922372,963.96417 34.443936,934.20751 39.617791,922.30484 44.791645,904.45084 44.791645,892.54818 39.617791,886.59684 29.270081,892.54818 24.096227,904.45084 18.922372,928.25617 13.748518,963.96417 8.574663,1011.5748 M 8.574663,1011.5748 13.748518,993.72084 18.922372,981.81817 29.270081,963.96417 39.617791,958.01284 49.9655,958.01284 55.139354,963.96417 55.139354,975.86684 49.9655,993.72084 49.9655,1005.6235 55.139354,1011.5748 60.313209,1011.5748 70.660918,1005.6235 75.834773,999.67217 86.182482,981.81817"
+         style="fill:none;stroke:#000000;stroke-width:5.54899359"
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+         id="path3491"
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+         style="fill:none;stroke:#000000;stroke-width:5.54899359"
+         inkscape:connector-curvature="0" />
+      <path
+         id="path3495"
+         d="M 246.57197,975.86684 241.39812,963.96417 231.05041,958.01284 220.7027,958.01284 210.35499,963.96417 205.18114,969.91551 200.00728,981.81817 200.00728,993.72084 205.18114,1005.6235 215.52885,1011.5748 225.87656,1011.5748 236.22426,1005.6235 241.39812,993.72084 251.74583,958.01284 246.57197,987.7695 246.57197,1005.6235 251.74583,1011.5748 256.91968,1011.5748 267.26739,1005.6235 272.44125,999.67217 282.78896,981.81817"
+         style="fill:none;stroke:#000000;stroke-width:5.54899359"
+         inkscape:connector-curvature="0" />
+    </g>
+  </g>
+</svg>

From 5020ac871a51596b1452a30e005f9a39229a21f6 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Fri, 10 Jul 2015 15:21:17 -0500
Subject: [PATCH 32/43] Updated characters

---
 software/src/hello/helloJpF.svg | 105 ++++++++++++++++++++------------
 1 file changed, 67 insertions(+), 38 deletions(-)

diff --git a/software/src/hello/helloJpF.svg b/software/src/hello/helloJpF.svg
index bf9232e..aff0c36 100644
--- a/software/src/hello/helloJpF.svg
+++ b/software/src/hello/helloJpF.svg
@@ -15,7 +15,7 @@
    id="svg2"
    version="1.1"
    inkscape:version="0.91 r13725"
-   sodipodi:docname="helloJp.svg">
+   sodipodi:docname="helloJpF.svg">
   <defs
      id="defs4" />
   <sodipodi:namedview
@@ -25,9 +25,9 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.66161843"
-     inkscape:cx="-29.836344"
-     inkscape:cy="67.010754"
+     inkscape:zoom="1.6517427"
+     inkscape:cx="141.73228"
+     inkscape:cy="168.30709"
      inkscape:document-units="mm"
      inkscape:current-layer="svg2"
      showgrid="false"
@@ -44,54 +44,83 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
     </rdf:RDF>
   </metadata>
   <g
-     id="g3555">
+     id="g3688">
     <path
-       id="path3426"
-       d="M -2.9318462,197.54216 C 0.2671778,197.71883 3.4471388,197.60399 6.6324188,197.26822 10.726748,196.69917 14.819723,196.20824 18.938694,195.91939 22.616158,195.69937 26.298171,195.5954 29.980004,195.53738 32.103047,195.43683 34.136685,195.74255 35.602765,197.61262 36.816573,199.66609 36.554708,201.7353 35.516134,203.77894 34.004034,205.61972 32.256954,207.18118 30.638605,208.90062 30.638605,208.90062 18.544452,214.65219 18.544452,214.65219"
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+       inkscape:connector-curvature="0"
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From afb4fdd37debf4da8a33f094002e9d7eb1d4ac53 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Fri, 10 Jul 2015 15:22:16 -0500
Subject: [PATCH 33/43] Created helloRuF

---
 software/src/hello/helloRuF.svg | 90 +++++++++++++++++++++++++++++++++
 1 file changed, 90 insertions(+)
 create mode 100644 software/src/hello/helloRuF.svg

diff --git a/software/src/hello/helloRuF.svg b/software/src/hello/helloRuF.svg
new file mode 100644
index 0000000..3205637
--- /dev/null
+++ b/software/src/hello/helloRuF.svg
@@ -0,0 +1,90 @@
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+       d="M 176.14108,161.06973 176.14108,204.96377 176.14108,248.85782 M 176.14108,161.06973 159.45871,204.96377 142.77634,248.85782 M 142.77634,161.06973 142.77634,204.96377 142.77634,248.85782"
+       id="path4518"
+       sodipodi:nodetypes="ccccccccc" />
+    <path
+       id="path4470"
+       d="M 195.01361,164.62755 195.01361,248.54249 M 195.01361,164.62755 215.39477,164.62755 222.18849,168.62348 224.45305,172.61943 226.71762,180.61133 226.71762,188.60322 224.45305,196.59514 222.18849,200.59107 202.52136,204.73442 M 195.01361,204.58703 211.95537,204.58703 222.18849,208.583 224.45305,212.57891 226.71762,220.57084 226.71762,232.55869 224.45305,240.55058 222.18849,244.54655 215.39477,248.54249 195.01361,248.54249"
+       style="fill:none;stroke:#000000;stroke-width:3.00817513"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="ccccccccccccccccccccc" />
+    <path
+       id="path4474"
+       d="M 252.04973,200.46779 268.69193,200.98456 268.69193,188.81909 266.20065,176.65364 263.70936,170.57091 258.7268,164.48821 251.25294,164.48821 246.27037,170.57091 241.2878,182.73639 238.15741,199.91938 238.79652,213.15 241.2878,231.39818 246.27037,243.56361 251.25294,249.64632 258.7268,249.64632 263.70936,243.56361 268.69193,231.39818"
+       style="fill:none;stroke:#000000;stroke-width:3.89278769"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="ccccccccccccccccc" />
+    <path
+       id="path4478"
+       d="M 298.14432,169.66942 298.14432,190.41133 298.14432,211.15325 298.14432,231.89516 298.14432,252.63708 M 277.22333,169.66942 323.8891,169.51755"
+       style="fill:none;stroke:#000000;stroke-width:2.93879724"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="ccccccc" />
+  </g>
+</svg>

From 6b1a1792cd04edbe108d54b7f02581c1186dd1e1 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Fri, 10 Jul 2015 15:24:08 -0500
Subject: [PATCH 34/43] Fixed translation issue (heh)

Because there was an issue where the translation transformation wasn't removed properly and I fixed that

but the file is also a Spanish translation

so it's a joke
---
 software/src/hello/helloSpT.svg | 58 +++++++++++++++------------------
 1 file changed, 26 insertions(+), 32 deletions(-)

diff --git a/software/src/hello/helloSpT.svg b/software/src/hello/helloSpT.svg
index 2ab141a..ae19b57 100644
--- a/software/src/hello/helloSpT.svg
+++ b/software/src/hello/helloSpT.svg
@@ -15,7 +15,7 @@
    id="svg3474"
    version="1.1"
    inkscape:version="0.91 r13725"
-   sodipodi:docname="helloSp.svg">
+   sodipodi:docname="helloSpT.svg">
   <sodipodi:namedview
      id="base"
      pagecolor="#ffffff"
@@ -24,10 +24,10 @@
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
      inkscape:zoom="1.6517427"
-     inkscape:cx="141.73228"
-     inkscape:cy="168.30709"
+     inkscape:cx="35.783575"
+     inkscape:cy="167.70167"
      inkscape:document-units="mm"
-     inkscape:current-layer="layer1"
+     inkscape:current-layer="svg3474"
      showgrid="false"
      inkscape:window-width="1308"
      inkscape:window-height="749"
@@ -44,37 +44,31 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
     </rdf:RDF>
   </metadata>
   <g
-     transform="translate(0,-715.74803)"
-     id="layer1"
-     inkscape:groupmode="layer"
-     inkscape:label="Layer 1">
-    <g
-       id="g3509">
-      <path
-         id="path3489"
-         d="M 8.574663,981.81817 18.922372,963.96417 34.443936,934.20751 39.617791,922.30484 44.791645,904.45084 44.791645,892.54818 39.617791,886.59684 29.270081,892.54818 24.096227,904.45084 18.922372,928.25617 13.748518,963.96417 8.574663,1011.5748 M 8.574663,1011.5748 13.748518,993.72084 18.922372,981.81817 29.270081,963.96417 39.617791,958.01284 49.9655,958.01284 55.139354,963.96417 55.139354,975.86684 49.9655,993.72084 49.9655,1005.6235 55.139354,1011.5748 60.313209,1011.5748 70.660918,1005.6235 75.834773,999.67217 86.182482,981.81817"
-         style="fill:none;stroke:#000000;stroke-width:5.54899359"
-         inkscape:connector-curvature="0" />
-      <path
-         id="path3491"
-         d="M 117.22561,958.01284 106.8779,958.01284 96.530192,963.96417 91.356337,969.91551 86.182482,981.81817 86.182482,993.72084 91.356337,1005.6235 101.70405,1011.5748 112.05176,1011.5748 122.39946,1005.6235 127.57332,999.67217 132.74717,987.7695 132.74717,975.86684 127.57332,963.96417 117.22561,958.01284 112.05176,963.96417 112.05176,975.86684 117.22561,987.7695 127.57332,993.72084 143.09488,993.72084 153.44259,987.7695 158.61645,981.81817"
-         style="fill:none;stroke:#000000;stroke-width:5.54899359"
-         inkscape:connector-curvature="0" />
-      <path
-         id="path3493"
-         d="M 158.61645,981.81817 168.96416,963.96417 184.48572,934.20751 189.65957,922.30484 194.83343,904.45084 194.83343,892.54818 189.65957,886.59684 179.31186,892.54818 174.13801,904.45084 168.96416,928.25617 163.7903,969.91551 163.7903,1005.6235 168.96416,1011.5748 174.13801,1011.5748 184.48572,1005.6235 189.65957,999.67217 200.00728,981.81817"
-         style="fill:none;stroke:#000000;stroke-width:5.54899359"
-         inkscape:connector-curvature="0" />
-      <path
-         id="path3495"
-         d="M 246.57197,975.86684 241.39812,963.96417 231.05041,958.01284 220.7027,958.01284 210.35499,963.96417 205.18114,969.91551 200.00728,981.81817 200.00728,993.72084 205.18114,1005.6235 215.52885,1011.5748 225.87656,1011.5748 236.22426,1005.6235 241.39812,993.72084 251.74583,958.01284 246.57197,987.7695 246.57197,1005.6235 251.74583,1011.5748 256.91968,1011.5748 267.26739,1005.6235 272.44125,999.67217 282.78896,981.81817"
-         style="fill:none;stroke:#000000;stroke-width:5.54899359"
-         inkscape:connector-curvature="0" />
-    </g>
+     id="g3346">
+    <path
+       inkscape:connector-curvature="0"
+       style="fill:none;stroke:#000000;stroke-width:5.54899359"
+       d="M 8.574663,266.07014 18.922372,248.21614 34.443936,218.45948 39.617791,206.55681 44.791645,188.70281 44.791645,176.80015 39.617791,170.84881 29.270081,176.80015 24.096227,188.70281 18.922372,212.50814 13.748518,248.21614 8.574663,295.82677 M 8.574663,295.82677 13.748518,277.97281 18.922372,266.07014 29.270081,248.21614 39.617791,242.26481 49.9655,242.26481 55.139354,248.21614 55.139354,260.11881 49.9655,277.97281 49.9655,289.87547 55.139354,295.82677 60.313209,295.82677 70.660918,289.87547 75.834773,283.92414 86.182482,266.07014"
+       id="path3489" />
+    <path
+       inkscape:connector-curvature="0"
+       style="fill:none;stroke:#000000;stroke-width:5.54899359"
+       d="M 117.22561,242.26481 106.8779,242.26481 96.530192,248.21614 91.356337,254.16748 86.182482,266.07014 86.182482,277.97281 91.356337,289.87547 101.70405,295.82677 112.05176,295.82677 122.39946,289.87547 127.57332,283.92414 132.74717,272.02147 132.74717,260.11881 127.57332,248.21614 117.22561,242.26481 112.05176,248.21614 112.05176,260.11881 117.22561,272.02147 127.57332,277.97281 143.09488,277.97281 153.44259,272.02147 158.61645,266.07014"
+       id="path3491" />
+    <path
+       inkscape:connector-curvature="0"
+       style="fill:none;stroke:#000000;stroke-width:5.54899359"
+       d="M 158.61645,266.07014 168.96416,248.21614 184.48572,218.45948 189.65957,206.55681 194.83343,188.70281 194.83343,176.80015 189.65957,170.84881 179.31186,176.80015 174.13801,188.70281 168.96416,212.50814 163.7903,254.16748 163.7903,289.87547 168.96416,295.82677 174.13801,295.82677 184.48572,289.87547 189.65957,283.92414 200.00728,266.07014"
+       id="path3493" />
+    <path
+       inkscape:connector-curvature="0"
+       style="fill:none;stroke:#000000;stroke-width:5.54899359"
+       d="M 246.57197,260.11881 241.39812,248.21614 231.05041,242.26481 220.7027,242.26481 210.35499,248.21614 205.18114,254.16748 200.00728,266.07014 200.00728,277.97281 205.18114,289.87547 215.52885,295.82677 225.87656,295.82677 236.22426,289.87547 241.39812,277.97281 251.74583,242.26481 246.57197,272.02147 246.57197,289.87547 251.74583,295.82677 256.91968,295.82677 267.26739,289.87547 272.44125,283.92414 282.78896,266.07014"
+       id="path3495" />
   </g>
 </svg>

From 17a3b2834aca1fd7165e92e954c40ce83f1be226 Mon Sep 17 00:00:00 2001
From: jackskalitzky <johnskalitzky@hotmail.com>
Date: Fri, 10 Jul 2015 15:24:34 -0500
Subject: [PATCH 35/43] Fixed translation issue

---
 software/src/hello/helloItF.svg | 23 ++++++++++-------------
 1 file changed, 10 insertions(+), 13 deletions(-)

diff --git a/software/src/hello/helloItF.svg b/software/src/hello/helloItF.svg
index c4c939a..b7dac35 100644
--- a/software/src/hello/helloItF.svg
+++ b/software/src/hello/helloItF.svg
@@ -24,10 +24,10 @@
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
      inkscape:zoom="1.6517427"
-     inkscape:cx="141.73228"
-     inkscape:cy="168.30709"
+     inkscape:cx="35.783575"
+     inkscape:cy="167.70167"
      inkscape:document-units="mm"
-     inkscape:current-layer="layer1"
+     inkscape:current-layer="svg4274"
      showgrid="false"
      inkscape:window-width="1308"
      inkscape:window-height="749"
@@ -44,37 +44,34 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
     </rdf:RDF>
   </metadata>
   <g
-     transform="translate(0,-715.74803)"
-     id="layer1"
-     inkscape:groupmode="layer"
-     inkscape:label="Layer 1">
+     id="g3369">
     <g
-       id="g4345">
+       id="g3358">
       <path
          id="path4289"
-         d="M 53.864542,952.45 53.864542,943.5379 48.216602,934.6258 36.920723,934.6258 25.624845,943.5379 19.976905,952.45 14.328966,970.27419 14.328966,988.09839 19.976905,1005.9226 31.272784,1014.8347 48.216602,1014.8347 65.160421,997.01049 76.4563,970.27419"
+         d="M 53.864542,236.70197 53.864542,227.78987 48.216602,218.87777 36.920723,218.87777 25.624845,227.78987 19.976905,236.70197 14.328966,254.52616 14.328966,272.35036 19.976905,290.17457 31.272784,299.08667 48.216602,299.08667 65.160421,281.26246 76.4563,254.52616"
          style="fill:none;stroke:#000000;stroke-width:7.0947156"
          inkscape:connector-curvature="0" />
       <path
          id="path4291"
-         d="M 93.400118,890.06531 93.400118,898.97741 99.048058,898.97741 99.048058,890.06531 93.400118,890.06531 M 76.4563,970.27419 87.752179,934.6258 C 82.025016,959.52249 76.4563,980.67989 76.4563,1005.9226 L 82.10424,1014.8347 87.752179,1014.8347 99.048058,1005.9226 104.696,997.01049 115.99188,970.27419"
+         d="M 93.400118,174.31728 93.400118,183.22938 99.048058,183.22938 99.048058,174.31728 93.400118,174.31728 M 76.4563,254.52616 87.752179,218.87777 C 82.025016,243.77446 76.4563,264.93186 76.4563,290.17457 L 82.10424,299.08667 87.752179,299.08667 99.048058,290.17457 104.696,281.26246 115.99188,254.52616"
          style="fill:none;stroke:#000000;stroke-width:7.0947156"
          inkscape:connector-curvature="0"
          sodipodi:nodetypes="ccccccccccccc" />
       <path
          id="path4293"
-         d="M 166.82333,961.36209 161.17539,943.5379 149.87951,934.6258 C 137.29254,933.58883 136.9548,935.9109 127.28775,943.5379 L 121.63981,952.45 115.99187,970.27419 115.99187,988.09839 C 120.86009,1005.6877 119.65611,1004.3575 132.93569,1014.8347 L 144.23157,1014.8347 C 158.0795,1005.2493 156.14181,1003.9837 161.17539,988.09839 L 172.47127,934.6258 166.82333,979.18629 166.82333,1005.9226 172.47127,1014.8347 178.11921,1014.8347 189.41509,1005.9226 195.06303,997.01049 206.3589,970.27419"
+         d="M 166.82333,245.61406 161.17539,227.78987 149.87951,218.87777 C 137.29254,217.8408 136.9548,220.16287 127.28775,227.78987 L 121.63981,236.70197 115.99187,254.52616 115.99187,272.35036 C 120.86009,289.93967 119.65611,288.60947 132.93569,299.08667 L 144.23157,299.08667 C 158.0795,289.50127 156.14181,288.23567 161.17539,272.35036 L 172.47127,218.87777 166.82333,263.43826 166.82333,290.17457 172.47127,299.08667 178.11921,299.08667 189.41509,290.17457 195.06303,281.26246 206.3589,254.52616"
          style="fill:none;stroke:#000000;stroke-width:7.0947156"
          inkscape:connector-curvature="0"
          sodipodi:nodetypes="cccccccccccccccccc" />
       <path
          id="path4295"
-         d="M 240.24655,934.6258 228.95067,934.6258 217.65479,943.5379 212.00685,952.45 206.35891,970.27419 206.35891,988.09839 212.00685,1005.9226 223.30273,1014.8347 234.59861,1014.8347 245.89449,1005.9226 251.54243,997.01049 257.19037,979.18629 257.19037,961.36209 251.54243,943.5379 240.24655,934.6258 234.59861,955.0409 C 250.5291,940.06104 268.46506,966.27973 283.01636,949.95685"
+         d="M 240.24655,218.87777 228.95067,218.87777 217.65479,227.78987 212.00685,236.70197 206.35891,254.52616 206.35891,272.35036 212.00685,290.17457 223.30273,299.08667 234.59861,299.08667 245.89449,290.17457 251.54243,281.26246 257.19037,263.43826 257.19037,245.61406 251.54243,227.78987 240.24655,218.87777 234.59861,239.29287 C 250.5291,224.31301 268.46506,250.5317 283.01636,234.20882"
          style="fill:none;stroke:#000000;stroke-width:7.0947156"
          inkscape:connector-curvature="0"
          sodipodi:nodetypes="ccccccccccccccccc" />

From 3ccdfd20b8630e3294a45b96080a2b55c8a40f5b Mon Sep 17 00:00:00 2001
From: Jack Skalitzky <johnskalitzky@hotmail.com>
Date: Thu, 16 Jul 2015 22:32:20 -0500
Subject: [PATCH 36/43] Cleanup

Bot.js pulls in motion.js; cleaned up SVGReader and Draw; fixed some
hello files; added some config values
---
 software/config.js                       |  40 ++++-
 software/src/SVGReader.js                | 212 +++++++++++++++--------
 software/src/bot.js                      | 112 +++++++++---
 software/src/draw.js                     | 132 ++++++++------
 software/src/example/cursiveTutorial.svg |  85 +++++++++
 software/src/example/textTutorial.svg    |  74 ++++++++
 software/src/example/tutorial.svg        |  77 ++++++++
 software/src/hello/helloChF.svg          | 207 +++++++++++-----------
 software/src/hello/helloRuF.svg          |  30 ++--
 software/src/kinematics.js               |   2 +-
 software/src/motion.js                   |  90 ++++++++++
 software/src/shrug.svg                   | 132 ++++++++++++++
 software/src/tutorial.svg                |  60 +++++++
 13 files changed, 979 insertions(+), 274 deletions(-)
 create mode 100644 software/src/example/cursiveTutorial.svg
 create mode 100644 software/src/example/textTutorial.svg
 create mode 100644 software/src/example/tutorial.svg
 create mode 100644 software/src/motion.js
 create mode 100644 software/src/shrug.svg
 create mode 100644 software/src/tutorial.svg

diff --git a/software/config.js b/software/config.js
index 3f295f0..fc2a48c 100644
--- a/software/config.js
+++ b/software/config.js
@@ -1,27 +1,55 @@
 var config = {}
 
 //Side of end effector
+//~~Do not touch~~
 config.e = 34.64101615137754;  // Math.sqrt(3) * 10 * 2
 
 //Side of top triangle
+//~~Do not touch~~
 config.f = 110.85125168440814; // Math.sqrt(3) * 32 * 2
 
 //Length of parallelogram joint
+//~~Do not touch~~
 config.re = 153.5;             // 145 + 8.5
 
 //Length of upper joint
+//~~Do not touch~~
 config.rf = 52.690131903421914; // Math.sqrt(52**2 + 8.5**2)
 
-//Calibrated servo values
-config.servo1 = {in_min: 0, in_max: 90, out_min: 11, out_max: 92};
-config.servo2 = {in_min: 0, in_max: 90, out_min: 9, out_max: 88};
-config.servo3 = {in_min: 0, in_max: 90, out_min: 10, out_max: 90.5};
+//Input ranges for servos
+//~~Do not touch~~
+config.servo1 = {in_min: 0, in_max: 90};
+config.servo2 = {in_min: 0, in_max: 90};
+config.servo3 = {in_min: 0, in_max: 90};
+
+//Default output ranges for servos
+//CHANGE THESE
+config.servo1.out_min = 12;
+config.servo1.out_max = 93;
+config.servo2.out_min = 8;
+config.servo2.out_max = 90;
+config.servo3.out_min = 14;
+config.servo3.out_max = 96;
 
 //Dimensions of the base plate
 config.baseHeight = 95;
 config.baseWidth = 80;
 
-//Default Z-level of the pen
+//Default Z-Level of the pen
 config.penHeight = -140;
 
-module.exports = config;
+//Default drawing height of the pen
+config.drawHeight = -152.75;
+
+//Delay for commands in SVGReader
+//Note that some commands will take longer than this
+//Default value is 150
+config.delay = 200;
+
+//The default easing type to be used
+//When no easing is specified, this is the type that will be used
+//"none" means that if no easing is specified, do not ease
+//For a list of possible easing types, look in motion.js
+config.defaultEaseType = "linear";
+
+module.exports = config;
\ No newline at end of file
diff --git a/software/src/SVGReader.js b/software/src/SVGReader.js
index e47be74..9060605 100644
--- a/software/src/SVGReader.js
+++ b/software/src/SVGReader.js
@@ -10,9 +10,11 @@ var draw = require("./draw");
 var parseString = require('xml2js').parseString;
 
 function SVGReader(args) {
-	this.baseWidth = 0;
-	this.baseHeight = 0;
-	this.drawHeight = 0;
+	this.baseWidth = 80;
+	this.baseHeight = 95;
+	this.drawHeight = -140;
+	this.delay = 150;
+	this.defaultEaseType = "linear";
 
 	if (args) {
     	var keys = Object.keys(args)
@@ -21,20 +23,16 @@ function SVGReader(args) {
     	}, this)
   	}
 	objRef = this;
+	defaultEaseType = this.defaultEaseType;
 }
 
-//The time, in milliseconds, for each command to execute
-//Note: Some commands, such as Move, can take more than this amount of time to execute
-//To-do: Pull this from a config file?
-var delay = 150;
-
 //Draws from an SVG image specified by filepath
 //> Usage:
 //> drawSVG("C:/Projects/Tapsterbot/software/src/drawing.svg");
 //connect is a special flag that indicates that each path should be drawn connected to each other
 //It is really only used for drawing in cursive and does not need to be specified otherwise
 SVGReader.prototype.drawSVG = function(filePath, connect) {
-	timer = 0;
+	resetTimer();
 	var parsed;
 
 	if (connect)
@@ -67,10 +65,12 @@ SVGReader.prototype.drawSVG = function(filePath, connect) {
 	width = svgDimensions.width;
 	height = svgDimensions.height; 
 
+	//Check for translation and account for it
+	//Commented out because going to stop supporting transformations
+	/*
 	transformX = 0;
 	transformY = 0;
 
-	//Check for translation and account for it
 	if (objArr.svg.g[0].$ && objArr.svg.g[0].$.transform) { //Done in multiple checks to avoid errors being thrown
 		var transString = objArr.svg.g[0].$.transform;
 		var subX = transString.indexOf("(");
@@ -78,6 +78,7 @@ SVGReader.prototype.drawSVG = function(filePath, connect) {
 		var subY = transString.indexOf(",");
 		transformY = parseInt(transString.substring(subY + 1));
 	}
+	*/
 
 	var phoneWidth = this.baseWidth;
 	var phoneHeight = this.baseHeight;
@@ -108,8 +109,8 @@ SVGReader.prototype.drawSVG = function(filePath, connect) {
 		drawImage(pathArray);
 	}
 
-	doSetTimeout(0, 49, -130, delay);
-	setTimeout(function() { timer = 0 }, timer + 5);
+	doSetTimeout(0, 48, -130, delay);
+	//setTimeout(function() { resetTimer() }, timer + 5);
 }
 
 drawImage = function(pathArray) {
@@ -131,18 +132,27 @@ drawImage = function(pathArray) {
 
 //Move from one point to (x, y)
 move = function(x, y) {
+	var ptArray = [];
 	if (!connected) { //If the paths should not be connected, lift up the pen and move over so that a line is not drawn
-		doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, delay);
-		doSetTimeout(mapX(x), mapY(y), penHeight + 10, delay);
-		doSetTimeout(mapX(x), mapY(y), penHeight, delay);
+		doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, delay, "none");
+		doSetTimeout(mapX(x), mapY(y), penHeight + 10, delay, "none");
+		doSetTimeout(mapX(x), mapY(y), penHeight, delay, "none");
+		//svg.drawSVG("C:/Projects/Tapsterbot/software/src/hello/helloChF.svg")
+		//ptArray.push({x:mapX(currentPoint.x), y:mapY(currentPoint.y), z:penHeight + 10});
+		//ptArray.push({x:mapX(x), y:mapY(y), z:penHeight + 10});
+		//ptArray.push({x:mapX(x), y:mapY(y), z:penHeight});	
 	}
 	else if (connected && !firstMove) { //If the paths should be connected and a move has not been made, lift up the pen and move to the first point
-		doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, delay);
-		doSetTimeout(mapX(x), mapY(y), penHeight + 10, delay);
-		doSetTimeout(mapX(x), mapY(y), penHeight, delay);
+		doSetTimeout(mapX(currentPoint.x), mapY(currentPoint.y), penHeight + 10, delay, "none");
+		doSetTimeout(mapX(x), mapY(y), penHeight + 10, delay, "none");
+		doSetTimeout(mapX(x), mapY(y), penHeight, delay, "none");
+		//ptArray.push({x:mapX(currentPoint.x), y:mapY(currentPoint.y), z:penHeight + 10});
+		//ptArray.push({x:mapX(x), y:mapY(y), z:penHeight + 10});
+		//ptArray.push({x:mapX(x), y:mapY(y), z:penHeight});	
 	}
 	else //If the paths should be connected and a move has been made, just draw a line between the two paths
 		doSetTimeout(mapX(x), mapY(y), penHeight, delay);
+		//ptArray.push({x:mapX(x), y:mapY(y), z:penHeight});	
 
 	currentPoint = {x:x, y:y}; //Update the current point (done every time an SVG command is called)
 
@@ -151,6 +161,8 @@ move = function(x, y) {
 
 	if (!firstPoint) //Keeps track of the first point, for use with the Z/z command
 		firstPoint = {x:currentPoint.x, y:currentPoint.y}; //Since the first command of a path is always to Move, this check only occurs here
+
+	//return ptArray;
 }
 
 //Move from one point to that that point + x, y
@@ -158,13 +170,17 @@ relMove = function(x, y) {
 	x = currentPoint.x + x;
 	y = currentPoint.y + y;
 
-	move(x, y);	
+	//return move(x, y);	
+	move(x, y);
 }
 
 //Draw a line from one point to (x, y)
 line = function(x, y) {
-	doSetTimeout(mapX(x), mapY(y), penHeight, delay);
+	var ptArray = [];
+	doSetTimeout(mapX(x), mapY(y), penHeight, delay, "linear");
+	//ptArray.push({x:mapX(x), y:mapY(y), z:penHeight});
 	currentPoint = {x:x, y:y};
+
 }
 
 //Draw a line from one point to that point + x, y
@@ -172,6 +188,7 @@ relLine = function(x, y) {
 	x = currentPoint.x + x;
 	y = currentPoint.y + y;
 
+	//return line(x, y);
 	line(x, y);
 }
 
@@ -187,11 +204,11 @@ cubicCurve = function(x1, y1, x2, y2, x, y) {
 		var ptArray = new Array();
 		for (var i = 0; i <= t; i++) {
 			var newI = i/t; //Converts i to a decimal, to satisfy 0 <= i <= 1
-			var ptX = (Math.pow((1-newI), 3) * currentPoint.x) + (3 * Math.pow((1-newI), 2) * newI * x1) //Formula from Wikipedia page for Bezier curves
+			var ptX = (Math.pow((1-newI), 3) * currentPoint.x) + (3 * Math.pow((1-newI), 2) * newI * x1) //From https://en.wikipedia.org/wiki/B%C3%A9zier_curve#Cubic_B.C3.A9zier_curves
 					  + (3 * (1-newI) * Math.pow(newI, 2) * x2) + (Math.pow(newI, 3) * x);
 			var ptY = (Math.pow((1-newI), 3) * currentPoint.y) + (3 * Math.pow((1-newI), 2) * newI * y1)
 					  + (3 * (1-newI) * Math.pow(newI, 2) * y2) + (Math.pow(newI, 3) * y);
-			var newPt = {x:ptX, y:ptY};
+			var newPt = {x:ptX, y:ptY, z:penHeight};
 			ptArray.push(newPt); //Populates the array with points
 		}
 		currentPoint = {x:ptArray[t].x, y:ptArray[t].y};
@@ -199,9 +216,10 @@ cubicCurve = function(x1, y1, x2, y2, x, y) {
 	}
 	
 	var curvePts = new Array();
-	curvePts = b(x1, y1, x2, y2, x, y, 5); //5 is an arbitrarily-chosen value. It creates a smooth-looking curve without calculating too many points
+	curvePts = b(x1, y1, x2, y2, x, y, 5); //Arbitrarily-chosen value. It creates a smooth-looking curve without calculating too many points
 	for (var i = 0;i < curvePts.length; i++) 
-		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, delay / curvePts.length);
+		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, delay*2 / curvePts.length, "none"); //The cubic curve command takes 2*delay ms to complete so that an accurate curve is created
+	//return b(x1, y1, x2, y2, x, y, 8);
 }
 
 //Draws a relative cubic Bezier curve
@@ -209,6 +227,7 @@ relCubicCurve = function(x1, y1, x2, y2, x, y)
 {
 	var tempX = currentPoint.x;
 	var tempY = currentPoint.y;
+	//return cubicCurve(tempX + x1, tempY + y1, tempX + x2, tempY + y2, tempX + x, tempY + y);	
 	cubicCurve(tempX + x1, tempY + y1, tempX + x2, tempY + y2, tempX + x, tempY + y);	
 }
 
@@ -222,9 +241,9 @@ quadraticCurve = function(x1, y1, x, y) {
 		var ptArray = new Array();
 		for (var i = 0; i <= t; i++) {
 			var newI = i/t; //Converts i to a decimal, to satisfy 0 <= i <= 1
-			var ptX = Math.pow((1-newI), 2)*currentPoint.x + (2 * (1-newI) * newI * x1) + (Math.pow(newI, 2) * x); //From Wikipedia page for Bezier curves
+			var ptX = Math.pow((1-newI), 2)*currentPoint.x + (2 * (1-newI) * newI * x1) + (Math.pow(newI, 2) * x); //From https://en.wikipedia.org/wiki/B%C3%A9zier_curve#Quadratic_B.C3.A9zier_curves
 			var ptY = Math.pow((1-newI), 2)*currentPoint.y + (2 * (1-newI) * newI * y1) + (Math.pow(newI, 2) * y);
-			var newPt = {x:ptX, y:ptY};
+			var newPt = {x:ptX, y:ptY, z:penHeight};
 			ptArray.push(newPt);
 		}
 		currentPoint = {x:ptArray[t].x, y:ptArray[t].y};
@@ -234,13 +253,15 @@ quadraticCurve = function(x1, y1, x, y) {
 	var curvePts = new Array();
 	curvePts = q(x1, y1, x, y, 5);
 	for (var i = 0; i < curvePts.length; i++) 
-		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, delay / curvePts.length);
+		doSetTimeout(mapX(curvePts[i].x), mapY(curvePts[i].y), penHeight, delay*2 / curvePts.length, "none");
+	//return q(x1, y1, x, y, 8);
 }
 
 //Draws a relative quadratic Bezier curve
 relQuadraticCurve = function(x1, y1, x, y) {
 	var tempX = currentPoint.x;
 	var tempY = currentPoint.y;
+	//return quadraticCurve(tempX + x1, tempY + y1, tempX + x, tempY + y);
 	quadraticCurve(tempX + x1, tempY + y1, tempX + x, tempY + y);
 }
 
@@ -260,7 +281,7 @@ arc = function(rx, ry, rotation, largeArc, sweep, x, y) {
 		for (var i = 0; i <= t; i++) {
 			var newI = i / t;
 			var angle = startAngle + sweepAngle * newI;
-			var newPt = {x: cx + rx * cos(angle), y: cy + ry * sin(angle)};
+			var newPt = {x: cx + rx * cos(angle), y: cy + ry * sin(angle), z:penHeight};
 			ptArray.push(newPt);
 		}
 
@@ -335,11 +356,13 @@ arc = function(rx, ry, rotation, largeArc, sweep, x, y) {
 
 	sweepAngle %= 360;
 
-	var ptArray = a(rx, ry, largeArc, sweep, x, y, 7);
+	var ptArray = a(rx, ry, largeArc, sweep, x, y, 5);
 
 	for (var i = 0; i < ptArray.length; i++) {
-		doSetTimeout(mapX(ptArray[i].x), mapY(ptArray[i].y), penHeight, delay / ptArray.length);
+		doSetTimeout(mapX(ptArray[i].x), mapY(ptArray[i].y), penHeight, delay*2 / ptArray.length, "none");
 	}
+
+	//return a(rx, ry, largeArc, sweep, x, y, 10);
 }
 
 //Function for drawing a relative elliptical arc
@@ -347,15 +370,10 @@ relArc = function(rx, ry, rotation, largeArc, sweep, x, y) {
 	x = currentPoint.x + x;
 	y = currentPoint.y + y;
 
+	//return arc(rx, ry, rotation, largeArc, sweep, x, y);
 	arc(rx, ry, rotation, largeArc, sweep, x, y);
 }
 
-//A separate setTimeout method so that delays work properly
-doSetTimeout = function(x, y, z, timeDelay) {
- 	setTimeout(function() { go(x, y, z) }, timer);
- 	timer = timer + timeDelay; 
-};
-
 //A function for setting the penHeight from the command line
 setPenHeight = function(penHeight) {
 	penHeight = penHeight;
@@ -378,19 +396,13 @@ reflect = function(x, y, x1, y1) {
 //Convert points pixel coordinates to Tapster coordinates
 //Done in two methods for ease of use
 mapX = function(x) {
-	if (transformX) 
-		var newX = x + transformX;
-	else 
-		var newX = x;
+	var newX = x;
 	newX = (newX - halfway.x) / widthRatio; //The center of the canvas corresponds to (0, 0) on the Tapster
   	return newX;
 };
 
 mapY = function(y) {
-	if (transformY)
-		var newY = y + transformY;
-	else
-		var newY = y;
+	var newY = y;
 	newY = (halfway.y - newY) / heightRatio;
 	return newY;
 }
@@ -406,6 +418,7 @@ cos = function(degree) {
 }
 
 //Function for converting Inkscape dimensions into Tapster-friendly pixels
+//Should switch to switch statements
 dimensionConversion = function(width, height) {
 	width = String(width);
 	if (width.search("mm") != -1) {
@@ -436,10 +449,15 @@ dimensionConversion = function(width, height) {
 }
 
 //Goes through the list of commands an generated by the SVG-Path-Parser and calls the corresponding functions
+//Should switch to switch statements
 SVGReader.prototype.interpretCommands = function(commands) {
+	delay = this.delay;
 	for (var i = 0; i < commands.length; i++) {
 		var cmdCode = commands[i].code;
 		if (cmdCode == 'M') {	
+			//var temp = move(commands[i].x, commands[i].y);
+			//for (var i = 0; i < temp.length; i++) 
+				//doSetTimeout(temp[i].x, temp[i].y, temp[i].z, delay);
 			move(commands[i].x, commands[i].y);
 		}
 
@@ -548,17 +566,51 @@ SVGReader.prototype.interpretCommands = function(commands) {
 	}
 }
 
+SVGReader.prototype.loadFont = function(filePath) {
+	try {
+		parseString(fs.readFileSync(filePath, "utf8"), function(err, result) {
+		parsed = JSON.stringify(result, null, 1);
+		loaded = true;
+	});
+	} catch (e) {
+		if (e.code === "ENOENT")
+			console.log("File not found.");
+		else
+			throw e;
+
+		return; //If the file is not found stop execution
+	}
+
+	//Parse the JSON string into an array
+	fontFile = JSON.parse(parsed);
+
+	//Extract width and height data from the drawing
+	var svgDimensions = dimensionConversion(fontFile.svg.$.width, fontFile.svg.$.height);
+	width = svgDimensions.width;
+	height = svgDimensions.height; 
+
+	fontFile = fontFile.svg.g[0].path;
+	//svg.loadFont("C:/Projects/Tapsterbot/software/src/fontFile.svg")
+}
+
 //Creates a working clock
 //To-do: Add support for user-specified fonts
-SVGReader.prototype.clock = function() {
+SVGReader.prototype.clock = function(filePath) {
 	var dimensions = dimensionConversion("80mm", "95mm"); //Since no dimensions are specified, assume the default
 														  //To-do: Pull this from a config file
 	width = dimensions.width;
 	height = dimensions.height;
 
+	if (filePath)
+		this.loadFont(filePath);
+	else {
+		console.log("Font not specified. Using default font.");
+		loaded = false;
+	}
+
 	objRef = this;
 
-	timer = 0;
+	resetTimer();
 	connected = false;
 
 	//Used to access the erase functions
@@ -578,20 +630,28 @@ SVGReader.prototype.clock = function() {
 	halfway = {x:width / 2, y:height / 2};
 	currentPoint = {x:halfway.x, y:halfway.y}; //Start at the center of the canvas, which corresponds to (0,0) on the Tapster
 
-	//Currently hardcoded path data
-	//To-do: Allow users to specify fonts
-	var zero = "M 40.890286,241.44557 30.687127,245.57254 23.885021,257.95342 20.483968,278.58823 20.483968,290.96912 23.885021,311.60393 30.687127,323.98482 40.890286,328.11178 47.692392,328.11178 57.895551,323.98482 64.697657,311.60393 68.09871,290.96912 68.09871,278.58823 64.697657,257.95342 57.895551,245.57254 47.692392,241.44557 40.890286,241.44557";
-	var one = "M 50.289453,243.07635 50.289453,329.52761";
-	var two = "M 27.618803,262.08031 27.618803,257.95271 30.945521,249.69749 34.27224,245.56989 40.925676,241.44228 54.23255,241.44228 60.885986,245.56989 64.212704,249.69749 67.539423,257.95271 67.539423,266.20792 64.212704,274.46313 57.559268,286.84595 24.292085,328.12202 70.866141,328.12202";
-	var three = "M 27.042715,241.44643 64.666988,241.44643 44.144657,274.4608 54.405822,274.4608 61.2466,278.58759 64.666988,282.71439 68.087377,295.09478 68.087377,303.34837 64.666988,315.72875 57.826211,323.98234 47.565046,328.10914 37.30388,328.10914 27.042715,323.98234 23.622326,319.85555 20.201938,311.60196";
-	var four = "M 54.845427,241.51709 22.803997,300.19076 70.866142,300.19076 M 54.845427,241.51709 54.845427,329.5276";
-	var five = "M 61.700462,246.77512 26.654546,246.77512 23.149954,281.56734 26.654546,277.70154 37.168321,273.83574 47.682096,273.83574 58.19587,277.70154 65.205054,285.43315 68.709645,297.03055 68.709645,304.76216 65.205054,316.35956 58.19587,324.09117 47.682096,327.95697 37.168321,327.95697 26.654546,324.09117 23.149954,320.22537 19.645363,312.49376";
-	var six = "M 64.294901,253.7887 60.65789,245.53396 49.746856,241.40659 42.472833,241.40659 31.561799,245.53396 24.287776,257.91607 20.650765,278.55291 20.650765,299.18976 24.287776,315.69923 31.561799,323.95397 42.472833,328.08134 46.109844,328.08134 57.020878,323.95397 64.294901,315.69923 67.931912,303.31713 67.931912,299.18976 64.294901,286.80765 57.020878,278.55291 46.109844,274.42554 42.472833,274.42554 31.561799,278.55291 24.287776,286.80765 20.650765,299.18976";
-	var seven = "M 68.262659,241.73033 32.158284,328.90301 M 17.716535,241.73033 68.262659,241.73033";
-	var eight = "M 37.489233,241.44557 27.286074,245.57254 23.885021,253.82646 23.885021,262.08039 27.286074,270.33431 34.08818,274.46127 47.692392,278.58823 57.895551,282.7152 64.697657,290.96912 68.09871,299.22304 68.09871,311.60393 64.697657,319.85785 61.296604,323.98482 51.093445,328.11178 37.489233,328.11178 27.286074,323.98482 23.885021,319.85785 20.483968,311.60393 20.483968,299.22304 23.885021,290.96912 30.687127,282.7152 40.890286,278.58823 54.494498,274.46127 61.296604,270.33431 64.697657,262.08039 64.697657,253.82646 61.296604,245.57254 51.093445,241.44557 37.489233,241.44557";
-	var nine = "M 67.931912,270.29818 64.2949,282.68028 57.020878,290.93502 46.109844,295.06239 42.472833,295.06239 31.561799,290.93502 24.287776,282.68028 20.650765,270.29818 20.650765,266.17081 24.287776,253.7887 31.561799,245.53396 42.472833,241.40659 46.109844,241.40659 57.020878,245.53396 64.2949,253.7887 67.931912,270.29818 67.931912,290.93502 64.2949,311.57186 57.020878,323.95397 46.109844,328.08134 38.835821,328.08134 27.924787,323.95397 24.287776,315.69923";
-
-	pathData = [zero, one, two, three, four, five, six, seven, eight, nine];
+	if (connected) {
+		for (var i = 0; i < fontFile.length; i++) {
+			pathData[fontFile[i].$.id] == fontFile[i].$.d;
+		}
+	}
+
+	else {
+		//Currently hardcoded path data
+		//To-do: Allow users to specify fonts
+		var zero = "M 40.890286,241.44557 30.687127,245.57254 23.885021,257.95342 20.483968,278.58823 20.483968,290.96912 23.885021,311.60393 30.687127,323.98482 40.890286,328.11178 47.692392,328.11178 57.895551,323.98482 64.697657,311.60393 68.09871,290.96912 68.09871,278.58823 64.697657,257.95342 57.895551,245.57254 47.692392,241.44557 40.890286,241.44557";
+		var one = "M 50.289453,243.07635 50.289453,329.52761";
+		var two = "M 27.618803,262.08031 27.618803,257.95271 30.945521,249.69749 34.27224,245.56989 40.925676,241.44228 54.23255,241.44228 60.885986,245.56989 64.212704,249.69749 67.539423,257.95271 67.539423,266.20792 64.212704,274.46313 57.559268,286.84595 24.292085,328.12202 70.866141,328.12202";
+		var three = "M 33.809127,248.8729 C 45.779077,241.87747 46.887418,243.5556 53.186196,243.05913 61.663816,242.39092 65.286579,246.55715 64.812967,252.72615 64.140416,261.48642 55.207358,274.28536 40.185777,283.01419 L 52.623884,281.94331 59.295192,285.47169 62.630846,289.00007 65.9665,299.58523 65.9665,306.64193 62.630846,317.22713 55.959538,324.28383 45.952576,327.81223 35.945614,327.81223 25.938652,324.28383 22.602998,320.75553 19.267344,313.69873";
+		var four = "M 54.845427,241.51709 22.803997,300.19076 70.866142,300.19076 M 54.845427,241.51709 54.845427,329.5276";
+		var five = "M 61.700462,246.77512 26.654546,246.77512 23.149954,281.56734 26.654546,277.70154 37.168321,273.83574 47.682096,273.83574 58.19587,277.70154 65.205054,285.43315 68.709645,297.03055 68.709645,304.76216 65.205054,316.35956 58.19587,324.09117 47.682096,327.95697 37.168321,327.95697 26.654546,324.09117 23.149954,320.22537 19.645363,312.49376";
+		var six = "M 64.294901,253.7887 60.65789,245.53396 49.746856,241.40659 42.472833,241.40659 31.561799,245.53396 24.287776,257.91607 20.650765,278.55291 20.650765,299.18976 24.287776,315.69923 31.561799,323.95397 42.472833,328.08134 46.109844,328.08134 57.020878,323.95397 64.294901,315.69923 67.931912,303.31713 67.931912,299.18976 64.294901,286.80765 57.020878,278.55291 46.109844,274.42554 42.472833,274.42554 31.561799,278.55291 24.287776,286.80765 20.650765,299.18976";
+		var seven = "M 68.262659,241.73033 32.158284,328.90301 M 17.716535,241.73033 68.262659,241.73033";
+		var eight = "M 37.489233,241.44557 27.286074,245.57254 23.885021,253.82646 23.885021,262.08039 27.286074,270.33431 34.08818,274.46127 47.692392,278.58823 57.895551,282.7152 64.697657,290.96912 68.09871,299.22304 68.09871,311.60393 64.697657,319.85785 61.296604,323.98482 51.093445,328.11178 37.489233,328.11178 27.286074,323.98482 23.885021,319.85785 20.483968,311.60393 20.483968,299.22304 23.885021,290.96912 30.687127,282.7152 40.890286,278.58823 54.494498,274.46127 61.296604,270.33431 64.697657,262.08039 64.697657,253.82646 61.296604,245.57254 51.093445,241.44557 37.489233,241.44557";
+		var nine = "M 67.931912,270.29818 64.2949,282.68028 57.020878,290.93502 46.109844,295.06239 42.472833,295.06239 31.561799,290.93502 24.287776,282.68028 20.650765,270.29818 20.650765,266.17081 24.287776,253.7887 31.561799,245.53396 42.472833,241.40659 46.109844,241.40659 57.020878,245.53396 64.2949,253.7887 67.931912,270.29818 67.931912,290.93502 64.2949,311.57186 57.020878,323.95397 46.109844,328.08134 38.835821,328.08134 27.924787,323.95397 24.287776,315.69923";
+
+		pathData = [zero, one, two, three, four, five, six, seven, eight, nine];
+	}
 
 	var colon = "M 165.73227,300.21546 Z M 165.73227,253.34648 Z";
 	var arrayTime = new Array();
@@ -700,7 +760,7 @@ SVGReader.prototype.clock = function() {
 
 	//Draws a circle to indicate the amount of time left in the minute
 	timeCircle = function() {
-		timer = 0;
+		resetTimer();
 
 		//Draws a circle, given an array of points and the amount of delay in between each point
 	  	circle = function(array, timeDelay) { 
@@ -712,7 +772,7 @@ SVGReader.prototype.clock = function() {
 
 	  	//Calculates the amount of time left in the minute, based on the difference between the time the erase function was called and the time the drawTime function ended
 	  	calcTimeLeft = function() {
-	  		difference += 500; //Add half a second of padding just to be safe
+	  		difference += 1000; //Add some padding just to be safe
 	  		return 60000 - difference; //Everything is in milliseconds to keep calculations simple
 	  	}
 
@@ -722,7 +782,7 @@ SVGReader.prototype.clock = function() {
 	  		return msPerPt;
 	  	}
 
-	  	var radius = 54;
+	  	var radius = 53.5;
 	  	var centerX = 0;
 	  	var centerY = -5;
 	  	var points = new Array();
@@ -741,7 +801,7 @@ SVGReader.prototype.clock = function() {
 
 	//Tells the time
 	tellTime = function() {
-		timer = 0;
+		resetTimer();
 
 		startTime = new Date().getTime();
 
@@ -749,7 +809,9 @@ SVGReader.prototype.clock = function() {
 			drawTime(convertToPath(getTheTime()), function() {
 				timeCircle();
 			});
-		});
+		}); 
+
+		//drawTime(convertToPath([0, 2, 4, 2]), console.log);
 		//setTimeout(function() { drawTime(convertToPath(getTheTime())) }, 12500);
 		//setTimeout(function() { drawTime(convertToPath([0, 8, 5, 8]))}, 12500);
 		//setTimeout(function() { timeCircle() }, 12501);
@@ -768,7 +830,7 @@ SVGReader.prototype.clearClock = function() {
 
 //Says 'hello' in multiple languages
 SVGReader.prototype.hello = function() {
-	timer = 0;
+	resetTimer();
 	var fileArray = fs.readdirSync("./hello");
 	var fileNum;
 	objRef = this;
@@ -803,6 +865,7 @@ SVGReader.prototype.hello = function() {
 
 	//Says hello.
 	sayHello = function() {
+		resetTimer();
 		var fileChoice = pickFile();
 		drawing.erase(function() {
 			setTimeout(function() { objRef.drawSVG(fileChoice, connect) }, 10000);
@@ -822,7 +885,7 @@ SVGReader.prototype.sayGoodbye = function() {
 
 //Cycles through all the languages rather than picking one at random
 SVGReader.prototype.helloCycle = function() {
-	timer = 0;
+	resetTimer();
 	var fileArray = fs.readdirSync("./hello");	
 	objRef = this;
 	var fileNum = 0;
@@ -843,9 +906,9 @@ SVGReader.prototype.helloCycle = function() {
 		else
 			connect = false;
 
-		drawing.erase(function() { 
-			setTimeout(function() { objRef.drawSVG(fileChoice, connect) }, 10000);
-		});
+		//drawing.erase(function() { 
+		//	setTimeout(function() { objRef.drawSVG(fileChoice, connect) }, 10000);
+		//});
 
 		fileNum++;
 
@@ -858,11 +921,6 @@ SVGReader.prototype.helloCycle = function() {
 
 }
 
-
-
-//Timer variable for use with the doSetTimeout method
-var timer = 0;
-
 //Saves the coordinates of the first point drawn
 var firstPoint;
 
@@ -874,7 +932,7 @@ var heightRatio;
 var halfway;
 var currentPoint;
 var penHeight;
-
-var transformX, transformY, objRef, connected, startTime, endTime, difference, clockTimer, firstMove, lastNum1, lastNum2, connect, baseWidth, baseHeight;
+var delay, loaded, fontFile;
+var transformX, transformY, objRef, connected, startTime, endTime, difference, clockTimer, firstMove, lastNum1, lastNum2, connect, baseWidth, baseHeight, defaultEaseType;
 
 module.exports.SVGReader = SVGReader;
diff --git a/software/src/bot.js b/software/src/bot.js
index 6858f18..5615d97 100755
--- a/software/src/bot.js
+++ b/software/src/bot.js
@@ -1,7 +1,8 @@
 five = require("johnny-five");
 kinematics = require("./kinematics");
-svg = require("./SVGReader");
+svgRead = require("./SVGReader");
 drawing = require("./draw");
+motion = require("./motion");
 
 //If a filepath is specified, load that config
 //Otherwise, resort to the default config
@@ -48,34 +49,67 @@ k = new kinematics.Kinematics({
   rf: config.rf
 });
 
-svgRead = new svg.SVGReader({
+svg = new svgRead.SVGReader({
   baseWidth: config.baseWidth,
-  baseHeight: config.baseHeight
+  baseHeight: config.baseHeight,
+  drawHeight: config.drawHeight,
+  delay: config.delay,
+  defaultEaseType: config.defaultEaseType
 });
 
 draw = new drawing.Draw({
   baseWidth: config.baseWidth,
-  baseHeight: config.baseHeight
+  baseHeight: config.baseHeight,
+  drawHeight: config.drawHeight,
+  defaultEaseType: config.defaultEaseType
 });
 
 board = new five.Board({
   debug: false
 });
 
+var steps = 5;
+var delay = config.delay / steps;
+var defaultEaseType = config.defaultEaseType;
+
+current = [0, 0, -140];
+timer = 0;
+
 board.on("ready", function() {
     // Setup
-    servo1 = five.Servo({
-        pin: 9,
-        range: [0,90]
+    /*servo1 = five.Servo({
+        address: 0x40,
+        controller: "PCA9685",
+        pin: 0,
+        range: [35, 145] //Too high of a minimum input will cause issues with the forward kinematics
     });
     servo2 = five.Servo({
-        pin: 10,
-        range: [0,90]
+        address: 0x40,
+        controller: "PCA9685",
+        pin: 1,
+        range: [35, 145]
     });
     servo3 = five.Servo({
-        pin: 11,
-        range: [0, 90]
-    });
+        address: 0x40,
+        controller: "PCA9685",
+        pin: 2,
+        range: [35, 145]
+    }); */
+
+  servo1 = five.Servo({
+      pin: 9,
+      range: [0, 100]
+  });
+
+  servo2 = five.Servo({
+      pin: 10,
+      range: [0, 100]
+  });
+
+  servo3 = five.Servo({
+      pin: 11,
+      range: [0, 100]
+  });
 
     servo1.on("error", function() {
       console.log(arguments);
@@ -100,10 +134,11 @@ board.on("ready", function() {
     var max = 15;
     var min = 5;
     var range = max - min;
-    servo1.to(min);
-    servo2.to(min);
-    servo3.to(min);
+    servo1.to(30);
+    servo2.to(30);
+    servo3.to(30);
 
+    /*
     var dance = function() {
       servo1.to(parseInt((Math.random() * range) + min, 10));
       servo2.to(parseInt((Math.random() * range) + min, 10));
@@ -126,12 +161,11 @@ board.on("ready", function() {
     board.repl.inject({
       dance: start_dance, 
       chill: stop_dance
-    });
+    }); */
 
 
 });
 
-
 Number.prototype.map = function ( in_min , in_max , out_min , out_max ) {
   return ( this - in_min ) * ( out_max - out_min ) / ( in_max - in_min ) + out_min;
 }
@@ -158,22 +192,56 @@ sin = function(degree) {
 
 // A cosine function for working with degrees, not radians
 cos = function(degree) {
-    return Math.cos(Math.PI * (degree/180));
+  return Math.cos(Math.PI * (degree/180));
 }
 
-
-// TODO: pull out map values to config file or some other solution.
-go = function(x, y, z) {
+moveServosTo = function(x, y, z) {
+  current = [x, y, z]
   reflected = reflect(x,y);
   rotated = rotate(reflected[0],reflected[1]);
-  
+
   angles = k.inverse(rotated[0], rotated[1], z);
+ 
   servo1.to((angles[1]).map(config.servo1.in_min, config.servo1.in_max, config.servo1.out_min, config.servo1.out_max));
   servo2.to((angles[2]).map(config.servo2.in_min, config.servo2.in_max, config.servo2.out_min, config.servo2.out_max));
   servo3.to((angles[3]).map(config.servo3.in_min, config.servo3.in_max, config.servo3.out_min, config.servo3.out_max));
   console.log(angles);
 }
 
+go = function(pointB, easeType) {
+  if (easeType == "none") {
+    moveServosTo(pointB[0], pointB[1], pointB[2]);
+    return; //Ensures that it doesn't move twice
+  }
+
+  else if (!easeType)
+    easeType = defaultEaseType //If no easeType is specified, go with default (specified in config.js)
+
+  //motion.move(current, pointB, steps, easeType, delay);
+  var points = motion.getPoints(current, pointB, steps, easeType);
+
+  for (var i = 0; i < points.length; i++) {
+    setTimeout( function(point) { moveServosTo(point[0], point[1], point[2]) }, i * delay, points[i]);
+  }
+}
+
+//Returns the coordinates of the end effector, based on the angles
+//Using the map function messes up these values
+//Simply passing in the original angles will return the correct coordinates
 position = function() {
   return k.forward(servo1.last.degrees, servo2.last.degrees, servo3.last.degrees);
 }
+
+//A separate setTimeout method so that delays work properly
+doSetTimeout = function(x, y, z, timeDelay, easing) {
+  if (!easing)
+    easing = defaultEaseType;
+
+  setTimeout(function() { go([x, y, z], easing) }, timer);
+  timer = timer + timeDelay; 
+};
+
+
+resetTimer = function() {
+  timer = 0;
+}
\ No newline at end of file
diff --git a/software/src/draw.js b/software/src/draw.js
index 397bd7a..098c8db 100644
--- a/software/src/draw.js
+++ b/software/src/draw.js
@@ -7,12 +7,14 @@
 //> draw.erase()
 
 var fs = require('fs');
-var objRef;
+var objRef, defaultEaseType;
 var calculated, spiralPts;
 
 function Draw(args) {
-  this.baseWidth = 0;
-  this.baseHeight = 0;
+  this.baseWidth = 80;
+  this.baseHeight = 95;
+  this.drawHeight = -140;
+  this.defaultEaseType = "linear";
 
   if (args) {
     var keys = Object.keys(args);
@@ -21,6 +23,7 @@ function Draw(args) {
     }, this)
   }
   penHeight = this.drawHeight;
+  defaultEaseType = this.defaultEaseType;
   objRef = this;
 }
 
@@ -38,28 +41,31 @@ mapPoints = function(x, y) {
 
 //Adds delays while the Tapster is writing
 //The specific delay can be changed if the bot has to go slower or faster for a particular segment
-doSetTimeout = function(x, y, z, delay) {
-  setTimeout(function() { go(x, y, z) }, timer);
+/*doSetTimeout = function(x, y, z, delay, easing) {
+  if (!easing)
+    easing = defaultEaseType;
+  setTimeout(function() { go([x, y, z], easing) }, timer);
   currentPoint = {x: x, y: y, z: z};
   timer = timer + delay; 
-};
+}; */
 
 //A go method that iterates over points rather than jumping from a to b
 //Assumes that z stays the same
 //Draws points + 1 points
 //Delay is the total amount of time that it takes
 //Each point takes delay / points time to draw
-Draw.prototype.itGo = function(x, y, z, points, delay) {
-  var x1 = currentPoint.x;
-  var y1 = currentPoint.y;
-  var deltaX = x - x1;
-  var deltaY = y - y1;
-  var slope = ((y - y1) / (x - x1));
+Draw.prototype.itGo = function(x, y, x1, y1, points, delay) {
+  //var x1 = currentPoint.x;
+  //var y1 = currentPoint.y;
+  var z = penHeight;
+  var deltaX = x1 - x;
+  var deltaY = y1 - y;
+  var slope = ((y1 - y) / (x1 - x));
   var pointArray = new Array();
 
   for (var i = 0; i <= points; i++) {
-    var newX = x1 + deltaX / points * i; 
-    var newY = y1 + deltaY / points * i;
+    var newX = x + deltaX / points * i; 
+    var newY = y + deltaY / points * i;
     var point = {x: newX, y: newY};
     pointArray.push(point);
   }
@@ -75,9 +81,6 @@ var baseHeight, baseWidth, canvasHeight, canvasWidth, heightRatio, widthRatio, h
 var currentPoint = {x: 0, y: 0, z: -140};
 var penHeight = this.drawHeight;
 
-//A timer variable for use with doSetTimeout()
-var timer = 0;
-
 //Set the penHeight from the command line
 Draw.prototype.setPenHeight = function(height) {
   penHeight = height;
@@ -85,6 +88,7 @@ Draw.prototype.setPenHeight = function(height) {
 }
 
 //Draws an image from a JSON file of coordinates
+//The SVGReader drawSVG method is preferred
 Draw.prototype.drawFromCoordinates = function() {
 
   baseHeight = this.baseHeight;
@@ -136,7 +140,10 @@ Draw.prototype.drawFromCoordinates = function() {
 //Draws every nth point
 Draw.prototype.drawSquare = function(sideLength, n) {
 
-  timer = 0; //Reset the timer so that there isn't unnecessary delay when calling the function multiple times
+  resetTimer(); //Reset the timer so that there isn't unnecessary delay when calling the function multiple times
+
+  if (!n)
+    var n = 2;
 
   var halfSide = sideLength / 2;
   var points = sideLength / n;
@@ -165,18 +172,21 @@ Draw.prototype.drawSquare = function(sideLength, n) {
 };
 
 //Draws a star to test that the Tapster bot is working properly
-Draw.prototype.drawStar = function(x, y, x1, y1, x2, y2) {
-  doSetTimeout(x, y, penHeight, 1000);
-  doSetTimeout(x1, y1, penHeight, 1000);
-  doSetTimeout(x2, y2, penHeight, 1000);
-  doSetTimeout(x, y1 * 3 / 4, penHeight, 1000);
-  doSetTimeout(x2, y1 * 3 / 4, penHeight, 1000);
-  doSetTimeout(x, y, penHeight, 1000);
+Draw.prototype.drawStar = function() {
+  resetTimer();
+  doSetTimeout(-20, -20, penHeight, 1000);
+  doSetTimeout(0, 30, penHeight, 1000);
+  doSetTimeout(20, -20, penHeight, 1000);
+  doSetTimeout(-30, 10, penHeight, 1000);
+  doSetTimeout(30, 10, penHeight, 1000);
+  doSetTimeout(-20, -20, penHeight, 1000);
+
+  //-20, -20, 0, 30, 20, -20
 };
 
 
 Draw.prototype.drawTriangle = function(x, y, x1, y1, x2, y2) {
-  timer = 0;
+  resetTimer();
   doSetTimeout(x, y, penHeight, 1000);
   doSetTimeout(x1, y1, penHeight, 1000);
   doSetTimeout(x2, y2, penHeight, 1000);
@@ -184,30 +194,39 @@ Draw.prototype.drawTriangle = function(x, y, x1, y1, x2, y2) {
 }
 
 Draw.prototype.drawCircle = function(radius, x, y) {
-  timer = 0;
-  var centerX=x;
-  var centerY=y;
+  //40
+  resetTimer();
+  if (x && y) {
+    var centerX = x;
+    var centerY = y;
+  }
+
+  else {
+    var centerX = 0;
+    var centerY = 0;
+  }
+
   var radius=radius;
 
   // an array to save your points
   var points=[];
-   
+
   // populate array with points along a circle
   //Goes slightly over so that the circle is actually completed
-  for (var degree=0; degree < 365; degree++) {
+  for (var degree=0; degree < 395; degree++) {
       var radians = (degree + 90) * Math.PI/180;
       var x = centerX + radius * Math.cos(radians);
       var y = centerY + radius * Math.sin(radians);
       points.push({x:x,y:y});
   }
-
-  doSetTimeout(points[0].x, points[0].y, penHeight + 10, 20);
-  doSetTimeout(points[0].x, points[0].y, penHeight, 20);
    
   circle = function() {
+    doSetTimeout(0, 0, -120, 50, "none");
+    doSetTimeout(points[0].x, points[0].y, penHeight + 10, 150, "none");
+    doSetTimeout(points[0].x, points[0].y, penHeight, 150, "none");
     for (var i=0; i<points.length; i+=1) {
       point = points[i];
-      doSetTimeout(point.x, point.y, penHeight, 2);
+      doSetTimeout(point.x, point.y, penHeight, 2, "none");
     }
   }
    
@@ -219,7 +238,8 @@ Draw.prototype.drawCircle = function(radius, x, y) {
 //Radius is the diameter(?) of the largest spiral
 //zLevel is optional -- it is the penHeight to draw the spiral at (mainly used for the erase function)
 Draw.prototype.drawSpiral = function(spirals, radius, zLevel, ptArray) {
-  timer = 0;
+
+  resetTimer();
   var centerX = 0;
   var centerY = 0;
   var x1 = 0;
@@ -229,8 +249,6 @@ Draw.prototype.drawSpiral = function(spirals, radius, zLevel, ptArray) {
   if (zLevel) //If a zLevel is specified set the penHeight at that level
     penHeight = zLevel;
 
-  //go(centerX, centerY, penHeight);
-
   if (ptArray) {
     points = ptArray;
   }
@@ -246,43 +264,57 @@ Draw.prototype.drawSpiral = function(spirals, radius, zLevel, ptArray) {
       var y = centerY + y1 * Math.sin(radians);
       points.push({x:x, y:y});
     }
+    //doSetTimeout(points[0].x, points[0].y, penHeight + 10, 150);
+    //doSetTimeout(points[0].x, points[0].y, penHeight, 150, "none");
   }
 
   spiral = function() {
     for (var z = 0; z < points.length; z++) {
       point = points[z];
-      doSetTimeout(point.x, point.y, penHeight, 5);
+      doSetTimeout(point.x, point.y, penHeight, 5, "none");
     }
   }
+
   spiral();
   return points;
 }; 
 
 Draw.prototype.test = function() {
   var objRef = this;
-  setTimeout(function() { go(35, 24, penHeight + 20) }, 500);
   setTimeout(function() { objRef.drawCircle(15, 20, 23.75) }, 1000);
-  setTimeout(function() { go(-30, 10, penHeight + 20) }, 6500);
-  setTimeout(function() { objRef.drawStar(-30, 10, -20, 30, -10, 10) }, 7000);
-  setTimeout(function() { go(-10, -10, penHeight + 20) }, 14000);
-  setTimeout(function() { square(-10, -10, -30, -10, -30, -30, -10, -30) }, 16000);
-  setTimeout(function() { go(10, -30, penHeight + 20) }, 21000);
-  setTimeout(function() { objRef.drawTriangle(10, -30, 20, -10, 30, -30) }, 22000);
+  setTimeout(function() { go([-30, 10, penHeight + 20]) }, 6500);
+  setTimeout(function() { star(-30, 10, -20, 30, -15, 10, 5) }, 7000);
+  setTimeout(function() { go([-10, -10, penHeight + 20]) }, 16000);
+  setTimeout(function() { square(-10, -10, -30, -10, -30, -30, -10, -30) }, 18000);
+  setTimeout(function() { go([10, -30, penHeight + 20]) }, 25000);
+  setTimeout(function() { objRef.drawTriangle(10, -30, 20, -10, 30, -30) }, 27000);
+  setTimeout(function() { go([0, 0, -140]) }, 31000);
 
   square = function(x, y, x1, y1, x2, y2, x3, y3) {
+    resetTimer();
     doSetTimeout(x, y, penHeight, 1000);
     doSetTimeout(x1, y1, penHeight, 1000);
     doSetTimeout(x2, y2, penHeight, 1000);
     doSetTimeout(x3, y3, penHeight, 1000);
     doSetTimeout(x, y, penHeight, 1000);
   }
+
+  star = function(x, y, x1, y1, x2, y2, diff) {
+    resetTimer();
+    doSetTimeout(x, y, penHeight, 1000);
+    doSetTimeout(x1, y1, penHeight, 1000);
+    doSetTimeout(x2, y2, penHeight, 1000);
+    doSetTimeout(x - diff, y1 * 3 / 4, penHeight, 1000);
+    doSetTimeout(x2 + diff, y1 * 3 / 4, penHeight, 1000);
+    doSetTimeout(x, y, penHeight, 1000);
+  };
 }
 
 Draw.prototype.pickUpEraser = function() {
   eraseHeight = this.drawHeight + 5.25;
   //doSetTimeout(currentPoint.x, currentPoint.y, -130, 500);
-  doSetTimeout(0, 49, -140, 500);
-  doSetTimeout(0, 49, eraseHeight, 500);
+  doSetTimeout(0, 48, -140, 500);
+  doSetTimeout(0, 48, eraseHeight, 500, "none");
   doSetTimeout(0, 0, eraseHeight, 500);
 }
 
@@ -301,7 +333,7 @@ Draw.prototype.eraseBoard = function() {
 Draw.prototype.dropOffEraser = function() {
   eraseHeight = this.drawHeight + 5.25;
   doSetTimeout(0, 50, eraseHeight, 500);
-  doSetTimeout(-4, 50, -130, 500);
+  doSetTimeout(-4, 50, -130, 500, "none");
   doSetTimeout(0, 0, -130, 500);
 }
 
@@ -315,4 +347,4 @@ Draw.prototype.erase = function(callback) {
     setTimeout(function() {callback() }, 12500);
 }
 
-module.exports.Draw = Draw;
+module.exports.Draw = Draw;
\ No newline at end of file
diff --git a/software/src/example/cursiveTutorial.svg b/software/src/example/cursiveTutorial.svg
new file mode 100644
index 0000000..8c2d701
--- /dev/null
+++ b/software/src/example/cursiveTutorial.svg
@@ -0,0 +1,85 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="80mm"
+   height="95mm"
+   viewBox="0 0 283.46457 336.61417"
+   id="svg4826"
+   version="1.1"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="cursiveTutorial.svg">
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.6517427"
+     inkscape:cx="141.73228"
+     inkscape:cy="168.30709"
+     inkscape:document-units="px"
+     inkscape:current-layer="g4883"
+     showgrid="false"
+     inkscape:window-width="1308"
+     inkscape:window-height="749"
+     inkscape:window-x="-4"
+     inkscape:window-y="-4"
+     inkscape:window-maximized="1" />
+  <defs
+     id="defs4828" />
+  <metadata
+     id="metadata4831">
+    <rdf:RDF>
+      <cc:Work
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diff --git a/software/src/hello/helloRuF.svg b/software/src/hello/helloRuF.svg
index 3205637..d3d732e 100644
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diff --git a/software/src/kinematics.js b/software/src/kinematics.js
index b4d6476..400eeb1 100644
--- a/software/src/kinematics.js
+++ b/software/src/kinematics.js
@@ -30,7 +30,7 @@ function Kinematics(args) {
 }
 
 // Forward kinematics: (theta1, theta2, theta3) -> (x0, y0, z0)
-//   Returned {error code,theta1,theta2,theta3}
+// Returned {error code,theta1,theta2,theta3}
 Kinematics.prototype.forward = function(theta1, theta2, theta3) {
   var x0 = 0.0;
   var y0 = 0.0;
diff --git a/software/src/motion.js b/software/src/motion.js
new file mode 100644
index 0000000..1f62398
--- /dev/null
+++ b/software/src/motion.js
@@ -0,0 +1,90 @@
+/* 
+
+// Usage:
+// motion.move(pointA, pointB, numberOfSteps, easingType, timeDeltaInMilliseconds)
+// Example
+$ node bot.js 
+>> motion = require('./motion')
+>> motion.move([0,0,-140],[-20,20,-140], 20, 'easeInOutCubic', 500)
+>> motion.move([-20,60,-165],[-20,-60,-165], 30, 'easeInOutCubic', 20)
+>> motion.move([-20,-60,-165],[-20,60,-165], 30, 'easeInOutCubic', 20)
+
+
+Usage:
+> motion = require('./motion')
+> motion.directionVector([0,0,-100], [5,10,-150])
+[ 5, 10, -50 ]
+
+> var A = [1,6,3];
+> var B = [8,2,7];
+> motion.directionVector(A, B);
+[ 7, -4, 4 ]
+
+
+Reference:
+Line between two points in 3D space: http://mathcentral.uregina.ca/QQ/database/QQ.09.01/murray2.html
+Easing functions: https://gist.github.com/gre/1650294
+
+*/
+var EasingFunctions = {
+  linear: function (t) { return t },
+  easeInQuad: function (t) { return t*t },
+  easeOutQuad: function (t) { return t*(2-t) },
+  easeInOutQuad: function (t) { return t<.5 ? 2*t*t : -1+(4-2*t)*t },
+  easeInCubic: function (t) { return t*t*t },
+  easeOutCubic: function (t) { return (--t)*t*t+1 },
+  easeInOutCubic: function (t) { return t<.5 ? 4*t*t*t : (t-1)*(2*t-2)*(2*t-2)+1 },
+  easeInQuart: function (t) { return t*t*t*t },
+  easeOutQuart: function (t) { return 1-(--t)*t*t*t },
+  easeInOutQuart: function (t) { return t<.5 ? 8*t*t*t*t : 1-8*(--t)*t*t*t },
+  easeInQuint: function (t) { return t*t*t*t*t },
+  easeOutQuint: function (t) { return 1+(--t)*t*t*t*t },
+  easeInOutQuint: function (t) { return t<.5 ? 16*t*t*t*t*t : 1+16*(--t)*t*t*t*t }
+};
+
+(function(exports) {
+  var directionVector = function(pointA, pointB) {
+    var vector = [ pointB[0] - pointA[0],
+                   pointB[1] - pointA[1],
+                   pointB[2] - pointA[2] ];
+    return vector;
+  }
+  
+  // (x,y,z) = (1,6,3) + t(7,-4,4) = (1 + 7t, 6 - 4t, 3 + 4t).
+  var parametricEquation = function(pointA, pointB) {
+    var dv = directionVector(pointA, pointB);
+    var equation = function(t) {
+      return [ pointA[0] + dv[0]*t,
+               pointA[1] + dv[1]*t,
+               pointA[2] + dv[2]*t ];
+    }
+    return equation;
+  }
+  
+  // get an array of points between (and including) two end points
+  // numberOfSteps and easingType are required
+  var getPoints = function(pointA, pointB, numberOfSteps, easingType) {
+    var points = [];
+    var point = parametricEquation(pointA, pointB);
+    var easingFunction = EasingFunctions[easingType];
+    
+    for (var i = 0; i <= numberOfSteps; i++) {
+      t = easingFunction(i/numberOfSteps);
+      points.push(point(t))
+    }
+    return points;
+  }
+  
+  var move = function(pointA, pointB, numberOfSteps, easingType, timeDelta) {
+    var points = getPoints(pointA, pointB, numberOfSteps, easingType);
+    for (var i=0; i<points.length; i++) {
+      setTimeout( function(point) { moveServosTo(point[0], point[1], point[2]); }, i*timeDelta, points[i] );
+    }
+  };
+  
+  exports.directionVector = directionVector;
+  exports.parametricEquation = parametricEquation;
+  exports.getPoints = getPoints;
+  exports.move = move;
+
+}(typeof exports === 'undefined' ? this.ik = {} : exports));  
\ No newline at end of file
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new file mode 100644
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new file mode 100644
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+       sodipodi:nodetypes="cssccccccccccccc"
+       inkscape:connector-curvature="0"
+       style="fill:none;stroke:#000000;stroke-width:3.43066382"
+       d="M 33.809127,248.8729 C 45.779077,241.87747 46.887418,243.5556 53.186196,243.05913 61.663816,242.39092 65.286579,246.55715 64.812967,252.72615 64.140416,261.48642 55.207358,274.28536 40.185777,283.01419 L 52.623884,281.94331 59.295192,285.47169 62.630846,289.00007 65.9665,299.58523 65.9665,306.64193 62.630846,317.22713 55.959538,324.28383 45.952576,327.81223 35.945614,327.81223 25.938652,324.28383 22.602998,320.75553 19.267344,313.69873"
+       id="path3717" />
+  </g>
+</svg>

From 2474553dd3202d3ddeb8cc43965532254eb8a4f6 Mon Sep 17 00:00:00 2001
From: Jack Skalitzky <johnskalitzky@hotmail.com>
Date: Thu, 16 Jul 2015 22:35:22 -0500
Subject: [PATCH 37/43] Deleted redundant file

---
 software/src/tutorial.svg | 60 ---------------------------------------
 1 file changed, 60 deletions(-)
 delete mode 100644 software/src/tutorial.svg

diff --git a/software/src/tutorial.svg b/software/src/tutorial.svg
deleted file mode 100644
index 31896fe..0000000
--- a/software/src/tutorial.svg
+++ /dev/null
@@ -1,60 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<!-- Created with Inkscape (http://www.inkscape.org/) -->
-
-<svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="80mm"
-   height="95mm"
-   viewBox="0 0 283.46457 336.61417"
-   id="svg3702"
-   version="1.1"
-   inkscape:version="0.91 r13725"
-   sodipodi:docname="tutorial.svg">
-  <sodipodi:namedview
-     id="base"
-     pagecolor="#ffffff"
-     bordercolor="#666666"
-     borderopacity="1.0"
-     inkscape:pageopacity="0.0"
-     inkscape:pageshadow="2"
-     inkscape:zoom="1.6517427"
-     inkscape:cx="141.73228"
-     inkscape:cy="168.30709"
-     inkscape:document-units="px"
-     inkscape:current-layer="svg3702"
-     showgrid="false"
-     inkscape:window-width="1308"
-     inkscape:window-height="749"
-     inkscape:window-x="-4"
-     inkscape:window-y="-4"
-     inkscape:window-maximized="1" />
-  <defs
-     id="defs3704" />
-  <metadata
-     id="metadata3707">
-    <rdf:RDF>
-      <cc:Work
-         rdf:about="">
-        <dc:format>image/svg+xml</dc:format>
-        <dc:type
-           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
-      </cc:Work>
-    </rdf:RDF>
-  </metadata>
-  <g
-     id="g3734">
-    <path
-       sodipodi:nodetypes="cssccccccccccccc"
-       inkscape:connector-curvature="0"
-       style="fill:none;stroke:#000000;stroke-width:3.43066382"
-       d="M 33.809127,248.8729 C 45.779077,241.87747 46.887418,243.5556 53.186196,243.05913 61.663816,242.39092 65.286579,246.55715 64.812967,252.72615 64.140416,261.48642 55.207358,274.28536 40.185777,283.01419 L 52.623884,281.94331 59.295192,285.47169 62.630846,289.00007 65.9665,299.58523 65.9665,306.64193 62.630846,317.22713 55.959538,324.28383 45.952576,327.81223 35.945614,327.81223 25.938652,324.28383 22.602998,320.75553 19.267344,313.69873"
-       id="path3717" />
-  </g>
-</svg>

From 3c23214b869670e14cbc970fff90fa3430e00344 Mon Sep 17 00:00:00 2001
From: Jack Skalitzky <johnskalitzky@hotmail.com>
Date: Fri, 17 Jul 2015 19:31:31 -0500
Subject: [PATCH 38/43] Angry Birds demo

---
 software/src/bot.js                         |  14 ++-
 software/src/demo/angry-birds/angrybirds.js | 121 +++++++++++++++++---
 2 files changed, 113 insertions(+), 22 deletions(-)

diff --git a/software/src/bot.js b/software/src/bot.js
index 5615d97..cfe4344 100755
--- a/software/src/bot.js
+++ b/software/src/bot.js
@@ -3,6 +3,7 @@ kinematics = require("./kinematics");
 svgRead = require("./SVGReader");
 drawing = require("./draw");
 motion = require("./motion");
+ab = require("./demo/angry-birds/angrybirds")
 
 //If a filepath is specified, load that config
 //Otherwise, resort to the default config
@@ -64,6 +65,10 @@ draw = new drawing.Draw({
   defaultEaseType: config.defaultEaseType
 });
 
+birds = new ab.AngryBirds({
+  drawHeight: config.drawHeight
+});
+
 board = new five.Board({
   debug: false
 });
@@ -134,9 +139,9 @@ board.on("ready", function() {
     var max = 15;
     var min = 5;
     var range = max - min;
-    servo1.to(30);
-    servo2.to(30);
-    servo3.to(30);
+    servo1.to(15);
+    servo2.to(15);
+    servo3.to(15);
 
     /*
     var dance = function() {
@@ -208,7 +213,8 @@ moveServosTo = function(x, y, z) {
   console.log(angles);
 }
 
-go = function(pointB, easeType) {
+go = function(x, y, z, easeType) {
+  var pointB = [x, y, z];
   if (easeType == "none") {
     moveServosTo(pointB[0], pointB[1], pointB[2]);
     return; //Ensures that it doesn't move twice
diff --git a/software/src/demo/angry-birds/angrybirds.js b/software/src/demo/angry-birds/angrybirds.js
index 697d9ac..d78d507 100644
--- a/software/src/demo/angry-birds/angrybirds.js
+++ b/software/src/demo/angry-birds/angrybirds.js
@@ -1,24 +1,92 @@
+function AngryBirds(args) {
+  this.drawHeight = -151;
+  if (args) {
+      var keys = Object.keys(args)
+      keys.forEach(function(key){
+          this[key] = args[key]
+    }, this)
+  }
+
+  drawHeight = this.drawHeight;
+
+};
+
 move = function(x,y,z, when) {
-  setTimeout(function(){ go(x,y,z);}, when);
+  setTimeout(function(){ go(x,y,z) }, moveTimer);
+  moveTimer += when;
+}
+
+resetMoveTimer = function() {
+  moveTimer = 0;
+}
+
+var moveTimer = 0;
+
+AngryBirds.prototype.playLevelOne = function(){
+    resetMoveTimer();
+    move(-20, -3, drawHeight + 10, 0);
+    move(-20, -3, drawHeight, 500);
+    move(-35,-6, drawHeight,300);
+    move(-35,-6, drawHeight + 10,400);
+    move(-30,0, drawHeight + 10,400);
+
+    move(42,-18, drawHeight + 10, 2800);
+    move(42,-18, drawHeight - 3, 500);
+    move(42, -18, drawHeight + 10, 500);    
+
+    move(9,-13, drawHeight + 10, 3000);
+    move(9,-13, drawHeight - 2, 300);
+    move(9, -13, drawHeight + 10,300);
+    move(0,0, drawHeight + 10,300);
 }
 
-play = function(){
-    move(-10,-20,-140,0);
-    move(-10,-20,-149,200);
-    move(-25,-28,-148,500);
-    move(-25,-28,-140,800);
-    move(0,0,-120,1200);
+AngryBirds.prototype.playLevelTwo = function() {
+  resetMoveTimer();
+  move(-20, -3, drawHeight + 10, 500);
+  move(-20, -3, drawHeight, 200);
+  move(-35, -2, drawHeight, 300);
+  move(-35, -2, drawHeight + 10, 300);
+  move(-20, -3, drawHeight + 10, 15000);
+  move(-20, -3, drawHeight - 1, 300);
+  move(-35, -8, drawHeight, 400);
+  move(-35, -8, drawHeight + 10, 300);
 
-    move(34,-36,-140, 4000);
-    move(34,-36,-150, 4500);
-    move(34,-36,-140, 5000);    
+  move(42, -18, drawHeight + 10, 6000);
+  move(42, -18, drawHeight - 3, 500);
+  move(42, -18, drawHeight + 10, 500);
 
-    move(4,-32,-140,0+8000);
-    move(4,-32,-149,300+8000);
-    move(4,-32,-140,600+8000);
-    move(0,0,-120,900+8000);
+  move(9, -13, drawHeight + 10, 3000);
+  move(9, -13, drawHeight - 2, 300);
+  move(9, -13, drawHeight + 10, 300);
+  move(0, 0, drawHeight + 10, 400);
 }
 
+AngryBirds.prototype.playLevelThree = function() {
+  resetMoveTimer();
+  move(-20, -3, drawHeight + 10, 1000);
+  move(-20, -3, drawHeight, 200);
+  move(-25, -10, drawHeight, 350);
+  move(-23, -6.5, drawHeight, 350); 
+  move(-23, -6.5, drawHeight + 10, 350);
+
+  move(42, -18, drawHeight + 10, 8000);
+  move(42, -18, drawHeight - 3, 500);
+  move(42, -18, drawHeight + 10, 500);
+};
+
+goToLevelOne = function() {
+  resetMoveTimer();
+  move(-14, -12, drawHeight + 10, 250);
+  move(-14, -12, drawHeight - 2, 250);
+  move(-14, -12, drawHeight + 10, 250);
+  move(-48, 23, drawHeight + 10, 1000);
+  move(-46, 23, drawHeight - 2, 1000);
+  move(-48, 23, drawHeight + 10, 500);
+  move(45, -18, drawHeight + 10, 500);
+  move(41, -18, drawHeight - 4, 500);
+  move(45, -18, drawHeight + 10, 500);
+  move(0, 0, drawHeight + 10, 250);  
+}
 
 repeat = function(){
    move(4,-32,-140,0);
@@ -27,10 +95,27 @@ repeat = function(){
    move(0,0,-120,900);
 }
 
+AngryBirds.prototype.playLevels = function() {
+  resetMoveTimer();
+  var objRef = this;
+  setTimeout(objRef.playLevelOne, 0);
+  setTimeout(objRef.playLevelTwo, 15000);
+  setTimeout(objRef.playLevelThree, 47500);  
+  setTimeout(goToLevelOne, 65000);
+}
+
 
-play_forever = function(){
+AngryBirds.prototype.play_forever = function(){
+    var objRef = this;
     console.log("Now playing forever...")
-    play();
-    interval = setInterval(play,13000);
+    this.playLevels();
+    interval = setInterval(objRef.playLevels, 70000);
     return interval;
-}
\ No newline at end of file
+}
+
+AngryBirds.prototype.stop_playing = function() {
+  clearInterval(interval);
+  console.log("No longer playing forever.");
+}
+
+module.exports.AngryBirds = AngryBirds;
\ No newline at end of file

From 619a04557da58ca7e1a1c1941ae9e40ef5a0ea84 Mon Sep 17 00:00:00 2001
From: Jack Skalitzky <johnskalitzky@hotmail.com>
Date: Tue, 28 Jul 2015 13:07:47 -0500
Subject: [PATCH 39/43] Moved angrybirds outside of bot.js

---
 software/src/bot.js                         |   7 +-
 software/src/demo/angry-birds/angrybirds.js | 163 +++++++++++++++++---
 2 files changed, 144 insertions(+), 26 deletions(-)

diff --git a/software/src/bot.js b/software/src/bot.js
index cfe4344..4c0cb8e 100755
--- a/software/src/bot.js
+++ b/software/src/bot.js
@@ -3,7 +3,6 @@ kinematics = require("./kinematics");
 svgRead = require("./SVGReader");
 drawing = require("./draw");
 motion = require("./motion");
-ab = require("./demo/angry-birds/angrybirds")
 
 //If a filepath is specified, load that config
 //Otherwise, resort to the default config
@@ -65,10 +64,6 @@ draw = new drawing.Draw({
   defaultEaseType: config.defaultEaseType
 });
 
-birds = new ab.AngryBirds({
-  drawHeight: config.drawHeight
-});
-
 board = new five.Board({
   debug: false
 });
@@ -243,7 +238,7 @@ doSetTimeout = function(x, y, z, timeDelay, easing) {
   if (!easing)
     easing = defaultEaseType;
 
-  setTimeout(function() { go([x, y, z], easing) }, timer);
+  setTimeout(function() { go(x, y, z, easing) }, timer);
   timer = timer + timeDelay; 
 };
 
diff --git a/software/src/demo/angry-birds/angrybirds.js b/software/src/demo/angry-birds/angrybirds.js
index d78d507..86643ec 100644
--- a/software/src/demo/angry-birds/angrybirds.js
+++ b/software/src/demo/angry-birds/angrybirds.js
@@ -1,18 +1,143 @@
-function AngryBirds(args) {
-  this.drawHeight = -151;
-  if (args) {
-      var keys = Object.keys(args)
-      keys.forEach(function(key){
-          this[key] = args[key]
-    }, this)
-  }
+var five = require("johnny-five")
+var kin = require("./../../kinematics.js");
+var config = require("./../../../config.js");
+
+drawHeight = config.drawHeight;
+
+board = new five.Board({
+  debug: false
+});
+
+k = new kin.Kinematics({
+  e: config.e,
+  f: config.f,
+  re: config.re,
+  rf: config.rf
+})
+
+board.on("ready", function() {
+    // Setup
+    /*servo1 = five.Servo({
+        address: 0x40,
+        controller: "PCA9685",
+        pin: 0,
+        range: [35, 145] //Too high of a minimum input will cause issues with the forward kinematics
+    });
+    servo2 = five.Servo({
+        address: 0x40,
+        controller: "PCA9685",
+        pin: 1,
+        range: [35, 145]
+    });
+    servo3 = five.Servo({
+        address: 0x40,
+        controller: "PCA9685",
+        pin: 2,
+        range: [35, 145]
+    }); */
+
+  servo1 = five.Servo({
+      pin: 9,
+      range: [0, 100]
+  });
+
+  servo2 = five.Servo({
+      pin: 10,
+      range: [0, 100]
+  });
+
+  servo3 = five.Servo({
+      pin: 11,
+      range: [0, 100]
+  });
+
+    servo1.on("error", function() {
+      console.log(arguments);
+    })
+    servo2.on("error", function() {
+      console.log(arguments);
+    })
+    servo3.on("error", function() {
+      console.log(arguments);
+    })
+
+    board.repl.inject({
+      servo1: servo1,
+      s1: servo1,
+      servo2: servo2,
+      s2: servo2,
+      servo3: servo3,
+      s3: servo3,
+    });
+
+    // Move to starting point
+    var max = 15;
+    var min = 5;
+    var range = max - min;
+    servo1.to(15);
+    servo2.to(15);
+    servo3.to(15);
+
+    /*
+    var dance = function() {
+      servo1.to(parseInt((Math.random() * range) + min, 10));
+      servo2.to(parseInt((Math.random() * range) + min, 10));
+      servo3.to(parseInt((Math.random() * range) + min, 10));
+    };
+
+    var dancer;
+
+    start_dance = function() {
+      if (!dancer) dancer = setInterval(dance, 250);
+    }
+
+    stop_dance = function() {
+      if (dancer) {
+        clearInterval(dancer);
+        dancer = null;
+      }
+    }
+
+    board.repl.inject({
+      dance: start_dance, 
+      chill: stop_dance
+    }); */
+
+
+});
+
+rotate = function(x,y) {
+    var theta = -60 * Math.PI / 180;
+    x1 = x * Math.cos(theta) - y * Math.sin(theta);
+    y1 = y * Math.cos(theta) + x * Math.sin(theta);
+    return [x1,y1]
+}
 
-  drawHeight = this.drawHeight;
+reflect = function(x,y) {
+    var theta = 0;
+    x1 = x;
+    y1 = x * Math.sin(2*theta) - y * Math.cos(2*theta);
+    return [x1,y1]
+}
 
-};
+Number.prototype.map = function ( in_min , in_max , out_min , out_max ) {
+  return ( this - in_min ) * ( out_max - out_min ) / ( in_max - in_min ) + out_min;
+}
+
+moveServosTo = function(x, y, z) {
+  reflected = reflect(x,y);
+  rotated = rotate(reflected[0],reflected[1]);
+
+  angles = k.inverse(rotated[0], rotated[1], z);
+ 
+  servo1.to((angles[1]).map(config.servo1.in_min, config.servo1.in_max, config.servo1.out_min, config.servo1.out_max));
+  servo2.to((angles[2]).map(config.servo2.in_min, config.servo2.in_max, config.servo2.out_min, config.servo2.out_max));
+  servo3.to((angles[3]).map(config.servo3.in_min, config.servo3.in_max, config.servo3.out_min, config.servo3.out_max));
+  console.log(angles);
+}
 
 move = function(x,y,z, when) {
-  setTimeout(function(){ go(x,y,z) }, moveTimer);
+  setTimeout(function(){ moveServosTo(x,y,z) }, moveTimer);
   moveTimer += when;
 }
 
@@ -22,7 +147,7 @@ resetMoveTimer = function() {
 
 var moveTimer = 0;
 
-AngryBirds.prototype.playLevelOne = function(){
+playLevelOne = function(){
     resetMoveTimer();
     move(-20, -3, drawHeight + 10, 0);
     move(-20, -3, drawHeight, 500);
@@ -40,7 +165,7 @@ AngryBirds.prototype.playLevelOne = function(){
     move(0,0, drawHeight + 10,300);
 }
 
-AngryBirds.prototype.playLevelTwo = function() {
+playLevelTwo = function() {
   resetMoveTimer();
   move(-20, -3, drawHeight + 10, 500);
   move(-20, -3, drawHeight, 200);
@@ -61,7 +186,7 @@ AngryBirds.prototype.playLevelTwo = function() {
   move(0, 0, drawHeight + 10, 400);
 }
 
-AngryBirds.prototype.playLevelThree = function() {
+playLevelThree = function() {
   resetMoveTimer();
   move(-20, -3, drawHeight + 10, 1000);
   move(-20, -3, drawHeight, 200);
@@ -95,7 +220,7 @@ repeat = function(){
    move(0,0,-120,900);
 }
 
-AngryBirds.prototype.playLevels = function() {
+playLevels = function() {
   resetMoveTimer();
   var objRef = this;
   setTimeout(objRef.playLevelOne, 0);
@@ -105,7 +230,7 @@ AngryBirds.prototype.playLevels = function() {
 }
 
 
-AngryBirds.prototype.play_forever = function(){
+play_forever = function(){
     var objRef = this;
     console.log("Now playing forever...")
     this.playLevels();
@@ -113,9 +238,7 @@ AngryBirds.prototype.play_forever = function(){
     return interval;
 }
 
-AngryBirds.prototype.stop_playing = function() {
+stop_playing = function() {
   clearInterval(interval);
   console.log("No longer playing forever.");
-}
-
-module.exports.AngryBirds = AngryBirds;
\ No newline at end of file
+}
\ No newline at end of file

From 55cdb3c0b4bbced41eb7955bf3f1f97aa48a2de2 Mon Sep 17 00:00:00 2001
From: Jack Skalitzky <johnskalitzky@hotmail.com>
Date: Tue, 28 Jul 2015 13:08:18 -0500
Subject: [PATCH 40/43] Updated draw method arguments

---
 software/src/draw.js | 161 +++++++++++++++++++++----------------------
 1 file changed, 78 insertions(+), 83 deletions(-)

diff --git a/software/src/draw.js b/software/src/draw.js
index 098c8db..8b6e025 100644
--- a/software/src/draw.js
+++ b/software/src/draw.js
@@ -1,10 +1,4 @@
 //Draws lines and shapes.
-//> To test:
-//> draw.drawSquare(sideLength, n)
-//> draw.drawStar()
-//> draw.drawCircle()
-//> draw.drawFromCoordinates()  
-//> draw.erase()
 
 var fs = require('fs');
 var objRef, defaultEaseType;
@@ -44,37 +38,11 @@ mapPoints = function(x, y) {
 /*doSetTimeout = function(x, y, z, delay, easing) {
   if (!easing)
     easing = defaultEaseType;
-  setTimeout(function() { go([x, y, z], easing) }, timer);
+  setTimeout(function() { go(x, y, z, easing) }, timer);
   currentPoint = {x: x, y: y, z: z};
   timer = timer + delay; 
 }; */
 
-//A go method that iterates over points rather than jumping from a to b
-//Assumes that z stays the same
-//Draws points + 1 points
-//Delay is the total amount of time that it takes
-//Each point takes delay / points time to draw
-Draw.prototype.itGo = function(x, y, x1, y1, points, delay) {
-  //var x1 = currentPoint.x;
-  //var y1 = currentPoint.y;
-  var z = penHeight;
-  var deltaX = x1 - x;
-  var deltaY = y1 - y;
-  var slope = ((y1 - y) / (x1 - x));
-  var pointArray = new Array();
-
-  for (var i = 0; i <= points; i++) {
-    var newX = x + deltaX / points * i; 
-    var newY = y + deltaY / points * i;
-    var point = {x: newX, y: newY};
-    pointArray.push(point);
-  }
-
-  for (var i = 0; i < pointArray.length; i++) {
-    doSetTimeout(pointArray[i].x, pointArray[i].y, z, delay / points);
-  }
-}
-
 //Initialized here so that they are accessible from the mapPoints function
 var baseHeight, baseWidth, canvasHeight, canvasWidth, heightRatio, widthRatio, halfway;
 
@@ -136,35 +104,44 @@ Draw.prototype.drawFromCoordinates = function() {
 };
 
 //Draws a square in order to ensure that everything is working properly
-//sideLength is the length of the sides
-//Draws every nth point
-Draw.prototype.drawSquare = function(sideLength, n) {
+//Optional args:
+//sideLength: the length of each side (default: 20)
+//n: draws every nth point (default: 2)
+Draw.prototype.drawSquare = function(args) {
 
-  resetTimer(); //Reset the timer so that there isn't unnecessary delay when calling the function multiple times
+  //Default values
+  this.sideLength = 20;
+  this.n = 2;
 
-  if (!n)
-    var n = 2;
+  if (args) {
+      var keys = Object.keys(args)
+      keys.forEach(function(key){
+          this[key] = args[key]
+      }, this)
+  }
+
+  resetTimer(); //Reset the timer so that there isn't unnecessary delay when calling the function multiple times
 
-  var halfSide = sideLength / 2;
-  var points = sideLength / n;
+  var halfSide = this.sideLength / 2;
+  var points = this.sideLength / this.n;
 
   doSetTimeout(-halfSide, halfSide, penHeight + 10, 0)
   doSetTimeout(-halfSide, halfSide, penHeight, 500); //Top left corner
 
   for (var i = 0; i < points; i++) { //To bottom left
-    doSetTimeout(-halfSide, halfSide - (n * i), penHeight, i * 5);
+    doSetTimeout(-halfSide, halfSide - (this.n * i), penHeight, i * 5);
   }
 
   for (var i = 0; i < points; i++) { //To bottom right
-    doSetTimeout(-halfSide + (n * i), -halfSide, penHeight, i * 5);
+    doSetTimeout(-halfSide + (this.n * i), -halfSide, penHeight, i * 5);
   }
 
   for (var i = 0; i < points; i++) { //To top right
-    doSetTimeout(halfSide, -halfSide + (n * i), penHeight, i * 5);
+    doSetTimeout(halfSide, -halfSide + (this.n * i), penHeight, i * 5);
   }
 
   for (var i = 0; i < points; i++) { //To top left
-    doSetTimeout(halfSide - (n * i), halfSide, penHeight, i * 5);
+    doSetTimeout(halfSide - (this.n * i), halfSide, penHeight, i * 5);
   }
 
   doSetTimeout(0, 0, -140, timer + 100);
@@ -193,20 +170,24 @@ Draw.prototype.drawTriangle = function(x, y, x1, y1, x2, y2) {
   doSetTimeout(x, y, penHeight, 1000);
 }
 
-Draw.prototype.drawCircle = function(radius, x, y) {
-  //40
+//Draws a circle
+//Optional args:
+//centerX: the x coordinate of the center (default: 0)
+//centerY: the y coordinate of the center (default: 0)
+//radius: the radius of the center (default: 20)
+Draw.prototype.drawCircle = function(args) {
   resetTimer();
-  if (x && y) {
-    var centerX = x;
-    var centerY = y;
-  }
 
-  else {
-    var centerX = 0;
-    var centerY = 0;
-  }
+  this.centerX = 0;
+  this.centerY = 0;
+  this.radius = 20;
 
-  var radius=radius;
+  if (args) {
+      var keys = Object.keys(args)
+      keys.forEach(function(key){
+          this[key] = args[key]
+      }, this)
+  }
 
   // an array to save your points
   var points=[];
@@ -215,8 +196,8 @@ Draw.prototype.drawCircle = function(radius, x, y) {
   //Goes slightly over so that the circle is actually completed
   for (var degree=0; degree < 395; degree++) {
       var radians = (degree + 90) * Math.PI/180;
-      var x = centerX + radius * Math.cos(radians);
-      var y = centerY + radius * Math.sin(radians);
+      var x = this.centerX + this.radius * Math.cos(radians);
+      var y = this.centerY + this.radius * Math.sin(radians);
       points.push({x:x,y:y});
   }
    
@@ -234,34 +215,48 @@ Draw.prototype.drawCircle = function(radius, x, y) {
   };
 
 //Draws an arbitrary amount of spirals to test that the Tapster bot is working properly
-//Spirals is the amount of spirals to draw
-//Radius is the diameter(?) of the largest spiral
-//zLevel is optional -- it is the penHeight to draw the spiral at (mainly used for the erase function)
-Draw.prototype.drawSpiral = function(spirals, radius, zLevel, ptArray) {
+//Optional args:
+//startX: the x coordinate of the spiral's starting point (default: 0)
+//startY: the y coordinate of the spiral's starting point (default: 0)
+//spirals: amount of spirals to draw (default: 3)
+//radius: radius of largest spiral (default: 30)
+//zLevel: height at which to draw the spiral (default: penHeight)
+//ptArray: an array of points to draw instead of calculating the spiral again (default: null)
+Draw.prototype.drawSpiral = function(args) { //spirals, radius, zLevel, ptArray) {
+
+  this.startX = 0;
+  this.startY = 0;
+  this.spirals = 3;
+  this.radius = 30;
+  this.zLevel = penHeight;
+  this.ptArray = null;
+
+  if (args) {
+      var keys = Object.keys(args)
+      keys.forEach(function(key){
+          this[key] = args[key]
+      }, this)
+  }
 
   resetTimer();
-  var centerX = 0;
-  var centerY = 0;
+
   var x1 = 0;
   var y1 = 0;
   var points = [];
 
-  if (zLevel) //If a zLevel is specified set the penHeight at that level
-    penHeight = zLevel;
-
-  if (ptArray) {
-    points = ptArray;
+  if (this.ptArray) {
+    points = this.ptArray;
   }
 
   //Draws additional points, mainly for use with the erase function
-  //The extra points allow the eraser to end up in its resting positio
+  //The extra points allow the eraser to end up in its resting position
   else {
-    for (var degree = 0; degree < spirals * 360 + 95; degree++) {
-      x1 = x1 + radius/(spirals * 360);
-      y1 = y1 + radius/(spirals * 360);
+    for (var degree = 0; degree < this.spirals * 360 + 95; degree++) {
+      x1 = x1 + this.radius/(this.spirals * 360);
+      y1 = y1 + this.radius/(this.spirals * 360);
       var radians = degree * Math.PI/180;
-      var x = centerX + x1 * Math.cos(radians);
-      var y = centerY + y1 * Math.sin(radians);
+      var x = this.startX + x1 * Math.cos(radians);
+      var y = this.startY + y1 * Math.sin(radians);
       points.push({x:x, y:y});
     }
     //doSetTimeout(points[0].x, points[0].y, penHeight + 10, 150);
@@ -271,7 +266,7 @@ Draw.prototype.drawSpiral = function(spirals, radius, zLevel, ptArray) {
   spiral = function() {
     for (var z = 0; z < points.length; z++) {
       point = points[z];
-      doSetTimeout(point.x, point.y, penHeight, 5, "none");
+      doSetTimeout(point.x, point.y, objRef.zLevel, 5, "none");
     }
   }
 
@@ -281,14 +276,14 @@ Draw.prototype.drawSpiral = function(spirals, radius, zLevel, ptArray) {
 
 Draw.prototype.test = function() {
   var objRef = this;
-  setTimeout(function() { objRef.drawCircle(15, 20, 23.75) }, 1000);
-  setTimeout(function() { go([-30, 10, penHeight + 20]) }, 6500);
+  setTimeout(function() { objRef.drawCircle({centerX: 15, centerY: 20, radius: 23.75}) }, 1000);
+  setTimeout(function() { go(-30, 10, penHeight + 20) }, 6500);
   setTimeout(function() { star(-30, 10, -20, 30, -15, 10, 5) }, 7000);
-  setTimeout(function() { go([-10, -10, penHeight + 20]) }, 16000);
+  setTimeout(function() { go(-10, -10, penHeight + 20) }, 16000);
   setTimeout(function() { square(-10, -10, -30, -10, -30, -30, -10, -30) }, 18000);
-  setTimeout(function() { go([10, -30, penHeight + 20]) }, 25000);
+  setTimeout(function() { go(10, -30, penHeight + 20) }, 25000);
   setTimeout(function() { objRef.drawTriangle(10, -30, 20, -10, 30, -30) }, 27000);
-  setTimeout(function() { go([0, 0, -140]) }, 31000);
+  setTimeout(function() { go(0, 0, -140) }, 31000);
 
   square = function(x, y, x1, y1, x2, y2, x3, y3) {
     resetTimer();
@@ -322,11 +317,11 @@ Draw.prototype.eraseBoard = function() {
   eraseHeight = this.drawHeight + 5.25;
 
   if (!calculated) {
-    spiralPts = this.drawSpiral(4, 55, eraseHeight);
+    spiralPts = this.drawSpiral({spirals: 4, radius: 55, zLevel: eraseHeight});
     calculated = true;
   }
   else {
-    this.drawSpiral(4, 55, eraseHeight, spiralPts);
+    this.drawSpiral({ptArray: spiralPts});
   }
 }
 

From 51741d8111f8f2875a63b9da39ba05d6f060800b Mon Sep 17 00:00:00 2001
From: Jack Skalitzky <johnskalitzky@hotmail.com>
Date: Tue, 28 Jul 2015 13:09:42 -0500
Subject: [PATCH 41/43] Support for relative filepaths

---
 software/src/SVGReader.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/software/src/SVGReader.js b/software/src/SVGReader.js
index 9060605..21c85d1 100644
--- a/software/src/SVGReader.js
+++ b/software/src/SVGReader.js
@@ -29,6 +29,7 @@ function SVGReader(args) {
 //Draws from an SVG image specified by filepath
 //> Usage:
 //> drawSVG("C:/Projects/Tapsterbot/software/src/drawing.svg");
+//Note: filePath can be relative
 //connect is a special flag that indicates that each path should be drawn connected to each other
 //It is really only used for drawing in cursive and does not need to be specified otherwise
 SVGReader.prototype.drawSVG = function(filePath, connect) {

From 0c773377fb7465b3428e77cbafa1972dd6fecf91 Mon Sep 17 00:00:00 2001
From: Jack Skalitzky <johnskalitzky@hotmail.com>
Date: Tue, 28 Jul 2015 14:18:23 -0500
Subject: [PATCH 42/43] *Switch* to switch statements

heh

Also some misc. cleanup
---
 software/src/SVGReader.js | 278 ++++++++++++++++----------------------
 1 file changed, 120 insertions(+), 158 deletions(-)

diff --git a/software/src/SVGReader.js b/software/src/SVGReader.js
index 21c85d1..52e2fdc 100644
--- a/software/src/SVGReader.js
+++ b/software/src/SVGReader.js
@@ -455,160 +455,131 @@ SVGReader.prototype.interpretCommands = function(commands) {
 	delay = this.delay;
 	for (var i = 0; i < commands.length; i++) {
 		var cmdCode = commands[i].code;
-		if (cmdCode == 'M') {	
-			//var temp = move(commands[i].x, commands[i].y);
-			//for (var i = 0; i < temp.length; i++) 
-				//doSetTimeout(temp[i].x, temp[i].y, temp[i].z, delay);
-			move(commands[i].x, commands[i].y);
-		}
-
-		else if (cmdCode == 'm') {
-			relMove(commands[i].x, commands[i].y);
-		}
-
-		else if (cmdCode == 'L') {
-			line(commands[i].x, commands[i].y);
-		}
-
-		else if (cmdCode == 'l') {
-			relLine(commands[i].x, commands[i].y);
-		}
-
-		else if (cmdCode == 'V') {
-			line(currentPoint.x, commands[i].y);
-		}
-
-		else if (cmdCode == 'v') {
-			relLine(currentPoint.x, commands[i].y);
-		}
-
-		else if (cmdCode == 'H') {
-			line(commands[i].x, currentPoint.y);
-		}
-
-		else if (cmdCode == 'h') {
-			relLine(commands[i].x, currentPoint.y);
-		}
-
-		else if (cmdCode == 'C') {
-			cubicCurve(commands[i].x1, commands[i].y1, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
-		}
+				switch (cmdCode) {
+			case 'M':	
+				move(commands[i].x, commands[i].y);
+				break;
+
+			case 'm':
+				relMove(commands[i].x, commands[i].y);
+				break;
+
+			case 'L': 
+				line(commands[i].x, commands[i].y);
+				break;
+
+			case 'l':
+				relLine(commands[i].x, commands[i].y);
+				break;
+
+			case 'V':
+				line(currentPoint.x, commands[i].y);
+				break;
+
+			case 'v':
+				relLine(currentPoint.x, commands[i].y);
+				break;
+
+			case 'H':
+				line(commands[i].x, currentPoint.y);
+				break;
+
+			case 'h':
+				relLine(commands[i].x, currentPoint.y);
+				break;
+
+			case 'C':
+				cubicCurve(commands[i].x1, commands[i].y1, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
+				break;
+
+			case 'c':
+				relCubicCurve(commands[i].x1, commands[i].y1, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
+				break;
+
+			//Smooth cubic curve
+			case 'S':
+				if (i > 1 && (commands[i-1].code == 's' || commands[i-1].code == 'c' || commands[i-1].code == 'C' || commands[i-1].code == 'S')) {
+					var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
+					var ctrl = {x:reflected.x, y:reflected.y};
+				}
+				else
+					var ctrl = {x:currentPoint.x, y:currentPoint.y};
 
-		else if (cmdCode == 'c') {
-			relCubicCurve(commands[i].x1, commands[i].y1, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
-		}
+				cubicCurve(ctrl.x, ctrl.y, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
+				break;
 
-		//Smooth cubic curve
-		else if (cmdCode == 'S') {
-			if (i > 1 && (commands[i-1].code == 's' || commands[i-1].code == 'c' || commands[i-1].code == 'C' || commands[i-1].code == 'S')) {
-				var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
-				var ctrl = {x:reflected.x, y:reflected.y};
-			}
-			else
-				var ctrl = {x:currentPoint.x, y:currentPoint.y};
-
-			cubicCurve(ctrl.x, ctrl.y, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
-		}
+			//Smooth relative cubic curve
+			case 's':
+				if (i > 1 && (commands[i-1].code == 's' || commands[i-1].code == 'c' || commands[i-1].code == 'C' || commands[i-1].code == 'S')) {
+					var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
+					var ctrl = {x:reflect(commands[i-1].x2).x, y:reflect(commands[i-1].y2).y};
+				}
+				else
+					var ctrl = {x:currentPoint.x, y:currentPoint.y};
 
-		//Smooth relative cubic curve
-		else if (cmdCode == 's') {
-			if (i > 1 && (commands[i-1].code == 's' || commands[i-1].code == 'c' || commands[i-1].code == 'C' || commands[i-1].code == 'S')) {
-				var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
-				var ctrl = {x:reflect(commands[i-1].x2).x, y:reflect(commands[i-1].y2).y};
-			}
-			else
-				var ctrl = {x:currentPoint.x, y:currentPoint.y};
+				relCubicCurve(ctrl.x, ctrl.y, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
+				break;
 
-			relCubicCurve(ctrl.x, ctrl.y, commands[i].x2, commands[i].y2, commands[i].x, commands[i].y);
-		}
+			case 'Q':
+				quadraticCurve(commands[i].x1, commands[i].y1, commands[i].x, commands[i].y);
+				break;
 
-		else if (cmdCode == 'Q') {
-			quadraticCurve(commands[i].x1, commands[i].y1, commands[i].x, commands[i].y);
-		}
+			case 'q':
+				relQuadraticCurve(commands[i].x1, commands[i].y1, commands[i].x, commands[i].y);
+				break;
 
-		else if (cmdCode == 'q') {
-			relQuadraticCurve(commands[i].x1, commands[i].y1, commands[i].x, commands[i].y);
-		}
-
-		//Smooth quadratic curve
-		else if (cmdCode == 'T') {
-			if (i > 1 && (commands[i-1].code == 't' || commands[i-1].code == 'q' || commands[i-1].code == 'Q' || commands[i-1].code == 'T')) {
-				var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
-				var ctrl = {x:reflect(commands[i-1].x1).x, y:reflect(commands[i-1].y1).y};
-			}
-			else
-				var ctrl = {x:currentPoint.x, y:currentPoint.y};
+			//Smooth quadratic curve
+			case 'T':
+				if (i > 1 && (commands[i-1].code == 't' || commands[i-1].code == 'q' || commands[i-1].code == 'Q' || commands[i-1].code == 'T')) {
+					var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
+					var ctrl = {x:reflect(commands[i-1].x1).x, y:reflect(commands[i-1].y1).y};
+				}
+				else
+					var ctrl = {x:currentPoint.x, y:currentPoint.y};
 
-			quadraticCurve(ctrl.x, ctrl.y, commands[i].x, commands[i].y);
-		}
+				quadraticCurve(ctrl.x, ctrl.y, commands[i].x, commands[i].y);
+				break;
 
-		//Smooth relative quadratic curve
-		else if (cmdCode == 't') {
-			if (i > 1 && (commands[i-1].code == 't' || commands[i-1].code == 'q' || commands[i-1].code == 'Q' || commands[i-1].code == 'T')) {
-				var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
-				var ctrl = {x:reflect(commands[i-1].x1).x, y:reflect(commands[i-1].y1).y};
+			//Smooth relative quadratic curve
+			case 't':
+				if (i > 1 && (commands[i-1].code == 't' || commands[i-1].code == 'q' || commands[i-1].code == 'Q' || commands[i-1].code == 'T')) {
+					var reflected = reflect(commands[i].x, commands[i].y, commands[i-1].x, commands[i-1].y);
+					var ctrl = {x:reflect(commands[i-1].x1).x, y:reflect(commands[i-1].y1).y};
+				}
+				else
+					var ctrl = {x:currentPoint.x, y:currentPoint.y};
+
+				relQuadraticCurve(ctrl.x, ctrl.y, commands[i].x, commands[i].y);
+				break;
+
+			case 'A':
+				arc(commands[i].rx, commands[i].ry, commands[i].xAxisRotation, commands[i].largeArc, commands[i].sweep, commands[i].x, commands[i].y);
+				break;
+
+			case 'a':
+				relArc(commands[i].rx, commands[i].ry, commands[i].xAxisRotation, commands[i].largeArc, commands[i].sweep, commands[i].x, commands[i].y);
+				break;
+
+			case 'Z': 
+				line(firstPoint.x, firstPoint.y);
+				firstPoint = null;
+				break;
+			
+			case 'z':
+				line(firstPoint.x, firstPoint.y);
+				firstPoint = null;
+				break;
 			}
-			else
-				var ctrl = {x:currentPoint.x, y:currentPoint.y};
-
-			relQuadraticCurve(ctrl.x, ctrl.y, commands[i].x, commands[i].y);
-		}
-
-		else if (cmdCode == 'A')
-			arc(commands[i].rx, commands[i].ry, commands[i].xAxisRotation, commands[i].largeArc, commands[i].sweep, commands[i].x, commands[i].y);
-
-		else if (cmdCode == 'a')
-			relArc(commands[i].rx, commands[i].ry, commands[i].xAxisRotation, commands[i].largeArc, commands[i].sweep, commands[i].x, commands[i].y);
-		
-		else if (cmdCode == 'Z' || cmdCode == 'z') {
-			line(firstPoint.x, firstPoint.y);
-			firstPoint = null;
 		}
 	}
-}
-
-SVGReader.prototype.loadFont = function(filePath) {
-	try {
-		parseString(fs.readFileSync(filePath, "utf8"), function(err, result) {
-		parsed = JSON.stringify(result, null, 1);
-		loaded = true;
-	});
-	} catch (e) {
-		if (e.code === "ENOENT")
-			console.log("File not found.");
-		else
-			throw e;
-
-		return; //If the file is not found stop execution
-	}
-
-	//Parse the JSON string into an array
-	fontFile = JSON.parse(parsed);
-
-	//Extract width and height data from the drawing
-	var svgDimensions = dimensionConversion(fontFile.svg.$.width, fontFile.svg.$.height);
-	width = svgDimensions.width;
-	height = svgDimensions.height; 
-
-	fontFile = fontFile.svg.g[0].path;
-	//svg.loadFont("C:/Projects/Tapsterbot/software/src/fontFile.svg")
-}
 
 //Creates a working clock
-//To-do: Add support for user-specified fonts
-SVGReader.prototype.clock = function(filePath) {
+SVGReader.prototype.clock = function() {
 	var dimensions = dimensionConversion("80mm", "95mm"); //Since no dimensions are specified, assume the default
 														  //To-do: Pull this from a config file
 	width = dimensions.width;
 	height = dimensions.height;
 
-	if (filePath)
-		this.loadFont(filePath);
-	else {
-		console.log("Font not specified. Using default font.");
-		loaded = false;
-	}
-
 	objRef = this;
 
 	resetTimer();
@@ -631,28 +602,19 @@ SVGReader.prototype.clock = function(filePath) {
 	halfway = {x:width / 2, y:height / 2};
 	currentPoint = {x:halfway.x, y:halfway.y}; //Start at the center of the canvas, which corresponds to (0,0) on the Tapster
 
-	if (connected) {
-		for (var i = 0; i < fontFile.length; i++) {
-			pathData[fontFile[i].$.id] == fontFile[i].$.d;
-		}
-	}
-
-	else {
-		//Currently hardcoded path data
-		//To-do: Allow users to specify fonts
-		var zero = "M 40.890286,241.44557 30.687127,245.57254 23.885021,257.95342 20.483968,278.58823 20.483968,290.96912 23.885021,311.60393 30.687127,323.98482 40.890286,328.11178 47.692392,328.11178 57.895551,323.98482 64.697657,311.60393 68.09871,290.96912 68.09871,278.58823 64.697657,257.95342 57.895551,245.57254 47.692392,241.44557 40.890286,241.44557";
-		var one = "M 50.289453,243.07635 50.289453,329.52761";
-		var two = "M 27.618803,262.08031 27.618803,257.95271 30.945521,249.69749 34.27224,245.56989 40.925676,241.44228 54.23255,241.44228 60.885986,245.56989 64.212704,249.69749 67.539423,257.95271 67.539423,266.20792 64.212704,274.46313 57.559268,286.84595 24.292085,328.12202 70.866141,328.12202";
-		var three = "M 33.809127,248.8729 C 45.779077,241.87747 46.887418,243.5556 53.186196,243.05913 61.663816,242.39092 65.286579,246.55715 64.812967,252.72615 64.140416,261.48642 55.207358,274.28536 40.185777,283.01419 L 52.623884,281.94331 59.295192,285.47169 62.630846,289.00007 65.9665,299.58523 65.9665,306.64193 62.630846,317.22713 55.959538,324.28383 45.952576,327.81223 35.945614,327.81223 25.938652,324.28383 22.602998,320.75553 19.267344,313.69873";
-		var four = "M 54.845427,241.51709 22.803997,300.19076 70.866142,300.19076 M 54.845427,241.51709 54.845427,329.5276";
-		var five = "M 61.700462,246.77512 26.654546,246.77512 23.149954,281.56734 26.654546,277.70154 37.168321,273.83574 47.682096,273.83574 58.19587,277.70154 65.205054,285.43315 68.709645,297.03055 68.709645,304.76216 65.205054,316.35956 58.19587,324.09117 47.682096,327.95697 37.168321,327.95697 26.654546,324.09117 23.149954,320.22537 19.645363,312.49376";
-		var six = "M 64.294901,253.7887 60.65789,245.53396 49.746856,241.40659 42.472833,241.40659 31.561799,245.53396 24.287776,257.91607 20.650765,278.55291 20.650765,299.18976 24.287776,315.69923 31.561799,323.95397 42.472833,328.08134 46.109844,328.08134 57.020878,323.95397 64.294901,315.69923 67.931912,303.31713 67.931912,299.18976 64.294901,286.80765 57.020878,278.55291 46.109844,274.42554 42.472833,274.42554 31.561799,278.55291 24.287776,286.80765 20.650765,299.18976";
-		var seven = "M 68.262659,241.73033 32.158284,328.90301 M 17.716535,241.73033 68.262659,241.73033";
-		var eight = "M 37.489233,241.44557 27.286074,245.57254 23.885021,253.82646 23.885021,262.08039 27.286074,270.33431 34.08818,274.46127 47.692392,278.58823 57.895551,282.7152 64.697657,290.96912 68.09871,299.22304 68.09871,311.60393 64.697657,319.85785 61.296604,323.98482 51.093445,328.11178 37.489233,328.11178 27.286074,323.98482 23.885021,319.85785 20.483968,311.60393 20.483968,299.22304 23.885021,290.96912 30.687127,282.7152 40.890286,278.58823 54.494498,274.46127 61.296604,270.33431 64.697657,262.08039 64.697657,253.82646 61.296604,245.57254 51.093445,241.44557 37.489233,241.44557";
-		var nine = "M 67.931912,270.29818 64.2949,282.68028 57.020878,290.93502 46.109844,295.06239 42.472833,295.06239 31.561799,290.93502 24.287776,282.68028 20.650765,270.29818 20.650765,266.17081 24.287776,253.7887 31.561799,245.53396 42.472833,241.40659 46.109844,241.40659 57.020878,245.53396 64.2949,253.7887 67.931912,270.29818 67.931912,290.93502 64.2949,311.57186 57.020878,323.95397 46.109844,328.08134 38.835821,328.08134 27.924787,323.95397 24.287776,315.69923";
-
-		pathData = [zero, one, two, three, four, five, six, seven, eight, nine];
-	}
+	//Currently hardcoded path data
+	var zero = "M 40.890286,241.44557 30.687127,245.57254 23.885021,257.95342 20.483968,278.58823 20.483968,290.96912 23.885021,311.60393 30.687127,323.98482 40.890286,328.11178 47.692392,328.11178 57.895551,323.98482 64.697657,311.60393 68.09871,290.96912 68.09871,278.58823 64.697657,257.95342 57.895551,245.57254 47.692392,241.44557 40.890286,241.44557";
+	var one = "M 50.289453,243.07635 50.289453,329.52761";
+	var two = "M 27.618803,262.08031 27.618803,257.95271 30.945521,249.69749 34.27224,245.56989 40.925676,241.44228 54.23255,241.44228 60.885986,245.56989 64.212704,249.69749 67.539423,257.95271 67.539423,266.20792 64.212704,274.46313 57.559268,286.84595 24.292085,328.12202 70.866141,328.12202";
+	var three = "M 33.809127,248.8729 C 45.779077,241.87747 46.887418,243.5556 53.186196,243.05913 61.663816,242.39092 65.286579,246.55715 64.812967,252.72615 64.140416,261.48642 55.207358,274.28536 40.185777,283.01419 L 52.623884,281.94331 59.295192,285.47169 62.630846,289.00007 65.9665,299.58523 65.9665,306.64193 62.630846,317.22713 55.959538,324.28383 45.952576,327.81223 35.945614,327.81223 25.938652,324.28383 22.602998,320.75553 19.267344,313.69873";
+	var four = "M 54.845427,241.51709 22.803997,300.19076 70.866142,300.19076 M 54.845427,241.51709 54.845427,329.5276";
+	var five = "M 61.700462,246.77512 26.654546,246.77512 23.149954,281.56734 26.654546,277.70154 37.168321,273.83574 47.682096,273.83574 58.19587,277.70154 65.205054,285.43315 68.709645,297.03055 68.709645,304.76216 65.205054,316.35956 58.19587,324.09117 47.682096,327.95697 37.168321,327.95697 26.654546,324.09117 23.149954,320.22537 19.645363,312.49376";
+	var six = "M 64.294901,253.7887 60.65789,245.53396 49.746856,241.40659 42.472833,241.40659 31.561799,245.53396 24.287776,257.91607 20.650765,278.55291 20.650765,299.18976 24.287776,315.69923 31.561799,323.95397 42.472833,328.08134 46.109844,328.08134 57.020878,323.95397 64.294901,315.69923 67.931912,303.31713 67.931912,299.18976 64.294901,286.80765 57.020878,278.55291 46.109844,274.42554 42.472833,274.42554 31.561799,278.55291 24.287776,286.80765 20.650765,299.18976";
+	var seven = "M 68.262659,241.73033 32.158284,328.90301 M 17.716535,241.73033 68.262659,241.73033";
+	var eight = "M 37.489233,241.44557 27.286074,245.57254 23.885021,253.82646 23.885021,262.08039 27.286074,270.33431 34.08818,274.46127 47.692392,278.58823 57.895551,282.7152 64.697657,290.96912 68.09871,299.22304 68.09871,311.60393 64.697657,319.85785 61.296604,323.98482 51.093445,328.11178 37.489233,328.11178 27.286074,323.98482 23.885021,319.85785 20.483968,311.60393 20.483968,299.22304 23.885021,290.96912 30.687127,282.7152 40.890286,278.58823 54.494498,274.46127 61.296604,270.33431 64.697657,262.08039 64.697657,253.82646 61.296604,245.57254 51.093445,241.44557 37.489233,241.44557";
+	var nine = "M 67.931912,270.29818 64.2949,282.68028 57.020878,290.93502 46.109844,295.06239 42.472833,295.06239 31.561799,290.93502 24.287776,282.68028 20.650765,270.29818 20.650765,266.17081 24.287776,253.7887 31.561799,245.53396 42.472833,241.40659 46.109844,241.40659 57.020878,245.53396 64.2949,253.7887 67.931912,270.29818 67.931912,290.93502 64.2949,311.57186 57.020878,323.95397 46.109844,328.08134 38.835821,328.08134 27.924787,323.95397 24.287776,315.69923";
+
+	pathData = [zero, one, two, three, four, five, six, seven, eight, nine];
 
 	var colon = "M 165.73227,300.21546 Z M 165.73227,253.34648 Z";
 	var arrayTime = new Array();

From c57b4276891dfedbc794b352cd3824297a228f0a Mon Sep 17 00:00:00 2001
From: Jack Skalitzky <johnskalitzky@hotmail.com>
Date: Tue, 28 Jul 2015 14:19:40 -0500
Subject: [PATCH 43/43] Misc. clean up

---
 software/src/draw.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/software/src/draw.js b/software/src/draw.js
index 8b6e025..066eb05 100644
--- a/software/src/draw.js
+++ b/software/src/draw.js
@@ -222,7 +222,7 @@ Draw.prototype.drawCircle = function(args) {
 //radius: radius of largest spiral (default: 30)
 //zLevel: height at which to draw the spiral (default: penHeight)
 //ptArray: an array of points to draw instead of calculating the spiral again (default: null)
-Draw.prototype.drawSpiral = function(args) { //spirals, radius, zLevel, ptArray) {
+Draw.prototype.drawSpiral = function(args) {
 
   this.startX = 0;
   this.startY = 0;