├── .gitignore ├── BaseStation └── Zippy Base Station │ ├── .gitignore │ ├── boards │ └── tinyscreen_p.json │ ├── include │ └── zippies │ │ ├── basestation │ │ └── BaseStationController.h │ │ └── hardware │ │ └── Bluetooth.h │ ├── lib │ └── STBLE │ │ ├── changelog.txt │ │ ├── examples │ │ └── UARTPassThrough │ │ │ ├── UART.ino │ │ │ └── UARTPassThrough.ino │ │ ├── library.json │ │ ├── library.properties │ │ └── src │ │ ├── STBLE.h │ │ ├── STBlueNRG │ │ ├── ble_clock.h │ │ ├── ble_list.c │ │ ├── ble_list.h │ │ ├── ble_status.h │ │ ├── bluenrg_IFR.c │ │ ├── bluenrg_aci.h │ │ ├── bluenrg_aci_const.h │ │ ├── bluenrg_gap.h │ │ ├── bluenrg_gap_aci.c │ │ ├── bluenrg_gap_aci.h │ │ ├── bluenrg_gatt_aci.c │ │ ├── bluenrg_gatt_aci.h │ │ ├── bluenrg_gatt_server.h │ │ ├── bluenrg_hal_aci.c │ │ ├── bluenrg_hal_aci.h │ │ ├── bluenrg_l2cap_aci.c │ │ ├── bluenrg_l2cap_aci.h │ │ ├── bluenrg_updater_aci.c │ │ ├── bluenrg_updater_aci.h │ │ ├── bluenrg_utils.c │ │ ├── bluenrg_utils.h │ │ ├── compiler.h │ │ ├── debug.h │ │ ├── gp_timer.c │ │ ├── gp_timer.h │ │ ├── hal.h │ │ ├── hal_types.h │ │ ├── hci.c │ │ ├── hci.h │ │ ├── hci_const.h │ │ ├── hci_le.c │ │ ├── hci_le.h │ │ ├── link_layer.h │ │ ├── osal.c │ │ ├── osal.h │ │ └── sm.h │ │ ├── arduino_bluenrg_ble.cpp │ │ ├── arduino_bluenrg_ble.h │ │ └── arduino_hal.h │ ├── platformio.ini │ └── src │ ├── BaseStation.ino │ ├── basestation │ └── BaseStationController.cpp │ └── hardware │ └── Bluetooth.cpp ├── BodyModels ├── Body Bottom.3mf ├── Body Middle - Experimental.3mf ├── Body Middle.3mf ├── Body Parts.skp ├── Body Top.3mf ├── Experimental Models.skp ├── README.md ├── Recharging Station.skp ├── STL │ ├── Body Bottom.stl │ ├── Body Middle.gcode │ ├── Body Middle.stl │ ├── Body Top.stl │ └── Wheel.stl └── Wheels.3mf ├── Documentation ├── Hardware.md └── LighthouseCircuitBOM.md ├── LICENSE ├── LighthouseCircuit ├── EagleLibrary │ └── ZippyComponentLibrary.lbr ├── Experimental │ ├── ZippyLighthouseCircuit_v16.brd │ ├── ZippyLighthouseCircuit_v16.sch │ ├── ZippyLighthouseCircuit_v17.brd │ └── ZippyLighthouseCircuit_v17.sch ├── README.md ├── ZippyLighthouseCircuit_v15.brd └── ZippyLighthouseCircuit_v15.sch ├── PlatformIO ├── .gitignore ├── .vscode │ ├── extensions.json │ ├── settings.json │ └── tasks.json ├── README.md ├── Zippies.code-workspace ├── boards │ └── tinyscreen_p.json ├── include │ ├── Zippies.h │ └── zippies │ │ ├── ZippyControllers.h │ │ ├── ZippyHardware.h │ │ ├── ZippyMath.h │ │ ├── ZippyPursuit.h │ │ ├── config │ │ ├── BodyConfig.h │ │ ├── PIDConfig.h │ │ ├── ZippyConfig.h │ │ └── ZippyRoutines.h │ │ ├── controllers │ │ ├── BaseStationController.h │ │ ├── DebugDisplayController.h │ │ ├── Driver.h │ │ ├── DrivingController.h │ │ ├── LighthouseController.h │ │ ├── MotorTuningController.h │ │ └── ZippyController.h │ │ ├── displays │ │ ├── FaceDisplay.h │ │ └── FaceGraphics.h │ │ ├── hardware │ │ ├── Bluetooth.h │ │ ├── LighthouseAxis.h │ │ ├── LighthouseOOTX.h │ │ ├── LighthouseSensor.h │ │ ├── MotorDriver.h │ │ ├── MotorDriverConstants.h │ │ ├── SensorFusor.h │ │ ├── T841Defs.h │ │ ├── Zippy.h │ │ ├── ZippyFace.h │ │ └── ZippyWheel.h │ │ ├── math │ │ ├── StatisticsAccumulator.h │ │ ├── ZCubicHermiteSpline.h │ │ ├── ZMatrix2.h │ │ ├── ZPID.h │ │ ├── ZQuaternion3.h │ │ ├── ZRotation2.h │ │ ├── ZVector2.h │ │ ├── ZVector2OM.h │ │ └── ZVector3.h │ │ └── pursuit │ │ ├── PursuitController.h │ │ ├── ScissorPursuitController.h │ │ └── StanleyPursuitController.h ├── lib │ ├── STBLE │ │ ├── changelog.txt │ │ ├── examples │ │ │ └── UARTPassThrough │ │ │ │ ├── UART.ino │ │ │ │ └── UARTPassThrough.ino │ │ ├── library.json │ │ ├── library.properties │ │ └── src │ │ │ ├── STBLE.h │ │ │ ├── STBlueNRG │ │ │ ├── ble_clock.h │ │ │ ├── ble_list.c │ │ │ ├── ble_list.h │ │ │ ├── ble_status.h │ │ │ ├── bluenrg_IFR.c │ │ │ ├── bluenrg_aci.h │ │ │ ├── bluenrg_aci_const.h │ │ │ ├── bluenrg_gap.h │ │ │ ├── bluenrg_gap_aci.c │ │ │ ├── bluenrg_gap_aci.h │ │ │ ├── bluenrg_gatt_aci.c │ │ │ ├── bluenrg_gatt_aci.h │ │ │ ├── bluenrg_gatt_server.h │ │ │ ├── bluenrg_hal_aci.c │ │ │ ├── bluenrg_hal_aci.h │ │ │ ├── bluenrg_l2cap_aci.c │ │ │ ├── bluenrg_l2cap_aci.h │ │ │ ├── bluenrg_updater_aci.c │ │ │ ├── bluenrg_updater_aci.h │ │ │ ├── bluenrg_utils.c │ │ │ ├── bluenrg_utils.h │ │ │ ├── compiler.h │ │ │ ├── debug.h │ │ │ ├── gp_timer.c │ │ │ ├── gp_timer.h │ │ │ ├── hal.h │ │ │ ├── hal_types.h │ │ │ ├── hci.c │ │ │ ├── hci.h │ │ │ ├── hci_const.h │ │ │ ├── hci_le.c │ │ │ ├── hci_le.h │ │ │ ├── link_layer.h │ │ │ ├── osal.c │ │ │ ├── osal.h │ │ │ └── sm.h │ │ │ ├── arduino_bluenrg_ble.cpp │ │ │ ├── arduino_bluenrg_ble.h │ │ │ └── arduino_hal.h │ ├── TS │ │ ├── .gitattributes │ │ ├── .gitignore │ │ ├── .piopm │ │ ├── LiberationSansLicense.txt │ │ ├── License.txt │ │ ├── README.md │ │ ├── TinyScreen.cpp │ │ ├── TinyScreen.h │ │ ├── examples │ │ │ └── TinyScreenBasicExample │ │ │ │ └── TinyScreenBasicExample.ino │ │ ├── font.h │ │ ├── fontLicense.txt │ │ ├── keywords.txt │ │ ├── library.properties │ │ └── thinPixel7License.txt │ └── readme.txt ├── package.json ├── platformio.ini └── src │ ├── README.md │ ├── ZippiesTinyScreen.cpp │ ├── config │ ├── ZippyConfig.cpp │ ├── ZippyRoutines.cpp │ └── ZippyRoutinesBase.cpp │ ├── controllers │ ├── BaseStationController.cpp │ ├── DebugDisplayController.cpp │ ├── Driver.cpp │ ├── DrivingController.cpp │ ├── LighthouseController.cpp │ └── MotorTuningController.cpp │ ├── displays │ ├── FaceDisplay.cpp │ └── FaceGraphics.cpp │ ├── hardware │ ├── Bluetooth.cpp │ ├── LighthouseOOTX.cpp │ ├── LighthouseSensor.cpp │ ├── MotorDriver.cpp │ ├── SensorFusor.cpp │ ├── Zippy.cpp │ └── ZippyFace.cpp │ ├── math │ ├── ZCubicHermiteSpline.cpp │ ├── ZMatrix2.cpp │ ├── ZPID.cpp │ ├── ZQuaternion3.cpp │ ├── ZRotation2.cpp │ ├── ZVector2.cpp │ ├── ZVector2OM.cpp │ └── ZVector3.cpp │ └── pursuit │ ├── ScissorPursuitController.cpp │ └── StanleyPursuitController.cpp ├── README.md └── iOSClient ├── .gitignore ├── Artwork ├── Face.pxm ├── Facial Expressions.pxm ├── Vector Face.pxm ├── Zippy Application Icon 180x180.pxm └── Zippy Application Icon.pxm ├── Assets.xcassets └── AppIcon.appiconset │ └── Contents.json ├── Base.lproj └── LaunchScreen.storyboard ├── Info.plist ├── Lighthouse.swift ├── README.md ├── SnappingSlider.swift ├── Zippies.xcodeproj ├── project.pbxproj └── project.xcworkspace │ └── contents.xcworkspacedata ├── Zippies ├── Communication │ ├── BluetoothPeripheral.swift │ ├── PeripheralFinder.swift │ ├── Zippy.swift │ ├── Zippy2.swift │ └── ZippyManager.swift ├── Default-568h@2x.png ├── Images.xcassets │ ├── AppIcon.appiconset │ │ ├── Contents.json │ │ ├── ZippyApplicationIcon1024x1024.png │ │ ├── ZippyApplicationIcon180x180.png │ │ └── ZippyApplicationIcon60x60x2.png │ ├── Contents.json │ └── LaunchImage.launchimage │ │ └── Contents.json ├── Math │ ├── ZBiArc.swift │ ├── ZCubicHemiteSpline.swift │ ├── ZMathUtils.swift │ ├── ZMatrix2.swift │ ├── ZPlucker3.swift │ ├── ZRotation2.swift │ ├── ZVector2.swift │ └── 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