├── src ├── MiP_sounds.h ├── MiP_Parameters.h ├── MiP_commands.h └── MiP_commands.cpp ├── library.properties ├── examples ├── MiP_Test │ └── MiP_Test.ino └── MiP_turnAngle │ └── MiP_turnAngle.ino ├── README.md └── LICENSE.md /src/MiP_sounds.h: -------------------------------------------------------------------------------- 1 | /* 2 | * MiP_sounds.h 3 | * 4 | * Created on: Jul 1, 2014 5 | * Author: caseykuhns 6 | */ 7 | 8 | #ifndef MIP_SOUNDS_H_ 9 | #define MIP_SOUNDS_H_ 10 | 11 | enum Sounds{ 12 | TEST_SOUND = 1, 13 | BURP 14 | 15 | }; 16 | 17 | 18 | 19 | 20 | 21 | 22 | #endif /* MIP_SOUNDS_H_ */ 23 | -------------------------------------------------------------------------------- /library.properties: -------------------------------------------------------------------------------- 1 | name=SparkFun MiP Arduino Library 2 | version=1.1.0 3 | author=Casey K. for SparkFun Electronics 4 | maintainer=SparkFun Electronics 5 | sentence=Library for the MiP ProMini Pack. 6 | paragraph= Library provides functionality to control MiP robot. Includes sending/receiving messages, setting volume, etc. 7 | category=Device Control 8 | url=https://github.com/sparkfun/SparkFun_MiP_Arduino_Library 9 | architectures=* -------------------------------------------------------------------------------- /examples/MiP_Test/MiP_Test.ino: -------------------------------------------------------------------------------- 1 | /*MiP Test example 2 | Written by Casey Kuhns 3 | SparkFun Electronics 4 | 5 | 2015 6 | */ 7 | #include "MiP_commands.h" 8 | 9 | MiP MyMiP(2,3); 10 | 11 | void setup(){ 12 | 13 | MyMiP.init(); //Serial port is configured for 115200 14 | Serial.print("MiP is Alive!!!"); 15 | delay(100); //Need a delay to let the buffer clear 16 | 17 | } 18 | 19 | 20 | 21 | void loop() { 22 | 23 | MyMiP.playSingleSound(BURP); 24 | delay(100); 25 | MyMiP.distanceDrive(20, 45); 26 | loop_LEDs(); 27 | 28 | delay(5000); 29 | 30 | 31 | } 32 | 33 | void loop_LEDs(){ 34 | 35 | MyMiP.setChestLED(255, 0, 0); 36 | delay(200); 37 | MyMiP.setChestLED(0, 255, 0); 38 | delay(200); 39 | MyMiP.setChestLED(0, 0, 255); 40 | delay(200); 41 | 42 | } 43 | -------------------------------------------------------------------------------- /examples/MiP_turnAngle/MiP_turnAngle.ino: -------------------------------------------------------------------------------- 1 | /*MiP Turn Angle example 2 | Written by 2stacks 3 | 2016 4 | */ 5 | 6 | #include 7 | #include 8 | #include 9 | 10 | 11 | MiP MyMiP(2,3); 12 | 13 | void setup(){ 14 | 15 | MyMiP.init(); //Serial port is configured for 115200 16 | Serial.print("MiP is Alive!!!"); 17 | delay(100); //Need a delay to let the buffer clear 18 | 19 | } 20 | 21 | void loop() { 22 | 23 | MyMiP.playSingleSound(BURP); 24 | delay(3000); 25 | 26 | /* 27 | * MyMiP.turnAngle(Direction, Angle, Speed); 28 | * Direction 29 | * 0 = Right 30 | * 1 = Left 31 | * Angle in intervals of 5 degrees (0~255) 32 | * 18 = 90 degrees 33 | * 36 = 180 degrees 34 | * 54 = 270 degrees 35 | * 72 = 360 degrees 36 | * 255 = 1275 degrees or 3.5 complete rotations 37 | * Speed (0~24) 38 | */ 39 | 40 | 41 | MyMiP.turnAngle(0, 18, 24); 42 | delay(3000); 43 | MyMiP.turnAngle(1, 18, 12); 44 | delay(3000); 45 | MyMiP.turnAngle(1, 72, 24); 46 | delay(3000); 47 | MyMiP.turnAngle(0, 72, 12); 48 | delay(3000); 49 | MyMiP.turnAngle(0, 255, 24); 50 | delay(3000); 51 | 52 | } 53 | -------------------------------------------------------------------------------- /src/MiP_Parameters.h: -------------------------------------------------------------------------------- 1 | /* 2 | * MiP_Parameters.h 3 | * 4 | * Created on: Jul 3, 2014 5 | * Author: caseykuhns 6 | */ 7 | 8 | #ifndef MIP_PARAMETERS_H_ 9 | #define MIP_PARAMETERS_H_ 10 | 11 | enum SetPosition{ 12 | FACEUP = 0, 13 | FACEDOWN 14 | }; 15 | 16 | enum Parameters{ 17 | BATTERY_LEVEL, 18 | ORIENTATION, 19 | 20 | WEIGHT_UPDATE, 21 | 22 | CHEST_LED_RED, 23 | CHEST_LED_GREEN, 24 | CHEST_LED_BLUE, 25 | CHEST_LED_TIME_ON, 26 | CHEST_LED_TIME_OFF, 27 | 28 | HEAD_LED_1, 29 | HEAD_LED_2, 30 | HEAD_LED_3, 31 | HEAD_LED_4, 32 | 33 | RADAR_MODE, 34 | 35 | MIP_DETECTION_MODE, 36 | MIP_DETECCTION_ID, 37 | MIP_DETECTION_POWER, 38 | 39 | IR_CONTROL, 40 | 41 | VOLUME, 42 | 43 | VERSION_VOICECHIP, 44 | VERSION_HARDWARE, 45 | }; 46 | 47 | 48 | enum Game{ 49 | APP = 1, 50 | PLAY_BACK, 51 | TRACKING, 52 | DANCE, 53 | //DEFAULT, 54 | STACK, 55 | TRICKS, 56 | ROAM 57 | }; 58 | 59 | enum GetUp{ 60 | FRONT, 61 | BACK, 62 | BOTH 63 | }; 64 | 65 | enum LEDState{ 66 | OFF, 67 | ON, 68 | BLINK_SLOW, 69 | BLINK_FAST 70 | }; 71 | 72 | enum LEDColor{ 73 | RED, 74 | GREEN, 75 | BLUE 76 | }; 77 | 78 | enum Commands{ 79 | GET_VOLUME = 0x16 80 | }; 81 | 82 | enum Comms{ 83 | MAX_RETRIES = 10 84 | }; 85 | #endif /* MIP_PARAMETERS_H_ */ 86 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | SparkFun MiP Arduino Library 2 | ============================= 3 | 4 | Library for the MiP balancing robot by WowWee 5 | 6 | Repository Contents 7 | ------------------- 8 | 9 | * **/examples** - Example sketches for the library (.ino). Run these from the Arduino IDE. 10 | * **/extras** - Additional documentation for the user. These files are ignored by the IDE. 11 | * **/src** - Source files for the library (.cpp, .h). 12 | * **keywords.txt** - Keywords from this library that will be highlighted in the Arduino IDE. 13 | * **library.properties** - General library properties for the Arduino package manager. 14 | 15 | Documentation 16 | -------------- 17 | 18 | * **[Installing an Arduino Library Guide](https://learn.sparkfun.com/tutorials/installing-an-arduino-library)** - Basic information on how to install an Arduino library. 19 | * **[Product Repository](https://github.com/sparkfun/MiP_ProMini-Pack)** - Main repository (including hardware files) for the MiP ProMini-Pack. 20 | * **[Hookup Guide](https://learn.sparkfun.com/tutorials/hacking-the-mip---promini-pack)** - Basic hookup guide for the MiP ProMini-Pack. 21 | 22 | Products that use this Library 23 | --------------------------------- 24 | 25 | * [DEV-13058](https://www.sparkfun.com/products/13058)- ProMini Pack that allows hacking of a WowWee MiP. 26 | 27 | License Information 28 | ------------------- 29 | 30 | This product is _**open source**_! 31 | 32 | Please review the LICENSE.md file for license information. 33 | 34 | If you have any questions or concerns on licensing, please contact techsupport@sparkfun.com. 35 | 36 | Distributed as-is; no warranty is given. 37 | 38 | - Your friends at SparkFun. -------------------------------------------------------------------------------- /src/MiP_commands.h: -------------------------------------------------------------------------------- 1 | /* 2 | * MiP_commands.h 3 | * 4 | * Created on: Jul 1, 2014 5 | * Author: caseykuhns 6 | */ 7 | 8 | #ifndef MIP_COMMANDS_H_ 9 | #define MIP_COMMANDS_H_ 10 | 11 | #include "MiP_sounds.h" 12 | #include "MiP_Parameters.h" 13 | #include 14 | struct _LEDColor; 15 | class MiP { 16 | public: 17 | MiP(int8_t UART_Select_S, int8_t UART_Select_R); 18 | ~MiP(); 19 | typedef struct _LEDColor 20 | { 21 | int red; 22 | int green; 23 | int blue; 24 | } LEDColor; 25 | 26 | void init(void); 27 | 28 | void playSingleSound(Sounds MiPSound); 29 | void setPosition(SetPosition pose); 30 | void distanceDrive(int16_t distance, int16_t angle); 31 | 32 | 33 | // void timeDrive(int8_t direction, int8_t speed, uint8_t time); 34 | void turnAngle(int8_t direction, int8_t speed, uint8_t angle); 35 | /* 36 | void continuousDrive(int8_t direction, int8_t speed); 37 | */ 38 | void stop(void); 39 | /* 40 | void setGameMode(int8_t mode); 41 | 42 | void getStatus(Parameter parameter); //TODO create struct for status 43 | */ 44 | void standUp(int8_t state); 45 | /* 46 | //uint8_t getWeightStatus(void); 47 | */ 48 | void requestChestLED(void); //TODO create struct for chest LEDs 49 | 50 | void setChestLED(uint8_t red, uint8_t green, uint8_t blue); 51 | /* 52 | void flashChestLED(uint8_t red, uint8_t green, uint8_t blue, uint8_t time_on, uint8_t time_off); 53 | */ 54 | void setHeadLEDs(uint8_t light1, uint8_t light2, uint8_t light3, uint8_t light4); 55 | /* 56 | void getHeadLEDs(void); //TODO create struct for head LEDs 57 | 58 | uint32_t getOdometer(void); 59 | void resetOdometer(void); 60 | 61 | //void setGestureDetectMode(int8_t mode); 62 | //int8_t getGestureDetectMode(void); 63 | int8_t getGestureDetect(void); 64 | int8_t getRadarDetect(void); 65 | 66 | //void setDetectionMode(int8_t mode, int8_t power); 67 | //void getDetectionMode(void); //TODO create structure for detection mode 68 | 69 | int8_t getShakeDetection(void); 70 | 71 | void setIRcontrol(int8_t mode); 72 | int8_t getIRcontrol(void); 73 | 74 | int8_t ping(void); 75 | 76 | void setEEPROMData(int8_t addr, uint8_t data); 77 | uint8_t getEEPROMData(int8_t addr); 78 | 79 | //void getSoftwareVersion(int8_t* version); 80 | //void getHardwareVersion(int8_t* version); 81 | */ 82 | void setVolume(int8_t volume); 83 | 84 | int8_t getVolume(); 85 | /* 86 | void setClapDetection(int8_t mode); 87 | int8_t getClapDetection(void); 88 | void getClapsRecieved(int8_t* claps); 89 | */ 90 | 91 | private: 92 | int8_t _UART_Select_S; //Variable to store UART Select pin. Default is D2 93 | int8_t _UART_Select_R; //Variable to store UART Select pin. Default is D2 94 | void sendMessage(unsigned char *message, uint8_t array_length); 95 | void getMessage(unsigned char *answer, int byteCount); 96 | uint8_t answer[8]; //Variable to store returned data from MiP 97 | void getData(); 98 | }; 99 | 100 | 101 | 102 | #endif /* MIP_COMMANDS_H_ */ 103 | -------------------------------------------------------------------------------- /src/MiP_commands.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * MiP_commands.cpp 3 | * 4 | * Created on: Jul 1, 2014 5 | * Author: caseykuhns 6 | */ 7 | 8 | #include "MiP_commands.h" 9 | #include "MiP_Parameters.h" 10 | #include 11 | 12 | MiP::MiP(int8_t UART_Select_S, int8_t UART_Select_R) { 13 | _UART_Select_S = UART_Select_S; //bring variable into a private variable. 14 | _UART_Select_R = UART_Select_R; //bring variable into a private variable. 15 | pinMode(_UART_Select_S, OUTPUT); 16 | pinMode(_UART_Select_R, INPUT); 17 | } 18 | 19 | MiP::~MiP() { 20 | // TODO Auto-generated destructor stub 21 | } 22 | 23 | void MiP::init(void){ 24 | Serial.begin(115200); 25 | uint8_t array_length = 9; 26 | uint8_t data_array[] = "TTM:OK\r\n"; 27 | sendMessage(data_array, array_length); 28 | } 29 | 30 | void MiP::playSingleSound(Sounds MiPSound){ 31 | uint8_t array_length = 5; 32 | uint8_t data_array[array_length]; 33 | data_array[0] = 0x06; //Play sound command from WowWee documentation 34 | data_array[1] = MiPSound; //User selected sound 35 | data_array[2] = 0; 36 | data_array[3] = 0; 37 | 38 | sendMessage(data_array, array_length); 39 | 40 | } 41 | 42 | void MiP::setPosition(SetPosition pose){ 43 | uint8_t array_length = 3; 44 | uint8_t data_array[array_length]; 45 | data_array[0] = 0x08; 46 | data_array[1] = pose; 47 | 48 | sendMessage(data_array, array_length); 49 | } 50 | 51 | void MiP::distanceDrive(int16_t distance, int16_t angle){ 52 | uint8_t array_length = 7; 53 | uint8_t data_array[array_length]; 54 | data_array[0] = 0x70; //Drive Distance Command 55 | 56 | if(distance >=0){ 57 | data_array[1] = 0x00; // Forward 58 | } 59 | else{ 60 | data_array[1] = 0x01; // Reverse 61 | }; 62 | data_array[2] = uint8_t(distance); 63 | 64 | if(angle >=0){ 65 | data_array[3] = 0x01; // Clockwise 66 | } 67 | else{ 68 | data_array[3] = 0x00; // Counter Clockwise 69 | }; 70 | 71 | angle = angle & 0x7fff; //remove direction from angle 72 | if(angle >= 360)angle = 360; //cap rotation at 360 deg 73 | 74 | data_array[4] = uint8_t(angle >> 8); 75 | data_array[5] = uint8_t(angle); 76 | 77 | sendMessage(data_array, array_length); 78 | 79 | }; 80 | 81 | /* 82 | //TODO 83 | void MiP::timeDrive(int8_t direction, int8_t speed, uint8_t time){ 84 | 85 | } 86 | */ 87 | 88 | void MiP::turnAngle(int8_t direction, int8_t angle, uint8_t speed){ 89 | uint8_t array_length = 4; 90 | uint8_t data_array[array_length]; 91 | 92 | if(direction == 0){ 93 | data_array[0] = 0x73; //Turn Left by Angle Command 94 | } 95 | else if(direction == 1){ 96 | data_array[0] = 0x74; //Turn Right by Angle Command 97 | } 98 | else{ 99 | data_array[0] = 0x73; //Default to Left Turn 100 | }; 101 | 102 | if(angle >= 255)angle = 255; //cap angle at max of 255 103 | data_array[1] = uint8_t(angle); //Angle in intervals of 5 degrees 104 | 105 | if(speed >= 24)speed = 24; //cap speed at max of 24 106 | data_array[2] = uint8_t(speed); 107 | 108 | sendMessage(data_array, array_length); 109 | 110 | } 111 | 112 | /* 113 | void MiP::continuousDrive(int8_t direction, int8_t speed){ 114 | 115 | } 116 | */ 117 | void MiP::stop(void){ 118 | uint8_t array_length = 1; 119 | uint8_t data_array[array_length]; 120 | data_array[0] = 0x77; 121 | 122 | sendMessage(data_array, array_length); 123 | } 124 | /* 125 | void MiP::setGameMode(Game mode){ 126 | uint8_t data_array[2]; 127 | data_array[0] = 0x76; 128 | data_array[1] = mode; 129 | 130 | sendMessage(data_array); 131 | } 132 | 133 | void MiP::getStatus(void){ 134 | 135 | } //TODO create struct for status 136 | */ 137 | void MiP::standUp(int8_t state){ 138 | uint8_t array_length = 2; 139 | uint8_t data_array[array_length]; 140 | data_array[0] = 0x23; 141 | data_array[1] = state; 142 | 143 | sendMessage(data_array, array_length); 144 | } 145 | /* 146 | uint8_t MiP::getWeightStatus(void){ 147 | uint8_t weight; 148 | 149 | return PLAY_BACK; 150 | } 151 | */ 152 | void MiP::requestChestLED(void){ 153 | uint8_t array_length = 4; 154 | uint8_t data_array[array_length]; 155 | 156 | data_array[0] = 0x83; 157 | data_array[1] = 0x00; 158 | data_array[2] = 0x00; 159 | data_array[3] = 0x00; 160 | //return new _LEDColor(); 161 | /* 162 | uint8_t returned_array[array_length]; 163 | returned_array[array_length] = sendMessage(data_array, array_length); 164 | if(returned_array[1] == 255) 165 | return RED; 166 | if(returned_array[1] == 255) 167 | return GREEN; 168 | if(returned_array[3] == 255) 169 | return BLUE; 170 | */ 171 | } 172 | 173 | void MiP::setChestLED(uint8_t red, uint8_t green, uint8_t blue){ 174 | uint8_t array_length = 4; 175 | uint8_t data_array[array_length]; 176 | data_array[0] = 0x84; 177 | data_array[1] = red; 178 | data_array[2] = green; 179 | data_array[3] = blue; 180 | 181 | sendMessage(data_array, array_length); 182 | } 183 | 184 | /* 185 | void MiP::flashChestLED(uint8_t red, uint8_t green, uint8_t blue, uint8_t time_on, uint8_t time_off){ 186 | 187 | } 188 | */ 189 | void MiP::setHeadLEDs(uint8_t light1, uint8_t light2, uint8_t light3, uint8_t light4){ 190 | uint8_t array_length = 6; 191 | uint8_t data_array[array_length]; 192 | data_array[0] = 0x8A; 193 | data_array[1] = light1; 194 | data_array[2] = light2; 195 | data_array[3] = light3; 196 | data_array[4] = light4; 197 | 198 | sendMessage(data_array, array_length); 199 | } 200 | /* 201 | void MiP::getHeadLEDs(void){ 202 | 203 | } //TODO create struct for head LEDs 204 | 205 | uint32_t MiP::getOdometer(void){ 206 | uint32_t odometer; 207 | 208 | return odometer; 209 | } 210 | void MiP::resetOdometer(void){ 211 | 212 | } 213 | 214 | void MiP::setGestureDetectMode(int8_t mode){ 215 | 216 | } 217 | int8_t MiP::getGestureDetectMode(void){ 218 | int8_t mode; 219 | 220 | return mode; 221 | } 222 | int8_t MiP::getGestureDetect(void){ 223 | int8_t detection; 224 | 225 | return detection; 226 | } 227 | int8_t MiP::getRadarDetect(void){ 228 | int8_t detection; 229 | 230 | return detection; 231 | } 232 | 233 | void MiP::setDetectionMode(int8_t mode, int8_t power){ 234 | 235 | } 236 | void MiP::getDetectionMode(void){ 237 | 238 | } //TODO create structure for detection mode 239 | 240 | int8_t MiP::getShakeDetection(void){ 241 | int8_t shake; 242 | 243 | return shake; 244 | } 245 | 246 | void MiP::setIRcontrol(int8_t mode){} 247 | int8_t MiP::getIRcontrol(void){} 248 | 249 | int8_t MiP::ping(void){ 250 | int8_t ping; 251 | 252 | return ping; 253 | } 254 | 255 | void MiP::setEEPROMData(int8_t addr, uint8_t data){ 256 | 257 | } 258 | uint8_t MiP::getEEPROMData(int8_t addr){ 259 | uint8_t data; 260 | return data; 261 | } 262 | 263 | void MiP::getSoftwareVersion(int8_t* version){ 264 | 265 | } 266 | void MiP::getHardwareVersion(int8_t* version){ 267 | 268 | } 269 | */ 270 | void MiP::setVolume(int8_t volume){ 271 | uint8_t array_length = 2; 272 | uint8_t data_array[array_length]; 273 | data_array[0] = 0x15; 274 | data_array[1] = volume; 275 | 276 | sendMessage(data_array, array_length); 277 | } 278 | 279 | int8_t MiP::getVolume(){ 280 | int answerVal = -1; 281 | uint8_t answer[4]; 282 | uint8_t question[] = {GET_VOLUME}; 283 | int iteration = 0; 284 | while ((0 > answerVal || answerVal > 7) && iteration < MAX_RETRIES) { 285 | sendMessage(question, 1); 286 | if (Serial.available() == 4) { 287 | getMessage(answer, 4); 288 | if (answer[0] - 48 == 1 && answer[1] - 48 == 6 && answer[2] - 48 == 0) 289 | answerVal = answer[3] - 48; 290 | } 291 | else 292 | { 293 | while (Serial.available()) 294 | Serial.read(); 295 | } 296 | iteration++; 297 | } 298 | // One more value check in case last try produced invalid result. 299 | if (0 > answerVal || answerVal > 7) 300 | return -1; 301 | 302 | return answerVal; 303 | } 304 | /* 305 | void MiP::setClapDetection(int8_t mode){ 306 | 307 | } 308 | int8_t MiP::getClapDetection(void){ 309 | 310 | } 311 | void MiP::getClapsRecieved(int8_t* claps){ 312 | 313 | } 314 | */ 315 | 316 | 317 | 318 | 319 | // Private Functions 320 | 321 | void MiP::sendMessage(unsigned char *message, uint8_t array_length){ 322 | digitalWrite(_UART_Select_S, HIGH); 323 | delay(5); 324 | uint8_t i = 0; 325 | for(i; i < array_length; i++){ 326 | Serial.write(message[i]); 327 | } 328 | Serial.write(0x00); 329 | delay(5); 330 | digitalWrite(_UART_Select_S, LOW); 331 | } 332 | 333 | void MiP::getMessage(unsigned char *answer, int byteCount) { 334 | digitalWrite(_UART_Select_R, HIGH); 335 | for (int i = 0; i < byteCount; i++) { 336 | answer[i] = Serial.read(); 337 | //Serial.println(answer[i]); 338 | } 339 | digitalWrite(_UART_Select_R, LOW); 340 | } 341 | -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . --------------------------------------------------------------------------------