2-D works (as of last week)

Haven't really  done much lately, but I'm back at it for the weekend. Anyway, got it working in 2-d:

Pretty sweet?



Code is a little messy, especially the state machine implementation. Also, there's an infrequent glitch in comms, and for some reason they don't work at higher baud rates--this is probably due to the interrupt being called for every character.

First thing is probably rewriting the state machine. I think I have a way to use inheritance to REALLY clean things up (will cover in another post).

After that comms. Adding a check byte for sure, and extending to add some new features.  Kind of toying with adding some features like slew, report position, etc.