Free r2d2 robot driver

The PBrick library provides a API for bidirectional IR communication between the palm computing platform and the lego mindstorms RCX controller. Possible applications for this library range from simple emulation of the lego remote control to lego robots extended with an on-board palm device using the RCX as an intelligent IO controller and the palm As the central processor of the robot.
Important: The pbrick library is not compatible with PalmOS 5 based devices. This is due to the fact, that the pbrick library does some very nasty things to the irda hardware of the palm and hence directly accesses the irda hardware. PalmOS 5 based device use a completely different hardware and thus require a complete rewrite of pbricks.