lift up python tools, restructre other files

Firmware/README.md

@@ -99,14 +99,14 @@ If you prefer to debug from eclipse, see [Setting up Eclipse development environ
 
 ## Communicating over USB
 There is currently a very primitive method to read/write configuration, commands and errors from the ODrive over the USB.
-Please use the `ODriveFirmware/tools/test_bulk.py` python script for this.  It is written for Python 3.
+Please use the `tools/test_communication.py` python script for this.  It is written for Python 3.
 
 Setup instructions as follows:
 * Install PyUSB (pip install --pre pysusb)
 * Plug in the STLink or another power source to power the ODrive board
 * Plug in a separate USB cable into the microUSB connector on ODrive
 * On Windows, use the [Zadig](http://zadig.akeo.ie/) utility to set ODrive (not STLink!) driver to libusb
-* Run test_bulk.py
+* Run `tools/test_communication.py`
 
 ### Command set
 The most accurate way to understand the commands is to read [the code](https://github.com/madcowswe/ODriveFirmware/blob/f19f1b78de4bd917284ff95bc61ca616ca9bacc4/MotorControl/low_level.c#L353) that parses the commands.

Firmware/tools/.gitignore

@@ -1 +0,0 @@
-*.py[cod]

various/path.c

@@ -1,47 +0,0 @@
-#include <stdio.h>
-
-#include <math.h>
-
-void output(float x, float y, float str, float param) {
-  printf("{ %05.1ff, %05.1ff, %1.1ff, %06.1ff },\n", (x+1)*75, (y+1)*75, str, param);
-}
-
-void searchat(float x, float y) {
-  output(x, y, 0.4, 500);
-  //output(x+0.02, y, 0.4, 1000);
-  //output(x, y+0.02, 0.4, 1000);
-  //output(x-0.02, y, 0.4, 1000);
-  //output(x, y-0.02, 0.4, 1000);
-}
-
-void pickupto(float x, float y) {
-  output(x, y, 0.4, 0);
-  //output(x, y, 0.4, 1000);
-  output(x, y, 0, 1000);
-}
-
-void moveto(float x, float y) {
-  output(x, y, 0, 0);
-}
-
-#define POINTS 15
-#define TWOPI (3.1415*2.0)
-
-int main(int argc, char** argv) {
-  moveto(-1,-1);
-  
-  for (int j=0; j<2; j++)
-  for (int i=0; i<POINTS; i++) {
-    float angle = ((float)i/POINTS + 0.5 + 0.125) * TWOPI ;
-    if (!(i%2) != !j)
-      pickupto(cos(angle)*0.8, sin(angle)*0.8);
-    else {
-      moveto(cos(angle)*0.8, sin(angle)*0.8);
-      searchat(cos(angle)*0.8, sin(angle)*0.8);
-    }
-  }
-    
-  
-  moveto(-1,-1);
-  
-}