The documentation is now searchable via the text input and Find button - I got fed up waiting for Google to index it all !

The pages load a lot fast now too.

WebbotLib Version 1.24 has been released with the following new features:-

• core.h - added the 'isqrt' function to calculate the square root of an uint32_t without needing the floating point library
• The Stepper directory has been added to handle stepper motors. The initial (alpha) version copes with the Pololu A4893 as well as the generic L297 controller
• GaitRunner.h has been improved via the new gaitRunnerSetDelta and gaitRunnerGetDelta functions which allow you to modify the gait at runtime. For example: change the ankle joints of a biped if it is walking up, or across, a slope
• Sensors/Encoder/Generic/fastquad,h now has a MAKE_GENERIC_FAST_QUADRATUREx2 constructor. This requires an INT pin for both channels A and B - but the resolution of the encoder is doubled generating 4 ticks per stripe on the encoder disk.

WebbotLib Version 1.23 has been released with the following features:- 

• a2d.h - Added a2dReadMv

• Reworked ALL analogue sensors to work with different ADC reference voltages

• Added: Audio/SOMO14D audio playback device

• Added generic support for serial servo controller cards: see servoSerialInit

• Added support for the ATMega644

WebbotLib Version 1.22 has been released with the following features:-

•  iopin.h - pin_make_output now specifies the initial output value, and pin_pulseIn/Out now specifies if the pulse is active high or low
•  HMC5842 - the compass now also returns the raw magnetometer values in rawX, rawY, and rawZ. It also calculate the roll and pitch angles
•  Added Sensors/IMU/Sparkfun/razor.h - but needs new firmware from Admin at societyofrobots.com for the Razor
•  Added the Maths folder for 3D vectors and matrices and 2D vectors
•  Added GaitRunner so that your robot can use a gait exported from Gait Designer without needing to be connected to the computer.

A new release of Gait Designer has been made with the followings changes:

1. The value of each servo slider (shown under the slider) now has little up/down arrows to allow you to nudge the values more accurately
2. The left panel now has a 'Groups' box for grouping servos into logical groups. Initially this will only show one group called 'All'. Each group shows the number of servos in the group and also has a tick box to say whether you wat to show or hide all the servos in the group.This makes it easier to view a subset of the servos that you want to work on. You cannot edit or delete groups but when a saved file is reloaded then any unused groups will auto-magically be removed.
3. The'Servo' box- which shows you the details on the selected servo, now has a drop down to let you move the servo into a different group

Thanks to 'klims' for his suggestions.

WebbotLib Version 1.21 has been released with the following features:-

• Added Sensors/Encoder/Generic/fastquad.h for high resolution encoders

• Added ADXL345 accelerometer (i2c)

• Added HMC5843 compass (i2c)

• Added Maxbotix MB7077 (works with 7067 as well) distance sonar- can be used under water

• Fixed ATMega128 UART problem (darn those ATmel naming conventions!)

• Changed Controller/Sony/ps2.h to have rumble motors, key pressures, and some extra helper routines

• Changed buffer.h - added function bufferBytesUsed

Project Designer now supports the Sparkfun 9Dof Razor IMU board  - make sure you get the one with the ATMega328P processor - not the old board with the ATMega168. This means that you can now use WebbotLib to author your own firmware to be installed on this board. Note that the programming header also allows you to connect SPI devices - for example you could connect an SDcard to log all of the readings from the on-board devices.