void I2CFlexel::loadLcdCustomCharacters(byte addr, byte *bitmap)
	{
		beginCommand(I2C_FLEXEL_COMMAND_LOAD_LCD_CUSTOM_CHARACTERS);
		sendCommandParameter(addr);
		sendCommandParameters(bitmap, I2C_FLEXEL_LCD_CHAR_ROWS_COUNT);
		endCommand();
	}

/**
 * Sends the provided byte out over IR.
 */
void cm_send_ir(const uint8_t &data)
{
	sendByte(CmdIRChar);
	padCommand();
	sendByte(data);
	endCommand();
}

/**
 * Plays the song stored under the given number.
 */
void cm_play_song(const uint8_t &song_number)
{
	sendByte(CmdPlay);
	padCommand();
	sendByte(song_number);
	endCommand();
}

/**
 * Tells the robot to play the specified demo.
 *   See the DEMO_* constants for more information.
 */
void cm_play_demo(const uint8_t &demo)
{
	sendByte(CmdDemo);
	padCommand();
	sendByte(demo);
	endCommand();
}

Module::~Module()
{
    endCommand();
    qDeleteAll( d->modules );
    delete d->project;
    delete d;
}

/**
 * Reads the strength of the wall sensor's signal.
 * The range is 0 to 4095.
 */
uint16_t cm_read_wall_signal(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_WALL_SIGNAL);
	endCommand();
	
	return readWord();
}

/**
 * Reads the strength of the front left cliff sensor's signal.
 * The range is 0 to 4095.
 */
uint16_t cm_read_front_left_cliff_signal(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_FRONT_LEFT_CLIFF_SIGNAL);
	endCommand();
	
	return readWord();
}

/**
 * Reads the strength of the far right cliff sensor's signal.
 * The range is 0 to 4095.
 */
uint16_t cm_read_right_cliff_signal(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_FAR_RIGHT_CLIFF_SIGNAL);
	endCommand();
	
	return readWord();
}

/**
 * Reads the current Open Interface mode.
 * See the OI_MODE_* codes in the cm.h header.
 */
uint8_t cm_read_oi_mode(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_OI_MODE);
	endCommand();
	
	return readByte();
}

/**
 * Reads the battery's estimated charge capacity in milliamp-hours.
 * Note: This value is not accurate if the robot is running off Alkaline batteries.
 */
uint16_t cm_read_battery_capacity(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_CAPACITY);
	endCommand();
	
	return readWord();
}

/**
 * Reads the number of the currently-playing song.
 * Range is 0-15.
 */
uint8_t cm_read_current_song_number(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_SONG_NUMBER);
	endCommand();
	
	return readByte();
}

/**
 * Returns the last-requested radius.
 * Range is -32768 to 32767, units are in millimeters.
 */
uint16_t cm_read_requested_radius(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_RADIUS);
	endCommand();
	
	return readWord();
}

/**
 * Returns 1 if there is a song currently playing.
 */
uint8_t cm_read_is_song_playing(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_SONG_PLAYING);
	endCommand();
	
	return readByte();
}

/**
 * Reads the battery's current temperature in degrees Celsius.
 */
int8_t cm_read_battery_temperature(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_TEMPERATURE);
	endCommand();
	
	return readWord();
}

/**
 * Reads the battery's current charge in milliamp-hours.
 * Note: This value is not accurate if the robot is running off Alkaline batteries.
 */
uint16_t cm_read_battery_charge(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_CHARGE);
	endCommand();
	
	return readWord();
}

/**
 * Reads the battery's current voltage in millivolts.
 */
uint16_t cm_read_battery_voltage(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_VOLTAGE);
	endCommand();
	
	return readWord();
}

/**
 * Reads the amount of current running into (positive values) or out of (negative values)
 *   the robot's battery.
 */
int16_t cm_read_battery_current(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_CURRENT);
	endCommand();
	
	return readWord();
}

/**
 * Returns the last-requested speed for the left wheel.
 * Range is -500 to 500, in millimeters per second.
 */
uint16_t cm_read_requested_left_speed(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_LEFT_WHEEL_SPEED);
	endCommand();
	
	return readWord();
}

/**
 * Reads the battery's current charging state.
 * See the BATTERY_* codes in the cm.h header.
 */
uint8_t cm_read_charging_state(void)
{
	sendByte(CmdSensors);
	padCommand();
	sendByte(SEN_CHARGE_STATE);
	endCommand();
	
	return readByte();
}