This is still a sperimental fork, please check the original one by
https://github.com/arnaudjuracek/xy.
This repo contains a modified version of the firmware that uses the MeOrion.h library by makeblock in order to keep better readability of the code.
Currently it is still in development.
As Daniel Shiffman's Twitter states,
I'm not qualified for any of this.
So, huge thanks to Michael Fogleman, Inconvergent and Arnaud Juracek:
The Arduino firmware is based on Michael Fogleman's one. Thanks to the work in Python of Michael Fogleman and Anders Hoff. The nodejs code has been rewritten from scratch, but many thanks to Arnaud Juracek upon which I took the inspiration to start.
MIT.