--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/python/robot.py	Fri Mar 11 13:12:01 2016 +0100
@@ -0,0 +1,19 @@
+from machine import I2C, Pin
+import ustruct
+
+
+class Robot:
+    I2C_ADDRESS = 0x09
+
+    def __init__(self):
+        self.i2c = I2C(sda=Pin(0), scl=Pin(2))
+
+    def leg_move_to(self, leg, x, y, z):
+        data = ustruct.pack("Bbbbb", 4 * leg, 1, x, y, z)
+        while True:
+            try:
+                self.i2c.writeto(self.I2C_ADDRESS, data)
+            except OSError:
+                pass
+            else:
+                break