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while (Serial.available() > 0) {
// get incoming byte:
inByte = Serial.read();
boolean isaxcmd=false;
if (inByte!=10) {rec+=(char)inByte;}
else
{
// Serial.println("got:'"+rec+"'");
rec.trim();
int p=rec.indexOf(' ');
String cmd=rec.substring(0,p);
String param=rec.substring(rec.indexOf(' ')+1);
char aparam[param.length() + 1];
param.toCharArray(aparam, sizeof(aparam));
int iparam = atoi(aparam);
#ifdef debug
Serial.print("cmd: ");Serial.println(cmd);
Serial.print("param: ");Serial.println(param);
#endif
//Serial.println(iparam);
//return:
if (cmd.length()==0)
{
#ifdef info
Serial.println("emergency off");
mot_off(testax); speed[testax]=null_speed;
if (cmd=="?") print_positions();
/*
if (cmd=="a") {mot_on(testax);Serial.println("mot_on:"+String(testax));}
else
if (cmd=="b") {mot_off(testax);speed[testax]=null_speed; set_ltc();Serial.println("mot_off:"+String(testax));}
else
if (cmd=="c")
{speed[testax]+=10;
Serial.println(speed[testax]-null_speed);
}
else
if (cmd=="d")
{speed[testax]-=10;
Serial.println(speed[testax]-null_speed);
else
if (cmd=="h") {home(0);}
else
if (cmd=="p") {
target[0]=10000;
}
else
if (cmd=="q") {
target[0]=33000;
}
else
if (cmd=="o") {
target[0]=55000;
else
if (cmd=='e') {
Serial.println("got e, saving to eeprom");
pos_to_eeprom();
}
else
if (cmd=="s")
issequence=!issequence;
if (issequence)
Serial.println("sequence ON");
target[0]=targets[0][0];
else
{
Serial.println("sequence OFF");
}
}