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getserial.ino 2.31 KiB
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    void check_serial()
    {
    
    byte testax=2;
    
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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");
    
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             #endif
    
             mot_off(testax); speed[testax]=null_speed;
    
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          }
      
          isaxcmd=false;
    
    
    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);
    
             set_motors();
    
            }
          else
          if (cmd=="d") 
            {speed[testax]-=10;
             Serial.println(speed[testax]-null_speed);
    
             set_motors();}
    
          else
          if (cmd=="h") {home(0);}
    
          else
    
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          if (cmd=="p") {
            target[0]=10000;
    
    //        goposax(0);
    
            }
          else
          if (cmd=="q") {
            target[0]=33000;
    
    //        goposax(0);
    
            }
          else
          if (cmd=="o") {
            target[0]=55000;
    
    //        goposax(0);
    
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          else 
          if (cmd=='e') {
            Serial.println("got e, saving to eeprom");
            pos_to_eeprom();
            }
    
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          if (cmd=="r") 
    
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            {
    
    randomizetargets();     
    
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            }
    
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            {
            
    
            issequence=!issequence;
            if (issequence)
    
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            {
    
              Serial.println("sequence ON"); 
              target[0]=targets[0][0];
    
    //          goposax(0);
    
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            }
    
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          rec="";  
        }
    
    }
    }