void moveToBlackLineAndBack(int numberOfLines){
// 1 is added as the robot has crossed the line and needs to
// count it when going back
int lineCount = numberOfLines + 1;
while( numberOfLines > 0){
moveToNextLine();
numberOfLines--;
}
while( lineCount > 0){
moveToPreviousLine();
lineCount--;
}
}
void processController(){
if(data_received){
switch(received_command){
case 0x01:
write_line_enable = 1;
break;
// home y axis
case 0x02:
home_y_axis();
acknowledge();
break;
// home z axis
case 0x03:
home_z_axis();
acknowledge();
break;
// turn laser on
case 0x04:
laser_on();
acknowledge();
break;
// turn laser off
case 0x05:
laser_off();
acknowledge();
break;
// next layer
case 0x06:
// moveToNextLayer here!
moveToNextLayer();
toggle_y_Direction();
acknowledge();
break;
case 0x07:
moveToNextLayer();
acknowledge();
break;
case 0x08:
move_z_to_end_position();
acknowledge();
break;
case 0x09:
set_exposing_cycles();
acknowledge();
break;
case 0x0a:
move_z_relative();
acknowledge();
break;
}
}
if (exposing_done){
moveToNextLine();
data_table[0] = 0;
write_line_enable = 0;
exposing_done = 0;
acknowledge();
}
}
